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Translating Arduino code is only as good as the original code.
Having reviewed the fine Vogan poetry in the datasheet a rewrite seems in order.

Interesting, thanks.
April 1 my PC power supply emitted the magic smoke. I'm on a different one now and hoping that the a new PC power supply will fix the old one and lots of files will still be there. If not it's going to take a while to get most everything restored.
Then I will be able to try your fix.

Some useful links:

https://github.com/xcoder123/MAX30100

https://github.com/sparkfun/SparkFun_MAX3010x_Sensor_Library

https://www.sparkfun.com/products/14045

Also lots of Max30100 boards on Amazon, prices all over the place.

A suggestion:
Using two way communication.
A sends a 16 byte random number to B
B receives random number and uses secret key and the AES block encryption to encrypt the random number. B sends the encrypted results to A.
A uses original random number and secret key to calculate the encrypted value to compare with the message from B.

Attached is a start on the translation of the Adafruit C code.
Since I don't have the chip it is untested.
It should give you an idea of what is involved.

A Google search produces at least one path for a driver in C.
A bit of translation would produce the code that you need. ( a week to a month estimate)
https://github.com/adafruit/Adafruit_INA219

This link is a good discussion of the chip
http://cdwilson.us/articles/understanding-the-INA219/

A NODEjs version of the code
https://github.com/brettmarl/node-ina219
and another
https://libraries.io/npm/ina219

Have fun sorting it all out.

Try this as the datasheet mentions that setup has to come before enable
accel.interrupts(0,0);
accel.interrupts(4,0);

Here are some things to try.

• Check the arguments to accel.ff(600,10);
  The datasheet shows the 600 would be much smaller, Values between 300 mg and 600 mg
  (0x05 to 0x09) are recommended.
  
• Likewise the 10 Values between 100 ms
  and 350 ms (0x14 to 0x46) are recommended
  http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL345.pdf
  
  

page 26
Register 0x28—THRESH_FF (Read/Write)
The THRESH_FF register is eight bits and holds the threshold
value, in unsigned format, for free-fall detection. The acceleration on
all axes is compared with the value in THRESH_FF to determine if
a free-fall event occurred. The scale factor is 62.5 mg/LSB. Note
that a value of 0 mg may result in undesirable behavior if the freefall
interrupt is enabled. Values between 300 mg and 600 mg
(0x05 to 0x09) are recommended.
Register 0x29—TIME_FF (Read/Write)
The TIME_FF register is eight bits and stores an unsigned time
value representing the minimum time that the value of all axes
must be less than THRESH_FF to generate a free-fall interrupt.
The scale factor is 5 ms/LSB. A value of 0 may result in undesirable
behavior if the free-fall interrupt is enabled. Values between 100 ms
and 350 ms (0x14 to 0x46) are recommended.

• The interrupt polarity could be flipped.
  Register 0x31 bit D5
  INT_INVERT Bit
  A value of 0 in the INT_INVERT bit sets the interrupts to active
  high, and a value of 1 sets the interrupts to active low.
  

Now you have me a bit worried. The oriental specifications for this device are sketchy at best.
It seems to contain 3 switches, 3 resistors and have 8 pins.
Connecting both ground and 3.3V from the Pico to this device without a proper diagram runs the risk of shorting 3.3 to ground and popping the fuse on the Pico, A Bad thing :(
If you have an ohmmeter that would provide a way to probe the device safely and figure out how it is wired. Short of that connect ground only and not the 3.3V. use the pin setup with pull up. The code that reads a Pico pin to light the LED can then be used as a test probe to puzzle out a proper wiring sequence.

Translating C to Espruino Javascript
• #define CHECK_BIT(var,pos) ((var) & (1<<(pos)))
So my guess is it becomes this:
function CHECK_BIT (val, pos) { return ((val) & (1<<(pos))); }
And the init_i2c function is puzzling to me. Looks like init_i2c("/dev/i2c-1"); is akin to calling I2C1.setup().
Some #define statements have to become functions.
Having done this for the LSM9DS1 IMU these snippets may help.
The other gotchas are handling the bytes read as unsigned or signed values, big or little endian and two’s compliment math. C programmers seem to grab a datasheet for a chip and #define everything in sight, at the end there tends to be a lot of unused stuff defined in the C code. I usually resort to commenting out blocks of stuff to see what complains and uncomment the complaints.

void LSM9DS1::initI2C()
{
	Wire.begin();	// Initialize I2C library
}
Becomes
//Configuration
//The I2C pins that the LSM9D01 is connected to
//PICO I2C pins
//IC1  sda=B7  scl=B6
//IC1  sda=B9  scl=B8  shim pins
//IC3  sda=B4  scl=A8
//IC2  sda=B3  scl=B10
var W;
function start(){
//  console.log("start");
 I2C3.setup({ scl :A8, sda: B4} );
//console.log(I2C3);
var xgAddress= 0x6B;// Would be 0x1C if SDO_M is LOW
var mAddress= 0x1e;// Would be 0x6A if SDO_AG is LOW 
 W =require("slimLSM9DS1").connect(I2C3,xgAddress,mAddress);
W.run();//Get it started

uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress)
{
	int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
	uint8_t data; // `data` will store the register data	
	
	Wire.beginTransmission(address);         // Initialize the Tx buffer
	Wire.write(subAddress);	                 // Put slave register address in Tx buffer
	Wire.endTransmission(true);             // Send the Tx buffer, but send a restart to keep connection alive
	Wire.requestFrom(address, (uint8_t) 1);  // Read one byte from slave register address 
	while ((Wire.available() < 1) && (timeout-- > 0))
		delay(1);
	
	if (timeout <= 0)
		return 255;	//! Bad! 255 will be misinterpreted as a good value.
	
	data = Wire.read();                      // Fill Rx buffer with result
	return data;                             // Return data read from slave register
}
Becomes
/** 'mReadByte(subAddress) read a byte from the magnetometer at subaddress'*/
LSM9DS1.prototype.mReadByte=function(subAddress){
 var x=this.mAddress;
 var data=Uint8Array(1);
 this.i2c.writeTo(x, subAddress);
 data=this.i2c.readFrom(x, 1);
 return data[0];
};//end mReadByte

uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
{  
	int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
	Wire.beginTransmission(address);   // Initialize the Tx buffer
	// Next send the register to be read. OR with 0x80 to indicate multi-read.
	Wire.write(subAddress | 0x80);     // Put slave register address in Tx buffer

	Wire.endTransmission(true);             // Send the Tx buffer, but send a restart to keep connection alive
	uint8_t i = 0;
	Wire.requestFrom(address, count);  // Read bytes from slave register address 
	while ((Wire.available() < count) && (timeout-- > 0))
		delay(1);
	if (timeout <= 0)
		return -1;
	
	for (int i=0; i<count;)
	{
		if (Wire.available())
		{
			dest[i++] = Wire.read();
		}
	}
	return count;
}

Becomes
/** 'mReadBytes(subAddress,count) read count bytes from magnetometer at subAddress'*/
LSM9DS1.prototype.mReadBytes=function(subAddress,count){
 var x=this.mAddress;
 var dest=new Uint8Array(count);
 this.i2c.writeTo(x, subAddress|0x80);
 dest=this.i2c.readFrom(x, count);
 return dest;
};//end mReadBytes

// Wire.h read and write protocols
void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
{
	Wire.beginTransmission(address);  // Initialize the Tx buffer
	Wire.write(subAddress);           // Put slave register address in Tx buffer
	Wire.write(data);                 // Put data in Tx buffer
	Wire.endTransmission();           // Send the Tx buffer
}
Becomes
LSM9DS1.prototype.mWriteByte=function(subAddress,data){ 
  //console.log("mWriteByte ",this.mAddress, subAddress, data);
  var x=this.mAddress;
  this.i2c.writeTo(x, subAddress,data);
  return 0;
};//end mWriteByte

http://forum.espruino.com/conversations/296285/

This code looks like it could be of use to you. It at least helps to sort out the various sequences of bytes that are needed to converse with the fuel gauge chip. Translating from C to JavaScript would need to be done. A starting point is to replace the #define variable 0xvalue with var variable= 0xvalue. For example
#define BQ27441_CONTROL_STATUS 0x0000
becomes
var BQ27441_CONTROL_STATUS= 0x0000;

then functions need to be redefined
void init_i2c(char *DeviceName)
{
}
rewrite as
function init_i2c(DeviceName){
}
Lots of work from there to get it all working.

https://github.com/chintanp/i2c-charger/blob/master/BQ-27441-Gauge/c/gauge.c

So does that work ?

Looks like the ff function free fall is the right track.
There are two different interrupt pins on the chip a register controls which one is used
and a different register controls polarity.
Which interuppt pin is being used?

ADXL345.prototype.interrupts = function(enable,map) {
	this.i2c.writeTo(this.a,[0x2E,enable,map]);
}

http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL345.pdf
page 27

Register 0x2F—INT_MAP (R/W)

D7	D6	D5	D4	D3	D2	D1	D0
DATA_READY	SINGLE_TAP	DOUBLE_TAP	Activity	Inactivity	FREE_FALL	Watermark	Overrun

Any bits set to 0 in this register send their respective interrupts to
the INT1 pin, whereas bits set to 1 send their respective interrupts
to the INT2 pin. All selected interrupts for a given pin are OR’ed.

http://www.espruino.com/modules/ADXL345.js

Several of the functions refer to a variable thresh, likely an abbreviation for threshold.
The tap function looks promising.
Accelerometer interrupts generally are tripped by a change larger than the threshold and exceeding a period of time.

