diff --git a/docs/Settings.md b/docs/Settings.md
index fad1f15582f..50ee463db78 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -122,6 +122,16 @@ Frequency of the software notch filter to remove mechanical vibrations from the
 
 ---
 
+### acc_temp_correction
+
+Accelerometer temperature correction factor to compensate for acceleromter drift with changes in acceleromter temperature [cm/s2 per Degs C]. Internally limited to between -50 and 50. Typical setting for MPU6000 acceleromter is around 2.5. Setting to 51 initiates auto calibration which ends after 5 minutes or on first Arm.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | -50 | 51 |
+
+---
+
 ### accgain_x
 
 Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
@@ -2014,7 +2024,7 @@ Uncertainty value for barometric sensor [cm]
 
 ### inav_default_alt_sensor
 
-
+Sets the default altitude sensor to use. Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use.
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -5074,7 +5084,7 @@ Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requ
 
 ### osd_radar_peers_display_time
 
-Time in seconds to display next peer
+Time in seconds to display next peer 
 
 | Default | Min | Max |
 | --- | --- | --- |
diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c
index f8f3572a525..d25648b30c5 100644
--- a/src/main/navigation/navigation_pos_estimator.c
+++ b/src/main/navigation/navigation_pos_estimator.c
@@ -743,8 +743,6 @@ static void updateEstimatedTopic(timeUs_t currentTimeUs)
     ctx.dt = US2S(currentTimeUs - posEstimator.est.lastUpdateTime);
     posEstimator.est.lastUpdateTime = currentTimeUs;
 
-    const float max_eph_epv = positionEstimationConfig()->max_eph_epv;   // CR131_X
-
     /* If IMU is not ready we can't estimate anything */
     if (!isImuReady()) {
         posEstimator.est.eph = max_eph_epv + 0.001f;