void BMX(){
//  sBmx160SensorData_t Omagn, Ogyro, Oaccel;
//  bmx160.getAllData(&Omagn, &Ogyro, &Oaccel);
//  
//  packet+=String(Oaccel.x); //roll
//  packet+=",";
//
//  packet+=String(Oaccel.z); //pitch
//  packet+=",";
//  
//  packet+=String(Oaccel.y/calibratedG); //yaw
//  packet+=",";
//
//  packet+=String(Ogyro.x); //roll(Yc into page)
//  packet+=",";
//
//  packet+=String(Ogyro.z); //pitch Zc along +ve x
//  packet+=",";
//  
//  packet+=String(Ogyro.y); //Yaw (Xc) downwards
//  packet+=",";

//
  float sumAX, sumAY, sumAZ, sumGX, sumGY, sumGZ;
  
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  for (int i;i<10;i++){
    sumAX+= a.acceleration.x;
    sumAY+= a.acceleration.y;
    sumAZ+= a.acceleration.z;
    sumGX+= g.gyro.x;
    sumGY+= g.gyro.y;
    sumGZ+= g.gyro.z;
  }

  packet+=String((sumAX/10)-calibratedAx); //roll
  packet+=",";
  
  packet+=String((sumAZ/10)-calibratedAz); //pitch
  packet+=",";
  
  packet+=String((sumAY/10)-calibratedAy); //yaw
  packet+=",";

  packet+=String((sumGX/10)-calibratedGx); //roll(Yc into page)
  packet+=",";
  
  packet+=String((sumGZ/10)-calibratedGz); //pitch Zc along +ve x
  packet+=",";

  packet+=String((sumGY/10)-calibratedGy); //Yaw (Xc) downwards
  packet+=",";

  acc=pow(pow(a.acceleration.x,2)+pow(a.acceleration.y,2)+pow(a.acceleration.z,2),0.5);
//  d=(atan2(Oaccel.x,Oaccel.z)*4068)/71;
//  s_cam.write(-1*d);

}