Index: Accel.c
===================================================================
diff -u -rcfa1142455dbcebceda091ae61e5d1f5e889fa6e -r343d278eb0278c79e00dee6151fb9ef21d2fda9c
--- Accel.c	(.../Accel.c)	(revision cfa1142455dbcebceda091ae61e5d1f5e889fa6e)
+++ Accel.c	(.../Accel.c)	(revision 343d278eb0278c79e00dee6151fb9ef21d2fda9c)
@@ -363,18 +363,24 @@
 {
     // publish accelerometer data on interval
     if ( ++accelDataPublicationTimerCounter >= getPublishAccelDataInterval() )
-    {
-        F32 x = accelAvgVector[ ACCEL_AXIS_X ];
-        F32 y = accelAvgVector[ ACCEL_AXIS_Y ];
-        F32 z = accelAvgVector[ ACCEL_AXIS_Z ];
-        F32 xm = getMaxAccelAxis( ACCEL_AXIS_X );
-        F32 ym = getMaxAccelAxis( ACCEL_AXIS_Y );
-        F32 zm = getMaxAccelAxis( ACCEL_AXIS_Z );
-        F32 xt = accelTilt[ ACCEL_AXIS_X ];
-        F32 yt = accelTilt[ ACCEL_AXIS_Y ];
-        F32 zt = accelTilt[ ACCEL_AXIS_Z ];
+    {
+        ACCEL_DATA_PAYLOAD_T accData;
 
-        broadcastAccelData( x, y, z, xm, ym, zm, xt, yt, zt );
+        accData.x = accelAvgVector[ ACCEL_AXIS_X ];
+        accData.y = accelAvgVector[ ACCEL_AXIS_Y ];
+        accData.z = accelAvgVector[ ACCEL_AXIS_Z ];
+        accData.xMax = getMaxAccelAxis( ACCEL_AXIS_X );
+        accData.yMax = getMaxAccelAxis( ACCEL_AXIS_Y );
+        accData.zMax = getMaxAccelAxis( ACCEL_AXIS_Z );
+        accData.xTilt = accelTilt[ ACCEL_AXIS_X ];
+        accData.yTilt = accelTilt[ ACCEL_AXIS_Y ];
+        accData.zTilt = accelTilt[ ACCEL_AXIS_Z ];
+
+#ifdef _DG_
+        broadcastData( MSG_ID_DG_ACCELEROMETER_DATA, COMM_BUFFER_OUT_CAN_DG_BROADCAST, (U08*)&accData, sizeof( ACCEL_DATA_PAYLOAD_T ) );
+#else
+        broadcastData( MSG_ID_HD_ACCELEROMETER_DATA, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&accData, sizeof( ACCEL_DATA_PAYLOAD_T ) );
+#endif
         // Reset publication timer counter
         accelDataPublicationTimerCounter = 0;
         // Reset max axes
@@ -486,14 +492,6 @@
             SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_EXCESSIVE_TILT, x, y )
 #endif
         }
-    }
-    else if ( ( TRUE == tiltErrorDetected ) && ( ( fabs( x ) > MAX_TILT_ANGLE_TO_CLEAR_ALARM ) || ( fabs( y ) > MAX_TILT_ANGLE_TO_CLEAR_ALARM ) ) )
-    {
-#ifdef _DG_
-            SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_EXCESSIVE_TILT, x, y )
-#else
-            SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_EXCESSIVE_TILT, x, y )
-#endif
     }
     else if ( ( TRUE == tiltErrorDetected ) && ( ( fabs( x ) > MAX_TILT_ANGLE_TO_CLEAR_ALARM ) || ( fabs( y ) > MAX_TILT_ANGLE_TO_CLEAR_ALARM ) ) )
     {
@@ -502,7 +500,7 @@
 #else
             SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_EXCESSIVE_TILT, x, y )
 #endif
-    }
+    }
     else if ( ( fabs( x ) <= MAX_TILT_ANGLE_TO_CLEAR_ALARM ) && ( fabs( y ) <= MAX_TILT_ANGLE_TO_CLEAR_ALARM ) )
     {
         accelTiltErrorTimerCounter = 0;