/elec/quadcopter

#include <Wire.h> // I2C Arduino Library

#define address 0x1E // 0011110b, I2C 7bit address of HMC5883

void setup()

{

  // initialize Serial and I2C communications

  Serial.begin(9600);

  Wire.begin();

  // put the HMC5883 IC into the correct operating mode

  Wire.beginTransmission(address); // open communication with HMC5883

  Wire.write(0x02); // select mode register

  Wire.write(0x00); // continuous measurement mode

  Wire.endTransmission();

}

void loop()

{ 

  int x, y, z; // triple axis data

  // tell the HMC5883 where to begin reading data

  Wire.beginTransmission(address);

  Wire.write(0x03); // select register 3, X MSB register

  Wire.endTransmission();

  // read data from each axis, 2 registers per axis

  Wire.requestFrom(address, 6);

  if(6<=Wire.available()){

    x = Wire.read()<<8; // X msb

    x |= Wire.read();   // X lsb

    z = Wire.read()<<8; // Z msb

    z |= Wire.read();   // Z lsb

    y = Wire.read()<<8; // Y msb

    y |= Wire.read();   // Y lsb

  }

  // print out values of each axis

  Serial.print("x: ");

  Serial.print(x);

  Serial.print("  y: ");

  Serial.print(y);

  Serial.print("  z: ");

  Serial.println(z);

  delay(250);

}