diff --git a/lib/ICM-20948/ICM_20948.cpp b/lib/ICM-20948/ICM_20948.cpp
index 106c0255..b75b6cda 100644
--- a/lib/ICM-20948/ICM_20948.cpp
+++ b/lib/ICM-20948/ICM_20948.cpp
@@ -279,8 +279,8 @@ ICM_20948_Status_e ICM_20948::SetBiasGyroZ( int newValue)
 ICM_20948_Status_e ICM_20948::GetBiasGyroX( int* bias)
 {
     ICM_20948_Status_e result = ICM_20948_Stat_Ok;
-    unsigned char bias_data[4] = { 0 };
-    result = inv_icm20948_read_mems(&_device, GYRO_BIAS_X, 4, &bias_data);
+    unsigned char bias_data[4];
+    result = inv_icm20948_read_mems(&_device, GYRO_BIAS_X, 4, bias_data);
     bias[0] = (int)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
     return result;
 }
@@ -288,8 +288,8 @@ ICM_20948_Status_e ICM_20948::GetBiasGyroX( int* bias)
 ICM_20948_Status_e ICM_20948::GetBiasGyroY( int* bias)
 {
     ICM_20948_Status_e result = ICM_20948_Stat_Ok;
-    unsigned char bias_data[4] = { 0 };
-    result = inv_icm20948_read_mems(&_device, GYRO_BIAS_Y, 4, &bias_data);
+    unsigned char bias_data[4];
+    result = inv_icm20948_read_mems(&_device, GYRO_BIAS_Y, 4, bias_data);
     bias[0] = (int)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
     return result;
 }
@@ -297,8 +297,8 @@ ICM_20948_Status_e ICM_20948::GetBiasGyroY( int* bias)
 ICM_20948_Status_e ICM_20948::GetBiasGyroZ( int* bias)
 {
     ICM_20948_Status_e result = ICM_20948_Stat_Ok;
-    unsigned char bias_data[4] = { 0 };
-    result = inv_icm20948_read_mems(&_device, GYRO_BIAS_Z, 4, &bias_data);
+    unsigned char bias_data[4];
+    result = inv_icm20948_read_mems(&_device, GYRO_BIAS_Z, 4, bias_data);
     bias[0] = (int)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
     return result;
 }
@@ -342,8 +342,8 @@ ICM_20948_Status_e ICM_20948::SetBiasAccelZ( int newValue)
 ICM_20948_Status_e ICM_20948::GetBiasAccelX( int* bias)
 {
     ICM_20948_Status_e result = ICM_20948_Stat_Ok;
-    unsigned char bias_data[4] = { 0 };
-    result = inv_icm20948_read_mems(&_device, ACCEL_BIAS_X, 4, &bias_data);
+    unsigned char bias_data[4];
+    result = inv_icm20948_read_mems(&_device, ACCEL_BIAS_X, 4, bias_data);
     bias[0] = (int)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
     return result;
 }
@@ -351,8 +351,8 @@ ICM_20948_Status_e ICM_20948::GetBiasAccelX( int* bias)
 ICM_20948_Status_e ICM_20948::GetBiasAccelY( int* bias)
 {
     ICM_20948_Status_e result = ICM_20948_Stat_Ok;
-    unsigned char bias_data[4] = { 0 };
-    result = inv_icm20948_read_mems(&_device, ACCEL_BIAS_Y, 4, &bias_data);
+    unsigned char bias_data[4];
+    result = inv_icm20948_read_mems(&_device, ACCEL_BIAS_Y, 4, bias_data);
     bias[0] = (int)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
     return result;
 }
@@ -360,8 +360,8 @@ ICM_20948_Status_e ICM_20948::GetBiasAccelY( int* bias)
 ICM_20948_Status_e ICM_20948::GetBiasAccelZ( int* bias)
 {
     ICM_20948_Status_e result = ICM_20948_Stat_Ok;
-    unsigned char bias_data[4] = { 0 };
-    result = inv_icm20948_read_mems(&_device, ACCEL_BIAS_Z, 4, &bias_data);
+    unsigned char bias_data[4];
+    result = inv_icm20948_read_mems(&_device, ACCEL_BIAS_Z, 4, bias_data);
     bias[0] = (int)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
     return result;
 }
@@ -405,8 +405,8 @@ ICM_20948_Status_e ICM_20948::SetBiasCPassZ( int newValue)
 ICM_20948_Status_e ICM_20948::GetBiasCPassX( int* bias)
 {
     ICM_20948_Status_e result = ICM_20948_Stat_Ok;
-    unsigned char bias_data[4] = { 0 };
-    result = inv_icm20948_read_mems(&_device, CPASS_BIAS_X, 4, &bias_data);
+    unsigned char bias_data[4];
+    result = inv_icm20948_read_mems(&_device, CPASS_BIAS_X, 4, bias_data);
     bias[0] = (int)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
     return result;
 }
@@ -414,8 +414,8 @@ ICM_20948_Status_e ICM_20948::GetBiasCPassX( int* bias)
 ICM_20948_Status_e ICM_20948::GetBiasCPassY( int* bias)
 {
     ICM_20948_Status_e result = ICM_20948_Stat_Ok;
-    unsigned char bias_data[4] = { 0 };
-    result = inv_icm20948_read_mems(&_device, CPASS_BIAS_Y, 4, &bias_data);
+    unsigned char bias_data[4];
+    result = inv_icm20948_read_mems(&_device, CPASS_BIAS_Y, 4, bias_data);
     bias[0] = (int)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
     return result;
 }
@@ -423,8 +423,8 @@ ICM_20948_Status_e ICM_20948::GetBiasCPassY( int* bias)
 ICM_20948_Status_e ICM_20948::GetBiasCPassZ( int* bias)
 {
     ICM_20948_Status_e result = ICM_20948_Stat_Ok;
-    unsigned char bias_data[4] = { 0 };
-    result = inv_icm20948_read_mems(&_device, CPASS_BIAS_Z, 4, &bias_data);
+    unsigned char bias_data[4];
+    result = inv_icm20948_read_mems(&_device, CPASS_BIAS_Z, 4, bias_data);
     bias[0] = (int)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
     return result;
 }
diff --git a/src/defines.h b/src/defines.h
index c8816544..736ed741 100644
--- a/src/defines.h
+++ b/src/defines.h
@@ -27,7 +27,7 @@
 #include "debug.h"
 
 // Set parameters of IMU and board used
-#define IMU IMU_ICM20948
+#define IMU IMU_BNO085
 #define BOARD BOARD_SLIMEVR
 #define IMU_ROTATION DEG_90
 #define SECOND_IMU_ROTATION DEG_270