calculate heading from raw magnetometer

def mag_heading_motors(RAW_IMU, ATTITUDE, declination, SENSOR_OFFSETS, ofs, SERVO_OUTPUT_RAW, motor_ofs):
    '''calculate heading from raw magnetometer'''
    ofs = get_motor_offsets(SERVO_OUTPUT_RAW, ofs, motor_ofs)

    if declination is None:
        import mavutil
        declination = degrees(mavutil.mavfile_global.param('COMPASS_DEC', 0))
    mag_x = RAW_IMU.xmag
    mag_y = RAW_IMU.ymag
    mag_z = RAW_IMU.zmag
    if SENSOR_OFFSETS is not None and ofs is not None:
        mag_x += ofs[0] - SENSOR_OFFSETS.mag_ofs_x
        mag_y += ofs[1] - SENSOR_OFFSETS.mag_ofs_y
        mag_z += ofs[2] - SENSOR_OFFSETS.mag_ofs_z

    headX = mag_x*cos(ATTITUDE.pitch) + mag_y*sin(ATTITUDE.roll)*sin(ATTITUDE.pitch) + mag_z*cos(ATTITUDE.roll)*sin(ATTITUDE.pitch)
    headY = mag_y*cos(ATTITUDE.roll) - mag_z*sin(ATTITUDE.roll)
    heading = degrees(atan2(-headY,headX)) + declination
    if heading < 0:
        heading += 360
    return heading