diff --git a/libraries/AP_IMU/AP_IMU_INS.cpp b/libraries/AP_IMU/AP_IMU_INS.cpp
index fba59feb6c..075678315f 100644
--- a/libraries/AP_IMU/AP_IMU_INS.cpp
+++ b/libraries/AP_IMU/AP_IMU_INS.cpp
@@ -21,15 +21,11 @@
 
 #include "AP_IMU_INS.h"
 
-// XXX secret knowledge about the APM/oilpan wiring
-//
-#define A_LED_PIN   37
-#define C_LED_PIN   35
-
 void
 AP_IMU_INS::init( Start_style style,
-                     void (*delay_cb)(unsigned long t),
-                     AP_PeriodicProcess * scheduler )
+                  void (*delay_cb)(unsigned long t),
+                  void (*flash_leds_cb)(bool on),
+                  AP_PeriodicProcess * scheduler )
 {
     _ins->init(scheduler);
     // if we are warm-starting, load the calibration data from EEPROM and go
@@ -39,7 +35,7 @@ AP_IMU_INS::init( Start_style style,
     } else {
 
         // do cold-start calibration for both accel and gyro
-        _init_gyro(delay_cb);
+        _init_gyro(delay_cb, flash_leds_cb);
 
         // save calibration
         _sensor_cal.save();
@@ -49,21 +45,23 @@ AP_IMU_INS::init( Start_style style,
 /**************************************************/
 
 void
-AP_IMU_INS::init_gyro(void (*delay_cb)(unsigned long t))
+AP_IMU_INS::init_gyro(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on))
 {
-    _init_gyro(delay_cb);
+    _init_gyro(delay_cb, flash_leds_cb);
     _sensor_cal.save();
 }
 
+#define FLASH_LEDS(on) do { if (flash_leds_cb != NULL) flash_leds_cb(on); } while (0)
+
 void
-AP_IMU_INS::_init_gyro(void (*delay_cb)(unsigned long t))
+AP_IMU_INS::_init_gyro(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on))
 {
 	int flashcount = 0;
 	float adc_in;
 	float prev[3] = {0,0,0};
 	float total_change;
 	float max_offset;
-  float ins_gyro[6];
+    float ins_gyro[6];
 
 	// cold start
 	delay_cb(500);
@@ -72,15 +70,13 @@ AP_IMU_INS::_init_gyro(void (*delay_cb)(unsigned long t))
 	for(int c = 0; c < 25; c++){
     // Mostly we are just flashing the LED's here
     // to tell the user to keep the IMU still
-		digitalWrite(A_LED_PIN, LOW);
-		digitalWrite(C_LED_PIN, HIGH);
+        FLASH_LEDS(true);
 		delay_cb(20);
 
         _ins->update();
         _ins->get_gyros(ins_gyro);
 
-		digitalWrite(A_LED_PIN, HIGH);
-		digitalWrite(C_LED_PIN, LOW);
+        FLASH_LEDS(false);
 		delay_cb(20);
 	}
 
@@ -112,14 +108,12 @@ AP_IMU_INS::_init_gyro(void (*delay_cb)(unsigned long t))
 			delay_cb(20);
 			if(flashcount == 5) {
 				Serial.printf_P(PSTR("*"));
-				digitalWrite(A_LED_PIN, LOW);
-				digitalWrite(C_LED_PIN, HIGH);
+                FLASH_LEDS(true);
 			}
 
 			if(flashcount >= 10) {
 				flashcount = 0;
-				digitalWrite(C_LED_PIN, LOW);
-			    digitalWrite(A_LED_PIN, HIGH);
+                FLASH_LEDS(false);
 			}
 			flashcount++;
 		}
@@ -138,21 +132,21 @@ AP_IMU_INS::save()
 }
 
 void
-AP_IMU_INS::init_accel(void (*delay_cb)(unsigned long t))
+AP_IMU_INS::init_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on))
 {
-    _init_accel(delay_cb);
+    _init_accel(delay_cb, flash_leds_cb);
     _sensor_cal.save();
 }
 
 void
-AP_IMU_INS::_init_accel(void (*delay_cb)(unsigned long t))
+AP_IMU_INS::_init_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on))
 {
 	int flashcount = 0;
 	float adc_in;
 	float prev[6] = {0,0,0};
 	float total_change;
 	float max_offset;
-  float ins_accel[3];
+    float ins_accel[3];
 
 
 	// cold start
@@ -185,14 +179,12 @@ AP_IMU_INS::_init_accel(void (*delay_cb)(unsigned long t))
 
 			if(flashcount == 5) {
 				Serial.printf_P(PSTR("*"));
-				digitalWrite(A_LED_PIN, LOW);
-				digitalWrite(C_LED_PIN, HIGH);
+                FLASH_LEDS(true);
 			}
 
 			if(flashcount >= 10) {
 				flashcount = 0;
-				digitalWrite(C_LED_PIN, LOW);
-				digitalWrite(A_LED_PIN, HIGH);
+                FLASH_LEDS(false);
 			}
 			flashcount++;
 		}
diff --git a/libraries/AP_IMU/AP_IMU_INS.h b/libraries/AP_IMU/AP_IMU_INS.h
index e47ec584d4..1b75b579ed 100644
--- a/libraries/AP_IMU/AP_IMU_INS.h
+++ b/libraries/AP_IMU/AP_IMU_INS.h
@@ -43,11 +43,14 @@ public:
 	///
 	virtual void		init( Start_style style = COLD_START,
                               void (*delay_cb)(unsigned long t) = delay,
+                              void (*flash_leds_cb)(bool on) = NULL,
                               AP_PeriodicProcess *scheduler = NULL );
 
