diff --git a/cangen/can-messages/msb.json b/cangen/can-messages/msb.json
index 858f44d..03892c3 100644
--- a/cangen/can-messages/msb.json
+++ b/cangen/can-messages/msb.json
@@ -43,12 +43,12 @@
     "fields": [
       {
         "name": "MSB/FL/Accel",
-        "unit": "g",
+        "unit": "mg",
         "sim": {
-          "min": 0,
-          "max": 2,
-          "inc_min": 0.01,
-          "inc_max": 0.25
+          "min": -2000,
+          "max": 2000,
+          "inc_min": 0.1,
+          "inc_max": 2.5
         },
         "points": [
           {
@@ -74,13 +74,13 @@
     "fields": [
       {
         "name": "MSB/FL/Gyro",
+        "unit": "mdps",
         "sim": {
-          "min": 0,
-          "max": 15,
-          "inc_min": 0.1,
-          "inc_max": 0.5
+          "min": -500000,
+          "max": 500000,
+          "inc_min": 10,
+          "inc_max": 1000
         },
-        "unit": "",
         "points": [
           {
             "size": 16,
@@ -234,12 +234,12 @@
     "fields": [
       {
         "name": "MSB/FR/Accel",
-        "unit": "g",
+        "unit": "mg",
         "sim": {
-          "min": 0,
-          "max": 2,
-          "inc_min": 0.01,
-          "inc_max": 0.25
+          "min": -2000,
+          "max": 2000,
+          "inc_min": 0.1,
+          "inc_max": 2.5
         },
         "points": [
           {
@@ -265,12 +265,12 @@
     "fields": [
       {
         "name": "MSB/FR/Gyro",
-        "unit": "",
+        "unit": "mdps",
         "sim": {
-          "min": 0,
-          "max": 15,
-          "inc_min": 0.1,
-          "inc_max": 0.5
+          "min": -500000,
+          "max": 500000,
+          "inc_min": 10,
+          "inc_max": 1000
         },
         "points": [
           {
@@ -425,12 +425,12 @@
     "fields": [
       {
         "name": "MSB/BL/Accel",
-        "unit": "g",
+        "unit": "mg",
         "sim": {
-          "min": 0,
-          "max": 2,
-          "inc_min": 0.01,
-          "inc_max": 0.25
+          "min": -2000,
+          "max": 2000,
+          "inc_min": 0.1,
+          "inc_max": 2.5
         },
         "points": [
           {
@@ -456,12 +456,12 @@
     "fields": [
       {
         "name": "MSB/BL/Gyro",
-        "unit": "",
+        "unit": "mdps",
         "sim": {
-          "min": 0,
-          "max": 15,
-          "inc_min": 0.1,
-          "inc_max": 0.5
+          "min": -500000,
+          "max": 500000,
+          "inc_min": 10,
+          "inc_max": 1000
         },
         "points": [
           {
@@ -616,12 +616,12 @@
     "fields": [
       {
         "name": "MSB/BR/Accel",
-        "unit": "g",
+        "unit": "mg",
         "sim": {
-          "min": 0,
-          "max": 2,
-          "inc_min": 0.01,
-          "inc_max": 0.25
+          "min": -2000,
+          "max": 2000,
+          "inc_min": 0.1,
+          "inc_max": 2.5
         },
         "points": [
           {
@@ -647,12 +647,12 @@
     "fields": [
       {
         "name": "MSB/BR/Gyro",
-        "unit": "",
+        "unit": "mdps",
         "sim": {
-          "min": 0,
-          "max": 15,
-          "inc_min": 0.1,
-          "inc_max": 0.5
+          "min": -500000,
+          "max": 500000,
+          "inc_min": 10,
+          "inc_max": 1000
         },
         "points": [
           {