Index: Accel.c
===================================================================
diff -u -r03d7cd41280b3e78925adb317b6e7af14118bf96 -ra1447ce5c1e4e02edc3778114d69aa5c43fb9480
--- Accel.c	(.../Accel.c)	(revision 03d7cd41280b3e78925adb317b6e7af14118bf96)
+++ Accel.c	(.../Accel.c)	(revision a1447ce5c1e4e02edc3778114d69aa5c43fb9480)
@@ -187,6 +187,27 @@
     getFPGAAccelMaxes( &xm, &ym, &zm );
     getFPGAAccelStatus( &cnt, &accelFPGAFaultReg );
 
+    // Check if a new calibration is available
+    if ( TRUE == isNewCalibrationRecordAvailable() )
+    {
+#ifdef _HD_
+        HD_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getHDAccelerometerSensorCalibrationRecord();
+#endif
+#ifdef _DG_
+        DG_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getDGAccelerometerSensorCalibrationRecord();
+#endif
+
+        if ( cal.calibrationTime == 0 )
+        {
+            // TODO - accel calibration invalid fault
+        }
+
+        // Update accelerometer calibration factors
+        accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelXOffset;
+        accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelYOffset;
+        accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelZOffset;
+    }
+
     // check fresh sample
     if ( cnt != accelFPGASampleCtr )
     {
@@ -595,35 +616,48 @@
 {
     SELF_TEST_STATUS_T result = SELF_TEST_STATUS_IN_PROGRESS;
 
-#ifdef _HD_
-    HD_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getHDAccelerometerSensorCalibrationRecord();
-#endif
-#ifdef _DG_
-    DG_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getDGAccelerometerSensorCalibrationRecord();
-#endif
-
     switch ( accelSelfTestState )
     {
         case ACCELEROMETER_SELF_TEST_STATE_START:
-
-            accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelXOffset;
-            accelCalOffsets[ ACCEL_AXIS_Y ] = cal.accelYOffset;
-            accelCalOffsets[ ACCEL_AXIS_Z ] = cal.accelZOffset;
-            accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_IN_PROGRESS;
-
-            result = SELF_TEST_STATUS_FAILED;
-            accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_COMPLETE;
-#ifdef _DG_
-            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_ACCELEROMETER_SELF_TEST_FAILURE, 0 )
-#else
-            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_ACCELEROMETER_SELF_TEST_FAILURE, 0 )
-#endif
+        {
+#ifdef _HD_
+            HD_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getHDAccelerometerSensorCalibrationRecord();
+#endif
+#ifdef _DG_
+            DG_ACCELEROMETER_SENSOR_CAL_RECORD_T cal = getDGAccelerometerSensorCalibrationRecord();
+#endif
+
+            accelCalOffsets[ ACCEL_AXIS_X ] = cal.accelXOffset;
+            accelCalOffsets[ ACCEL_AXIS_Y ] = cal.accelYOffset;
+            accelCalOffsets[ ACCEL_AXIS_Z ] = cal.accelZOffset;
+
+            // Ensure calibration has been done for accelerometer
+#ifndef DISABLE_CAL_CHECK
+            if ( cal.calibrationTime == 0 )
+#else
+            if ( FALSE )
+#endif
+            {
+                result = SELF_TEST_STATUS_FAILED;
+                accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_COMPLETE;
+#ifdef _DG_
+                SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_ACCELEROMETER_SELF_TEST_FAILURE, 0 )  // TODO - use invalid cal fault instead.
+#else
+                SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_ACCELEROMETER_SELF_TEST_FAILURE, 0 )
+#endif
+            }
+            else
+            {
+                accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_IN_PROGRESS;
+            }
+        }
             break;
 
         case ACCELEROMETER_SELF_TEST_STATE_IN_PROGRESS:
             {
                 F32 vectorLen = calcVectorLength( accelAxes[ ACCEL_AXIS_X ].data, accelAxes[ ACCEL_AXIS_Y ].data, accelAxes[ ACCEL_AXIS_Z ].data );
 
+#ifndef SKIP_POST
                 if ( fabs(NOMINAL_ACCEL_VECTOR_LENGTH - vectorLen) < MAX_ACCEL_VECTOR_LENGTH_ERROR )
                 {
                     result = SELF_TEST_STATUS_PASSED;
@@ -636,7 +670,10 @@
 #else
                     SET_ALARM_WITH_1_F32_DATA( ALARM_ID_HD_ACCELEROMETER_SELF_TEST_FAILURE, vectorLen )
 #endif
-                }
+                }
+#else
+                result = SELF_TEST_STATUS_PASSED;
+#endif
                 accelSelfTestState = ACCELEROMETER_SELF_TEST_STATE_COMPLETE;
             }
             break;