diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index b13d564d62..9c784e98ed 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -47,7 +47,7 @@
 #include <math.h>
 #include <poll.h>
 #include <time.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 0766a3d40f..06890ed8b5 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -46,7 +46,7 @@
 #include <math.h>
 #include <poll.h>
 #include <time.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -194,6 +194,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		/* kill all outputs */
 		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
 			actuators.control[i] = 0.0f;
+
 		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 959628be95..7c17e70f31 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -47,7 +47,7 @@
 #include <math.h>
 #include <poll.h>
 #include <time.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 
@@ -178,6 +178,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		parameters_update(&h, &p);
 	}
 
+
 	/* Roll Rate (PI) */
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
 
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 278931e4a3..63ea1e5b4b 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -46,7 +46,7 @@
 #include <math.h>
 #include <poll.h>
 #include <time.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_global_position.h>