diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 05d614e4b0..b7bf1aa6fa 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -490,6 +490,9 @@ void Rover::update_navigation()
 	}
 }
 
+void setup(void);
+void loop(void);
+
 void setup(void)
 {
     rover.setup();
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index cb16daa143..9f68bf8041 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -888,9 +888,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 } else if (is_equal(packet.param5,2.0f)) {
                     // accel trim
                     float trim_roll, trim_pitch;
-                    if(ins.calibrate_trim(trim_roll, trim_pitch)) {
+                    if(rover.ins.calibrate_trim(trim_roll, trim_pitch)) {
                         // reset ahrs's trim to suggested values from calibration routine
-                        ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
+                        rover.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
                         result = MAV_RESULT_ACCEPTED;
                     } else {
                         result = MAV_RESULT_FAILED;
diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index 6c1dfd66ea..e735c079a8 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -25,10 +25,10 @@ Rover::Rover(void) :
     channel_steer(NULL),
     channel_throttle(NULL),
     channel_learn(NULL),
-    in_log_download(false),
 #if defined(HAL_BOARD_LOG_DIRECTORY)
     DataFlash(HAL_BOARD_LOG_DIRECTORY),
 #endif
+    in_log_download(false),
     modes(&g.mode1),
 #if AP_AHRS_NAVEKF_AVAILABLE
     ahrs(ins, barometer, gps, sonar),
@@ -42,8 +42,8 @@ Rover::Rover(void) :
             AP_HAL_MEMBERPROC(&Rover::start_command), 
             AP_HAL_MEMBERPROC(&Rover::verify_command), 
             AP_HAL_MEMBERPROC(&Rover::exit_mission)),
-    ServoRelayEvents(relay),
     num_gcs(MAVLINK_COMM_NUM_BUFFERS),
+    ServoRelayEvents(relay),
 #if CAMERA == ENABLED
     camera(&relay),
 #endif
@@ -57,7 +57,6 @@ Rover::Rover(void) :
     frsky_telemetry(ahrs, battery),
 #endif
     home(ahrs.get_home()),
-    G_Dt(0.02),
-    radius_of_earth(6378100)
+    G_Dt(0.02)
 {
 }
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 98e83f2a1f..ab1060f3c6 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -249,9 +249,6 @@ private:
     // before recording our home position (and executing a ground start if we booted with an air start)
     uint8_t ground_start_count;
 
-    // Location & Navigation
-    const float radius_of_earth;	// meters
-
     // true if we have a position estimate from AHRS
     bool have_position;
 
@@ -452,7 +449,6 @@ private:
     void read_trim_switch();
     void update_events(void);
     void navigate();
-    void reached_waypoint();
     void set_control_channels(void);
     void init_rc_in();
     void init_rc_out();
diff --git a/APMrover2/navigation.cpp b/APMrover2/navigation.cpp
index b0454a4db9..51a3642e86 100644
--- a/APMrover2/navigation.cpp
+++ b/APMrover2/navigation.cpp
@@ -32,8 +32,3 @@ void Rover::navigate()
 }
 
 
-void reached_waypoint()
-{       
-
-}
-