diff --git a/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile b/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
index 6202acf1b8..bb342a5c3e 100644
--- a/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
+++ b/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
@@ -11,6 +11,9 @@ endif
 
 
 ifeq ($(NORADIO), False)
+ifdef (RADIO_CONTROL_DATALINK_LED)
+  ap.CFLAGS += -D(RADIO_CONTROL_DATALINK_LED=$((RADIO_CONTROL_DATALINK_LED)
+endif
   $(TARGET).CFLAGS += -DRADIO_CONTROL
   $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
   $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
diff --git a/conf/autopilot/subsystems/shared/radio_control_ppm.makefile b/conf/autopilot/subsystems/shared/radio_control_ppm.makefile
index 6b2fdeab88..41b7f90729 100644
--- a/conf/autopilot/subsystems/shared/radio_control_ppm.makefile
+++ b/conf/autopilot/subsystems/shared/radio_control_ppm.makefile
@@ -12,7 +12,7 @@ endif
 
 ifeq ($(NORADIO), False)
   $(TARGET).CFLAGS	+= -DRADIO_CONTROL
-  ifdef RADIO_CONTROL_LED
+  ifneq ($(RADIO_CONTROL_LED),none)
     ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
   endif
   $(TARGET).CFLAGS 	+= -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
diff --git a/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile b/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile
index ae53bd7a26..192a21c376 100644
--- a/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile
+++ b/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile
@@ -10,7 +10,7 @@ ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
 ifeq ($(ARCH), lpc21)
 ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
 endif
-ifdef RADIO_CONTROL_LED
+ifneq ($(RADIO_CONTROL_LED),none)
 ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 endif
 ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
diff --git a/conf/boards/classix.makefile b/conf/boards/classix.makefile
index 79002ad107..055ec54e92 100644
--- a/conf/boards/classix.makefile
+++ b/conf/boards/classix.makefile
@@ -24,6 +24,7 @@ LPC21ISP_XTAL = 12000
 ### default settings for classix
 GPS_BAUD = B38400
 GPS_LED = none
+RADIO_CONTROL_LED = none
 
 # All targets on the TINY board run on the same processor achitecture
 $(TARGET).ARCHDIR = $(ARCH)
diff --git a/conf/boards/hb_1.1.makefile b/conf/boards/hb_1.1.makefile
index b8d0c3ae0a..4c2a8c8525 100644
--- a/conf/boards/hb_1.1.makefile
+++ b/conf/boards/hb_1.1.makefile
@@ -37,6 +37,7 @@ GPS_BAUD = B38400
 endif
 
 GPS_LED     = 2
+RADIO_CONTROL_LED = none
 
 ifndef ADC_IR1
 ADC_IR1      = 1
diff --git a/conf/boards/tiny_2.11.makefile b/conf/boards/tiny_2.11.makefile
index fd92507e9a..706ebf8154 100644
--- a/conf/boards/tiny_2.11.makefile
+++ b/conf/boards/tiny_2.11.makefile
@@ -36,6 +36,8 @@ ifndef MODEM_BAUD
 MODEM_BAUD 	= B57600
 endif
 
+RADIO_CONTROL_LED = none
+
 ADC_IR_TOP = ADC_0
 ADC_IR1 = ADC_1
 ADC_IR2 = ADC_2
diff --git a/conf/boards/umarim_1.0.makefile b/conf/boards/umarim_1.0.makefile
index 793cc91778..3ebc16dbcd 100644
--- a/conf/boards/umarim_1.0.makefile
+++ b/conf/boards/umarim_1.0.makefile
@@ -29,6 +29,8 @@ GPS_BAUD	= B38400
 endif
 GPS_LED     = 2
 
+RADIO_CONTROL_LED = none
+
 ifndef MODEM_PORT
 MODEM_PORT	= UART1
 endif
diff --git a/sw/airborne/firmwares/fixedwing/datalink.c b/sw/airborne/firmwares/fixedwing/datalink.c
index 106156e564..bbd43d3eb1 100644
--- a/sw/airborne/firmwares/fixedwing/datalink.c
+++ b/sw/airborne/firmwares/fixedwing/datalink.c
@@ -187,14 +187,18 @@ void dl_parse_msg(void) {
 #endif // USE_JOYSTICK
 #if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
     if (msg_id == DL_RC_3CH /*&& DL_RC_3CH_ac_id(dl_buffer) == TX_ID*/) {
-LED_TOGGLE(3);
+#ifdef RADIO_CONTROL_DATALINK_LED
+      LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
+#endif
       parse_rc_3ch_datalink(
           DL_RC_3CH_throttle_mode(dl_buffer),
           DL_RC_3CH_roll(dl_buffer),
           DL_RC_3CH_pitch(dl_buffer));
     } else
     if (msg_id == DL_RC_4CH && DL_RC_4CH_ac_id(dl_buffer) == AC_ID) {
-LED_TOGGLE(3);
+#ifdef RADIO_CONTROL_DATALINK_LED
+      LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
+#endif
       parse_rc_4ch_datalink(
           DL_RC_4CH_mode(dl_buffer),
           DL_RC_4CH_throttle(dl_buffer),
diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/subsystems/gps/gps_mtk.c
index aaa96859e6..79a157db86 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.c
+++ b/sw/airborne/subsystems/gps/gps_mtk.c
@@ -386,6 +386,8 @@ static bool_t user_gps_configure(bool_t cpt) {
   case 1:
     MtkSend_CFG(MTK_DIY_OUTPUT_RATE);
     return FALSE;
+  default:
+    break;
   }
   return TRUE; /* Continue, except for the last case */
 }
diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c
index d25b367a84..c5b87519bf 100644
--- a/sw/airborne/subsystems/ins.c
+++ b/sw/airborne/subsystems/ins.c
@@ -91,16 +91,16 @@ void ins_init() {
   ins_ltp_initialised = TRUE;
 
   /** FIXME: should use the same code than MOVE_WP in firmwares/rotorcraft/datalink.c */
-  struct LlaCoor_i llh; /* Height above the ellipsoid */
-  llh.lat = INT32_RAD_OF_DEG(NAV_LAT0);
-  llh.lon = INT32_RAD_OF_DEG(NAV_LON0);
+  struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
+  llh_nav0.lat = INT32_RAD_OF_DEG(NAV_LAT0);
+  llh_nav0.lon = INT32_RAD_OF_DEG(NAV_LON0);
   /* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
-  llh.alt = NAV_ALT0 + NAV_MSL0;
+  llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
 
-  struct EcefCoor_i nav_init;
-  ecef_of_lla_i(&nav_init, &llh);
+  struct EcefCoor_i ecef_nav0;
+  ecef_of_lla_i(&ecef_nav0, &llh_nav0);
 
-  ltp_def_from_ecef_i(&ins_ltp_def, &nav_init);
+  ltp_def_from_ecef_i(&ins_ltp_def, &ecef_nav0);
   ins_ltp_def.hmsl = NAV_ALT0;
 #else
   ins_ltp_initialised  = FALSE;