It is pretty essential to have a tilt-compensated compass module on a boat that heels. The CMPS12 compass is an example that met this requirement. Compared to the CMPS11, the input voltage can now be 3.3v. The module adds a Bosch BNO055 processor to remove errors caused by tilting the module. The CMPS12 also introduced automatic calibration. Automatic calibration might sound like an improvement, but my experience was that I had to turn the compass through 360 degrees before getting good readings each time I turn it on. It looks like a dance when I do this next to ponds with the compass inside a boat.
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