diff --git a/src/modules/dataman/module.mk b/src/modules/dataman/module.mk
index 234607b3de..7ebe09fb7e 100644
--- a/src/modules/dataman/module.mk
+++ b/src/modules/dataman/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND	= dataman
 SRCS		= dataman.c
 
 MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION = -Os
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
index a5fb2117ea..4caa820b6e 100644
--- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
@@ -265,7 +265,7 @@ bool MavlinkFtpTest::_open_badfile_test(void)
 	MavlinkFTP::PayloadHeader		*reply;
 	const char				*dir = "/foo";	// non-existent file
 	
-	payload.opcode = MavlinkFTP::kCmdOpenFile;
+	payload.opcode = MavlinkFTP::kCmdOpenFileRO;
 	payload.offset = 0;
 	
 	bool success = _send_receive_msg(&payload,	// FTP payload header
@@ -295,7 +295,7 @@ bool MavlinkFtpTest::_open_terminate_test(void)
 		struct stat st;
 		const ReadTestCase *test = &_rgReadTestCases[i];
 		
-		payload.opcode = MavlinkFTP::kCmdOpenFile;
+		payload.opcode = MavlinkFTP::kCmdOpenFileRO;
 		payload.offset = 0;
 		
 		bool success = _send_receive_msg(&payload,		// FTP payload header
@@ -342,7 +342,7 @@ bool MavlinkFtpTest::_terminate_badsession_test(void)
 	MavlinkFTP::PayloadHeader		*reply;
 	const char				*file = _rgReadTestCases[0].file;
 	
-	payload.opcode = MavlinkFTP::kCmdOpenFile;
+	payload.opcode = MavlinkFTP::kCmdOpenFileRO;
 	payload.offset = 0;
 	
 	bool success = _send_receive_msg(&payload,	// FTP payload header
@@ -400,7 +400,7 @@ bool MavlinkFtpTest::_read_test(void)
 		// Test case data files are created for specific boundary conditions
 		ut_compare("Test case data files are out of date", test->length, st.st_size);
 		
-		payload.opcode = MavlinkFTP::kCmdOpenFile;
+		payload.opcode = MavlinkFTP::kCmdOpenFileRO;
 		payload.offset = 0;
 		
 		bool success = _send_receive_msg(&payload,		// FTP payload header
@@ -463,7 +463,7 @@ bool MavlinkFtpTest::_read_badsession_test(void)
 	MavlinkFTP::PayloadHeader		*reply;
 	const char				*file = _rgReadTestCases[0].file;
 	
-	payload.opcode = MavlinkFTP::kCmdOpenFile;
+	payload.opcode = MavlinkFTP::kCmdOpenFileRO;
 	payload.offset = 0;
 	
 	bool success = _send_receive_msg(&payload,	// FTP payload header
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index b5926df815..7fac69a611 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -234,7 +234,7 @@ Mission::update_offboard_mission()
 		_current_offboard_mission_index = 0;
 	}
 
-	report_current_offboard_mission_item();
+	set_current_offboard_mission_item();
 }
 
 
@@ -396,7 +396,7 @@ Mission::set_mission_items()
 		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
 
 		reset_mission_item_reached();
-		report_mission_finished();
+		set_mission_finished();
 
 		_navigator->set_position_setpoint_triplet_updated();
 		return;
@@ -476,7 +476,7 @@ Mission::set_mission_items()
 	reset_mission_item_reached();
 
 	if (_mission_type == MISSION_TYPE_OFFBOARD) {
-		report_current_offboard_mission_item();
+		set_current_offboard_mission_item();
 	}
 	// TODO: report onboard mission item somehow
 
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index f0900da8b9..72dc2815ce 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -62,3 +62,5 @@ INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 MODULE_STACKSIZE = 1200
 
 EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION = -Os