 
   delay(1);
   sweep();
-  commander.sendCmd(cmd_info, "setup complete in 1s");
-  delay(1000);
-
+  commander.sendCmd(cmd_info, "setup complete");
   //init rpm
   half_revolutions = 0;
   rpm = 0;
   timeold = 0;
 
-
   attach_commander_callbacks(); 
-
   enter_arming_mode();
 }
 

}

void write_rpms(){
  if (half_revolutions >= 2) {
     rpm = 30 * 1000/(millis() - timeold) * half_revolutions;
     rpm_decay = 0;
     timeold = millis();


  //decay rpms incase vehicle has stopped
  rpm_decay++;
  if (rpm_decay >10){
    rpm = 0;
    rpm_decay = 0;
    commander.sendBinCmd(cmd_rpm, rpm);
