diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index d88ff37bd4..6e2ef9f450 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -247,6 +247,7 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_accel(uint8_t argc, const Menu::arg *argv)
 {
+    ahrs.init();
     ins.init(AP_InertialSensor::COLD_START, 
              ins_sample_rate,
              flash_leds);
@@ -285,6 +286,7 @@ static int8_t
 setup_accel_scale(uint8_t argc, const Menu::arg *argv)
 {
     cliSerial->println_P(PSTR("Initialising gyros"));
+    ahrs.init();
     ins.init(AP_InertialSensor::COLD_START, 
              ins_sample_rate,
              flash_leds);
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index a30feae748..042342b805 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -333,6 +333,9 @@ static void startup_ground(void)
 {
     gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
 
+    // initialise ahrs (may push imu calibration into the mpu6000 if using that device).
+    ahrs.init();
+
     // Warm up and read Gyro offsets
     // -----------------------------
     ins.init(AP_InertialSensor::COLD_START,
@@ -342,9 +345,6 @@ static void startup_ground(void)
     report_ins();
  #endif
 
-    // initialise ahrs (may push imu calibration into the mpu6000 if using that device).
-    ahrs.init();
-
     // setup fast AHRS gains to get right attitude
     ahrs.set_fast_gains(true);
 
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index acd3a9782f..68aed9500c 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -461,6 +461,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
     cliSerial->printf_P(PSTR("INS\n"));
     delay(1000);
 
+    ahrs.init();
     ins.init(AP_InertialSensor::COLD_START, 
              ins_sample_rate,
              flash_leds);