diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 9b2cfcbba8..9c39b2714f 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -714,7 +714,7 @@ int mavlink_thread_main(int argc, char *argv[])
 static void
 usage()
 {
-	fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>] [-e] [-o]\n"
+	fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
 			"       mavlink stop\n"
 			"       mavlink status\n");
 	exit(1);
@@ -723,8 +723,10 @@ usage()
 int mavlink_main(int argc, char *argv[])
 {
 
-	if (argc < 1)
-		errx(1, "missing command");
+	if (argc < 2) {
+		warnx("missing command");
+		usage();
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
@@ -759,6 +761,9 @@ int mavlink_main(int argc, char *argv[])
 		}
 	}
 
-	errx(1, "unrecognized command");
+	warnx("unrecognized command");
+	usage();
+	/* not getting here */
+	return 0;
 }
 
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index d5e20312b5..bbaec30330 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -55,14 +55,14 @@
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
 PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
 //PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
 //PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
 
-PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */
-PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */
+PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
 PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
 //PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
 //PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f);	/**< roughly < 500 deg/s limit */
diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c
index fd8a6602ac..cc74ae705d 100644
--- a/apps/sensors/sensor_params.c
+++ b/apps/sensors/sensor_params.c
@@ -52,9 +52,9 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
 
-PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 0.0f);
-PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 0.0f);
-PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 0.0f);
+PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f);
 
 PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
index 84ba809a31..afb7eca29c 100644
--- a/apps/systemlib/systemlib.c
+++ b/apps/systemlib/systemlib.c
@@ -50,26 +50,6 @@
 
 #include "systemlib.h"
 
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-const struct __multiport_info multiport_info = {
-	.port_names = {"MULT_0_US2_RXTX", "MULT_1_US2_FLOW", "MULT_2_GPIO_12"}
-};
-
-#define EEPROM_OFFSET 64
-
-#define EEPROM_PARAM_MAGIC_BYTE 0xAF
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
 static void kill_task(FAR _TCB *tcb, FAR void *arg);
 
 void killall()