diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index a33e6de47b..507ef7e97c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -180,7 +180,17 @@ AP_InertialSensor_MPU9250::AP_InertialSensor_MPU9250(AP_InertialSensor &imu) :
     _shared_data_idx(0),
     _accel_filter(1000, 15),
     _gyro_filter(1000, 15),
-    _have_sample_available(false)
+    _have_sample_available(false),
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
+    _default_rotation(ROTATION_ROLL_180_YAW_270)
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
+    /* no rotation needed */
+    _default_rotation(ROTATION_NONE)
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+    _default_rotation(ROTATION_YAW_270)
+#else /* rotate for bbone default (and other boards) */
+    _default_rotation(ROTATION_ROLL_180_YAW_90)
+#endif
 {
 }
 
@@ -273,23 +283,8 @@ bool AP_InertialSensor_MPU9250::update( void )
     accel *= MPU9250_ACCEL_SCALE_1G;
     gyro *= GYRO_SCALE;
 
-    // rotate for bbone default
-    accel.rotate(ROTATION_ROLL_180_YAW_90);
-    gyro.rotate(ROTATION_ROLL_180_YAW_90);
-
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
-    // PXF has an additional YAW 180
-    accel.rotate(ROTATION_YAW_180);
-    gyro.rotate(ROTATION_YAW_180);
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
-    // NavIO has different orientation, assuming RaspberryPi is right
-    // way up, and PWM pins on NavIO are at the back of the aircraft
-    accel.rotate(ROTATION_ROLL_180_YAW_90);
-    gyro.rotate(ROTATION_ROLL_180_YAW_90);
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
-    accel.rotate(ROTATION_ROLL_180);
-    gyro.rotate(ROTATION_ROLL_180);
-#endif
+    accel.rotate(_default_rotation);
+    gyro.rotate(_default_rotation);
 
     _publish_gyro(_gyro_instance, gyro);
     _publish_accel(_accel_instance, accel);
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
index d2a7d43ec5..c256f2db75 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
@@ -72,6 +72,10 @@ private:
     uint8_t _gyro_instance;
     uint8_t _accel_instance;
 
+    // The default rotation for the IMU, its value depends on how the IMU is
+    // placed by default on the system
+    enum Rotation _default_rotation;
+
 #if MPU9250_DEBUG
     void						_dump_registers(void);
 #endif