  // Use the FIFO mode to average accelerometer and gyro readings to calculate the biases, which can then be removed from
  // all subsequent measurements.
     dof.calLSM9DS0(gbias, abias);
+    
 }
 
 void loop()

uint32_t delt_t = 0; // used to control display output rate
float pitch, yaw, roll, heading;
float deltat = 0.0f;        // integration interval for both filter schemes
uint32_t lastUpdate = 0;    // used to calculate integration interval
uint32_t Now = 0;           // used to calculate integration interval


  // Print the heading and orientation for fun!
    //printHeading(mx, my);
    //printOrientation(ax, ay, az);
    //printOrientation(dof.calcAccel(X.mean()) - abias[0], dof.calcAccel(Y.mean()) - abias[1], dof.calcAccel(Z.mean()) - abias[2]);

  // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
  // In this coordinate system, the positive z-axis is down toward Earth. 
