diff --git a/fixposition_driver_lib/src/helper.cpp b/fixposition_driver_lib/src/helper.cpp
index 781b7725..58237f53 100644
--- a/fixposition_driver_lib/src/helper.cpp
+++ b/fixposition_driver_lib/src/helper.cpp
@@ -304,7 +304,7 @@ NmeaEpochData NmeaEpochData::CompleteAndReset() {
     else if (rmc_.time.valid) { time_ = rmc_.time; }
     else if (zda_.time.valid) { time_ = zda_.time; }
     if      (gga_.llh.latlon_valid) { llh_ = gga_.llh; }
-    else if (rmc_.llh.latlon_valid) { llh_ = rmc_.llh; }
+    else if (rmc_.ll.latlon_valid) { llh_ = rmc_.ll; }
     else if (gll_.ll.latlon_valid)  { llh_ = gll_.ll; } // last as it does not have height
     // clang-format on
 
diff --git a/fixposition_driver_msgs/include/fixposition_driver_msgs/data_to_ros.hpp b/fixposition_driver_msgs/include/fixposition_driver_msgs/data_to_ros.hpp
index 324ba7dc..943c2bff 100644
--- a/fixposition_driver_msgs/include/fixposition_driver_msgs/data_to_ros.hpp
+++ b/fixposition_driver_msgs/include/fixposition_driver_msgs/data_to_ros.hpp
@@ -630,6 +630,7 @@ inline int NmeaSignalIdToMsg(const RosMsgT& msg, const fpsdk::common::parser::nm
         case fpsdk::common::parser::nmea::NmeaSignalId::GLO_L1OF:    return msg.consts.SIGNAL_ID_GLO_L1OF;
         case fpsdk::common::parser::nmea::NmeaSignalId::GLO_L2OF:    return msg.consts.SIGNAL_ID_GLO_L2OF;
         case fpsdk::common::parser::nmea::NmeaSignalId::NAVIC_L5A:   return msg.consts.SIGNAL_ID_NAVIC_L5A;
+        default:                                                     return msg.consts.SIGNAL_ID_UNSPECIFIED;
     }
     // clang-format on
     return msg.consts.SIGNAL_ID_UNSPECIFIED;
diff --git a/fixposition_driver_ros2/src/data_to_ros2.cpp b/fixposition_driver_ros2/src/data_to_ros2.cpp
index d60f8449..d5f3b158 100644
--- a/fixposition_driver_ros2/src/data_to_ros2.cpp
+++ b/fixposition_driver_ros2/src/data_to_ros2.cpp
@@ -520,7 +520,7 @@ void PublishNmeaGga(const fpsdk::common::parser::nmea::NmeaGgaPayload& payload,
                     rclcpp::Publisher<fpmsgs::NmeaGga>::SharedPtr& pub) {
     if (pub->get_subscription_count() > 0) {
         fpmsgs::NmeaGga msg;
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
+        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
         if (payload.time.valid) {
             msg.time_valid = true;
             msg.time_h = payload.time.hours;
@@ -545,7 +545,7 @@ void PublishNmeaGll(const fpsdk::common::parser::nmea::NmeaGllPayload& payload,
                     rclcpp::Publisher<fpmsgs::NmeaGll>::SharedPtr& pub) {
     if (pub->get_subscription_count() > 0) {
         fpmsgs::NmeaGll msg;
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
+        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
         if (payload.time.valid) {
             msg.time_valid = true;
             msg.time_h = payload.time.hours;
@@ -566,7 +566,7 @@ void PublishNmeaGsa(const fpsdk::common::parser::nmea::NmeaGsaPayload& payload,
                     rclcpp::Publisher<fpmsgs::NmeaGsa>::SharedPtr& pub) {
     if (pub->get_subscription_count() > 0) {
         fpmsgs::NmeaGsa msg;
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
+        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
         msg.system = NmeaSystemIdToMsg(msg, payload.system);
         msg.opmode = NmeaOpModeGsaToMsg(msg, payload.opmode);
         msg.navmode = NmeaNavModeGsaToMsg(msg, payload.navmode);
@@ -588,7 +588,7 @@ void PublishNmeaGst(const fpsdk::common::parser::nmea::NmeaGstPayload& payload,
                     rclcpp::Publisher<fpmsgs::NmeaGst>::SharedPtr& pub) {
     if (pub->get_subscription_count() > 0) {
         fpmsgs::NmeaGst msg;
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
+        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
         if (payload.time.valid) {
             msg.time_valid = true;
             msg.time_h = payload.time.hours;
@@ -611,8 +611,7 @@ void PublishNmeaGsv(const fpsdk::common::parser::nmea::NmeaGsvPayload& payload,
