 void loop() {
 
   // Accept corrections from serial
-  if (Serial.available() == 8) {
+  if (Serial.available() == 4) {
     int correctionFactorXY = 0;
     int correctionFactorZ = 0;
     byte negXY = 0;

    if (negZ) correctionFactorZ = -correctionFactorZ;
    altitude.write(currentYBodyPosition + correctionFactorZ);
    currentYBodyPosition += correctionFactorZ;
  }

  // Update orientation data with measurements from gyro

    correctionFactorXY += (Serial.read() - '0');
    if (negXY) correctionFactorXY = -correctionFactorXY;
    rotateStepperBy(correctionFactorXY);
    /*
    currentZBodyPosition += correctionFactorXY;
    currentZMotorPosition += correctionFactorXY;
    if (Serial.read() == '1') negZ = 1;
