diff --git a/obj/cleanflight_NAZE.hex b/obj/cleanflight_NAZE.hex
index 4f92c4a93..70339f6ef 100644
--- a/obj/cleanflight_NAZE.hex
+++ b/obj/cleanflight_NAZE.hex
@@ -1883,11 +1883,11 @@
 :10759000DFF8B4A1069B35F90A20595F801A084428
 :1075A000F9F73CFB5A49F9F741FC8346FFF780FEA7
 :1075B00030B1584A5146905D5A46FFF711FC834658
-:1075C000DFF888A19AF80320C2B9059B39F90500B4
-:1075D0001A7914325043F9F721FB4A49F9F726FC8E
-:1075E0009AF8043081467BB1D8F848105846F9F72C
-:1075F00069FB01464846F9F75DFA04E05846D8F8B9
-:107600004410F9F75FFB8146434B0136585FF9F7A9
+:1075C000DFF888A19AF803202AB15846D8F8441069
+:1075D000F9F778FB17E0059B39F905001A791432A1
+:1075E0005043F9F71BFB4749F9F720FC9AF80430A0
+:1075F00081464BB1D8F848105846F9F763FB01466D
+:107600004846F9F757FA8146434B0136585FF9F778
 :1076100005FB424B0437D968F9F754FB82465146C3
 :107620004846F9F745FAF9698346F9F74BFBDFF865
 :107630002091049907905846F9F744FBB96AF9F785
@@ -4771,8 +4771,8 @@
 :102A0000753701087C370108873701088C370108C2
 :102A1000000000004166726F333220434C4920763B
 :102A2000657273696F6E20322E32204D61792032CB
-:102A3000382032303134202F2031333A33363A3592
-:102A400030202D2028636C65616E666C6967687440
+:102A3000382032303134202F2032303A30353A319C
+:102A400034202D2028636C65616E666C696768743C
 :102A50002900417661696C61626C6520636F6D6D00
 :102A6000616E64733A0D0A0025730925730D0A001F
 :102A700053797374656D20557074696D653A2025BE
diff --git a/obj/cleanflight_OLIMEXINO.hex b/obj/cleanflight_OLIMEXINO.hex
index 2aa427b36..9f2419e87 100644
--- a/obj/cleanflight_OLIMEXINO.hex
+++ b/obj/cleanflight_OLIMEXINO.hex
@@ -1463,11 +1463,11 @@
 :105B5000FDF722FFDFF8B4A1069B35F90A20595F53
 :105B6000801A0844FAF7D2FF5A49FBF7D7F8834660
 :105B7000FFF780FE30B1584A5146905D5A46FFF714
-:105B800011FC8346DFF888A19AF80320C2B9059B6F
-:105B900039F905001A7914325043FAF7B7FF4A4928
-:105BA000FBF7BCF89AF8043081467BB1D8F848106E
-:105BB0005846FAF7FFFF01464846FAF7F3FE04E0BD
-:105BC0005846D8F84410FAF7F5FF8146434B0136A2
+:105B800011FC8346DFF888A19AF803202AB1584611
+:105B9000D8F84410FBF70EF817E0059B39F905001B
+:105BA0001A7914325043FAF7B1FF4749FBF7B6F8B8
+:105BB0009AF8043081464BB1D8F848105846FAF7A5
+:105BC000F9FF01464846FAF7EDFE8146434B0136A0
 :105BD000585FFAF79BFF424B0437D968FAF7EAFFA0
 :105BE000824651464846FAF7DBFEF9698346FAF7E2
 :105BF000E1FFDFF82091049907905846FAF7DAFFA1
@@ -4107,7 +4107,7 @@
 :10008000FF0D0108040E0108000000004166726FB8
 :10009000333220434C492076657273696F6E20328B
 :1000A0002E32204D61792032382032303134202FE9
-:1000B0002031333A33363A3539202D2028636C65A8
+:1000B0002032303A30343A3031202D2028636C65BC
 :1000C000616E666C696768742900417661696C616C
 :1000D000626C6520636F6D6D616E64733A0D0A002A
 :1000E00025730925730D0A0053797374656D2055C6
diff --git a/src/config.c b/src/config.c
index 8cc799d3c..8c6638ebb 100755
--- a/src/config.c
+++ b/src/config.c
@@ -60,11 +60,11 @@ profile_t currentProfile;   // profile config struct
 
 static const uint8_t EEPROM_CONF_VERSION = 70;
 
