 #define BluetoothSerialSpeed 9600
 // serial config is default: 8, 1, n
 
+#define AccelerometerIntegration 0
 
 #if AccelerometerIntegration
 // Pin that defines the address of accelerometer, (is grounded?)
 #define SA0 1
-#endif
 
 #include <Wire.h>
 #include <MMA8452.h>
 //#include <MMA8452Reg.h>
-
-#define AccelerometerIntegration 0
+#endif
 
 // Software Filter for acceleration 
 #define AccelerometerSoftFilter 1
 
+#if AccelerometerIntegration
 // accuracy: +- 2, +- 4, +- 8
 #define AccelerationRange MMA_RANGE_2G
 #define AccelerationDataRate MMA_12_5hz
 #define AccelerometerNewDataInterrupt 1
+#endif
 
 #if AccelerometerSoftFilter and AccelerometerIntegration
 #include <FilterOnePole.h>

    Serial.println("DAccelerometer active.");
    return true;
}

void setupBluetooth() {
    Bluetooth.begin(BluetoothSerialSpeed);
    Bluetooth.println("DBluetooth module active.");
}

void calibrateZeroVel() {
    Bluetooth.println("DCalibrating zero-speed");
    

    analogWrite(ThrottleOut, (byte) ((throttleBluetoothOut > 126) ? throttleBluetoothOut : throttleSensorOut) );
}

#if AccelerometerIntegration
inline float getUnfilteredXAcc() {
    float x, y, z;
    
