Example of how to do soft and hard iron calibration from a 3DOF magnetometer.
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								GNU GENERAL PUBLIC LICENSE
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								Version 3, 29 June 2007
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								Copyright © 2007 Free Software Foundation, Inc. <http s ://fsf.org/>
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							 | 
						|
								governed by this License without regard to the additional permissions.
							 | 
						|
								
							 | 
						|
								When you convey a copy of a covered work, you may at your option remove any
							 | 
						|
								additional permissions from that copy, or from any part of it. (Additional
							 | 
						|
								permissions may be written to require their own removal in certain cases when
							 | 
						|
								you modify the work.) You may place additional permissions on material, added
							 | 
						|
								by you to a covered work, for which you have or can give appropriate copyright
							 | 
						|
								permission.
							 | 
						|
								
							 | 
						|
								Notwithstanding any other provision of this License, for material you add
							 | 
						|
								to a covered work, you may (if authorized by the copyright holders of that
							 | 
						|
								material) supplement the terms of this License with terms:
							 | 
						|
								
							 | 
						|
								a) Disclaiming warranty or limiting liability differently from the terms of
							 | 
						|
								sections 15 and 16 of this License; or
							 | 
						|
								
							 | 
						|
								b) Requiring preservation of specified reasonable legal notices or author
							 | 
						|
								attributions in that material or in the Appropriate Legal Notices displayed
							 | 
						|
								by works containing it; or
							 | 
						|
								
							 | 
						|
								c) Prohibiting misrepresentation of the origin of that material, or requiring
							 | 
						|
								that modified versions of such material be marked in reasonable ways as different
							 | 
						|
								from the original version; or
							 | 
						|
								
							 | 
						|
								d) Limiting the use for publicity purposes of names of licensors or authors
							 | 
						|
								of the material; or
							 | 
						|
								
							 | 
						|
								e) Declining to grant rights under trademark law for use of some trade names,
							 | 
						|
								trademarks, or service marks; or
							 | 
						|
								
							 | 
						|
								f) Requiring indemnification of licensors and authors of that material by
							 | 
						|
								anyone who conveys the material (or modified versions of it) with contractual
							 | 
						|
								assumptions of liability to the recipient, for any liability that these contractual
							 | 
						|
								assumptions directly impose on those licensors and authors.
							 | 
						|
								
							 | 
						|
								All other non-permissive additional terms are considered "further restrictions"
							 | 
						|
								within the meaning of section 10. If the Program as you received it, or any
							 | 
						|
								part of it, contains a notice stating that it is governed by this License
							 | 
						|
								along with a term that is a further restriction, you may remove that term.
							 | 
						|
								If a license document contains a further restriction but permits relicensing
							 | 
						|
								or conveying under this License, you may add to a covered work material governed
							 | 
						|
								by the terms of that license document, provided that the further restriction
							 | 
						|
								does not survive such relicensing or conveying.
							 | 
						|
								
							 | 
						|
								If you add terms to a covered work in accord with this section, you must place,
							 | 
						|
								in the relevant source files, a statement of the additional terms that apply
							 | 
						|
								to those files, or a notice indicating where to find the applicable terms.
							 | 
						|
								
							 | 
						|
								Additional terms, permissive or non-permissive, may be stated in the form
							 | 
						|
								of a separately written license, or stated as exceptions; the above requirements
							 | 
						|
								apply either way.
							 | 
						|
								
							 | 
						|
								   8. Termination.
							 | 
						|
								
							 | 
						|
								You may not propagate or modify a covered work except as expressly provided
							 | 
						|
								under this License. Any attempt otherwise to propagate or modify it is void,
							 | 
						|
								and will automatically terminate your rights under this License (including
							 | 
						|
								any patent licenses granted under the third paragraph of section 11).
							 | 
						|
								
							 | 
						|
								However, if you cease all violation of this License, then your license from
							 | 
						|
								a particular copyright holder is reinstated (a) provisionally, unless and
							 | 
						|
								until the copyright holder explicitly and finally terminates your license,
							 | 
						|
								and (b) permanently, if the copyright holder fails to notify you of the violation
							 | 
						|
								by some reasonable means prior to 60 days after the cessation.
							 | 
						|
								
							 | 
						|
								Moreover, your license from a particular copyright holder is reinstated permanently
							 | 
						|
								if the copyright holder notifies you of the violation by some reasonable means,
							 | 
						|
								this is the first time you have received notice of violation of this License
							 | 
						|
								(for any work) from that copyright holder, and you cure the violation prior
							 | 
						|
								to 30 days after your receipt of the notice.
							 | 
						|
								