-static void resetAccelerometerTrims(int16_flightDynamicsTrims_t *accelerometerTrims)
+static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
-    accelerometerTrims->trims.pitch = 0;
-    accelerometerTrims->trims.roll = 0;
-    accelerometerTrims->trims.yaw = 0;
+    accelerometerTrims->values.pitch = 0;
+    accelerometerTrims->values.roll = 0;
+    accelerometerTrims->values.yaw = 0;
 }
 
 static void resetPidProfile(pidProfile_t *pidProfile)
diff --git a/src/config_master.h b/src/config_master.h
index e2cd07d4e..6efb7ed04 100644
--- a/src/config_master.h
+++ b/src/config_master.h
@@ -34,8 +34,8 @@ typedef struct master_t {
     gyroConfig_t gyroConfig;
 
     uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
-    int16_flightDynamicsTrims_t accZero;
-    int16_flightDynamicsTrims_t magZero;
+    flightDynamicsTrims_t accZero;
+    flightDynamicsTrims_t magZero;
 
     batteryConfig_t batteryConfig;
 
diff --git a/src/flight_autotune.c b/src/flight_autotune.c
index b6cd98d89..a90dab720 100644
--- a/src/flight_autotune.c
+++ b/src/flight_autotune.c
@@ -129,10 +129,10 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
     updatePidIndex();
 
     if (rising) {
-        currentAngle = DECIDEGREES_TO_DEGREES(inclination->rawAngles[angleIndex]);
+        currentAngle = DECIDEGREES_TO_DEGREES(inclination->raw[angleIndex]);
     } else {
         targetAngle = -targetAngle;
-        currentAngle = DECIDEGREES_TO_DEGREES(-inclination->rawAngles[angleIndex]);
+        currentAngle = DECIDEGREES_TO_DEGREES(-inclination->raw[angleIndex]);
     }
 
 #if 1
@@ -244,7 +244,7 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
 
     updateTargetAngle();
 
-    return targetAngle - DECIDEGREES_TO_DEGREES(inclination->rawAngles[angleIndex]);
+    return targetAngle - DECIDEGREES_TO_DEGREES(inclination->raw[angleIndex]);
 }
 
 void autotuneReset(void)
diff --git a/src/flight_common.c b/src/flight_common.c
index 96b368546..e3a7a6655 100644
--- a/src/flight_common.c
+++ b/src/flight_common.c
@@ -35,8 +35,8 @@ pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are w
 
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
 {
-    rollAndPitchTrims->trims.roll = 0;
-    rollAndPitchTrims->trims.pitch = 0;
+    rollAndPitchTrims->values.roll = 0;
+    rollAndPitchTrims->values.pitch = 0;
 }
 
 void resetErrorAngle(void)
@@ -84,7 +84,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
             AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
          } else {
             // calculate error and limit the angle to 50 degrees max inclination
-            errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - inclination.rawAngles[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
+            errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
 
             if (shouldAutotune()) {
                 errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
@@ -94,7 +94,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
                 // it's the ANGLE mode - control is angle based, so control loop is needed
                 AngleRate = errorAngle * pidProfile->A_level;
             } else {
-                //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
+                //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
                 AngleRate = (float)((controlRateConfig->rollPitchRate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
                 if (f.HORIZON_MODE) {
                     // mix up angle error to desired AngleRate to add a little auto-level feel
@@ -156,12 +156,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
             // observe max inclination
             errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
-                    +max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis];
+                    +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 
             if (shouldAutotune()) {
                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
             }
-
+
             PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768   16 bits is ok for result
             PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
 
@@ -224,7 +224,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
         } else {
             // calculate error and limit the angle to max configured inclination
             errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
-                    +max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis]; // 16 bits is ok here
+                    +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
 
             if (shouldAutotune()) {
                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
diff --git a/src/flight_common.h b/src/flight_common.h
index 083b86c1e..7d42e1d78 100644
--- a/src/flight_common.h
+++ b/src/flight_common.h
@@ -69,12 +69,12 @@ typedef struct int16_flightDynamicsTrims_s {
     int16_t roll;
     int16_t pitch;
     int16_t yaw;
-} int16_flightDynamicsTrims_def_t;
+} flightDynamicsTrims_def_t;
 
 typedef union {
     int16_t raw[3];
-    int16_flightDynamicsTrims_def_t trims;
-} int16_flightDynamicsTrims_t;
+    flightDynamicsTrims_def_t values;
+} flightDynamicsTrims_t;
 
