diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 80df3ba141..32d7b8e260 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1146,7 +1146,7 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d",                      masterConfig.escAndServoConfig.minthrottle);
         BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d",                      masterConfig.escAndServoConfig.maxthrottle);
         BLACKBOX_PRINT_HEADER_LINE("gyro.scale:0x%x",                     castFloatBytesToInt(gyro.scale));
-        BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u",                           acc_1G);
+        BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u",                           acc.acc_1G);
 
         BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
             if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
diff --git a/src/main/drivers/accgyro.h b/src/main/drivers/accgyro.h
index 1a99d98381..385ea90b97 100644
--- a/src/main/drivers/accgyro.h
+++ b/src/main/drivers/accgyro.h
@@ -21,8 +21,6 @@
 #define MPU_I2C_INSTANCE I2C_DEVICE
 #endif
 
-extern uint16_t acc_1G; // FIXME move into acc_t
-
 typedef struct gyro_s {
     sensorGyroInitFuncPtr init;                             // initialize function
     sensorReadFuncPtr read;                                 // read 3 axis data function
@@ -32,7 +30,8 @@ typedef struct gyro_s {
 } gyro_t;
 
 typedef struct acc_s {
-    sensorInitFuncPtr init;                                 // initialize function
+    sensorAccInitFuncPtr init;                                 // initialize function
     sensorReadFuncPtr read;                                 // read 3 axis data function
+    uint16_t acc_1G;
     char revisionCode;                                      // a revision code for the sensor, if known
 } acc_t;
diff --git a/src/main/drivers/accgyro_adxl345.c b/src/main/drivers/accgyro_adxl345.c
index 57b5ea339a..5604042778 100644
--- a/src/main/drivers/accgyro_adxl345.c
+++ b/src/main/drivers/accgyro_adxl345.c
@@ -56,7 +56,7 @@
 #define ADXL345_RANGE_16G   0x03
 #define ADXL345_FIFO_STREAM 0x80
 
-static void adxl345Init(void);
+static void adxl345Init(acc_t *acc);
 static bool adxl345Read(int16_t *accelData);
 
 static bool useFifo = false;
@@ -78,7 +78,7 @@ bool adxl345Detect(drv_adxl345_config_t *init, acc_t *acc)
     return true;
 }
 
-static void adxl345Init(void)
+static void adxl345Init(acc_t *acc)
 {
     if (useFifo) {
         uint8_t fifoDepth = 16;
@@ -91,7 +91,7 @@ static void adxl345Init(void)
         i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G);
         i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_RATE_100);
     }
-    acc_1G = 265; // 3.3V operation // FIXME verify this is supposed to be 265, not 256. Typo?
+    acc->acc_1G = 256; // 3.3V operation
 }
 
 uint8_t acc_samples = 0;
diff --git a/src/main/drivers/accgyro_bma280.c b/src/main/drivers/accgyro_bma280.c
index b93fda695d..866d944e3d 100644
--- a/src/main/drivers/accgyro_bma280.c
+++ b/src/main/drivers/accgyro_bma280.c
@@ -32,7 +32,7 @@
 #define BMA280_PMU_BW      0x10
 #define BMA280_PMU_RANGE   0x0F
 
-static void bma280Init(void);
+static void bma280Init(acc_t *acc);
 static bool bma280Read(int16_t *accelData);
 
 bool bma280Detect(acc_t *acc)
@@ -49,12 +49,12 @@ bool bma280Detect(acc_t *acc)
     return true;
 }
 
-static void bma280Init(void)
+static void bma280Init(acc_t *acc)
 {
 	i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_RANGE, 0x08); // +-8g range
 	i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_BW, 0x0E); // 500Hz BW
 
-    acc_1G = 512 * 8;
+    acc->acc_1G = 512 * 8;
 }
 
 static bool bma280Read(int16_t *accelData)
diff --git a/src/main/drivers/accgyro_lsm303dlhc.c b/src/main/drivers/accgyro_lsm303dlhc.c
index aa47f258c0..505764b29a 100644
--- a/src/main/drivers/accgyro_lsm303dlhc.c
+++ b/src/main/drivers/accgyro_lsm303dlhc.c
@@ -113,7 +113,7 @@ int32_t accelSummedSamples100Hz[3];
 
 int32_t accelSummedSamples500Hz[3];
 
