diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java
index 57331771df..9e827c3e48 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java
@@ -124,7 +124,9 @@ public class CoordinateSystem {
    */
   public static Transform3d convert(
       Transform3d transform, CoordinateSystem from, CoordinateSystem to) {
+    var coordRot = from.m_rotation.minus(to.m_rotation);
     return new Transform3d(
-        convert(transform.getTranslation(), from, to), convert(transform.getRotation(), from, to));
+        convert(transform.getTranslation(), from, to),
+        coordRot.unaryMinus().plus(transform.getRotation().rotateBy(coordRot)));
   }
 }
diff --git a/wpimath/src/main/native/cpp/geometry/CoordinateSystem.cpp b/wpimath/src/main/native/cpp/geometry/CoordinateSystem.cpp
index d1ee93d417..4b3c20a4c0 100644
--- a/wpimath/src/main/native/cpp/geometry/CoordinateSystem.cpp
+++ b/wpimath/src/main/native/cpp/geometry/CoordinateSystem.cpp
@@ -68,6 +68,8 @@ Pose3d CoordinateSystem::Convert(const Pose3d& pose,
 Transform3d CoordinateSystem::Convert(const Transform3d& transform,
                                       const CoordinateSystem& from,
                                       const CoordinateSystem& to) {
-  return Transform3d{Convert(transform.Translation(), from, to),
-                     Convert(transform.Rotation(), from, to)};
+  const auto coordRot = from.m_rotation - to.m_rotation;
+  return Transform3d{
+      Convert(transform.Translation(), from, to),
+      (-coordRot).RotateBy(transform.Rotation().RotateBy(coordRot))};
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java
index 68babdd813..4dc18263b4 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java
@@ -38,18 +38,12 @@ class CoordinateSystemTest {
     assertEquals(
         transformTo.getTranslation(),
         CoordinateSystem.convert(transformFrom.getTranslation(), coordFrom, coordTo));
-    assertEquals(
-        transformTo.getRotation(),
-        CoordinateSystem.convert(transformFrom.getRotation(), coordFrom, coordTo));
     assertEquals(transformTo, CoordinateSystem.convert(transformFrom, coordFrom, coordTo));
 
     // "to" to "from"
     assertEquals(
         transformFrom.getTranslation(),
         CoordinateSystem.convert(transformTo.getTranslation(), coordTo, coordFrom));
-    assertEquals(
-        transformFrom.getRotation(),
-        CoordinateSystem.convert(transformTo.getRotation(), coordTo, coordFrom));
     assertEquals(transformFrom, CoordinateSystem.convert(transformTo, coordTo, coordFrom));
   }
 
@@ -158,9 +152,7 @@ class CoordinateSystemTest {
     // No rotation from EDN to NWU
     checkTransform3dConvert(
         new Transform3d(new Translation3d(1.0, 2.0, 3.0), new Rotation3d()),
-        new Transform3d(
-            new Translation3d(3.0, -1.0, -2.0),
-            new Rotation3d(Units.degreesToRadians(-90.0), 0.0, Units.degreesToRadians(-90.0))),
+        new Transform3d(new Translation3d(3.0, -1.0, -2.0), new Rotation3d()),
         CoordinateSystem.EDN(),
         CoordinateSystem.NWU());
 
@@ -171,7 +163,7 @@ class CoordinateSystemTest {
             new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
         new Transform3d(
             new Translation3d(3.0, -1.0, -2.0),
-            new Rotation3d(Units.degreesToRadians(-45.0), 0.0, Units.degreesToRadians(-90.0))),
+            new Rotation3d(0.0, Units.degreesToRadians(-45.0), 0.0)),
         CoordinateSystem.EDN(),
         CoordinateSystem.NWU());
 
