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/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 00a0dcd619..60c902ce53 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -479,7 +479,8 @@ FixedwingAttitudeControl::task_main()
 
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_vcontrol_mode_sub, 200);
-	orb_set_interval(_att_sub, 100);
+	/* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */
+	orb_set_interval(_att_sub, 17);
 
 	parameters_update();