X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=mpu6050.c;fp=mpu6050.c;h=4dda84bd5dcc97fa56e97bc8ed529899bbd301da;hp=fe5399296d522340ecd1b68a56da08a5d4d9d5ce;hb=84796cd7a01e949167a155ec21f55fd71e788015;hpb=883f5aae494ab066938b0cebb554a1ee13766713

diff --git a/mpu6050.c b/mpu6050.c
index fe53992..4dda84b 100644
--- a/mpu6050.c
+++ b/mpu6050.c
@@ -1,10 +1,11 @@
 #include <stdio.h>
 #include <string.h>
 
-#include <scheduler.h>
 #include <timer.h>
 
 #include <aversive/wait.h>
+#include <aversive/pgmspace.h>
+
 #include <uart.h>
 #include <i2c.h>
 
@@ -157,7 +158,7 @@ void mpu6050_compute_drift(void)
 	s_gx = s_gy = s_gz = 0;
 
 	for (i = 0; i < 0x100; i ++) {
-		mpu6050_read_gyro_raw(&g_values);
+		mpu6050_read_gyro_raw(g_values);
 		s_gx += g_values[0];
 		s_gy += g_values[1];
 		s_gz += g_values[2];