diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 6775192d2a..a6d802ea64 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -641,8 +641,11 @@ void Util::apply_persistent_params(void) const
                   been done by whether the IDs are configured in
                   storage
                  */
-                if (strncmp(pname, "INS_ACC", 7) == 0 &&
-                    strcmp(pname+strlen(pname)-3, "_ID") == 0) {
+                bool legacy_acc_id = strncmp(pname, "INS_ACC", 7) == 0 &&
+                    strcmp(pname+strlen(pname)-3, "_ID") == 0;
+                bool new_acc_id = strncmp(pname, "INS", 3) == 0 &&
+                    strcmp(pname+strlen(pname)-6, "ACC_ID") == 0;
+                if (legacy_acc_id || new_acc_id) {
                     enum ap_var_type ptype;
                     AP_Int32 *ap = (AP_Int32 *)AP_Param::find(pname, &ptype);
                     if (ap && ptype == AP_PARAM_INT32) {