diff --git a/c/coreslam.c b/c/coreslam.c
index dd858f6..09ee999 100644
--- a/c/coreslam.c
+++ b/c/coreslam.c
@@ -432,7 +432,8 @@ void scan_string(
 void
 scan_update(
         scan_t * scan,
-        int * lidar_mm,
+        float * lidar_angles_deg,
+        int * lidar_distances_mm,
         double hole_width_mm,
         double velocities_dxy_mm,
         double velocities_dtheta_degrees)
@@ -450,7 +451,7 @@ scan_update(
     
     for (i=scan->detection_margin+1; i<scan->size-scan->detection_margin; ++i)
     {
-        int lidar_value_mm = lidar_mm[i];
+        int lidar_value_mm = lidar_distances_mm[i];
         
         /* No obstacle */
         if (lidar_value_mm == 0)
diff --git a/c/coreslam.h b/c/coreslam.h
index 879a8ac..c6c6d93 100644
--- a/c/coreslam.h
+++ b/c/coreslam.h
@@ -133,7 +133,8 @@ void scan_string(
 void 
 scan_update(
     scan_t * scan, 
-    int * lidar_mm, 
+    float * lidar_angles_deg,
+    int * lidar_distances_mm, 
     double hole_width_mm,
     double velocities_dxy_mm,
     double velocities_dtheta_degrees);
diff --git a/cpp/Scan.cpp b/cpp/Scan.cpp
index e59e137..6068d8f 100644
--- a/cpp/Scan.cpp
+++ b/cpp/Scan.cpp
@@ -80,6 +80,7 @@ Scan::update(
 {
     scan_update(
         this->scan,
+        NULL, // no support for angles/interpolation yet
         scanvals_mm,
         hole_width_millimeters,
         poseChange.dxy_mm,
diff --git a/java/edu/wlu/cs/levy/breezyslam/components/jnibreezyslam_components.c b/java/edu/wlu/cs/levy/breezyslam/components/jnibreezyslam_components.c
index 6e4d8fa..fa8edfc 100644
--- a/java/edu/wlu/cs/levy/breezyslam/components/jnibreezyslam_components.c
+++ b/java/edu/wlu/cs/levy/breezyslam/components/jnibreezyslam_components.c
@@ -126,7 +126,8 @@ JNIEXPORT void JNICALL Java_edu_wlu_cs_levy_breezyslam_components_Scan_update (J
 
     jint * lidar_mm_c = (*env)->GetIntArrayElements(env, lidar_mm, 0);
 
-    scan_update(scan, lidar_mm_c, hole_width_mm, velocities_dxy_mm, velocities_dtheta_degrees);
+    // no support for angles/interpolation yet
+    scan_update(scan, NULL, lidar_mm_c, hole_width_mm, velocities_dxy_mm, velocities_dtheta_degrees);
 
     (*env)->ReleaseIntArrayElements(env, lidar_mm, lidar_mm_c, 0);
 }
diff --git a/matlab/mex_breezyslam.c b/matlab/mex_breezyslam.c
index b74cbf3..cd45295 100644
--- a/matlab/mex_breezyslam.c
+++ b/matlab/mex_breezyslam.c
@@ -191,7 +191,8 @@ static void _scan_update(const mxArray * prhs[])
     
     double * velocities = mxGetPr(prhs[4]);
     
-    scan_update(scan, lidar_mm, hole_width_mm, velocities[0], velocities[1]);
+    /* no support for angles/interpolation yet */
+    scan_update(scan, NULL, lidar_mm, hole_width_mm, velocities[0], velocities[1]);
 }
 
 static void _randomizer_init(mxArray *plhs[], const mxArray * prhs[])
diff --git a/python/pybreezyslam.c b/python/pybreezyslam.c
index 9ac1878..4aa5420 100644
--- a/python/pybreezyslam.c
+++ b/python/pybreezyslam.c
@@ -347,6 +347,7 @@ Scan_update(Scan *self, PyObject *args, PyObject *kwds)
     // Update the scan
     scan_update(
             &self->scan, 
+            NULL,
             self->lidar_distances_mm, 
             hole_width_mm,
             dxy_mm,