 typedef struct rollAndPitchTrims_s {
     int16_t roll;
@@ -83,7 +83,7 @@ typedef struct rollAndPitchTrims_s {
 
 typedef union {
     int16_t raw[2];
-    rollAndPitchTrims_t_def trims;
+    rollAndPitchTrims_t_def values;
 } rollAndPitchTrims_t;
 
 typedef struct rollAndPitchInclination_s {
@@ -93,8 +93,8 @@ typedef struct rollAndPitchInclination_s {
 } rollAndPitchInclination_t_def;
 
 typedef union {
-    int16_t rawAngles[ANGLE_INDEX_COUNT];
-    rollAndPitchInclination_t_def angle;
+    int16_t raw[ANGLE_INDEX_COUNT];
+    rollAndPitchInclination_t_def values;
 } rollAndPitchInclination_t;
 
 
diff --git a/src/flight_imu.c b/src/flight_imu.c
index bc3422bb1..b77acefe2 100755
--- a/src/flight_imu.c
+++ b/src/flight_imu.c
@@ -327,8 +327,8 @@ static void getEstimatedAttitude(void)
     // Attitude of the estimated vector
     anglerad[AI_ROLL] = atan2f(EstG.V.Y, EstG.V.Z);
     anglerad[AI_PITCH] = atan2f(-EstG.V.X, sqrtf(EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z));
-    inclination.angle.rollDeciDegrees = lrintf(anglerad[AI_ROLL] * (1800.0f / M_PI));
-    inclination.angle.pitchDeciDegrees = lrintf(anglerad[AI_PITCH] * (1800.0f / M_PI));
+    inclination.values.rollDeciDegrees = lrintf(anglerad[AI_ROLL] * (1800.0f / M_PI));
+    inclination.values.pitchDeciDegrees = lrintf(anglerad[AI_PITCH] * (1800.0f / M_PI));
 
     if (sensors(SENSOR_MAG))
         heading = calculateHeading(&EstM);
@@ -361,7 +361,7 @@ static void getEstimatedAttitude(void)
 
 bool isThrustFacingDownwards(rollAndPitchInclination_t *inclination)
 {
-    return abs(inclination->angle.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->angle.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
+    return abs(inclination->values.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->values.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
 }
 
 int32_t calculateBaroPid(int32_t vel_tmp, float accZ_tmp, float accZ_old)
diff --git a/src/flight_mixer.c b/src/flight_mixer.c
index c4c864e59..123ffed8c 100755
--- a/src/flight_mixer.c
+++ b/src/flight_mixer.c
@@ -450,8 +450,8 @@ void mixTable(void)
             break;
 
         case MULTITYPE_GIMBAL:
-            servo[0] = (((int32_t)servoConf[0].rate * inclination.angle.pitchDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(0);
-            servo[1] = (((int32_t)servoConf[1].rate * inclination.angle.rollDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(1);
+            servo[0] = (((int32_t)servoConf[0].rate * inclination.values.pitchDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(0);
+            servo[1] = (((int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(1);
             break;
 
         case MULTITYPE_AIRPLANE:
@@ -504,11 +504,11 @@ void mixTable(void)
 