							 | 
						|
								Termination of your rights under this section does not terminate the licenses
							 | 
						|
								of parties who have received copies or rights from you under this License.
							 | 
						|
								If your rights have been terminated and not permanently reinstated, you do
							 | 
						|
								not qualify to receive new licenses for the same material under section 10.
							 | 
						|
								
							 | 
						|
								   9. Acceptance Not Required for Having Copies.
							 | 
						|
								
							 | 
						|
								You are not required to accept this License in order to receive or run a copy
							 | 
						|
								of the Program. Ancillary propagation of a covered work occurring solely as
							 | 
						|
								a consequence of using peer-to-peer transmission to receive a copy likewise
							 | 
						|
								does not require acceptance. However, nothing other than this License grants
							 | 
						|
								you permission to propagate or modify any covered work. These actions infringe
							 | 
						|
								copyright if you do not accept this License. Therefore, by modifying or propagating
							 | 
						|
								a covered work, you indicate your acceptance of this License to do so.
							 | 
						|
								
							 | 
						|
								   10. Automatic Licensing of Downstream Recipients.
							 | 
						|
								
							 | 
						|
								Each time you convey a covered work, the recipient automatically receives
							 | 
						|
								a license from the original licensors, to run, modify and propagate that work,
							 | 
						|
								subject to this License. You are not responsible for enforcing compliance
							 | 
						|
								by third parties with this License.
							 | 
						|
								
							 | 
						|
								An "entity transaction" is a transaction transferring control of an organization,
							 | 
						|
								or substantially all assets of one, or subdividing an organization, or merging
							 | 
						|
								organizations. If propagation of a covered work results from an entity transaction,
							 | 
						|
								each party to that transaction who receives a copy of the work also receives
							 | 
						|
								whatever licenses to the work the party's predecessor in interest had or could
							 | 
						|
								give under the previous paragraph, plus a right to possession of the Corresponding
							 | 
						|
								Source of the work from the predecessor in interest, if the predecessor has
							 | 
						|
								it or can get it with reasonable efforts.
							 | 
						|
								
							 | 
						|
								You may not impose any further restrictions on the exercise of the rights
							 | 
						|
								granted or affirmed under this License. For example, you may not impose a
							 | 
						|
								license fee, royalty, or other charge for exercise of rights granted under
							 | 
						|
								this License, and you may not initiate litigation (including a cross-claim
							 | 
						|
								or counterclaim in a lawsuit) alleging that any patent claim is infringed
							 | 
						|
								by making, using, selling, offering for sale, or importing the Program or
							 | 
						|
								any portion of it.
							 | 
						|
								
							 | 
						|
								   11. Patents.
							 | 
						|
								
							 | 
						|
								A "contributor" is a copyright holder who authorizes use under this License
							 | 
						|
								of the Program or a work on which the Program is based. The work thus licensed
							 | 
						|
								is called the contributor's "contributor version".
							 | 
						|
								
							 | 
						|
								A contributor's "essential patent claims" are all patent claims owned or controlled
							 | 
						|
								by the contributor, whether already acquired or hereafter acquired, that would
							 | 
						|
								be infringed by some manner, permitted by this License, of making, using,
							 | 
						|
								or selling its contributor version, but do not include claims that would be
							 | 
						|
								infringed only as a consequence of further modification of the contributor
							 | 
						|
								version. For purposes of this definition, "control" includes the right to
							 | 
						|
								grant patent sublicenses in a manner consistent with the requirements of this
							 | 
						|
								License.
							 | 
						|
								
							 | 
						|
								Each contributor grants you a non-exclusive, worldwide, royalty-free patent
							 | 
						|
								license under the contributor's essential patent claims, to make, use, sell,
							 | 
						|
								offer for sale, import and otherwise run, modify and propagate the contents
							 | 
						|
								of its contributor version.
							 | 
						|
								
							 | 
						|
								In the following three paragraphs, a "patent license" is any express agreement
							 | 
						|
								or commitment, however denominated, not to enforce a patent (such as an express
							 | 
						|
								permission to practice a patent or covenant not to sue for patent infringement).
							 | 
						|
								To "grant" such a patent license to a party means to make such an agreement
							 | 
						|
								or commitment not to enforce a patent against the party.
							 | 
						|
								
							 | 
						|
								If you convey a covered work, knowingly relying on a patent license, and the
							 | 
						|
								Corresponding Source of the work is not available for anyone to copy, free
							 | 
						|
								of charge and under the terms of this License, through a publicly available
							 | 
						|
								network server or other readily accessible means, then you must either (1)
							 | 
						|
								cause the Corresponding Source to be so available, or (2) arrange to deprive
							 | 
						|
								yourself of the benefit of the patent license for this particular work, or
							 | 
						|
								(3) arrange, in a manner consistent with the requirements of this License,
							 | 
						|
								to extend the patent license to downstream recipients. "Knowingly relying"
							 | 
						|
								means you have actual knowledge that, but for the patent license, your conveying
							 | 
						|
								the covered work in a country, or your recipient's use of the covered work
							 | 
						|
								in a country, would infringe one or more identifiable patents in that country
							 | 
						|
								that you have reason to believe are valid.
							 | 
						|
								
