diff --git a/frtos/motor/motor_direction.h b/frtos/motor/motor_direction.h
index 1ea5101..dfd0c2e 100644
--- a/frtos/motor/motor_direction.h
+++ b/frtos/motor/motor_direction.h
@@ -28,10 +28,10 @@ set_wheel_direction(uint32_t direction)
 }
 
 void
-update_target_yaw(car_struct_t * pp_car_struct)
+update_target_yaw(volatile direction_t * g_direction)
 {
-    updateDirection(pp_car_struct->p_direction);
-    pp_car_struct->p_direction->target_yaw = pp_car_struct->p_direction->yaw;
+    updateDirection(g_direction);
+    g_direction->target_yaw = g_direction->yaw;
 }
 
 /*!
diff --git a/frtos/rtos_car.c b/frtos/rtos_car.c
index 17de85f..bf511c4 100644
--- a/frtos/rtos_car.c
+++ b/frtos/rtos_car.c
@@ -23,7 +23,7 @@ void
 motor_control_task(void *params)
 {
     car_struct_t *car_struct = (car_struct_t *)params;
-    update_target_yaw(car_struct);
+    update_target_yaw(car_struct->p_direction);
     set_wheel_direction(DIRECTION_FORWARD);
     set_wheel_speed_synced(90u, car_struct);
     for (;;)