Baca Magnetometer MPU9250 Dengan Arduino

#include "quaternionFilters.h"
#include "MPU9250.h"

#define I2Cclock 400000
#define I2Cport Wire
#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0

MPU9250 myIMU(MPU9250_ADDRESS, I2Cport, I2Cclock);

void setup() {
  Wire.begin();
  Serial.begin(9600);
  myIMU.initMPU9250();
  byte d = myIMU.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963);

  if (d == 0x48)  // WHO_AM_I should always be 0x71
  {
    Serial.println(F("Magnetometer is online..."));
  } else {
    Serial.println(F("Magnetometer is offline..."));
    Serial.flush();
    abort();
  }

  // Get magnetometer calibration from AK8963 ROM
  // Initialize device for active mode read of magnetometer
  myIMU.initAK8963(myIMU.factoryMagCalibration);

  // Get sensor resolutions, only need to do this once
  myIMU.getMres();

  // The next call delays for 4 seconds, and then records about 15 seconds of
  // data to calculate bias and scale.
  myIMU.magCalMPU9250(myIMU.magBias, myIMU.magScale);
}

void loop() {
  myIMU.readMagData(myIMU.magCount);  // Read the x/y/z adc values
  // Calculate the magnetometer values in milliGauss
  // Include factory calibration per data sheet and user environmental
  // corrections
  // Get actual magnetometer value, this depends on scale being set
  myIMU.mx = (float)myIMU.magCount[0] * myIMU.mRes
               * myIMU.factoryMagCalibration[0]
             - myIMU.magBias[0];
  myIMU.my = (float)myIMU.magCount[1] * myIMU.mRes
               * myIMU.factoryMagCalibration[1]
             - myIMU.magBias[1];
  myIMU.mz = (float)myIMU.magCount[2] * myIMU.mRes
               * myIMU.factoryMagCalibration[2]
             - myIMU.magBias[2];

  // Must be called before updating quaternions!
  myIMU.updateTime();

  // Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of
  // the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis
  // (+ up) of accelerometer and gyro! We have to make some allowance for this
  // orientationmismatch in feeding the output to the quaternion filter. For the
  // MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward
  // along the x-axis just like in the LSM9DS0 sensor. This rotation can be
  // modified to allow any convenient orientation convention. This is ok by
  // aircraft orientation standards! Pass gyro rate as rad/s
  MahonyQuaternionUpdate(myIMU.ax, myIMU.ay, myIMU.az, myIMU.gx * DEG_TO_RAD, myIMU.gy * DEG_TO_RAD, myIMU.gz * DEG_TO_RAD, myIMU.my, myIMU.mx, myIMU.mz, myIMU.deltat);

  Serial.println((String) "X:" + myIMU.mx + "  Y:" + myIMU.my + "  Z" + myIMU.mz);
  delay(200);
}