 #include <TinyGPS.h>  
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
-#include <Adafruit_HMC5883_U.h>
+#include <Adafruit_LSM303_U.h>
+#include <Adafruit_L3GD20_U.h>
+#include <Adafruit_9DOF.h>
 #include <SabertoothSimplified.h>
 
 // tiny gps library code

SoftwareSerial mySerial(2, 255);    //used for gps rx and tx pins in use

//Compass Stuff
Adafruit_HMC5883_Unified mag = Adafruit_HMC5883_Unified(12345);
float compassHeading;

//LCD stuff

  void updateHeading(){
    /* Get a new sensor event */ 
    sensors_event_t event; 
    sensors_event_t accel_event;
    accel.getEvent(&accel_event);
    mag.getEvent(&event);
    
//    if(!dof.magTiltCompensation(SENSOR_AXIS_Z, &event, &accel_event)){
//      return;
//    }
    
    // Hold the module so that Z is pointing 'up' and you can measure the heading with x&y
    // Calculate heading when the magnetometer is level, then correct for signs of axis.
