diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
index 5c594d01d5..6d4807c998 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
@@ -92,7 +92,7 @@ void AP_InertialSensor_SITL::generate_accel(uint8_t instance)
         zAccel = sitl->accel_fail;
     }
 
-    Vector3f accel = Vector3f(xAccel, yAccel, zAccel) + _imu.get_accel_offsets(instance);
+    Vector3f accel = Vector3f(xAccel, yAccel, zAccel);
 
     _rotate_and_correct_accel(accel_instance[instance], accel);
     
@@ -120,7 +120,7 @@ void AP_InertialSensor_SITL::generate_gyro(uint8_t instance)
     q += gyro_noise * rand_float();
     r += gyro_noise * rand_float();
 
-    Vector3f gyro = Vector3f(p, q, r) + _imu.get_gyro_offsets(instance);
+    Vector3f gyro = Vector3f(p, q, r);
 
     // add in gyro scaling
     Vector3f scale = sitl->gyro_scale;