'm having some trouble adapting the new IMU v3 to Jean-Louis' code written for tricopters. His code used the APM_Compass library and for some reason, it wont compile with any reference to that library. The new IMU doesnt use that library, so I havent let that stop me from trying. It compiles and gives me output, but something is still wrong. The debug wont print GPS and the attitude values although stable seem way off. I'm hoping some experts can look at my code and tell me what's wrong or even what is right.
I've included the code I have now. Please help if you can.ardimupter-120708b.zip