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diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino
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+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+void Compass_Heading()
+{
+  float MAG_X;
+  float MAG_Y;
+  float cos_roll;
+  float sin_roll;
+  float cos_pitch;
+  float sin_pitch;
+  
+  cos_roll = cos(roll);
+  sin_roll = sin(roll);
+  cos_pitch = cos(pitch);
+  sin_pitch = sin(pitch);
+  
+  // adjust for LSM303 compass axis offsets/sensitivity differences by scaling to +/-0.5 range
+  c_magnetom_x = (float)(magnetom_x - SENSOR_SIGN[6]*M_X_MIN) / (M_X_MAX - M_X_MIN) - SENSOR_SIGN[6]*0.5;
+  c_magnetom_y = (float)(magnetom_y - SENSOR_SIGN[7]*M_Y_MIN) / (M_Y_MAX - M_Y_MIN) - SENSOR_SIGN[7]*0.5;
+  c_magnetom_z = (float)(magnetom_z - SENSOR_SIGN[8]*M_Z_MIN) / (M_Z_MAX - M_Z_MIN) - SENSOR_SIGN[8]*0.5;
+  
+  // Tilt compensated Magnetic filed X:
+  MAG_X = c_magnetom_x*cos_pitch+c_magnetom_y*sin_roll*sin_pitch+c_magnetom_z*cos_roll*sin_pitch;
+  // Tilt compensated Magnetic filed Y:
+  MAG_Y = c_magnetom_y*cos_roll-c_magnetom_z*sin_roll;
+  // Magnetic Heading
+  MAG_Heading = atan2(-MAG_Y,MAG_X);
+}