Hi all 
I need to get the gyro & acc read through normal serial monitor arduino IDE 
I tried to use inertial sensor example included with arducopter mpu 6000 library 
but it gives me compiling error in the row 

ins.calibrate_accel(delay, NULL, setup_printf_P, setup_wait_key);

said that 
no matching function for call to 

here is the code :

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

#define APM_HARDWARE_APM1 1
#define APM_HARDWARE_APM2 2

#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM1

#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
#define SAMPLE_UNIT 1
#else
#define SAMPLE_UNIT 5 // we need 5x as many samples on the oilpan
#endif

FastSerialPort(Serial, 0);

Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler;

#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_InertialSensor_MPU6000 ins;
#else
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins(&adc);
#endif

void setup(void)
{
Serial.begin(115200);
Serial.println("Doing INS startup...");

SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate

isr_registry.init();
scheduler.init(&isr_registry);

// we need to stop the barometer from holding the SPI bus
pinMode(40, OUTPUT);
digitalWrite(40, HIGH);

#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
adc.Init(&scheduler); // APM ADC library initialization
#endif
ins.init(AP_InertialSensor::COLD_START,
AP_InertialSensor::RATE_100HZ,
delay, NULL, &scheduler);

// display initial values
display_offsets_and_scaling();
}

void loop(void)
{
int16_t user_input;

Serial.println();
Serial.println("Menu: ");
Serial.println(" c) calibrate accelerometers");
Serial.println(" d) display offsets and scaling");
Serial.println(" l) level (capture offsets from level)");
Serial.println(" t) test");

// wait for user input
while( !Serial.available() ) {
delay(20);
}

// read in user input
while( Serial.available() ) {
user_input = Serial.read();

if( user_input == 'c' || user_input == 'C' ) {
run_calibration();
display_offsets_and_scaling();
}

if( user_input == 'd' || user_input == 'D' ) {
display_offsets_and_scaling();
}

if( user_input == 'l' || user_input == 'L' ) {
run_level();
display_offsets_and_scaling();
}

if( user_input == 't' || user_input == 'T' ) {
run_test();
}
}
}

static void setup_printf_P(const prog_char_t *fmt, ...)
{
va_list arg_list;
va_start(arg_list, fmt);
Serial.vprintf_P(fmt, arg_list);
va_end(arg_list);
}

static void setup_wait_key(void)
{
// wait for user input
while (!Serial.available()) {
delay(20);
}
// clear input buffer
while( Serial.available() ) {
Serial.read();
}
}

void run_calibration()
{
// clear off any other characters (like line feeds,etc)
while( Serial.available() ) {
Serial.read();
}

ins.calibrate_accel(delay, NULL, setup_printf_P, setup_wait_key);
}

void display_offsets_and_scaling()
{
Vector3f accel_offsets = ins.get_accel_offsets();
Vector3f accel_scale = ins.get_accel_scale();
Vector3f gyro_offsets = ins.get_gyro_offsets();

// display results
Serial.printf_P(PSTR("\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n"),
accel_offsets.x,
accel_offsets.y,
accel_offsets.z);
Serial.printf_P(PSTR("Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n"),
accel_scale.x,
accel_scale.y,
accel_scale.z);
Serial.printf_P(PSTR("Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n"),
gyro_offsets.x,
gyro_offsets.y,
gyro_offsets.z);
}

void run_level()
{
// clear off any input in the buffer
while( Serial.available() ) {
Serial.read();
}

// display message to user
Serial.print("Place APM on a level surface and press any key..\n");

// wait for user input
while( !Serial.available() ) {
delay(20);
}
while( Serial.available() ) {
Serial.read();
}

// run accel level
ins.init_accel(delay, NULL);

// display results
display_offsets_and_scaling();
}

void run_test()
{
Vector3f accel;
Vector3f gyro;
float temperature;
float length;

// flush any user input
while( Serial.available() ) {
Serial.read();
}

// clear out any existing samples from ins
ins.update();

// loop as long as user does not press a key
while( !Serial.available() ) {

// wait until we have 8 samples
while( ins.num_samples_available() < 8 * SAMPLE_UNIT ) {
delay(1);
}

// read samples from ins
ins.update();
accel = ins.get_accel();
gyro = ins.get_gyro();
temperature = ins.temperature();

length = sqrt(accel.x*accel.x + accel.y*accel.y + accel.z*accel.z);

// display results
Serial.printf_P(PSTR("Accel X:%4.2f \t Y:%4.2f \t Z:%4.2f \t len:%4.2f \t Gyro X:%4.2f \t Y:%4.2f \t Z:%4.2f \t Temp:%4.2f\n"),
accel.x, accel.y, accel.z, length, gyro.x, gyro.y, gyro.z, temperature);
}

// clear user input
while( Serial.available() ) {
Serial.read();
}
}