         if (rcOptions[BOXCAMSTAB]) {
             if (gimbalConfig->gimbal_flags & GIMBAL_MIXTILT) {
-                servo[0] -= (-(int32_t)servoConf[0].rate) * inclination.angle.pitchDeciDegrees / 50 - (int32_t)servoConf[1].rate * inclination.angle.rollDeciDegrees / 50;
-                servo[1] += (-(int32_t)servoConf[0].rate) * inclination.angle.pitchDeciDegrees / 50 + (int32_t)servoConf[1].rate * inclination.angle.rollDeciDegrees / 50;
+                servo[0] -= (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 - (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
+                servo[1] += (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 + (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
             } else {
-                servo[0] += (int32_t)servoConf[0].rate * inclination.angle.pitchDeciDegrees / 50;
-                servo[1] += (int32_t)servoConf[1].rate * inclination.angle.rollDeciDegrees  / 50;
+                servo[0] += (int32_t)servoConf[0].rate * inclination.values.pitchDeciDegrees / 50;
+                servo[1] += (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees  / 50;
             }
         }
     }
diff --git a/src/mw.c b/src/mw.c
index 1566dcf57..acba11059 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -267,7 +267,7 @@ void annexCode(void)
         static uint32_t LEDTime;
         if ((int32_t)(currentTime - LEDTime) >= 0) {
             LEDTime = currentTime + 50000;
-            ledringState(f.ARMED, inclination.angle.pitchDeciDegrees, inclination.angle.rollDeciDegrees);
+            ledringState(f.ARMED, inclination.values.pitchDeciDegrees, inclination.values.rollDeciDegrees);
         }
     }
 #endif
@@ -450,16 +450,16 @@ void loop(void)
                 i = 0;
                 // Acc Trim
                 if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
-                    currentProfile.accelerometerTrims.trims.pitch += 2;
+                    currentProfile.accelerometerTrims.values.pitch += 2;
                     i = 1;
                 } else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
-                    currentProfile.accelerometerTrims.trims.pitch -= 2;
+                    currentProfile.accelerometerTrims.values.pitch -= 2;
                     i = 1;
                 } else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
-                    currentProfile.accelerometerTrims.trims.roll += 2;
+                    currentProfile.accelerometerTrims.values.roll += 2;
                     i = 1;
                 } else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
-                    currentProfile.accelerometerTrims.trims.roll -= 2;
+                    currentProfile.accelerometerTrims.values.roll -= 2;
                     i = 1;
                 }
                 if (i) {
diff --git a/src/sensors_acceleration.c b/src/sensors_acceleration.c
index e2abd098e..421b4df10 100644
--- a/src/sensors_acceleration.c
+++ b/src/sensors_acceleration.c
@@ -28,7 +28,7 @@ extern bool AccInflightCalibrationMeasurementDone;
 extern bool AccInflightCalibrationSavetoEEProm;
 extern bool AccInflightCalibrationActive;
 
-static int16_flightDynamicsTrims_t *accelerationTrims;
+static flightDynamicsTrims_t *accelerationTrims;
 
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired)
 {
@@ -95,8 +95,8 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
         accZero_saved[FD_ROLL] = accelerationTrims->raw[FD_ROLL];
         accZero_saved[FD_PITCH] = accelerationTrims->raw[FD_PITCH];
         accZero_saved[FD_YAW] = accelerationTrims->raw[FD_YAW];
-        angleTrim_saved.trims.roll = rollAndPitchTrims->trims.roll;
-        angleTrim_saved.trims.pitch = rollAndPitchTrims->trims.pitch;
+        angleTrim_saved.values.roll = rollAndPitchTrims->values.roll;
+        angleTrim_saved.values.pitch = rollAndPitchTrims->values.pitch;
     }
     if (InflightcalibratingA > 0) {
         for (axis = 0; axis < 3; axis++) {
@@ -118,8 +118,8 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
             accelerationTrims->raw[FD_ROLL] = accZero_saved[FD_ROLL];
             accelerationTrims->raw[FD_PITCH] = accZero_saved[FD_PITCH];
             accelerationTrims->raw[FD_YAW] = accZero_saved[FD_YAW];
-            rollAndPitchTrims->trims.roll = angleTrim_saved.trims.roll;
-            rollAndPitchTrims->trims.pitch = angleTrim_saved.trims.pitch;
+            rollAndPitchTrims->values.roll = angleTrim_saved.values.roll;
+            rollAndPitchTrims->values.pitch = angleTrim_saved.values.pitch;
         }
         InflightcalibratingA--;
     }
@@ -137,7 +137,7 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
 
 }
 
-void applyAccelerationTrims(int16_flightDynamicsTrims_t *accelerationTrims)
+void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
 {
     accADC[FD_ROLL] -= accelerationTrims->raw[FD_ROLL];
     accADC[FD_PITCH] -= accelerationTrims->raw[FD_PITCH];
@@ -160,7 +160,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
     applyAccelerationTrims(accelerationTrims);
 }
 
-void setAccelerationTrims(int16_flightDynamicsTrims_t *accelerationTrimsToUse)
+void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse)
 {
     accelerationTrims = accelerationTrimsToUse;
 }
diff --git a/src/sensors_acceleration.h b/src/sensors_acceleration.h
index 5a0e50071..13aaf57db 100644
--- a/src/sensors_acceleration.h
+++ b/src/sensors_acceleration.h
@@ -20,4 +20,4 @@ extern uint16_t acc_1G;
 bool isAccelerationCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims);
-void setAccelerationTrims(int16_flightDynamicsTrims_t *accelerationTrimsToUse);
+void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse);
diff --git a/src/sensors_compass.c b/src/sensors_compass.c
index 0add266b2..9b639b776 100644
--- a/src/sensors_compass.c
+++ b/src/sensors_compass.c
@@ -33,11 +33,11 @@ void compassInit(void)
     magInit = 1;
 }
 
