diff --git a/Makefile b/Makefile
index b896e51391..c0413ea7ef 100644
--- a/Makefile
+++ b/Makefile
@@ -125,6 +125,9 @@ ros_sitl_simple:
 qurt_eagle_travis:
 	$(call cmake-build,$@)
 
+posix_eagle_release:
+	$(call cmake-build,$@)
+
 posix: posix_sitl_simple
 
 posix_sitl_default: posix_sitl_simple
@@ -135,7 +138,7 @@ run_sitl_quad: posix
 	Tools/sitl_run.sh posix-configs/SITL/init/rcS none jmavsim
 
 run_sitl_iris: posix
-	Tools/sitl_run.sh posix-configs/SITL/init/rcS_iris_gazebo
+	Tools/sitl_run.sh posix-configs/SITL/init/rcS_iris_gazebo none gazebo
 
 run_sitl_plane: posix
 	Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index 0acb4088f4..97beb6831a 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -28,11 +28,3 @@ fi
 set MIXER quad_w
 
 set PWM_OUT 1234
-set PWM_MIN 1200
-
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index ffaa935055..30af86730e 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -32,6 +32,3 @@ fi
 set MIXER quad_w
 
 set PWM_OUT 1234
-
-set PWM_MIN 1200
-set PWM_MAX 1950
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
index 7e27043156..7accc4f6e9 100644
--- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -30,7 +30,4 @@ fi
 
 set MIXER quad_w
 
-set PWM_MIN 1210
-set PWM_MAX 2100
-
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
index 4f22ddc436..0b1e3b2dfa 100644
--- a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
+++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
@@ -30,7 +30,6 @@ fi
 set MIXER sk450_deadcat
 
 set PWM_OUT 1234
-set PWM_MIN 1050
 
 set PWM_AUX_OUT 1234
 # set PWM_AUX_MIN 900
diff --git a/Tools/px4params/srcparser.py b/Tools/px4params/srcparser.py
index 2201fac6dd..b67ad890a9 100644
--- a/Tools/px4params/srcparser.py
+++ b/Tools/px4params/srcparser.py
@@ -45,6 +45,7 @@ class Parameter(object):
         "min": 5,
         "max": 4,
         "unit": 3,
+        "decimal": 2,
         # all others == 0 (sorted alphabetically)
     }
 
@@ -106,7 +107,7 @@ class SourceParser(object):
     re_remove_dots = re.compile(r'\.+$')
     re_remove_carriage_return = re.compile('\n+')
 
-    valid_tags = set(["group", "board", "min", "max", "unit"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal"])
 
     # Order of parameter groups
     priority = {
diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 1d80464fad..d80fcc2c70 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -1,12 +1,26 @@
 #!/bin/bash
 cp Tools/posix_lldbinit build_posix_sitl_simple/src/firmware/posix/.lldbinit
 cp Tools/posix.gdbinit build_posix_sitl_simple/src/firmware/posix/.gdbinit
+
+SIM_PID=0
+
 if [ "$3" == "jmavsim" ]
 then
 	cd Tools/jMAVSim
 	ant
 	java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
+	SIM_PID=echo $!
 	cd ../..
+elif [ "$3" == "gazebo" ]
+then
+	if [ -x "$(command -v gazebo)" ]
+	then
+		gazebo ${SITL_GAZEBO_PATH}/worlds/iris.world &
+		SIM_PID=echo $!
+	else
+		echo "You need to have gazebo simulator installed!"
+		exit 1
+	fi
 fi
 cd build_posix_sitl_simple/src/firmware/posix
 mkdir -p rootfs/fs/microsd
@@ -22,3 +36,11 @@ then
 else
 	./mainapp ../../../../$1
 fi
+
+if [ "$3" == "jmavsim" ]
+then
+	kill -9 $SIM_PID
+elif [ "$3" == "gazebo" ]
+then
+	kill -9 $SIM_PID
+fi
diff --git a/Vagrantfile b/Vagrantfile
index 775abd461f..c24bfe6859 100644
--- a/Vagrantfile
+++ b/Vagrantfile
@@ -78,7 +78,7 @@ Vagrant.configure(2) do |config|
     echo "cd /Firmware" >> ~/.bashrc
     # Install software
     sudo apt-get update
-    sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb
+    sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
     pushd .
     cd ~
     wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 5c9b8aefdf..5c8ea5787a 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -492,7 +492,6 @@ function(px4_add_common_flags)
 		-Wpointer-arith
 		-Wmissing-declarations
 		-Wno-unused-parameter
-		-Wno-varargs
 		-Werror=format-security
 		-Werror=array-bounds
 		-Wfatal-errors
@@ -517,6 +516,7 @@ function(px4_add_common_flags)
 		if (NOT ${OS} STREQUAL "qurt")
 			list(APPEND warnings
 				-Wno-unused-const-variable
+				-Wno-varargs
 			)
 		endif()
 	else()
diff --git a/cmake/configs/posix_eagle_release.cmake b/cmake/configs/posix_eagle_release.cmake
index 8e3bb26078..b0b2a9171d 100644
--- a/cmake/configs/posix_eagle_release.cmake
+++ b/cmake/configs/posix_eagle_release.cmake
@@ -5,6 +5,15 @@ if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
 	set(DSPAL_STUBS_ENABLE "1")
 endif()
 
