 float acclLog[6][3];
 float magnLog[6][3];
 
-InertialVec* sens[2] = {&mpu, &hmc};
+MPU6000  mpu;
+HMC5883L cmp;
+InertialVec* sens[2] = {&mpu, &cmp};
 Translator   conv[2] = {Translators::identity, Translators::identity};
 InertialManager sensors(sens, conv, 2);
+Settings set(eeStorage::getInstance());
 
 class datastream{
 private:

            newMagn.scalar[i] *= -1;
        }
    }

    Serial.println("res = (raw+shift)*scalar");
    Serial.println("New accelerometer tune:");

        Serial.println(mpuState.message);
        while(true);
    }
    auto cmpState = cmp.status();
    if(!cmpState.good()){
        Serial.println("Bad HMC5883L status");
        Serial.println(cmpState.message);
        while(true);
    }

