diff --git a/src/lib/conversion/RotationTest.cpp b/src/lib/conversion/RotationTest.cpp
index ecff2a40b4..2d125cde89 100644
--- a/src/lib/conversion/RotationTest.cpp
+++ b/src/lib/conversion/RotationTest.cpp
@@ -63,3 +63,62 @@ TEST(Rotations, matrix_vs_3f)
 		EXPECT_NEAR(transformed_mat(2), transformed_3f(2), 10e-6);
 	}
 }
+
+TEST(Rotations, duplicates)
+{
+	// find all identical rotations to skip (needs to be kept in sync with mag calibration auto rotation)
+	for (size_t i = 0; i < (size_t)Rotation::ROTATION_MAX; i++) {
+
+		// GIVEN: an initial vector and a rotation
+		const matrix::Vector3f original = {1.f, 2.f, 3.f};
+		const enum Rotation rotation_1 = static_cast<Rotation>(i);
+
+		// WHEN: we transform the vector using the rotate_3f function and the rotation matrix
+		matrix::Vector3f transformed_1 = original;
+		rotate_3f(rotation_1, transformed_1(0), transformed_1(1), transformed_1(2));
+
+		for (size_t j = 0; j < (size_t)Rotation::ROTATION_MAX; j++) {
+
+			const enum Rotation rotation_2 = static_cast<Rotation>(j);
+
+			matrix::Vector3f transformed_2 = original;
+			rotate_3f(rotation_2, transformed_2(0), transformed_2(1), transformed_2(2));
+
+			if (i != j) {
+				// ROTATION_PITCH_180_YAW_90 (26) = ROTATION_ROLL_180_YAW_270 (14)
+				if (i == ROTATION_ROLL_180_YAW_270 && j == ROTATION_PITCH_180_YAW_90) { continue; }
+
+				if (j == ROTATION_ROLL_180_YAW_270 && i == ROTATION_PITCH_180_YAW_90) { continue; }
+
+
+				// ROTATION_ROLL_180_YAW_90 (10) = ROTATION_PITCH_180_YAW_270 (27)
+				if (i == ROTATION_ROLL_180_YAW_90 && j == ROTATION_PITCH_180_YAW_270) { continue; }
+
+				if (j == ROTATION_ROLL_180_YAW_90 && i == ROTATION_PITCH_180_YAW_270) { continue; }
+
+
+				// ROTATION_ROLL_180_PITCH_90 (29) = ROTATION_PITCH_90_YAW_180 (43)
+				if (i == ROTATION_ROLL_180_PITCH_90 && j == ROTATION_PITCH_90_YAW_180) { continue; }
+
+				if (j == ROTATION_ROLL_180_PITCH_90 && i == ROTATION_PITCH_90_YAW_180) { continue; }
+
+
+				// ROTATION_ROLL_90_PITCH_180 (31) = ROTATION_ROLL_270_YAW_180 (41)
+				if (i == ROTATION_ROLL_90_PITCH_180 && j == ROTATION_ROLL_270_YAW_180) { continue; }
+
+				if (j == ROTATION_ROLL_90_PITCH_180 && i == ROTATION_ROLL_270_YAW_180) { continue; }
+
+
+				// ROTATION_ROLL_90_PITCH_180_YAW_90 (36) = ROTATION_ROLL_270_YAW_270 (42)
+				if (i == ROTATION_ROLL_90_PITCH_180_YAW_90 && j == ROTATION_ROLL_270_YAW_270) { continue; }
+
+				if (j == ROTATION_ROLL_90_PITCH_180_YAW_90 && i == ROTATION_ROLL_270_YAW_270) { continue; }
+
+
+
+				// otherwise all rotations should be different
+				ASSERT_GT((transformed_1 - transformed_2).norm(), 0) << "Rotation " << i << " and " << j << " equal";
+			}
+		}
+	}
+}
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 3665957c16..6ee7e78fed 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -724,7 +724,19 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
 							case ROTATION_ROLL_90_PITCH_68_YAW_293: // skip
 
 							// FALLTHROUGH
-							case ROTATION_ROLL_270_YAW_270: // skip, same as ROTATION_ROLL_90_PITCH_180_YAW_90 (36)
+							case ROTATION_PITCH_180_YAW_90:  // skip 26, same as 14 ROTATION_ROLL_180_YAW_270
+
+							// FALLTHROUGH
+							case ROTATION_PITCH_180_YAW_270: // skip 27, same as 10 ROTATION_ROLL_180_YAW_90
+
+							// FALLTHROUGH
+							case ROTATION_ROLL_270_YAW_180:  // skip 41, same as 31 ROTATION_ROLL_90_PITCH_180
+
+							// FALLTHROUGH
+							case ROTATION_ROLL_270_YAW_270:  // skip 42, same as 36 ROTATION_ROLL_90_PITCH_180_YAW_90
+
+							// FALLTHROUGH
+							case ROTATION_PITCH_90_YAW_180:  // skip 43, same as 29 ROTATION_ROLL_180_PITCH_90
 
 							// FALLTHROUGH
 							case ROTATION_PITCH_9_YAW_180: // skip, too close to ROTATION_YAW_180