diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 90b0dca04b..4651dcd9d3 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1112,12 +1112,12 @@ bool AP_InertialSensor::_calculate_trim(const Vector3f &accel_sample, float& tri
     trim_roll = atan2f(-accel_sample.y, -accel_sample.z);
     if (fabsf(trim_roll) > radians(10) ||
         fabsf(trim_pitch) > radians(10)) {
-        hal.console->printf("trim over maximum of 10 degrees\n");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "trim over maximum of 10 degrees");
         return false;
     }
-    hal.console->printf("Trim OK: roll=%.2f pitch=%.2f\n",
-                          (double)degrees(trim_roll),
-                          (double)degrees(trim_pitch));
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Trim OK: roll=%.2f pitch=%.2f",
+                  (double)degrees(trim_roll),
+                  (double)degrees(trim_pitch));
     return true;
 }
 
@@ -2199,8 +2199,6 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
     // flash leds to tell user to keep the IMU still
     AP_Notify::flags.initialising = true;
 
-    hal.console->printf("Simple accel cal");
-
     /*
       we do the accel calibration with no board rotation. This avoids
       having to rotate readings during the calibration
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
index 2f3ec7b707..7aba6011db 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
@@ -111,7 +111,7 @@ void AP_InertialSensor_SITL::generate_accel()
         float freq_variation = 0.12f;
 
         // add in sensor noise
-        accel += Vector3f(rand_float(), rand_float(), rand_float()) * accel_noise;
+        accel += Vector3f{rand_float(), rand_float(), rand_float()} * accel_noise;
 
         bool motors_on = sitl->throttle > sitl->ins_noise_throttle_min;
 
@@ -166,9 +166,7 @@ void AP_InertialSensor_SITL::generate_accel()
             Vector3f centripetal_accel = angular_rate % (angular_rate % pos_offset);
 
             // apply corrections
-            accel.x += lever_arm_accel.x + centripetal_accel.x;
-            accel.y += lever_arm_accel.y + centripetal_accel.y;
-            accel.z += lever_arm_accel.z + centripetal_accel.z;
+            accel += lever_arm_accel + centripetal_accel;
         }
 
         if (fabsf(sitl->accel_fail[accel_instance]) > 1.0e-6f) {