 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:

    LTATune newAccl = LTATune::FitEllipsoid(acclLog);
    LTATune newMagn = LTATune::FitEllipsoid(magnLog);

    Serial.println();
    for(int i=0; i<3; i++){
        float a = magnLog[i*2+0][i];

#include "Wire.h"
#include "SPI.h"
#include "MINDS-i-Drone.h"

enum ProgramState {
    COLLECT_STATES,
