diff --git a/lispBM/c_libs/vesc_c_if.h b/lispBM/c_libs/vesc_c_if.h
index 67224bba..52b91057 100755
--- a/lispBM/c_libs/vesc_c_if.h
+++ b/lispBM/c_libs/vesc_c_if.h
@@ -277,6 +277,14 @@ typedef enum {
 	CFG_PARAM_IMU_rot_roll,
 	CFG_PARAM_IMU_rot_pitch,
 	CFG_PARAM_IMU_rot_yaw,
+	CFG_PARAM_IMU_ahrs_mode,
+	CFG_PARAM_IMU_sample_rate,
+	CFG_PARAM_IMU_accel_offset_x,
+	CFG_PARAM_IMU_accel_offset_y,
+	CFG_PARAM_IMU_accel_offset_z,
+	CFG_PARAM_IMU_gyro_offset_x,
+	CFG_PARAM_IMU_gyro_offset_y,
+	CFG_PARAM_IMU_gyro_offset_z,
 } CFG_PARAM;
 
 typedef struct {
diff --git a/lispBM/lispif_c_lib.c b/lispBM/lispif_c_lib.c
index 11011d79..22794883 100644
--- a/lispBM/lispif_c_lib.c
+++ b/lispBM/lispif_c_lib.c
@@ -451,6 +451,13 @@ static float lib_get_cfg_float(CFG_PARAM p) {
 		case CFG_PARAM_IMU_rot_roll: res = appconf->imu_conf.rot_roll; break;
 		case CFG_PARAM_IMU_rot_pitch: res = appconf->imu_conf.rot_pitch; break;
 		case CFG_PARAM_IMU_rot_yaw: res = appconf->imu_conf.rot_yaw; break;
+		case CFG_PARAM_IMU_accel_offset_x: res = appconf->imu_conf.accel_offsets[0]; break;
+		case CFG_PARAM_IMU_accel_offset_y: res = appconf->imu_conf.accel_offsets[1]; break;
+		case CFG_PARAM_IMU_accel_offset_z: res = appconf->imu_conf.accel_offsets[2]; break;
+		case CFG_PARAM_IMU_gyro_offset_x: res = appconf->imu_conf.gyro_offsets[0]; break;
+		case CFG_PARAM_IMU_gyro_offset_y: res = appconf->imu_conf.gyro_offsets[1]; break;
+		case CFG_PARAM_IMU_gyro_offset_z: res = appconf->imu_conf.gyro_offsets[2]; break;
+
 		default: break;
 	}
 
@@ -465,6 +472,8 @@ static int lib_get_cfg_int(CFG_PARAM p) {
 	switch (p) {
 		case CFG_PARAM_app_can_mode: res = conf->can_mode; break;
 		case CFG_PARAM_app_can_baud_rate: res = conf->can_baud_rate; break;
+		case CFG_PARAM_IMU_ahrs_mode: res = conf->imu_conf.mode; break;
+		case CFG_PARAM_IMU_sample_rate: res = conf->imu_conf.sample_rate_hz; break;
 		default: break;
 	}
 
@@ -514,6 +523,12 @@ static bool lib_set_cfg_float(CFG_PARAM p, float value) {
 		case CFG_PARAM_IMU_rot_roll: appconf->imu_conf.rot_roll = value; changed_app = 1; res = true; break;
 		case CFG_PARAM_IMU_rot_pitch: appconf->imu_conf.rot_pitch = value; changed_app = 1; res = true; break;
 		case CFG_PARAM_IMU_rot_yaw: appconf->imu_conf.rot_yaw = value; changed_app = 1; res = true; break;
+		case CFG_PARAM_IMU_accel_offset_x: appconf->imu_conf.accel_offsets[0] = value; changed_app = 1; res = true; break;
+		case CFG_PARAM_IMU_accel_offset_y: appconf->imu_conf.accel_offsets[1] = value; changed_app = 1; res = true; break;
+		case CFG_PARAM_IMU_accel_offset_z: appconf->imu_conf.accel_offsets[2] = value; changed_app = 1; res = true; break;
+		case CFG_PARAM_IMU_gyro_offset_x: appconf->imu_conf.gyro_offsets[0] = value; changed_app = 1; res = true; break;
+		case CFG_PARAM_IMU_gyro_offset_y: appconf->imu_conf.gyro_offsets[1] = value; changed_app = 1; res = true; break;
+		case CFG_PARAM_IMU_gyro_offset_z: appconf->imu_conf.gyro_offsets[2] = value; changed_app = 1; res = true; break;
 		default: break;
 	}
 
@@ -539,6 +554,8 @@ static bool lib_set_cfg_int(CFG_PARAM p, int value) {
 	switch (p) {
 	case CFG_PARAM_app_can_mode: appconf->can_mode = value; res = true; break;
 	case CFG_PARAM_app_can_baud_rate: appconf->can_baud_rate = value; res = true; break;
+	case CFG_PARAM_IMU_ahrs_mode: appconf->imu_conf.mode = value; res = true; break;
+	case CFG_PARAM_IMU_sample_rate: appconf->imu_conf.sample_rate_hz = value; res = true; break;
 	default: break;
 	}