The datasheet for the ADXL345 might help you figure it out.
http://www.analog.com/en/products/mems/accelerometers/adxl345.html#product-overview

This may help:
https://www.espruino.com/Pico+Buttons
Using the button and LED on the Pico

clearWatch(); // remove our last watch
setWatch(function(e) {
  digitalWrite(LED1, e.state);
  presses++;
  console.log("Pressed "+presses);
}, BTN, { repeat: true, debounce : 50 });

Now using Pin B4 instead of the button, connect one of the encoder output to pin B4 and the other common wire to ground.
Use pinMode(B4,input_pullup)
http://www.espruino.com/Reference#l__global_pinMode

pinMode(B4,input_pullup);
setWatch(function() {
  digitalPulse(LED2, 1, 50);
}, B4, { repeat: true, debounce : 50, edge: "rising" }

See if the LED blinks as you turn the shaft encoder

The pimoroni link you cited points to this tutorial for Arduino. Looks like it uses ground and two digital input pins.

http://bildr.org/2012/08/rotary-encoder-arduino/

If needed you can examine the encoder module code that is located here.
http://www.espruino.com/modules/

The PICO page cites this datasheet link:

http://www.espruino.com/datasheets/STM32F401xD.pdf

I like the fuel gauge device for a battery. Hope you get it working.

Try connecting a battery. The assumptions often wind up being the problem.

These may also help:

Section 9.5.4 of
http://www.ti.com/lit/ds/symlink/bq27441-g1.pdf

and

http://www.espruino.com/Reference#I2C

Looks like you have to send several bytes to get a response from the device.
If needed I can really confuse you with some code snippets from something else, that show sending the address and a sub address and a command byte.

If 12 factor calibration is used on both accelerometer and magnetometer data, and the Rodrigues formula is applied do the magnetic dip statistics improve?

Code to apply 12 factor calibrations ( Using a LSM9DS1 IMU )

//Use 12 element calibration on raw count magnetometer data
function cal8G(S){
 var i;
 var mm=[0,0,0];
 var scale=8;
 var mres=[
     [0.970972836,0.171154738,-0.000344029],
     [-0.095223453,0.956653319,-0.000125418],
     [0.017179224,0.005190024,1],
     ];
 var moff=[1057.176483,120.7727841,549.551664];
 for(i=0;i<3;i++) S.m[i] -=moff[i];
 for(i=0;i<3;i++)
  mm[i]=S.m[0]*mres[i][0]+S.m[1]*mres[i][1]+S.m[2]*mres[i][2];
  for(i=0;i<3;i++)S.m[i]=mm[i]*scale/32768;
}//end cal8G(S)
//Use 12 element calibration on raw count accelerometer data
function calA2(S){
 var i;
 var mm=[0,0,0];
 var scale=2;
 var mres=[
   [1.005708319,-0.007635345,-1.55429E-05],
   [0.001530038,1.006717582,-9.04159E-05],
   [0.017299441,0.097632586,1]
   ];
 var moff=[-126.0318135,-350.2409885,730.2274842];

 for(i=0;i<3;i++) S.a[i] -=moff[i];
 for(i=0;i<3;i++)
  mm[i]=S.a[0]*mres[i][0]+S.a[1]*mres[i][1]+S.a[2]*mres[i][2];
  for(i=0;i<3;i++)S.a[i]=mm[i]*scale/32768;
}//end cal8G(S)
////////////////////
function readall(W){
if(W.magAvailable()){
  W.readMag();
  W.readAccel();
  cal8G(W);
 calA2(W);
console.log(W.a,',',W.m);
//console.log(W.a);
}//endif
}//end readall

Data were collected and pasted into the following code that is used to determine the signs of the magnetometer axis that produce the best magnetic dip angle statistics.

function test(){
 FF=require("Rodrigues").connect();
 var i,j,k,l;
 var d="";
  var t=[0,0,0];
  console.log("mmm,mmp,mpm,mpp,pmm,pmp,ppm,ppp");
 for(i=0;i<Adata.length;i++){
  d=" "+i;
 A=FF.Setup(Adata[i],[0,0,1]);
 Theta=FF.theta;
 Kn=FF.Kn;
 A=FF.An;
for(j=-1;j<2;j=j+2){
 for(k=-1;k<2;k=k+2){
  for(l=-1;l<2;l=l+2){
   t[0]=Mdata[i][0]*j;
   t[1]=Mdata[i][1]*k;
   t[2]=Mdata[i][2]*l;
   B=FF.RotVector(t);
   An=FF.An;
 dip=pirate*Math.atan(B[2]/Math.sqrt(B[0]*B[0]+B[1]*B[1]));
     d=d+","+dip;
  }//nextl
 }//nextk
}//nextj
console.log(d);
}//next i
}

This produces output that looks like the following:

N	mmm	mmp	mpm	mpp	pmm	pmp	ppm	ppp
0	66.84	-65.86	63.19	-69.97	69.97	-63.19	65.86	-66.84
1	65.84	-67.25	63.43	-70.09	70.09	-63.43	67.25	-65.84
2	66.60	-64.70	61.16	-71.07	71.07	-61.16	64.70	-66.60

This output is copied into a CSV file and the CSV file is opened using Excel. Descriptive Statistics are then applied to the columns of data

Statistic	mmm	mmp	mpm	mpp	pmm	pmp	ppm	ppp
Mean	36.62	-58.66	22.56	-72.11	72.11	-22.56	58.66	-36.62
Standard Error	7	4.84	8.39	0.39	0.39	8.39	4.84	7
Median	65.64	-72.26	65.17	-72.21	72.21	-65.17	72.26	-65.64
Mode	#N/A	#N/A	#N/A	#N/A	#N/A	#N/A	#N/A	#N/A
Standard Deviation	58.16	40.16	69.67	3.27	3.27	69.67	40.16	58.16
Sample Variance	3382.36	1613.19	4853.89	10.67	10.67	4853.89	1613.19	3382.36
Kurtosis	-0.42	3.95	-1.6	0.78	0.78	-1.6	3.95	-0.42
Skewness	-1.16	2.31	-0.59	0.28	-0.28	0.59	-2.31	1.16
Range	177.14	150.05	169.77	14.85	14.85	169.77	150.05	177.14
Minimum	-88.87	-87.5	-81.07	-79.4	64.56	-88.7	-62.55	-88.27
Maximum	88.27	62.55	88.7	-64.56	79.4	81.07	87.5	88.87
Sum	2526.48	-4047.26	1556.98	-4975.74	4975.74	-1556.98	4047.26	-2526.48
Count	69	69	69	69	69	69	69	69
COV	159.00%	-68.00%	309.00%	-5.00%	5.00%	-309.00%	68.00%	-159.00%

The mpp and pmm columns produce the smallest coffoecoent of variation (COV) values. The following code uses the +X, -Y, -Z (pmm) combination.

function test(){
 FF=require("Rodrigues").connect();
 var i;
 for(i=0;i<Adata.length;i++){
 A=FF.Setup(Adata[i],[0,0,1]);
   Theta=FF.theta;
   Kn=FF.Kn;
 A=FF.An;
   t[0]=Mdata[i][0]*1;
   t[1]=Mdata[i][1]*-1;
   t[2]=Mdata[i][2]*-1;
  B=FF.RotVector(t);
   An=FF.An;
  heading=pirate*Math.atan2(-B[1],B[0]);
 if(heading<0)heading+=360;
 dip=pirate*Math.atan(B[2]/Math.sqrt(B[0]*B[0]+B[1]*B[1]));
console.log(i,',',A,',',An,',',B,',',
 Theta,',',heading,',',dip);
}//next i
}

This produces the following:

N	ax	ay	az	mx	my	mz	m1x	m1y	m1z	Tilt	Heading	Dip
0	0.12	0.04	0.99	0.08	0.37	0.92	-0.03	0.34	0.94	7.34	264.53	69.97
1	0.13	0.02	0.99	0.11	0.36	0.93	-0.02	0.34	0.94	7.66	267.24	70.09
2	0.13	0.06	0.99	0.11	0.38	0.92	-0.01	0.32	0.95	7.97	268.51	71.07
3	0.16	0.06	0.99	0.11	0.39	0.92	-0.04	0.33	0.94	9.72	263.55	70.79
4	0.16	0.08	0.98	-0.09	0.34	0.94	-0.24	0.26	0.94	10.39	227.72	69.28
5	0.06	0.07	1.00	-0.10	0.32	0.94	-0.16	0.25	0.96	5.34	237.84	72.82
6	0.08	0.05	1.00	-0.12	0.30	0.95	-0.19	0.25	0.95	5.16	232.69	71.77
7	0.08	0.06	0.99	-0.12	0.30	0.95	-0.20	0.25	0.95	5.79	231.24	71.55
8	0.12	-0.01	0.99	-0.17	-0.01	0.99	-0.28	0.01	0.96	6.68	181.35	73.45
9	0.13	-0.01	0.99	-0.18	0.00	0.98	-0.31	0.01	0.95	7.25	180.95	72.20
10	0.10	-0.02	0.99	-0.18	-0.01	0.98	-0.28	0.01	0.96	6.00	182.72	73.58
11	0.12	-0.01	0.99	-0.19	0.00	0.98	-0.30	0.01	0.95	6.82	181.88	72.27
12	0.09	0.05	0.99	-0.04	-0.21	0.98	-0.12	-0.26	0.96	5.94	114.97	73.10
13	0.07	0.05	1.00	-0.04	-0.23	0.97	-0.11	-0.28	0.95	4.89	110.49	72.52
14	0.08	0.05	1.00	-0.03	-0.23	0.97	-0.10	-0.28	0.95	5.31	110.53	72.62
15	0.09	0.05	1.00	-0.02	-0.23	0.97	-0.11	-0.28	0.95	5.68	111.32	72.63
16	0.08	0.09	0.99	0.08	-0.19	0.98	0.01	-0.28	0.96	7.09	88.93	73.76
17	0.11	0.09	0.99	0.10	-0.19	0.98	-0.01	-0.27	0.96	8.00	91.34	74.09
18	0.10	0.08	0.99	0.11	-0.20	0.97	0.01	-0.28	0.96	7.25	87.14	73.69
19	0.13	0.08	0.99	0.10	-0.20	0.97	-0.02	-0.28	0.96	8.80	94.39	73.48
20	0.12	0.14	0.98	0.31	-0.08	0.95	0.20	-0.21	0.96	10.39	46.51	73.30
21	0.09	0.12	0.99	0.30	-0.09	0.95	0.21	-0.20	0.96	8.76	44.28	73.03
22	0.09	0.12	0.99	0.30	-0.09	0.95	0.21	-0.21	0.95	8.76	45.22	72.50
23	0.08	0.11	0.99	0.30	-0.08	0.95	0.22	-0.19	0.96	7.84	40.87	73.14
24	-0.11	0.02	0.99	0.19	0.08	0.98	0.30	0.06	0.95	6.49	349.05	72.11
25	-0.15	0.00	0.99	0.17	0.05	0.98	0.32	0.05	0.95	8.75	350.49	71.26
26	-0.16	0.02	0.99	0.16	0.05	0.99	0.32	0.03	0.95	9.48	354.59	71.02
27	-0.17	-0.03	0.99	0.15	0.03	0.99	0.31	0.06	0.95	9.79	349.45	71.54
28	-0.03	-0.05	1.00	0.13	0.23	0.97	0.15	0.27	0.95	3.14	299.10	71.81
29	-0.04	-0.03	1.00	0.11	0.23	0.97	0.15	0.26	0.95	2.85	299.20	72.50
30	-0.03	-0.04	1.00	0.12	0.23	0.97	0.15	0.26	0.95	2.87	300.37	72.21
31	-0.01	-0.05	1.00	0.12	0.22	0.97	0.13	0.27	0.96	2.70	295.80	72.84
32	-0.15	-0.12	0.98	-0.15	0.17	0.97	-0.01	0.28	0.96	10.81	268.65	73.89
33	-0.14	-0.13	0.98	-0.16	0.17	0.97	-0.03	0.29	0.96	10.96	264.77	72.81
34	-0.14	-0.11	0.98	-0.17	0.16	0.97	-0.03	0.27	0.96	10.31	263.52	74.28
35	-0.09	-0.13	0.99	-0.14	0.15	0.98	-0.05	0.27	0.96	9.17	259.69	73.83
36	0.95	-0.10	0.31	0.90	0.32	0.28	0.04	0.41	0.91	72.21	275.70	65.49
37	0.94	-0.10	0.34	0.89	0.33	0.31	0.04	0.42	0.91	70.14	274.89	65.04
38	0.94	-0.10	0.32	0.88	0.33	0.33	0.01	0.43	0.90	71.15	270.85	64.56
39	0.94	-0.11	0.33	0.88	0.32	0.34	0.00	0.43	0.90	70.81	270.42	64.75
40	0.08	-0.04	-1.00	-0.02	0.26	-0.97	0.31	0.08	0.95	-5.33	345.27	71.59
41	0.09	-0.06	-0.99	0.01	0.25	-0.97	0.30	0.07	0.95	-6.19	347.94	71.84
42	0.06	-0.08	-1.00	0.02	0.26	-0.97	0.31	-0.12	0.94	-5.42	21.98	70.65
43	0.12	-0.07	-0.99	0.04	0.24	-0.97	0.31	0.08	0.95	-8.02	345.75	71.41
44	-0.92	-0.36	-0.18	-0.97	-0.23	-0.02	0.10	0.18	0.98	-79.40	298.09	77.90
45	-0.92	-0.37	-0.16	-0.97	-0.23	-0.05	0.05	0.18	0.98	-80.68	286.11	79.40
46	-0.90	-0.40	-0.18	-0.96	-0.26	-0.03	0.07	0.20	0.98	-79.86	289.55	77.59
47	-0.90	-0.40	-0.17	-0.96	-0.28	-0.03	0.07	0.18	0.98	-80.38	291.45	78.69
48	-0.90	-0.42	-0.15	-0.95	-0.30	0.01	0.08	0.18	0.98	-81.59	294.28	78.29
49	-0.97	-0.07	0.21	-0.98	-0.20	-0.04	-0.24	-0.15	0.96	77.69	147.66	73.67
50	-0.95	-0.08	0.31	-0.98	-0.21	0.00	-0.29	-0.15	0.94	71.91	152.86	70.74
51	-0.95	-0.09	0.31	-0.98	-0.21	0.05	-0.25	-0.15	0.96	72.06	149.36	73.18
52	-0.94	-0.08	0.33	-0.98	-0.20	0.05	-0.27	-0.15	0.95	70.50	151.66	72.02
53	0.07	-0.06	-1.00	0.39	0.00	-0.92	0.04	0.33	0.94	-5.19	276.97	70.45
54	0.09	-0.08	-0.99	0.39	0.00	-0.92	0.02	0.31	0.95	-6.85	274.35	71.97
55	0.06	-0.10	-0.99	0.38	-0.01	-0.92	0.21	0.26	0.94	-6.54	309.08	70.25
56	0.14	-0.05	-0.99	0.43	-0.01	-0.90	-0.20	0.22	0.96	-8.75	227.03	72.81
57	0.99	-0.09	-0.15	0.98	0.09	0.17	-0.29	0.20	0.94	-81.59	215.17	69.31
58	0.99	-0.08	-0.09	0.98	0.09	0.19	-0.26	0.19	0.95	-84.78	215.22	71.22
59	0.99	-0.08	-0.08	0.98	0.10	0.18	-0.24	0.20	0.95	-85.65	220.13	71.89
60	0.99	-0.10	-0.08	0.98	0.08	0.17	-0.23	0.20	0.95	-85.15	220.17	72.19
61	-0.16	-0.98	-0.13	-0.31	-0.95	0.06	-0.13	0.21	0.97	-82.70	238.86	75.94
62	-0.15	-0.98	-0.10	-0.32	-0.95	0.03	-0.15	0.15	0.98	-84.48	224.53	77.45
63	-0.17	-0.98	-0.13	-0.33	-0.94	0.06	-0.13	0.21	0.97	-82.56	239.09	75.75
64	-0.18	-0.98	-0.08	-0.33	-0.94	0.05	-0.12	0.16	0.98	-85.15	231.68	78.45
65	-0.17	0.97	0.18	-0.57	0.81	0.17	-0.41	-0.09	0.91	79.85	167.84	65.39
66	-0.23	0.95	0.21	-0.59	0.79	0.17	-0.38	-0.06	0.92	77.75	170.57	67.09
67	-0.24	0.94	0.23	-0.60	0.78	0.19	-0.39	-0.08	0.92	76.95	168.65	66.85
68	-0.22	0.94	0.27	-0.61	0.77	0.20	-0.42	-0.04	0.91	74.08	174.05	65.15

Rework the results table:

ax	ay	az	mx	my	mz	m1x	m1y	m1z	Tilt	Heading	Dip
0.005	0.04	0.999	-0.039	0.34	0.94	-0.044	0.302	0.952	2.326	351.676	72.231
0.054	0.06	0.997	0.02	0.369	0.929	-0.03	0.312	0.95	4.635	354.468	71.747
0.046	0.062	0.997	0.01	0.356	0.934	-0.033	0.298	0.954	4.401	353.694	72.543
0.089	0.071	0.994	0.022	0.361	0.932	-0.062	0.294	0.954	6.512	348.128	72.507
0.068	0.02	0.998	-0.164	0.235	0.958	-0.228	0.216	0.949	4.036	313.42	71.701
0.124	0.03	0.992	-0.143	0.244	0.959	-0.261	0.215	0.941	7.324	309.538	70.221
0.092	0.043	0.995	-0.145	0.25	0.957	-0.232	0.208	0.95	5.818	311.918	71.825
0.116	0.054	0.992	-0.138	0.266	0.954	-0.249	0.215	0.944	7.351	310.819	70.781
0.089	0.054	0.995	-0.247	0.043	0.968	-0.332	-0.009	0.943	5.964	268.508	70.605
0.077	0.042	0.996	-0.246	0.036	0.969	-0.32	-0.004	0.948	5.015	269.292	71.365
0.089	0.062	0.994	-0.256	0.037	0.966	-0.341	-0.023	0.94	6.245	266.217	70.018
0.076	0.059	0.995	-0.236	0.024	0.971	-0.309	-0.033	0.95	5.512	263.948	71.882
0.116	0.04	0.992	-0.074	-0.217	0.973	-0.186	-0.256	0.949	7.038	216.003	71.568
0.095	0.023	0.995	-0.089	-0.221	0.971	-0.182	-0.243	0.953	5.637	216.774	72.344
0.075	0.032	0.997	-0.086	-0.205	0.975	-0.158	-0.237	0.959	4.659	213.743	73.46
0.094	0.02	0.995	-0.094	-0.21	0.973	-0.186	-0.229	0.956	5.543	219.004	72.851
-0.024	0.081	0.996	-0.035	-0.249	0.968	-0.012	-0.327	0.945	4.84	182.173	70.919
-0.022	0.069	0.997	-0.035	-0.239	0.97	-0.014	-0.305	0.952	4.13	182.653	72.208
-0.04	0.077	0.996	-0.034	-0.248	0.968	0.004	-0.322	0.947	4.976	179.263	71.195
-0.047	0.06	0.997	-0.048	-0.248	0.968	-0.003	-0.306	0.952	4.4	180.514	72.177
0.128	0.023	0.991	0.327	-0.174	0.929	0.205	-0.196	0.959	7.486	133.68	73.513
0.147	0.006	0.989	0.365	-0.157	0.918	0.226	-0.162	0.961	8.46	125.583	73.858
0.143	-0.022	0.99	0.38	-0.173	0.909	0.246	-0.152	0.957	8.292	121.771	73.191
0.194	-0.018	0.981	0.4	-0.166	0.901	0.218	-0.149	0.965	11.208	124.264	74.7
-0.098	-0.003	0.995	0.215	-0.012	0.976	0.31	-0.009	0.951	5.611	91.609	71.952
-0.022	-0.032	0.999	0.238	-0.01	0.971	0.259	0.02	0.966	2.197	85.483	74.949
-0.039	-0.01	0.999	0.234	0.013	0.972	0.272	0.023	0.962	2.312	85.191	74.17
-0.068	-0.002	0.998	0.229	0.048	0.972	0.295	0.05	0.954	3.915	80.368	72.575
-0.022	-0.017	1	0.046	0.24	0.97	0.067	0.257	0.964	1.589	14.58	74.577
-0.022	-0.083	0.996	0.071	0.212	0.975	0.092	0.292	0.952	4.916	17.528	72.195
0.021	-0.075	0.997	0.09	0.208	0.974	0.07	0.28	0.957	4.452	14.09	73.209
0.003	-0.122	0.993	0.119	0.199	0.973	0.115	0.316	0.942	7.007	20.062	70.328

