diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS
index 33f63ca873..7b8d513386 100755
--- a/ROMFS/scripts/rcS
+++ b/ROMFS/scripts/rcS
@@ -18,7 +18,7 @@
 # can change this to prevent automatic startup of the flight script.
 #
 set MODE autostart
-set USB no
+set USB autoconnect
 
 #
 # Try to mount the microSD card.
@@ -46,11 +46,16 @@ fi
 #
 # Check for USB host
 #
-if sercon
+if [ $USB != autoconnect ]
 then
-	echo "[init] USB interface connected"
+	echo "[init] not connecting USB"
 else
-	echo "[init] No USB connected"
+	if sercon
+	then
+		echo "[init] USB interface connected"
+	else
+		echo "[init] No USB connected"
+	fi
 fi
 
 #
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c
index 6a06a786f1..ef8ff798f1 100644
--- a/apps/sensors/sensors.c
+++ b/apps/sensors/sensors.c
@@ -514,6 +514,7 @@ int sensors_thread_main(int argc, char *argv[])
 				mag_offset[1] = global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_YOFFSET];
 				mag_offset[2] = global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_ZOFFSET];
 
+
 				paramcounter = 0;
 			}
 
@@ -565,7 +566,7 @@ int sensors_thread_main(int argc, char *argv[])
 			if (ret_accelerometer != sizeof(buf_accelerometer)) {
 				acc_fail_count++;
 
-				if (acc_fail_count & 0b1000 || (acc_fail_count > 20 && acc_fail_count < 100)) {
+				if (acc_fail_count & 0b111 || (acc_fail_count > 20 && acc_fail_count < 100)) {
 					fprintf(stderr, "[sensors] BMA180 ERROR #%d: %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
 				}
 
@@ -618,7 +619,7 @@ int sensors_thread_main(int argc, char *argv[])
 				if (ret_magnetometer != sizeof(buf_magnetometer)) {
 					mag_fail_count++;
 
-					if (mag_fail_count & 0b1000 || (mag_fail_count > 20 && mag_fail_count < 100)) {
+					if (mag_fail_count & 0b111 || (mag_fail_count > 20 && mag_fail_count < 100)) {
 						fprintf(stderr, "[sensors] HMC5883L ERROR #%d: %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
 					}
 
diff --git a/apps/uORB/Makefile b/apps/uORB/Makefile
index 0766a66eb0..64ba52e9c5 100644
--- a/apps/uORB/Makefile
+++ b/apps/uORB/Makefile
@@ -37,6 +37,6 @@
 
 APPNAME		 = uorb
 PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk