diff --git a/flight/Modules/Sensors/sensors.c b/flight/Modules/Sensors/sensors.c
index 22d22b250..855986cba 100644
--- a/flight/Modules/Sensors/sensors.c
+++ b/flight/Modules/Sensors/sensors.c
@@ -47,7 +47,6 @@
  */
 
 #include "pios.h"
-#include "attitude.h"
 #include "homelocation.h"
 #include "magnetometer.h"
 #include "magbias.h"
diff --git a/flight/RevoMini/Makefile b/flight/RevoMini/Makefile
index 7df49d2a7..db1d1bd3e 100644
--- a/flight/RevoMini/Makefile
+++ b/flight/RevoMini/Makefile
@@ -49,12 +49,15 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES = Sensors Attitude/revolution ManualControl Stabilization Actuator
-MODULES += Battery
-MODULES += Altitude/revolution  GPS FirmwareIAP
-MODULES += Airspeed/revolution
-MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
-MODULES += CameraStab
+MODULES = Sensors
+#MODULES += Attitude/revolution 
+#MODULES += ManualControl Stabilization Actuator
+#MODULES += Battery
+MODULES += Altitude/revolution
+MODULES += GPS FirmwareIAP
+#MODULES += Airspeed/revolution
+#MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
+#MODULES += CameraStab
 MODULES += Telemetry
 PYMODULES = 
 #FlightPlan
diff --git a/flight/RevoMini/System/inc/pios_config.h b/flight/RevoMini/System/inc/pios_config.h
index 076fe1626..5ebfc06d9 100644
--- a/flight/RevoMini/System/inc/pios_config.h
+++ b/flight/RevoMini/System/inc/pios_config.h
@@ -39,7 +39,7 @@
 #define PIOS_INCLUDE_BL_HELPER
 
 /* Enable/Disable PiOS Modules */
-#define PIOS_INCLUDE_ADC
+//#define PIOS_INCLUDE_ADC
 #define PIOS_INCLUDE_DELAY
 #define PIOS_INCLUDE_I2C
 #define PIOS_INCLUDE_IRQ
@@ -61,14 +61,12 @@
 #define PIOS_INCLUDE_MPU6000
 #define PIOS_MPU6000_ACCEL
 #define PIOS_INCLUDE_MS5611
-#define PIOS_INCLUDE_ETASV3
+//#define PIOS_INCLUDE_ETASV3
 //#define PIOS_INCLUDE_HCSR04
 #define FLASH_FREERTOS
 /* Com systems to include */
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_COM_TELEM
-#define PIOS_INCLUDE_COM_AUX
-#define PIOS_INCLUDE_COM_AUXSBUS
 #define PIOS_INCLUDE_COM_FLEXI
 
 #define PIOS_INCLUDE_GPS