Index: Accel.c
===================================================================
diff -u -rcfa1142455dbcebceda091ae61e5d1f5e889fa6e -rdbb3d68d1b3a4070ad3dd63c1fc8404f9b414456
--- Accel.c	(.../Accel.c)	(revision cfa1142455dbcebceda091ae61e5d1f5e889fa6e)
+++ Accel.c	(.../Accel.c)	(revision dbb3d68d1b3a4070ad3dd63c1fc8404f9b414456)
@@ -18,7 +18,8 @@
 #include <math.h>
 
 #include "Accel.h"
-#include "FPGA.h"
+#include "FPGA.h"
+#include "MessageSupport.h"
 #include "NVDataMgmt.h"
 #include "SystemCommMessages.h"
 #include "TaskPriority.h"
@@ -363,18 +364,27 @@
 {
     // 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 data;
 
-        broadcastAccelData( x, y, z, xm, ym, zm, xt, yt, zt );
+        data.x     = accelAvgVector[ ACCEL_AXIS_X ];
+        data.y     = accelAvgVector[ ACCEL_AXIS_Y ];
+        data.z     = accelAvgVector[ ACCEL_AXIS_Z ];
+        data.xMax  = getMaxAccelAxis( ACCEL_AXIS_X );
+        data.yMax  = getMaxAccelAxis( ACCEL_AXIS_Y );
+        data.zMax  = getMaxAccelAxis( ACCEL_AXIS_Z );
+        data.xTilt = accelTilt[ ACCEL_AXIS_X ];
+        data.yTilt = accelTilt[ ACCEL_AXIS_Y ];
+        data.zTilt = accelTilt[ ACCEL_AXIS_Z ];
+
+#ifdef _DG_
+        broadcastData( MSG_ID_DG_ACCELEROMETER_DATA, COMM_BUFFER_OUT_CAN_DG_BROADCAST, (U08*)&data, sizeof( ACCEL_DATA_PAYLOAD_T ) );
+#endif
+
+#ifdef _HD_
+        broadcastData( MSG_ID_HD_ACCELEROMETER_DATA, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&data, sizeof( ACCEL_DATA_PAYLOAD_T ) );
+#endif
+
         // Reset publication timer counter
         accelDataPublicationTimerCounter = 0;
         // Reset max axes