diff --git a/gtsam_unstable/dynamics/SimpleHelicopter.h b/gtsam_unstable/dynamics/SimpleHelicopter.h
index f36d2dbe6..8e1a2cf55 100644
--- a/gtsam_unstable/dynamics/SimpleHelicopter.h
+++ b/gtsam_unstable/dynamics/SimpleHelicopter.h
@@ -27,7 +27,7 @@ class Reconstruction : public NoiseModelFactor3<Pose3, Pose3, LieVector>  {
   typedef NoiseModelFactor3<Pose3, Pose3, LieVector> Base;
 public:
   Reconstruction(Key gKey1, Key gKey, Key xiKey, double h, double mu = 1000.0) :
-    Base(noiseModel::Constrained::All(Pose3::Dim()*3, fabs(mu)), gKey1, gKey,
+    Base(noiseModel::Constrained::All(Pose3::Dim(), fabs(mu)), gKey1, gKey,
         xiKey), h_(h) {
   }
   virtual ~Reconstruction() {}
@@ -92,7 +92,7 @@ public:
   DiscreteEulerPoincareHelicopter(Key xiKey1, Key xiKey_1, Key gKey,
       double h, const Matrix& Inertia, const Vector& Fu, double m,
       double mu = 1000.0) :
-    Base(noiseModel::Constrained::All(Pose3::Dim()*3, fabs(mu)), xiKey1, xiKey_1, gKey),
+    Base(noiseModel::Constrained::All(Pose3::Dim(), fabs(mu)), xiKey1, xiKey_1, gKey),
     h_(h), Inertia_(Inertia), Fu_(Fu), m_(m) {
   }
   virtual ~DiscreteEulerPoincareHelicopter() {}
diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index cffa7ccde..ca27cd738 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -5,6 +5,7 @@
 // specify the classes from gtsam we are using
 virtual class gtsam::Value;
 virtual class gtsam::LieScalar;
+virtual class gtsam::LieVector;
 virtual class gtsam::Point2;
 virtual class gtsam::Rot2;
 virtual class gtsam::Pose2;
@@ -412,6 +413,21 @@ virtual class PendulumFactorPk1 : gtsam::NonlinearFactor {
   Vector evaluateError(const gtsam::LieScalar& pk1, const gtsam::LieScalar& qk, const gtsam::LieScalar& qk1) const;
 };
 
+#include <gtsam/base/LieVector.h>
+#include <gtsam_unstable/dynamics/SimpleHelicopter.h>
+
+virtual class Reconstruction : gtsam::NonlinearFactor {
+  Reconstruction(size_t gKey1, size_t gKey, size_t xiKey, double h);
+
+  Vector evaluateError(const gtsam::Pose3& gK1, const gtsam::Pose3& gK, const gtsam::LieVector& xiK) const;
+};
+
+virtual class DiscreteEulerPoincareHelicopter : gtsam::NonlinearFactor {
+  DiscreteEulerPoincareHelicopter(size_t xiKey, size_t xiKey_1, size_t gKey,
+      double h, Matrix Inertia, Vector Fu, double m);
+
+  Vector evaluateError(const gtsam::LieVector& xiK, const gtsam::LieVector& xiK_1, const gtsam::Pose3& gK) const;
+};
 
 //*************************************************************************
 // nonlinear