diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 05657b03ef..f122921c56 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -176,7 +176,7 @@ then
 		tone_alarm MBABGP
 		if px4io forceupdate 14662 $io_file
 		then
-			usleep 200000
+			usleep 500000
 			if px4io start
 			then
 				echo "PX4IO restart OK"
@@ -186,7 +186,8 @@ then
 				echo "PX4IO restart failed"
 				echo "PX4IO restart failed" >> $logfile
 				tone_alarm MNGGG
-				sh /etc/init.d/rc.error
+				sleep 10
+				reboot
 			fi
 		else
 			echo "PX4IO update failed"
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 03f1dfbe58..6b87141e9d 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -60,7 +60,7 @@
 /**
  * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
  */
-#define RC_INPUT_MAX_CHANNELS	20
+#define RC_INPUT_MAX_CHANNELS	18
 
 /**
  * Input signal type, value is a control position from zero to 100
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
index b237b31be3..ad19966949 100644
--- a/src/systemcmds/esc_calib/esc_calib.c
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -148,6 +148,7 @@ esc_calib_main(int argc, char *argv[])
 
 		case 'l':
 			/* Read in custom low value */
+			pwm_low = strtoul(optarg, &ep, 0);
 			if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN)
 				usage("low PWM invalid");
 			break;