     //  serial trumps manual
     steer = serialSteer;
     throttle = serialThrottle;
+    driveModeStr = "UART";
 #if GATE_SERIAL_ON_RC_THROTTLE
     autoSource = true;
 #endif


#include <Servo.h>

#define FULL_FIRMWARE 0

#if FULL_FIRMWARE


  float voltage;
  if (now-lastVoltageCheck > 100) {
    read_voltage(v, voltage);
    lastReadVoltage = voltage;
    v = (uint16_t)(voltage * 100 + 0.5f);
    if (determinedCount != 20) {
      //  average the first 20 readings
      determinedVoltage += voltage / 20;
      ++determinedCount;
      if (determinedCount == 20) {
