             mcount++;
            // read the raw sensor data
             mpu.getAcceleration  ( &a1, &a2, &a3  );
-            ax = a1*2.0f/32768.0f; // 2 g full range for accelerometer
-            ay = a2*2.0f/32768.0f;
-            az = a3*2.0f/32768.0f;
+            ax_g = a1*2.0f/32768.0f; // 2 g full range for accelerometer
+            ay_g = a2*2.0f/32768.0f;
+            az_g = a3*2.0f/32768.0f;
 
             mpu.getRotation  ( &g1, &g2, &g3  );
-            gx = g1*250.0f/32768.0f; // 250 deg/s full range for gyroscope
-            gy = g2*250.0f/32768.0f;
-            gz = g3*250.0f/32768.0f;
+            gx_degps = g1*250.0f/32768.0f; // 250 deg/s full range for gyroscope
+            gy_degps = g2*250.0f/32768.0f;
+            gz_degps = g3*250.0f/32768.0f;
 //  The gyros and accelerometers can in principle be calibrated in addition to any factory calibration but they are generally
 //  pretty accurate. You can check the accelerometer by making sure the reading is +1 g in the positive direction for each axis.
 //  The gyro should read zero for each axis when the sensor is at rest. Small or zero adjustment should be needed for these sensors.

uint16_t lastUpdate = 0; // used to calculate integration interval
uint16_t now = 0;        // used to calculate integration interval

float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values 
float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};    // vector to hold quaternion
float eInt[3] = {0.0f, 0.0f, 0.0f};       // vector to hold integral error for Mahony method

void setup()
{


Distributed as-is; no warranty is given.
*****************************************************************/

#define USE_MAVLINK //Uncomment this line to use mavlink
#ifdef USE_MAVLINK
  #include "/home/bat/sketchbook/libraries/mavlink/ardupilotmega/mavlink.h"        // Mavlink interface
#endif

#include <Wire.h>
#include "I2Cdev.h"
