diff --git a/board/nefario/board.c b/board/nefario/board.c
index 71c53e2e0e..547aa30d8c 100644
--- a/board/nefario/board.c
+++ b/board/nefario/board.c
@@ -448,7 +448,7 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = CONFIG_SPI_ACCEL_PORT,
 	 .addr = BMI160_SET_SPI_ADDRESS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
-	 .rot_standard_ref = NULL, /* Identity matrix. */
+	 .rot_standard_ref = &base_standard_ref,
 	 .config = {
 		 /* AP: by default shutdown all sensors */
 		 [SENSOR_CONFIG_AP] = {
diff --git a/board/oak/board.c b/board/oak/board.c
index 03a3222127..5d50a0be0b 100644
--- a/board/oak/board.c
+++ b/board/oak/board.c
@@ -672,7 +672,7 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = I2C_PORT_ACCEL,
 	 .addr = 1,
 	 .default_range = 1000, /* dps */
-	 .rot_standard_ref = NULL, /* Identity Matrix. */
+	 .rot_standard_ref = &base_standard_ref,
 	 .min_frequency = BMI160_GYRO_MIN_FREQ,
 	 .max_frequency = BMI160_GYRO_MAX_FREQ,
 	 .config = {
diff --git a/board/rainier/board.c b/board/rainier/board.c
index b8c8627983..09b3ee1358 100644
--- a/board/rainier/board.c
+++ b/board/rainier/board.c
@@ -421,7 +421,7 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = CONFIG_SPI_ACCEL_PORT,
 	 .addr = BMI160_SET_SPI_ADDRESS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
-	 .rot_standard_ref = NULL, /* Identity matrix. */
+	 .rot_standard_ref = &base_standard_ref,
 	 .min_frequency = BMI160_GYRO_MIN_FREQ,
 	 .max_frequency = BMI160_GYRO_MAX_FREQ,
 	 .config = {
diff --git a/board/scarlet/board.c b/board/scarlet/board.c
index 5a9e7db8ee..7a796bc8a9 100644
--- a/board/scarlet/board.c
+++ b/board/scarlet/board.c
@@ -415,7 +415,7 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = CONFIG_SPI_ACCEL_PORT,
 	 .addr = BMI160_SET_SPI_ADDRESS(CONFIG_SPI_ACCEL_PORT),
 	 .default_range = 1000, /* dps */
-	 .rot_standard_ref = NULL, /* Identity matrix. */
+	 .rot_standard_ref = &base_standard_ref,
 	 .min_frequency = BMI160_GYRO_MIN_FREQ,
 	 .max_frequency = BMI160_GYRO_MAX_FREQ,
 	 .config = {