Index: firmware/App/Controllers/LoadCell.c
===================================================================
diff -u -r4d7d40a27130dc813d653f044cbb856b1b7d8481 -r4af713cb53b909ba87893dc814d39af89fb8e8d2
--- firmware/App/Controllers/LoadCell.c	(.../LoadCell.c)	(revision 4d7d40a27130dc813d653f044cbb856b1b7d8481)
+++ firmware/App/Controllers/LoadCell.c	(.../LoadCell.c)	(revision 4af713cb53b909ba87893dc814d39af89fb8e8d2)
@@ -38,9 +38,9 @@
 
 static OVERRIDE_U32_T loadCellDataPublishInterval = { LOAD_CELL_REPORT_PERIOD,
                                                       LOAD_CELL_REPORT_PERIOD, 0, 0 };  ///< Broadcast load cell data publish interval.
-static U32 measuredLoadCellReadingsRaw[ NUM_OF_LOAD_CELLS ];                            ///< Latest measured raw load cell readings.
 static U32 measuredLoadCellReadingsSum[ NUM_OF_LOAD_CELLS ];                            ///< Raw load cell sums for averaging.
 static OVERRIDE_F32_T filteredLoadCellWeights[ NUM_OF_LOAD_CELLS ];                     ///< Latest filtered load cell weights.
+static F32 autoCalOffset[ NUM_OF_LOAD_CELLS ];                                          ///< Auto calibration offset for load cell.
 static U32 loadCellFilterTimerCount = 0;                                                ///< Load cell filtering timer count.
 static U32 loadCellDataPublicationTimerCounter = 0;                                     ///< Load cell data publication timer counter to CAN bus.
 
@@ -67,7 +67,8 @@
         filteredLoadCellWeights[ i ].override = OVERRIDE_RESET;
 
         measuredLoadCellReadingsSum[ i ] = 0;
-        measuredLoadCellReadingsRaw[ i ] = 0;
+
+        autoCalOffset[ i ] = 0.0;
     }
 }
 
@@ -81,16 +82,11 @@
  *************************************************************************/
 void execLoadCell( void )
 {
-    // get latest raw load cell readings
-    measuredLoadCellReadingsRaw[ LOAD_CELL_A1 ] = getFPGALoadCellA1();
-    measuredLoadCellReadingsRaw[ LOAD_CELL_A2 ] = getFPGALoadCellA2();
-    measuredLoadCellReadingsRaw[ LOAD_CELL_B1 ] = getFPGALoadCellB1();
-    measuredLoadCellReadingsRaw[ LOAD_CELL_B2 ] = getFPGALoadCellB2();
     // update sums for load cell average calculations
-    measuredLoadCellReadingsSum[ LOAD_CELL_A1 ] += measuredLoadCellReadingsRaw[ LOAD_CELL_A1 ];
-    measuredLoadCellReadingsSum[ LOAD_CELL_A2 ] += measuredLoadCellReadingsRaw[ LOAD_CELL_A2 ];
-    measuredLoadCellReadingsSum[ LOAD_CELL_B1 ] += measuredLoadCellReadingsRaw[ LOAD_CELL_B1 ];
-    measuredLoadCellReadingsSum[ LOAD_CELL_B2 ] += measuredLoadCellReadingsRaw[ LOAD_CELL_B2 ];
+    measuredLoadCellReadingsSum[ LOAD_CELL_A1 ] += getFPGALoadCellA1();
+    measuredLoadCellReadingsSum[ LOAD_CELL_A2 ] += getFPGALoadCellA2();
+    measuredLoadCellReadingsSum[ LOAD_CELL_B1 ] += getFPGALoadCellB1();
+    measuredLoadCellReadingsSum[ LOAD_CELL_B2 ] += getFPGALoadCellB2();
 
     // filter every 100ms
     if ( ++loadCellFilterTimerCount >= LOAD_CELL_SAMPLES_TO_AVERAGE )
@@ -99,13 +95,13 @@
 
         // calculate load cell average weights
         filteredLoadCellWeights[ LOAD_CELL_A1 ].data = (F32)measuredLoadCellReadingsSum[ LOAD_CELL_A1 ] *
-                LOAD_CELL_AVERAGE_MULTIPLIER * ADC2GRAM + LOAD_CELL_ZERO_OFFSET;
+                LOAD_CELL_AVERAGE_MULTIPLIER * ADC2GRAM + LOAD_CELL_ZERO_OFFSET - autoCalOffset[ LOAD_CELL_A1 ];
         filteredLoadCellWeights[ LOAD_CELL_A2 ].data = (F32)measuredLoadCellReadingsSum[ LOAD_CELL_A2 ] *
-                LOAD_CELL_AVERAGE_MULTIPLIER * ADC2GRAM + LOAD_CELL_ZERO_OFFSET;
+                LOAD_CELL_AVERAGE_MULTIPLIER * ADC2GRAM + LOAD_CELL_ZERO_OFFSET - autoCalOffset[ LOAD_CELL_A2 ];
         filteredLoadCellWeights[ LOAD_CELL_B1 ].data = (F32)measuredLoadCellReadingsSum[ LOAD_CELL_B1 ] *
-                LOAD_CELL_AVERAGE_MULTIPLIER * ADC2GRAM + LOAD_CELL_ZERO_OFFSET;
+                LOAD_CELL_AVERAGE_MULTIPLIER * ADC2GRAM + LOAD_CELL_ZERO_OFFSET - autoCalOffset[ LOAD_CELL_B1 ];
         filteredLoadCellWeights[ LOAD_CELL_B2 ].data = (F32)measuredLoadCellReadingsSum[ LOAD_CELL_B2 ] *
-                LOAD_CELL_AVERAGE_MULTIPLIER * ADC2GRAM + LOAD_CELL_ZERO_OFFSET;
+                LOAD_CELL_AVERAGE_MULTIPLIER * ADC2GRAM + LOAD_CELL_ZERO_OFFSET - autoCalOffset[ LOAD_CELL_B2 ];
 
         // reset sums for next averaging
         measuredLoadCellReadingsSum[ LOAD_CELL_A1 ] = 0;
@@ -127,6 +123,20 @@
 
 /*********************************************************************//**
  * @brief
+ * The setLoadCellAutoCal function sets the load cell auto calibration offset
+ * for a given load cell ID.
+ * @details Inputs: none
+ * @details Outputs: autoCalibrationOffset[]
+ * @param loadCellID ID of load cell to set calibration offset for
+ * @param calOffset auto calibration offset value
+ *************************************************************************/
+void setLoadCellAutoCal( LOAD_CELL_ID_T loadCellID, F32 calOffset )
+{
+    autoCalOffset[ loadCellID ] = calOffset;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getLoadCellFilteredWeight function gets the measured filtered load cell
  * weight for a given load cell ID.
  * @details Inputs: filteredLoadCellWeights[]