diff --git a/Propulsion.cpp b/Propulsion.cpp
index 3408dff..9ef4c4b 100644
--- a/Propulsion.cpp
+++ b/Propulsion.cpp
@@ -3,6 +3,10 @@
 
 #include "FloatSingle.h"
 
+extern "C" {
+    #include "debug.h"
+}
+
 Propulsion::Propulsion() {
   this->placement = nullptr;
   this->motorCount = 0;
@@ -33,7 +37,7 @@ void Propulsion::AddMotors(Placement* things, unsigned int thingCount) {
 
 }
 
-void Propulsion::AddQuadcopter(Quadcopter* quadcoper) {
+void Propulsion::AddQuadcopter(Quadcopter* quadcopter) {
     this->quadcopter = quadcopter;
 }
 
diff --git a/Sensing.cpp b/Sensing.cpp
index 6e318f4..0f797a2 100644
--- a/Sensing.cpp
+++ b/Sensing.cpp
@@ -5,6 +5,10 @@
 #include <math.h>
 #include <algorithm>
 
+extern "C" {
+    #include "debug.h"
+}
+
 SensorPlacement::SensorPlacement(DistanceSensor* distanceSensor, Vector2 direction) {
   this->distanceSensor = distanceSensor;
   this->switchSensor = nullptr;
@@ -65,8 +69,8 @@ float Sensing::DistanceForward(float angle) {
       continue;
 
     DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
-    float sensorAngle = placement.direction.x;
-    if (sensorAngle > -angle && sensorAngle < angle) {
+    float sensorAngle = placement.direction.z;
+    if (sensorAngle > 0 && sensorAngle < angle) {
       minDistance = fmin(minDistance, distanceSensor->GetDistance());
     }
   }
@@ -116,7 +120,7 @@ float Sensing::DistanceUp(float angle) {
         Sensor* sensor = (Sensor*)placement.thing;
         if (sensor->isDistanceSensor == false)
             continue;
-
+    
         DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
         float sensorAngle = placement.direction.y; // not correct!
         if (sensorAngle > 0 && sensorAngle < angle) {