diff --git a/src/QMC5883LCompass.cpp b/src/QMC5883LCompass.cpp
index 489fc76..7e015d7 100644
--- a/src/QMC5883LCompass.cpp
+++ b/src/QMC5883LCompass.cpp
@@ -125,7 +125,7 @@ void QMC5883LCompass::setMode(byte mode, byte odr, byte rng, byte osr){
  * then: setMagneticDeclination(-19, 43);
  */
 void QMC5883LCompass::setMagneticDeclination(int degrees, uint8_t minutes) {
-	_magneticDeclinationDegrees = degrees + minutes / 60;
+	_magneticDeclinationDegrees = degrees < 0 ? 0 - (abs(degrees) + minutes / 60) : degrees + minutes / 60;
 }
 
 
@@ -409,9 +409,18 @@ int QMC5883LCompass::_get(int i){
 	@return int azimuth
 **/
 int QMC5883LCompass::getAzimuth(){
+	read();
 	float heading = atan2( getY(), getX() ) * 180.0 / PI;
+	if (compassFlip){
+		heading = atan2(-getY(), getX()) * 180.0 / PI;;
+	}
 	heading += _magneticDeclinationDegrees;
-	return (int)heading % 360;
+	heading = heading - offsetDegrees;
+		// Ensure heading is in the range of 0 to 360 degrees
+	if (heading < 0) {
+			heading += 360;
+	}
+	return heading;
 }
 
 
diff --git a/src/QMC5883LCompass.h b/src/QMC5883LCompass.h
index 84c4e47..fd35363 100644
--- a/src/QMC5883LCompass.h
+++ b/src/QMC5883LCompass.h
@@ -9,63 +9,66 @@ class QMC5883LCompass{
 	
   public:
     QMC5883LCompass();
-	void init();
+		void init();
     void setADDR(byte b);
     void setMode(byte mode, byte odr, byte rng, byte osr);
-	void setMagneticDeclination(int degrees, uint8_t minutes);
-	void setSmoothing(byte steps, bool adv);
-	void calibrate();
-	void setCalibration(int x_min, int x_max, int y_min, int y_max, int z_min, int z_max);
-	void setCalibrationOffsets(float x_offset, float y_offset, float z_offset);
-	void setCalibrationScales(float x_scale, float y_scale, float z_scale);
+		void setMagneticDeclination(int degrees, uint8_t minutes);
+		void setSmoothing(byte steps, bool adv);
+		void calibrate();
+		void setCalibration(int x_min, int x_max, int y_min, int y_max, int z_min, int z_max);
+		void setCalibrationOffsets(float x_offset, float y_offset, float z_offset);
+		void setCalibrationScales(float x_scale, float y_scale, float z_scale);
     float getCalibrationOffset(uint8_t index);
-	float getCalibrationScale(uint8_t index);
-	void clearCalibration();
-	void setReset();
+		float getCalibrationScale(uint8_t index);
+		void clearCalibration();
+		void setReset();
     void read();
-	int getX();
-	int getY();
-	int getZ();
-	int getAzimuth();
-	byte getBearing(int azimuth);
-	void getDirection(char* myArray, int azimuth);
-
+		int getX();
+		int getY();
+		int getZ();
+		int getAzimuth();
+		byte getBearing(int azimuth);
+		void getDirection(char* myArray, int azimuth);
+		bool compassFlip = false;
+		int offsetDegrees = 0;
+	
   private:
     void _writeReg(byte reg,byte val);
-	int _get(int index);
-	float _magneticDeclinationDegrees = 0;
-	bool _smoothUse = false;
-	byte _smoothSteps = 5;
-	bool _smoothAdvanced = false;
-    byte _ADDR = 0x0D;
-	int _vRaw[3] = {0,0,0};
-	int _vHistory[10][3];
-	int _vScan = 0;
-	long _vTotals[3] = {0,0,0};
-	int _vSmooth[3] = {0,0,0};
-	void _smoothing();
-	float _offset[3] = {0.,0.,0.};
-	float _scale[3] = {1.,1.,1.};
-	int _vCalibrated[3];
-	void _applyCalibration();
-	const char _bearings[16][3] =  {
-		{' ', ' ', 'N'},
-		{'N', 'N', 'E'},
-		{' ', 'N', 'E'},
-		{'E', 'N', 'E'},
-		{' ', ' ', 'E'},
-		{'E', 'S', 'E'},
-		{' ', 'S', 'E'},
-		{'S', 'S', 'E'},
-		{' ', ' ', 'S'},
-		{'S', 'S', 'W'},
-		{' ', 'S', 'W'},
-		{'W', 'S', 'W'},
-		{' ', ' ', 'W'},
-		{'W', 'N', 'W'},
-		{' ', 'N', 'W'},
-		{'N', 'N', 'W'},
-	};
+		int _get(int index);
+		float _magneticDeclinationDegrees = 0;
+
+		bool _smoothUse = false;
+		byte _smoothSteps = 5;
+		bool _smoothAdvanced = false;
+			byte _ADDR = 0x0D;
+		int _vRaw[3] = {0,0,0};
+		int _vHistory[10][3];
+		int _vScan = 0;
+		long _vTotals[3] = {0,0,0};
+		int _vSmooth[3] = {0,0,0};
+		void _smoothing();
+		float _offset[3] = {0.,0.,0.};
+		float _scale[3] = {1.,1.,1.};
+		int _vCalibrated[3];
+		void _applyCalibration();
+		const char _bearings[16][3] =  {
+			{' ', ' ', 'N'},
+			{'N', 'N', 'E'},
+			{' ', 'N', 'E'},
+			{'E', 'N', 'E'},
+			{' ', ' ', 'E'},
+			{'E', 'S', 'E'},
+			{' ', 'S', 'E'},
+			{'S', 'S', 'E'},
+			{' ', ' ', 'S'},
+			{'S', 'S', 'W'},
+			{' ', 'S', 'W'},
+			{'W', 'S', 'W'},
+			{' ', ' ', 'W'},
+			{'W', 'N', 'W'},
+			{' ', 'N', 'W'},
+			{'N', 'N', 'W'},
+		};