-void lsm303dlhcAccInit(void)
+void lsm303dlhcAccInit(acc_t *acc)
 {
 	i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG5_A, BOOT);
 
@@ -127,7 +127,7 @@ void lsm303dlhcAccInit(void)
 
     delay(100);
 
-    acc_1G = 512 * 8;
+    acc->acc_1G = 512 * 8;
 }
 
 // Read 3 gyro values into user-provided buffer. No overrun checking is done.
diff --git a/src/main/drivers/accgyro_mma845x.c b/src/main/drivers/accgyro_mma845x.c
index ad22c64f0a..2687c34b1a 100644
--- a/src/main/drivers/accgyro_mma845x.c
+++ b/src/main/drivers/accgyro_mma845x.c
@@ -81,7 +81,7 @@
 
 static uint8_t device_id;
 
-static void mma8452Init(void);
+static void mma8452Init(acc_t *acc);
 static bool mma8452Read(int16_t *accelData);
 
 bool mma8452Detect(acc_t *acc)
@@ -114,7 +114,7 @@ static inline void mma8451ConfigureInterrupt(void)
 	i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
 }
 
-static void mma8452Init(void)
+static void mma8452Init(acc_t *acc)
 {
 
     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
@@ -126,7 +126,7 @@ static void mma8452Init(void)
 
     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
 
-    acc_1G = 256;
+    acc->acc_1G = 256;
 }
 
 static bool mma8452Read(int16_t *accelData)
diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index 6fca12e059..d2717b1350 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -51,7 +51,7 @@ extern uint8_t mpuLowPassFilter;
 
 #define MPU6050_SMPLRT_DIV      0       // 8000Hz
 
-static void mpu6050AccInit(void);
+static void mpu6050AccInit(acc_t *acc);
 static void mpu6050GyroInit(uint8_t lpf);
 
 bool mpu6050AccDetect(acc_t *acc)
@@ -82,16 +82,16 @@ bool mpu6050GyroDetect(gyro_t *gyro)
     return true;
 }
 
-static void mpu6050AccInit(void)
+static void mpu6050AccInit(acc_t *acc)
 {
     mpuIntExtiInit();
 
     switch (mpuDetectionResult.resolution) {
         case MPU_HALF_RESOLUTION:
-            acc_1G = 256 * 4;
+            acc->acc_1G = 256 * 4;
             break;
         case MPU_FULL_RESOLUTION:
-            acc_1G = 512 * 4;
+            acc->acc_1G = 512 * 4;
             break;
     }
 }
diff --git a/src/main/drivers/accgyro_mpu6500.c b/src/main/drivers/accgyro_mpu6500.c
index d157984ec8..0cc23cfa9b 100644
--- a/src/main/drivers/accgyro_mpu6500.c
+++ b/src/main/drivers/accgyro_mpu6500.c
@@ -35,8 +35,6 @@
 #include "accgyro_mpu.h"
 #include "accgyro_mpu6500.h"
 
-extern uint16_t acc_1G;
-
 bool mpu6500AccDetect(acc_t *acc)
 {
     if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
@@ -65,11 +63,11 @@ bool mpu6500GyroDetect(gyro_t *gyro)
     return true;
 }
 
-void mpu6500AccInit(void)
+void mpu6500AccInit(acc_t *acc)
 {
     mpuIntExtiInit();
 
-    acc_1G = 512 * 4;
+    acc->acc_1G = 512 * 4;
 }
 
 void mpu6500GyroInit(uint8_t lpf)
diff --git a/src/main/drivers/accgyro_mpu6500.h b/src/main/drivers/accgyro_mpu6500.h
index 3c2339e32d..ecdd100bc0 100644
--- a/src/main/drivers/accgyro_mpu6500.h
+++ b/src/main/drivers/accgyro_mpu6500.h
@@ -26,5 +26,5 @@
 bool mpu6500AccDetect(acc_t *acc);
 bool mpu6500GyroDetect(gyro_t *gyro);
 
