     pinMode(INU_RX, INPUT);
     pinMode(INU_TX, OUTPUT);
     pinMode(GPS_POWER, OUTPUT);
-    Serial3.begin(GPSRATE); // GPS
+    Serial3.begin(GPSRATE); // GPS   
     Serial.begin(9600);
     digitalWrite(GPS_POWER, LOW);         // pull low to turn on!
     // make sure that the default chip select pin is set to


It uses a variety of sensors, some of which may not be present or reliable.

Yes: S1: Hall Odometer.  This unit gives wheel spin speed feedback.
TO DO: Connect hardware and integrate into Kalman Filter

Future: Visual Odometry from S4 (Smart camera) as passed though C7 (Visual Data

          dataFile.print(Header);
          dataFile.println(ObstHeader);
          dataFile.close();
      }  
    }
    pinMode(CYCLOMETER, INPUT);
    attachInterrupt (5, WheelRev, RISING);

}
/*---------------------------------------------------------------------------------------*/ 
void waypoint::SetTime(char *pTime, char * pDate)
{
//    GPSfile = "mmddhhmm.CSV";
     strncpy(GPSfile,   pDate+2, 2);  // month   
     strncpy(GPSfile+2, pDate, 2);    // day    
     strncpy(GPSfile+4, pTime,2);     // GMT hour
     strncpy(GPSfile+6, pTime+2,2);   // minute
     Serial.println(GPSfile); 
    
     strncpy(StartTime,     pDate+4, 2);  // year   
     strncpy(StartTime+3,   pDate+2, 2);  // month   
     strncpy(StartTime+6,   pDate, 2);    // day    
     strncpy(StartTime+9,   pTime,2);     // GMT hour
     strncpy(StartTime+12,  pTime+2,2);   // minute
     strncpy(StartTime+15,  pTime+4,2);   // second
     strncpy(StartTime+18,  pTime+7,3);   // millisecond
     
}

/*---------------------------------------------------------------------------------------*/ 
void loop() 
{
    unsigned long deltaT_ms;
    unsigned long time = millis();
