diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index a9036a1bec..1e55b3dd94 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -219,7 +219,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
         }
     }
 
-    alignSensors(accSmooth, accSmooth, accAlign);
+    alignSensors(accSmooth, accAlign);
 
     if (!isAccelerationCalibrationComplete()) {
         performAcclerationCalibration(rollAndPitchTrims);
diff --git a/src/main/sensors/boardalignment.c b/src/main/sensors/boardalignment.c
index 57917e8a12..4221d3b488 100644
--- a/src/main/sensors/boardalignment.c
+++ b/src/main/sensors/boardalignment.c
@@ -62,13 +62,12 @@ static void alignBoard(int32_t *vec)
     vec[Z] = lrintf(boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z);
 }
 
-void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation)
+void alignSensors(int32_t *dest, uint8_t rotation)
 {
-    const int32_t x = src[X];
-    const int32_t y = src[Y];
-    const int32_t z = src[Z];
+    const int32_t x = dest[X];
+    const int32_t y = dest[Y];
+    const int32_t z = dest[Z];
 
-    // note src and dest may point to the same address
     switch (rotation) {
     default:
     case CW0_DEG:
diff --git a/src/main/sensors/boardalignment.h b/src/main/sensors/boardalignment.h
index e1e704be03..b1ab74cdf9 100644
--- a/src/main/sensors/boardalignment.h
+++ b/src/main/sensors/boardalignment.h
@@ -23,5 +23,5 @@ typedef struct boardAlignment_s {
     int32_t yawDegrees;
 } boardAlignment_t;
 
-void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation);
+void alignSensors(int32_t *dest, uint8_t rotation);
 void initBoardAlignment(const boardAlignment_t *boardAlignment);
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 5b4000e282..7354be73fe 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -62,7 +62,7 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
 
     mag.read(magADCRaw);
     for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) magADC[axis] = magADCRaw[axis];  // int32_t copy to work with
-    alignSensors(magADC, magADC, magAlign);
+    alignSensors(magADC, magAlign);
 
     if (STATE(CALIBRATE_MAG)) {
         tCal = currentTime;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 5ed678e103..0af158fe99 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -170,7 +170,7 @@ void gyroUpdate(void)
     gyroADC[Y] = gyroADCRaw[Y];
     gyroADC[Z] = gyroADCRaw[Z];
 
-    alignSensors(gyroADC, gyroADC, gyroAlign);
+    alignSensors(gyroADC, gyroAlign);
 
     if (!isGyroCalibrationComplete()) {
         performGyroCalibration(gyroConfig->gyroMovementCalibrationThreshold);
diff --git a/src/test/unit/alignsensor_unittest.cc b/src/test/unit/alignsensor_unittest.cc
index 17e0bf29f4..f618f24fcd 100644
--- a/src/test/unit/alignsensor_unittest.cc
+++ b/src/test/unit/alignsensor_unittest.cc
@@ -98,7 +98,6 @@ static void initZAxisRotation(int32_t mat[][3], int32_t angle)
 static void testCW(sensor_align_e rotation, int32_t angle)
 {
     int32_t src[XYZ_AXIS_COUNT];
-    int32_t dest[XYZ_AXIS_COUNT];
     int32_t test[XYZ_AXIS_COUNT];
 
     // unit vector along x-axis
@@ -110,10 +109,10 @@ static void testCW(sensor_align_e rotation, int32_t angle)
     initZAxisRotation(matrix, angle);
     rotateVector(matrix, src, test);
 
-    alignSensors(src, dest, rotation);
-    EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
-    EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
-    EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+    alignSensors(src, rotation);
+    EXPECT_EQ(test[X], src[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
+    EXPECT_EQ(test[Y], src[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
+    EXPECT_EQ(test[Z], src[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
 
