diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 0f0a93c438..b5aac40ecb 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1209,7 +1209,7 @@ static void read_AHRS(void)
 		hil.update();
 	#endif
 
-	dcm.update_DCM_fast(G_Dt);//, _tog);
+	dcm.update_DCM_fast();
 	omega = dcm.get_gyro();
 }
 
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index ab6a17085f..94144ff68c 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -362,7 +362,7 @@ test_adc(uint8_t argc, const Menu::arg *argv)
 
 	while(1){
 		for(int i = 0; i < 9; i++){
-			Serial.printf_P(PSTR("%d,"),adc.Ch(i));
+			Serial.printf_P(PSTR("%u,"),adc.Ch(i));
 		}
 		Serial.println();
 		delay(20);