UpdateHeading function accounts for float headings. Magnetometer Accumulator changed from 50 to 1 so that avgerages between 0 and 360 degrees doesn't amount to 180 degrees.

...angle coming out of the magnetometer for heading. Mangetometer.c was changed so that the accumulator is now 1 in order for averaging between 0 and 360 degrees to not be 180 degrees. It fixed all of the problems.