diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index 6d4fe7ef27..f54af45e07 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -459,6 +459,7 @@ static void startup_INS_ground(bool force_accel_level)
         // levelling on each boot, and instead rely on the user to do
         // it once via the ground station
         ins.init_accel(flash_leds);
+        ahrs.set_trim(Vector3f(0, 0, 0));
     }
 #endif
     ahrs.reset();