							 | 
						|
								If, pursuant to or in connection with a single transaction or arrangement,
							 | 
						|
								you convey, or propagate by procuring conveyance of, a covered work, and grant
							 | 
						|
								a patent license to some of the parties receiving the covered work authorizing
							 | 
						|
								them to use, propagate, modify or convey a specific copy of the covered work,
							 | 
						|
								then the patent license you grant is automatically extended to all recipients
							 | 
						|
								of the covered work and works based on it.
							 | 
						|
								
							 | 
						|
								A patent license is "discriminatory" if it does not include within the scope
							 | 
						|
								of its coverage, prohibits the exercise of, or is conditioned on the non-exercise
							 | 
						|
								of one or more of the rights that are specifically granted under this License.
							 | 
						|
								You may not convey a covered work if you are a party to an arrangement with
							 | 
						|
								a third party that is in the business of distributing software, under which
							 | 
						|
								you make payment to the third party based on the extent of your activity of
							 | 
						|
								conveying the work, and under which the third party grants, to any of the
							 | 
						|
								parties who would receive the covered work from you, a discriminatory patent
							 | 
						|
								license (a) in connection with copies of the covered work conveyed by you
							 | 
						|
								(or copies made from those copies), or (b) primarily for and in connection
							 | 
						|
								with specific products or compilations that contain the covered work, unless
							 | 
						|
								you entered into that arrangement, or that patent license was granted, prior
							 | 
						|
								to 28 March 2007.
							 | 
						|
								
							 | 
						|
								Nothing in this License shall be construed as excluding or limiting any implied
							 | 
						|
								license or other defenses to infringement that may otherwise be available
							 | 
						|
								to you under applicable patent law.
							 | 
						|
								
							 | 
						|
								   12. No Surrender of Others' Freedom.
							 | 
						|
								
							 | 
						|
								If conditions are imposed on you (whether by court order, agreement or otherwise)
							 | 
						|
								that contradict the conditions of this License, they do not excuse you from
							 | 
						|
								the conditions of this License. If you cannot convey a covered work so as
							 | 
						|
								to satisfy simultaneously your obligations under this License and any other
							 | 
						|
								pertinent obligations, then as a consequence you may not convey it at all.
							 | 
						|
								For example, if you agree to terms that obligate you to collect a royalty
							 | 
						|
								for further conveying from those to whom you convey the Program, the only
							 | 
						|
								way you could satisfy both those terms and this License would be to refrain
							 | 
						|
								entirely from conveying the Program.
							 | 
						|
								
							 | 
						|
								   13. Use with the GNU Affero General Public License.
							 | 
						|
								
							 | 
						|
								Notwithstanding any other provision of this License, you have permission to
							 | 
						|
								link or combine any covered work with a work licensed under version 3 of the
							 | 
						|
								GNU Affero General Public License into a single combined work, and to convey
							 | 
						|
								the resulting work. The terms of this License will continue to apply to the
							 | 
						|
								part which is the covered work, but the special requirements of the GNU Affero
							 | 
						|
								General Public License, section 13, concerning interaction through a network
							 | 
						|
								will apply to the combination as such.
							 | 
						|
								
							 | 
						|
								   14. Revised Versions of this License.
							 | 
						|
								
							 | 
						|
								The Free Software Foundation may publish revised and/or new versions of the
							 | 
						|
								GNU General Public License from time to time. Such new versions will be similar
							 | 
						|
								in spirit to the present version, but may differ in detail to address new
							 | 
						|
								problems or concerns.
							 | 
						|
								
							 | 
						|
								Each version is given a distinguishing version number. If the Program specifies
							 | 
						|
								that a certain numbered version of the GNU General Public License "or any
							 | 
						|
								later version" applies to it, you have the option of following the terms and
							 | 
						|
								conditions either of that numbered version or of any later version published
							 | 
						|
								by the Free Software Foundation. If the Program does not specify a version
							 | 
						|
								number of the GNU General Public License, you may choose any version ever
							 | 
						|
								published by the Free Software Foundation.
							 | 
						|
								
							 | 
						|
								If the Program specifies that a proxy can decide which future versions of
							 | 
						|
								the GNU General Public License can be used, that proxy's public statement
							 | 
						|
								of acceptance of a version permanently authorizes you to choose that version
							 | 
						|
								for the Program.
							 | 
						|
								
