   if(payloadGPS.location.isUpdated() || trackerGPS.location.isUpdated()){
     // Update target solution every time new GPS info is available
     get_tracking_solution();
-  }
+    // Update solution based on IMU
+    updateMotors(azimuth_deg, elevation_deg);
+  }
+
+  xAxis.run();
+  yAxis.run();
 
   // Display GPS info about every 2 seconds
   if(millis() - gpsTimer > 2000){

#include <SoftwareSerial.h>
#include <Wire.h>
#include <SPI.h>
#include <TinyGPS++.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <math.h>

#define DEBUGGING true
#define GPSBAUD 9600

  }
//  bno.setExtCrystalUse(true);                     //Use the external clock in the IMU
//  bno.setMode(bno.OPERATION_MODE_NDOF);

  // Set stepper motor acceleration and top speeds
  xAxis.setMaxSpeed(10000);
  xAxis.setAcceleration(5000);
  yAxis.setMaxSpeed(10000);
  yAxis.setAcceleration(5000);
}


