diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 56fddd7f3d..1827a2100a 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1082,6 +1082,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 } else {
                     result = MAV_RESULT_FAILED;
                 }
+            } else if (is_equal(packet.param5,2.0f)) {
+                // accel trim
+                float trim_roll, trim_pitch;
+                if(ins.calibrate_trim(trim_roll, trim_pitch)) {
+                    // reset ahrs's trim to suggested values from calibration routine
+                    ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
+                    result = MAV_RESULT_ACCEPTED;
+                } else {
+                    result = MAV_RESULT_FAILED;
+                }
             }
             else {
                     send_text_P(SEVERITY_LOW, PSTR("Unsupported preflight calibration"));