 							reportLocation,
 							};
 
+int speed;
+
 void setup() {
 	Serial1.begin(38400);
 	CommSerial->begin(9600);

const int SCHEDULE_DELAY  = 25;
const int STEERTHROW	  = 30; //degrees from far turn to center
const int REVTHROW		  = 20;
const int FWDSPEED		  = 115;
const int REVSPEED        = 75;
const int STOP_TIME       = 1500;//time to coast to stop
const int DANGER_TIME     = STOP_TIME+800; //time to backup after last sighting

	float voltage = float(analogRead(67)/1024.l*5.l*10.1l);
	manager.sendDataMessage(Protocol::DATA_LATITUDE, location.degLatitude());
	manager.sendDataMessage(Protocol::DATA_LONGITUDE, location.degLongitude());
	manager.sendDataMessage(Protocol::DATA_ROLL, 10.0*stop);//roll*180/PI);
	manager.sendDataMessage(Protocol::DATA_PITCH, (double)speed);//pitch*180/PI);
	manager.sendDataMessage(Protocol::DATA_HEADING, trueHeading);
	manager.sendDataMessage(Protocol::DATA_SPEED, trunkAngle(nmea.getCourse()));
	manager.sendDataMessage(Protocol::DATA_DISTANCE, distance);//voltage);
}

void calibrateGyro(){ //takes one second
