diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 098c23a9d6..3673b92471 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -717,19 +717,19 @@ then
 		tone_alarm error
 	fi
 
-	# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
-	mavlink boot_complete
-
-	if [ $EXIT_ON_END == yes ]
-	then
-		echo "Exit from nsh"
-		exit
-	fi
-	unset EXIT_ON_END
-
 # End of autostart
 fi
 
+# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
+mavlink boot_complete
+
+if [ $EXIT_ON_END == yes ]
+then
+	echo "Exit from nsh"
+	exit
+fi
+unset EXIT_ON_END
+
 # There is no further processing, so we can free some RAM
 # XXX potentially unset all script variables.
 unset TUNE_ERR
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index bb310dbff5..4b436072ba 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -80,10 +80,6 @@
 #	to the directory 'build' under the directory containing the
 #	parent Makefile.
 #
-# ROMFS_ROOT:
-#	If set to the path to a directory, a ROMFS image will be generated
-#	containing the files under the directory and linked into the final
-#	image.
 #
 # MODULE_SEARCH_DIRS:
 #	Extra directories to search first for MODULES before looking in the
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 88191c5975..478bb85b73 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1355,10 +1355,15 @@ int commander_thread_main(int argc, char *argv[])
 				orb_copy(telemetry_status_orb_id[i], telemetry_subs[i], &telemetry);
 
 				/* perform system checks when new telemetry link connected */
-				if (mavlink_fd &&
-				    telemetry_last_heartbeat[i] == 0 &&
+				if (
+				    /* we actually have a way to talk to the user */
+				    mavlink_fd &&
+				    /* we first connect a link or re-connect a link after loosing it */
+				    (telemetry_last_heartbeat[i] == 0 || (hrt_elapsed_time(&telemetry_last_heartbeat[i]) > 3 * 1000 * 1000)) &&
+				    /* and this link has a communication partner */
 				    telemetry.heartbeat_time > 0 &&
-				    hrt_elapsed_time(&telemetry.heartbeat_time) < datalink_loss_timeout * 1e6) {
+				    /* and the system is not already armed (and potentially flying) */
+				    !armed.armed) {
 
 				    	bool chAirspeed = false;
 					/* Perform airspeed check only if circuit breaker is not
@@ -1830,7 +1835,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			} else {
 				if (status.rc_signal_lost) {
-					mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",
+					mavlink_log_info(mavlink_fd, "RC SIGNAL REGAINED after %llums",
 							     (hrt_absolute_time() - status.rc_signal_lost_timestamp) / 1000);
 					status_changed = true;
 				}
@@ -1957,7 +1962,7 @@ int commander_thread_main(int argc, char *argv[])
 
 					/* only report a regain */
 					if (telemetry_last_dl_loss[i] > 0) {
-						mavlink_and_console_log_critical(mavlink_fd, "data link #%i regained", i);
+						mavlink_and_console_log_info(mavlink_fd, "data link #%i regained", i);
 					}
 
 					telemetry_lost[i] = false;
@@ -1975,7 +1980,7 @@ int commander_thread_main(int argc, char *argv[])
 					/* only reset the timestamp to a different time on state change */
 					telemetry_last_dl_loss[i]  = hrt_absolute_time();
 
-					mavlink_and_console_log_critical(mavlink_fd, "data link #%i lost", i);
+					mavlink_and_console_log_info(mavlink_fd, "data link #%i lost", i);
 					telemetry_lost[i] = true;
 				}
 			}
@@ -1990,7 +1995,9 @@ int commander_thread_main(int argc, char *argv[])
 
 		} else {
 			if (!status.data_link_lost) {
-				mavlink_and_console_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
+				if (armed.armed) {
+					mavlink_and_console_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
+				}
 				status.data_link_lost = true;
 				status.data_link_lost_counter++;
 				status_changed = true;
@@ -2986,6 +2993,21 @@ void *commander_low_prio_loop(void *arg)
 								mavlink_log_critical(mavlink_fd, "ERROR: %s", strerror(ret));
 							}
 
+							answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
+						}
+					} else if (((int)(cmd.param1)) == 2) {
+
+						/* reset parameters and save empty file */
+						param_reset_all();
+						int ret = param_save_default();
+
+						if (ret == OK) {
+							/* do not spam MAVLink, but provide the answer / green led mechanism */
+							mavlink_log_critical(mavlink_fd, "onboard parameters reset");
+							answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
+
+						} else {
+							mavlink_log_critical(mavlink_fd, "param reset error");
 							answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
 						}
 					}
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 8901dd0672..dd8951dae8 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1389,6 +1389,9 @@ Mavlink::update_rate_mult()
 			/* limit to a max multiplier of 1 */
 			hardware_mult = fminf(1.0f, hardware_mult);
 		}
+	} else {
+		/* no limitation, set hardware to 1 */
+		hardware_mult = 1.0f;
 	}
 
 	_last_hw_rate_timestamp = tstatus.timestamp;
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index 5690815322..11176728e7 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -68,8 +68,8 @@ nshterm_main(int argc, char *argv[])
     int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
     struct actuator_armed_s armed;
 
-    /* back off 800 ms to avoid running into the USB setup timing */
-    while (hrt_absolute_time() < 800U * 1000U) {
+    /* back off 1500 ms to avoid running into the USB setup timing */
+    while (hrt_absolute_time() < 1500U * 1000U) {
         usleep(50000);
     }