-/* If no cal data is present - first calibration will
- use a more relaxed set of values to get an initial
- calibration faster */
-#define FIRST_MIN_DIFF 0.5f
-#define FIRST_MAX_SQR_ERR 5.0f
-#define FIRST_LOOKBACK_COUNT 4
-
-#define MIN_DIFF 1.0f
-#define MAX_SQR_ERR 3.5f
-#define LOOKBACK_COUNT 6
-
-
-#ifdef DBG_RAW_DATA
-#define RAW_DATA_FULL_PATH "/data/raw_compass_data_full_%d.txt"
-#define RAW_DATA_SELECTED_PATH "/data/raw_compass_data_selected_%d.txt"
-#endif
-
-/* gyro defines */
-#define GYRO_MAX_ERR 0.05f
-#define GYRO_DS_SIZE 8
-
-struct compass_cal {