Software Gimbaled Compass

The data were acquired using the 12 element calibration of a LSM9DS1 IMU

The 12 element calibration was obtained using a collection of raw data points taken at many different orientations, and processed using am Excel spreadsheet and the solver function to fit the data to a spherical surface. This method is discussed further in the following conversation link. (note a long cable was used to minimize the IMU from the magnetic fields of the table and computer)
http://forum.espruino.com/conversations/298287/
The following code was used to apply the calibrations:

//Use 12 element calibration on raw count magnetometer data
function cal8G(S){
 var i;
 var mm=[0,0,0];
 var scale=8;
 var mres=[
     [0.970972836,0.171154738,-0.000344029],
     [-0.095223453,0.956653319,-0.000125418],
     [0.017179224,0.005190024,1],
     ];
 var moff=[1057.176483,120.7727841,549.551664];
 for(i=0;i<3;i++) S.m[i] -=moff[i];
 for(i=0;i<3;i++)
  mm[i]=S.m[0]*mres[i][0]+S.m[1]*mres[i][1]+S.m[2]*mres[i][2];
  for(i=0;i<3;i++)S.m[i]=mm[i]*scale/32768;
}//end cal8G(S)
function readall(W){
  var heading,dip;
  var pirate=180/Math.PI;
if(W.magAvailable()){
  W.readMag();
  W.readAccel();
  cal8G(W);
  W.m[2]=-W.m[2];
heading=pirate*Math.atan2(W.m[0],-W.m[1]);
if(heading<0)heading +=360;
dip=pirate*Math.atan(W.m[2]/Math.sqrt(W.m[0]*W.m[0]+W.m[1]*W.m[1]));
console.log(W.a,',',W.m,',',heading,',',dip);
}//endif
}//end readall

The dataset

The following dataset was obtained using the above calibration with the IMU approximately level starting at 0 and proceeding by approximate 45 degree steps.
(360, 315, 270 ,225 ,180 ,135 ,90 ,45)

ax	ay	az	mx	my	mz	heading	dip
0.005221328	0.038883267	0.965721486	-0.017482972	-0.152165638	0.420466182	353.4457781	69.98441706
0.053742128	0.060580467	0.998802538	0.008982245	-0.163318019	0.411716107	3.148009986	68.333274
0.045889728	0.061932867	1.00154912	0.004620515	-0.160749845	0.421310071	1.646428435	69.10788548
0.086792528	0.069459267	0.973839161	0.009863154	-0.162452582	0.419266816	3.474393718	68.78469698
0.065286328	0.019067667	0.963829397	-0.073864097	-0.105995351	0.43284815	325.1288376	73.38107377
0.122655728	0.030180867	0.982750293	-0.064172881	-0.109797951	0.430729882	329.6952783	73.5503905
0.090484328	0.042881667	0.982628223	-0.064828213	-0.112110436	0.429526044	329.9612166	73.22163288
0.113982928	0.052818867	0.973839161	-0.061649354	-0.118602017	0.424600681	332.5345796	72.5255674
0.088491928	0.053877267	0.991661425	-0.11020607	-0.019251924	0.432085705	279.9090234	75.48383928
0.075717128	0.041294067	0.982750293	-0.108910915	-0.016052224	0.429125695	278.3843782	75.61167923
0.088609128	0.061932867	0.987999316	-0.112078203	-0.016217852	0.423323378	278.2336196	75.02319545
0.073373128	0.057581667	0.966453908	-0.105814424	-0.010888918	0.434674039	275.875387	76.24886152
0.110994328	0.038648067	0.951927543	-0.033200414	0.097015611	0.435331124	198.8918302	76.74596353
0.092652528	0.022419267	0.965721486	-0.040103186	0.098880808	0.435206472	202.0760467	76.22399812
0.073490328	0.031886067	0.982994434	-0.038122585	0.091081115	0.432258614	202.7120608	77.13311516
0.090367128	0.019302867	0.952232718	-0.042207576	0.093858834	0.4357436	204.2130729	76.71158587
-0.023316872	0.080160867	0.985924121	-0.015551534	0.110731677	0.43034586	187.994526	75.43470381
-0.021148672	0.067577667	0.980675098	-0.015549808	0.106691785	0.433040365	188.2921962	76.01869954
-0.038845872	0.075339267	0.973656056	-0.01500844	0.109727365	0.427652799	187.7885496	75.48110246
-0.045819272	0.058287267	0.963463186	-0.021450093	0.110121715	0.429476292	191.0223588	75.35988506
0.124589528	0.022713267	0.963829397	0.145392752	0.077359058	0.413377119	118.0160836	68.27734928
0.138946528	0.005249667	0.934837701	0.160771714	0.068957421	0.404331212	113.2152255	66.60400467
0.133613928	-0.020328333	0.927330377	0.16788097	0.076340165	0.401990206	114.4526189	65.35553348
0.188404928	-0.017505933	0.954918265	0.177739414	0.073471827	0.40011101	112.4586468	64.32722696
-0.098676472	-0.003393933	1.005028123	0.093650207	0.005196927	0.424718089	93.17625478	77.54674095
-0.021090072	-0.030912333	0.975548146	0.103647753	0.004453889	0.423075824	92.46056617	76.22222377
-0.038787272	-0.009861933	0.991112109	0.100384753	-0.005683938	0.417053226	86.75928569	76.4454667
-0.064454072	-0.001747533	0.942222954	0.100278956	-0.021119951	0.424901951	78.10664105	76.44022583
-0.021617472	-0.017564733	1.003990526	0.020143978	-0.104996777	0.423349642	10.86041872	75.8270026
-0.021793272	-0.080892333	0.974083302	0.030669343	-0.092007227	0.423620563	18.43509874	77.10486344
0.019871328	-0.071307933	0.95082891	0.039384256	-0.090485263	0.423949378	23.52137433	76.89631367
0.003053128	-0.116231133	0.946007133	0.051640347	-0.086696446	0.42372145	30.77995151	76.60433025

Using the Dip Angle Statistic to Determine Axis Signs

The data were then processed using the Rodrigues.js module into datasets where various combinations of the signs of the X, Y , and Z axis were manipulated. The following table shows the statistics of the Dip angle as the signs of the X, Y amd Z data were changed. Compare the Dip Range

Statistic	Raw	x,y,z	x,y,-z	x,-y,-z
Mean	73.68802652	-73.39285194	73.27452467	72.29268725
Standard Error	0.683692412	1.227276358	0.898702904	0.23150967
Median	75.48247087	-75.00020203	73.83858428	72.20170648
Mode	#N/A	#N/A	#N/A	#N/A
Standard Deviation	3.867548323	6.94252348	5.083831342	1.309616458
Sample Variance	14.95793003	48.19863227	25.84534112	1.715095267
Kurtosis	0.028460278	1.561952363	-0.906235772	-0.460864552
Skewness	-1.151317713	1.323796746	0.029464285	0.276014742
Range	13.21951399	29.10003759	17.46765933	4.930872778
Minimum	64.32722696	-83.15527605	64.49625552	70.01846639
Maximum	77.54674095	-54.05523846	81.96391485	74.94933917
Sum	2358.016849	-2348.571262	2344.784789	2313.365992
Count	32	32	32	32

Code used to apply the Rodrigues.js module

The follwing code was used to apply the Rodrigues.js module.

function test(){
 FF=require("Rodrigues").connect();
 var i;
 for(i=0;i<Adata.length;i++){
// for(i=0;i<4;i++){

 A=FF.Setup(Adata[i],[0,0,1]);
   Theta=FF.theta;
   Kn=FF.Kn;
 A=FF.An;
// Mdata[i][0]=-Mdata[i][0];
// Positive x, negate y and z to minimize dip range
// z was negated in acquisition program
 Mdata[i][1]=-Mdata[i][1];
 B=FF.RotVector(Mdata[i]);
   An=FF.An;
heading=pirate*Math.atan2(B[1],B[0]);
if(heading<0)heading +=360;
dip=pirate*Math.atan(B[2]/Math.sqrt(B[0]*B[0]+B[1]*B[1]));
console.log(i,',',A,',',Kn,',',An,',',B,',',
 Theta,',',heading,',',dip);
}//next i
}

The Results

The final output using positive X and negative Y and Z follows:
( ais accelerometer, k is rotation axis, m raw data, m1 is processed data; vectors have been Normed to unit vectors)

