//calculate til compensation data, user and factory calibration
	float	rollUF = atan2(Ya_cal, sqrt(Xa_cal * Xa_cal + Za_cal * Za_cal));
	float	pitchUF = -atan2(Xa_cal, sqrt(Ya_cal * Ya_cal + Za_cal * Za_cal)); //negativ to get tilt compensation working
	float	heelRawUF = rollUF * 180.0 / M_PI;
	float	trimRawUF = pitchUF * 180.0 / M_PI;

	//correct for tilt in unit, user and factory calibration
	float	XhCalUF = estimated_mx * cos(pitchUF) + estimated_my * sin(rollUF) * sin(pitchUF) + estimated_mz * cos(rollUF) * sin(pitchUF);
	float	YhCalUF = estimated_my * cos(rollUF) - estimated_mz * sin(rollUF);

	//Calculation of heading, user and facotry calculation
	hdgUF = atan2(YhCalUF, XhCalUF) * 180 / PI;