 #include <SoftwareSerial.h>
 #include <TinyGPS.h>  
 #include <Wire.h>
-#include <Adafruit_Sensor.h>
-#include <Adafruit_LSM303_U.h>
-#include <Adafruit_L3GD20_U.h>
-#include <Adafruit_9DOF.h>
+#include <LSM303.h>
 #include <SabertoothSimplified.h>
 #include <EasyTransfer.h>
 #include <Kalman.h>

    mySerial.begin(9600);

    /* Initialise the compass */
    if(!accel.begin()){
    /* There was a problem detecting the LSM303 ... check your connections */
    lcd.println(F("Ooops, no LSM303 detected ... Check your wiring!"));
    while(1);
   }
    if(!mag.begin()){
      /* There was a problem detecting the HMC5883 ... check your connections */
      lcd.println("Ooops, no HMC5883 detected ... Check your wiring!");
      while(1);
    }
    //Setup test waypoint. Start 38.631514, -90.271908
    mLat[0] = 38.631158;
    mLon[0] = -90.272172;

SoftwareSerial mySerial(2, 255);    //used for gps rx and tx pins in use

//Compass Stuff
LSM303 compass;
float compassHeading;
int mHeadingOffset = 0;
#define HEADING_ADJUST_PIN A2
