diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR
index d23f03417d..640cdf5411 100644
--- a/ROMFS/scripts/rc.PX4IOAR
+++ b/ROMFS/scripts/rc.PX4IOAR
@@ -3,8 +3,12 @@
 # Flight startup script for PX4FMU on PX4IOAR carrier board.
 #
  
+# Disable the USB interface
 set USB no
  
+# Disable autostarting other apps
+set MODE ardrone
+ 
 echo "[init] doing PX4IOAR startup..."
  
 #
@@ -13,26 +17,26 @@ echo "[init] doing PX4IOAR startup..."
 uorb start
  
 #
-# Init the EEPROM
+# Load microSD params
 #
-echo "[init] eeprom"
-eeprom start
-if [ -f /eeprom/parameters ]
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
 then
-	param load
+	param load /fs/microsd/parameters
 fi
  
-#
-# Start the sensors.
-#
-sh /etc/init.d/rc.sensors
- 
 #
 # Start MAVLink
 #
 mavlink start -d /dev/ttyS0 -b 57600
 usleep 5000
  
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+ 
 #
 # Start the commander.
 #
@@ -56,13 +60,13 @@ multirotor_att_control start
 #
 # Fire up the AR.Drone interface.
 #
-ardrone_interface start
-
+ardrone_interface start -d /dev/ttyS1
+ 
 #
-# Start logging to microSD if we can
+# Start logging
 #
-#sh /etc/init.d/rc.logging
-
+#sdlog start
+ 
 #
 # Start GPS capture
 #
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
index b6c8cacfda..55b7cfa85c 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -450,7 +450,6 @@ MPU6000::init()
 	int gyro_ret = _gyro->init();
 
 	if (gyro_ret != OK) {
-		::close(_gyro_topic);
 		_gyro_topic = -1;
 	}