diff --git a/flight/Modules/RadioComBridge/RadioComBridge.c b/flight/Modules/RadioComBridge/RadioComBridge.c
index 54108646a..76c3040a5 100644
--- a/flight/Modules/RadioComBridge/RadioComBridge.c
+++ b/flight/Modules/RadioComBridge/RadioComBridge.c
@@ -278,7 +278,10 @@ static void comUAVTalkTask(void *parameters)
 			if (PIOS_COM_UAVTALK)
 				BufferedReadSetCom(f, PIOS_COM_UAVTALK);
 			else
+			{
 				vTaskDelay(5);
+				continue;
+			}
 		}
 
 		// Read the next byte
@@ -627,7 +630,7 @@ static void transparentCommTask(void * parameters)
 
 		// Receive data from the com port
 		uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_TRANS_COM, p->data + p->header.data_size,
-							       PH_MAX_DATA - p->header.data_size, timeout);
+																									 PH_MAX_DATA - p->header.data_size, timeout);
 
 		// Do we have an data to send?
 		p->header.data_size += cur_rx_bytes;
@@ -657,8 +660,8 @@ static void transparentCommTask(void * parameters)
 			// Should we send this packet?
 			if (send_packet)
 			{
-				// Transmit the packet
-				PHTransmitPacket(pios_packet_handler, p);
+				// Queue the packet for transmission.
+				xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
 
 				// Reset the timeout
 				timeout = MAX_PORT_DELAY;
diff --git a/flight/PipXtreme/System/inc/pios_config.h b/flight/PipXtreme/System/inc/pios_config.h
index 07a6f879b..39d51ef1d 100755
--- a/flight/PipXtreme/System/inc/pios_config.h
+++ b/flight/PipXtreme/System/inc/pios_config.h
@@ -59,7 +59,7 @@
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
 #define PIOS_INCLUDE_RTC
-//#define PIOS_INCLUDE_WDG
+#define PIOS_INCLUDE_WDG
 #define PIOS_INCLUDE_BL_HELPER
 #define PIOS_INCLUDE_FLASH_EEPROM
 
diff --git a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
index b782eafb3..a5e934c99 100644
--- a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
@@ -137,7 +137,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
 {
 
 	// Restart the disconnection timer.
-	timeOut->start(5000);
+	timeOut->start(10000);
 
 	// Request and update of the setting object if we haven't received it yet.
 	if (!settingsUpdated)
@@ -260,7 +260,6 @@ void ConfigPipXtremeWidget::disconnected()
 
 void ConfigPipXtremeWidget::pairIDToggled(bool checked, quint8 idx)
 {
-	qDebug() << "Toggled";
 	if(checked)
 	{
 		PipXStatus *pipxStatus = PipXStatus::GetInstance(getObjectManager());
diff --git a/make/firmware-defs.mk b/make/firmware-defs.mk
index 087792b45..b22a66639 100644
--- a/make/firmware-defs.mk
+++ b/make/firmware-defs.mk
@@ -49,8 +49,6 @@ MSG_OPFIRMWARE       := ${quote} OPFW      ${quote}
 MSG_FWINFO           := ${quote} FWINFO    ${quote}
 MSG_JTAG_PROGRAM     := ${quote} JTAG-PGM  ${quote}
 MSG_JTAG_WIPE        := ${quote} JTAG-WIPE ${quote}
-MSG_JTAG_RESET       := ${quote} JTAG-RST  ${quote}
-MSG_JTAG_SAFEBOOT    := ${quote} JTAG-SAFE ${quote}
 
 toprel = $(subst $(realpath $(TOP))/,,$(abspath $(1)))
 
@@ -203,8 +201,7 @@ endef
 # $(1) = Name of binary image to write
 # $(2) = Base of flash region to write/wipe
 # $(3) = Size of flash region to write/wipe
-# $(4) = OpenOCD JTAG interface configuration file to use
-# $(5) = OpenOCD configuration file to use
+# $(4) = OpenOCD configuration file to use
 define JTAG_TEMPLATE
 # ---------------------------------------------------------------------------
 # Options for OpenOCD flash-programming
@@ -217,7 +214,7 @@ OOCD_EXE ?= openocd
 OOCD_JTAG_SETUP  = -d0
 # interface and board/target settings (using the OOCD target-library here)
 OOCD_JTAG_SETUP += -s $(TOP)/flight/Project/OpenOCD
-OOCD_JTAG_SETUP += -f $(4) -f $(5)
+OOCD_JTAG_SETUP += -f foss-jtag.revb.cfg -f $(4)
 
 # initialize
 OOCD_BOARD_RESET = -c init
@@ -246,34 +243,5 @@ wipe:
 		-c "flash erase_address pad $(2) $(3)" \
 		-c "reset run" \
 		-c "shutdown"
-
-reset:
-	@echo $(MSG_JTAG_RESET) resetting device
-	$(V1) $(OOCD_EXE) \
-		$$(OOCD_JTAG_SETUP) \
-		$$(OOCD_BOARD_RESET) \
-		-c "reset run" \
-		-c "shutdown"
-
-# Enable PWR and BKP clocks (set RCC_APB1ENR[PWREN|BKPEN])
-OOCD_WRITE_BKPDR3 =  -c "mww 0x4002101C 0x18000000"
-# Enable writes to BKP registers (set PWR_CR[DBP] via bit op alias address)
-#
-# Direct register access would be:
-#    mww 0x40007000 0x00000100
-#
-# Direct _bit_ access is:
-#    Bit 8 in 0x40007000 = 0x42000000 + 0x7000 * 32 + 8 * 4 = 420E0020
-OOCD_WRITE_BKPDR3 += -c "mww 0x420E0020 0x00000001"
-# Set BR3 to max value to force a safe boot
-OOCD_WRITE_BKPDR3 += -c "mwh 0x40006C0C 0xFFFF"
-safeboot:
-	@echo $(MSG_JTAG_SAFEBOOT) forcing boot into safe mode
-	$(V1) $(OOCD_EXE) \
-		$$(OOCD_JTAG_SETUP) \
-		$$(OOCD_BOARD_RESET) \
-		$$(OOCD_WRITE_BKPDR3) \
-		-c "reset run" \
-		-c "shutdown"
 endef