diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 83c8618b75..eda113f5e4 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -156,7 +156,7 @@ ORB_DECLARE(output_pwm);
 #define PWM_SERVO_DISARM	_PX4_IOC(_PWM_SERVO_BASE, 1)
 
 /** get default servo update rate */
-#define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
+#define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 2)
 
 /** set alternate servo update rate */
 #define PWM_SERVO_SET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 3)
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index af32a067b9..984046ee03 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -368,7 +368,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 /**
  * Transition from one hil state to another
  */
-transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
+transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
 	transition_result_t ret = TRANSITION_DENIED;
 
@@ -451,43 +451,47 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
 					}
 					closedir(d);
 
-#else
-
-					const char *devname;
-					unsigned int handle = 0;
-					for(;;) {
-						devname = px4_get_device_names(&handle);
-						if (devname == NULL)
-							break;
-
-						/* skip mavlink */
-						if (!strcmp("/dev/mavlink", devname)) {
-							continue;
-						}
-
-
-						int sensfd = px4_open(devname, 0);
-
-						if (sensfd < 0) {
-							warn("failed opening device %s", devname);
-							continue;
-						}
-
-						int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
-						px4_close(sensfd);
-
-							printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
-					}
-#endif
 					ret = TRANSITION_CHANGED;
 					mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
 
-
 				} else {
 					/* failed opening dir */
 					mavlink_log_info(mavlink_fd, "FAILED LISTING DEVICE ROOT DIRECTORY");
 					ret = TRANSITION_DENIED;
 				}
+
+#else
+
+				const char *devname;
+				unsigned int handle = 0;
+				for(;;) {
+					devname = px4_get_device_names(&handle);
+					if (devname == NULL)
+						break;
+
+					/* skip mavlink */
+					if (!strcmp("/dev/mavlink", devname)) {
+						continue;
+					}
+
+
+					int sensfd = px4_open(devname, 0);
+
+					if (sensfd < 0) {
+						warn("failed opening device %s", devname);
+						continue;
+					}
+
+					int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
+					px4_close(sensfd);
+
+					printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
+				}
+
+				ret = TRANSITION_CHANGED;
+				mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
+#endif
+
 			} else {
 				mavlink_log_critical(mavlink_fd, "Not switching to HIL when armed");
 				ret = TRANSITION_DENIED;
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 36ac721d91..f143c08aae 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1009,7 +1009,7 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 	rc.values[6] = man.chan7_raw;
 	rc.values[7] = man.chan8_raw;
 
-	if (_rc_pub <= 0) {
+	if (_rc_pub == nullptr) {
 		_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);
 
 	} else {
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 1c76c25505..589a08d8cd 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -75,7 +75,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_actuators_0_pub(nullptr),
 	_actuators_1_pub(nullptr),
 	_vtol_vehicle_status_pub(nullptr),
-	_v_rates_sp_pub(nullptr),
+	_v_rates_sp_pub(nullptr)
 
 {
 	memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
@@ -540,23 +540,23 @@ void VtolAttitudeControl::task_main()
 
 
 		/* Only publish if the proper mode(s) are enabled */
-			if(_v_control_mode.flag_control_attitude_enabled ||
-			   _v_control_mode.flag_control_rates_enabled ||
-			   _v_control_mode.flag_control_manual_enabled)
-			{
-				if (_actuators_0_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
-				} else {
-					_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
-				}
-
-				if (_actuators_1_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
-				} else {
-					_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
-				}
+		if(_v_control_mode.flag_control_attitude_enabled ||
+		   _v_control_mode.flag_control_rates_enabled ||
+		   _v_control_mode.flag_control_manual_enabled)
+		{
+			if (_actuators_0_pub != nullptr) {
+				orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
+			} else {
+				_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
 			}
 
+			if (_actuators_1_pub != nullptr) {
+				orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
+			} else {
+				_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
+			}
+		}
+
 		// publish the attitude rates setpoint
 		if(_v_rates_sp_pub != nullptr) {
 			orb_publish(ORB_ID(vehicle_rates_setpoint),_v_rates_sp_pub,&_v_rates_sp);