 uint8_t system_id = 100;
 uint8_t component_id = 200;
 uint32_t time_boot_ms;
-uint32_t last_mag_read_ms;
+uint32_t last_baro_read_ms;
 
 //MS5611
 MS561101BA baro = MS561101BA();

            pa = q2;
            pb = q3;
            pc = q4;
            q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * deltat);
            q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * deltat);
            q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * deltat);
            q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * deltat);

            // Normalise quaternion
            norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);

            qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;

            // Integrate to yield quaternion
            q1 += qDot1 * deltat_s;
            q2 += qDot2 * deltat_s;
            q3 += qDot3 * deltat_s;
            q4 += qDot4 * deltat_s;
            norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);    // normalise quaternion
            norm = 1.0f/norm;
            q[0] = q1 * norm;
