 	if(abs(mph)<0.5f){
 		cruise.stop();
 	} else {
-		setMPH(mph);
+		cruise.set(MPHtoRPM(mph));
 	}
 	float outputval = cruise.calc(encoder::getRPM());
 	servo[0].write(90+outputval);

	calibrateGyro(); //this also takes one second

	setupAPM2radio();
	encoder::begin(EncoderPin[0], EncoderPin[1]);
	manager.requestResync();
	uTime = millis();
}

	servo[1].write(steer);
	servo[2].write(180-steer);
}
