diff --git a/Tools/autotest/ArduPlane.parm b/Tools/autotest/ArduPlane.parm
index 9c5575e7f66b7b66f1c1f42f174b81829f0e5d1c..bfa88d15d0d2da40b5354c0bb019fe7a2e09f645 100644
--- a/Tools/autotest/ArduPlane.parm
+++ b/Tools/autotest/ArduPlane.parm
@@ -65,3 +65,10 @@ ACRO_LOCKING     1
 ELEVON_OUTPUT    0
 VTAIL_OUTPUT     0
 SKIP_GYRO_CAL    1
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
diff --git a/Tools/autotest/Rover.parm b/Tools/autotest/Rover.parm
index 9e0628b132f5c2878855b1f3c7222350f7b96c0b..cd86b5eff923f77ce9500986af3a94eeffa741a5 100644
--- a/Tools/autotest/Rover.parm
+++ b/Tools/autotest/Rover.parm
@@ -18,3 +18,10 @@ MODE6        0
 STEER2SRV_P     1.8
 SIM_GPS_DELAY 2
 NAVL1_PERIOD 6
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
diff --git a/Tools/autotest/copter_AVC2013_params.parm b/Tools/autotest/copter_AVC2013_params.parm
index 32a9ee62d53f86457fa0b4115ff4e2803d26c2ad..3c4c7c0f7bb4d97080943074b3b8a190305accf0 100644
--- a/Tools/autotest/copter_AVC2013_params.parm
+++ b/Tools/autotest/copter_AVC2013_params.parm
@@ -48,6 +48,13 @@ SIM_WIND_SPD    0
 SIM_WIND_TURB   0
 SIM_BARO_RND    0
 SIM_MAG_RND     0
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
 # flightmodes
 # switch 1 Circle
 # switch 2 LAND
diff --git a/Tools/autotest/copter_params.parm b/Tools/autotest/copter_params.parm
index 5b062baeb787498c70e77136db330caffb5022d7..710b72a4cd4397f00084c68789f6294b6d230ded 100644
--- a/Tools/autotest/copter_params.parm
+++ b/Tools/autotest/copter_params.parm
@@ -46,6 +46,13 @@ SIM_WIND_SPD    0
 SIM_WIND_TURB   0
 SIM_BARO_RND    0
 SIM_MAG_RND     0
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
 # flightmodes
 # switch 1 Circle
 # switch 2 LAND