From 9dbc61f85b8a8318205dcffe61b4a7ed5e990fa7 Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Tue, 26 Mar 2024 11:06:39 +1100
Subject: [PATCH] AP_InertialSensor: Fix parameter name when saving persistent
 accel cals for Aux IMUs

Without this change, you get:
* IMU_ACCOFFS_*
* IMU_ACC2OFFS_*
* IMU_ACC3OFFS_*
* IMU3_ACCOFFS_*

After this change, you get:
* IMU_ACCOFFS_*
* IMU_ACC2OFFS_*
* IMU_ACC3OFFS_*
* IMU4_ACCOFFS_*
---
 libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
index ef5062cb93d25..22b4aa454148c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
@@ -517,7 +517,7 @@ void AP_InertialSensor::get_persistent_params(ExpandingString &str) const
         }
 #if INS_AUX_INSTANCES
         for (uint8_t i=0; i<INS_AUX_INSTANCES; i++) {
-            const uint8_t imu = i+(INS_MAX_INSTANCES-INS_AUX_INSTANCES);
+            const uint8_t imu = i+(INS_MAX_INSTANCES-INS_AUX_INSTANCES)+1;
             const Vector3f &aoff = params[i]._accel_offset.get();
             const Vector3f &ascl = params[i]._accel_scale.get();
             str.printf("INS%u_ACC_ID=%u\n", imu, unsigned(params[i]._accel_id.get()));