diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c
index 8a658b6230..b1655afd7a 100644
--- a/apps/gps/ubx.c
+++ b/apps/gps/ubx.c
@@ -781,6 +781,8 @@ void *ubx_watchdog_loop(void *args)
 		} else {
 			/* gps healthy */
 			ubx_success_count++;
+			ubx_healthy = true;
+			ubx_fail_count = 0;
 
 			if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
 				//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index 372b378d19..5a5bffca92 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -166,18 +166,17 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	if (motor_skip_counter % 2500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
-		printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p);
 	}
 
 	/* calculate current control outputs */
 	
 	/* control pitch (forward) output */
-	float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch-rates[1]);
+	float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch - rates[1]);
 	/* control roll (left/right) output */
-	float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0]  );
+	float roll_control = p.attrate_p * deltaT * (rate_sp->roll - rates[0]);
 
 	/* control yaw rate */
-	float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw-rates[2]  );
+	float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw - rates[2]);
 
 	actuators->control[0] = roll_control;
 	actuators->control[1] = pitch_control;
diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c
index e6f2f7e765..52316993e8 100644
--- a/apps/sensors/sensor_params.c
+++ b/apps/sensors/sensor_params.c
@@ -56,9 +56,9 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
 
-PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 0.0f);
-PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 0.0f);
-PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 0.0f);
+PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
 
 PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
 PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index 45934e800b..c2656217d4 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -236,11 +236,11 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SERIAL_CONSOLE_REINIT=y
 
-CONFIG_USART1_SERIAL_CONSOLE=n
+CONFIG_USART1_SERIAL_CONSOLE=y
 CONFIG_USART2_SERIAL_CONSOLE=n
 CONFIG_USART3_SERIAL_CONSOLE=n
 CONFIG_UART4_SERIAL_CONSOLE=n
-CONFIG_UART5_SERIAL_CONSOLE=y
+CONFIG_UART5_SERIAL_CONSOLE=n
 CONFIG_USART6_SERIAL_CONSOLE=n
 
 #Mavlink messages can be bigger than 128