diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 6f4e1f3b56..88077c67f0 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -326,7 +326,7 @@ then
 		if [ $OUTPUT_MODE == hil ]
 		then
 			echo "[init] Use HIL as primary output"
-			if hil mode_pwm
+			if hil mode_port2_pwm8
 			then
 				echo "[init] HIL output started"
 			else
@@ -403,6 +403,16 @@ then
 		fi
 	fi
 	
+	#
+	# Start the datamanager
+	#
+	dataman start
+	
+	#
+	# Start the navigator
+	#
+	navigator start
+	
 	#
 	# Sensors, Logging, GPS
 	#
@@ -467,15 +477,15 @@ then
 			# Use mixer to detect vehicle type
 			if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ]
 			then
-				param set MAV_TYPE 13
+				set MAV_TYPE 13
 			fi
 			if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ]
 			then
-				param set MAV_TYPE 14
+				set MAV_TYPE 14
 			fi
 			if [ $MIXER == FMU_octo_cox ]
 			then
-				param set MAV_TYPE 14
+				set MAV_TYPE 14
 			fi
 		fi
 
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 9c5e62be7a..e6b7ef93d8 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1,6 +1,10 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *           @author Jean Cyr <jean.m.cyr@gmail.com>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,18 +35,16 @@
  *
  ****************************************************************************/
 /**
- * @file navigator_main.cpp
+ * @file navigator_main.c
  * Implementation of the main navigation state machine.
  *
  * Handles missions, geo fencing and failsafe navigation behavior.
  * Published the mission item triplet for the position controller.
  *
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Jean Cyr <jean.m.cyr@gmail.com>
- * @author Anton Babushkin <anton.babushkin@me.com>
- * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Lorenz Meier <lm@inf.ethz.ch>
- * 
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <nuttx/config.h>
@@ -349,11 +351,11 @@ private:
 namespace navigator
 {
 
-// /* oddly, ERROR is not defined for c++ */
-// #ifdef ERROR
-// # undef ERROR
-// #endif
-// static const int ERROR = -1;
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
 
 Navigator	*g_navigator;
 }