   setThrottleAll(minThrottle);
   
   sensors_vec_t orientation = getOrientation();
+  float altitude = getAltitude();
   Serial.print(F("Roll: "));
   Serial.print(orientation.roll);
-  Serial.print(F("; Pitch: "));
+  Serial.print(F(";\tPitch: "));
   Serial.print(orientation.pitch);
-  Serial.print(F("; Heading: "));
-  Serial.println(orientation.heading);
+  Serial.print(F(";\tHeading: "));
+  Serial.print(orientation.heading);
+  Serial.print(F(";\tAltitude: "));
+  Serial.println(altitude);
 }
 
 sensors_vec_t getOrientation() {

struct SensorError {
  float pitch;
  float roll;
};
SensorError sensorError = {0, 0};
boolean calibrating = true;

Adafruit_10DOF                dof   = Adafruit_10DOF();

  }
  orientation.heading = -orientation.heading;
  return orientation;
}
float getAltitude() {
  sensors_event_t baroEvent;
  bmp.getEvent(&baroEvent);
  if (calibrating) {
    return bmp.pressureToAltitude(SENSORS_PRESSURE_SEALEVELHPA, baroEvent.pressure);
  }
  else {
    return bmp.pressureToAltitude(SENSORS_PRESSURE_SEALEVELHPA, baroEvent.pressure) - sensorError.elevation;
  }
}

void setThrottleAll (int throttle) {
