diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
index 76a04d1fbd..2f35e7d190 100644
--- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
@@ -58,7 +58,7 @@ FixedwingPositionINDIControl::FixedwingPositionINDIControl() :
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {
 	// limit to 100 Hz
-	_vehicle_angular_velocity_sub.set_interval_ms(1000/_sample_frequency);
+	_vehicle_angular_velocity_sub.set_interval_ms(1000.f/_sample_frequency);
 
 
 	/* fetch initial parameter values */
@@ -606,7 +606,7 @@ FixedwingPositionINDIControl::Run()
         wind(1) = _lp_filter_wind[1].apply(wind(1));
         wind(2) = _lp_filter_wind[2].apply(wind(2));
         _set_wind_estimate(wind);
-        PX4_INFO("wind estimate:\t%.4f\t%.4f\t%.4f", (double)_wind_estimate(0),(double)_wind_estimate(1),(double)_wind_estimate(2));
+        //PX4_INFO("wind estimate:\t%.4f\t%.4f\t%.4f", (double)_wind_estimate(0),(double)_wind_estimate(1),(double)_wind_estimate(2));
 
 
         // only run actuators poll, when our module is not publishing:
diff --git a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
index 7fe237d4ab..4b9fbc383b 100644
--- a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
+++ b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);
 * @reboot_required true
 * @group Sensors
 */
-PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
+PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 10.0f);
 
 /**
 * Gyro control data maximum publication rate