diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index f71d1d655b..bacaeb3844 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -147,6 +147,8 @@ else
 
 		param dump $PARAM_FILE
 
+		hexdump $PARAM_FILE
+
 		if [ -d "/fs/microsd" ]
 		then
 			dmesg >> /fs/microsd/param_import_fail.txt &
diff --git a/boards/cuav/x7pro/nuttx-config/nsh/defconfig b/boards/cuav/x7pro/nuttx-config/nsh/defconfig
index 720cfbf338..5d2529958e 100644
--- a/boards/cuav/x7pro/nuttx-config/nsh/defconfig
+++ b/boards/cuav/x7pro/nuttx-config/nsh/defconfig
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
diff --git a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig
index 6470c318c1..56c765f5f0 100644
--- a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig
+++ b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
diff --git a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
index 78935afa45..cc9bed31c9 100644
--- a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
+++ b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
@@ -144,7 +144,6 @@ CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_BASENAME=y
 CONFIG_NSH_DISABLE_DIRNAME=y
 CONFIG_NSH_DISABLE_EXPORT=y
-CONFIG_NSH_DISABLE_HEXDUMP=y
 CONFIG_NSH_DISABLE_LOSETUP=y
 CONFIG_NSH_DISABLE_MKFIFO=y
 CONFIG_NSH_DISABLE_MKRD=y
diff --git a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
index fb85646a8d..9a9467d23f 100644
--- a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
diff --git a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
index 83df59eb0d..b916009aee 100644
--- a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
diff --git a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
index 05ee2ec9bb..16b6443c2d 100644
--- a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
diff --git a/boards/px4/fmu-v5/nuttx-config/debug/defconfig b/boards/px4/fmu-v5/nuttx-config/debug/defconfig
index ec4e61d5e3..28b2c3f665 100644
--- a/boards/px4/fmu-v5/nuttx-config/debug/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/debug/defconfig
@@ -18,6 +18,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
diff --git a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
index 937cd5ab8b..b47a5ccf60 100644
--- a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
@@ -18,6 +18,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
diff --git a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
index 94f4eca1bd..7eadb3c794 100644
--- a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
@@ -18,6 +18,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
diff --git a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
index 21b259b835..c242c9c835 100644
--- a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
@@ -17,11 +17,13 @@
 # CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_XD is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5x/nuttx-config"
diff --git a/platforms/common/shutdown.cpp b/platforms/common/shutdown.cpp
index 8e7c3d877d..4425c5aff4 100644
--- a/platforms/common/shutdown.cpp
+++ b/platforms/common/shutdown.cpp
@@ -67,6 +67,8 @@ static uint8_t shutdown_lock_counter = 0;
 
 int px4_shutdown_lock()
 {
+	printf("px4_shutdown_lock\n");
+
 	int ret = pthread_mutex_lock(&shutdown_mutex);
 
 	if (ret == 0) {
@@ -80,6 +82,8 @@ int px4_shutdown_lock()
 
 int px4_shutdown_unlock()
 {
+	printf("px4_shutdown_unlock\n");
+
 	int ret = pthread_mutex_lock(&shutdown_mutex);
 
 	if (ret == 0) {
diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx
index 0a5f0d0b6c..e8ee26be5a 160000
--- a/platforms/nuttx/NuttX/nuttx
+++ b/platforms/nuttx/NuttX/nuttx
@@ -1 +1 @@
-Subproject commit 0a5f0d0b6cd238ad824c594cf1183ed8d99daaff
+Subproject commit e8ee26be5a1db0c00824cb5178361c826a7d09c7
diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
index 417f4414ee..c4d73080b2 100644
--- a/src/lib/parameters/parameters.cpp
+++ b/src/lib/parameters/parameters.cpp
@@ -1212,7 +1212,10 @@ int param_save_default()
 				if (res == PX4_OK) {
 					// reopen file to verify
 					int fd_verify = ::open(filename, O_RDONLY, PX4_O_MODE_666);
-					res = param_verify(fd_verify);
+
+					// verify twice to be paranoid
+					res = param_verify(fd_verify) || lseek(fd_verify, 0, SEEK_SET) || param_verify(fd_verify);
+
 					::close(fd_verify);
 				}
 			}
@@ -1368,7 +1371,7 @@ static int param_verify_callback(bson_decoder_t decoder, bson_node_t node)
 
 static int param_verify(int fd)
 {
-	PX4_DEBUG("param_verify");
+	printf("\n\nparam_verify\n");
 
 	if (fd < 0) {
 		return -1;