							 | 
						|
								Later license versions may give you additional or different permissions. However,
							 | 
						|
								no additional obligations are imposed on any author or copyright holder as
							 | 
						|
								a result of your choosing to follow a later version.
							 | 
						|
								
							 | 
						|
								   15. Disclaimer of Warranty.
							 | 
						|
								
							 | 
						|
								THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE
							 | 
						|
								LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
							 | 
						|
								OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER
							 | 
						|
								EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
							 | 
						|
								OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
							 | 
						|
								TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM
							 | 
						|
								PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR
							 | 
						|
								CORRECTION.
							 | 
						|
								
							 | 
						|
								   16. Limitation of Liability.
							 | 
						|
								
							 | 
						|
								IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL
							 | 
						|
								ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM
							 | 
						|
								AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL,
							 | 
						|
								INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO
							 | 
						|
								USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED
							 | 
						|
								INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE
							 | 
						|
								PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER
							 | 
						|
								PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
							 | 
						|
								
							 | 
						|
								   17. Interpretation of Sections 15 and 16.
							 | 
						|
								
							 | 
						|
								If the disclaimer of warranty and limitation of liability provided above cannot
							 | 
						|
								be given local legal effect according to their terms, reviewing courts shall
							 | 
						|
								apply local law that most closely approximates an absolute waiver of all civil
							 | 
						|
								liability in connection with the Program, unless a warranty or assumption
							 | 
						|
								of liability accompanies a copy of the Program in return for a fee. END OF
							 | 
						|
								TERMS AND CONDITIONS
							 | 
						|
								
							 | 
						|
								How to Apply These Terms to Your New Programs
							 | 
						|
								
							 | 
						|
								If you develop a new program, and you want it to be of the greatest possible
							 | 
						|
								use to the public, the best way to achieve this is to make it free software
							 | 
						|
								which everyone can redistribute and change under these terms.
							 | 
						|
								
							 | 
						|
								To do so, attach the following notices to the program. It is safest to attach
							 | 
						|
								them to the start of each source file to most effectively state the exclusion
							 | 
						|
								of warranty; and each file should have at least the "copyright" line and a
							 | 
						|
								pointer to where the full notice is found.
							 | 
						|
								
							 | 
						|
								<one line to give the program's name and a brief idea of what it does.>
							 | 
						|
								
							 | 
						|
								Copyright (C) <year> <name of author>
							 | 
						|
								
							 | 
						|
								This program is free software: you can redistribute it and/or modify it under
							 | 
						|
								the terms of the GNU General Public License as published by the Free Software
							 | 
						|
								Foundation, either version 3 of the License, or (at your option) any later
							 | 
						|
								version.
							 | 
						|
								
							 | 
						|
								This program 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 General Public License for more details.
							 | 
						|
								
							 | 
						|
								You should have received a copy of the GNU General Public License along with
							 | 
						|
								this program. If not, see <http s ://www.gnu.org/licenses/>.
							 | 
						|
								
							 | 
						|
								Also add information on how to contact you by electronic and paper mail.
							 | 
						|
								
							 | 
						|
								If the program does terminal interaction, make it output a short notice like
							 | 
						|
								this when it starts in an interactive mode:
							 | 
						|
								
							 | 
						|
								<program> Copyright (C) <year> <name of author>
							 | 
						|
								
							 | 
						|
								This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
							 | 
						|
								
							 | 
						|
								This is free software, and you are welcome to redistribute it under certain
							 | 
						|
								conditions; type `show c' for details.
							 | 
						|
								
							 | 
						|
								The hypothetical commands `show w' and `show c' should show the appropriate
							 | 
						|
								parts of the General Public License. Of course, your program's commands might
							 | 
						|
								be different; for a GUI interface, you would use an "about box".
							 | 
						|
								
							 | 
						|
								You should also get your employer (if you work as a programmer) or school,
							 | 
						|
								if any, to sign a "copyright disclaimer" for the program, if necessary. For
							 | 
						|
								more information on this, and how to apply and follow the GNU GPL, see <http
							 | 
						|
								s ://www.gnu.org/licenses/>.
							 | 
						|
								
							 | 
						|
								The GNU General Public License does not permit incorporating your program
							 | 
						|
								into proprietary programs. If your program is a subroutine library, you may
							 | 
						|
								consider it more useful to permit linking proprietary applications with the
							 | 
						|
								library. If this is what you want to do, use the GNU Lesser General Public
							 | 
						|
								License instead of this License. But first, please read <http s ://www.gnu.org/
							 | 
						|
								licenses /why-not-lgpl.html>.
							 |