diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 2b21bb5a5a..e83fb7dd3a 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -890,13 +890,14 @@ int sdlog2_thread_main(int argc, char *argv[])
 			if (fds[ifds++].revents & POLLIN) {
 				// Don't orb_copy, it's already done few lines above
 				log_msg.msg_type = LOG_STAT_MSG;
-				log_msg.body.log_STAT.main_state = (unsigned char) buf_status.main_state;
-				log_msg.body.log_STAT.navigation_state = (unsigned char) buf_status.navigation_state;
-				log_msg.body.log_STAT.arming_state = (unsigned char) buf_status.arming_state;
+				log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
+				log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state;
+				log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
 				log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage;
 				log_msg.body.log_STAT.battery_current = buf_status.battery_current;
 				log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
-				log_msg.body.log_STAT.battery_warning = (unsigned char) buf_status.battery_warning;
+				log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
+				log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
 				LOGBUFFER_WRITE_AND_COUNT(STAT);
 			}
 
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index d99892fe2e..4eeb65a87e 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -155,6 +155,7 @@ struct log_STAT_s {
 	float battery_current;
 	float battery_remaining;
 	uint8_t battery_warning;
+	uint8_t landed;
 };
 
 /* --- RC - RC INPUT CHANNELS --- */
@@ -263,7 +264,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
 	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
 	LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
-	LOG_FORMAT(STAT, "BBBfffB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn"),
+	LOG_FORMAT(STAT, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"),
 	LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
 	LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
 	LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 16bfc8094f..dd86f3e2e1 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -158,6 +158,13 @@ PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
 
+PARAM_DEFINE_FLOAT(RC15_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC15_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
+
+
 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
 PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */
 
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 88a6bebb81..e98c4d5489 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -660,7 +660,9 @@ int
 Sensors::parameters_update()
 {
 	bool rc_valid = true;
-
+    float tmpScaleFactor = 0.0f;
+    float tmpRevFactor = 0.0f;
+    
 	/* rc values */
 	for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
 
@@ -670,18 +672,21 @@ Sensors::parameters_update()
 		param_get(_parameter_handles.rev[i], &(_parameters.rev[i]));
 		param_get(_parameter_handles.dz[i], &(_parameters.dz[i]));
 
-		_parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
-
+		tmpScaleFactor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
+		tmpRevFactor = tmpScaleFactor * _parameters.rev[i];
+        
 		/* handle blowup in the scaling factor calculation */
-		if (!isfinite(_parameters.scaling_factor[i]) ||
-		    _parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
-		    _parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
-			warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, _parameters.scaling_factor[i], (int)(_parameters.rev[i]));
+		if (!isfinite(tmpScaleFactor) ||
+		    (tmpRevFactor < 0.000001f) ||
+		    (tmpRevFactor > 0.2f) ) {
+			warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
 			/* scaling factors do not make sense, lock them down */
-			_parameters.scaling_factor[i] = 0;
+			_parameters.scaling_factor[i] = 0.0f;
 			rc_valid = false;
 		}
-
+        else {
+            _parameters.scaling_factor[i] = tmpScaleFactor;
+        }
 	}
 
 	/* handle wrong values */