BTW, do you have the link to the 4.1 source code? I only find 4.0 source code in the following link:
http://first.wpi.edu/FRC/frccupdates.html
In particular, I am interested in the source code for the ADXL345_I2C code because I want to find out if it does calibration at initialization just like the gyro does. We played with the accelerometer and noticed that the axes values are non-zero when the robot is perfectly still. It wouldn't be too much a problem until we decided to integrate the acceleration for velocity and again for distance. With a non-zero accerleration at rest, the distance will slowly drifted up (or down). It is not too hard to write calibration code at initialization to find the "zero point equivalent" but I just want to make sure the original code does not have this already.