Index: Accel.c
===================================================================
diff -u -ra682f934108923fe195a41cdb0039fc395f99aa3 -rde0a8fb5965a5dd2b3fe061f513da04ca1b121db
--- Accel.c	(.../Accel.c)	(revision a682f934108923fe195a41cdb0039fc395f99aa3)
+++ Accel.c	(.../Accel.c)	(revision de0a8fb5965a5dd2b3fe061f513da04ca1b121db)
@@ -31,14 +31,16 @@
 
 #define ACCEL_DATA_PUB_INTERVAL                 ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the accelerometer data is published on the CAN bus
 #define SIZE_OF_ROLLING_AVG                     ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< vector for tilt is filtered w/ moving average
-#define G_PER_LSB                               ( 0.004 )                                   ///< conversion from counts (LSB) to gravities
+#define G_PER_LSB                               ( 0.00390625 )                              ///< conversion from counts (LSB) to gravities
 #define NO_NEW_ACCEL_SAMPLES_TIMEOUT            ( 100 / TASK_PRIORITY_INTERVAL )            ///< maximum time w/o new accelerometer sample from FPGA.
 #define NOMINAL_ACCEL_VECTOR_LENGTH             ( 1.0 )                                     ///< expect unit vector length when system is stable
 #define MAX_ACCEL_VECTOR_LENGTH_ERROR           ( 0.1 )                                     ///< POST test looks at vector length at presumably stable moment - should be 1 +/- 0.1
 #define MAX_TILT_ANGLE                          ( 7.0 )                                     ///< maximum tilt of system before alarm.
 #define MIN_TILT_ANGLE_TO_CLEAR_ALARM           ( 5.0 )                                     ///< minimum tilt of system before alarm is cleared.
 #define MAX_TILT_PERSISTENCE                    ( 1 * MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) ///< maximum time (in task intervals) that a tilt in excess of limit can persist before alarm
 #define MAX_SHOCK_ACCELERATION                  ( 2.0 )                                     ///< maximum shock (acceleration) measured on any axis before alarm.
+#define MAX_TILT_G                              ( 1.0 )                                     ///< maximum tilt (in g)
+#define MAX_TILT_ANGLE_DEG                      ( 90.0 )                                    ///< maximum tilt angle (in degrees)
 
 /// Enumeration of accelerometer monitor states.
 typedef enum Accelerometer_States
@@ -416,9 +418,21 @@
     accelAvgVector[ ACCEL_AXIS_Y ] = accelReadingsTotal[ ACCEL_AXIS_Y ] / (F32)accelReadingsCount;
     accelAvgVector[ ACCEL_AXIS_Z ] = accelReadingsTotal[ ACCEL_AXIS_Z ] / (F32)accelReadingsCount;
     // calculate axis angles
-    accelTilt[ ACCEL_AXIS_X ] = RAD2DEG( asin( accelAvgVector[ ACCEL_AXIS_X ] ) );
-    accelTilt[ ACCEL_AXIS_Y ] = RAD2DEG( asin( accelAvgVector[ ACCEL_AXIS_Y ] ) );
-    accelTilt[ ACCEL_AXIS_Z ] = RAD2DEG( asin( accelAvgVector[ ACCEL_AXIS_Z ] ) );
+    for ( axis = ACCEL_AXIS_X; axis < NUM_OF_ACCEL_AXES; axis++ )
+    {
+        if ( accelAvgVector[ axis ] > MAX_TILT_G )
+        {
+            accelTilt[ axis ] = MAX_TILT_ANGLE_DEG;
+        }
+        else if ( accelAvgVector[ axis ] < ( MAX_TILT_G * -1.0 ) )
+        {
+            accelTilt[ axis ] = MAX_TILT_ANGLE_DEG * -1.0;
+        }
+        else
+        {
+            accelTilt[ axis ] = RAD2DEG( asin( accelAvgVector[ axis ] ) );
+        }
+    }
 }
 
 /*********************************************************************//**