N	ax	ay	az	kx	ky	kz	mx	my	mz	m1x	m1y	m1z	Tilt	Heading	Dip
0	0.005	0.040	0.999	0.991	-0.133	0.000	-0.039	0.340	0.940	-0.044	0.302	0.952	2.326	351.676	72.231
1	0.054	0.060	0.997	0.748	-0.664	0.000	0.020	0.369	0.929	-0.030	0.312	0.950	4.635	354.468	71.747
2	0.046	0.062	0.997	0.803	-0.595	0.000	0.010	0.356	0.934	-0.033	0.298	0.954	4.401	353.694	72.543
3	0.089	0.071	0.994	0.625	-0.781	0.000	0.022	0.361	0.932	-0.062	0.294	0.954	6.512	348.128	72.507
4	0.068	0.020	0.998	0.280	-0.960	0.000	-0.164	0.235	0.958	-0.228	0.216	0.949	4.036	313.420	71.701
5	0.124	0.030	0.992	0.239	-0.971	0.000	-0.143	0.244	0.959	-0.261	0.215	0.941	7.324	309.538	70.221
6	0.092	0.043	0.995	0.428	-0.904	0.000	-0.145	0.250	0.957	-0.232	0.208	0.950	5.818	311.918	71.825
7	0.116	0.054	0.992	0.420	-0.907	0.000	-0.138	0.266	0.954	-0.249	0.215	0.944	7.351	310.819	70.781
8	0.089	0.054	0.995	0.520	-0.854	0.000	-0.247	0.043	0.968	-0.332	-0.009	0.943	5.964	268.508	70.605
9	0.077	0.042	0.996	0.479	-0.878	0.000	-0.246	0.036	0.969	-0.320	-0.004	0.948	5.015	269.292	71.365
10	0.089	0.062	0.994	0.573	-0.820	0.000	-0.256	0.037	0.966	-0.341	-0.023	0.940	6.245	266.217	70.018
11	0.076	0.059	0.995	0.617	-0.787	0.000	-0.236	0.024	0.971	-0.309	-0.033	0.950	5.512	263.948	71.882
12	0.116	0.040	0.992	0.329	-0.944	0.000	-0.074	-0.217	0.973	-0.186	-0.256	0.949	7.038	216.003	71.568
13	0.095	0.023	0.995	0.235	-0.972	0.000	-0.089	-0.221	0.971	-0.182	-0.243	0.953	5.637	216.774	72.344
14	0.075	0.032	0.997	0.398	-0.917	0.000	-0.086	-0.205	0.975	-0.158	-0.237	0.959	4.659	213.743	73.460
15	0.094	0.020	0.995	0.209	-0.978	0.000	-0.094	-0.210	0.973	-0.186	-0.229	0.956	5.543	219.004	72.851
16	-0.024	0.081	0.996	0.960	0.279	0.000	-0.035	-0.249	0.968	-0.012	-0.327	0.945	4.840	182.173	70.919
17	-0.022	0.069	0.997	0.954	0.299	0.000	-0.035	-0.239	0.970	-0.014	-0.305	0.952	4.130	182.653	72.208
18	-0.040	0.077	0.996	0.889	0.458	0.000	-0.034	-0.248	0.968	0.004	-0.322	0.947	4.976	179.263	71.195
19	-0.047	0.060	0.997	0.786	0.618	0.000	-0.048	-0.248	0.968	-0.003	-0.306	0.952	4.400	180.514	72.177
20	0.128	0.023	0.991	0.179	-0.984	0.000	0.327	-0.174	0.929	0.205	-0.196	0.959	7.486	133.680	73.513
21	0.147	0.006	0.989	0.038	-0.999	0.000	0.365	-0.157	0.918	0.226	-0.162	0.961	8.460	125.583	73.858
22	0.143	-0.022	0.990	-0.150	-0.989	0.000	0.380	-0.173	0.909	0.246	-0.152	0.957	8.292	121.771	73.191
23	0.194	-0.018	0.981	-0.093	-0.996	0.000	0.400	-0.166	0.901	0.218	-0.149	0.965	11.208	124.264	74.700
24	-0.098	-0.003	0.995	-0.034	0.999	0.000	0.215	-0.012	0.976	0.310	-0.009	0.951	5.611	91.609	71.952
25	-0.022	-0.032	0.999	-0.826	0.564	0.000	0.238	-0.010	0.971	0.259	0.020	0.966	2.197	85.483	74.949
26	-0.039	-0.010	0.999	-0.246	0.969	0.000	0.234	0.013	0.972	0.272	0.023	0.962	2.312	85.191	74.170
27	-0.068	-0.002	0.998	-0.027	1.000	0.000	0.229	0.048	0.972	0.295	0.050	0.954	3.915	80.368	72.575
28	-0.022	-0.017	1.000	-0.631	0.776	0.000	0.046	0.240	0.970	0.067	0.257	0.964	1.589	14.580	74.577
29	-0.022	-0.083	0.996	-0.966	0.260	0.000	0.071	0.212	0.975	0.092	0.292	0.952	4.916	17.528	72.195
30	0.021	-0.075	0.997	-0.963	-0.268	0.000	0.090	0.208	0.974	0.070	0.280	0.957	4.452	14.090	73.209
31	0.003	-0.122	0.993	-1.000	-0.026	0.000	0.119	0.199	0.973	0.115	0.316	0.942	7.007	20.062	70.328

See attached spreadsheet in ods format.
Let me know if it doesn't open OK.
I suppressed graphs to save space, if you're curious do some plots.

Used a long cable to move magnetometer away from the table and computer with improved results.
8 Gauss range
11Jan2017
LSM9DS1 long cable

offset	value	axis	xgain	ygain	zgain
xoffset	1057.176483	x	0.970972836	-0.095223453	0.017179224
yoffset	120.7727841	y	0.171154738	0.956653319	0.005190024
zoffset	549.551664	z	-0.000344029	-0.000125418	1

Stat	Value
Mean	1805.82288
Standard Error	2.302069588
Median	1805.330298
Mode	#N/A
Standard Deviation	20.20057865
Sample Variance	408.0633778
Kurtosis	0.449741028
Skewness	0.019637359
Range	97.68571284
Minimum	1757.482648
Maximum	1855.168361
Sum	139048.3617
Count	77
COV	1.12%

