 
 double pathHeading; //all headings are Clockwise=+, -179 to 180, 0=north
 double trueHeading;
-double gpsFoundShift=-70;
+double gpsFoundShift=0;
+double compassHeading;
 double distance;
 double gpsHeading;
 double pitch=0, roll=0; //stores the observed angle from horizontal in x, y axis

void reportLocation(){
	manager.sendDataMessage(Protocol::DATA_LATITUDE, location.degLatitude());
	manager.sendDataMessage(Protocol::DATA_LONGITUDE, location.degLongitude());
	manager.sendDataMessage(Protocol::DATA_DISTANCE, distance);
	manager.sendDataMessage(Protocol::DATA_HEADING, trueHeading);

	manager.sendDataMessage(Protocol::DATA_ROLL, roll*180/PI);
	manager.sendDataMessage(Protocol::DATA_PITCH, pitch*180/PI);
	manager.sendDataMessage(Protocol::DATA_SPEED, gpsFoundShift);
	// manager.sendDataMessage(Protocol::DATA_SPEED, nmea.getGroundSpeed());
}

void calibrateCompass(){

const int STEERTHROW = 70; //distance in degrees from far left to far right turn
const int driveSpeed = 120;

const int driveInput = 2;
const int steerInput = 3;

short XSHIFT = 50;
short YSHIFT = 280;
short XSCALE = 600;
