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Hi! We are working on a quadrotor. Now,as a first step, we are trying to get gyro outputs. I am using IMU_MPU6000 code in examples of ArduCopter. Unfortunately, I get the following error:

IMU_MPU6000_test:24: error: prototype for 'AP_IMU_INS::AP_IMU_INS()' does not match any in class 'AP_IMU_INS'

The code is below:

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

//
// Simple test for the AP_IMU_Oilpan driver.
//

#include <FastSerial.h>
#include <SPI.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include <AP_InertialSensor.h>
#include <AP_IMU.h>
#include <AP_Math.h>
#include <AP_Common.h>

FastSerialPort(Serial, 0);

Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess mpu_scheduler;

AP_InertialSensor_MPU6000 mpu6000;

AP_IMU_INS::AP_IMU_INS()
{

}
AP_IMU_INS imu(&mpu6000, 0); /* second arg is for Parameters. Can we leave it null?*/

#define A_LED_PIN 27
#define C_LED_PIN 25
#define LED_ON LOW
#define LED_OFF HIGH

static void flash_leds(bool on)
{
digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
}

void setup(void)
{
pinMode(53, OUTPUT);
digitalWrite(53, HIGH);

Serial.begin(115200);
Serial.println("Doing IMU startup...");

isr_registry.init();
mpu_scheduler.init(&isr_registry);

imu.init(IMU::COLD_START, delay, flash_leds, &mpu_scheduler);
}

void loop(void)
{
Vector3f accel;
Vector3f gyro;

delay(1000);
imu.update();
accel = imu.get_accel();
gyro = imu.get_gyro();

Serial.printf("AX: 0x%4.4f AY: 0x%4.4f AZ: 0x%4.4f GX: 0x%4.4f GY: 0x%4.4f GZ: 0x%4.4f\n",
accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z);
}

I am stuck...Thanks in advance!