diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index b1d8288d6..c45024d59 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -411,9 +411,9 @@ static void handleAccel(float *samples, float temperature)
     AccelSensorData accelSensorData;
 
     updateAccelTempBias(temperature);
-    float accels_out[3] = { samples[0] * agcal.accel_scale.X - agcal.accel_bias.X - accel_temp_bias[0],
-                            samples[1] * agcal.accel_scale.Y - agcal.accel_bias.Y - accel_temp_bias[1],
-                            samples[2] * agcal.accel_scale.Z - agcal.accel_bias.Z - accel_temp_bias[2] };
+    float accels_out[3] = { (samples[0] - agcal.accel_bias.X) * agcal.accel_scale.X - accel_temp_bias[0],
+                            (samples[1] - agcal.accel_bias.Y) * agcal.accel_scale.Y - accel_temp_bias[1],
+                            (samples[2] - agcal.accel_bias.Z) * agcal.accel_scale.Z - accel_temp_bias[2] };
 
     rot_mult(R, accels_out, samples);
     accelSensorData.x = samples[0];
@@ -485,7 +485,10 @@ static void updateAccelTempBias(float temperature)
     if ((accel_temp_calibrated) && !accel_temp_calibration_count) {
         accel_temp_calibration_count = TEMP_CALIB_INTERVAL;
         if (accel_temp_calibrated) {
-            float ctemp = boundf(accel_temperature, agcal.temp_calibrated_extent.max, agcal.temp_calibrated_extent.min);
+            float ctemp = boundf(accel_temperature,
+                                 agcal.temp_calibrated_extent.max,
+                                 agcal.temp_calibrated_extent.min);
+
             accel_temp_bias[0] = agcal.accel_temp_coeff.X * ctemp;
             accel_temp_bias[1] = agcal.accel_temp_coeff.Y * ctemp;
             accel_temp_bias[2] = agcal.accel_temp_coeff.Z * ctemp;