 float bearing = 0;
 float bearing_offset = 0;
 
-uint8_t outBuffer[22] = {0};
+uint8_t outBuffer[24] = {0};
 
 uint8_t frontSum, backSum, rightSum, leftSum;
 uint8_t lightByte = 0x00;

	}
}

inline void commandRequestStandardPacket(){
	slave1.x = 20;
	slave1.y = 30;

}

void calibMagRequest(){
	Serial.println("calibMagRequest");
	slave1.imu.initCalibMagRoutine();
	bool exit = false;
	while(!exit){
		slave1.imu.calibMagRoutine();
		uint8_t c = slave1.checkIfRequested();
		switch(c){
			case SLAVE1_COMMANDS::END_CALIB_MAG:
				exit = true;
				break;
			case SLAVE1_COMMANDS::CALIB_DATA:
				commandRequestCalibData();
				Serial.println("sent data");
				break;
			case 255: break;
		}
	}
	Serial.println("ended mag calib");
	// store mag calibration in EEPROM
	slave1.imu.storeMagCalibrations();
	slave1.imu.preCalculateCalibParams();
