       // uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
       mavlink_msg_raw_imu_pack(system_id, component_id, &msg, time_boot_ms, a1, a2, a3, g1, g2, g3, m1, m2, m3);
       len = mavlink_msg_to_send_buffer(buf, &msg);
-      Serial.write(buf, len);
+      //Serial.write(buf, len);
       
       mavlink_msg_scaled_imu_pack(system_id, component_id, &msg, time_boot_ms, ax_g*1000, ay_g*1000, az_g*1000, gx_degps*PI/180.0f*1000, gy_degps*PI/180.0f*1000, gz_degps*PI/180.0f*1000, mx, my, mz);
       len = mavlink_msg_to_send_buffer(buf, &msg);
-      Serial.write(buf, len);
+      //Serial.write(buf, len);
       //static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
       //  uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
       mavlink_msg_attitude_pack(system_id, component_id, &msg, time_boot_ms, roll, pitch, yaw, gx_degps*PI/180.0f, gy_degps*PI/180.0f, gz_degps*PI/180.0f);

         }
   
  now = micros();
  time_boot_ms = now/1000;
  deltat = ((now - lastUpdate)/1000000.0f); // set integration time by time elapsed since last filter update
  lastUpdate = now;
  // Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of the magnetometer;

  // in the LSM9DS0 sensor. This rotation can be modified to allow any convenient orientation convention.
  // This is ok by aircraft orientation standards!  
  // Pass gyro rate as rad/s
   MadgwickQuaternionUpdate(ax_g, ay_g, az_g, gx_degps*PI/180.0f, gy_degps*PI/180.0f, gz_degps*PI/180.0f, my, mx, mz);
// MahonyQuaternionUpdate(ax_g, ay, az, gx_degps*PI/180.0f, gy_degps*PI/180.0f, gz_degps*PI/180.0f, my, mx, mz);

    // Serial print and/or display at 0.05 s rate independent of data rates
