diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index c5dbafd02ed8d4616de321ff329341e2063f402b..fd3dbf2f4a0b9c150ae073aaeb675bc0e2b7cc8f 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/quad/sw/modular_quad_pid/src/callbacks.c
@@ -23,7 +23,7 @@ int cb_getpacketlogs(modular_structs_t* structs) {
 	// Message logging number of messages received and size of payload received
 	int length = snprintf(buf, sizeof buf, "%d,%d", n_msg_received, total_payload_received);
 
-	send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	send_data(MessageTypes[LOG_TYPE_ID].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
 	return 0;
 }
 
@@ -88,6 +88,6 @@ int cb_getval(modular_structs_t* structs) {
 	// Message logging number of messages received and size of payload received
 	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_angle_pid.Kp);
 
-	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[0].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	send_data(MessageTypes[GETVAL_TYPE_ID].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
 	return 0;
 }
diff --git a/quad/sw/modular_quad_pid/src/communication.h b/quad/sw/modular_quad_pid/src/communication.h
index 12516af08ece11266a401bc4f51d1c8a5f1a1f15..92c7c86d039af0362e3d5a40c84187f6ad9fd29a 100644
--- a/quad/sw/modular_quad_pid/src/communication.h
+++ b/quad/sw/modular_quad_pid/src/communication.h
@@ -16,6 +16,6 @@
 int initUartComms();
 void process_received(modular_structs_t *structs);
 void uart_interrupt_handler(XUartPs *InstancePtr);
-int send_data(u16 type_id, u16 subtype_id, u16 msg_id, char* data, size_t size);
+int send_data(u16 type_id, u16 msg_id, char* data, size_t size);
 
 #endif
diff --git a/quad/sw/modular_quad_pid/src/log_data.c b/quad/sw/modular_quad_pid/src/log_data.c
index 2b4bfe550e5facbd1dde865cc63cad1ed795cf2e..5d8d1b5d3c10bc978cdbb612aae706d37c0040cd 100644
--- a/quad/sw/modular_quad_pid/src/log_data.c
+++ b/quad/sw/modular_quad_pid/src/log_data.c
@@ -147,7 +147,7 @@ void printLogging(){
 	strcat(buf,header);
 	strcat(buf,units);
 
-	send_data(MessageTypes[LOG_TYPE_ID].ID, MessageTypes[5].subtypes[0].ID, 0, buf, strlen(buf) + 1);
+	send_data(MessageTypes[LOG_TYPE_ID].ID, 0, buf, strlen(buf) + 1);
 	//uart0_sendBytes(buf, strlen(buf));
 	//usleep(100000);
 
@@ -155,7 +155,7 @@ void printLogging(){
 	/* print & send log data */
 	for(i = 0; i < arrayIndex; i++){
 		char* logLine = format(logArray[i]);
-		send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[0].ID, 0, logLine, strlen(logLine) + 1);
+		send_data(MessageTypes[LOG_TYPE_ID].ID, 0, logLine, strlen(logLine) + 1);
 		free(logLine);
 	}
 }