diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 4be13a5f34..756287dd81 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -361,11 +361,14 @@ GPS::task_main()
 				_report_gps_pos.timestamp_variance = hrt_absolute_time();
 				_report_gps_pos.timestamp_velocity = hrt_absolute_time();
 				_report_gps_pos.timestamp_time = hrt_absolute_time();
-				if (_report_gps_pos_pub != nullptr) {
-					orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
 
-				} else {
-					_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
+				if (!(_pub_blocked)) {
+					if (_report_gps_pos_pub != nullptr) {
+						orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
+
+					} else {
+						_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
+					}
 				}
 
 				// GPS is obviously detected successfully, reset statistics
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 6adf66356a..4e3da6c7c0 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1007,7 +1007,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 		 * which makes the corner positions unreachable.
 		 * scale yaw up and clip it to overcome this.
 		 */
-		rc.values[2] = man.r / 1.5f + 1500;
+		rc.values[2] = man.r / 1.2f + 1500;
 		if (rc.values[2] > 2000) {
 			rc.values[2] = 2000;
 		} else if (rc.values[2] < 1000) {