diff --git a/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde b/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde
index 6b91ec692c..40544657df 100644
--- a/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde
+++ b/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde
@@ -7,35 +7,79 @@
 #include <AP_Compass_HMC5843.h> // Compass Library
 #include <AP_Math.h>		// ArduPilot Mega Vector/Matrix math Library
 
+#define ToRad(x) (x*0.01745329252)  // *pi/180
+#define ToDeg(x) (x*57.2957795131)  // *180/pi
+
 AP_Compass_HMC5843 compass;
 
+
 unsigned long timer;
 
 void setup()
-{	
-	compass.init();	 // Initialization
-	Serial.begin(38400);
-	Serial.println("AP Compass library test (HMC5843)");
-	delay(1000);
-	timer = millis();
+{
+  Serial.begin(38400);
+  Serial.println("Compass library test (HMC5843)");
+  compass.init();	 // Initialization
+  
+  compass.set_orientation(AP_COMPASS_COMPONENTS_UP_PINS_FORWARD);  // set compass's orientation on aircraft
+  compass.set_offsets(0,0,0);  // set offsets to account for surrounding interference
+  compass.set_declination(ToRad(0.0));  // set local difference between magnetic north and true north
+  
+  delay(1000);
+  timer = millis();
 }
 
 void loop()
 {
-	float tmp;
-	
-	if((millis()- timer) > 100){
-		timer = millis();
-		compass.read();
-		compass.calculate(0, 0);	// roll = 0, pitch = 0 for this example
-	    Serial.print("Heading:");
-		Serial.print(compass.heading, DEC);
-    	Serial.print("  (");
-		Serial.print(compass.mag_x);
-	    Serial.print(",");
-		Serial.print(compass.mag_y);
-    	Serial.print(",");
-		Serial.print(compass.mag_z);
-   		Serial.println(" )");
-	}
-}
\ No newline at end of file
+  static float min[3], max[3], offset[3];
+  
+  if((millis()- timer) > 100)
+  {
+    timer = millis();
+    compass.read();
+    compass.calculate(0,0);  // roll = 0, pitch = 0 for this example
+    
+    // capture min
+    if( compass.mag_x < min[0] )
+        min[0] = compass.mag_x;
+    if( compass.mag_y < min[1] )
+        min[1] = compass.mag_y;
+    if( compass.mag_z < min[2] )
+        min[2] = compass.mag_z;
+        
+    // capture max
+    if( compass.mag_x > max[0] )
+        max[0] = compass.mag_x;
+    if( compass.mag_y > max[1] )
+        max[1] = compass.mag_y;
+    if( compass.mag_z > max[2] )
+        max[2] = compass.mag_z;
+        
+    // calculate offsets
+    offset[0] = -(max[0]+min[0])/2;
+    offset[1] = -(max[1]+min[1])/2;
+    offset[2] = -(max[2]+min[2])/2;
+    
+    // display all to user
+    Serial.print("Heading:");
+    Serial.print(ToDeg(compass.heading));
+    Serial.print("  (");
+    Serial.print(compass.mag_x);
+    Serial.print(",");
+    Serial.print(compass.mag_y);
+    Serial.print(",");    
+    Serial.print(compass.mag_z);
+    Serial.print(")");
+
+    // display offsets
+    Serial.print("\t offsets(");
+    Serial.print(offset[0]);
+    Serial.print(",");
+    Serial.print(offset[1]);
+    Serial.print(",");
+    Serial.print(offset[2]);
+    Serial.print(")");
+
+    Serial.println();
+  }
+}
diff --git a/libraries/AP_Compass/keywords.txt b/libraries/AP_Compass/keywords.txt
index 5741e14ca2..351f023fc0 100644
--- a/libraries/AP_Compass/keywords.txt
+++ b/libraries/AP_Compass/keywords.txt
@@ -2,14 +2,18 @@ Compass	KEYWORD1
 AP_Compass	KEYWORD1
 APM_Compass	KEYWORD1
 init	KEYWORD2
-update	KEYWORD2
+read	KEYWORD2
 calculate	KEYWORD2
+set_orientation	KEYWORD2
+set_offsets	KEYWORD2
+set_declination	KEYWORD2
 heading	KEYWORD2
 heading_X	KEYWORD2
 heading_Y	KEYWORD2
 mag_x	KEYWORD2
 mag_y	KEYWORD2
 mag_z	KEYWORD2
+last_update	KEYWORD2