 							reportLocation,
 							};
 
+int speed;
+
 void setup() {
 	Serial1.begin(38400);
 	CommSerial->begin(9600);

	float voltage = float(analogRead(67)/1024.l*5.l*10.1l);
	manager.sendDataMessage(Protocol::DATA_LATITUDE, location.degLatitude());
	manager.sendDataMessage(Protocol::DATA_LONGITUDE, location.degLongitude());
	manager.sendDataMessage(Protocol::DATA_ROLL, roll*180/PI);
	manager.sendDataMessage(Protocol::DATA_PITCH, pitch*180/PI);
	manager.sendDataMessage(Protocol::DATA_HEADING, trueHeading);
	manager.sendDataMessage(Protocol::DATA_SPEED, trunkAngle(nmea.getCourse()));
	manager.sendDataMessage(Protocol::DATA_DISTANCE, voltage);//nmea.getCourse());//distance);
}

void calibrateGyro(){ //takes one second

		outputAngle = toDeg(atan2(y,x))+90;
		bound(double(90-STEERTHROW), outputAngle, double(90+STEERTHROW));

		/*int */speed = (distance*5280.l);//from 7.5 feet to 4.7, slow
		speed *= speed/2;
		speed += 90;
		bound(MIN_FWD, speed, MAX_FWD);

		if(stop) output(90 ,90);
		else     output(speed, outputAngle);
