diff --git a/src/drivers/bmi160/bmi160.cpp b/src/drivers/bmi160/bmi160.cpp
index 91a11f5a14..9f6289039c 100644
--- a/src/drivers/bmi160/bmi160.cpp
+++ b/src/drivers/bmi160/bmi160.cpp
@@ -504,31 +504,6 @@ BMI160::accel_self_test()
 		return 1;
 	}
 
-	/* inspect accel offsets */
-	if (fabsf(_accel_scale.x_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
 	return 0;
 }
 
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index e0678a84e4..e109d1d0df 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -1127,31 +1127,6 @@ LSM303D::accel_self_test()
 		return 1;
 	}
 
-	/* inspect accel offsets */
-	if (fabsf(_accel_scale.x_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
 	return 0;
 }
 
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 4d385f1e99..2bb79f79f4 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1052,31 +1052,6 @@ MPU6000::accel_self_test()
 		return 1;
 	}
 
-	/* inspect accel offsets */
-	if (fabsf(_accel_scale.x_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
 	return 0;
 }
 
diff --git a/src/drivers/mpu6500/mpu6500.cpp b/src/drivers/mpu6500/mpu6500.cpp
index 0d1ae228c0..03dc6e2a95 100644
--- a/src/drivers/mpu6500/mpu6500.cpp
+++ b/src/drivers/mpu6500/mpu6500.cpp
@@ -905,31 +905,6 @@ MPU6500::accel_self_test()
 		return 1;
 	}
 
-	/* inspect accel offsets */
-	if (fabsf(_accel_scale.x_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
 	return 0;
 }
 
diff --git a/src/drivers/mpu9250/mpu9250.cpp b/src/drivers/mpu9250/mpu9250.cpp
index 3280a50078..7b569639b1 100644
--- a/src/drivers/mpu9250/mpu9250.cpp
+++ b/src/drivers/mpu9250/mpu9250.cpp
@@ -592,31 +592,6 @@ MPU9250::accel_self_test()
 		return 1;
 	}
 
-	/* inspect accel offsets */
-	if (fabsf(_accel_scale.x_offset) < 0.000001f) {
-		return 2;
-	}
-
-	if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
-		return 3;
-	}
-
-	if (fabsf(_accel_scale.y_offset) < 0.000001f) {
-		return 4;
-	}
-
-	if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
-		return 5;
-	}
-
-	if (fabsf(_accel_scale.z_offset) < 0.000001f) {
-		return 6;
-	}
-
-	if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
-		return 7;
-	}
-
 	return 0;
 }
 
diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
index b78f7d00d3..8570a200d0 100644
--- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
@@ -618,31 +618,6 @@ GYROSIM::accel_self_test()
 		return 1;
 	}
 
-	/* inspect accel offsets */
-	if (fabsf(_accel_scale.x_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
-		return 1;
-	}
-
 	return 0;
 }