diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index c1f8380e6a..8fa41e1502 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -306,9 +306,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 				q[0] =  1e1f;
 				q[1] =  1e1f;
 				q[2] =  1e1f;
-				q[3] =  1e-6f;
-				q[4] =  1e-6f;
-				q[5] =  1e-6f;
+				/* process noise gyro offset covariance */
+				q[3] =  1e-4f;
+				q[4] =  1e-4f;
+				q[5] =  1e-4f;
 				q[6] =  1e-1f;
 				q[7] =  1e-1f;
 				q[8] =  1e-1f;
@@ -347,6 +348,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 				continue;
 			}
 
+			dt = 0.004f;
+
 			uint64_t timing_start = hrt_absolute_time();
 			// attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler,
 			// 	Rot_matrix, x_aposteriori, P_aposteriori);
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 117387f369..3b1d2d0735 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -1708,9 +1708,9 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
 		/* 50 Hz / 20 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30);
 		/* 20 Hz / 50 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);