diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index 9c4ab27bc5..5ab067fc29 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -245,6 +245,7 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_accel(uint8_t argc, const Menu::arg *argv)
 {
+  imu.init(IMU::COLD_START, delay, &timer_scheduler);
 	imu.init_accel();
 	print_accel_offsets();
 	report_imu();