N	x	y	z	r	x1	y1	z1	r1	error	error^2
0	481	-114	-1116	1220.578961	-1655867	-5512957.334	-4481757046	4481760743	-2241780074	5.02558E+18
1	1150	82	-1248	1699.037375	-2393599	-4101041.62	-6041270293	6041272159	-3801291491	1.44498E+19
2	1223	1763	1306	2511.87858	2783145	4445402.421	8208139517	8208141193	-5968160524	3.56189E+19
3	-497	1005	1203	1644.458269	3815848	-550325.0282	9822473543	9822474300	-7582493631	5.74942E+19
4	2030	1599	312	2602.891661	366043	3769985.976	2027116432	2027119971	212860697.9	4.53097E+16
5	1109	-301	-1253	1700.144406	-2848644	-5140973.94	-7028156509	7028158967	-4788178298	2.29267E+19
6	429	-1157	-545	1348.968124	-2266216	-7282210.964	-5081260925	5081266649	-2841285980	8.07291E+18
7	52	-1187	-15	1188.233142	-1197310	-7126541.529	-2239969012	2239980669	0	0
8	1509	892	-981	2008.757327	-1462570	-1017395.195	-3627393468	3627393906	-1387413237	1.92492E+18
9	1607	1377	-648	2213.251454	-550865	914976.1828	-1241463461	1241463920	998516748.2	9.97036E+17
10	2039	1361	-281	2467.549999	-669396	2212286.456	-919612333	919615237.6	1320365431	1.74336E+18
11	1211	1171	-923	1920.85684	-656518	-727515.6291	-1916284327	1916284578	323696091.1	1.04779E+17
12	418	1637	1422	2208.297308	3762777	2951937.793	10226948810	10226949928	-7986969260	6.37917E+19
13	352	1627	1426	2191.919022	3836897	2821260.374	10372358286	10372359379	-8132378711	6.61356E+19
14	-50	1486	-151	1494.488876	2257316	-809238.2217	4924569343	4924569927	-2684589258	7.20702E+18
15	939	1372	-793	1841.997286	101834	-470986.6254	-209753014	209753567.5	2030227101	4.12182E+18
16	1927	1686	409	2592.914576	724900	3973031.015	2885928000	2885930826	-645950157.2	4.17252E+17
17	-32	1678	235	1694.677845	2949962	338386.0304	6888765729	6888766369	-4648785700	2.16112E+19
18	1297	1908	182	2314.259493	1527991	3086982.486	4145556064	4145557495	-1905576826	3.63122E+18
19	2097	1616	454	2686.071667	475455	4160036.49	2455909180	2455912749	-215932080.7	4.66267E+16
20	-556	1068	236	1226.970252	2808457	-2082511.029	6449109003	6449109951	-4209129282	1.77168E+19
21	-466	1183	1146	1711.712885	3941057	-144274.6037	10026168448	10026169224	-7786188555	6.06247E+19
22	1754	1621	1246	2693.821264	1862825	4892237.013	6312980978	6312983148	-4073002480	1.65893E+19
23	2161	45	-951	2361.429017	-3346358	-1987850.236	-7430868391	7430869410	-5190888742	2.69453E+19
24	1370	1708	1416	2607.5314	2660189	4737898.003	8122950769	8122952586	-5882971918	3.46094E+19
25	-376	489	-587	851.5080739	837574	-4584451.155	1266377324	1266385899	973594769.5	9.47887E+17
26	1526	1354	-749	2173.244809	-601318	553490.6629	-1496994925	1496995148	742985520.5	5.52027E+17
27	408	758	-1043	1352.359789	-338112	-3326583.487	-1601564975	1601568465	638412203.2	4.0757E+17
28	2462	862	1451	2984.943718	234602	4525753.577	3288154671	3288157794	-1048177125	1.09868E+18
29	1135	1979	568	2351.018928	2287251	3624842.703	6203839725	6203841206	-3963860537	1.57122E+19
30	-611	409	1331	1520.579824	3333728	-2030604.264	8925017953	8925018807	-6685038138	4.46897E+19
31	-450	-603	1254	1462.403843	1718497	-4425703.656	5429285478	5429287554	-3189306885	1.01717E+19
32	2286	1349	901	2803.105064	428622	4545555.819	2966103310	2966106824	-726126155.4	5.27259E+17
33	598	-485	2237	2365.79754	1747250	-732208.3364	7000183420	7000183676	-4760203008	2.26595E+19
34	1100	-1207	1827	2450.464854	-315408	-2367095.8	2224668352	2224669634	15311034.96	2.34428E+14
35	2565	461	-448	2644.32411	-2702145	570664.8623	-5320722523	5320723240	-3080742571	9.49097E+18
36	-174	1541	178	1560.974375	2879685	-340738.7636	6629862586	6629863220	-4389882552	1.92711E+19
37	-700	526	1097	1403.597164	3316100	-2272732.031	8570767797	8570768740	-6330788071	4.00789E+19
38	-699	-193	940	1187.202594	2186967	-4335253.641	5968204807	5968206782	-3728226114	1.38997E+19
39	1584	1159	-782	2112.785129	-968071	107951.3846	-2304459926	2304460132	-64479463.23	4.1576E+15
40	1406	-1236	1693	2524.04061	-896372	-2140392.25	900192221	900195211.9	1339785457	1.79503E+18
41	1326	1811	-121	2247.807376	1000608	2394331.492	2649974684	2649975955	-409995285.9	1.68096E+17
42	-456	1301	749	1568.928934	3605094	-483732.4905	8815751912	8815752662	-6575771994	4.32408E+19
43	-761	437	912	1265.635809	3053439	-2904155.285	7763145551	7763146695	-5523166026	3.05054E+19
44	25	1341	-476	1423.194295	1583371	-1580481.75	3101342793	3101343600	-861362931.3	7.41946E+17
45	2116	1514	209	2610.236196	23796	3533214.309	1191667249	1191672487	1048308182	1.09895E+18
46	2183	266	1949	2938.510847	403512	3373582.734	4197506676	4197508051	-1957527382	3.83191E+18
47	969	-4	2371	2561.370336	2073630	1326705.535	7962174568	7962174949	-5722194280	3.27435E+19
48	832	-52	2327	2471.812493	2128986	901011.0785	7988609359	7988609694	-5748629025	3.30467E+19
49	2158	959	-608	2438.505485	-1736301	866958.8605	-3571057200	3571057727	-1331077059	1.77177E+18
50	1638	934	-908	2092.812462	-1480891	-572675.0196	-3540718745	3540719101	-1300738432	1.69192E+18
51	821	1310	1917	2462.728162	3428256	3629272.403	10241084758	10241085975	-8001105306	6.40177E+19
52	2220	1390	874	2761.227263	532055	4492006.001	3135161893	3135165156	-895184487.5	8.01355E+17
53	2119	1382	-198	2537.575418	-641961	2537448.933	-735938824	735943478.4	1504037190	2.26213E+18
54	-249	1355	-71	1379.516944	2430822	-1344846.092	5341571389	5341572111	-3101591443	9.61987E+18
55	47	1240	-612	1383.60146	1260401	-2020448.989	2248630642	2248631903	-8651234.314	7.48439E+13
56	-24	-44	-873	874.4375335	-641878	-5795536.348	-2150918337	2150926241	89054427.99	7.93069E+15
57	-141	-809	-407	916.52114	-934354	-7149593.281	-2221788011	2221799711	18180957.7	3.30547E+14
58	105	-1389	200	1407.247668	-1268621	-7190333.493	-2108617729	2108630370	131350298.6	1.72529E+16
59	-158	959	-583	1133.372842	1184142	-3026900.242	2067914284	2067916838	172063830.3	2.9606E+16
60	1045	1836	-175	2119.798575	1318984	1890898.208	3186098836	3186099670	-946119001.5	8.95141E+17
61	2656	329	-355	2699.741099	-2876226	546643.9099	-5551041308	5551042080	-3311061411	1.09631E+19
62	2783	418	64	2814.943872	-2414431	1675006.865	-4008488164	4008489241	-1768508572	3.12762E+18
63	-801	499	533	1083.831629	2728394	-3439629.992	6585238109	6585239573	-4345258904	1.88813E+19
64	-121	-1190	392	1258.731504	-495703	-6758716.115	-281175684	281257339.9	1958723329	3.8366E+18
65	1790	1654	1142	2691.464285	1735883	4865270.691	5921807007	5921809260	-3681828591	1.35559E+19
66	935	-1637	1115	2190.255465	-1527604	-4898399.044	-1294023939	1294034112	945946556.8	8.94815E+17
67	2392	574	1629	2950.386585	159968	3976113.502	3333381785	3333384160	-1093403492	1.19553E+18
68	1355	1923	335	2376.168975	1659256	3474806.948	4632299241	4632300841	-2392320173	5.7232E+18
69	118	838	-831	1186.05607	383324	-3269728.886	124190111	124233738.3	2115746930	4.47639E+18
70	2301	-1224	1134	2842.311207	-2670137	-1508863.429	-3341740176	3341741583	-1101760915	1.21388E+18
71	93	1625	-112	1631.507891	2307303	-152990.882	5117959913	5117960435	-2877979767	8.28277E+18
72	914	588	-1194	1614.551331	-1373273	-3142203.132	-3862053767	3862055289	-1622074621	2.63113E+18
73	1457	421	-1209	1939.528551	-2287084	-2663776.435	-5683800959	5683802043	-3443821375	1.18599E+19
74	29	-240	-861	894.2941351	-949562	-6178082.069	-2777485328	2777492361	-537511692.8	2.88919E+17
75	1035	1729	-460	2066.946056	848867	1136466.219	1824721631	1824722182	415258486.3	1.7244E+17
76	1280	1711	-378	2169.97811	618245	1642362.14	1501092802	1501093828	738886840.9	5.45954E+17

(Found the error in the previous post, a copy and paste in Excel)

In Depth Magnetometer Calibration Using Excel and Solver

The mathematical model

Given raw magnetometer readings X, Y , and Z,
For each reading calculate:
Let Xa= X-Xoffset, Ya=Y-Yoffset, and Za=Z-Zoffset, and
The calibrated values X1, Y1, Z1 are given by:
X1=Xa*gainXX + Ya*gainXY + Za*gainXZ,
Y1=Xa*gainYX + Ya*gainYY + Za*gainYZ,
Z1=Xa*gainZX + Ya*gainZY + Za*gainZZ.
Let R1= sqrt( X1^2+Y1^2+Z1^2), and
Error = R1-Rtarget, and Error Squared = Error^2
Take the sum of the Error Squared for all the samples = SES.
Set the X, Y, and Z offsets =0,
Set gainXX, gainYY and gainZZ =1, and the other 6 gains =0;
Use solver to minimize SES while changing the offsets, and all of the gains except gainZZ

Results

r1	stats
Mean	2792.675963
Standard Error	27.03157384
Median	2784.500715
Mode	#N/A
Standard Deviation	216.2525907
Sample Variance	46765.18298
Kurtosis	-0.287108248
Skewness	-0.366464619
Range	848.6523987
Minimum	2329.127457
Maximum	3177.779856
Sum	178731.2617
Count	64
COV	0.077435619
COV%	7.74%

Magcal 4 Gauss 5 Hz 11Jan2017

offset	value	axis	xgain	ygain	zgain
xoffset	1741.458318	x	0.863257581	-0.3926702	0.358295402
yoffset	150.0131291	y	0.399463789	0.673246386	0.034881236
zoffset	1234.272835	z	3.12226E-06	-3.2123E-06	1

