diff --git a/flight/CopterControl/System/alarms.c b/flight/CopterControl/System/alarms.c
index 2ebc6385f..e899be779 100644
--- a/flight/CopterControl/System/alarms.c
+++ b/flight/CopterControl/System/alarms.c
@@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
     {
     	alarms.Alarm[alarm] = severity;
     	SystemAlarmsSet(&alarms);
-    	SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
     }
 
     // Release lock
diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index d649de994..80fb044d9 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -322,11 +322,12 @@ static void gpsTask(void *parameters)
 		else
 		{	// we appear to be receiving GPS sentences OK, we've had an update
 
+			GPSPositionGet(&GpsData);
+
 #ifdef PIOS_GPS_SETS_HOMELOCATION
 			HomeLocationData home;
 			HomeLocationGet(&home);
 
-			GPSPositionGet(&GpsData);
 			if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE))
 				setHomeLocation(&GpsData);
 #endif
diff --git a/flight/OpenPilot/System/alarms.c b/flight/OpenPilot/System/alarms.c
index 2ebc6385f..e899be779 100644
--- a/flight/OpenPilot/System/alarms.c
+++ b/flight/OpenPilot/System/alarms.c
@@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
     {
     	alarms.Alarm[alarm] = severity;
     	SystemAlarmsSet(&alarms);
-    	SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
     }
 
     // Release lock
diff --git a/flight/UAVObjects/inc/uavobjectmanager.h b/flight/UAVObjects/inc/uavobjectmanager.h
index dba819c7c..e7bb8b9c7 100644
--- a/flight/UAVObjects/inc/uavobjectmanager.h
+++ b/flight/UAVObjects/inc/uavobjectmanager.h
@@ -63,10 +63,10 @@ typedef struct {
 	uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
 	uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
 	uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
-	int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
+	uint32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
 	uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
 	uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
-	int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
+	uint32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
 	uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
 	uint32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
 } __attribute__((packed)) UAVObjMetadata;
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
index ff8784746..784048b92 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
@@ -408,7 +408,7 @@ bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8*
 
     UAVObject* obj = NULL;
     bool error = false;
-    bool allInstances = (instId == ALL_INSTANCES? true : false);
+    bool allInstances =  (instId == ALL_INSTANCES);
 
     // Process message type
     switch (type) {
diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml
index 622afc173..54eedc8cd 100644
--- a/shared/uavobjectdefinition/systemalarms.xml
+++ b/shared/uavobjectdefinition/systemalarms.xml
@@ -5,7 +5,7 @@
         elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS" defaultvalue="Uninitialised"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
-        <telemetryflight acked="true" updatemode="periodic" period="4000"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
         <logging updatemode="periodic" period="1000"/>
     </object>
 </xml>