 #include "Wire.h"
 #include "SPI.h"
 #include "MINDS-i-Drone.h"
-/*
-Altimeter, get a raw value and maybe a converted value to feet?
-(through the Arduino Serial Terminal)
-*/
 
 MS5611 baro;
+Altitude altitude;
 SRAMstorage<float,2> storage;
 Settings settings(&storage);
 CommManager comms(&Serial, &storage);
-Altitude altitude;
 
 void setup(){
     Serial.begin(9600);

        comms.sendTelem(GROUNDSPEED, altitude.getVelocity());
        comms.sendTelem(VOLTAGE, temp);
        comms.sendTelem(AMPERAGE, bar);
        comms.sendTelem(ALTITUDE, alt);
        comms.sendTelem(ALTITUDE+1, altitude.getAltitude());
    }
}

    delay(100);
    baro.calibrate();

    settings.attach(0, 0.046f, [](float g){ altitude.setBarometerGain(g); });
    settings.attach(1, 0.020f, [](float g){ altitude.setVelocityGain(g); });
}

void loop(){
    comms.update();
    baro.update();
    altitude.update(baro.getAltitude());

    static auto timer = Interval::every(250);
    if(timer()){
        float temp = baro.getCelsius();
        float bar  = baro.getMilliBar();
