diff --git a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c
index 7ba1ce7fd477..b6b4b048fe67 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c
+++ b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c
@@ -525,7 +525,7 @@ void io_timer_trigger(void)
 
 	irqstate_t flags = px4_enter_critical_section();
 
-	for (actions = 0; action_cache[actions] != 0 &&  actions < MAX_IO_TIMERS; actions++) {
+	for (actions = 0; actions < MAX_IO_TIMERS && action_cache[actions] != 0; actions++) {
 		_REG32(action_cache[actions], KINETIS_FTM_SYNC_OFFSET) |= FTM_SYNC;
 	}
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
index d977e4dd48f3..4f6e0d3ef1ea 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
@@ -559,7 +559,7 @@ void io_timer_trigger(void)
 
 		irqstate_t flags = px4_enter_critical_section();
 
-		for (actions = 0; action_cache[actions] != 0 &&  actions < MAX_IO_TIMERS; actions++) {
+		for (actions = 0; actions < MAX_IO_TIMERS && action_cache[actions] != 0; actions++) {
 			_REG32(action_cache[actions], STM32_GTIM_EGR_OFFSET) |= GTIM_EGR_UG;
 		}
 
diff --git a/src/lib/mixer/mixer_helicopter.cpp b/src/lib/mixer/mixer_helicopter.cpp
index 87441ee7bcf0..c087b3a28311 100644
--- a/src/lib/mixer/mixer_helicopter.cpp
+++ b/src/lib/mixer/mixer_helicopter.cpp
@@ -200,6 +200,10 @@ HelicopterMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 unsigned
 HelicopterMixer::mix(float *outputs, unsigned space)
 {
+	if (space < _mixer_info.control_count + 1u) {
+		return 0;
+	}
+
 	/* Find index to use for curves */
 	float thrust_cmd = get_control(0, 3);
 	int idx = (thrust_cmd / 0.25f);
diff --git a/src/lib/mixer/mixer_multirotor.cpp b/src/lib/mixer/mixer_multirotor.cpp
index ce04811d9e5c..8559d0182372 100644
--- a/src/lib/mixer/mixer_multirotor.cpp
+++ b/src/lib/mixer/mixer_multirotor.cpp
@@ -354,6 +354,10 @@ void MultirotorMixer::mix_yaw(float yaw, float *outputs)
 unsigned
 MultirotorMixer::mix(float *outputs, unsigned space)
 {
+	if (space < _rotor_count) {
+		return 0;
+	}
+
 	float roll    = math::constrain(get_control(0, 0) * _roll_scale, -1.0f, 1.0f);
 	float pitch   = math::constrain(get_control(0, 1) * _pitch_scale, -1.0f, 1.0f);
 	float yaw     = math::constrain(get_control(0, 2) * _yaw_scale, -1.0f, 1.0f);
diff --git a/src/modules/uORB/uORBManager.cpp b/src/modules/uORB/uORBManager.cpp
index 7febe89353f4..66fe3ebaf2c8 100644
--- a/src/modules/uORB/uORBManager.cpp
+++ b/src/modules/uORB/uORBManager.cpp
@@ -198,7 +198,7 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 	int fd = node_open(meta, true, instance, priority);
 
 	if (fd == PX4_ERROR) {
-		PX4_ERR("%s advertise failed", meta->o_name);
+		PX4_ERR("%s advertise failed (%i)", meta->o_name, errno);
 		return nullptr;
 	}