I have been using ADIS16480 and i want to embed to my master microcontroller magnetometer and accelerometer calibration algorithm. I saw FAQ: Hard & Soft Iron Correction for Magnetometer Measurements, but i coudn't see mathematical formula on this issue and I may not rotate by 10 degrees on my systems. Because my systems hasn't got any position controlled systems. What can i calibrate to magnetometer in this situations? Can you share algorithm with mathematical formula ?