 	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, roll*180/PI);
-	manager.sendDataMessage(Protocol::DATA_PITCH, pitch*180/PI);
+	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, voltage);//nmea.getCourse());//distance);
+	manager.sendDataMessage(Protocol::DATA_DISTANCE, distance);//voltage);
 }
 
 void calibrateGyro(){ //takes one second

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

		outputAngle = toDeg(atan2(y,x))+90;
		bound(double(90-STEERTHROW), outputAngle, double(90+STEERTHROW));

		/*int */speed = (distance*5280.l);//from 7.5 feet to 4.7, slow
		speed *= speed/2;
		speed += 90;
		bound(MIN_FWD, speed, MAX_FWD);

		if(stop) output(90 ,90);
		else     output(speed, outputAngle);