N	x	y	z	r	x1	y1	z1	r1	error	error^2
0	3453	-1701	-1738	4223.417337	738.0793342	-1918.249765	-2423.600946	3177.779856	-385.1038923	148305.0078
1	3381	-1643	-1723	4135.134702	699.0937349	-1850.929269	-2432.375103	3135.461665	-342.7857013	117502.037
2	3355	-1693	-1711	4129.139741	656.6758859	-1874.382201	-2431.434845	3139.491561	-346.815598	120281.059
3	3407	-1633	-1731	4155.803051	725.5330449	-1854.406204	-2430.71061	3142.224473	-349.5485101	122184.1609
4	4665	-757	1189	4873.29406	2161.450477	-1758.630861	970.5809689	2950.708066	-158.0321025	24974.14542
5	4673	-815	1151	4881.18377	2145.18752	-1800.820391	933.4242204	2952.298147	-159.6221841	25479.24165
6	4697	-829	1165	4909.814151	2160.313252	-1819.669971	955.5349728	2981.811401	-189.135438	35772.21392
7	4643	-819	1181	4860.346798	2117.692031	-1791.733367	952.5358334	2932.959684	-140.283721	19679.52238
8	715	-815	4223	4359.95172	-1271.576393	-246.6416096	2587.291018	2893.408616	-100.7326523	10147.06725
9	727	-813	4177	4317.039147	-1260.418518	-250.0070114	2545.660325	2851.586372	-58.91040867	3470.436249
10	749	-785	4243	4379.529084	-1230.241659	-239.795069	2620.519498	2904.843999	-112.1680354	12581.66817
11	611	-807	4179	4299.838485	-1358.159609	-200.4177964	2506.307346	2857.68111	-65.00514671	4225.669099
12	-657	-1013	833	1466.869797	-2535.070208	158.8100096	-1301.196759	2853.929675	-61.25371127	3752.017145
13	-711	-989	817	1466.673447	-2572.099037	196.172165	-1335.707561	2904.873778	-112.1978142	12588.34951
14	-701	-999	844	1483.825461	-2567.461015	185.5129124	-1305.47342	2886.266092	-93.59012836	8759.112126
15	-711	-995	795	1458.619553	-2574.495888	192.1327573	-1357.916849	2916.998842	-124.3228786	15456.17813
16	3613	481	-1543	3958.02716	1747.831143	-512.0540098	-2095.162824	2776.116041	16.55992257	274.2310357
17	3611	525	-1540	3960.624446	1763.681044	-481.6458381	-2091.34464	2777.818558	14.85740514	220.7424876
18	3653	569	-1572	4017.381485	1817.514169	-468.5150427	-2106.761459	2821.578981	-28.90301747	835.3844188
19	3631	489	-1555	3980.113943	1766.565452	-513.7360638	-2100.434457	2792.221901	0.454061814	0.206172131
20	3597	565	2639	4496.882809	1767.587037	-449.232024	2084.034473	2769.36329	23.31267347	543.4807445
21	3593	599	2606	4478.804081	1777.715672	-424.7708601	2050.787254	2747.076929	45.5990339	2079.271892
22	3631	577	2604	4505.319744	1801.731251	-454.5037418	2061.635092	2775.45463	17.22133316	296.5743156
23	3617	549	2634	4507.998004	1778.460752	-467.8573541	2085.642282	2780.596497	12.07946639	145.9135084
24	-185	2581	2177	3381.584688	-691.9355777	2393.112869	337.2818337	2513.866162	278.8098011	77734.90521
25	-145	2557	2207	3380.846492	-666.9923117	2361.248051	380.7765001	2483.014669	309.6612945	95890.11729
26	-153	2599	2220	3421.492364	-657.1208526	2392.665719	392.3751488	2512.093811	280.5821522	78726.34413
27	-157	2557	2228	3395.126213	-677.3513371	2365.960026	397.4769552	2492.901845	299.7741183	89864.52203
28	431	-7	-767	879.8289607	-1193.990385	408.8758362	-2476.280838	2779.345116	13.33084684	177.7114774
29	463	-83	-736	873.4723808	-1196.725294	345.1435649	-2436.466359	2736.355939	56.32002402	3171.945106
30	429	17	-746	860.7241138	-1186.129704	425.8190224	-2455.160279	2759.716926	32.95903781	1086.298173
31	427	-9	-638	767.7590768	-1198.24194	409.0996099	-2348.783782	2668.319976	124.3559878	15464.4117
32	1387	3417	2378	4387.999772	999.057694	2338.668648	1130.68292	2783.151305	9.524658502	90.71911958
33	1377	3429	2382	4396.372823	995.2186962	2350.674294	1131.518541	2792.214909	0.461054752	0.212571485
34	1457	3355	2349	4347.030596	1034.718879	2269.440551	1124.600961	2736.006377	56.66958609	3211.441988
35	1373	3445	2338	4383.993385	998.1569491	2363.017058	1086.643459	2785.850125	6.825838565	46.59207212
36	3471	2883	1405	4725.839079	2584.769791	1160.833507	885.7439583	2968.688543	-176.0125795	30980.42815
37	3345	2939	1448	4682.248392	2498.369442	1248.011612	885.5520868	2929.775649	-137.0996855	18796.32378
38	3405	2909	1461	4710.714065	2538.181024	1204.253967	919.0033738	2955.868354	-163.1923911	26631.75652
39	3393	2931	1484	4722.866291	2536.610208	1223.777356	938.4712162	2968.627728	-175.9517649	30959.02358
40	3143	2419	-178	3970.099999	2116.265164	977.248095	-830.9618274	2474.689807	317.986156	101115.1954
41	3147	2451	-205	3994.125061	2132.500951	997.2213852	-855.4124462	2504.74375	287.9322136	82904.9596
42	3135	2411	-161	3958.1646	2106.163446	975.0034309	-817.1072405	2460.532543	332.1434204	110319.2517
43	3103	2383	-179	3916.546821	2067.354161	968.7180363	-847.549368	2435.304456	357.3715073	127714.3942
44	185	3641	713	3714.764461	50.89677217	2961.470767	-957.1747571	3112.729204	-320.0532409	102434.077
45	181	3667	707	3738.916822	57.82978161	2980.545873	-963.7010265	3133.004573	-340.3286093	115823.5623
46	143	3653	733	3728.5583	19.43358169	2986.041807	-951.8045891	3134.127521	-341.4515573	116589.166
47	153	3623	712	3695.467765	16.08217827	2961.917781	-970.2680722	3116.831037	-324.1550734	105076.5116
48	2099	-3223	2501	4587.867805	-1038.742081	-2411.268931	1277.177838	2919.655151	-126.9791875	16123.71405
49	2087	-3223	2526	4596.082462	-1049.101094	-2406.556969	1297.878293	2928.586283	-135.9103193	18471.6149
50	2079	-3203	2573	4604.538956	-1048.017732	-2389.950831	1342.709554	2934.804097	-142.1281338	20200.40643
51	2129	-3179	2505	4573.150664	-995.2679345	-2393.426209	1293.461474	2896.9104	-104.2344367	10864.81779
52	-109	-2125	1255	2470.33014	-2506.20747	-805.0245965	-721.6388134	2729.451055	63.2249088	3997.389092
53	-97	-2101	1269	2456.414257	-2486.261204	-793.5787706	-702.5021189	2702.734036	89.94192774	8089.550366
54	-173	-2103	1319	2488.433041	-2552.667552	-765.0824888	-679.802332	2750.198912	42.4770515	1804.299904
55	-153	-2117	1301	2489.517825	-2540.994949	-782.3612844	-691.1247612	2747.070794	45.60516933	2079.831469
56	333	-831	-375	970.6054811	-1607.746566	-107.3987654	-2148.135926	2685.306588	107.3693755	11528.18279
57	285	-829	-326	935.2764297	-1648.383849	-87.20426041	-2116.264343	2683.905487	108.7704759	11831.01643
58	309	-877	-348	992.8313049	-1646.839998	-128.944101	-2131.339552	2696.537937	96.13802609	9242.520061
59	253	-877	-315	965.5894573	-1695.182319	-106.9546759	-2118.404095	2715.274997	77.40096666	5990.909641
60	3419	-2285	710	4173.114664	475.4493671	-2298.082732	-8.153631469	2346.764331	445.9116326	198837.1841
61	3395	-2277	684	4144.708675	457.9268143	-2283.272592	-42.47367124	2329.127457	463.5485064	214877.2178
62	3429	-2275	693	4172.998323	488.0765277	-2295.276915	-21.22186508	2346.692392	445.9835715	198901.3461
63	3451	-2273	697	4190.672858	507.8671346	-2302.56918	-9.269603757	2357.93125	434.7447135	189002.9659

http://diydrones.com/forum/topics/magnetometer-soft-and-hard-iron-calibration

In Depth Magnetometer Calibration Using Excel and Solver

( Best fit so far!)

The mathematical model

Given raw magnetometer readings X, Y , and Z,
For each reading calculate:
Let Xa= X-Xoffset, Ya=Y-Yoffset, and Za=Z-Zoffset, and
The calibrated values X1, Y1, Z1 are given by:
X1=Xa*gainXX + Ya*gainXY + Za*gainXZ,
Y1=Xa*gainYX + Ya*gainYY + Za*gainYZ,
Z1=Xa*gainZX + Ya*gainZY + Za*gainZZ.
Let R1= sqrt( X1^2+Y1^2+Z1^2), and
Error = R1-Rtarget, and Error Squared = Error^2
Take the sum of the Error Squared for all the samples = SES.
Set the X, Y, and Z offsets =0,
Set gainXX, gainYY and gainZZ =1, and the other 6 gains =0;
Use solver to minimize SES while changing the offsets, and all of the gains except gainZZ

Results

r1	stats
Mean	3117.206387
Standard Error	1.005167936
Median	3119.478578
Mode	#N/A
Standard Deviation	8.041343492
Sample Variance	64.66320515
Kurtosis	-0.864123021
Skewness	-0.291754939
Range	27.37080618
Minimum	3101.887692
Maximum	3129.258498
Sum	199501.2087
Count	64
cov	0.002579663

Magcal 4 Gauss 5 Hz 11Jan2017
error = 4129.637996

Offset	Value	Axis	xgain	ygain	zgain
xoffset	638.3171635	x	-0.005373179	0.092816827	0.084165352
yoffset	125.7515646	y	-0.004554252	-0.103490134	0.004828644
zoffset	3341.735388	z	-0.08843408	0.094803696	1

(Back to the drawing board because the X and Y gains are too small)

