So I tried to implement battery voltage measurements into the current configuration. That turned out to be a bad idea and I guess one good surge must have fried several pins in the Atmega2560. Now there is a Arduino Mega at the controls and life is looking better. Also, for those that don't know the Mega had a price drop recently - 50 bucks.
Am really excited about the announcement from Arduino about the Due - an Arm based processor that is 32-bit and 90Mhz. Should be available in the next few months and that is really cool. http://blog.arduino.cc/
Also have implemented 'navigate to a gps point' . Managed to send HARVE down the street, to a particular lat/lon and turn around and return to starting point. I will try and post video soon.
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