In correct_path(), removed the absolute value expressions upon the x, y differences in order to enable the addition or subtraction with D_heading to get bigger or smaller if one angle was negative. // Changed the comparisons from x and 0 to x and D_heading; want to check where going relative to D_heading and comparing to 0 would not work. // Added an expression in read_GPS_fields() to check if incoming char was a "-", and if so simply ignore rather than writing a NULL character to that array location. // In manual() expanded if (DataRdyUART2()) to encompass the entire selection of response comparisons to prevent reoccurring(old) character rereading. //