N	x	y	z	r	x1	y1	z1	r1	error	error^2
0	3453	-1701	-1738	4223.417337	442.4174201	59.33861037	-3079.535366	3111.718547	4.553628065	20.73552856
1	3381	-1643	-1723	4135.134702	441.2136312	54.80011423	-3079.90296	3111.828203	4.443971966	19.74888684
2	3355	-1693	-1711	4129.139741	440.5198375	48.34904687	-3079.615717	3111.338671	4.933504364	24.33946531
3	3407	-1633	-1731	4155.803051	441.7358587	58.51563949	-3079.954256	3112.020705	4.251470614	18.07500238
4	4665	-757	1189	4873.29406	172.7593596	-94.34721157	-3099.703419	3105.947276	10.32489947	106.6035491
5	4673	-815	1151	4881.18377	176.3410159	-95.04998877	-3099.28195	3105.749387	10.52278769	110.7290608
6	4697	-829	1165	4909.814151	175.037742	-95.08402029	-3099.268663	3105.663444	10.60873144	112.5451828
7	4643	-819	1181	4860.346798	173.8674059	-100.501382	-3099.331213	3105.830706	10.4414693	109.0242812
8	715	-815	4223	4359.95172	-74.06143648	-462.3864042	-3093.645286	3128.885974	-12.6137993	159.1079327
9	727	-813	4177	4317.039147	-70.06705543	-461.5084948	-3093.729721	3128.747844	-12.47566864	155.6423081
10	749	-785	4243	4379.529084	-76.14943373	-459.8156956	-3093.955444	3128.863932	-12.59175646	158.5523309
11	611	-807	4179	4299.838485	-69.64796033	-462.7892605	-3093.225351	3128.428969	-12.15679335	147.7876245
12	-657	-1013	833	1466.869797	234.0038399	-404.2074408	-3084.870216	3120.026554	-3.754379313	14.09536403
13	-711	-989	817	1466.673447	235.5996348	-400.3426095	-3084.622015	3119.402886	-3.130710964	9.801351141
14	-701	-999	844	1483.825461	233.2037254	-402.438937	-3084.662639	3119.532765	-3.260589446	10.63144353
15	-711	-995	795	1458.619553	237.5725101	-399.3862665	-3084.539666	3119.348496	-3.076321134	9.46375172
16	3613	481	-1543	3958.02716	414.3756879	216.5243802	-3092.44633	3127.589219	-11.31704349	128.0754734
17	3611	525	-1540	3960.624446	413.9207449	220.5440825	-3092.636235	3127.997596	-11.72542068	137.48549
18	3653	569	-1572	4017.381485	416.3245748	233.3204843	-3092.651637	3129.258498	-12.98632299	168.6445848
19	3631	489	-1555	3980.113943	415.3037456	220.6027051	-3092.421607	3127.97285	-11.70067486	136.9057922
20	3597	565	2639	4496.882809	44.24777705	-157.3892385	-3107.992798	3112.289908	3.982267156	15.8584517
21	3593	599	2606	4478.804081	47.03274985	-152.5322222	-3108.072578	3112.168586	4.103589344	16.8394455
22	3631	577	2604	4505.319744	47.10563075	-151.8534292	-3108.039993	3112.103951	4.16822427	17.37409356
23	3617	549	2634	4507.998004	44.6553519	-157.3030955	-3107.952379	3112.251011	4.021164599	16.16976474
24	-185	2581	2177	3381.584688	96.24431343	-28.19245814	-3100.266032	3101.887692	14.38448319	206.9133566
25	-145	2557	2207	3380.846492	93.4856659	-33.5947497	-3100.503284	3102.094259	14.1779165	201.0133163
26	-153	2599	2220	3421.492364	92.1877297	-27.18843576	-3100.510806	3102.000169	14.27200652	203.6901701
27	-157	2557	2228	3395.126213	91.69302836	-34.41427218	-3100.459497	3102.005972	14.26620361	203.5245653
28	431	-7	-767	879.8289607	365.0707723	-200.9031402	-3091.302457	3119.26107	-2.988894959	8.933493078
29	463	-83	-736	873.4723808	362.5034972	-211.7680404	-3091.2913	3119.669276	-3.397100785	11.54029375
30	429	17	-746	860.7241138	363.1151009	-202.6600393	-3091.582907	3119.424392	-3.152216975	9.936471856
31	427	-9	-638	767.7590768	353.6933771	-225.0636403	-3092.363668	3120.651487	-4.379311514	19.17836934
32	1387	3417	2378	4387.999772	66.21507103	124.0127614	-3108.518418	3111.695737	4.576438419	20.94378861
33	1377	3429	2382	4396.372823	65.86041548	125.5063989	-3108.495982	3111.725682	4.546493018	20.67059876
34	1457	3355	2349	4347.030596	68.68590046	117.3753027	-3108.68621	3111.659471	4.612703873	21.27703702
35	1373	3445	2338	4383.993385	69.7001397	130.3714175	-3108.419309	3111.932746	4.339428815	18.83064244
36	3471	2883	1405	4725.839079	143.4956967	207.1728909	-3111.499374	3121.688642	-5.416466456	29.33810886
37	3345	2939	1448	4682.248392	140.1150137	203.7879992	-3111.471431	3121.284388	-5.012212653	25.12227568
38	3405	2909	1461	4710.714065	138.7796075	202.3567737	-3111.575237	3121.235092	-4.962916449	24.63053968
39	3393	2931	1484	4722.866291	136.7099082	203.1705467	-3111.650454	3121.271603	-4.999427663	24.99427696
40	3143	2419	-178	3970.099999	287.3624218	256.2839073	-3104.515596	3128.302365	-12.0301897	144.7254642
41	3147	2451	-205	3994.125061	289.5829131	264.325944	-3104.45156	3129.112647	-12.84047192	164.877719
42	3135	2411	-161	3958.1646	285.9384618	252.6505205	-3104.566376	3127.926705	-11.65453029	135.8280762
43	3103	2383	-179	3916.546821	287.8297361	247.9689525	-3104.391036	3127.55148	-11.27930518	127.2227254
44	185	3641	713	3714.764461	218.8962238	253.2896075	-3099.22339	3117.251482	-0.979306912	0.959042028
45	181	3667	707	3738.916822	219.3299105	258.6135189	-3099.178072	3117.674018	-1.401843218	1.965164408
46	143	3653	733	3728.5583	217.2985647	253.6413137	-3099.071136	3117.016922	-0.744746647	0.554647569
47	153	3623	712	3695.467765	219.2385762	249.8929967	-3099.05838	3116.837324	-0.565148844	0.319393216
48	2099	-3223	2501	4587.867805	81.75220912	-486.072025	-3081.66385	3120.833466	-4.561291068	20.80537621
49	2087	-3223	2526	4596.082462	79.60583526	-487.8804985	-3081.666425	3121.062707	-4.790532247	22.94919921
50	2079	-3203	2573	4604.538956	75.40133387	-490.0864914	-3081.874321	3121.509164	-5.236989049	27.4260543
51	2129	-3179	2505	4573.150664	81.03689034	-483.7972845	-3082.113572	3120.905455	-4.633279728	21.46728104
52	-109	-2125	1255	2470.33014	198.8044841	-455.9608393	-3079.70644	3119.617808	-3.34563262	11.19325763
53	-97	-2101	1269	2456.414257	197.3926267	-456.5013745	-3080.007177	3119.904096	-3.631920504	13.19084655
54	-173	-2103	1319	2488.433041	193.3883928	-458.8260158	-3079.648536	3119.640282	-3.368107032	11.34414498
55	-153	-2117	1301	2489.517825	194.9365022	-458.1597874	-3079.610165	3119.60084	-3.328664726	11.08000886
56	333	-831	-375	970.6054811	334.6838879	-309.346388	-3088.258196	3121.705813	-5.433637378	29.52441515
57	285	-829	-326	935.2764297	330.5994221	-317.5810956	-3088.389151	3122.226975	-5.954799411	35.45963602
58	309	-877	-348	992.8313049	332.6346197	-314.3031054	-3087.92768	3121.654944	-5.382768361	28.97419523
59	253	-877	-315	965.5894573	330.017193	-320.3009077	-3087.899191	3121.958589	-5.686413856	32.33530255
60	3419	-2285	710	4173.114664	228.7731624	-252.9791429	-3087.385737	3106.169071	10.10310436	102.0727176
61	3395	-2277	684	4144.708675	231.1649708	-252.2388575	-3087.31939	3106.220002	10.05217284	101.0461788
62	3429	-2275	693	4172.998323	230.1772675	-250.3026719	-3087.413005	3106.083074	10.18910087	103.8177765
63	3451	-2273	697	4190.672858	229.6962127	-248.8553876	-3087.472054	3105.989865	10.28231054	105.72591

http://diydrones.com/forum/topics/magnetometer-soft-and-hard-iron-calibration

Rodrigues Rotation Formula Module Numerical Issues

The origin of the issues is a divide by zero problem

Resolution of these issues must apply to both the Setup() and RotVector() functions.
The divide by zero problem arises when the Norm of a vector is computed.
Given vector V the Norm(V) is given by V/ sqrt(V dot V). If the dot product is zero then a division by zero will occur. The Norm is also called the unit vector and the components of the unit vector are the direction cosines.

The Rodrigues’ formula requires four different vectors to be Normed:

• The vector A an argument to the Setup(A,B) function,
  
• The vector B an argument to the Setup(A,B) function,
  
• The vector C an argument to the RotVector(C) function, and
  

• The vector K used in the Setup(A,B) function.

  What should the Rodrigues formula return in each case?

• Zero vectors as arguments.
  A zero vector has the components [0, 0, 0] and its dot product is zero.
  If vectors A and/or B are zero then Setup(A,B) should return the Norm of vector A. The RotVector(C) should return the Norm of vector C.

• The K vector is the cross product of vectors A and B. K is a zero vector if

• Vector A and/or B is a zero vector. Return the Norm of A.

• Vectors A and B point in the same direction. Return the Norm of A.

• Vectors A and B point in opposite directions. Return the -Norm of A.

These modifications have been implemented in the attached Rodrigues.js file.
This update functions with the previous test program testRodrigues1.js and with a new test file TestRodrigues10jan17.js

Files attached:
//testRodrigues1.js
//TestRodrigues10jan17.js
//Rodrigues10jan17.js as module //Rodrigues.js