This part:
if(accZval < 0)//360 degrees
{
if(accXangle < 0)
{
accXangle = -180-accXangle;
}
else
{
accXangle = 180-accXangle;
}
if(accYangle < 0)
{
accYangle = -180-accYangle;
}
else
{
accYangle = 180-accYangle;
}
}