diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 0c2180a4d8..37d070718d 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1183,8 +1183,7 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
 			tstatus.heartbeat_time = tstatus.timestamp;
 
 			if (_telemetry_status_pub == nullptr) {
-				int multi_instance;
-				_telemetry_status_pub = orb_advertise_multi(ORB_ID(telemetry_status), &tstatus, &multi_instance, ORB_PRIO_HIGH);
+				_telemetry_status_pub = orb_advertise_multi(ORB_ID(telemetry_status), &tstatus, NULL, ORB_PRIO_HIGH);
 
 			} else {
 				orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
@@ -1837,8 +1836,10 @@ MavlinkReceiver::receive_thread(void *arg)
 				}
 			}
 
-			/* count received bytes */
-			_mavlink->count_rxbytes(nread);
+			/* count received bytes (nread will be -1 on read error) */
+			if (nread > 0) {
+				_mavlink->count_rxbytes(nread);
+			}
 		}
 	}
 
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 56db8b4c0a..449b9c059f 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -216,7 +216,7 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e
 	fclose(f);
 }
 #else
-#define write_debug_log(...) 
+#define write_debug_log(...)
 #endif
 
 /****************************************************************************
@@ -380,6 +380,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	orb_advert_t vehicle_global_position_pub = NULL;
 
 	struct position_estimator_inav_params params;
+	memset(&params, 0, sizeof(params));
 	struct position_estimator_inav_param_handles pos_inav_param_handles;
 	/* initialize parameter handles */
 	inav_parameters_init(&pos_inav_param_handles);
@@ -595,7 +596,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					flow_gyrospeed[0] = flow.gyro_x_rate_integral/(float)flow.integration_timespan*1000000.0f;
 					flow_gyrospeed[1] = flow.gyro_y_rate_integral/(float)flow.integration_timespan*1000000.0f;
 					flow_gyrospeed[2] = flow.gyro_z_rate_integral/(float)flow.integration_timespan*1000000.0f;
-					
+
 					//moving average
 					if (n_flow >= 100) {
 						gyro_offset_filtered[0] = flow_gyrospeed_filtered[0] - att_gyrospeed_filtered[0];
@@ -617,7 +618,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						att_gyrospeed_filtered[2] = (att.yawspeed + n_flow * att_gyrospeed_filtered[2]) / (n_flow + 1);
 						n_flow++;
 					}
-					
+
 
 					/*yaw compensation (flow sensor is not in center of rotation) -> params in QGC*/
 					yaw_comp[0] = params.flow_module_offset_x * (flow_gyrospeed[2] - gyro_offset_filtered[2]);
@@ -841,7 +842,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 						} else if (t > ref_init_start + ref_init_delay) {
 							ref_inited = true;
-							
+
 							/* set position estimate to (0, 0, 0), use GPS velocity for XY */
 							x_est[0] = 0.0f;
 							x_est[1] = gps.vel_n_m_s;
@@ -981,7 +982,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		/* use flow if it's valid and (accurate or no GPS available) */
 		bool use_flow = flow_valid && (flow_accurate || !use_gps_xy);
 
-		
+
 		bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow || use_vision_xy || use_mocap;
 
 		bool dist_bottom_valid = (t < lidar_valid_time + lidar_valid_timeout);
@@ -1147,7 +1148,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
 			write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev,
 										acc, corr_gps, w_xy_gps_p, w_xy_gps_v, corr_mocap, w_mocap_p,
-										corr_vision, w_xy_vision_p, w_z_vision_p, w_xy_vision_v);										
+										corr_vision, w_xy_vision_p, w_z_vision_p, w_xy_vision_v);
 			memcpy(z_est, z_est_prev, sizeof(z_est));
 			memset(corr_gps, 0, sizeof(corr_gps));
 			memset(corr_vision, 0, sizeof(corr_vision));
@@ -1274,7 +1275,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				buf_ptr = 0;
 			}
 
-			
+
 			/* publish local position */
 			local_pos.xy_valid = can_estimate_xy;
 			local_pos.v_xy_valid = can_estimate_xy;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 3fbbdc80ba..827f1be916 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -542,6 +542,7 @@ Sensors::Sensors() :
 
 	memset(&_rc, 0, sizeof(_rc));
 	memset(&_diff_pres, 0, sizeof(_diff_pres));
+	memset(&_parameters, 0, sizeof(_parameters));
 	memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));
 
 	/* basic r/c parameters */