     commSerial->print("\tupTime: ");
     commSerial->print(millis());
     commSerial->print("\n");
+
+    //barometer
+    commSerial->print(  "MBar: ");
+    commSerial->print(baro.getMilliBar());
+    commSerial->print("\tAlt: ");
+    commSerial->print(baro.getAltitude());
+    commSerial->print("\n");
 }

Waypoint        location(0,0);
LEA6H           gps;
MPU6000         mpu;
HLA             pitch( 100, 0);
HLA             roll ( 100, 0);


    commSerial->begin(Protocol::BAUD_RATE);
    mpu.begin();
    gps.begin();
    baro.begin();

    delay(100);
    baro.calibrate();
}
void loop(){
    updateGPS();
    readAccelerometer();
    baro.update();

    static uint32_t outputTrack = millis();
    if(millis() > outputTrack){
