 // MPU6050_6Axis_MotionApps20.h and I2Cdev.h can get from Jeff Rowberg's github: https://github.com/jrowberg/i2cdevlib
 // SoftwareSerial.h is used to read data from GPS without interrupt with the Xbee
 #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-    #include "Wire.h"
+#include "Wire.h"
 #endif
 //Specify the I2C address of MPU6050, default I2C adress is 0x60
 MPU6050 mpu;

#define MOTOR_3_PIN 6
#define MOTOR_4_PIN 9
#define SOFT_SERIAL_TX 11
#define SOFT_SERIAL_RX 12 
//Define varibles
int throttle_stick = 0;
int yaw_stick = 0;

double gps_height;
double gps_UTCtime;
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0, 0, 0, 0, 0, 0, 0, 0, 0x00, 0x00, '\r', '\n' };
char xbeebuffer[10];
// Initialize buffer for controller
SoftwareSerial gpsSerial (SOFT_SERIAL_RX, SOFT_SERIAL_TX);






char* dynamic_array_serial(SoftwareSerial*, int, char, char);
boolean string_pattern_checker(char*,char*);
//----------------------------Setup Code-----------------------------------------------//
void setup() {
  //Define all motor pins as output
  pinMode(MOTOR_1_PIN, OUTPUT);
  pinMode(MOTOR_2_PIN, OUTPUT);
  pinMode(MOTOR_3_PIN, OUTPUT);
  pinMode(MOTOR_4_PIN, OUTPUT);
  //Define softSerial pins' mode
  pinMode(SOFT_SERIAL_RX, INPUT);
  pinMode(SOFT_SERIAL_TX, OUTPUT);
  Serial.begin(9600);
  gpsSerial.begin(9600);
  // Begin both serials
}

//----------------------------Main Loop-----------------------------------------------//