@@ -182,7 +174,7 @@ class CoordinateSystemTest {
             new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
         new Transform3d(
             new Translation3d(3.0, -1.0, -2.0),
-            new Rotation3d(Units.degreesToRadians(-90.0), 0.0, Units.degreesToRadians(-135.0))),
+            new Rotation3d(0.0, 0.0, Units.degreesToRadians(-45.0))),
         CoordinateSystem.EDN(),
         CoordinateSystem.NWU());
 
@@ -193,10 +185,7 @@ class CoordinateSystemTest {
             new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
         new Transform3d(
             new Translation3d(3.0, -1.0, -2.0),
-            new Rotation3d(
-                Units.degreesToRadians(-90.0),
-                Units.degreesToRadians(45.0),
-                Units.degreesToRadians(-90.0))),
+            new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
         CoordinateSystem.EDN(),
         CoordinateSystem.NWU());
   }
@@ -206,9 +195,7 @@ class CoordinateSystemTest {
     // No rotation from EDN to NED
     checkTransform3dConvert(
         new Transform3d(new Translation3d(1.0, 2.0, 3.0), new Rotation3d()),
-        new Transform3d(
-            new Translation3d(3.0, 1.0, 2.0),
-            new Rotation3d(Units.degreesToRadians(90.0), 0.0, Units.degreesToRadians(90.0))),
+        new Transform3d(new Translation3d(3.0, 1.0, 2.0), new Rotation3d()),
         CoordinateSystem.EDN(),
         CoordinateSystem.NED());
 
@@ -219,7 +206,7 @@ class CoordinateSystemTest {
             new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
         new Transform3d(
             new Translation3d(3.0, 1.0, 2.0),
-            new Rotation3d(Units.degreesToRadians(135.0), 0.0, Units.degreesToRadians(90.0))),
+            new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
         CoordinateSystem.EDN(),
         CoordinateSystem.NED());
 
@@ -230,7 +217,7 @@ class CoordinateSystemTest {
             new Rotation3d(0.0, Units.degreesToRadians(45.0), 0.0)),
         new Transform3d(
             new Translation3d(3.0, 1.0, 2.0),
-            new Rotation3d(Units.degreesToRadians(90.0), 0.0, Units.degreesToRadians(135.0))),
+            new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
         CoordinateSystem.EDN(),
         CoordinateSystem.NED());
 
@@ -241,10 +228,7 @@ class CoordinateSystemTest {
             new Rotation3d(0.0, 0.0, Units.degreesToRadians(45.0))),
         new Transform3d(
             new Translation3d(3.0, 1.0, 2.0),
-            new Rotation3d(
-                Units.degreesToRadians(90.0),
-                Units.degreesToRadians(-45.0),
-                Units.degreesToRadians(90.0))),
+            new Rotation3d(Units.degreesToRadians(45.0), 0.0, 0.0)),
         CoordinateSystem.EDN(),
         CoordinateSystem.NED());
   }
diff --git a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
index fc44fa52ed..28d0dd0fff 100644
--- a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
@@ -37,9 +37,6 @@ void CheckTransform3dConvert(const Transform3d& transformFrom,
   EXPECT_EQ(transformTo.Translation(),
             CoordinateSystem::Convert(transformFrom.Translation(), coordFrom,
                                       coordTo));
-  EXPECT_EQ(
-      transformTo.Rotation(),
-      CoordinateSystem::Convert(transformFrom.Rotation(), coordFrom, coordTo));
   EXPECT_EQ(transformTo,
             CoordinateSystem::Convert(transformFrom, coordFrom, coordTo));
 
