diff --git a/src/drivers/imu/invensense/icm20602/ICM20602.cpp b/src/drivers/imu/invensense/icm20602/ICM20602.cpp
index c0452c56b4..d0ed918409 100644
--- a/src/drivers/imu/invensense/icm20602/ICM20602.cpp
+++ b/src/drivers/imu/invensense/icm20602/ICM20602.cpp
@@ -623,7 +623,7 @@ bool ICM20602::ProcessTemperature(const FIFOTransferBuffer &buffer, const uint8_
 	}
 
 	// use average temperature reading
-	const float temperature_C = temperature_avg / TEMPERATURE_SENSITIVITY + ROOM_TEMPERATURE_OFFSET;
+	const float temperature_C = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 	_px4_accel.set_temperature(temperature_C);
 	_px4_gyro.set_temperature(temperature_C);
 
diff --git a/src/drivers/imu/invensense/icm20602/InvenSense_ICM20602_registers.hpp b/src/drivers/imu/invensense/icm20602/InvenSense_ICM20602_registers.hpp
index 96738d5bd7..4da10d3892 100644
--- a/src/drivers/imu/invensense/icm20602/InvenSense_ICM20602_registers.hpp
+++ b/src/drivers/imu/invensense/icm20602/InvenSense_ICM20602_registers.hpp
@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
 static constexpr uint8_t WHOAMI = 0x12;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
-static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_OFFSET = 25.f; // C
 
 enum class Register : uint8_t {
 	CONFIG        = 0x1A,
diff --git a/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp b/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
index 80e75c30db..59cb8b5cfe 100644
--- a/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
+++ b/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
@@ -628,7 +628,7 @@ void ICM20608G::UpdateTemperature()
 	}
 
 	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
-	const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET;
+	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 	if (PX4_ISFINITE(TEMP_degC)) {
 		_px4_accel.set_temperature(TEMP_degC);
diff --git a/src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp b/src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp
index ffd156a5c0..f3f7c1ee61 100644
--- a/src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp
+++ b/src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp
@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
 static constexpr uint8_t WHOAMI = 0xAF;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
-static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_OFFSET = 25.f; // C
 
 enum class Register : uint8_t {
 	CONFIG        = 0x1A,
diff --git a/src/drivers/imu/invensense/icm20689/ICM20689.cpp b/src/drivers/imu/invensense/icm20689/ICM20689.cpp
index f585224819..5b343ea73a 100644
--- a/src/drivers/imu/invensense/icm20689/ICM20689.cpp
+++ b/src/drivers/imu/invensense/icm20689/ICM20689.cpp
@@ -627,7 +627,7 @@ void ICM20689::UpdateTemperature()
 	}
 
 	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
-	const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET;
+	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 	if (PX4_ISFINITE(TEMP_degC)) {
 		_px4_accel.set_temperature(TEMP_degC);
diff --git a/src/drivers/imu/invensense/icm20689/InvenSense_ICM20689_registers.hpp b/src/drivers/imu/invensense/icm20689/InvenSense_ICM20689_registers.hpp
index d1a5713288..5efb9c6dc2 100644
--- a/src/drivers/imu/invensense/icm20689/InvenSense_ICM20689_registers.hpp
+++ b/src/drivers/imu/invensense/icm20689/InvenSense_ICM20689_registers.hpp
@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
 static constexpr uint8_t WHOAMI = 0x98;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
-static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_OFFSET = 25.f; // C
 
 enum class Register : uint8_t {
 	CONFIG        = 0x1A,
diff --git a/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp b/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
index 92a55835e4..333a37b498 100644
--- a/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
+++ b/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
@@ -618,8 +618,8 @@ void ICM40609D::UpdateTemperature()
 
 	const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]);
 
-	// Temperature in Degrees Centigrade = (TEMP_DATA / 132.48) + 25
-	const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET;
+	// Temperature in Degrees Centigrade
+	const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 	if (PX4_ISFINITE(TEMP_degC)) {
 		_px4_accel.set_temperature(TEMP_degC);
diff --git a/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp b/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp
index 7cbd6b0e65..8759c2d33c 100644
--- a/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp
+++ b/src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp
@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
 static constexpr uint8_t WHOAMI = 0x3B;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
-static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_OFFSET = 25.f; // C
 
 namespace Register
 {
@@ -221,7 +221,6 @@ struct DATA {
 	uint8_t timestamp_l;
 	uint8_t timestamp_h;
 };
-static_assert(sizeof(DATA) == 16, "FIFO packet 16 bytes");
 
