diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index 37108d58bc..9d078b16b0 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -559,7 +559,7 @@ MavlinkFTP::_workRead(PayloadHeader *payload)
 		return kErrInvalidSession;
 	}
 
-	PX4_DEBUG("FTP: read offset:%" PRIu32, payload->offset);
+	PX4_DEBUG("FTP: read offset:%ld" PRIu32, payload->offset);
 
 	// We have to test seek past EOF ourselves, lseek will allow seek past EOF
 	if (payload->offset >= _session_info.file_size) {
@@ -567,7 +567,7 @@ MavlinkFTP::_workRead(PayloadHeader *payload)
 		return kErrEOF;
 	}
 
-	PX4_DEBUG("lseek with offset: %d", payload->offset);
+	PX4_DEBUG("lseek with offset: %ld", payload->offset);
 
 	if (lseek(_session_info.fd, payload->offset, SEEK_SET) < 0) {
 		_our_errno = errno;
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 5f5a971102..d9addd3d56 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -486,7 +486,7 @@ MavlinkMissionManager::send()
 
 			_current_seq = mission_result.seq_current;
 
-			PX4_DEBUG("WPM: got mission result, new current_seq: %u", _current_seq);
+			PX4_DEBUG("WPM: got mission result, new current_seq: %ld", _current_seq);
 
 			if (mission_result.seq_total > 0) {
 				if (mission_result.seq_current < mission_result.seq_total) {
@@ -505,7 +505,7 @@ MavlinkMissionManager::send()
 			_last_reached = mission_result.seq_reached;
 			_reached_sent_count = 0;
 
-			PX4_DEBUG("WPM: got mission result, new seq_reached: %d", _last_reached);
+			PX4_DEBUG("WPM: got mission result, new seq_reached: %ld", _last_reached);
 
 			if ((mission_result.seq_total > 0) && (_last_reached >= 0)) {
 				send_mission_item_reached((uint16_t)_last_reached);
@@ -551,7 +551,7 @@ MavlinkMissionManager::send()
 		events::send(events::ID("mavlink_mission_op_timeout"), events::Log::Error,
 			     "Operation timeout, aborting transfer");
 
-		PX4_DEBUG("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state);
+		PX4_DEBUG("WPM: Last operation (state=%d) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state);
 
 		switch_to_idle_state();
 
@@ -1054,7 +1054,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 	if (CHECK_SYSID_COMPID_MISSION(wp)) {
 
 		if (wp.mission_type != _mission_type) {
-			PX4_WARN("WPM: Unexpected mission type (%u %u)", (int)wp.mission_type, (int)_mission_type);
+			PX4_WARN("WPM: Unexpected mission type (%d %d)", (int)wp.mission_type, (int)_mission_type);
 			send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
 			return;
 		}
@@ -1219,7 +1219,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 
 		if (_transfer_seq == _transfer_count) {
 			/* got all new mission items successfully */
-			PX4_DEBUG("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE",
+			PX4_DEBUG("WPM: MISSION_ITEM got all %u items, current_seq=%ld, changing state to MAVLINK_WPM_STATE_IDLE",
 				  _transfer_count, _transfer_current_seq);
 
 			ret = 0;
diff --git a/src/modules/mavlink/streams/COMMAND_LONG.hpp b/src/modules/mavlink/streams/COMMAND_LONG.hpp
index f216c34810..e4bc46688b 100644
--- a/src/modules/mavlink/streams/COMMAND_LONG.hpp
+++ b/src/modules/mavlink/streams/COMMAND_LONG.hpp
@@ -84,13 +84,13 @@ private:
 								    && (cmd.source_component == cmd.target_component);
 
 				if (!cmd.from_external && !px4_internal_cmd && !target_system_internal) {
-					PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
+					PX4_DEBUG("sending command %ld to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
 
 					MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
 					sent = true;
 
 				} else {
-					PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
+					PX4_DEBUG("not forwarding command %ld to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
 				}
 			}
 		}
diff --git a/src/modules/mavlink/streams/STATUSTEXT.hpp b/src/modules/mavlink/streams/STATUSTEXT.hpp
index 6e33ec8e1a..3409a27ab3 100644
--- a/src/modules/mavlink/streams/STATUSTEXT.hpp
+++ b/src/modules/mavlink/streams/STATUSTEXT.hpp
@@ -81,7 +81,7 @@ private:
 
 						if (_mavlink_log_sub.get_last_generation() != (last_generation + 1)) {
 							perf_count(_missed_msg_count_perf);
-							PX4_DEBUG("channel %d has missed %d mavlink log messages", _mavlink->get_channel(),
+							PX4_DEBUG("channel %d has missed %lld mavlink log messages", _mavlink->get_channel(),
 								  perf_event_count(_missed_msg_count_perf));
 						}