-int compassGetADC(int16_flightDynamicsTrims_t *magZero)
+int compassGetADC(flightDynamicsTrims_t *magZero)
 {
     static uint32_t t, tCal = 0;
-    static int16_flightDynamicsTrims_t magZeroTempMin;
-    static int16_flightDynamicsTrims_t magZeroTempMax;
+    static flightDynamicsTrims_t magZeroTempMin;
+    static flightDynamicsTrims_t magZeroTempMax;
     uint32_t axis;
 
     if ((int32_t)(currentTime - t) < 0)
diff --git a/src/sensors_compass.h b/src/sensors_compass.h
index b163ef58c..8d4622688 100644
--- a/src/sensors_compass.h
+++ b/src/sensors_compass.h
@@ -2,7 +2,7 @@
 
 #ifdef MAG
 void compassInit(void);
-int compassGetADC(int16_flightDynamicsTrims_t *magZero);
+int compassGetADC(flightDynamicsTrims_t *magZero);
 #endif
 
 extern int16_t magADC[XYZ_AXIS_COUNT];
diff --git a/src/serial_cli.c b/src/serial_cli.c
index 3dd33d85a..70b94cca5 100644
--- a/src/serial_cli.c
+++ b/src/serial_cli.c
@@ -242,8 +242,8 @@ const clivalue_t valueTable[] = {
     { "accxy_deadband", VAR_UINT8, &currentProfile.accxy_deadband, 0, 100 },
     { "accz_deadband", VAR_UINT8, &currentProfile.accz_deadband, 0, 100 },
     { "acc_unarmedcal", VAR_UINT8, &currentProfile.acc_unarmedcal, 0, 1 },
-    { "acc_trim_pitch", VAR_INT16, &currentProfile.accelerometerTrims.trims.pitch, -300, 300 },
-    { "acc_trim_roll", VAR_INT16, &currentProfile.accelerometerTrims.trims.roll, -300, 300 },
+    { "acc_trim_pitch", VAR_INT16, &currentProfile.accelerometerTrims.values.pitch, -300, 300 },
+    { "acc_trim_roll", VAR_INT16, &currentProfile.accelerometerTrims.values.roll, -300, 300 },
 
     { "baro_tab_size", VAR_UINT8, &currentProfile.barometerConfig.baro_sample_count, 0, BARO_SAMPLE_COUNT_MAX },
     { "baro_noise_lpf", VAR_FLOAT, &currentProfile.barometerConfig.baro_noise_lpf, 0, 1 },
diff --git a/src/serial_msp.c b/src/serial_msp.c
index 04dc0af44..f1aa8f9fa 100755
--- a/src/serial_msp.c
+++ b/src/serial_msp.c
@@ -390,8 +390,8 @@ static void evaluateCommand(void)
         rxMspFrameRecieve();
         break;
     case MSP_SET_ACC_TRIM:
-        currentProfile.accelerometerTrims.trims.pitch = read16();
-        currentProfile.accelerometerTrims.trims.roll  = read16();
+        currentProfile.accelerometerTrims.values.pitch = read16();
+        currentProfile.accelerometerTrims.values.roll  = read16();
         headSerialReply(0);
         break;
     case MSP_SET_RAW_GPS:
@@ -608,7 +608,7 @@ static void evaluateCommand(void)
     case MSP_ATTITUDE:
         headSerialReply(6);
         for (i = 0; i < 2; i++)
-            serialize16(inclination.rawAngles[i]);
+            serialize16(inclination.raw[i]);
         serialize16(heading);
         break;
     case MSP_ALTITUDE:
@@ -779,8 +779,8 @@ static void evaluateCommand(void)
     // Additional commands that are not compatible with MultiWii
     case MSP_ACC_TRIM:
         headSerialReply(4);
-        serialize16(currentProfile.accelerometerTrims.trims.pitch);
-        serialize16(currentProfile.accelerometerTrims.trims.roll);
+        serialize16(currentProfile.accelerometerTrims.values.pitch);
+        serialize16(currentProfile.accelerometerTrims.values.roll);
         break;
     case MSP_UID:
         headSerialReply(12);