if (c == 'H' || c == 'h') {
//target heading in degree
targetPosition.heading = Serial.parseInt();
} else if (c == 'T' || c == 't') {
//tilt angle in degree
int value = Serial.parseInt();
if (value > 90)
value = 90;
else if (value < 0)
value = 0;
tilt = map(value, 0, 90, TILT_0, TILT_90);
SET_TILT_SERVO_SPEED(tilt);
} else if (c == 'M' || c == 'm') {
//tilt angle in ms
tilt = Serial.parseInt();
SET_TILT_SERVO_SPEED(tilt);
} else if (c == 'P' || c == 'p') {
p = Serial.parseInt();
} else if (c == 'I' || c == 'i') {
i = Serial.parseInt();
} else if (c == 'D' || c == 'd') {
d = Serial.parseInt();
} else if (c == 'C' || c == 'c') {
calibrate_compass();
}
