diff --git a/src/modules/sensors/temperature_compensation.cpp b/src/modules/sensors/temperature_compensation.cpp
index 84b96d3bb8..fc491cead8 100644
--- a/src/modules/sensors/temperature_compensation.cpp
+++ b/src/modules/sensors/temperature_compensation.cpp
@@ -372,10 +372,8 @@ int TemperatureCompensation::apply_corrections_gyro(int topic_instance, math::Ve
 		sensor_data(axis_index) = (sensor_data(axis_index) - offsets[axis_index]) * scales[axis_index];
 	}
 
-	int8_t temperaturei = (int8_t)temperature;
-
-	if (temperaturei != _gyro_data.last_temperature[topic_instance]) {
-		_gyro_data.last_temperature[topic_instance] = temperaturei;
+	if (fabsf(temperature - _gyro_data.last_temperature[topic_instance]) > 1.0f) {
+		_gyro_data.last_temperature[topic_instance] = temperature;
 		return 2;
 	}
 
@@ -403,10 +401,8 @@ int TemperatureCompensation::apply_corrections_accel(int topic_instance, math::V
 		sensor_data(axis_index) = (sensor_data(axis_index) - offsets[axis_index]) * scales[axis_index];
 	}
 
-	int8_t temperaturei = (int8_t)temperature;
-
-	if (temperaturei != _accel_data.last_temperature[topic_instance]) {
-		_accel_data.last_temperature[topic_instance] = temperaturei;
+	if (fabsf(temperature - _accel_data.last_temperature[topic_instance]) > 1.0f) {
+		_accel_data.last_temperature[topic_instance] = temperature;
 		return 2;
 	}
 
@@ -432,10 +428,8 @@ int TemperatureCompensation::apply_corrections_baro(int topic_instance, float &s
 	*scales = _parameters.baro_cal_data[mapping].scale;
 	sensor_data = (sensor_data - *offsets) * *scales;
 
-	int8_t temperaturei = (int8_t)temperature;
-
-	if (temperaturei != _baro_data.last_temperature[topic_instance]) {
-		_baro_data.last_temperature[topic_instance] = temperaturei;
+	if (fabsf(temperature - _baro_data.last_temperature[topic_instance]) > 1.0f) {
+		_baro_data.last_temperature[topic_instance] = temperature;
 		return 2;
 	}
 
diff --git a/src/modules/sensors/temperature_compensation.h b/src/modules/sensors/temperature_compensation.h
index 0317ee0c16..9cd2aa13bd 100644
--- a/src/modules/sensors/temperature_compensation.h
+++ b/src/modules/sensors/temperature_compensation.h
@@ -252,10 +252,10 @@ private:
 	struct PerSensorData {
 		PerSensorData()
 		{
-			for (int i = 0; i < SENSOR_COUNT_MAX; ++i) { device_mapping[i] = 255; last_temperature[i] = -100; }
+			for (int i = 0; i < SENSOR_COUNT_MAX; ++i) { device_mapping[i] = 255; last_temperature[i] = -100.0f; }
 		}
 		uint8_t device_mapping[SENSOR_COUNT_MAX]; /// map a topic instance to the parameters index
-		int8_t last_temperature[SENSOR_COUNT_MAX];
+		float last_temperature[SENSOR_COUNT_MAX];
 	};
 	PerSensorData _gyro_data;
 	PerSensorData _accel_data;