diff --git a/flight/modules/Actuator/actuator.c b/flight/modules/Actuator/actuator.c
index f8212caa0..9b5dcbf91 100644
--- a/flight/modules/Actuator/actuator.c
+++ b/flight/modules/Actuator/actuator.c
@@ -103,7 +103,9 @@ int32_t ActuatorStart()
 	// Start main task
 	xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 	PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ACTUATOR, taskHandle);
+#ifdef PIOS_INCLUDE_WDG
 	PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
+#endif
 
 	return 0;
 }
@@ -185,7 +187,9 @@ static void actuatorTask(__attribute__((unused)) void* parameters)
 	lastSysTime = xTaskGetTickCount();
 	while (1)
 	{
+#ifdef PIOS_INCLUDE_WDG
 		PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
+#endif
 
 		// Wait until the ActuatorDesired object is updated
 		uint8_t rc = xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS);
diff --git a/flight/modules/Fault/Fault.c b/flight/modules/Fault/Fault.c
index b707ed5a5..33b15f7cb 100644
--- a/flight/modules/Fault/Fault.c
+++ b/flight/modules/Fault/Fault.c
@@ -112,7 +112,7 @@ static int32_t fault_start(void)
 }
 MODULE_INITCALL(fault_initialize, fault_start)
 
-static void fault_task(void *parameters)
+static void fault_task(__attribute__((unused))void *parameters)
 {
 	switch (active_fault) {
 	case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK:
diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index 1107a601d..7c28ade1d 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -138,7 +138,9 @@ int32_t ManualControlStart()
     // Start main task
     xTaskCreate(manualControlTask, (signed char *) "ManualControl", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
+#ifdef PIOS_INCLUDE_WDG
     PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
+#endif
 
     return 0;
 }
@@ -208,7 +210,9 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
 
         // Wait until next update
         vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
+#ifdef PIOS_INCLUDE_WDG
         PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
+#endif
 
         // Read settings
         ManualControlSettingsGet(&settings);
diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c
index b417864e6..d9b17f1c2 100644
--- a/flight/modules/Stabilization/stabilization.c
+++ b/flight/modules/Stabilization/stabilization.c
@@ -113,7 +113,9 @@ int32_t StabilizationStart()
 	// Start main task
 	xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 	PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_STABILIZATION, taskHandle);
+#ifdef PIOS_INCLUDE_WDG
 	PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
+#endif
 	return 0;
 }
 
@@ -161,7 +163,9 @@ static void stabilizationTask(__attribute__((unused)) void* parameters)
 	while(1) {
 		float dT;
 		
+#ifdef PIOS_INCLUDE_WDG
 		PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
+#endif
 		
 		// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
 		if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
diff --git a/flight/pios/inc/pios_rcvr_priv.h b/flight/pios/inc/pios_rcvr_priv.h
index 7b41d2764..46ced2e24 100644
--- a/flight/pios/inc/pios_rcvr_priv.h
+++ b/flight/pios/inc/pios_rcvr_priv.h
@@ -33,8 +33,6 @@
 
 #include <pios.h>
 
-extern uint32_t pios_rcvr_max_channel;
-
 extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
 
 extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);
diff --git a/flight/pios/stm32f10x/pios_i2c.c b/flight/pios/stm32f10x/pios_i2c.c
index f61d00c14..054cc1454 100644
--- a/flight/pios/stm32f10x/pios_i2c.c
+++ b/flight/pios/stm32f10x/pios_i2c.c
@@ -126,7 +126,7 @@ static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter);
 
 static void i2c_adapter_log_fault(enum pios_i2c_error_type type);
 
-const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM_STATES] = {
+static const struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM_STATES] = {
 	[I2C_STATE_FSM_FAULT] = {
 				 .entry_fn = go_fsm_fault,
 				 .next_state = {
@@ -607,9 +607,6 @@ static void i2c_adapter_inject_event(struct pios_i2c_adapter *i2c_adapter, enum
 	 * guarantee that the entry function never depends on the previous
 	 * state.  This way, it cannot ever know what the previous state was.
 	 */
-	enum i2c_adapter_state prev_state = i2c_adapter->curr_state;
-	if (prev_state) ;
-
 	i2c_adapter->curr_state = i2c_adapter_transitions[i2c_adapter->curr_state].next_state[event];
 
 	/* Call the entry function (if any) for the next state. */
@@ -626,10 +623,6 @@ static void i2c_adapter_inject_event(struct pios_i2c_adapter *i2c_adapter, enum
 static void i2c_adapter_process_auto(struct pios_i2c_adapter *i2c_adapter)
 {
 	PIOS_IRQ_Disable();
-
-	enum i2c_adapter_state prev_state = i2c_adapter->curr_state;
-	if (prev_state) ;
-
 	while (i2c_adapter_transitions[i2c_adapter->curr_state].next_state[I2C_EVENT_AUTO]) {
 		i2c_adapter->curr_state = i2c_adapter_transitions[i2c_adapter->curr_state].next_state[I2C_EVENT_AUTO];
 
@@ -659,7 +652,7 @@ static bool i2c_adapter_wait_for_stopped(struct pios_i2c_adapter *i2c_adapter)
 	 * in spinning on this bit in the ISR forever.
 	 */
 #define I2C_CR1_STOP_REQUESTED 0x0200
-	for (guard = 1e6;	/* FIXME: should use the configured bus timeout */
+	for (guard = 1000000;	/* FIXME: should use the configured bus timeout */
 	     guard && (i2c_adapter->cfg->regs->CR1 & I2C_CR1_STOP_REQUESTED); guard--)
 		continue;
 	if (!guard) {