def mag_yaw(RAW_IMU, inclination, declination):
    '''estimate yaw from mag'''
    m = mag_rotation(RAW_IMU, inclination, declination)
    (r, p, y) = m.to_euler()
    y = degrees(y)
    if y < 0:
        y += 360
    return y
def mag_yaw ( RAW_IMU , inclination , declination ) : m = mag_rotation ( RAW_IMU , inclination , declination ) ( r , p , y ) = m . to_euler ( ) y = degrees ( y ) if y < 0 : y += 360 return y
estimate yaw from mag