-void mpu6500AccInit(void);
+void mpu6500AccInit(acc_t *acc);
 void mpu6500GyroInit(uint8_t lpf);
diff --git a/src/main/drivers/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro_spi_mpu6000.c
index 31c7ad6fb1..56143f0e4e 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@@ -144,11 +144,11 @@ void mpu6000SpiGyroInit(uint8_t lpf)
     }
 }
 
-void mpu6000SpiAccInit(void)
+void mpu6000SpiAccInit(acc_t *acc)
 {
     mpuIntExtiInit();
 
-    acc_1G = 512 * 4;
+    acc->acc_1G = 512 * 4;
 }
 
 bool mpu6000SpiDetect(void)
diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
index 3cc8ab1ed9..316a296c3a 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -40,8 +40,6 @@
 
 static IO_t mpuSpi6500CsPin = IO_NONE;
 
-extern uint16_t acc_1G;
-
 bool mpu6500WriteRegister(uint8_t reg, uint8_t data)
 {
     ENABLE_MPU6500;
diff --git a/src/main/drivers/accgyro_spi_mpu9250.c b/src/main/drivers/accgyro_spi_mpu9250.c
index 72248c30a9..2721d05594 100644
--- a/src/main/drivers/accgyro_spi_mpu9250.c
+++ b/src/main/drivers/accgyro_spi_mpu9250.c
@@ -116,11 +116,11 @@ void mpu9250SpiGyroInit(uint8_t lpf)
     }
 }
 
-void mpu9250SpiAccInit(void)
+void mpu9250SpiAccInit(acc_t *acc)
 {
     mpuIntExtiInit();
 
-    acc_1G = 512 * 8;
+    acc->acc_1G = 512 * 8;
 }
 
 
diff --git a/src/main/drivers/sensor.h b/src/main/drivers/sensor.h
index 739e3e4b5b..6554f8267d 100644
--- a/src/main/drivers/sensor.h
+++ b/src/main/drivers/sensor.h
@@ -17,7 +17,9 @@
 
 #pragma once
 
+struct acc_s;
 typedef void (*sensorInitFuncPtr)(void);                    // sensor init prototype
 typedef bool (*sensorReadFuncPtr)(int16_t *data);           // sensor read and align prototype
-typedef void (*sensorGyroInitFuncPtr)(uint8_t lpf);        // gyro sensor init prototype
+typedef void (*sensorAccInitFuncPtr)(struct acc_s *acc);    // sensor init prototype
+typedef void (*sensorGyroInitFuncPtr)(uint8_t lpf);         // gyro sensor init prototype
 typedef void (*sensorInterruptFuncPtr)(bool *data);         // sensor Interrupt Data Ready
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 0906c4ac47..2e200cff1f 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -124,7 +124,7 @@ void imuInit(void)
 {
     smallAngleCosZ = cos_approx(degreesToRadians(imuRuntimeConfig->small_angle));
     gyroScale = gyro.scale * (M_PIf / 180.0f);  // gyro output scaled to rad per second
-    accVelScale = 9.80665f / acc_1G / 10000.0f;
+    accVelScale = 9.80665f / acc.acc_1G / 10000.0f;
 
     imuComputeRotationMatrix();
 }
@@ -189,7 +189,7 @@ void imuCalculateAcceleration(uint32_t deltaT)
         }
         accel_ned.V.Z -= accZoffset / 64;  // compensate for gravitation on z-axis
     } else
-        accel_ned.V.Z -= acc_1G;
+        accel_ned.V.Z -= acc.acc_1G;
 
     accz_smooth = accz_smooth + (dT / (fc_acc + dT)) * (accel_ned.V.Z - accz_smooth); // low pass filter
 
@@ -362,7 +362,7 @@ static bool imuIsAccelerometerHealthy(void)
         accMagnitude += (int32_t)accSmooth[axis] * accSmooth[axis];
     }
 
-    accMagnitude = accMagnitude * 100 / (sq((int32_t)acc_1G));
+    accMagnitude = accMagnitude * 100 / (sq((int32_t)acc.acc_1G));
 
     // Accept accel readings only in range 0.90g - 1.10g
     return (81 < accMagnitude) && (accMagnitude < 121);
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index df3988e281..b332c1373b 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -764,7 +764,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         headSerialReply(18);
 