+if ("${QRL_SDK_DIR}" STREQUAL "")
+	set(QRL_SDK_DIR /opt/qrlsdk)
+endif()
+
+set(CMAKE_PROGRAM_PATH 
+	"${QRL_SDK_DIR}/gcc-linaro-4.8-2015.06-x86_64_arm-linux-gnueabihf/bin"
+	${CMAKE_PROGRAM_PATH}
+	)
+
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
 set(config_module_list
diff --git a/cmake/configs/qurt_eagle_hello.cmake b/cmake/configs/qurt_eagle_hello.cmake
index c127216681..4328a3d4aa 100644
--- a/cmake/configs/qurt_eagle_hello.cmake
+++ b/cmake/configs/qurt_eagle_hello.cmake
@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index 0b48820254..4222fff249 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
index 492225aa40..d73d7becff 100644
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ b/cmake/configs/qurt_eagle_muorb.cmake
@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/qurt_eagle_release.cmake b/cmake/configs/qurt_eagle_release.cmake
index 494416ed4f..945e9da199 100644
--- a/cmake/configs/qurt_eagle_release.cmake
+++ b/cmake/configs/qurt_eagle_release.cmake
@@ -20,7 +20,7 @@ set(target_libraries
 	)
 
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	#
diff --git a/cmake/configs/qurt_eagle_test.cmake b/cmake/configs/qurt_eagle_test.cmake
index b2935f1fda..2e6a370950 100644
--- a/cmake/configs/qurt_eagle_test.cmake
+++ b/cmake/configs/qurt_eagle_test.cmake
@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index 3b4672a115..b9fda6ec48 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -3,7 +3,7 @@ include(qurt/px4_impl_qurt)
 # Run a full link with build stubs to make sure qurt target isn't broken
 set(QURT_ENABLE_STUBS "1")
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
index 61d63f8677..eb48554b16 100644
--- a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
+++ b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
@@ -26,13 +26,13 @@ set(CMAKE_SYSTEM_VERSION 1)
 # specify the cross compiler
 find_program(C_COMPILER arm-linux-gnueabihf-gcc)
 if(NOT C_COMPILER)
-	message(FATAL_ERROR "could not find arm-none-eabi-gcc compiler")
+	message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
 endif()
 cmake_force_c_compiler(${C_COMPILER} GNU)
 
 find_program(CXX_COMPILER arm-linux-gnueabihf-g++)
 if(NOT CXX_COMPILER)
-	message(FATAL_ERROR "could not find arm-none-eabi-g++ compiler")
+	message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
 endif()
 cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
 
@@ -41,7 +41,7 @@ foreach(tool objcopy nm ld)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} arm-linux-gnueabihf-${tool})
 	if(NOT ${TOOL})
-		message(FATAL_ERROR "could not find ${tool}")
+		message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
 	endif()
 endforeach()
 
diff --git a/cmake/toolchains/Toolchain-hexagon-7.4.cmake b/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake
similarity index 97%
rename from cmake/toolchains/Toolchain-hexagon-7.4.cmake
rename to cmake/toolchains/Toolchain-hexagon-7.2.10.cmake
index 9c4286044d..4e27436ec7 100644
--- a/cmake/toolchains/Toolchain-hexagon-7.4.cmake
+++ b/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake
@@ -35,7 +35,7 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 include(common/px4_base)
 
 if(NOT HEXAGON_TOOLS_ROOT)
-	set(HEXAGON_TOOLS_ROOT /opt/7.4/Tools)
+	set(HEXAGON_TOOLS_ROOT $ENV{HOME}/Qualcomm/HEXAGON_Tools/7.2.10/Tools)
 endif()
 
 macro (list2string out in)
@@ -53,7 +53,7 @@ set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
 set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/lib/iss)
 set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0)
 
-# Use the HexagonTools compiler (6.4.05)
+# Use the HexagonTools compiler (7.2.10)
 set(CMAKE_C_COMPILER	${HEXAGON_BIN}/${CROSSDEV}clang)
 set(CMAKE_CXX_COMPILER  ${HEXAGON_BIN}/${CROSSDEV}clang++)
 
