 
 //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);
 }
 

};
CmdMessenger commander = CmdMessenger(Serial,',',';','/');

int _STEER_BIAS = 0; //set this to adjust steering
int _GOVERNER_F = 20; //cap the forward speed
int _GOVERNER_R = -12;



  //output rpms
  write_rpms();

  //decay rpms incase vehicle has stopped
  if (rpm_decay >=2){
    rpm_decay = int(rpm_decay/2);
    if (rpm_decay < 2){
      rpm = 0;
      commander.sendBinCmd(cmd_rpm, rpm);
     }
  }
 

  
 
}

