diff --git a/inc/core/MicroBitConfig.h b/inc/core/MicroBitConfig.h
index e6df68c..a41a982 100644
--- a/inc/core/MicroBitConfig.h
+++ b/inc/core/MicroBitConfig.h
@@ -309,6 +309,18 @@ extern uint32_t __etext;
 #define USE_ACCEL_LSB                           0
 #endif
 
+//
+// Enable a 0..360 degree range on the accelerometer getPitch()
+// calculation. Set to '1' to enable.
+//
+// A value of '0' provides consistency with the (buggy) microbit-dal 2.0
+// and earlier versions, which inadvertently provided only an ambiguous
+// 0..180 degree range
+//
+#ifndef MICROBIT_FULL_RANGE_PITCH_CALCULATION
+#define MICROBIT_FULL_RANGE_PITCH_CALCULATION   1
+#endif
+
 //
 // Display options
 //
diff --git a/source/drivers/MicroBitAccelerometer.cpp b/source/drivers/MicroBitAccelerometer.cpp
index da71ccb..11bee2c 100644
--- a/source/drivers/MicroBitAccelerometer.cpp
+++ b/source/drivers/MicroBitAccelerometer.cpp
@@ -574,8 +574,19 @@ void MicroBitAccelerometer::recalculatePitchRoll()
     double y = (double) sample.y;
     double z = (double) sample.z;
 
-    roll = atan2(y, z);
-    pitch = atan(-x / (y*sin(roll) + z*cos(roll)));
+    roll = atan2(x, -z);
+    pitch = atan2(y, (x*sin(roll) - z*cos(roll)));
+
+#if CONFIG_ENABLED(MICROBIT_FULL_RANGE_PITCH_CALCULATION)
+
+    // Handle to the two "negative quadrants", such that we get an output in the +/- 18- degree range.
+    // This ensures that the pitch values are consistent with the roll values.
+    if (z > 0.0)
+    {
+        double reference = pitch > 0.0 ? (PI / 2.0) : (-PI / 2.0);
+        pitch = reference + (reference - pitch);
+    }
+#endif
 
     status |= MICROBIT_ACCELEROMETER_IMU_DATA_VALID;
 }
diff --git a/source/drivers/MicroBitCompass.cpp b/source/drivers/MicroBitCompass.cpp
index 8fee178..bbeba22 100644
--- a/source/drivers/MicroBitCompass.cpp
+++ b/source/drivers/MicroBitCompass.cpp
@@ -456,7 +456,7 @@ int MicroBitCompass::tiltCompensatedBearing()
     float theta = accelerometer->getPitchRadians();
 
     // Convert to floating point to reduce rounding errors
-    Sample3D cs = this->getSample(SIMPLE_CARTESIAN);
+    Sample3D cs = this->getSample(NORTH_EAST_DOWN);
     float x = (float) cs.x;
     float y = (float) cs.y;
     float z = (float) cs.z;
@@ -467,8 +467,13 @@ int MicroBitCompass::tiltCompensatedBearing()
     float sinTheta = sin(theta);
     float cosTheta = cos(theta);
 
+    // Calculate the tilt compensated bearing, and convert to degrees.
     float bearing = (360*atan2(x*cosTheta + y*sinTheta*sinPhi + z*sinTheta*cosPhi, z*sinPhi - y*cosPhi)) / (2*PI);
 
+    // Handle the 90 degree offset caused by the NORTH_EAST_DOWN based calculation.
+    bearing = bearing - 90;
+
+    // Ensure the calculated bearing is in the 0..359 degree range.
     if (bearing < 0)
         bearing += 360.0f;