                     rclcpp::Publisher<fpmsgs::NmeaGsv>::SharedPtr& pub) {
     if (pub->get_subscription_count() > 0) {
         fpmsgs::NmeaGsv msg;
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
+        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
         msg.system = NmeaSystemIdToMsg(msg, payload.system);
         msg.signal = NmeaSignalIdToMsg(msg, payload.signal);
         msg.num_msgs = payload.num_msgs.value;
@@ -640,7 +639,7 @@ void PublishNmeaHdt(const fpsdk::common::parser::nmea::NmeaHdtPayload& payload,
                     rclcpp::Publisher<fpmsgs::NmeaHdt>::SharedPtr& pub) {
     if (pub->get_subscription_count() > 0) {
         fpmsgs::NmeaHdt msg;
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
+        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
         msg.heading = (payload.heading.valid ? payload.heading.value : NAN);
         pub->publish(msg);
     }
@@ -652,7 +651,7 @@ void PublishNmeaRmc(const fpsdk::common::parser::nmea::NmeaRmcPayload& payload,
                     rclcpp::Publisher<fpmsgs::NmeaRmc>::SharedPtr& pub) {
     if (pub->get_subscription_count() > 0) {
         fpmsgs::NmeaRmc msg;
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
+        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
         if (payload.date.valid) {
             msg.date_valid = true;
             msg.date_y = payload.date.years;
@@ -668,8 +667,8 @@ void PublishNmeaRmc(const fpsdk::common::parser::nmea::NmeaRmcPayload& payload,
         msg.status = NmeaStatusGllRmcToMsg(msg, payload.status);
         msg.mode = NmeaModeRmcGnsToMsg(msg, payload.mode);
         msg.navstatus = NmeaNavStatusRmcToMsg(msg, payload.navstatus);
-        msg.latitude = (payload.llh.latlon_valid ? payload.llh.lat : NAN);
-        msg.longitude = (payload.llh.latlon_valid ? payload.llh.lon : NAN);
+        msg.latitude = (payload.ll.latlon_valid ? payload.ll.lat : NAN);
+        msg.longitude = (payload.ll.latlon_valid ? payload.ll.lon : NAN);
         msg.speed = (payload.speed.valid ? payload.speed.value : NAN);
         msg.course = (payload.course.valid ? payload.course.value : NAN);
         pub->publish(msg);
@@ -682,7 +681,7 @@ void PublishNmeaVtg(const fpsdk::common::parser::nmea::NmeaVtgPayload& payload,
                     rclcpp::Publisher<fpmsgs::NmeaVtg>::SharedPtr& pub) {
     if (pub->get_subscription_count() > 0) {
         fpmsgs::NmeaVtg msg;
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
+        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
         msg.cogt = (payload.cogt.valid ? payload.cogt.value : NAN);
         msg.cogm = (payload.cogm.valid ? payload.cogm.value : NAN);
         msg.sogn = (payload.sogn.valid ? payload.sogn.value : NAN);
@@ -698,7 +697,7 @@ void PublishNmeaZda(const fpsdk::common::parser::nmea::NmeaZdaPayload& payload,
                     rclcpp::Publisher<fpmsgs::NmeaZda>::SharedPtr& pub) {
     if (pub->get_subscription_count() > 0) {
         fpmsgs::NmeaZda msg;
-        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
+        msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
         if (payload.date.valid) {
             msg.date_valid = true;
             msg.date_y = payload.date.years;
diff --git a/fixposition_driver_ros2/src/fixposition_driver_node.cpp b/fixposition_driver_ros2/src/fixposition_driver_node.cpp
index 8c21b3ab..4cc43468 100644
--- a/fixposition_driver_ros2/src/fixposition_driver_node.cpp
+++ b/fixposition_driver_ros2/src/fixposition_driver_node.cpp
@@ -625,7 +625,7 @@ void FixpositionDriverNode::ProcessOdometryData(const OdometryData& odometry_dat
 
             // Output jump warning
             if (params_.cov_warning_ && odometry_data.valid && jump_detector_.Check(odometry_data)) {
-                RCLCPP_WARN(logger_, jump_detector_.warning_.c_str());
+                RCLCPP_WARN(logger_, "%s", jump_detector_.warning_.c_str());
                 PublishJumpWarning(jump_detector_, jump_pub_);
             }