diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 0442637941..027d2aca5d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -3,21 +3,21 @@
 # USB MAVLink start
 #
 
-mavlink start -r 80000 -d /dev/ttyACM0 -x
+mavlink start -r 800000 -d /dev/ttyACM0 -x
 # Enable a number of interesting streams we want via USB
 mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 300
 mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
 mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
 mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10
 mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
-mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
+mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 100
 mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30
 mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
 mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
 mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
 mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5
-mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 20
+mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 100
 mavlink stream -d /dev/ttyACM0 -s GPS_RAW_INT -r 20
 
 # Exit shell to make it available to MAVLink
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index f80d8009ae..f2499bbb13 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -55,8 +55,7 @@ SRCS		 = err.c \
 		   pwm_limit/pwm_limit.c \
 		   circuit_breaker.cpp \
 		   circuit_breaker_params.c \
-		   mcu_version.c \
-		   circuit_breaker_params.c
+		   mcu_version.c
 
 MAXOPTIMIZATION	 = -Os