It sum up how Tilt comphensated ecompass is implemented, pretty interesting with all the engineering mathematics involved.
http://www.freescale.com/webapp/site_cons.newsletter_metrics.framework?newsletter_id=NL152011&type=CLICKTHROUGH&url=http://cache.freescale.com/files/sensors/doc/app_note/AN4248.pdf?tid=NL_1511
- /althaf k backer/