 */
 
 #define PIN_GPS 2
-
+#include <Adafruit_NeoPixel.h>
+#include <TargetRegistration.h>
 #include <TinyGPS.h>
 #include <SoftwareSerial.h>
 #include <Wire.h> //Needed by the Adafruit BNO055 library
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BNO055.h>
 #include <EasyTransfer.h>
+#include <Servo.h> 
 
 /** Edit these to tune navigation */
 //Minimumn distance in meters to waypoint

//  heading += declinationAngle;
//
//  // Correct for when signs are reversed.
//  if(heading < 0)
//    heading += 2*PI;
//      
//  // Check for wrap due to addition of declination.
//  if(heading > 2*PI)
//    heading -= 2*PI;
// 
//  // Convert radians to degrees for readability.
//  mCompassHeading = heading * 180/M_PI; 

}
  
void setup() {

/** Compass */
Adafruit_BNO055 bno = Adafruit_BNO055(55);

SoftwareSerial SWSerial(4, 5);

//Used to talk to the TargetRegistration library
ClientTarget clientTarget;

//Servos to calibrate the compass
Servo mPanServo;
Servo mTiltServo;
#define PAN_PIN 7
#define TILT_PIN 6

/**
  * Read gps a return true if new data found
