diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 8ce56eb640..c12d54850a 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -187,15 +187,15 @@ param set-default UXRCE_DDS_AG_IP 2130706433  # 127.0.0.1
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
-	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
+	COM_DL_LOSS_T_LONGER=$(awk -v s="$PX4_SIM_SPEED_FACTOR" 'BEGIN{print s*10}')
 	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
 	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
 
-	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1.0" | bc)
+	COM_RC_LOSS_T_LONGER=$(awk -v s="$PX4_SIM_SPEED_FACTOR" 'BEGIN{print s*1.0}')
 	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
 	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
 
-	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1.0" | bc)
+	COM_OF_LOSS_T_LONGER=$(awk -v s="$PX4_SIM_SPEED_FACTOR" 'BEGIN{print s*1.0}')
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
 fi
diff --git a/platforms/posix/src/px4/common/px4_daemon/client.cpp b/platforms/posix/src/px4/common/px4_daemon/client.cpp
index 8fca536096..7664b98629 100644
--- a/platforms/posix/src/px4/common/px4_daemon/client.cpp
+++ b/platforms/posix/src/px4/common/px4_daemon/client.cpp
@@ -318,7 +318,21 @@ Client::_listen()
 
 			PX4_ERR("unable to read from socket: WSA error = %d", wsa_err);
 #else
-			PX4_ERR("unable to read from socket");
+
+			// ECONNRESET / EPIPE can fire on AF_UNIX too if the daemon
+			// closes the socket between sending the {0, retval} sentinel
+			// and our recv() picking up the EOF. The bytes have already
+			// been delivered into our kernel buffer, so honour the
+			// sentinel rather than reporting a spurious socket error.
+			if (errno == ECONNRESET || errno == EPIPE) {
+				if (n_buffer_used == 2) {
+					return buffer[1];
+				}
+
+				return -1;
+			}
+
+			PX4_ERR("unable to read from socket: %s", strerror(errno));
 #endif
 			return -1;