diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 1ac3f907ae..653a410902 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -474,7 +474,7 @@ static int set_mavlink_interval_limit(int mavlink_msg_id, int min_interval)
 			break;
 		case MAVLINK_MSG_ID_ATTITUDE:
 			/* attitude sub triggers attitude */
-			orb_set_interval(att_sub, 100);
+			orb_set_interval(att_sub, min_interval);
 			break;
 		default:
 			/* not found */
@@ -527,6 +527,7 @@ static void *uorb_receiveloop(void *arg)
 	/* --- ATTITUDE VALUE --- */
 	/* subscribe to ORB for attitude */
 	att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	orb_set_interval(att_sub, 100);
 	fds[fdsc_count].fd = att_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
@@ -1324,17 +1325,17 @@ int mavlink_thread_main(int argc, char *argv[])
 
 	/* all subscriptions are now active, set up initial guess about rate limits */
 	if (baudrate >= 921600) {
-		/* set no limit */
 		/* 500 Hz / 2 ms */
-		//set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 2);
+		set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 2);
+		set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 2);
 	} else if (baudrate >= 460800) {
 		/* 250 Hz / 4 ms */
-		set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 4);
-		set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 4);
+		set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 5);
+		set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 5);
 	} else if (baudrate >= 115200) {
 		/* 50 Hz / 20 ms */
-		set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 20);
-		set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 20);
+		set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 50);
+		set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 50);
 	} else if (baudrate >= 57600) {
 		/* 10 Hz / 100 ms */
 		set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 100);
diff --git a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
index c917ff7b26..feaed66954 100644
--- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+++ b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
@@ -87,14 +87,14 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
 	gyro_values.z =  raw->gyro_rad_s[2];
 
 	float_vect3 accel_values;
-	accel_values.x = raw->accelerometer_m_s2[0] * 9.81f;
-	accel_values.y = raw->accelerometer_m_s2[1] * 9.81f;
-	accel_values.z = raw->accelerometer_m_s2[2] * 9.81f;
+	accel_values.x = raw->accelerometer_m_s2[0] * 9.81f * 9.0f;
+	accel_values.y = raw->accelerometer_m_s2[1] * 9.81f * 9.0f;
+	accel_values.z = raw->accelerometer_m_s2[2] * 9.81f * 9.0f;
 
 	float_vect3 mag_values;
-	mag_values.x = raw->magnetometer_ga[0]*100.0f;
-	mag_values.y = raw->magnetometer_ga[1]*100.0f;
-	mag_values.z = raw->magnetometer_ga[2]*100.0f;
+	mag_values.x = raw->magnetometer_ga[0]*510.0f;
+	mag_values.y = raw->magnetometer_ga[1]*510.0f;
+	mag_values.z = raw->magnetometer_ga[2]*510.0f;
 
 	attitude_blackmagic(&accel_values, &mag_values, &gyro_values);
 
diff --git a/apps/sensors/Makefile b/apps/sensors/Makefile
index 125839bb35..f8dc64ed13 100644
--- a/apps/sensors/Makefile
+++ b/apps/sensors/Makefile
@@ -37,6 +37,7 @@
 
 APPNAME		= sensors
 PRIORITY	= SCHED_PRIORITY_MAX-5
-STACKSIZE	= 4096
+# Reduce to 4096 on next occasion
+STACKSIZE	= 8000
 
 include $(APPDIR)/mk/app.mk