     sensors_vec_t sensorData = getOrientation();
     sensorError.pitch += (float)sensorData.pitch;
     sensorError.roll += (float)sensorData.roll;
+    sensorError.elevation += getAltitude();
     delay(20);
   }
   sensorError.pitch /= trials;
   sensorError.roll /= trials;
+  sensorError.elevation /= trials;
   calibrating = false;
   
   digitalWrite(armLED, HIGH);

  }
  orientation.heading = -orientation.heading;
  return orientation;
}

void setThrottleAll (int throttle) {

  setThrottleAll(minThrottle);
  
  sensors_vec_t orientation = getOrientation();
  float altitude = getAltitude();
  Serial.print(F("Roll: "));
  Serial.print(orientation.roll);
  Serial.print(F(";\tPitch: "));
  Serial.print(orientation.pitch);
  Serial.print(F(";\tHeading: "));
  Serial.print(orientation.heading);
  Serial.print(F(";\tAltitude: "));
  Serial.println(altitude);
}

sensors_vec_t getOrientation() {
