OK finalised the build (managed to 'obtain' another hmc5883 compass which gave me a set of 2.
Finalised the current servo code.
Integrated the lot and dumped the data into a CSV file.
If you wish to play - go for it!
I did some simple calculations in the data imported into excel and can see the corner of my office with the screen in the corner.
Still a bit of work to do
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