diff --git a/libraries/AP_InertialNav/AP_InertialNav.h b/libraries/AP_InertialNav/AP_InertialNav.h
index 1fd3bd40be..dfba6228bf 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.h
+++ b/libraries/AP_InertialNav/AP_InertialNav.h
@@ -9,7 +9,7 @@
 #include <AP_Buffer.h>                  // FIFO buffer library
 #include <AP_GPS_Glitch.h>              // GPS Glitch detection library
 #include <AP_Baro_Glitch.h>             // Baro Glitch detection library
-#include <AP_Nav_Common.h>              // definitions shared by inertial and ekf nav filters
+#include "../AP_NavEKF/AP_Nav_Common.h" // definitions shared by inertial and ekf nav filters
 
 #define AP_INTERTIALNAV_TC_XY   2.5f // default time constant for complementary filter's X & Y axis
 #define AP_INTERTIALNAV_TC_Z    5.0f // default time constant for complementary filter's Z axis
diff --git a/libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde b/libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
index 15ac6e1904..1b5712f415 100644
--- a/libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
+++ b/libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
@@ -31,12 +31,15 @@
 #include <AP_Terrain.h>
 #include <AP_Notify.h>
 #include <AP_InertialNav.h>
+#include <AP_NavEKF.h>
 #include <AP_Nav_Common.h>
 #include <AP_BattMonitor.h>     // battery monitor library
+#include <AP_SerialManager.h>   // Serial manager library
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
 AP_InertialSensor ins;
+static AP_SerialManager serial_manager;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 adc;
@@ -59,7 +62,8 @@ void setup(void)
 {
     hal.console->println_P(PSTR("AP_InertialNav test startup..."));
 
-    gps.init(NULL);
+    serial_manager.init();
+    gps.init(NULL, serial_manager);
 
     ins.init(AP_InertialSensor::COLD_START, 
 			 AP_InertialSensor::RATE_100HZ);