diff --git a/Makefile b/Makefile
index 17de59c60..54d860757 100644
--- a/Makefile
+++ b/Makefile
@@ -10,6 +10,8 @@ TCHAIN=
 CC = $(TCHAIN)arm-none-eabi-gcc
 OPT = -Os
 OBJCOPY = $(TCHAIN)arm-none-eabi-objcopy
+# enable for FYxxQ builds
+EXTRA= #-DFY90Q
 
 #Atollic TrueStudio
 #CC = "C:\Program Files (x86)\Atollic\TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0\ARMTools\bin\arm-atollic-eabi-gcc"
@@ -32,7 +34,7 @@ LINK_SCRIPT=stm32_flash.ld
 # Assembler, Compiler and Linker flags and linker script settings
 LINKER_FLAGS=-lm -mthumb -mcpu=cortex-m3 -Wl,--gc-sections -T$(LINK_SCRIPT) -static -Wl,-cref "-Wl,-Map=$(BIN_DIR)/baseflight.map" -Wl,--defsym=malloc_getpagesize_P=0x1000
 ASSEMBLER_FLAGS=-c $(OPT) -mcpu=cortex-m3 -mthumb -x assembler-with-cpp -Isrc -Ilib/STM32F10x_StdPeriph_Driver/inc -Ilib/CMSIS/CM3/CoreSupport -Ilib/CMSIS/CM3/DeviceSupport/ST/STM32F10x
-COMPILER_FLAGS=-c -mcpu=cortex-m3 $(OPT) -Wall -ffunction-sections -fdata-sections -mthumb -DSTM32F10X_MD -DUSE_STDPERIPH_DRIVER -Isrc -Ilib/STM32F10x_StdPeriph_Driver/inc -Ilib/CMSIS/CM3/CoreSupport -Ilib/CMSIS/CM3/DeviceSupport/ST/STM32F10x
+COMPILER_FLAGS=-c -mcpu=cortex-m3 $(OPT) -Wall -ffunction-sections -fdata-sections -mthumb $(EXTRA) -DSTM32F10X_MD -DUSE_STDPERIPH_DRIVER -Isrc -Ilib/STM32F10x_StdPeriph_Driver/inc -Ilib/CMSIS/CM3/CoreSupport -Ilib/CMSIS/CM3/DeviceSupport/ST/STM32F10x
 
