 
 #define MOVAVG_SIZE 32
 
+// class default I2C address is 0x1E
+// specific I2C addresses may be passed as a parameter here
+// this device only supports one I2C address (0x1E)
+HMC5883L mag;
 MPU6050 mpu(0x69); // <-- use for AD0 high
 MS561101BA baro = MS561101BA();
 

            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
            attitude.u = ypr[0] * 180/M_PI*100;
            attitude.v = ypr[1] * 180/M_PI*100;
            attitude.w= ypr[2] * 180/M_PI*100;
            /*Serial.print("ypr\t");  Serial.print(ypr[0] * 180/M_PI);
            Serial.print("\t");  Serial.print(ypr[1] * 180/M_PI);
            Serial.print("\t"); Serial.println(ypr[2] * 180/M_PI);*/

  //Sending data to gbase
        char SensorMsg1[7];   
        //itoa(attitude.u,SensorMsg1,10);
        Serial.print("heading:\t");
        Serial.println(heading * 180/M_PI);
        sprintf(SensorMsg1,"%c%d",'u',attitude.u);
        Serial.println(SensorMsg1);
        sprintf(SensorMsg1,"%c%d",'v',attitude.v);
