diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index bb729e1032..b519e0e7a1 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -1,5 +1,5 @@
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -125,7 +125,11 @@ ARCHWARNINGS		 = -Wall \
 			   -Wlogical-op \
 			   -Wmissing-declarations \
 			   -Wpacked \
-			   -Wno-unused-parameter
+			   -Wno-unused-parameter \
+			   -Werror=format-security \
+			   -Werror=array-bounds \
+			   -Wfatal-errors \
+			   -Wformat=1
 #   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
 #   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
 #   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
@@ -142,7 +146,8 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 
 # C++-specific warnings
 #
-ARCHWARNINGSXX		 = $(ARCHWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-missing-field-initializers
 
 # pull in *just* libm from the toolchain ... this is grody
 LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 705e98eea4..3cb9abc492 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -1015,7 +1015,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 
 	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
 		/* copy the current output value from the channel */
-		*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue;
+		*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_GET(0)].RawPwmValue;
 
 		break;
 
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 4154e3db4a..3ff3d99229 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -40,6 +40,7 @@
  */
 
 #include "attitude_estimator_ekf_params.h"
+#include <math.h>
 
 /* Extended Kalman Filter covariances */
 
@@ -113,6 +114,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->yaw_off, &(p->yaw_off));
 
 	param_get(h->mag_decl, &(p->mag_decl));
+	p->mag_decl *= M_PI / 180.0f;
 
 	param_get(h->acc_comp, &(p->acc_comp));
 
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
index 8031a311ed..ad8c1b4c00 100644
--- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -837,21 +837,21 @@ FixedwingEstimator::task_main()
 				case 1:
 				{
 					const char* str = "NaN in states, resetting";
-					warnx("%s%s", ekfname, str);
+					warnx("%s", str);
 					mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
 					break;
 				}
 				case 2:
 				{
 					const char* str = "stale IMU data, resetting";
-					warnx("%s%s", ekfname, str);
+					warnx("%s", str);
 					mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
 					break;
 				}
 				case 3:
 				{
 					const char* str = "switching to dynamic state";
-					warnx("%s%s", ekfname, str);
+					warnx("%s", str);
 					mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
 					break;
 				}
@@ -859,7 +859,7 @@ FixedwingEstimator::task_main()
 				default:
 				{
 					const char* str = "unknown reset condition";
-					warnx("%s%s", ekfname, str);
+					warnx("%s", str);
 					mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
 				}
 			}
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index a73599526a..5315c5e387 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -627,31 +627,31 @@ Sensors::parameters_update()
 
 	/* channel mapping */
 	if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
@@ -659,7 +659,7 @@ Sensors::parameters_update()
 	}
 
 	if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 //	if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
@@ -725,12 +725,12 @@ Sensors::parameters_update()
 
 	/* scaling of ADC ticks to battery voltage */
 	if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	/* scaling of ADC ticks to battery current */
 	if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 476015f3e3..e6d4b763be 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -121,7 +121,7 @@ do_device(int argc, char *argv[])
 				errx(ret,"uORB publications could not be unblocked");
 
 		} else {
-			errx("no valid command: %s", argv[1]);
+			errx(1, "no valid command: %s", argv[1]);
 		}
 	}