diff --git a/bfs/implementations/breadcrumbs/gen/AHRSInputIOProcessor.cpp b/bfs/implementations/breadcrumbs/gen/AHRSInputIOProcessor.cpp
new file mode 100644
index 0000000..fb8a3f3
--- /dev/null
+++ b/bfs/implementations/breadcrumbs/gen/AHRSInputIOProcessor.cpp
@@ -0,0 +1,23 @@
+
+#include <iostream>
+
+#include "DataSyncThread.hpp"
+#include "AHRSInputIOProcessor.hpp"
+
+
+int main()
+{
+	IOProcessor* client = new AHRSInputIOProcessor;
+	
+	if (!client->init())
+	{
+		while (client->loopCondition())
+			client->loop();
+
+		int result = client->close();
+		delete client;
+		return result;
+	}
+	
+	return 0;
+}
diff --git a/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp b/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
index 5e9eb3d..f3227cf 100644
--- a/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
+++ b/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
@@ -1,5 +1,5 @@
-#ifndef AHRS_OUTPUT_IO_PROCESSOR_HPP
-#define AHRS_OUTPUT_IO_PROCESSOR_HPP
+#ifndef AHRS_INPUT_IO_PROCESSOR_HPP
+#define AHRS_INPUT_IO_PROCESSOR_HPP
 
 #include "IOProcessor.hpp"
 #include "DataSyncThread.hpp"
@@ -7,7 +7,7 @@
 #include <windows.h>
 #include <iostream>
 
-class AHRSOutputIOProcessor : public IOProcessor
+class AHRSInputIOProcessor : public IOProcessor
 {
 public:
     using IOProcessor::IOProcessor;
diff --git a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
index 24c4026..0f3ddd2 100644
--- a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
+++ b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
@@ -1,7 +1,7 @@
-#include "AHRSOutputIOProcessor.hpp"
+#include "AHRSInputIOProcessor.hpp"
 
 
-int AHRSOutputIOProcessor::configAHRS()
+int AHRSInputIOProcessor::configAHRS()
 {
     DCB dcb = {0};
 	//HANDLE hSerial;
@@ -92,12 +92,12 @@ int AHRSOutputIOProcessor::configAHRS()
     return 0;
 }
 
-bool AHRSOutputIOProcessor::loopCondition()
+bool AHRSInputIOProcessor::loopCondition()
 {
     return iterations > 0;
 }
 
-void AHRSOutputIOProcessor::loop()
+void AHRSInputIOProcessor::loop()
 {
     if (!configured)
         configAHRS();
@@ -108,7 +108,7 @@ void AHRSOutputIOProcessor::loop()
 	if (!ReadFile(hSerial, szBuff, 64, &dwBytesRead, NULL))
 	{
 		std::cout << "Error occured while trying to read bytes." << std::endl;
-		return 9;
+		//return 9;
 	}
 
 	int index = -1;
@@ -142,7 +142,7 @@ void AHRSOutputIOProcessor::loop()
 	//std::cout << "Yaw: " << doubleYaw << std::endl;
 
     Attribute attrib("yawAngle", 8, &doubleYaw);
-    getComs()->sendAttribute(attriv);
+    getComms()->sendAttribute(attrib);
     iterations--;
 
     if (iterations == 0)