diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index e180542faf..dea5095dd0 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -176,14 +176,14 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, bool checkAcc, bo
 	if (checkAcc) {
 		if (sensors.accel_inconsistency_m_s_s > test_limit) {
 			if (report_status) {
-				mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL SENSORS INCONSISTENT - CHECK CALIBRATION");
+				mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCELS INCONSISTENT - CHECK CAL");
 			}
 			success = false;
 			goto out;
 
 		} else if (sensors.accel_inconsistency_m_s_s > test_limit * 0.5f) {
 			if (report_status) {
-				mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: ACCEL SENSORS INCONSISTENT - CHECK CALIBRATION");
+				mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: ACCELS INCONSISTENT - CHECK CAL");
 
 			}
 		}
@@ -193,14 +193,14 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, bool checkAcc, bo
 	if (checkGyro) {
 		if (sensors.gyro_inconsistency_rad_s > test_limit) {
 			if (report_status) {
-				mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO SENSORS INCONSISTENT - CHECK CALIBRATION");
+				mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYROS INCONSISTENT - CHECK CAL");
 			}
 			success = false;
 			goto out;
 
 		} else if (sensors.gyro_inconsistency_rad_s > test_limit * 0.5f) {
 			if (report_status) {
-				mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: GYRO SENSORS INCONSISTENT - CHECK CALIBRATION");
+				mavlink_log_info(mavlink_log_pub, "PREFLIGHT ADVICE: GYROS INCONSISTENT - CHECK CAL");
 
 			}
 		}
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index fa0ee0fd01..509e3a8000 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -581,4 +581,4 @@ PARAM_DEFINE_FLOAT(COM_ARM_IMU_ACC, 0.7f);
  * @decimal 3
  * @increment 0.01
  */
-PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.09f);
+PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.15f);