 // With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
 enum FIFO_HEADER_BIT : uint8_t {
diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
index b2d16725ba..792917dd12 100644
--- a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
@@ -620,8 +620,8 @@ void ICM42688P::UpdateTemperature()
 
 	const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]);
 
-	// Temperature in Degrees Centigrade = (TEMP_DATA / 132.48) + 25
-	const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET;
+	// Temperature in Degrees Centigrade
+	const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 	if (PX4_ISFINITE(TEMP_degC)) {
 		_px4_accel.set_temperature(TEMP_degC);
diff --git a/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp b/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp
index 307af53ddb..6ce9b70c22 100644
--- a/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp
+++ b/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp
@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
 static constexpr uint8_t WHOAMI = 0x47;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
-static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_OFFSET = 25.f; // C
 
 namespace Register
 {
diff --git a/src/drivers/imu/invensense/mpu6000/InvenSense_MPU6000_registers.hpp b/src/drivers/imu/invensense/mpu6000/InvenSense_MPU6000_registers.hpp
index 45a8427717..155739b312 100644
--- a/src/drivers/imu/invensense/mpu6000/InvenSense_MPU6000_registers.hpp
+++ b/src/drivers/imu/invensense/mpu6000/InvenSense_MPU6000_registers.hpp
@@ -60,8 +60,8 @@ static constexpr uint8_t DIR_READ = 0x80;
 
 static constexpr uint8_t WHOAMI = 0x68;
 
-static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
-static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_SENSITIVITY = 340.f; // LSB/C
+static constexpr float TEMPERATURE_OFFSET = 36.53f; // C
 
 enum class Register : uint8_t {
 	CONFIG        = 0x1A,
diff --git a/src/drivers/imu/invensense/mpu6000/MPU6000.cpp b/src/drivers/imu/invensense/mpu6000/MPU6000.cpp
index 5a5808680a..d2d0dcde9f 100644
--- a/src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+++ b/src/drivers/imu/invensense/mpu6000/MPU6000.cpp
@@ -567,7 +567,7 @@ void MPU6000::UpdateTemperature()
 	}
 
 	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
-	const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET;
+	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 	if (PX4_ISFINITE(TEMP_degC)) {
 		_px4_accel.set_temperature(TEMP_degC);
diff --git a/src/drivers/imu/invensense/mpu6500/InvenSense_MPU6500_registers.hpp b/src/drivers/imu/invensense/mpu6500/InvenSense_MPU6500_registers.hpp
index 69fb998a45..2691604004 100644
--- a/src/drivers/imu/invensense/mpu6500/InvenSense_MPU6500_registers.hpp
+++ b/src/drivers/imu/invensense/mpu6500/InvenSense_MPU6500_registers.hpp
@@ -60,8 +60,8 @@ static constexpr uint8_t DIR_READ = 0x80;
 
 static constexpr uint8_t WHOAMI = 0x70;
 
-static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
-static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_SENSITIVITY = 333.87f; // LSB/C
+static constexpr float TEMPERATURE_OFFSET = 21.f; // C
 
 enum class Register : uint8_t {
 	CONFIG             = 0x1A,
diff --git a/src/drivers/imu/invensense/mpu6500/MPU6500.cpp b/src/drivers/imu/invensense/mpu6500/MPU6500.cpp
index 21dba4b1af..4395330107 100644
--- a/src/drivers/imu/invensense/mpu6500/MPU6500.cpp
+++ b/src/drivers/imu/invensense/mpu6500/MPU6500.cpp
@@ -591,7 +591,7 @@ void MPU6500::UpdateTemperature()
 	}
 
 	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
-	const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET;
+	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 	if (PX4_ISFINITE(TEMP_degC)) {
 		_px4_accel.set_temperature(TEMP_degC);
diff --git a/src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp b/src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp
index 1571985449..bdf8f82a10 100644
--- a/src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp
+++ b/src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp
@@ -61,8 +61,8 @@ static constexpr uint8_t DIR_READ = 0x80;
 
 static constexpr uint8_t WHOAMI = 0x71;
 
-static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
-static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_SENSITIVITY = 333.87f; // LSB/C
+static constexpr float TEMPERATURE_OFFSET = 21.f; // C
 
 enum class Register : uint8_t {
 	CONFIG             = 0x1A,
diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp
index 9b637b8769..a47b0d1876 100644
--- a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+++ b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp
@@ -624,7 +624,7 @@ void MPU9250::UpdateTemperature()
 	}
 
 	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
-	const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET;
+	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 	if (PX4_ISFINITE(TEMP_degC)) {
 		_px4_accel.set_temperature(TEMP_degC);