diff --git a/src/sensors/softfusion/drivers/bmi270.h b/src/sensors/softfusion/drivers/bmi270.h
index 1436d5dc..d122ce97 100644
--- a/src/sensors/softfusion/drivers/bmi270.h
+++ b/src/sensors/softfusion/drivers/bmi270.h
@@ -363,6 +363,11 @@ struct BMI270 {
 			gyroSensitivity.z = crt_values[2];
 		}
 
+		// CRT seems to leave some state behind which isn't persisted after
+		// restart. If we continue without restarting, the gyroscope will behave
+		// differently on this run compared to subsequent restarts.
+		restartAndInit();
+
 		setNormalConfig(gyroSensitivity);
 	}
 
diff --git a/src/sensors/softfusion/softfusionsensor.h b/src/sensors/softfusion/softfusionsensor.h
index cb1709b8..133bea48 100644
--- a/src/sensors/softfusion/softfusionsensor.h
+++ b/src/sensors/softfusion/softfusionsensor.h
@@ -320,7 +320,6 @@ class SoftFusionSensor : public Sensor {
 		if (calibrationType == 0) {
 			// ALL
 			calibrateSampleRate();
-			calibrateGyroOffset();
 			if constexpr (HasMotionlessCalib) {
 				typename imu::MotionlessCalibrationData calibData;
 				m_sensor.motionlessCalibration(calibData);
@@ -330,6 +329,10 @@ class SoftFusionSensor : public Sensor {
 					sizeof(calibData)
 				);
 			}
+			// Gryoscope offset calibration can only happen after any motionless
+			// gyroscope calibration, otherwise we are calculating the offset based
+			// on an incorrect starting point
+			calibrateGyroOffset();
 			calibrateAccel();
 		} else if (calibrationType == 1) {
 			calibrateSampleRate();