diff --git a/README.md b/README.md
index 34c2e880ea..7acae4a6ed 100644
--- a/README.md
+++ b/README.md
@@ -14,6 +14,8 @@ This repository contains the PX4 Flight Core, with the main applications located
   * [VTOL](http://px4.io/platforms/vtol/start)
 *   Binaries (always up-to-date from master):
   * [Downloads](http://px4.io/firmware/downloads)
+*   Releases
+  * [Downloads](https://github.com/PX4/Firmware/releases)
 *   Mailing list: [Google Groups](http://groups.google.com/group/px4users)
 
 ### Users ###
@@ -36,6 +38,7 @@ This repository contains code supporting these boards:
   * FMUv1.x
   * FMUv2.x
   * AeroCore (v1 and v2)
+  * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
 
 ## NuttShell (NSH) ##
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 0442637941..4c2119aa2f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -9,6 +9,7 @@ mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 300
 mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
 mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
 mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10
+mavlink stream -d /dev/ttyACM0 -s DISTANCE_SENSOR -r 10
 mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
 mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
 mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
index 035eb92e0c..725835cc0a 100644
--- a/src/drivers/drv_range_finder.h
+++ b/src/drivers/drv_range_finder.h
@@ -49,7 +49,7 @@
 #define MB12XX_MAX_RANGEFINDERS	12	// Maximum number of Maxbotix sensors on bus
 
 /*
- * ObjDev tag for px4flow data.
+ * ObjDev tag for distance sensor data.
  */
 ORB_DECLARE(distance_sensor);
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 6fbb30a829..59dfb45f47 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -420,7 +420,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	struct distance_sensor_s d;
 	memset(&d, 0, sizeof(d));
 
-	d.timestamp = hrt_absolute_time();
+	d.timestamp = flow.integration_time_us * 1000; /* ms to us */
 	d.min_distance = 0.3f;
 	d.max_distance = 5.0f;
 	d.current_distance = flow.distance; /* both are in m */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index eee44c43b9..062ab88f4f 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -488,7 +488,6 @@ struct log_PARM_s {
 };
 
 #pragma pack(pop)
-
 /* construct list of all message formats */
 static const struct log_format_s log_formats[] = {
 	/* business-level messages, ID < 0x80 */
@@ -516,7 +515,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ESC, "HBBBHHffiffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
 	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
-	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),
+	LOG_FORMAT(DIST, "iiff",			"Type,Orientation,Distance,Covariance"),
 	LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
 	LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
 	LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),