diff --git a/ground/src/plugins/pfd/pfdgadgetwidget.cpp b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
index a05f642e5..079a206b5 100644
--- a/ground/src/plugins/pfd/pfdgadgetwidget.cpp
+++ b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
@@ -256,6 +256,8 @@ void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
         // to it. That way you always get the "shorter difference" to turn in."
         double fac = compassBandWidth/540;
         headingTarget = yawField->getDouble()*(-fac);
+        if (headingTarget != headingTarget)
+            headingTarget = headingValue; // NaN checking.
         if ((headingValue - headingTarget)/fac > 180) {
             headingTarget += 360*fac;
         } else if (((headingValue - headingTarget)/fac < -180)) {
diff --git a/ground/src/plugins/uploader/op_dfu.cpp b/ground/src/plugins/uploader/op_dfu.cpp
index c6060df36..8251275b7 100644
--- a/ground/src/plugins/uploader/op_dfu.cpp
+++ b/ground/src/plugins/uploader/op_dfu.cpp
@@ -248,9 +248,9 @@ bool DFUObject::UploadData(qint32 const & numberOfBytes, QByteArray  & data)
         //        }
         // qDebug()<<" Data0="<<(int)data[0]<<" Data0="<<(int)data[1]<<" Data0="<<(int)data[2]<<" Data0="<<(int)data[3]<<" buf6="<<(int)buf[6]<<" buf7="<<(int)buf[7]<<" buf8="<<(int)buf[8]<<" buf9="<<(int)buf[9];
         //delay::msleep(send_delay);
-        if(StatusRequest()!=OP_DFU::uploading) return false;
+
+        //if(StatusRequest()!=OP_DFU::uploading) return false;
         int result = sendData(buf, BUF_LEN);
-        //int result = hidHandle.send(0,buf, BUF_LEN, 5000);
      //   qDebug()<<"sent:"<<result;
         if(result<1)
         {