Sir im having a problem using the program of Martinez for Gimbal (_BruGi) this is an open source code for gimbal brushless motor. When i try to check the program it gives me error. The common problem im facing are:
"In file included from C:\Users\markokoy\Downloads_BruGi_BruGi.ino:56:0:
sketch\orientationRoutines.h: In function 'void gyroOffsetCalibration()':
orientationRoutines.h:100: error: 'initMPU' was not declared in this scope
initMPU();
^
In file included from C:\Users\markokoy\Downloads_BruGi_BruGi.ino:58:0:
sketch\BLcontroller.h: In function 'void __vector_13()':
BLcontroller.h:225: error: 'TIMER0_isr_emulation' was not declared in this scope
TIMER0_isr_emulation();
^
In file included from C:\Users\markokoy\Downloads_BruGi_BruGi.ino:59:0:
sketch\SerialCom.h: At global scope:
SerialCom.h:54: error: 'initIMUtc' was not declared in this scope
{"accTimeConstant", INT16, &config.accTimeConstant, &initIMUtc},
^
SerialCom.h:56: error: 'updateAngleOffset' was not declared in this scope
{"angleOffsetPitch", INT16, &config.angleOffsetPitch, &updateAngleOffset},
^
SerialCom.h:57: error: 'updateAngleOffset' was not declared in this scope
{"angleOffsetRoll", INT16, &config.angleOffsetRoll, &updateAngleOffset},
^
SerialCom.h:111: error: 'initSensorOrientation' was not declared in this scope
{"axisReverseZ", BOOL, &config.axisReverseZ, &initSensorOrientation},
^
SerialCom.h:112: error: 'initSensorOrientation' was not declared in this scope
{"axisSwapXY", BOOL, &config.axisSwapXY, &initSensorOrientation},
^
SerialCom.h:124: error: 'initIMUtc' was not declared in this scope
{"accTimeConstant2", INT16, &config.accTimeConstant2, &initIMUtc},
^
SerialCom.h:126: error: 'initSensorOrientation' was not declared in this scope
{"gyroCal", BOOL, &config.gyroCal, &initSensorOrientation},
^
SerialCom.h:127: error: 'initSensorOrientation' was not declared in this scope
{"gyrOffsetX", INT16, &config.gyrOffsetX, &initSensorOrientation},
^
SerialCom.h:128: error: 'initSensorOrientation' was not declared in this scope
{"gyrOffsetY", INT16, &config.gyrOffsetY, &initSensorOrientation},
^
SerialCom.h:129: error: 'initSensorOrientation' was not declared in this scope
{"gyrOffsetZ", INT16, &config.gyrOffsetZ, &initSensorOrientation},
^
SerialCom.h:131: error: 'initSensorOrientation' was not declared in this scope
{"accOffsetX", INT16, &config.accOffsetX, &initSensorOrientation},
^
SerialCom.h:132: error: 'initSensorOrientation' was not declared in this scope
{"accOffsetY", INT16, &config.accOffsetY, &initSensorOrientation},
^
SerialCom.h:133: error: 'initSensorOrientation' was not declared in this scope
{"accOffsetZ", INT16, &config.accOffsetZ, &initSensorOrientation},
^
sketch\SerialCom.h: In function 'void updateAllParameters()':
SerialCom.h:259: error: 'initIMU' was not declared in this scope
initIMU();
^
SerialCom.h:260: error: 'initSensorOrientation' was not declared in this scope
initSensorOrientation();
^
exit status 1
'initMPU' was not declared in this scope
I hope someone can help me. Im just starting to use Arduino. Thank you in advance 
Im attaching the main program but for the whole program including the libraries kindly visit this site:
_BruGi.ino (13.4 KB)