diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 004c9a5fe5..435448f9c7 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -1557,7 +1557,7 @@ int mavlink_thread_main(int argc, char *argv[])
 	}
 
 	/* all subscriptions are now active, set up initial guess about rate limits */
-	if (baudrate >= 921600) {
+	if (baudrate >= 460800) {
 		/* 200 Hz / 5 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 5);
@@ -1567,15 +1567,15 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
 		/* 5 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
-	} else if (baudrate >= 460800) {
+	} else if (baudrate >= 230400) {
 		/* 200 Hz / 5 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 100);
 		/* 50 Hz / 20 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
 		/* 20 Hz / 50 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 100);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
 	} else if (baudrate >= 115200) {
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 98ca8f2534..a16768b3b7 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -77,6 +77,7 @@ CONFIGURED_APPS += px4/attitude_estimator_bm
 CONFIGURED_APPS += fixedwing_control
 CONFIGURED_APPS += position_estimator
 CONFIGURED_APPS += attitude_estimator_ekf
+CONFIGURED_APPS += ground_estimator
 
 # Hacking tools
 #CONFIGURED_APPS += system/i2c