diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 19e0b4cefd..942b26419c 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -469,9 +469,9 @@ static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
 
 static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
 {
-    Vector3f mag_offsets = compass.get_offsets();
-    Vector3f accel_offsets = ins.get_accel_offsets();
-    Vector3f gyro_offsets = ins.get_gyro_offsets();
+    const Vector3f &mag_offsets = compass.get_offsets();
+    const Vector3f &accel_offsets = ins.get_accel_offsets();
+    const Vector3f &gyro_offsets = ins.get_gyro_offsets();
 
     mavlink_msg_sensor_offsets_send(chan,
                                     mag_offsets.x,
diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index 02a8e77801..429f8b76cc 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -1182,8 +1182,8 @@ static void zero_eeprom(void)
 static void
 print_accel_offsets_and_scaling(void)
 {
-    Vector3f accel_offsets = ins.get_accel_offsets();
-    Vector3f accel_scale = ins.get_accel_scale();
+    const Vector3f &accel_offsets = ins.get_accel_offsets();
+    const Vector3f &accel_scale = ins.get_accel_scale();
     cliSerial->printf_P(PSTR("A_off: %4.2f, %4.2f, %4.2f\nA_scale: %4.2f, %4.2f, %4.2f\n"),
                     (float)accel_offsets.x,                           // Pitch
                     (float)accel_offsets.y,                           // Roll
@@ -1196,7 +1196,7 @@ print_accel_offsets_and_scaling(void)
 static void
 print_gyro_offsets(void)
 {
-    Vector3f gyro_offsets = ins.get_gyro_offsets();
+    const Vector3f &gyro_offsets = ins.get_gyro_offsets();
     cliSerial->printf_P(PSTR("G_off: %4.2f, %4.2f, %4.2f\n"),
                     (float)gyro_offsets.x,
                     (float)gyro_offsets.y,