    accelgyro.setI2CBypassEnabled(true) ;
    accelgyro.setSleepEnabled(false);
 
-   Serial.begin(38400);
+   Serial.begin(115200);
 
    // initialize device
    Serial.println("Initializing I2C devices...");


   Serial.print("alt:\t");
   Serial.println( absoluteAltitude );
   // blink LED to indicate activity
   blinkState = !blinkState;
   digitalWrite(LED_PIN, blinkState);
}

MS5611 ms5611;


uint32_t time;

MPU6050 accelgyro;
HMC5883L mag;


typedef struct {
  uint16_t header;
  int16_t ax, ay, az;
  int16_t gx, gy, gz;
  int16_t mx, my, mz;
  float absoluteAltitude;
  uint32_t t_stemp;
  uint16_t footer; 
} data_struct;

data_struct ds;

void chksum()
{
  uint16_t sum=0;
  ds.t_stemp=millis();
  for(int i=1;i<(sizeof(ds)/2-2);i++)
  {
    uint16_t* pds=(uint16_t*)&ds;
    sum+=pds[i];
  }
  ds.footer=sum;
}

#define LED_PIN 13
bool blinkState = false;
int iters=0;

void setup() {
  
