Digital compass acting as B&G Precision 9 based on ESP32 and BNO055 (tilt compensated) copy a lot of Code an Idea from https://github.com/htool/ESP32_Precision-9_compass_CMPS14 thanks for that.

• Adafruit_BNO055 copy the included modifyed directory to Librarys don't use the original. or add "bool getSensorMagneticOffsets(adafruit_bno055_offsets_t &offsets_type);" to the File "Adafruit_BNO055.h" in the public area.

• Timo's NMEA2000 Library https://github.com/ttlappalainen/NMEA2000

• NMEA2000_esp32 https://github.com/ttlappalainen/NMEA2000_esp32

• Adafruit_BusIO

• Adafruit_Unified_Sensor

• BluetoothSerial

• After trying the MPU9250 first, Iwasn't happy with the noise level. ( as https://github.com/htool ... I am with him!)

• Configuration can be done via Bluetooth using free App SerialBluetooth

• Heave ... I was trying to do this. But I did not get it. The Value was floating away :-( . Has anyone an Idea ?! I did not find a good description for PNG 127252. Is the Value positiv and negativ ? ... Where is Zero Level ? ... Does the Value come up to Zero in time? ... and so on. Has anyone a real B&G Precision-9 and can describe what it does?