diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index e356f9197..ea76183d7 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -15,6 +15,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 
+- ESP32: ADC1 readings are no longer inverted (#4423)
 
 ### Removed
 
diff --git a/esp-hal/src/analog/adc/esp32.rs b/esp-hal/src/analog/adc/esp32.rs
index 424aa802d..d49da470e 100644
--- a/esp-hal/src/analog/adc/esp32.rs
+++ b/esp-hal/src/analog/adc/esp32.rs
@@ -301,6 +301,9 @@ where
 
         // Do *not* invert the output
         // NOTE: This seems backwards, but was verified experimentally.
+        sensors
+            .sar_read_ctrl()
+            .modify(|_, w| w.sar1_data_inv().set_bit());
         sensors
             .sar_read_ctrl2()
             .modify(|_, w| w.sar2_data_inv().set_bit());