 	virtual void		save();
-	virtual void		init_accel(void (*delay_cb)(unsigned long t) = delay);
-	virtual void		init_gyro(void (*delay_cb)(unsigned long t) = delay);
+	virtual void		init_accel(void (*delay_cb)(unsigned long t) = delay,
+                                   void (*flash_leds_cb)(bool on) = NULL);
+	virtual void		init_gyro(void (*delay_cb)(unsigned long t) = delay,
+                                  void (*flash_leds_cb)(bool on) = NULL);
 	virtual bool		update(void);
 
 	// for jason
@@ -67,8 +70,10 @@ private:
     AP_InertialSensor   *_ins;          ///< INS provides an axis and unit correct sensor source.
     AP_VarA<float,6>    _sensor_cal;    ///< Calibrated sensor offsets
 
-    virtual void        _init_accel(void (*delay_cb)(unsigned long t));  ///< no-save implementation
-    virtual void        _init_gyro(void (*delay_cb)(unsigned long t));   ///< no-save implementation
+    virtual void        _init_accel(void (*delay_cb)(unsigned long t),
+                                    void (*flash_leds_cb)(bool on) = NULL);  ///< no-save implementation
+    virtual void        _init_gyro(void (*delay_cb)(unsigned long t),
+                                   void (*flash_leds_cb)(bool on) = NULL);   ///< no-save implementation
 
     float _calibrated(uint8_t channel, float ins_value);
 
diff --git a/libraries/AP_IMU/AP_IMU_Shim.h b/libraries/AP_IMU/AP_IMU_Shim.h
index 8bb692e236..02aa86ee29 100644
--- a/libraries/AP_IMU/AP_IMU_Shim.h
+++ b/libraries/AP_IMU/AP_IMU_Shim.h
@@ -15,10 +15,14 @@ public:
 
 	/// @name IMU protocol
 	//@{
-    virtual void	init(Start_style style = COLD_START, void (*callback)(unsigned long t) = delay,
+    virtual void	init(Start_style style = COLD_START, 
+						 void (*callback)(unsigned long t) = delay,
+						 void (*flash_leds_cb)(bool on) = NULL,
 						 AP_PeriodicProcess *scheduler = NULL) {};
-	virtual void	init_accel(void (*callback)(unsigned long t) = delay) {};
-	virtual void	init_gyro(void (*callback)(unsigned long t) = delay) {};
+	virtual void	init_accel(void (*callback)(unsigned long t) = delay,
+							   void (*flash_leds_cb)(bool on) = NULL) {};
+	virtual void	init_gyro(void (*callback)(unsigned long t) = delay,
+							  void (*flash_leds_cb)(bool on) = NULL) {};
 	virtual bool	update(void) {
 		bool updated = _updated;
 		_updated = false;
diff --git a/libraries/AP_IMU/IMU.cpp b/libraries/AP_IMU/IMU.cpp
index e12f7e6bc8..ed77b1b759 100644
--- a/libraries/AP_IMU/IMU.cpp
+++ b/libraries/AP_IMU/IMU.cpp
@@ -11,14 +11,15 @@ IMU::IMU () {}
 
 
 void IMU::init( Start_style style,
-                   void (*delay_cb)(unsigned long t),
-                   AP_PeriodicProcess * scheduler )
+		void (*delay_cb)(unsigned long t),
+		void (*flash_leds_cb)(bool on),
+		AP_PeriodicProcess * scheduler )
 { }
 
-void IMU::init_accel(void (*delay_cb)(unsigned long t))
+void IMU::init_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on))
 { }
 
-void IMU::init_gyro(void (*delay_cb)(unsigned long t))
+void IMU::init_gyro(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on))
 { }
 
 bool IMU::update(void) { return false; }
diff --git a/libraries/AP_IMU/IMU.h b/libraries/AP_IMU/IMU.h
index cdc12f8ec8..f5710d70af 100644
--- a/libraries/AP_IMU/IMU.h
+++ b/libraries/AP_IMU/IMU.h
@@ -38,6 +38,7 @@ public:
 	///
 	virtual void	init( Start_style style,
                           void (*delay_cb)(unsigned long t),
+						  void (*flash_leds_cb)(bool on),
                           AP_PeriodicProcess * scheduler );
 
 	/// Perform cold startup initialisation for just the accelerometers.
@@ -45,14 +46,14 @@ public:
 	/// @note This should not be called unless ::init has previously
 	///       been called, as ::init may perform other work.
 	///
-	virtual void	init_accel(void (*callback)(unsigned long t));
+	virtual void	init_accel(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on));
 
 	/// Perform cold-start initialisation for just the gyros.
 	///
 	/// @note This should not be called unless ::init has previously
 	///       been called, as ::init may perform other work
 	///
-	virtual void	init_gyro(void (*callback)(unsigned long t));
+	virtual void	init_gyro(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on));
 
 	/// Give the IMU some cycles to perform/fetch an update from its
 	/// sensors.