 }
 
 void reportLocation(){
-	float voltage = float(analogRead(67)/1024.l*5.l*10.1l);
+	float voltage  = float(analogRead(67)/1024.l*5.l*10.1f);
+	float amperage = float(analogRead(66)/1024.l*5.l*17.0f);
 	manager.sendTelem(Protocol::telemetryType(LATITUDE),  location.degLatitude());
 	manager.sendTelem(Protocol::telemetryType(LONGITUDE), location.degLongitude());
 	manager.sendTelem(Protocol::telemetryType(HEADING),   trueHeading);

	if(abs(mph)<0.5f){
		cruise.stop();
	} else {
		setMPH(mph);
	}
	float outputval = cruise.calc(encoder::getRPM());
	servo[0].write(90+outputval);

	calibrateGyro(); //this also takes one second

	setupAPM2radio();
	#if useEncoder
		encoder::begin(EncoderPin[0], EncoderPin[1]);
	#endif
	manager.requestResync();
	uTime = millis();
}
