diff --git a/src/hardware/IMU/V5InertialSensor.cpp b/src/hardware/IMU/V5InertialSensor.cpp
index 992a4b2..fb4013a 100644
--- a/src/hardware/IMU/V5InertialSensor.cpp
+++ b/src/hardware/IMU/V5InertialSensor.cpp
@@ -42,8 +42,8 @@ int32_t V5InertialSensor::setRotation(Angle rotation) {
     Angle raw = this->getRotation();
     if (to_stRot(raw) == INFINITY) return INT32_MAX;
     else {
-        m_offset = rotation - raw;
+        m_offset = rotation - raw + m_offset;
         return 0;
     }
 }
-} // namespace lemlib
\ No newline at end of file
+} // namespace lemlib