European Space Agency Can Satellite Arduino code 16 Zenith

#include <MPU6050.h>
		#include <BMP180.h>
		#include <qbcan.h>
		#include <RFM69.h>
		#include <RFM69registers.h>
		#include <qbcan.h>
		#include <SPI.h>
		#include <SoftwareSerial.h>
		#include <TinyGPS++.h>
		#include <I2Cdev.h>
		#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
		#include "Wire.h"
		#endif
		#define Author "R.Stewart"
		//Radio
		#define NODEID 2
		#define NETWORKID 10
		#define GATEWAYID 1
		#define ENCRYPTKEY "IhaveCreatedOverAThousandBlades" //UNLIMITED BLADE WORKS!
		char payload[50];
		#define OUTPUTMPU
		RFM69 radio;
		TinyGPSPlus gps;
		SoftwareSerial ss( 9, 8 );
		BMP180 bmp;
		MPU6050 mpu (0x68);
		float N;
		float V;
		float A;
		int buffersize=1000;
		int acel_deadzone=8;
		int giro_deadzone=1;
		int16_t ax, ay, az, gx, gy, gz;
		void setup()
		{
		#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
		Wire.begin();
		#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
		Fastwire::setup(400, true);
		#endif
		delay(5000);
		pinMode (A4,INPUT);
		pinMode (A5,INPUT);
		Serial.begin(9600); //Board
		Serial1.begin(115200);//Radio/Openlog
		ss.begin(9600);//GPS
		mpu.initialize();
		Serial.println("Testing device connections...");
		Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
		bmp.begin();
		{
		radio.initialize(FREQUENCY,NODEID,NETWORKID);
		radio.setHighPower(); //To use the high power capabilities of the RFM69HW
		radio.encrypt(ENCRYPTKEY);
		Serial.println("Transmitting at 433 Mhz");
		}
		Serial.print(mpu.getXAccelOffset()); Serial.print("\t"); // -76
		Serial.print(mpu.getYAccelOffset()); Serial.print("\t"); // -2359
		Serial.print(mpu.getZAccelOffset()); Serial.print("\t"); // 1688
		Serial.print(mpu.getXGyroOffset()); Serial.print("\t"); // 0
		Serial.print(mpu.getYGyroOffset()); Serial.print("\t"); // 0
		Serial.print(mpu.getZGyroOffset()); Serial.print("\t"); // 0
		Serial.print("\n");
		mpu.setXGyroOffset(-5);
		mpu.setYGyroOffset(4);
		mpu.setZGyroOffset(10);
		Serial.print(mpu.getXAccelOffset()); Serial.print("\t"); // -76
		Serial.print(mpu.getYAccelOffset()); Serial.print("\t"); // -2359
		Serial.print(mpu.getZAccelOffset()); Serial.print("\t"); // 1688
		Serial.print(mpu.getXGyroOffset()); Serial.print("\t"); // 0
		Serial.print(mpu.getYGyroOffset()); Serial.print("\t"); // 0
		Serial.print(mpu.getZGyroOffset()); Serial.print("\t"); // 0
		Serial.print("\n");
		}
		void loop()
		{
		int sensorV = analogRead(A4);
		float V = sensorV *(5.0/1023.0);
		double T,P;
		bmp.getData(T,P);
		mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
		while (ss.available() > 0)
		if (gps.encode(ss.read()))
		{
		Serial1.print(T);
		Serial1.print(",");
		Serial1.print(P);
		Serial1.print(",");
		Serial.print(T);
		Serial.print(",");
		Serial.print(P);
		Serial.print(",");
		{
		delay(200);
		if (gps.location.isValid())
		{
		Serial.print(gps.location.lat(), 6);
		Serial.print(F(","));
		Serial.print(gps.location.lng(), 6);
		Serial.print(F(","));
		Serial.print(gps.course.deg());
		Serial.print(F(","));
		Serial.print(gps.time.centisecond(), 6);
		delay(50);
		Serial1.print(gps.location.lat(), 6);
		Serial1.print(F(","));
		Serial1.print(gps.location.lng(), 6);
		Serial1.print(F(","));
		Serial1.print(gps.course.deg());
		Serial1.print(F(","));
		Serial1.print(gps.time.centisecond(), 6);
		}
		else
		{
		Serial.print(F("N/A"));
		Serial1.print(F("N/A"));
		}
		Serial.print(",");
		Serial.print(V);
		Serial.print(",");
		Serial1.print(",");
		Serial1.print(V);
		Serial1.print(",");
		}
		#ifdef OUTPUTMPU
		Serial.print(ax);
		Serial.print(",");
		Serial.print(ay);
		Serial.print(",");
		Serial.print(az);
		Serial.print(",");
		Serial.print(gx);
		Serial.print(",");
		Serial.print(gy);
		Serial.print(",");
		Serial.println(gz);
		delay(50);
		Serial1.print(ax);
		Serial1.print(",");
		Serial1.print(ay);
		Serial1.print(",");
		Serial1.print(az);
		Serial1.print(",");
		Serial1.print(gx);
		Serial1.print(",");
		Serial1.print(gy);
		Serial1.print(",");
		Serial1.print(gz);
		#endif
		/*
		#ifdef OUTPUT_BINARY_ACCELGYRO
		Serial1.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
		Serial1.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
		Serial1.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
		Serial1.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
		Serial1.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
		Serial1.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
		#endif
		*/
		float Lng, Lat, Deg, Tim;
		Lng = gps.location.lat();
		Lat = gps.location.lng();
		Deg = gps.course.deg();
		Tim = gps.time.centisecond();
		delay(100);
		{
		Serial.println();
		Serial1.println("Outputing RF");
		Serial1.println();
		sprintf(payload,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d",(int)ax,(int)ay,(int)az,(int)gx,(int)gy,(int)gz,(int)Lng,(int)Lat,(int)Deg,(int)Tim,(int)T,(int)P,(int)V);
		Serial1.println(payload);
		radio.send(GATEWAYID, payload, 50);
		Serial1.println("Send complete");
		delay(100);
		}
		}
		}