diff --git a/libraries/AP_HAL_PX4/AnalogIn.cpp b/libraries/AP_HAL_PX4/AnalogIn.cpp
index 64f584f375..4fb9cd58bb 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.cpp
+++ b/libraries/AP_HAL_PX4/AnalogIn.cpp
@@ -200,9 +200,9 @@ PX4AnalogIn::PX4AnalogIn() :
 
 void PX4AnalogIn::init(void* machtnichts)
 {
-	_adc_fd = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
+	_adc_fd = open(ADC0_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
     if (_adc_fd == -1) {
-        hal.scheduler->panic("Unable to open " ADC_DEVICE_PATH);
+        hal.scheduler->panic("Unable to open " ADC0_DEVICE_PATH);
 	}
     _battery_handle   = orb_subscribe(ORB_ID(battery_status));
     _servorail_handle = orb_subscribe(ORB_ID(servorail_status));
diff --git a/libraries/AP_HAL_PX4/GPIO.cpp b/libraries/AP_HAL_PX4/GPIO.cpp
index 7c2225eff4..f4f094d462 100644
--- a/libraries/AP_HAL_PX4/GPIO.cpp
+++ b/libraries/AP_HAL_PX4/GPIO.cpp
@@ -32,9 +32,9 @@ PX4GPIO::PX4GPIO()
 void PX4GPIO::init()
 {
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
-    _led_fd = open(LED_DEVICE_PATH, O_RDWR);
+    _led_fd = open(LED0_DEVICE_PATH, O_RDWR);
     if (_led_fd == -1) {
-        hal.scheduler->panic("Unable to open " LED_DEVICE_PATH);
+        hal.scheduler->panic("Unable to open " LED0_DEVICE_PATH);
     }
     if (ioctl(_led_fd, LED_OFF, LED_BLUE) != 0) {
         hal.console->printf("GPIO: Unable to setup GPIO LED BLUE\n");
@@ -43,9 +43,9 @@ void PX4GPIO::init()
          hal.console->printf("GPIO: Unable to setup GPIO LED RED\n");
     }
 #endif
-    _tone_alarm_fd = open("/dev/tone_alarm", O_WRONLY);
+    _tone_alarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
     if (_tone_alarm_fd == -1) {
-        hal.scheduler->panic("Unable to open /dev/tone_alarm");
+        hal.scheduler->panic("Unable to open " TONEALARM0_DEVICE_PATH);
     }
 
     _gpio_fmu_fd = open(PX4FMU_DEVICE_PATH, 0);
diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index a95d870b8b..102cf3cc8d 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -21,9 +21,9 @@ using namespace PX4;
 void PX4RCOutput::init(void* unused) 
 {
     _perf_rcout = perf_alloc(PC_ELAPSED, "APM_rcout");
-    _pwm_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
+    _pwm_fd = open(PWM_OUTPUT0_DEVICE_PATH, O_RDWR);
     if (_pwm_fd == -1) {
-        hal.scheduler->panic("Unable to open " PWM_OUTPUT_DEVICE_PATH);
+        hal.scheduler->panic("Unable to open " PWM_OUTPUT0_DEVICE_PATH);
     }
     if (ioctl(_pwm_fd, PWM_SERVO_ARM, 0) != 0) {
         hal.console->printf("RCOutput: Unable to setup IO arming\n");
@@ -41,7 +41,7 @@ void PX4RCOutput::init(void* unused)
         return;
     }
 
-	_pwm_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
+	_pwm_sub = orb_subscribe(ORB_ID(actuator_outputs));
 
     // mark number of outputs given by px4io as zero
     _outputs.noutputs = 0;
@@ -364,7 +364,7 @@ void PX4RCOutput::_timer_tick(void)
 update_pwm:
 	bool rc_updated = false;
 	if (_pwm_sub >= 0 && orb_check(_pwm_sub, &rc_updated) == 0 && rc_updated) {
-        orb_copy(ORB_ID_VEHICLE_CONTROLS, _pwm_sub, &_outputs);
+        orb_copy(ORB_ID(actuator_outputs), _pwm_sub, &_outputs);
 	}
 
 }