 
 //when using the transmitter, map the throttle to the TX output
 void set_throttle_position_manual(float sp) {
-  int map_throttle = map(int(sp), THROTTLE_MIN, THROTTLE_MAX, -100, 100);
+  
+//  //dont set unless a delta has been acheived
+//  if (abs(throttle_pos - pos)/2.0 < THROTTLE_SENSITIVITY){
+//    if (abs(pos) <= 5){
+//      pos = 0;
+//    }
+//    else {
+//      //not a big of change to change noise
+//      return;
+//    }
+//
+//    //if this value has already been set zero, no reason to set it again
+//    if (throttle_pos == 0) {
+//      return;
+//    }
+//  }
+
+  
+  float map_throttle = map(sp, THROTTLE_MIN, THROTTLE_MAX, -100, 100);
   set_throttle_position(map_throttle);
 }
 


  //output rpms
  write_rpms();
 
}


  //look for commands
  commander.feedinSerialData();

  //buffer the inputs, from the controller, they are noisy 
//  steer_input = (steer_input * 2 + pulseIn(STEER_IN, HIGH, 250000)) / 3.0;
//  throttle_input = (throttle_input * 2 + pulseIn(THROTTLE_IN, HIGH, 250000)) / 3.0;

  steer_input = pulseIn(STEER_IN, HIGH, 250000);
  throttle_input = pulseIn(THROTTLE_IN, HIGH, 250000);

  //if ever the transmitter is used, go into manual mode
  if (!manual_mode) {
