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diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino
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+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011-2016 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/>.
+
+*/
+
+// Uncomment the following line to use a MinIMU-9 v5 or AltIMU-10 v5. Leave commented for older IMUs (up through v4).
+#define IMU_V5
+
+// Uncomment the below line to use this axis definition:
+   // X axis pointing forward
+   // Y axis pointing to the right
+   // and Z axis pointing down.
+// Positive pitch : nose up
+// Positive roll : right wing down
+// Positive yaw : clockwise
+int SENSOR_SIGN[9] = {1,1,1,-1,-1,-1,1,1,1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer
+// Uncomment the below line to use this axis definition:
+   // X axis pointing forward
+   // Y axis pointing to the left
+   // and Z axis pointing up.
+// Positive pitch : nose down
+// Positive roll : right wing down
+// Positive yaw : counterclockwise
+//int SENSOR_SIGN[9] = {1,-1,-1,-1,1,1,1,-1,-1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer
+
+// tested with Arduino Uno with ATmega328 and Arduino Duemilanove with ATMega168
+
+#include <Wire.h>
+
+// accelerometer: 8 g sensitivity
+// 3.9 mg/digit; 1 g = 256
+#define GRAVITY 256  //this equivalent to 1G in the raw data coming from the accelerometer
+
+#define ToRad(x) ((x)*0.01745329252)  // *pi/180
+#define ToDeg(x) ((x)*57.2957795131)  // *180/pi
+
+// gyro: 2000 dps full scale
+// 70 mdps/digit; 1 dps = 0.07
+#define Gyro_Gain_X 0.07 //X axis Gyro gain
+#define Gyro_Gain_Y 0.07 //Y axis Gyro gain
+#define Gyro_Gain_Z 0.07 //Z axis Gyro gain
+#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second
+#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second
+#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second
+
+// LSM303/LIS3MDL magnetometer calibration constants; use the Calibrate example from
+// the Pololu LSM303 or LIS3MDL library to find the right values for your board
+
+#define M_X_MIN -1000
+#define M_Y_MIN -1000
+#define M_Z_MIN -1000
+#define M_X_MAX +1000
+#define M_Y_MAX +1000
+#define M_Z_MAX +1000
+
+#define Kp_ROLLPITCH 0.02
+#define Ki_ROLLPITCH 0.00002
+#define Kp_YAW 1.2
+#define Ki_YAW 0.00002
+
+/*For debugging purposes*/
+//OUTPUTMODE=1 will print the corrected data,
+//OUTPUTMODE=0 will print uncorrected data of the gyros (with drift)
+#define OUTPUTMODE 1
+
+#define PRINT_DCM 0     //Will print the whole direction cosine matrix
+#define PRINT_ANALOGS 0 //Will print the analog raw data
+#define PRINT_EULER 1   //Will print the Euler angles Roll, Pitch and Yaw
+
+#define STATUS_LED 13
+
+float G_Dt=0.02;    // Integration time (DCM algorithm)  We will run the integration loop at 50Hz if possible
+
+long timer=0;   //general purpuse timer
+long timer_old;
+long timer24=0; //Second timer used to print values
+int AN[6]; //array that stores the gyro and accelerometer data
+int AN_OFFSET[6]={0,0,0,0,0,0}; //Array that stores the Offset of the sensors
+
+int gyro_x;
+int gyro_y;
+int gyro_z;
+int accel_x;
+int accel_y;
+int accel_z;
+int magnetom_x;
+int magnetom_y;
+int magnetom_z;
+float c_magnetom_x;
+float c_magnetom_y;
+float c_magnetom_z;
+float MAG_Heading;
+
+float Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector
+float Gyro_Vector[3]= {0,0,0};//Store the gyros turn rate in a vector
+float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
+float Omega_P[3]= {0,0,0};//Omega Proportional correction
+float Omega_I[3]= {0,0,0};//Omega Integrator
+float Omega[3]= {0,0,0};
+
+// Euler angles
+float roll;
+float pitch;
+float yaw;
+
+float errorRollPitch[3]= {0,0,0};
+float errorYaw[3]= {0,0,0};
+
+unsigned int counter=0;
+byte gyro_sat=0;
+
+float DCM_Matrix[3][3]= {
+  {
+    1,0,0  }
+  ,{
+    0,1,0  }
+  ,{
+    0,0,1  }
+};
+float Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here
+
+
+float Temporary_Matrix[3][3]={
+  {
+    0,0,0  }
+  ,{
+    0,0,0  }
+  ,{
+    0,0,0  }
+};
+
+void setup()
+{
+  Serial.begin(115200);
+  pinMode (STATUS_LED,OUTPUT);  // Status LED
+
+  I2C_Init();
+
+  Serial.println("Pololu MinIMU-9 + Arduino AHRS");
+
+  digitalWrite(STATUS_LED,LOW);
+  delay(1500);
+
+  Accel_Init();
+  Compass_Init();
+  Gyro_Init();
+
+  delay(20);
+
+  for(int i=0;i<32;i++)    // We take some readings...
+    {
+    Read_Gyro();
+    Read_Accel();
+    for(int y=0; y<6; y++)   // Cumulate values
+      AN_OFFSET[y] += AN[y];
+    delay(20);
+    }
+
+  for(int y=0; y<6; y++)
+    AN_OFFSET[y] = AN_OFFSET[y]/32;
+
+  AN_OFFSET[5]-=GRAVITY*SENSOR_SIGN[5];
+
+  //Serial.println("Offset:");
+  for(int y=0; y<6; y++)
+    Serial.println(AN_OFFSET[y]);
+
+  delay(2000);
+  digitalWrite(STATUS_LED,HIGH);
+
+  timer=millis();
+  delay(20);
+  counter=0;
+}
+
+void loop() //Main Loop
+{
+  if((millis()-timer)>=20)  // Main loop runs at 50Hz
+  {
+    counter++;
+    timer_old = timer;
+    timer=millis();
+    if (timer>timer_old)
+    {
+      G_Dt = (timer-timer_old)/1000.0;    // Real time of loop run. We use this on the DCM algorithm (gyro integration time)
+      if (G_Dt > 0.2)
+        G_Dt = 0; // ignore integration times over 200 ms
+    }
+    else
+      G_Dt = 0;
+
+
+
+    // *** DCM algorithm
+    // Data adquisition
+    Read_Gyro();   // This read gyro data
+    Read_Accel();     // Read I2C accelerometer
+
+    if (counter > 5)  // Read compass data at 10Hz... (5 loop runs)
+    {
+      counter=0;
+      Read_Compass();    // Read I2C magnetometer
+      Compass_Heading(); // Calculate magnetic heading
+    }
+
+    // Calculations...
+    Matrix_update();
+    Normalize();
+    Drift_correction();
+    Euler_angles();
+    // ***
+
+    printdata();
+  }
+
+}