diff --git a/flight/modules/Actuator/actuator.c b/flight/modules/Actuator/actuator.c
index 4ceba8bfb..39d2faabf 100644
--- a/flight/modules/Actuator/actuator.c
+++ b/flight/modules/Actuator/actuator.c
@@ -155,7 +155,8 @@ static void actuatorTask(void* parameters)
 	UAVObjEvent ev;
 	portTickType lastSysTime;
 	portTickType thisSysTime;
-	float dT = 0.0f;
+	float dTSeconds;
+	uint32_t dTMilliseconds;
 
 	ActuatorCommandData command;
 	ActuatorDesiredData desired;
@@ -206,13 +207,9 @@ static void actuatorTask(void* parameters)
 
 		// Check how long since last update
 		thisSysTime = xTaskGetTickCount();
-		// reuse dt in case of wraparound
-		// todo:
-		//  if dT actually matters...
-		//  fix it to know max value and subtract for currently correct dT on wrap
-		if(thisSysTime > lastSysTime)
-			dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f);
+		dTMilliseconds = (thisSysTime == lastSysTime)? 1: (thisSysTime - lastSysTime) * portTICK_RATE_MS;
 		lastSysTime = thisSysTime;
+		dTSeconds = dTMilliseconds * 0.001f;
 
 		FlightStatusGet(&flightStatus);
 		ActuatorDesiredGet(&desired);
@@ -296,7 +293,7 @@ static void actuatorTask(void* parameters)
 			}
 
 			if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) || (mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_SERVO))
-				status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
+				status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dTSeconds);
 			else
 				status[ct] = -1;
 
@@ -370,7 +367,7 @@ static void actuatorTask(void* parameters)
 							   actuatorSettings.ChannelNeutral[i]);
 
 		// Store update time
-		command.UpdateTime = dT * 1000.0f;
+		command.UpdateTime = dTMilliseconds;
 		if (command.UpdateTime > command.MaxUpdateTime)
 			command.MaxUpdateTime = command.UpdateTime;
 		
diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c
index 7d4a01b6c..2340ef731 100644
--- a/flight/modules/Attitude/attitude.c
+++ b/flight/modules/Attitude/attitude.c
@@ -457,7 +457,7 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 	portTickType thisSysTime = xTaskGetTickCount();
 	static portTickType lastSysTime = 0;
 	
-	dT = (thisSysTime == lastSysTime) ? 0.001f : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f;
+	dT = (thisSysTime == lastSysTime) ? 0.001f : (thisSysTime - lastSysTime) * portTICK_RATE_MS * 0.001f;
 	lastSysTime = thisSysTime;
 	
 	// Bad practice to assume structure order, but saves memory
diff --git a/flight/modules/Attitude/revolution/attitude.c b/flight/modules/Attitude/revolution/attitude.c
index ec8efa503..bba99405e 100644
--- a/flight/modules/Attitude/revolution/attitude.c
+++ b/flight/modules/Attitude/revolution/attitude.c
@@ -604,7 +604,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 	mag_updated &= (!isnan(magData.x) && !isinf(magData.x) && !isnan(magData.y) && !isinf(magData.y) && !isnan(magData.z) && !isinf(magData.z));
 	// Don't require HomeLocation.Set to be true but at least require a mag configuration (allows easily
 	// switching between indoor and outdoor mode with Set = false)
-	mag_updated &= (homeLocation.Be[0] > 0.0f || homeLocation.Be[1] > 0.0f || homeLocation.Be[2] > 0.0f);
+	mag_updated &= (homeLocation.Be[0] * homeLocation.Be[0] + homeLocation.Be[1] * homeLocation.Be[1] + homeLocation.Be[2] * homeLocation.Be[2] > 1e-5f);
 
 	// Discard airspeed if sensor not connected
 	airspeed_updated &= ( airspeedData.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE );
diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index 912d67f73..c9c95c088 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -763,7 +763,7 @@ static void altitudeHoldDesired(ManualControlCommandData * cmd, bool changed)
 	StabilizationSettingsGet(&stabSettings);
 
 	thisSysTime = xTaskGetTickCount();
-	dT = ((thisSysTime == lastSysTime)? 0.001f : (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f);
+	dT = ((thisSysTime == lastSysTime)? 0.001f : (thisSysTime - lastSysTime) * portTICK_RATE_MS * 0.001f);
 	lastSysTime = thisSysTime;
 
 	altitudeHoldDesired.Roll = cmd->Roll * stabSettings.RollMax;
@@ -834,9 +834,7 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
 }
 
 static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) {
-	if(end_time > start_time)
-		return (end_time - start_time) * portTICK_RATE_MS;
-	return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS;
+	return (end_time - start_time) * portTICK_RATE_MS;
 }
 
 /**