   // Final values are angle in degrees.
 }
 
+/*
 void readCompass() {
   MagnetometerScaled scaled = compass.ReadScaledAxis();
   heading = atan2(scaled.YAxis, scaled.XAxis);

// Hold sensor values and calibration
L3G gyro;
ADXL345 accel;
HMC5883L compass;
Adafruit_BMP085 barometer;
int calIdx = 0;
float rollCalibration, pitchCalibration, yawCalibration;
float gyroRollRaw, gyroPitchRaw, gyroYawRaw;

  }
  Serial.println(F("Barometer initialized"));
  delay(250);
*/

  // Set the PID values
  rollKp = ROLL_PID_KP;
