if(positionInArray==0)
{
outputValue=currentTotal+(newData/100);
}
else if(positionInArray==1)
{
outputValue=currentTotal+(newData/10);
}
else if(positionInArray==2)
{
outputValue=currentTotal;
}
else if(positionInArray==3)
{
outputValue=currentTotal+newData;
}
else if(positionInArray==4)
{
if(theData==45)//the original byte passed was a minus sign;
{
outputValue=0-currentTotal;
}
else
{
outputValue=currentTotal+(newData*10);
}
}
else if(positionInArray==5)
{
outputValue=currentTotal+(newData/100);
if(theData==45)//the original byte passed was a minus sign;
{
outputValue=0-currentTotal;
}
else
{
outputValue=currentTotal+(newData*100);
}
}
else if(positionInArray==6)//positionInArray 6 can only ever be a negative sign
{
if(theData==45)//the original byte passed was a minus sign;
{
outputValue=0-currentTotal;
}
}
return outputValue;
}

int getData()
{
int inByte;
int dataFound=0;
while(dataFound<1)
{
if(Serial3.available())
{
inByte = Serial3.read();
return inByte;
dataFound=1;
}
else
{
//delay(1);
}
}
}

void getAttitude() {
int inByte=0;
Serial3.flush();

while(inByte!=58) // 58 is :
{
inByte = getData();
}

//XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
//XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
//XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
inByte = getData();
int xPos=0;
float xVal=0;
byte xData[7];
while(inByte!=44) // 44 is ,
{
if(inByte!=-1) // -1 is not available
{

xData[xPos]=inByte;
xPos++;
}
inByte = getData();
}
int newPos=0;
xPos--;
while(xPos>=0)
{
xVal=processByteToVal(newPos, xData[xPos], xVal);
xPos--;
newPos++;

}

//YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY
//YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY
//YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY
inByte = getData();
int yPos=0;
float yVal=0;
byte yData[7];
while(inByte!=44) // 44 is ,
{
if(inByte!=-1) // -1 is not available
{

yData[yPos]=inByte;
yPos++;
}
inByte = getData();
}
newPos=0;
yPos--;
while(yPos>=0)
{
yVal=processByteToVal(newPos, yData[yPos], yVal);
yPos--;
newPos++;

}

//ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZ
//ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZ
//ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZ
inByte = getData();
int zPos=0;
float zVal=0;
byte zData[7];
while(inByte!=44) // 44 is ,
{
if(inByte!=-1) // -1 is not available
{

zData[zPos]=inByte;
zPos++;
}
inByte = getData();
}
newPos=0;
zPos--;
while(zPos>=0)
{
zVal=processByteToVal(newPos, zData[zPos], zVal);
zPos--;
newPos++;
}

//TOTAL - TOTAL - TOTAL - TOTAL -TOTAL
//TOTAL - TOTAL - TOTAL - TOTAL -TOTAL
//TOTAL - TOTAL - TOTAL - TOTAL -TOTAL
inByte = getData();
//Serial.println ("");
//Serial.print("This is total: ");
int totalPos=0;
float totalVal=0;
byte totalData[7];
while(inByte!=13) // 44 is ,
{
if(inByte!=-1) // -1 is not available
{

totalData[totalPos]=inByte;
//Serial.print(inByte, BYTE);
totalPos++;
}
inByte = getData();
}
newPos=0;
totalPos--;
while(totalPos>=0)
{
totalVal=processByteToVal(newPos, totalData[totalPos], totalVal);
totalPos--;
newPos++;

}
// Serial.print("totalVal is: ");
// Serial.println(totalVal);

float localTotal=xVal+yVal+zVal;

if((abs(totalVal)-abs(localTotal)<=0.03) && (abs(totalVal)-abs(localTotal)>=-0.03))
{
currentXAngle=0-xVal;//currentXAngle and currentYAngle are the gloabl variables that store the current x,y,z that we use throughout the code.
currentYAngle=yVal;
currentZAngle=0-zVal;