Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -rc84daa1f07003427fc5cdde8f5651434478f7313 -re28798081348b470495ec605fcadda4276f37c46
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision c84daa1f07003427fc5cdde8f5651434478f7313)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision e28798081348b470495ec605fcadda4276f37c46)
@@ -15,9 +15,7 @@
 *
 ***************************************************************************/
 
-#ifndef _VECTORCAST_
-    #include <math.h>
-#endif
+#include <math.h>
 
 #include "can.h"
 #include "etpwm.h"
@@ -1025,10 +1023,10 @@
     if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState )
     {
         F32 cmdMotorSpeed = ( (F32)cmdRate / (F32)ML_PER_LITER ) * BP_REV_PER_LITER * BP_GEAR_RATIO;
-        F32 deltaMotorSpeed = FABS( measMotorSpeed - cmdMotorSpeed );
+        F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = getMeasuredBloodPumpRotorSpeed();
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / BP_GEAR_RATIO;
-        F32 deltaRotorSpeed = FABS( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
         // check measured motor speed vs. commanded motor speed while controlling to target
         if ( deltaMotorSpeed > BP_MAX_MOTOR_SPEED_ERROR_RPM )
@@ -1087,7 +1085,7 @@
         F32 flow = getMeasuredBloodFlowRate();
         F32 speed = getMeasuredBloodPumpSpeed();
         F32 impliedFlow = ( ( speed / BP_GEAR_RATIO ) / BP_REV_PER_LITER ) * (F32)ML_PER_LITER;
-        F32 delta = FABS( flow - impliedFlow );
+        F32 delta = fabs( flow - impliedFlow );
 
         if ( delta > BP_MAX_FLOW_VS_SPEED_DIFF_ML_MIN )
         {
Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -rc84daa1f07003427fc5cdde8f5651434478f7313 -re28798081348b470495ec605fcadda4276f37c46
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision c84daa1f07003427fc5cdde8f5651434478f7313)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision e28798081348b470495ec605fcadda4276f37c46)
@@ -15,9 +15,7 @@
 *
 ***************************************************************************/
 
-#ifndef _VECTORCAST_
-    #include <math.h>
-#endif
+#include <math.h>
 
 #include "etpwm.h"
 #include "gio.h"
@@ -996,10 +994,10 @@
     if ( DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE == dialInPumpState )
     {
         F32 cmdMotorSpeed = ( (F32)cmdRate / (F32)ML_PER_LITER ) * DIP_REV_PER_LITER * DIP_GEAR_RATIO;
-        F32 deltaMotorSpeed = FABS( measMotorSpeed - cmdMotorSpeed );
+        F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = getMeasuredDialInPumpRotorSpeed();
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / DIP_GEAR_RATIO;
-        F32 deltaRotorSpeed = FABS( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
         // check measured motor speed vs. commanded motor speed while controlling to target
         if ( deltaMotorSpeed > DIP_MAX_MOTOR_SPEED_ERROR_RPM )
@@ -1058,7 +1056,7 @@
         F32 flow = getMeasuredDialInFlowRate();
         F32 speed = getMeasuredDialInPumpSpeed();
         F32 impliedFlow = ( ( speed / DIP_GEAR_RATIO ) / DIP_REV_PER_LITER ) * (F32)ML_PER_LITER;
-        F32 delta = FABS( flow - impliedFlow );
+        F32 delta = fabs( flow - impliedFlow );
 
         if ( delta > DIP_MAX_FLOW_VS_SPEED_DIFF_ML_MIN )
         {
Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -rc84daa1f07003427fc5cdde8f5651434478f7313 -re28798081348b470495ec605fcadda4276f37c46
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision c84daa1f07003427fc5cdde8f5651434478f7313)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision e28798081348b470495ec605fcadda4276f37c46)
@@ -15,9 +15,7 @@
 *
 ***************************************************************************/
 
