diff --git a/Makefile b/Makefile
index 675d752..c6e2584 100644
--- a/Makefile
+++ b/Makefile
@@ -16,8 +16,8 @@ dependencies .dependencies:
 	arduino-cli core install esp32:esp32@2.0.11 --config-file arduino-cli.yaml
 	arduino-cli lib update-index
 	arduino-cli lib install "Bolder Flight Systems SBUS"@1.0.1
+	arduino-cli lib install "Bolder Flight Systems MPU9250"@1.0.2
 	arduino-cli lib install "MAVLink"@2.0.1
-	arduino-cli lib install --git-url https://github.com/okalachev/MPU9250.git --config-file arduino-cli.yaml
 	touch .dependencies
 
 gazebo/build cmake: gazebo/CMakeLists.txt
diff --git a/arduino-cli.yaml b/arduino-cli.yaml
index 9fcc996..86a9c7d 100644
--- a/arduino-cli.yaml
+++ b/arduino-cli.yaml
@@ -1,5 +1,3 @@
 board_manager:
   additional_urls:
     - https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
-library:
-  enable_unsafe_install: true
diff --git a/docs/build.md b/docs/build.md
index d6f5d04..846ab2d 100644
--- a/docs/build.md
+++ b/docs/build.md
@@ -68,7 +68,7 @@ Dependencies are [Gazebo Classic simulator](https://classic.gazebosim.org) and [
 2. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
 3. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library) (**versions are significant**):
    * `Bolder Flight Systems SBUS`, version 1.0.1.
-   * `Bolder Flight Systems MPU9250`, version 1.0.1. <!-- TODO: actually the fork is needed -->
+   * `Bolder Flight Systems MPU9250`, version 1.0.2.
    * `MAVLink`, version 2.0.1.
 4. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).
 5. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.