diff --git a/include/okapi/api/units/RQuantityName.hpp b/include/okapi/api/units/RQuantityName.hpp
index 28e62984..ad7a1741 100644
--- a/include/okapi/api/units/RQuantityName.hpp
+++ b/include/okapi/api/units/RQuantityName.hpp
@@ -2,6 +2,7 @@
 #include "okapi/api/units/QLength.hpp"
 #include "okapi/api/units/QSpeed.hpp"
 #include <stdexcept>
+#include <string>
 #include <typeindex>
 #include <unordered_map>
 
diff --git a/include/test/tests/api/implMocks.hpp b/include/test/tests/api/implMocks.hpp
index ee584181..34943fb8 100644
--- a/include/test/tests/api/implMocks.hpp
+++ b/include/test/tests/api/implMocks.hpp
@@ -251,7 +251,7 @@ class MockTimer : public AbstractTimer {
 
   QTime millis() const override;
 
-  std::chrono::system_clock::time_point epoch = std::chrono::high_resolution_clock::from_time_t(0);
+  std::chrono::system_clock::time_point epoch = std::chrono::system_clock::from_time_t(0);
 };
 
 /**
diff --git a/src/api/chassis/controller/defaultOdomChassisController.cpp b/src/api/chassis/controller/defaultOdomChassisController.cpp
index ed95a7df..a28c9e4d 100644
--- a/src/api/chassis/controller/defaultOdomChassisController.cpp
+++ b/src/api/chassis/controller/defaultOdomChassisController.cpp
@@ -39,7 +39,9 @@ void DefaultOdomChassisController::driveToPoint(const Point &ipoint,
                                                 const QLength &ioffset) {
   waitForOdomTask();
 
-  auto [length, angle] = OdomMath::computeDistanceAndAngleToPoint(
+  QLength length;
+  QAngle angle;
+  std::tie<QLength, QAngle>(length, angle) = OdomMath::computeDistanceAndAngleToPoint(
     ipoint.inFT(defaultStateMode), odom->getState(StateMode::FRAME_TRANSFORMATION));
 
   if (ibackwards) {
diff --git a/test/implMocks.cpp b/test/implMocks.cpp
index e7737fbb..beb3d4df 100644
--- a/test/implMocks.cpp
+++ b/test/implMocks.cpp
@@ -192,7 +192,7 @@ MockTimer::MockTimer() : AbstractTimer(millis()) {
 
 QTime MockTimer::millis() const {
   return std::chrono::duration_cast<std::chrono::milliseconds>(
-           std::chrono::high_resolution_clock::now() - epoch)
+           std::chrono::system_clock::now() - epoch)
            .count() *
          millisecond;
 }