     // unit vector along y-axis
     src[X] = 0;
@@ -121,10 +120,10 @@ static void testCW(sensor_align_e rotation, int32_t angle)
     src[Z] = 0;
 
     rotateVector(matrix, src, test);
-    alignSensors(src, dest, rotation);
-    EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
-    EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
-    EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+    alignSensors(src, rotation);
+    EXPECT_EQ(test[X], src[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
+    EXPECT_EQ(test[Y], src[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
+    EXPECT_EQ(test[Z], src[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
 
     // unit vector along z-axis
     src[X] = 0;
@@ -132,10 +131,10 @@ static void testCW(sensor_align_e rotation, int32_t angle)
     src[Z] = 1;
 
     rotateVector(matrix, src, test);
-    alignSensors(src, dest, rotation);
-    EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
-    EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
-    EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+    alignSensors(src, rotation);
+    EXPECT_EQ(test[X], src[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
+    EXPECT_EQ(test[Y], src[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
+    EXPECT_EQ(test[Z], src[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
 
     // random vector to test
     src[X] = rand() % 5;
@@ -143,10 +142,10 @@ static void testCW(sensor_align_e rotation, int32_t angle)
     src[Z] = rand() % 5;
 
     rotateVector(matrix, src, test);
-    alignSensors(src, dest, rotation);
-    EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
-    EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
-    EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+    alignSensors(src,  rotation);
+    EXPECT_EQ(test[X], src[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << src[X];
+    EXPECT_EQ(test[Y], src[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
+    EXPECT_EQ(test[Z], src[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
 }
 
 /*
@@ -156,7 +155,6 @@ static void testCW(sensor_align_e rotation, int32_t angle)
 static void testCWFlip(sensor_align_e rotation, int32_t angle)
 {
     int32_t src[XYZ_AXIS_COUNT];
-    int32_t dest[XYZ_AXIS_COUNT];
     int32_t test[XYZ_AXIS_COUNT];
 
     // unit vector along x-axis
@@ -170,11 +168,11 @@ static void testCWFlip(sensor_align_e rotation, int32_t angle)
     initZAxisRotation(matrix, angle);
     rotateVector(matrix, test, test);
 
-    alignSensors(src, dest, rotation);
+    alignSensors(src, rotation);
 
-    EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
-    EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
-    EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+    EXPECT_EQ(test[X], src[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
+    EXPECT_EQ(test[Y], src[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
+    EXPECT_EQ(test[Z], src[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
 
     // unit vector along y-axis
     src[X] = 0;
@@ -186,11 +184,11 @@ static void testCWFlip(sensor_align_e rotation, int32_t angle)
     initZAxisRotation(matrix, angle);
     rotateVector(matrix, test, test);
 
-    alignSensors(src, dest, rotation);
+    alignSensors(src, rotation);
 
-    EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
-    EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
-    EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+    EXPECT_EQ(test[X], src[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
+    EXPECT_EQ(test[Y], src[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
+    EXPECT_EQ(test[Z], src[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
 
     // unit vector along z-axis
     src[X] = 0;
@@ -202,11 +200,11 @@ static void testCWFlip(sensor_align_e rotation, int32_t angle)
     initZAxisRotation(matrix, angle);
     rotateVector(matrix, test, test);
 
-    alignSensors(src, dest, rotation);
+    alignSensors(src, rotation);
 
-    EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
-    EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
-    EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+    EXPECT_EQ(test[X], src[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
+    EXPECT_EQ(test[Y], src[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
+    EXPECT_EQ(test[Z], src[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
 
      // random vector to test
     src[X] = rand() % 5;
@@ -218,11 +216,11 @@ static void testCWFlip(sensor_align_e rotation, int32_t angle)
     initZAxisRotation(matrix, angle);
     rotateVector(matrix, test, test);
 
-    alignSensors(src, dest, rotation);
+    alignSensors(src, rotation);
 
-    EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
-    EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
-    EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+    EXPECT_EQ(test[X], src[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << src[X];
+    EXPECT_EQ(test[Y], src[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
+    EXPECT_EQ(test[Z], src[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
 }