@@ -47,9 +44,6 @@ void CheckTransform3dConvert(const Transform3d& transformFrom,
   EXPECT_EQ(
       transformFrom.Translation(),
       CoordinateSystem::Convert(transformTo.Translation(), coordTo, coordFrom));
-  EXPECT_EQ(
-      transformFrom.Rotation(),
-      CoordinateSystem::Convert(transformTo.Rotation(), coordTo, coordFrom));
   EXPECT_EQ(transformFrom,
             CoordinateSystem::Convert(transformTo, coordTo, coordFrom));
 }
@@ -106,29 +100,28 @@ TEST(CoordinateSystemTest, Transform3dEDNtoNWU) {
   // No rotation from EDN to NWU
   CheckTransform3dConvert(
       Transform3d{Translation3d{1_m, 2_m, 3_m}, Rotation3d{}},
-      Transform3d{Translation3d{3_m, -1_m, -2_m},
-                  Rotation3d{-90_deg, 0_deg, -90_deg}},
+      Transform3d{Translation3d{3_m, -1_m, -2_m}, Rotation3d{}},
       CoordinateSystem::EDN(), CoordinateSystem::NWU());
 
   // 45° roll from EDN to NWU
   CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
                                       Rotation3d{45_deg, 0_deg, 0_deg}},
                           Transform3d{Translation3d{3_m, -1_m, -2_m},
-                                      Rotation3d{-45_deg, 0_deg, -90_deg}},
+                                      Rotation3d{0_deg, -45_deg, 0_deg}},
                           CoordinateSystem::EDN(), CoordinateSystem::NWU());
 
   // 45° pitch from EDN to NWU
   CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
                                       Rotation3d{0_deg, 45_deg, 0_deg}},
                           Transform3d{Translation3d{3_m, -1_m, -2_m},
-                                      Rotation3d{-90_deg, 0_deg, -135_deg}},
+                                      Rotation3d{0_deg, 0_deg, -45_deg}},
                           CoordinateSystem::EDN(), CoordinateSystem::NWU());
 
   // 45° yaw from EDN to NWU
   CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
                                       Rotation3d{0_deg, 0_deg, 45_deg}},
                           Transform3d{Translation3d{3_m, -1_m, -2_m},
-                                      Rotation3d{-90_deg, 45_deg, -90_deg}},
+                                      Rotation3d{45_deg, 0_deg, 0_deg}},
                           CoordinateSystem::EDN(), CoordinateSystem::NWU());
 }
 
@@ -136,28 +129,27 @@ TEST(CoordinateSystemTest, Transform3dEDNtoNED) {
   // No rotation from EDN to NED
   CheckTransform3dConvert(
       Transform3d{Translation3d{1_m, 2_m, 3_m}, Rotation3d{}},
-      Transform3d{Translation3d{3_m, 1_m, 2_m},
-                  Rotation3d{90_deg, 0_deg, 90_deg}},
+      Transform3d{Translation3d{3_m, 1_m, 2_m}, Rotation3d{}},
       CoordinateSystem::EDN(), CoordinateSystem::NED());
 
   // 45° roll from EDN to NED
   CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
                                       Rotation3d{45_deg, 0_deg, 0_deg}},
                           Transform3d{Translation3d{3_m, 1_m, 2_m},
-                                      Rotation3d{135_deg, 0_deg, 90_deg}},
+                                      Rotation3d{0_deg, 45_deg, 0_deg}},
                           CoordinateSystem::EDN(), CoordinateSystem::NED());
 
   // 45° pitch from EDN to NED
   CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
                                       Rotation3d{0_deg, 45_deg, 0_deg}},
                           Transform3d{Translation3d{3_m, 1_m, 2_m},
-                                      Rotation3d{90_deg, 0_deg, 135_deg}},
+                                      Rotation3d{0_deg, 0_deg, 45_deg}},
                           CoordinateSystem::EDN(), CoordinateSystem::NED());
 
   // 45° yaw from EDN to NED
   CheckTransform3dConvert(Transform3d{Translation3d{1_m, 2_m, 3_m},
                                       Rotation3d{0_deg, 0_deg, 45_deg}},
                           Transform3d{Translation3d{3_m, 1_m, 2_m},
-                                      Rotation3d{90_deg, -45_deg, 90_deg}},
+                                      Rotation3d{45_deg, 0_deg, 0_deg}},
                           CoordinateSystem::EDN(), CoordinateSystem::NED());
 }