       memcpy(&buffer[2], &heading, sizeof(heading));
       RFduinoBLE.send((char*)&buffer, sizeof(float) + 2);
     }
-  } else {
-    char buffer[2];
-    buffer[0] = SBTSailbotModelHeaderState;
-    buffer[1] = SBTSailbotModelStateNoIMU;
-    RFduinoBLE.send((char*)&buffer, 2);
   }
 }
-
 
 void RFduinoBLE_onConnect() {
   Serial.println("Bluetooth connect");

void setup() {
  Serial.begin(SERIAL_PORT_SPEED);
  Wire.begin();
  imu = RTIMU::createIMU(&settings);                        // create the imu object

  Serial.print("ArduinoIMU starting using device ");

  Serial.println("Bluetooth disconnect");
}

void RFduinoBLE_onReceive(char * data, int len) {

  SBTSailbotModelHeader command = (SBTSailbotModelHeader)data[0];

  switch (command) {
    case SBTSailbotModelHeaderAutomaticControl: {
        remoteState = SBTSailbotModelStateAutomaticControl;
        int heading;
        memcpy(&heading, &data[1], sizeof(heading));
        Serial.print("Selected heading "); Serial.println(heading);
        break;
      }
    case SBTSailbotModelHeaderManualControl: {
        remoteState = SBTSailbotModelStateManualControl;
        int rudder;
        memcpy(&rudder, &data[1], sizeof(rudder));
        int sheet;
