diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index d8864ee83..e475c1b6d 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -141,7 +141,7 @@ struct attitude_solution {
 
 struct altitude_sensor {
   float altitude;
-  float updated;
+  bool  updated;
 };
 
 struct gps_sensor {
@@ -149,7 +149,7 @@ struct gps_sensor {
   float heading;
   float groundspeed;
   float quality;
-  float updated;
+  bool  updated;
 };
 
 static struct mag_sensor        mag_data;
@@ -201,8 +201,6 @@ int16_t * valid_data_buffer;
 uint32_t ekf_too_slow = 0;
 //! Total number of data blocks converted
 uint32_t total_conversion_blocks = 0;
-//! Flag to indicate new GPS data available
-uint8_t gps_updated = FALSE;
 //! Home location in ECEF coordinates
 double BaseECEF[3] = {0, 0, 0};
 //! Rotation matrix from LLA to Rne
@@ -361,7 +359,7 @@ int main()
         vel[2] = 0;
         
         FullCorrection(mag, gps_data.NED, vel, altitude_data.altitude);        
-        gps_data.updated = FALSE;
+        gps_data.updated = false;
       }
       else
         MagCorrection(mag); 
@@ -772,7 +770,7 @@ void process_spi_request(void)
       }
       if(user_rx_v1.payload.user.v.req.update.gps.updated)
       {
-        gps_data.updated = TRUE;
+        gps_data.updated = true;
         gps_data.NED[0] = user_rx_v1.payload.user.v.req.update.gps.NED[0];
         gps_data.NED[1] = user_rx_v1.payload.user.v.req.update.gps.NED[1];
         gps_data.NED[2] = user_rx_v1.payload.user.v.req.update.gps.NED[2];
@@ -795,10 +793,6 @@ void process_spi_request(void)
       user_tx_v1.payload.user.v.rsp.update.Vel[1] = Nav.Vel[1];
       user_tx_v1.payload.user.v.rsp.update.Vel[2] = Nav.Vel[2];
 
-      user_tx_v1.payload.user.v.rsp.update.quaternion.q2 = attitude_data.quaternion.q2;
-      user_tx_v1.payload.user.v.rsp.update.quaternion.q3 = attitude_data.quaternion.q3;
-      user_tx_v1.payload.user.v.rsp.update.quaternion.q4 = attitude_data.quaternion.q4;
-
       dump_spi_message(PIOS_COM_AUX, "U", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
       lfsm_user_set_tx_v1 (&user_tx_v1);
       break;
diff --git a/flight/PiOS/Common/pios_opahrs.c b/flight/PiOS/Common/pios_opahrs.c
index def887dc4..7ea735d1f 100644
--- a/flight/PiOS/Common/pios_opahrs.c
+++ b/flight/PiOS/Common/pios_opahrs.c
@@ -200,7 +200,7 @@ enum opahrs_result PIOS_OPAHRS_resync(void)
   return rc;
 }
 
-extern enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp)
+enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp)
 {
   struct opahrs_msg_v1 req;
   enum opahrs_result   rc;
@@ -289,7 +289,7 @@ enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req)
   return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_NORTH, &rsp);
 }
 
-extern enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
+enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
 {
   enum opahrs_result   rc;