 # Define sources and objects
 #
diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 18f3934ff..c8ed42ea1 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -14,7 +14,7 @@
 :1000C000AB4E0008D1500008CF500008AF700008B8
 :1000D000AF700008AF7000085F5D0008AF700008E7
 :1000E000214A0008AF700008AF700008DFF80CD09C
-:1000F00007F01CFD0048004709150008A019002062
+:1000F00007F01CFD0048004701150008A01900206A
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 :10011000FFF7F6FF014605FB1640F6A2105C0870DB
 :10012000481C70BD70B50C46911E232900D30A22CD
@@ -22,14 +22,14 @@
 :100140002146FFF7DDFF0570204670BD70B50546FE
 :100150000C46086807F02DF8024621682868BDE8BB
 :10016000704007F02EB810B5ECA005F0AFFD0120EF
-:1001700000F0B1FDF0A005F0A9FD0A2005F0F4FBA8
+:1001700000F0ADFDF0A005F0A9FD0A2005F0F4FBAC
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 :1001C000EF4800210170EF4801702046BDE8104063
 :1001D000DBE72DE9F047064606F0EBFFC5B200F07D
-:1001E00078FEDFF89C9307464FF0010809F14C09AF
+:1001E00074FEDFF89C9307464FF0010809F14C09B3
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 :1002000000272D2828D02BE0E1A005F05FFD002479
 :1002100045464E4656F8240058B105FA04F13942D5
@@ -39,7 +39,7 @@
 :1002500030FD641CE4B2F3E70127761C6D1EEDB29D
 :100260005FF0000459F8241039B12A46304606F0F0
 :10027000A8FF38B1641CE4B2F4E7D0A0BDE8F047B1
-:1002800005F024BD08FA04F01FB100F01DFED2A055
+:1002800005F024BD08FA04F01FB100F019FED2A059
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 :1002A00005F014FDC5E770B50024D1A005F00EFDE2
 :1002B000D54D00BF04EB440655F8260005F006FDB9
@@ -118,10 +118,10 @@
 :10074000C5FAB3480A2269460078FFF7EBFC684611
 :1007500005F0BCFAAFA005F0B9FAB1480A22694623
 :100760000078FFF7DFFC684605F0B0FAADA005F0B1
-:10077000ADFA00F09EFB0646AEA005F0A7FA0024F5
+:10077000ADFA00F09AFB0646AEA005F0A7FA0024F9
 :10078000B14F012557F8240058B105FA04F1314260
 :1007900001D005F09BFA202005F08BFA641CE4B22E
-:1007A000F0E7012000F073FB50B1A8A005F08EFA2D
+:1007A000F0E7012000F06FFB50B1A8A005F08EFA31
 :1007B000A849A5480978183050F8210005F086FAB4
 :1007C000AFF2902005F082FAA3A005F07FFAA648C8
 :1007D0000A2269460088FFF7A5FC684605F076FA0C
@@ -168,8 +168,8 @@
 :100A60006D653A2000000000460100202C2049322C
 :100A700043204572726F72733A2000004166726FB4
 :100A8000333220434C492076657273696F6E203291
-:100A90002E30204A756E2020372032303132202F00
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+:100A90002E30204A756E2031342032303132202FF2
+:100AA0002031323A32333A35380000003C0200201F
 :100AB0000D0A456E746572696E6720434C49204D7E
 :100AC0006F64652C207479706520276578697427B8
 :100AD00020746F2072657475726E2C206F722027DF
@@ -179,14 +179,14 @@
 :100B10006E6F776E20636F6D6D616E642C207472E2
 :100B200079202768656C7027000000000820080005
 :100B30000D0A2320000000002DE9F041054604467F
-:100B4000E54EE64F09E0E44806F02AFB20B1611BC0
+:100B4000E34EE44F09E0E24806F02AFB20B1611BC6
 :100B5000801B384480F86510641C21780029F2D18C
-:100B6000BDE8F0812DE9F05FB422DD49DB4806F0F5
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+:100B6000BDE8F0812DE9F05FB422DB49D94806F0F9
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 :100BD000C3EB42040122002C03DDC3F16402D2B254
 :100BE00001E000DA1A4604FB04F70AFB07F602FBF1
@@ -199,569 +199,569 @@
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diff --git a/obj/baseflight_fy90q.hex b/obj/baseflight_fy90q.hex
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 :00000001FF
diff --git a/src/drv_hmc5883l.c b/src/drv_hmc5883l.c
index a98bdc098..6fb7a1182 100755
--- a/src/drv_hmc5883l.c
+++ b/src/drv_hmc5883l.c
@@ -51,7 +51,7 @@ void hmc5883lInit(void)
 void hmc5883lCal(uint8_t calibration_gain)
 {
     // force positiveBias (compass should return 715 for all channels)
-    i2cWrite(MAG_ADDRESS, ConfigRegA, PositiveBiasConfig);
+    i2cWrite(MAG_ADDRESS, ConfigRegA, SampleAveraging_8 << 5 | DataOutputRate_75HZ << 2 | PositiveBiasConfig);
     delay(50);
     // set gains for calibration
     i2cWrite(MAG_ADDRESS, ConfigRegB, calibration_gain);
diff --git a/src/imu.c b/src/imu.c
index 1da4652cb..010239b8c 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -246,8 +246,10 @@ static void getEstimatedAttitude(void)
 #ifdef MAG
     if (sensors(SENSOR_MAG)) {
         // Attitude of the cross product vector GxM
-        heading = _atan2f(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z) / 10;
+        heading = _atan2f(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z);
         heading = heading + magneticDeclination;
+        heading = heading / 10;
+
         if (heading > 180)
             heading = heading - 360;
         else if (heading < -180)
diff --git a/src/main.c b/src/main.c
index fafe35c97..6e1b0b26c 100755
--- a/src/main.c
+++ b/src/main.c
@@ -120,7 +120,7 @@ int main(void)
     }
 
     previousTime = micros();
-    calibratingG = 400;
+    calibratingG = 1000;
 