         // Hack scale due to choice of units for sensor data in multiwii
-        uint8_t scale = (acc_1G > 1024) ? 8 : 1;
+        uint8_t scale = (acc.acc_1G > 1024) ? 8 : 1;
 
         for (i = 0; i < 3; i++)
             serialize16(accSmooth[i] / scale);
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 5631827625..320d00ddde 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -43,7 +43,6 @@ int32_t accSmooth[XYZ_AXIS_COUNT];
 
 acc_t acc;                       // acc access functions
 sensor_align_e accAlign = 0;
-uint16_t acc_1G = 256;          // this is the 1G measured acceleration.
 uint32_t accTargetLooptime;
 
 uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
@@ -109,7 +108,7 @@ void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
         // Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
         accelerationTrims->raw[X] = (a[X] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
         accelerationTrims->raw[Y] = (a[Y] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
-        accelerationTrims->raw[Z] = (a[Z] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
+        accelerationTrims->raw[Z] = (a[Z] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc.acc_1G;
 
         resetRollAndPitchTrims(rollAndPitchTrims);
 
@@ -164,7 +163,7 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
         AccInflightCalibrationSavetoEEProm = false;
         accelerationTrims->raw[X] = b[X] / 50;
         accelerationTrims->raw[Y] = b[Y] / 50;
-        accelerationTrims->raw[Z] = b[Z] / 50 - acc_1G;    // for nunchuck 200=1G
+        accelerationTrims->raw[Z] = b[Z] / 50 - acc.acc_1G;    // for nunchuck 200=1G
 
         resetRollAndPitchTrims(rollAndPitchTrims);
 
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 38006a04f9..9e56c2abea 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -35,7 +35,6 @@ typedef enum {
 
 extern sensor_align_e accAlign;
 extern acc_t acc;
-extern uint16_t acc_1G;
 extern uint32_t accTargetLooptime;
 
 extern int32_t accSmooth[XYZ_AXIS_COUNT];
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index e856112948..a69a976b67 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -627,8 +627,10 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
 
 
     // Now time to init things, acc first
-    if (sensors(SENSOR_ACC))
-        acc.init();
+    if (sensors(SENSOR_ACC)) {
+        acc.acc_1G = 256; // set default
+        acc.init(&acc);
+    }
     // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
     gyroUpdateSampleRate(gyroLpf, gyroSyncDenominator);    // Set gyro refresh rate before initialisation
     gyro.init(gyroLpf);
diff --git a/src/main/target/COLIBRI_RACE/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c
index 25638fb546..ec7122ddea 100644
--- a/src/main/target/COLIBRI_RACE/i2c_bst.c
+++ b/src/main/target/COLIBRI_RACE/i2c_bst.c
@@ -606,7 +606,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
 		case BST_RAW_IMU:
 			{
 				// Hack scale due to choice of units for sensor data in multiwii
-				uint8_t scale = (acc_1G > 1024) ? 8 : 1;
+				uint8_t scale = (acc.acc_1G > 1024) ? 8 : 1;
 
 				for (i = 0; i < 3; i++)
 					bstWrite16(accSmooth[i] / scale);
diff --git a/src/main/telemetry/frsky.c b/src/main/telemetry/frsky.c
index 9e59d2709c..35185b9676 100644
--- a/src/main/telemetry/frsky.c
+++ b/src/main/telemetry/frsky.c
@@ -166,7 +166,7 @@ static void sendAccel(void)
 
     for (i = 0; i < 3; i++) {
         sendDataHead(ID_ACC_X + i);
-        serialize16(((float)accSmooth[i] / acc_1G) * 1000);
+        serialize16(((float)accSmooth[i] / acc.acc_1G) * 1000);
     }
 }
 
diff --git a/src/test/unit/flight_imu_unittest.cc b/src/test/unit/flight_imu_unittest.cc
index c575a74f59..791e40d62c 100644
--- a/src/test/unit/flight_imu_unittest.cc
+++ b/src/test/unit/flight_imu_unittest.cc
@@ -79,7 +79,7 @@ uint32_t rcModeActivationMask;
 int16_t rcCommand[4];
 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 
-uint16_t acc_1G;
+acc_t acc;
 int16_t heading;
 gyro_t gyro;
 int16_t magADC[XYZ_AXIS_COUNT];