-#ifndef _VECTORCAST_
-    #include <math.h>
-#endif
+#include <math.h>
 
 #include "etpwm.h"
 #include "gio.h"
@@ -619,7 +617,7 @@
             newPWM = runPIController( PI_CONTROLLER_ID_ULTRAFILTRATION, refVol, totVol );
             // limit PWM change to max
             deltaPWM = newPWM - dialOutPumpPWMDutyCyclePctSet;
-            if ( FABS( deltaPWM ) > MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE )
+            if ( fabs( deltaPWM ) > MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE )
             {
                 newPWM = ( deltaPWM < 0.0 ? dialOutPumpPWMDutyCyclePctSet - MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE : dialOutPumpPWMDutyCyclePctSet + MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE );
             }
@@ -869,10 +867,10 @@
     if ( DIAL_OUT_PUMP_CONTROL_TO_TARGET_STATE == dialOutPumpState )
     {
         F32 controllerMotorSpeed = getMeasuredDialOutPumpMCSpeed();
-        F32 deltaMotorSpeed = FABS( measMotorSpeed - controllerMotorSpeed );
+        F32 deltaMotorSpeed = fabs( measMotorSpeed - controllerMotorSpeed );
         F32 measRotorSpeed = getMeasuredDialOutPumpRotorSpeed();
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / DOP_GEAR_RATIO;
-        F32 deltaRotorSpeed = FABS( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
         // check measured motor speed vs. commanded motor speed while controlling to target
         if ( deltaMotorSpeed > DOP_MAX_MOTOR_SPEED_ERROR_RPM )
Index: firmware/App/Modes/Dialysis.c
===================================================================
diff -u -rc84daa1f07003427fc5cdde8f5651434478f7313 -re28798081348b470495ec605fcadda4276f37c46
--- firmware/App/Modes/Dialysis.c	(.../Dialysis.c)	(revision c84daa1f07003427fc5cdde8f5651434478f7313)
+++ firmware/App/Modes/Dialysis.c	(.../Dialysis.c)	(revision e28798081348b470495ec605fcadda4276f37c46)
@@ -15,6 +15,8 @@
 *
 ***************************************************************************/
 
+#include <math.h>
+
 #include "BloodFlow.h"
 #include "Buttons.h"
 #include "DGInterface.h"
@@ -589,7 +591,7 @@
     }
 
     // check total UF volume error
-    if ( ( FABS( refUFVolume - measUFVolume ) ) >= (F32)MAX_UF_ACCURACY_ERROR_ML )
+    if ( ( fabs( refUFVolume - measUFVolume ) ) >= (F32)MAX_UF_ACCURACY_ERROR_ML )
     {
 #ifndef DISABLE_UF_ALARMS
         SET_ALARM_WITH_2_F32_DATA( ALARM_ID_UF_VOLUME_ACCURACY_ERROR, refUFVolume, measUFVolume );
Index: firmware/App/Services/MessagePayloads.h
===================================================================
diff -u -rc84daa1f07003427fc5cdde8f5651434478f7313 -re28798081348b470495ec605fcadda4276f37c46
--- firmware/App/Services/MessagePayloads.h	(.../MessagePayloads.h)	(revision c84daa1f07003427fc5cdde8f5651434478f7313)
+++ firmware/App/Services/MessagePayloads.h	(.../MessagePayloads.h)	(revision e28798081348b470495ec605fcadda4276f37c46)
@@ -50,19 +50,6 @@
 
 typedef struct
 {
-    F32 x;
-    F32 y;
-    F32 z;
-    F32 xMax;
-    F32 yMax;
-    F32 zMax;
-    F32 xTilt;
-    F32 yTilt;
-    F32 zTilt;
-} HD_ACCEL_DATA_PAYLOAD_T;
-
-typedef struct
-{
     F32 gain;
     F32 offset;
 } LINEAR_F32_CAL_PAYLOAD_T;
Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b -re28798081348b470495ec605fcadda4276f37c46
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision e28798081348b470495ec605fcadda4276f37c46)
@@ -15,9 +15,7 @@
 *
 ***************************************************************************/
 
-#ifndef _VECTORCAST_
-    #include "math.h"
-#endif
+#include <math.h>
 
 #include "SystemCommMessages.h"
 #include "PIControllers.h"