diff --git a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
index 09791eed97..f41a0fb5b8 100644
--- a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
+++ b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
@@ -16,6 +16,9 @@ static void run_test();
 // board specific config
 AP_BoardConfig BoardConfig;
 
+void setup(void);
+void loop(void);
+
 void setup(void)
 {
     // setup any board specific drivers
@@ -73,26 +76,23 @@ void loop(void)
 
 static void display_offsets_and_scaling()
 {
-    Vector3f accel_offsets = ins.get_accel_offsets();
-    Vector3f accel_scale = ins.get_accel_scale();
-    Vector3f gyro_offsets = ins.get_gyro_offsets();
+    const Vector3f &accel_offsets = ins.get_accel_offsets();
+    const Vector3f &accel_scale = ins.get_accel_scale();
+    const Vector3f &gyro_offsets = ins.get_gyro_offsets();
 
     // display results
-    hal.console->printf(
-            "\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
-                    accel_offsets.x,
-                    accel_offsets.y,
-                    accel_offsets.z);
-    hal.console->printf(
-            "Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
-                    accel_scale.x,
-                    accel_scale.y,
-                    accel_scale.z);
-    hal.console->printf(
-            "Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
-                    gyro_offsets.x,
-                    gyro_offsets.y,
-                    gyro_offsets.z);
+    hal.console->printf("\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
+                        (double)accel_offsets.x,
+                        (double)accel_offsets.y,
+                        (double)accel_offsets.z);
+    hal.console->printf("Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
+                        (double)accel_scale.x,
+                        (double)accel_scale.y,
+                        (double)accel_scale.z);
+    hal.console->printf("Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
+                        (double)gyro_offsets.x,
+                        (double)gyro_offsets.y,
+                        (double)gyro_offsets.z);
 }
 
 static void run_test()
@@ -143,7 +143,8 @@ static void run_test()
             accel = ins.get_accel(ii);
 
             hal.console->printf("%u - Accel (%c) : X:%6.2f Y:%6.2f Z:%6.2f norm:%5.2f",
-                                ii, state, accel.x, accel.y, accel.z, accel.length());
+                                ii, state, (double)accel.x, (double)accel.y, (double)accel.z,
+                                (double)accel.length());
 
             gyro = ins.get_gyro(ii);
 
@@ -159,7 +160,7 @@ static void run_test()
             }
 
             hal.console->printf("   Gyro (%c) : X:%6.2f Y:%6.2f Z:%6.2f\n",
-                                state, gyro.x, gyro.y, gyro.z);
+                                state, (double)gyro.x, (double)gyro.y, (double)gyro.z);
         }
     }