diff --git a/vn-interface/CMakeLists.txt b/vn-interface/CMakeLists.txt
index 4a56702..16d15a4 100644
--- a/vn-interface/CMakeLists.txt
+++ b/vn-interface/CMakeLists.txt
@@ -9,7 +9,7 @@ include(GNUInstallDirs)
 # include for creating config.cmake
 include(CMakePackageConfigHelpers)
 
-set(SOURCES src/vn200.cpp)
+set(SOURCES src/helper.cpp)
 
 set(CPU_PARAMETERS
     -mcpu=cortex-m4
diff --git a/vn-interface/include/vn-interface/helper.h b/vn-interface/include/vn-interface/helper.h
index c215573..b4bf313 100644
--- a/vn-interface/include/vn-interface/helper.h
+++ b/vn-interface/include/vn-interface/helper.h
@@ -8,8 +8,6 @@
 #define VN_SPI_READ 0x01
 #define VN_SPI_WRITE 0x02
 
-#define VN_ID_IMU_MEASUREMENT_REGISTER 54
-
 namespace vn {
 
 const uint8_t ImuMeasurementsRegisterID = 54;
@@ -61,80 +59,6 @@ template <typename payload_t> struct pkg_response_t {
   pkg_response_t() : header(){};
 };
 
-// namespace IMU {
-// const uint8_t ID = 54;
-// struct imu_t {
-//   float MagX = 0.0;
-//   float MagY = 0.0;
-//   float MagZ = 0.0;
-//   float AccelX = 0.0;
-//   float AccelY = 0.0;
-//   float AccelZ = 0.0;
-//   float GyroX = 0.0;
-//   float GyroY = 0.0;
-//   float GyroZ = 0.0;
-//   float Pressure = 0.0;
-// };
-// } // namespace IMU
-// namespace ATT {
-// const uint8_t ID = 239;
-// struct attitude_t {
-//   float Yaw = 0.0;
-//   float Pitch = 0.0;
-//   float Roll = 0.0;
-//   float BodyAccelX = 0.0;
-//   float BodyAccelY = 0.0;
-//   float BodyAccelZ = 0.0;
-//   float GyroX = 0.0;
-//   float GyroY = 0.0;
-//   float GyroZ = 0.0;
-// };
-// } // namespace ATT
-// namespace INS {
-// namespace LLA {
-// const uint8_t ID = 63;
-// struct lla_t {
-//   float Yaw = 0.0;
-//   float Pitch = 0.0;
-//   float Roll = 0.0;
-//   double Lattitude = 0.0;
-//   double Longitude = 0.0;
-//   double Altitude = 0.0;
-//   float VelocityX = 0.0;
-//   float VelocityY = 0.0;
-//   float VelocityZ = 0.0;
-//   float AccelX = 0.0;
-//   float AccelY = 0.0;
-//   float AccelZ = 0.0;
-//   float AngularRateX = 0.0;
-//   float AngularRateY = 0.0;
-//   float AngularRateZ = 0.0;
-// };
-// } // namespace LLA
-// } // namespace INS
-// namespace GPS {
-// namespace LLA {
-// const uint8_t ID = 58;
-// struct lla_t {
-//   double Time = 0.0;
-//   uint16_t Week = 0;
-//   uint8_t GpsFix = 0;
-//   uint8_t NumSats = 0;
-//   uint32_t PADDING = 0;
-//   double Latitude = 0.0;
-//   double Longitude = 0.0;
-//   double Altitude = 0.0;
-//   float NedVelX = 0.0;
-//   float NedVelY = 0.0;
-//   float NedVelZ = 0.0;
-//   float NorthAcc = 0.0;
-//   float EastAcc = 0.0;
-//   float VertAcc = 0.0;
-//   float SpeedAcc = 0.0;
-//   float TimeAcc = 0.0;
-// };
-// } // namespace LLA
-// } // namespace GPS
 } // namespace vn
 
 #endif
diff --git a/vn-interface/src/helper.cpp b/vn-interface/src/helper.cpp
index 185ed12..2f88d80 100644
--- a/vn-interface/src/helper.cpp
+++ b/vn-interface/src/helper.cpp
@@ -1,3 +1,3 @@
-#include "vn-interface/vn200.h"
+#include "vn-interface/helper.h"
 
 namespace vn {} // namespace vn