diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index e4a8b3c054..985e6ffd9d 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -389,18 +389,22 @@ class uploader(object):
                     self.otp_pid = self.otp[12:8:-1]
                     self.otp_coa = self.otp[32:160]
                     # show user:
-                    print("type: " + self.otp_id.decode('Latin-1'))
-                    print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
-                    print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
-                    print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
-                    print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
-                    print("sn: ", end='')
-                    for byte in range(0,12,4):
-                        x = self.__getSN(byte)
-                        x = x[::-1]  # reverse the bytes
-                        self.sn  = self.sn + x
-                        print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
-                    print('')
+                    try:
+                            print("type: " + self.otp_id.decode('Latin-1'))
+                            print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
+                            print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
+                            print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
+                            print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
+                            print("sn: ", end='')
+                            for byte in range(0,12,4):
+                                    x = self.__getSN(byte)
+                                    x = x[::-1]  # reverse the bytes
+                                    self.sn  = self.sn + x
+                                    print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
+                            print('')
+                    except Exception:
+                            # ignore bad character encodings
+                            pass
                 print("erase...")
                 self.__erase()
 
diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h
index cb5fd53a5f..147d7123a4 100644
--- a/src/drivers/drv_tone_alarm.h
+++ b/src/drivers/drv_tone_alarm.h
@@ -147,6 +147,7 @@ enum {
 	TONE_BATTERY_WARNING_SLOW_TUNE,
 	TONE_BATTERY_WARNING_FAST_TUNE,
 	TONE_GPS_WARNING_TUNE,
+	TONE_ARMING_FAILURE_TUNE,
 	TONE_NUMBER_OF_TUNES
 };
 
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 4c85c0cdaa..cb97354ecc 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -169,6 +169,8 @@ private:
 
 	int			_bus;			/**< the bus the device is connected to */
 
+	struct mag_report	_last_report;           /**< used for info() */
+
 	/**
 	 * Test whether the device supported by the driver is present at a
 	 * specific address.
@@ -870,6 +872,8 @@ HMC5883::collect()
 		}
 	}
 
+	_last_report = new_report;
+
 	/* post a report to the ring */
 	if (_reports->force(&new_report)) {
 		perf_count(_buffer_overflows);
@@ -1042,32 +1046,29 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 
 	warnx("axes scaling: %.6f  %.6f  %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
 
-	/* set back to normal mode */
-	/* Set to 1.1 Gauss */
-	if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
-		warnx("failed to set 1.1 Ga range");
-		goto out;
-	}
-
-	if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
-		warnx("failed to disable sensor calibration mode");
-		goto out;
-	}
-
 	/* set scaling in device */
 	mscale_previous.x_scale = scaling[0];
 	mscale_previous.y_scale = scaling[1];
 	mscale_previous.z_scale = scaling[2];
 
-	if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
-		warn("WARNING: failed to set new scale / offsets for mag");
-		goto out;
-	}
-
 	ret = OK;
 
 out:
 
+	if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
+		warn("WARNING: failed to set new scale / offsets for mag");
+	}
+
+	/* set back to normal mode */
+	/* Set to 1.1 Gauss */
+	if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
+		warnx("failed to set 1.1 Ga range");
+	}
+
+	if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
+		warnx("failed to disable sensor calibration mode");
+	}
+
 	if (ret == OK) {
 		if (!check_scale()) {
 			warnx("mag scale calibration successfully finished.");
@@ -1221,6 +1222,7 @@ HMC5883::print_info()
 	perf_print_counter(_comms_errors);
 	perf_print_counter(_buffer_overflows);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
+	printf("output  (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
 	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
 	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n", 
 	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index f36f2091e3..8ed0de58c6 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -334,6 +334,7 @@ ToneAlarm::ToneAlarm() :
 	_default_tunes[TONE_BATTERY_WARNING_SLOW_TUNE] = "MBNT100a8";					//battery warning slow
 	_default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8";	//battery warning fast
 	_default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#";					//gps warning slow
+	_default_tunes[TONE_ARMING_FAILURE_TUNE] = "MFT255L4<<<BAP";
 
