Will AHRS_TRIM calculate at boot if I set INS_TRIM_OPTION to 1?

Hi all,

I have a question about INS_TRIM_OPTION param here

Just to be sure if this param is set to 0 no trim was calculated and the controller take AHRS_TRIM_X and AHRS_TRIM_Y AHRS_TRIM_Z value all time ?
If is set to 1 a trim value is calculated each time is it right ?