diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 0fb6e117cc..54a469aff8 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -457,13 +457,13 @@ then
 		if [ $TTYS1_BUSY == yes ]
 		then
 			# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
-			set MAVLINK_F "-r 1000 -d /dev/ttyS0"
+			set MAVLINK_F "-r 5000 -d /dev/ttyS0"
 
 			# Exit from nsh to free port for mavlink
 			set EXIT_ON_END yes
 		else
 			# Start MAVLink on default port: ttyS1
-			set MAVLINK_F "-r 1000"
+			set MAVLINK_F "-r 5000"
 		fi
 	fi
 
@@ -479,11 +479,11 @@ then
 		# but this works for now
 		if param compare SYS_COMPANION 921600
 		then
-			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000 -x
+			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
 		fi
 		if param compare SYS_COMPANION 57600
 		then
-			mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 1000 -x
+			mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 60000 -x
 		fi
 		if param compare SYS_COMPANION 157600
 		then
diff --git a/ROMFS/px4fmu_test/mixers/IO_pass.mix b/ROMFS/px4fmu_test/mixers/IO_pass.mix
new file mode 100644
index 0000000000..42321f0ad9
--- /dev/null
+++ b/ROMFS/px4fmu_test/mixers/IO_pass.mix
@@ -0,0 +1,24 @@
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
diff --git a/unittests/param_test.cpp b/unittests/param_test.cpp
index 44ae4df068..bda49ae86d 100644
--- a/unittests/param_test.cpp
+++ b/unittests/param_test.cpp
@@ -52,8 +52,8 @@ void _assert_parameter_int_value(param_t param, int32_t expected)
 {
 	int32_t value;
 	int result = param_get(param, &value);
-	ASSERT_EQ(0, result) << printf("param_get (%i) did not return parameter\n", param);
-	ASSERT_EQ(expected, value) << printf("value for param (%i) doesn't match default value\n", param);
+	ASSERT_EQ(0, result) << printf("param_get (%lu) did not return parameter\n", param);
+	ASSERT_EQ(expected, value) << printf("value for param (%lu) doesn't match default value\n", param);
 }
 
 void _set_all_int_parameters_to(int32_t value)