     Serial.print(qq[3]*10000);
     Serial.print(", ");
     Serial.println("");
+    // blink LED to indicate activity
+    blinkState = !blinkState;
+    digitalWrite(LED_PIN, blinkState);
         
 }

        Serial.print("\t");
        Serial.print(aa.y);
        Serial.print("\t");
        Serial.println(aa.z);
        */
        // display real acceleration, adjusted to remove gravity
        mpu.dmpGetGyro(rr, fifoBuffer);
        gx = rr[0];

        Serial.print("\t");
        Serial.println(rr[2]);
        */
        
        // read raw heading measurements from device
        mag.getHeading(&mx16, &my16, &mz16);
        mx16-=60;
        my16-=261;
        mz16+=334;
        mx = mx16;
        my = my16;
        mz = mz16;
        
        /*Serial.print("m\t");
        Serial.print(mx);
        Serial.print("\t");
        Serial.print(my);
        Serial.print("\t");
        Serial.println(mz);*/
        
        Now = micros();
        deltat = ((Now - lastUpdate)/1000000.0f); // set integration time by time elapsed since last filter update
        lastUpdate = Now;
        MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180*250.0f/32768.0*100, gy*PI/180.0*250.0f/32768.0*100, gz*PI/180.0*250.0f/32768.0*100,  mx,  my,  mz);
        

    }
}
void sendData()