 	_tune_names[TONE_STARTUP_TUNE] = "startup";			// startup tune
 	_tune_names[TONE_ERROR_TUNE] = "error";				// ERROR tone
@@ -344,6 +345,7 @@ ToneAlarm::ToneAlarm() :
 	_tune_names[TONE_BATTERY_WARNING_SLOW_TUNE] = "slow_bat";	// battery warning slow
 	_tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat";	// battery warning fast
 	_tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning";	            // gps warning
+	_tune_names[TONE_ARMING_FAILURE_TUNE] = "arming_failure";            //fail to arm
 }
 
 ToneAlarm::~ToneAlarm()
diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp
index 7ab06e85d3..c312173938 100644
--- a/src/modules/fw_att_pos_estimator/estimator.cpp
+++ b/src/modules/fw_att_pos_estimator/estimator.cpp
@@ -106,7 +106,22 @@ void swap_var(float &d1, float &d2)
     d2 = tmp;
 }
 
-AttPosEKF::AttPosEKF()
+AttPosEKF::AttPosEKF() :
+    fusionModeGPS(0),
+    covSkipCount(0),
+    EAS2TAS(1.0f),
+    statesInitialised(false),
+    fuseVelData(false),
+    fusePosData(false),
+    fuseHgtData(false),
+    fuseMagData(false),
+    fuseVtasData(false),
+    onGround(true),
+    staticMode(true),
+    useAirspeed(true),
+    useCompass(true),
+    numericalProtection(true),
+    storeIndex(0)
 {
 
 }
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h
index 7edb3c714f..e62f1a98a5 100644
--- a/src/modules/fw_att_pos_estimator/estimator.h
+++ b/src/modules/fw_att_pos_estimator/estimator.h
@@ -108,7 +108,7 @@ public:
     Vector3f dVelIMU;
     Vector3f dAngIMU;
     float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
-    uint8_t fusionModeGPS = 0; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
+    uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
     float innovVelPos[6]; // innovation output
     float varInnovVelPos[6]; // innovation variance output
 
@@ -127,8 +127,8 @@ public:
     float lonRef; // WGS-84 longitude of reference point (rad)
     float hgtRef; // WGS-84 height of reference point (m)
     Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
-    uint8_t covSkipCount = 0; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
-    float EAS2TAS = 1.0f; // ratio f true to equivalent airspeed
+    uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
+    float EAS2TAS; // ratio f true to equivalent airspeed
 
     // GPS input data variables
     float gpsCourse;
@@ -141,25 +141,25 @@ public:
     // Baro input
     float baroHgt;
 
-    bool statesInitialised = false;
+    bool statesInitialised;
 
-    bool fuseVelData = false; // this boolean causes the posNE and velNED obs to be fused
-    bool fusePosData = false; // this boolean causes the posNE and velNED obs to be fused
-    bool fuseHgtData = false; // this boolean causes the hgtMea obs to be fused
-    bool fuseMagData = false; // boolean true when magnetometer data is to be fused
-    bool fuseVtasData = false; // boolean true when airspeed data is to be fused
+    bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
+    bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
+    bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
+    bool fuseMagData; // boolean true when magnetometer data is to be fused
+    bool fuseVtasData; // boolean true when airspeed data is to be fused
 
-    bool onGround    = true;    ///< boolean true when the flight vehicle is on the ground (not flying)
-    bool staticMode  = true;    ///< boolean true if no position feedback is fused
-    bool useAirspeed = true;    ///< boolean true if airspeed data is being used
-    bool useCompass  = true;    ///< boolean true if magnetometer data is being used
+    bool onGround;    ///< boolean true when the flight vehicle is on the ground (not flying)
+    bool staticMode;    ///< boolean true if no position feedback is fused
+    bool useAirspeed;    ///< boolean true if airspeed data is being used
+    bool useCompass;    ///< boolean true if magnetometer data is being used
 
     struct ekf_status_report current_ekf_state;
     struct ekf_status_report last_ekf_error;
 
-    bool numericalProtection = true;
+    bool numericalProtection;
 
-    unsigned storeIndex = 0;
+    unsigned storeIndex;
 
 
 void  UpdateStrapdownEquationsNED();