diff --git a/BeagleBone/AI/tidl/Makefile b/BeagleBone/AI/tidl/Makefile
index 1a76e32..35fe257 100644
--- a/BeagleBone/AI/tidl/Makefile
+++ b/BeagleBone/AI/tidl/Makefile
@@ -1,11 +1,13 @@
-all: classification.tidl.so segmentation.tidl.so
+all: dummy.tidl.so classification.tidl.so
 
 include /var/lib/cloud9/common/Makefile
 
 run:
 	ti-mct-heap-check -c
-	mjpg_streamer -i "input_opencv.so -r 640x480 --filter ./classification.tidl.so" -o "output_http.so -p 8090 -w /usr/share/mjpg-streamer/www" 2> /dev/null
+	sudo mjpg_streamer -i "input_opencv.so -r 640x480 -d /dev/$(shell fgrep -v vpe /sys/class/video4linux/video*/name | perl -ne '/\/(video\d+)\/name/ && print $$1') --filter ./classification.tidl.so" -o "output_http.so -p 8090 -w /usr/share/mjpg-streamer/www" 2> /dev/null
 
 clean:
+	rm -f dummy.tidl.so
 	rm -f classification.tidl.so
+	rm -f /tmp/cloud9-examples/classification.tidl.so || true
 
diff --git a/BeagleBone/AI/tidl/classification.tidl.cpp b/BeagleBone/AI/tidl/classification.tidl.cpp
index dc7ffc6..b87d183 100644
--- a/BeagleBone/AI/tidl/classification.tidl.cpp
+++ b/BeagleBone/AI/tidl/classification.tidl.cpp
@@ -349,7 +349,7 @@ int tf_postprocess(uchar *in)
   int rpt_id = -1;
 
   typedef std::pair<uchar, int> val_index;
-  auto constexpr cmp = [](val_index &left, val_index &right) { return left.first > right.first; };
+  auto cmp = [](val_index &left, val_index &right) { return left.first > right.first; };
   std::priority_queue<val_index, std::vector<val_index>, decltype(cmp)> queue(cmp);
   // initialize priority queue with smallest value on top
   for (int i = 0; i < k; i++) {
diff --git a/README.md b/README.md
index f49fd57..f6f5ccf 100644
--- a/README.md
+++ b/README.md
@@ -15,3 +15,9 @@ common                               | PRU files that are common to all the Beag
 [extras](extras)                     | Lots of other demos.
 [PocketBeagle](PocketBeagle)         | Demos for the smallest of Beagles.
 [sensorExamples](sensorExamples/README.md)     | Examples for interfacing various sensors.  Works on all Beagles
+
+# Status on different branches
+
+* master - on-going development, commits merged from unstable development branch
+* v2020.01 - current stable, only bug fixes from unstable development branch
+* v2020.08 - current unstable development branch, clean snapshot from 2020-04-06
diff --git a/common/Makefile b/common/Makefile
index c1a0982..06f0a9b 100644
--- a/common/Makefile
+++ b/common/Makefile
@@ -128,8 +128,8 @@ define proc-to-build-vars =
    $(TIDL_API_DIR)/tidl_api.a $(TIDL_API_DIR)/tidl_imgutil.a \
    -lTIOpenCL -locl_util -lpthread
   CXX=g++ -c -o
-  CXXFLAGS=-DCHIP=$(CHIP) -DMODEL=$(MODEL) -DPROC=$(PROC) -O3 -Wall -Werror -Wno-error=ignored-attributes \
-   -I. -I$(TIDL_API_DIR)/inc -std=c++11 -I/usr/share/ti/opencl 
+  CXXFLAGS=-DCHIP=$(CHIP) -DMODEL=$(MODEL) -DPROC=$(PROC) -fPIC -O3 -Wall -Werror -Wno-error=ignored-attributes \
+   -I. -I$(TIDL_API_DIR)/inc -std=c++14 -I/usr/share/ti/opencl 
  else
   LD=gcc -o
   LDFLAGS=-lc -lm