diff --git a/main/ugv_io_mpu.cc b/main/ugv_io_mpu.cc
index 17a2bf0..ffa4070 100644
--- a/main/ugv_io_mpu.cc
+++ b/main/ugv_io_mpu.cc
@@ -5,7 +5,7 @@
 
 #include <math.h>
 
-constexpr float M_PI = atanf(1.f) * 4;
+constexpr float M_PI = 3.1415926535897932384626433832795;
 
 #include "MPU.hpp"
 #include "i2c_mutex.h"
@@ -22,8 +22,10 @@ static constexpr float            MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
 
 static const Vec3f ACCEL_OFFSET = {0., 0., 0.};
 static const Mat3f ACCEL_MAT    = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
-static const Vec3f MAG_OFFSET   = {-7.79683, 3.6735, 32.3868};
-static const Mat3f MAG_MAT      = {0., -0.0281408, 0., -0.0284409, 0., 0., 0., 0., 0.0261544};
+//static const Vec3f MAG_OFFSET   = {-7.79683, 3.6735, 32.3868};
+static const Vec3f MAG_OFFSET   = {0., 0., 0.};
+//static const Mat3f MAG_MAT      = {0., -0.0281408, 0., -0.0284409, 0., 0., 0., 0., 0.0261544};
+static const Mat3f MAG_MAT      = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
 static const Mat3f GYRO_MAT    = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
 static const Vec3f GYRO_OFFSET  = {0., 0., 0.};