diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp
index 918dfd9df8..38cdb6ca01 100644
--- a/apps/examples/kalman_demo/KalmanNav.cpp
+++ b/apps/examples/kalman_demo/KalmanNav.cpp
@@ -239,9 +239,10 @@ void KalmanNav::update()
 	}
 
 	// output
-	if (newTimeStamp - _outTimeStamp > 1e6) { // 1 Hz
+	if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
 		_outTimeStamp = newTimeStamp;
-		printf("nav: %4d Hz, misses fast: %4d slow: %4d\n", _navFrames, _missFast, _missSlow);
+		printf("nav: %4d Hz, misses fast: %4d slow: %4d\n",
+				_navFrames/10, _missFast/10, _missSlow/10);
 		_navFrames = 0;
 		_missFast = 0;
 		_missSlow = 0;
@@ -616,6 +617,9 @@ void KalmanNav::correctAtt()
 void KalmanNav::correctPos()
 {
 	using namespace math;
+
+	if (!_positionInitialized) return;
+
 	Vector y(5);
 	y(0) = _gps.vel_n - vN;
 	y(1) = _gps.vel_e - vE;
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
index fa63c419f0..0b63c30a4a 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/apps/mavlink/mavlink_receiver.c
@@ -367,8 +367,8 @@ handle_message(mavlink_message_t *msg)
 			hil_frames += 1 ;
 
 			// output
-			if ((timestamp - old_timestamp) > 1000000) {
-				printf("receiving hil imu at %d hz\n", hil_frames);
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil imu at %d hz\n", hil_frames/10);
 				old_timestamp = timestamp;
 				hil_frames = 0;
 			}
@@ -412,8 +412,8 @@ handle_message(mavlink_message_t *msg)
 			hil_frames += 1 ;
 
 			// output
-			if ((timestamp - old_timestamp) > 1000000) {
-				printf("receiving hil gps at %d hz\n", hil_frames);
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil gps at %d hz\n", hil_frames/10);
 				old_timestamp = timestamp;
 				hil_frames = 0;
 			}
@@ -454,8 +454,8 @@ handle_message(mavlink_message_t *msg)
 			hil_frames += 1 ;
 
 			// output
-			if ((timestamp - old_timestamp) > 1000000) {
-				printf("receiving hil pressure at %d hz\n", hil_frames);
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil pressure at %d hz\n", hil_frames/10);
 				old_timestamp = timestamp;
 				hil_frames = 0;
 			}