@@ -82,6 +82,7 @@ set(ARCHCPUFLAGS
 add_definitions(
 	-D_PID_T -D_UID_T -D_TIMER_T
 	-Dnoreturn_function= 
+	-D_HAS_C9X
 	-D__EXPORT= 
 	-Drestrict=
 	-D_DEBUG
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c
index d72f62dc61..d3959db4cf 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c
@@ -47,6 +47,7 @@
  * @group Attitude Q estimator
  * @min 0
  * @max 1
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
 
@@ -56,6 +57,7 @@ PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
  * @group Attitude Q estimator
  * @min 0
  * @max 1
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
 
@@ -65,6 +67,7 @@ PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
  * @group Attitude Q estimator
  * @min 0
  * @max 1
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
 
@@ -77,6 +80,7 @@ PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
  *
  * @group Attitude Q estimator
  * @unit degrees
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
 
@@ -106,6 +110,7 @@ PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
  * @min 0
  * @max 2
  * @unit rad/s
+ * @decimal 3
  */
 PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);
 
@@ -113,7 +118,8 @@ PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);
  * Threshold (of RMS) to warn about high vibration levels
  *
  * @group Attitude Q estimator
- * @min 0.001
- * @max 100
+ * @min 0.01
+ * @max 10
+ * @decimal 2
  */
 PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f);
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 61bd32a1b3..04be54eb33 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -1122,7 +1122,7 @@ int AttitudePositionEstimatorEKF::start()
 	_estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 20,
-					 3900,
+					 4600,
 					 (px4_main_t)&AttitudePositionEstimatorEKF::task_main_trampoline,
 					 nullptr);
 
@@ -1245,9 +1245,9 @@ void AttitudePositionEstimatorEKF::pollData()
 			_ekf->dAngIMU.y = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 1];
 			_ekf->dAngIMU.z = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 2];
 		} else {
-			_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]);
-			_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]);
-			_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]);
+			_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]) * _ekf->dtIMU;
+			_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]) * _ekf->dtIMU;
+			_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]) * _ekf->dtIMU;
 		}
 
 		_ekf->angRate.x = _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0];
@@ -1265,9 +1265,9 @@ void AttitudePositionEstimatorEKF::pollData()
 			_ekf->dVelIMU.y = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 1];
 			_ekf->dVelIMU.z = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 2];
 		} else {
-			_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]);
-			_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]);
-			_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]);
+			_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]) * _ekf->dtIMU;
+			_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]) * _ekf->dtIMU;
+			_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]) * _ekf->dtIMU;
 		}
 
 		_ekf->accel.x = _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0];
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index cfd1988f44..5870039c24 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -179,7 +179,7 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
  * @max 150.0
  * @group L1 Control
  */
-PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
+PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
 
 /**
  * Maximum climb rate
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 297a76239b..a12133c021 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1676,7 +1676,6 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("GPS_RAW_INT", 1.0f);
 		configure_stream("GLOBAL_POSITION_INT", 3.0f);
 		configure_stream("LOCAL_POSITION_NED", 3.0f);
-		configure_stream("NAMED_VALUE_FLOAT", 2.0f);
 		configure_stream("RC_CHANNELS", 1.0f);
 		configure_stream("SERVO_OUTPUT_RAW_0", 1.0f);
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
diff --git a/src/platforms/posix/main.cpp b/src/platforms/posix/main.cpp
index 26465c266e..1b22627721 100644
--- a/src/platforms/posix/main.cpp
+++ b/src/platforms/posix/main.cpp
@@ -66,6 +66,13 @@ extern "C" {
 		cout.flush();
 		_exit(0);
 	}
+	void _SigFpeHandler(int sig_num);
+	void _SigFpeHandler(int sig_num)
+	{
+		cout.flush();
+		cout << endl << "floating point exception" << endl;
+		cout.flush();
+	}
 }
 
 static void print_prompt()
@@ -137,6 +144,7 @@ int main(int argc, char **argv)
 {
 	bool daemon_mode = false;
 	signal(SIGINT, _SigIntHandler);
+	signal(SIGFPE, _SigFpeHandler);
 
 	int index = 1;
 	bool error_detected = false;
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h
index b80532b099..06bddf2eb6 100644
--- a/src/platforms/px4_defines.h
+++ b/src/platforms/px4_defines.h
@@ -234,14 +234,6 @@ __END_DECLS
 // Missing math.h defines
 #define PX4_ISFINITE(x) __builtin_isfinite(x)
 
-// FIXME - these are missing for clang++ but not for clang
-#if defined(__cplusplus)
-#define isfinite(x) true
-#define isnan(x) false
-#define isinf(x) false
-#define fminf(x, y) ((x) > (y) ? y : x)
-#endif
-
 #endif
 
 /*