diff --git a/flix/imu.ino b/flix/imu.ino
index 763fe8e..8bddc6b 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -17,7 +17,7 @@ void setupIMU()
 	auto status = IMU.begin();
 	if (status < 0) {
 		while (true) {
-			Serial.print("IMU begin error: "); Serial.println(status);
+			Serial.printf("IMU begin error: %d\n", status);
 			delay(1000);
 		}
 	}
diff --git a/flix/time.ino b/flix/time.ino
index 5830ea1..b15a8fd 100644
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -26,21 +26,3 @@ void step() {
 		stepsPerSecondCurrentLast = time;
 	}
 }
-
-void _step() {
-	steps++;
-	auto currentStepTime = micros();
-	if (stepTime == 0) {
-		stepTime = currentStepTime;
-	}
-	dt = (currentStepTime - stepTime) / 1000000.0;
-	stepTime = currentStepTime;
-
-	// compute steps per second, TODO: move to func
-	stepsPerSecondCurrent++;
-	if (stepTime - stepsPerSecondCurrentLast >= 1000000) {
-		stepsPerSecond = stepsPerSecondCurrent;
-		stepsPerSecondCurrent = 0;
-		stepsPerSecondCurrentLast = stepTime;
-	}
-}
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 6f90636..7f4c4dd 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -30,7 +30,6 @@ Quaternion attitude;
 void control();
 void interpretRC();
 static void controlAttitude();
-static void controlAttitudeAlter();
 static void controlManual();
 static void controlRate();
 void desaturate(float& a, float& b, float& c, float& d);