 // Flight State variables
 boolean altHold = false;
 float yawTarget = 0.0;
-uint32_t calStartTime;
+auto calibrateEndTimer = Interval::elapsed(0);
 
 // Temporary test variables
 uint32_t loopstart;

        **/
        case FLYING:
            fly();
            if(radioDownLeft.trueFor(750)) {
                output.disable();
                setState(DISARMED);
            }

    //always running updates
    loopQuad();
    sendTelemetry();
    //flight mode state machine
    switch(state){
        /*#DISARMED Hold Down and to the right on
         * the Throttle stick for two seconds to begin the arming process
        **/
        case DISARMED:
            if(radioDownRight.trueFor(ARMING_TIME)) {
                if(safe()){
                    calibrateEndTimer = Interval::elapsed(CALIBRATING_TIME);
                    setState(CALIBRATE);
                } else {
                    /*#NOFLY Flight aborted due to error status */
