diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index a3db120584..bbb58285f0 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1002,7 +1002,7 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
         hacc * 1000,          // one-sigma standard deviation in mm
         vacc * 1000,          // one-sigma standard deviation in mm
         sacc * 1000,          // one-sigma standard deviation in mm/s
-        0, 0);                   // TODO one-sigma heading accuracy standard deviation
+        0);                   // TODO one-sigma heading accuracy standard deviation
 }
 
 #if GPS_MAX_RECEIVERS > 1
@@ -1032,7 +1032,7 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
         ground_course(1)*100, // 1/100 degrees,
         num_sats(1),
         state[1].rtk_num_sats,
-        state[1].rtk_age_ms, 0);
+        state[1].rtk_age_ms);
 }
 #endif // GPS_MAX_RECEIVERS
 
diff --git a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
index 109ccf6212..8245f5a4a5 100644
--- a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
@@ -249,6 +249,15 @@ void AP_GPS_UAVCAN::handle_fix_msg(const FixCb &cb)
     interim_state.last_gps_time_ms = AP_HAL::millis();
 
     _new_data = true;
+    if (!seen_message) {
+        if (interim_state.status == AP_GPS::GPS_Status::NO_GPS) {
+            // the first time we see a fix message we change from
+            // NO_GPS to NO_FIX, indicating to user that a UAVCAN GPS
+            // has been seen
+            interim_state.status = AP_GPS::GPS_Status::NO_FIX;
+        }
+        seen_message = true;
+    }
 }
 
 
diff --git a/libraries/AP_GPS/AP_GPS_UAVCAN.h b/libraries/AP_GPS/AP_GPS_UAVCAN.h
index f7b18310fd..a064254815 100644
--- a/libraries/AP_GPS/AP_GPS_UAVCAN.h
+++ b/libraries/AP_GPS/AP_GPS_UAVCAN.h
@@ -62,8 +62,6 @@ private:
     HAL_Semaphore sem;
 
     uint8_t _detected_module;
-    bool seen_message;
-
     bool seen_message;
     bool seen_fix2;
     bool seen_aux;
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 5aebf9b1be..d045179a86 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -23,7 +23,6 @@
 #include <AP_HAL/Util.h>
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
-#include <stdio.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH