Here is the code with a lots of comments: On the image below you can see how the heading measured with an iPhone 4 is quite close to the one we read from Arduino. There are many margin of improvement. First, we ought compensate the potential tilt of the device using the accelerometer data from the ADXL345, for example using the info on my previous post! Moreover, my breadboard has an aluminium ground plane at its bottom, which can obviously make harder for the structure to sense the magnetic field and/or could drift it and create an offset.
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