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                cosroll = (s32)c_cos_8192(tmp);
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                cosroll = (s32)c_cos_8192(tmp);
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                // tbd. compensation signs and oriantation has to be fixed
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                // tbd. compensation signs and oriantation has to be fixed
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                Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);
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                Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);
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                Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);             
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                Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);             
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                // calculate heading
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                // calculate heading
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                tmp = (s16)(c_tan2_546(Hy, Hx)/546L);
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                tmp = (s16)(c_atan2_546(Hy, Hx)/546L);
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                if (tmp > 0) tmp = 360 - tmp;
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                if (tmp > 0) tmp = 360 - tmp;
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                else tmp = -tmp;
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                else tmp = -tmp;
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                Compass_Heading = tmp;
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                Compass_Heading = tmp;
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        }
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        }
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}
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}