diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index d78cdac7744d67f3d88f6f05ae715800f0b4557a..66f0280d8d9fe78537e1766bd2d6b4bd7298f76d 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -268,6 +268,20 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         if (decodeState == 1)
         {
             decodedFirstPacket = true;
+
+            if(message.msgid == MAVLINK_MSG_ID_PING)
+            {
+                // process ping requests (tgt_system and tgt_comp must be zero)
+                mavlink_ping_t ping;
+                mavlink_msg_ping_decode(&message, &ping);
+                if(!ping.target_system && !ping.target_component)
+                {
+                    mavlink_message_t msg;
+                    mavlink_msg_ping_pack(getSystemId(), getComponentId(), &msg, ping.time_usec, ping.seq, message.sysid, message.compid);
+                    sendMessage(msg);
+                }
+            }
+
 #if defined(QGC_PROTOBUF_ENABLED)
 
             if (message.msgid == MAVLINK_MSG_ID_EXTENDED_MESSAGE)
diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index c1286235b177dda58d4b2a9e472de16cdd7ab2ce..89cf722a54ad0cfe2574811d86d1e34c9d8d31f8 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -709,7 +709,7 @@ void QGCXPlaneLink::readBytes()
             fields_changed |= (1 << 11);
 
             emit sensorHilRawImuChanged(QGC::groundTimeUsecs(), xacc, yacc, zacc, rollspeed, pitchspeed, yawspeed,
-                                        xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_changed);
+                                        xmag, ymag, zmag, abs_pressure, diff_pressure / 100.0, pressure_alt, temperature, fields_changed);
 
             // XXX make these GUI-configurable and add randomness
             int gps_fix_type = 3;