Instructions.txt

Full Processing Sketch (FreeIMU_cube_Odo_Exp1.pde):
line 101: final String serialPort = "COM4"; // replace this with your serial port. On windows you will need something like "COM1".

line 119: int HAS_GPS = 1; //1 - has GPS, 0 - no GPS
 
line 151: //float declinationAngle = -13.1603;   //Flushing, NY magnetic declination in degrees
line 152: float declinationAngle = 0;			//Set declination angle for your geographic location

line 279: //serial port set up
line 280: myPort = new Serial(this, serialPort, 38400);

line 294: myPort.write("z" + char(burst));  //"z" => non-kalman filtered quaternion
line 567:p.write("z" + char(burst));		//"a" => kalman filtered quaternion

Key Press Options:
1 - Hard reset of IMU
2 - Reset q matrix
s - Reset stop watch
h - Set hq the home quaternion as the quatnion conjugate coming from the sensor fusion
n - Disable home position
p - Zero odometry
v - Open web cam viewer

Screen Options:
SL PRESS (MB) - set the local sea level pressure in mbars, set for standard
STA ALT (FT) - altitude in feet of location that sea level pressure measured
CALIB (ON/OFF) -  turn temperature calibration on or off (1 = on, 0 = off)
ODO (Y/N) - turn odometry calculations on or off
Datafile (Y/N) - create datafile
START - start to accept settings

FreeIMU.cpp
To add a temperature calibration curve, change 0's to cal factors and add after line 163:

#elif defined(INSERT BOARD NAME FROM FREEIMU.h)
	float c3[9] = {0., 0., 0., 0., 0., 0., 0., 0., 0.};
	float c2[9] = {0., 0., 0., 0., 0., 0., 0., 0., 0.};
	float c1[9] = {0., 0., 0., 0., 0., 0., 0., 0., 0.};
	float c0[9] = {0., 0., 0., 0., 0., 0., 0., 0., 0.};

FreeIMU.h
Uncomment the appropriated version of FreeIMU you are using	
at lines 28-46