diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index fff31a553c..8de08bc8c5 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -764,6 +764,15 @@ config MS56XX_SPI
 
 endchoice # MS5611 Interface
 
+config MS56XX_SECOND_ORDER_COMPENSATE
+	bool "MS56XX second order compensation support"
+	default n
+	---help---
+		Enables second order compensation.
+		In order to obtain best accuracy over temperature range,
+		particularly in low temperature, it is recommended to
+		compensate the non-linearity over the temperature.
+
 config MS56XX_THREAD_STACKSIZE
 	int "Worker thread stack size"
 	default 1024
diff --git a/drivers/sensors/ms56xx_uorb.c b/drivers/sensors/ms56xx_uorb.c
index 33249a9135..1306b426ae 100644
--- a/drivers/sensors/ms56xx_uorb.c
+++ b/drivers/sensors/ms56xx_uorb.c
@@ -116,7 +116,8 @@ static int ms56xx_read24(FAR struct ms56xx_dev_s *priv,
 static int32_t ms56xx_compensate_temp(FAR struct ms56xx_dev_s *priv,
                                       uint32_t temp, int32_t *deltat);
 static uint32_t ms56xx_compensate_press(FAR struct ms56xx_dev_s *priv,
-                                        uint32_t press, uint32_t dt);
+                                        uint32_t press, uint32_t dt,
+                                        int32_t temp);
 
 static unsigned long ms56xx_curtime(void);
 
@@ -350,7 +351,7 @@ static inline void baro_measure_read(FAR struct ms56xx_dev_s *priv,
   /* Compensate the temp/press with calibration data */
 
   temp = ms56xx_compensate_temp(priv, temp, &deltat);
-  press = ms56xx_compensate_press(priv, press, deltat);
+  press = ms56xx_compensate_press(priv, press, deltat, temp);
 
   baro->timestamp = ms56xx_curtime();
   baro->pressure = press / 100.0f;
@@ -525,25 +526,78 @@ static int32_t ms56xx_compensate_temp(FAR struct ms56xx_dev_s *priv,
  ****************************************************************************/
 
 static uint32_t ms56xx_compensate_press(FAR struct ms56xx_dev_s *priv,
-                                        uint32_t press, uint32_t dt)
+                                        uint32_t press, uint32_t dt,
+                                        int32_t temp)
 {
   struct ms56xx_calib_s *c = &priv->calib;
   int64_t off = 0;
   int64_t sens = 0;
+#if defined(CONFIG_MS56XX_SECOND_ORDER_COMPENSATE)
+  int64_t off2 = 0;
+  int64_t sens2 = 0;
+  uint64_t delta;
+#endif
 
   switch (priv->model)
     {
       case MS56XX_MODEL_MS5607:
         off = ((int64_t) c->c2 << 17) + ((int64_t) (c->c4 * dt) >> 6);
         sens = ((int64_t) c->c1 << 16) + ((int64_t) (c->c3 * dt) >> 7);
+#if defined(CONFIG_MS56XX_SECOND_ORDER_COMPENSATE)
+        if (temp < 2000)
+          {
+            /* Low temperature */
+
+            delta = temp - 2000;
+            delta *= delta;
+            off2 = (61 * delta) >> 4;
+            sens2 = 2 * delta;
+
+            if (temp < 1500)
+              {
+                /* Very low temperature */
+
+                delta = temp + 1500;
+                delta *= delta;
+                off2 += 15 * delta;
+                sens2 += 8 * delta;
+              }
+          }
+#endif
         break;
 
       case MS56XX_MODEL_MS5611:
         off = ((int64_t) c->c2 << 16) + ((int64_t) (c->c4 * dt) >> 7);
         sens = ((int64_t) c->c1 << 15) + ((int64_t) (c->c3 * dt) >> 8);
+#if defined(CONFIG_MS56XX_SECOND_ORDER_COMPENSATE)
+        if (temp < 2000)
+          {
+            /* Low temperature */
+
+            delta = temp - 2000;
+            delta *= delta;
+            off2 = (5 * delta) >> 1;
+            sens2 = (5 * delta) >> 2;
+
+            if (temp < 1500)
+              {
+                /* Very low temperature */
+
+                delta = temp + 1500;
+                delta *= delta;
+                off2 += 7 * delta;
+                sens2 += (11 * delta) >> 1;
+              }
+          }
+#endif
         break;
     }
 
+#if defined(CONFIG_MS56XX_SECOND_ORDER_COMPENSATE)
+  temp -= ((dt * dt) >> 31);
+  off -= off2;
+  sens -= sens2;
+#endif
   press = (((press * sens) >> 21) - off) >> 15;
 
   return press;