DIY 3 axis digital compass

This web page is logging my efforts to create a tilt invariant digital compass for use in navigation and robotics applications. One can purchase a fully baked solution for about $1500 today. I'm trying to see what I can do with a micro controller a 3 axis Magnetometer and a 3 axis accelerometer, a soldering iron and a dream.

(I don't think it will help my robot Magellan's as much as putting wheel encoders on both rear wheels, but its a cool project anyway....)

Initial BOM:

OLiMEX LPC-P212x development board (I got a few years ago and set aside)
JTAG for ARM LPC
Triple axis accelerometer
MicroMag 3-axis Magnetometer

Tasks:

Bringing up the OLiMEX LPC development board for a Linux host.

JTAG use from the Linux host

LPC I2C integration with the sensors
Compass math and filtering
testing and performance
Magellan integration (SPI?)

Status:

early tool chain bring up is finished.

Next up:

JTAG and debug tools HOWTO
I2C integration between the LPC magnetometer and accelerometer.