Index: Accel.c
===================================================================
diff -u -r2e02f26ef19c1da94d289ec693c8820561d9b5d4 -rb016222f4ffa51e29fdb8f7449fb94825ae30670
--- Accel.c	(.../Accel.c)	(revision 2e02f26ef19c1da94d289ec693c8820561d9b5d4)
+++ Accel.c	(.../Accel.c)	(revision b016222f4ffa51e29fdb8f7449fb94825ae30670)
@@ -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 )
     {
@@ -587,29 +608,37 @@
 {
     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
+                if ( cal.calibrationTime == 0 )
+                {
+                    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: