diff --git a/baseflight.uvproj b/baseflight.uvproj
index 7ce02a51c0..7f255493a2 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -446,6 +446,11 @@
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+              <FileType>1</FileType>
+              <FilePath>.\src\buzzer.c</FilePath>
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diff --git a/src/config.c b/src/config.c
index 6a29e35360..c371fdf820 100755
--- a/src/config.c
+++ b/src/config.c
@@ -13,7 +13,7 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-uint8_t checkNewConf = 14;
+uint8_t checkNewConf = 15;
 
 void parseRcChannels(const char *input)
 {
@@ -127,6 +127,7 @@ void checkFirstTime(bool reset)
     cfg.accZero[0] = 0;
     cfg.accZero[1] = 0;
     cfg.accZero[2] = 0;
+    cfg.magDeclination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
     cfg.acc_lpf_factor = 100;
     cfg.gyro_lpf = 42;
     cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
diff --git a/src/drv_hmc5883l.c b/src/drv_hmc5883l.c
index c4a05741a3..a98bdc098f 100755
--- a/src/drv_hmc5883l.c
+++ b/src/drv_hmc5883l.c
@@ -4,6 +4,30 @@
 
 #define MAG_ADDRESS 0x1E
 #define MAG_DATA_REGISTER 0x03
+#define ConfigRegA           0x00
+#define ConfigRegB           0x01
+#define magGain              0x20
+#define PositiveBiasConfig   0x11
+#define NegativeBiasConfig   0x12
+#define NormalOperation      0x10
+#define ModeRegister         0x02
+#define ContinuousConversion 0x00
+#define SingleConversion     0x01
+
+// ConfigRegA valid sample averaging for 5883L
+#define SampleAveraging_1    0x00
+#define SampleAveraging_2    0x01
+#define SampleAveraging_4    0x02
+#define SampleAveraging_8    0x03
+
+// ConfigRegA valid data output rates for 5883L
+#define DataOutputRate_0_75HZ 0x00
+#define DataOutputRate_1_5HZ  0x01
+#define DataOutputRate_3HZ    0x02
+#define DataOutputRate_7_5HZ  0x03
+#define DataOutputRate_15HZ   0x04
+#define DataOutputRate_30HZ   0x05
+#define DataOutputRate_75HZ   0x06
 
 bool hmc5883lDetect(void)
 {
@@ -20,21 +44,26 @@ bool hmc5883lDetect(void)
 void hmc5883lInit(void)
 {
     delay(100);
-    // force positiveBias
-    i2cWrite(MAG_ADDRESS, 0x00, 0x71);      // Configuration Register A  -- 0 11 100 01  num samples: 8 ; output rate: 15Hz ; positive bias
+    i2cWrite(MAG_ADDRESS, ConfigRegA, SampleAveraging_8 << 5 | DataOutputRate_75HZ << 2 | NormalOperation);
+    delay(50);
+}
+
+void hmc5883lCal(uint8_t calibration_gain)
+{
+    // force positiveBias (compass should return 715 for all channels)
+    i2cWrite(MAG_ADDRESS, ConfigRegA, PositiveBiasConfig);
     delay(50);
     // set gains for calibration
-    i2cWrite(MAG_ADDRESS, 0x01, 0x60);      // Configuration Register B  -- 011 00000    configuration gain 2.5Ga
-    i2cWrite(MAG_ADDRESS, 0x02, 0x01);      // Mode register             -- 000000 01    single Conversion Mode
-    // this enters test mode
+    i2cWrite(MAG_ADDRESS, ConfigRegB, calibration_gain);
+    i2cWrite(MAG_ADDRESS, ModeRegister, SingleConversion);
 }
 
 void hmc5883lFinishCal(void)
 {
     // leave test mode
-    i2cWrite(MAG_ADDRESS, 0x00, 0x70);      // Configuration Register A  -- 0 11 100 00  num samples: 8 ; output rate: 15Hz ; normal measurement mode
-    i2cWrite(MAG_ADDRESS, 0x01, 0x20);      // Configuration Register B  -- 001 00000    configuration gain 1.3Ga
-    i2cWrite(MAG_ADDRESS, 0x02, 0x00);      // Mode register             -- 000000 00    continuous Conversion Mode
+    i2cWrite(MAG_ADDRESS, ConfigRegA, SampleAveraging_8 << 5 | DataOutputRate_75HZ << 2 | NormalOperation);
+    i2cWrite(MAG_ADDRESS, ConfigRegB, magGain);
+    i2cWrite(MAG_ADDRESS, ModeRegister, ContinuousConversion);
 }
 
 void hmc5883lRead(int16_t *magData)
diff --git a/src/drv_hmc5883l.h b/src/drv_hmc5883l.h
index e8e27e8763..ac87f1daef 100755
--- a/src/drv_hmc5883l.h
+++ b/src/drv_hmc5883l.h
@@ -2,5 +2,6 @@
 
 bool hmc5883lDetect(void);
 void hmc5883lInit(void);
+void hmc5883lCal(uint8_t calibration_gain);
 void hmc5883lFinishCal(void);
 void hmc5883lRead(int16_t *magData);
diff --git a/src/imu.c b/src/imu.c
index e2ad6dbde2..522526af5e 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -9,6 +9,7 @@ int32_t  EstAlt;             // in cm
 int16_t  BaroPID = 0;
 int32_t  AltHold;
 int16_t  errorAltitudeI = 0;
+float magneticDeclination = 0.0f; // calculated at startup from config
 
 // **************
 // gyro+acc IMU
@@ -207,9 +208,8 @@ static void getEstimatedAttitude(void)
     accMag = accMag * 100 / ((int32_t)acc_1G * acc_1G);
 
     rotateV(&EstG.V, deltaGyroAngle);
-    if (sensors(SENSOR_MAG)) {
+    if (sensors(SENSOR_MAG))
         rotateV(&EstM.V, deltaGyroAngle);
-    }
 
     if (abs(accSmooth[ROLL]) < acc_25deg && abs(accSmooth[PITCH]) < acc_25deg && accSmooth[YAW] > 0)
         smallAngle25 = 1;
@@ -237,6 +237,11 @@ static void getEstimatedAttitude(void)
     if (sensors(SENSOR_MAG)) {
         // Attitude of the cross product vector GxM
         heading = _atan2f(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z) / 10;
+        heading = heading + magneticDeclination;
+        if (heading > 180)
+            heading = heading - 360;
+        else if (heading < -180)
+            heading = heading + 360;
     }
 #endif
 }
diff --git a/src/mw.c b/src/mw.c
index d80e356505..1b9b79aa36 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -88,7 +88,7 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
 // this code is executed at each loop and won't interfere with control loop if it lasts less than 650 microseconds
 void annexCode(void)
 {
-    static uint32_t buzzerTime, calibratedAccTime;
+    static uint32_t calibratedAccTime;
     uint16_t tmp,tmp2;
     static uint8_t vbatTimer = 0;
     static uint8_t buzzerFreq;  //delay between buzzer ring
diff --git a/src/mw.h b/src/mw.h
index a725a2768a..d405bcafa5 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -126,6 +126,7 @@ typedef struct config_t {
     uint8_t dynThrPID;
     int16_t accZero[3];
     int16_t magZero[3];
+    int16_t magDeclination;                   // Get your magnetic decliniation from here : http://magnetic-declination.com/
     int16_t accTrim[2];
 
     // sensor-related stuff
@@ -290,6 +291,9 @@ uint32_t featureMask(void);
 void spektrumInit(void);
 bool spektrumFrameComplete(void);
 
+// buzzer
+void buzzer(uint8_t warn_vbat);
+
 // cli
 void cliProcess(void);
 
diff --git a/src/sensors.c b/src/sensors.c
index 6c781ab8c2..1a4d7a99b2 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -15,6 +15,7 @@ extern uint16_t AccInflightCalibrationSavetoEEProm;
 extern uint16_t AccInflightCalibrationActive;
 extern uint16_t batteryWarningVoltage;
 extern uint8_t batteryCellCount;
+extern float magneticDeclination;
 
 sensor_t acc;                   // acc access functions
 sensor_t gyro;                  // gyro access functions
@@ -29,6 +30,8 @@ void sensorsAutodetect(void)
 // AfroFlight32 i2c sensors
 void sensorsAutodetect(void)
 {
+    int16_t deg, min;
+
     drv_adxl345_config_t acc_params;
 
     // configure parameters for ADXL345 driver
@@ -61,6 +64,11 @@ void sensorsAutodetect(void)
     gyro.init();
     // todo: this is driver specific :(
     mpu3050Config(cfg.gyro_lpf);
+
+    // calculate magnetic declination
+    deg = cfg.magDeclination / 100;
+    min = cfg.magDeclination % 100;
+    magneticDeclination = deg + ((float)min * (1.0f / 60.0f));
 }
 #endif
 
@@ -306,15 +314,59 @@ static void Mag_getRawADC(void)
 
 void Mag_init(void)
 {
+    uint8_t numAttempts = 0, good_count = 0;
+    bool success = false;
+    uint8_t calibration_gain = 0x60; // HMC5883
+    uint16_t expected_x = 766;       // default values for HMC5883
+    uint16_t expected_yz = 713;
+    float gain_multiple = 660.0f / 1090.0f; // adjustment for runtime vs calibration gain
+    float cal[3];
+
     // initial calibration
     hmc5883lInit();
-    delay(100);
-    Mag_getRawADC();
-    delay(10);
 
+    magCal[0] = 0;
+    magCal[1] = 0;
+    magCal[2] = 0;
+
+    while (success == false && numAttempts < 20 && good_count < 5) {
+        // record number of attempts at initialisation
+        numAttempts++;
+        // enter calibration mode
+        hmc5883lCal(calibration_gain);
+        delay(100);
+        Mag_getRawADC();
+        delay(10);
+
+        cal[0] = fabsf(expected_x / (float)magADC[ROLL]);
+        cal[1] = fabsf(expected_yz / (float)magADC[PITCH]);
+        cal[2] = fabsf(expected_yz / (float)magADC[ROLL]);
+
+        if (cal[0] > 0.7f && cal[0] < 1.3f && cal[1] > 0.7f && cal[1] < 1.3f && cal[2] > 0.7f && cal[2] < 1.3f) {
+            good_count++;
+            magCal[0] += cal[0];
+            magCal[1] += cal[1];
+            magCal[2] += cal[2];
+        }
+    }
+
+    if (good_count >= 5) {
+        magCal[0] = magCal[0] * gain_multiple / (float)good_count;
+        magCal[1] = magCal[1] * gain_multiple / (float)good_count;
+        magCal[2] = magCal[2] * gain_multiple / (float)good_count;
+        success = true;
+    } else {
+        /* best guess */
+        magCal[0] = 1.0f;
+        magCal[1] = 1.0f;
+        magCal[2] = 1.0f;
+    }
+
+#if 0
     magCal[ROLL] = 1160.0f / abs(magADC[ROLL]);
     magCal[PITCH] = 1160.0f / abs(magADC[PITCH]);
     magCal[YAW] = 1080.0f / abs(magADC[YAW]);
+#endif
 
     hmc5883lFinishCal();
     magInit = 1;
@@ -366,7 +418,7 @@ void Mag_getADC(void)
         } else {
             tCal = 0;
             for (axis = 0; axis < 3; axis++)
-                cfg.magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2;
+                cfg.magZero[axis] = ((magZeroTempMax[axis] - magZeroTempMin[axis]) / 2 - magZeroTempMax[axis]); // Calculate offsets
             writeParams(1);
         }
     }