Index: dialin/dg/accelerometer.py
===================================================================
diff -u -r6f6b6c076ce638b404534b2bf04cb3f986ee6b26 -ra0370d7df824c38cc35a1ab57b6efe1e2f8b1ca8
--- dialin/dg/accelerometer.py	(.../accelerometer.py)	(revision 6f6b6c076ce638b404534b2bf04cb3f986ee6b26)
+++ dialin/dg/accelerometer.py	(.../accelerometer.py)	(revision a0370d7df824c38cc35a1ab57b6efe1e2f8b1ca8)
@@ -271,11 +271,15 @@
         """
             Constructs and sends the DG accelerometer axis calibration offsets message to the DG.
 
+            @param x_offset:  float - calibration offset for X axis
+            @param y_offset:  float - calibration offset for Y axis
+            @param z_offset:  float - calibration offset for Z axis
+
             @return: 1 if successful, zero otherwise
         """
-        x = integer_to_bytearray(x_offset)
-        y = integer_to_bytearray(y_offset)
-        z = integer_to_bytearray(z_offset)
+        x = float_to_bytearray(x_offset)
+        y = float_to_bytearray(y_offset)
+        z = float_to_bytearray(z_offset)
         payload = x + y + z
 
         message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dg_ch_id,
Index: dialin/hd/accelerometer.py
===================================================================
diff -u -r6f6b6c076ce638b404534b2bf04cb3f986ee6b26 -ra0370d7df824c38cc35a1ab57b6efe1e2f8b1ca8
--- dialin/hd/accelerometer.py	(.../accelerometer.py)	(revision 6f6b6c076ce638b404534b2bf04cb3f986ee6b26)
+++ dialin/hd/accelerometer.py	(.../accelerometer.py)	(revision a0370d7df824c38cc35a1ab57b6efe1e2f8b1ca8)
@@ -271,11 +271,15 @@
         """
             Constructs and sends the HD accelerometer axis calibration offsets message to the HD.
 
+            @param x_offset:  float - calibration offset for X axis
+            @param y_offset:  float - calibration offset for Y axis
+            @param z_offset:  float - calibration offset for Z axis
+
             @return: 1 if successful, zero otherwise
         """
-        x = integer_to_bytearray(x_offset)
-        y = integer_to_bytearray(y_offset)
-        z = integer_to_bytearray(z_offset)
+        x = float_to_bytearray(x_offset)
+        y = float_to_bytearray(y_offset)
+        z = float_to_bytearray(z_offset)
         payload = x + y + z
 
         message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id,
Index: tests/set_accels_cal.py
===================================================================
diff -u -rd134777c4f35ca58a14720a668c155bed3b0c124 -ra0370d7df824c38cc35a1ab57b6efe1e2f8b1ca8
--- tests/set_accels_cal.py	(.../set_accels_cal.py)	(revision d134777c4f35ca58a14720a668c155bed3b0c124)
+++ tests/set_accels_cal.py	(.../set_accels_cal.py)	(revision a0370d7df824c38cc35a1ab57b6efe1e2f8b1ca8)
@@ -31,29 +31,31 @@
     # log in to HD and DG as tester
     if hd.cmd_log_in_to_hd() == 0:
         exit(1)
-    if dg.cmd_log_in_to_dg() == 0:
-        exit(1)
+    #if dg.cmd_log_in_to_dg() == 0:
+    #    exit(1)
     sleep(1)
 
     #reset calibrations
     hd.accel.cmd_set_accel_calibration(0, 0, 0)
-    dg.accel.cmd_set_accel_calibration(0, 0, 0)
+    #dg.accel.cmd_set_accel_calibration(0, 0, 0)
 
     #wait for new readings after calibration reset
     sleep(5)
 
     #calculate offsets (assuming HD and DG systems are level)
     hd_offsets = hd.accel.get_accel_vector()
-    dg_offsets = dg.accel.get_accel_vector()
-    hd_offsets.x *= -1
-    hd_offsets.y *= -1
-    hd_offsets.z -= 1
+    #dg_offsets = dg.accel.get_accel_vector()
+    hd_offsets.x *= -1.0
+    hd_offsets.y *= -1.0
+    hd_offsets.z -= 1.0
     hd_offsets.z *= -1
-    dg_offsets.x *= -1
-    dg_offsets.y *= -1
-    dg_offsets.z -= 1
-    dg_offsets.z *= -1
+    #dg_offsets.x *= -1.0
+    #dg_offsets.y *= -1.0
+    #dg_offsets.z -= 1.0
+    #dg_offsets.z *= -1.0
 
     #set new offsets
     hd.accel.cmd_set_accel_calibration(hd_offsets.x, hd_offsets.y, hd_offsets.z)
-    dg.accel.cmd_set_accel_calibration(dg_offsets.x, dg_offsets.y, dg_offsets.z)
+    #dg.accel.cmd_set_accel_calibration(dg_offsets.x, dg_offsets.y, dg_offsets.z)
+
+    exit(0)