 uint32_t delt_t = 0; // used to control display output rate
 float pitch, yaw, roll, heading;
 float deltat = 0.0f;        // integration interval for both filter schemes
+float seconds = 0.0f;
 uint32_t lastUpdate = 0;    // used to calculate integration interval
 uint32_t Now = 0;           // used to calculate integration interval
 

  // make sure communication was successful.
  uint32_t status = dof.begin();
 
  Serial.print("LSM9DS0 WHO_AM_I's returned: 0x");
  Serial.println(status, HEX);
  Serial.println("Should be 0x49D4");
  Serial.println();
  delay(2000); 
  
 // Set data output ranges; choose lowest ranges for maximum resolution
 // Accelerometer scale can be: A_SCALE_2G, A_SCALE_4G, A_SCALE_6G, A_SCALE_8G, or A_SCALE_16G   

 // Use the FIFO mode to average accelerometer and gyro readings to calculate the biases, which can then be removed from
 // all subsequent measurements.
    dof.calLSM9DS0(gbias, abias);
    
}

void loop()