     // loopy
     while (1) {
diff --git a/src/mw.c b/src/mw.c
index a34af2613..0298b81f6 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -305,7 +305,7 @@ void loop(void)
             rcDelayCommand++;
             if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && armed == 0) {
                 if (rcDelayCommand == 20) {
-                    calibratingG = 400;
+                    calibratingG = 1000;
                     if (feature(FEATURE_GPS))
                         GPS_reset_home_position();
                 }
diff --git a/src/sensors.c b/src/sensors.c
index a5a776abc..0d2c2eb0f 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -104,7 +104,7 @@ retry:
     // calculate magnetic declination
     deg = cfg.mag_declination / 100;
     min = cfg.mag_declination % 100;
-    magneticDeclination = deg + ((float)min * (1.0f / 60.0f));
+    magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
 }
 #endif
 
@@ -278,15 +278,16 @@ static void GYRO_Common(void)
     if (calibratingG > 0) {
         for (axis = 0; axis < 3; axis++) {
             // Reset g[axis] at start of calibration
-            if (calibratingG == 400)
+            if (calibratingG == 1000)
                 g[axis] = 0;
-            // Sum up 400 readings
+            // Sum up 1000 readings
             g[axis] += gyroADC[axis];
+            // g[axis] += (1000 - calibratingG) >> 1;
             // Clear global variables for next reading
             gyroADC[axis] = 0;
             gyroZero[axis] = 0;
             if (calibratingG == 1) {
-                gyroZero[axis] = g[axis] / 400;
+                gyroZero[axis] = g[axis] / 1000;
                 blinkLED(10, 15, 1);
             }
         }
@@ -320,9 +321,10 @@ static void Mag_getRawADC(void)
 
 void Mag_init(void)
 {
+    uint8_t calibration_gain = 0x60; // HMC5883
+#if 1
     uint8_t numAttempts = 0, good_count = 0;
     bool success = false;
-    uint8_t calibration_gain = 0x60; // HMC5883
     uint16_t expected_x = 766;       // default values for HMC5883
     uint16_t expected_yz = 713;
     float gain_multiple = 660.0f / 1090.0f; // adjustment for runtime vs calibration gain
@@ -368,13 +370,28 @@ void Mag_init(void)
         magCal[2] = 1.0f;
     }
 
-#if 0
+    hmc5883lFinishCal();
+#else
+    // initial calibration
+    hmc5883lInit();
+
+    magCal[0] = 0;
+    magCal[1] = 0;
+    magCal[2] = 0;
+
+    // enter calibration mode
+    hmc5883lCal(calibration_gain);
+    delay(100);
+    Mag_getRawADC();
+    delay(10);
+
     magCal[ROLL] = 1160.0f / abs(magADC[ROLL]);
     magCal[PITCH] = 1160.0f / abs(magADC[PITCH]);
     magCal[YAW] = 1080.0f / abs(magADC[YAW]);
-#endif
 
     hmc5883lFinishCal();
+#endif
+
     magInit = 1;
 }
 
@@ -424,7 +441,7 @@ void Mag_getADC(void)
         } else {
             tCal = 0;
             for (axis = 0; axis < 3; axis++)
-                cfg.magZero[axis] = ((magZeroTempMax[axis] - magZeroTempMin[axis]) / 2 - magZeroTempMax[axis]); // Calculate offsets
+                cfg.magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2; // Calculate offsets
             writeParams(1);
         }
     }