 #include "I2Cdev.h"
 #include "MPU6050_6Axis_MotionApps20.h"
-
+#include "HMC5883L.h"
 #include "MS561101BA.h"
 #include "Wire.h"
 

///******* Acc+gyro
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful

    // initialize device
    Serial.println(F("Initializing Gyro+Acc..."));
    mpu.initialize();
    
    mag.initialize();

    // verify connection
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
    Serial.println(mag.testConnection() ? "HMC5883L connection successful" : "HMC5883L connection failed");

    while (Serial.available() && Serial.read()); // empty buffer

