/* This subroutine sets the compass raw data for the soft iron transformation.  */
void inv_set_compass_soft_iron_input_data(const long *data)
/* This subroutine sets the compass raw data for the soft iron transformation.  */
void inv_set_compass_soft_iron_input_data(const long *data)
{
        sensors.soft_iron.raw[i] = data[i];
    }
    if (sensors.soft_iron.enable == 1)  {
        mlMatrixVectorMult(sensors.soft_iron.matrix_d, data, sensors.soft_iron.trans);
    } else {
        for (i=0; i<3; i++)  {
            sensors.soft_iron.trans[i] = data[i];
        }
    }
}