diff --git a/flight/modules/Airspeed/airspeed.c b/flight/modules/Airspeed/airspeed.c
index 5cbe8e162..2d0a4ff34 100644
--- a/flight/modules/Airspeed/airspeed.c
+++ b/flight/modules/Airspeed/airspeed.c
@@ -81,7 +81,7 @@ int32_t AirspeedStart()
     }
 
     // Start main task
-    xTaskCreate(airspeedTask, (signed char *)"Airspeed", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
+    xTaskCreate(airspeedTask, (const char *)"Airspeed", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_AIRSPEED, taskHandle);
     return 0;
 }
diff --git a/flight/modules/Altitude/revolution/altitude.c b/flight/modules/Altitude/revolution/altitude.c
index 5d3e8ca8b..e1801760f 100644
--- a/flight/modules/Altitude/revolution/altitude.c
+++ b/flight/modules/Altitude/revolution/altitude.c
@@ -68,7 +68,7 @@ static void SettingsUpdatedCb(UAVObjEvent *ev);
 int32_t AltitudeStart()
 {
     // Start main task
-    xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
+    xTaskCreate(altitudeTask, (const char *)"Altitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDE, taskHandle);
 
     return 0;
diff --git a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
index d381f27ff..3e70b1555 100644
--- a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
+++ b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
@@ -94,7 +94,7 @@ int32_t FixedWingPathFollowerStart()
 {
     if (followerEnabled) {
         // Start main task
-        xTaskCreate(pathfollowerTask, (signed char *)"PathFollower", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
+        xTaskCreate(pathfollowerTask, (const char *)"PathFollower", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
         PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
     }
 
diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index c1c76ee8f..42fec51d4 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -134,7 +134,7 @@ int32_t SensorsInitialize(void)
 int32_t SensorsStart(void)
 {
     // Start main task
-    xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
+    xTaskCreate(SensorsTask, (const char *)"Sensors", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
 #ifdef PIOS_INCLUDE_WDG
     PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
diff --git a/flight/modules/VtolPathFollower/vtolpathfollower.c b/flight/modules/VtolPathFollower/vtolpathfollower.c
index c23730485..37d355872 100644
--- a/flight/modules/VtolPathFollower/vtolpathfollower.c
+++ b/flight/modules/VtolPathFollower/vtolpathfollower.c
@@ -112,7 +112,7 @@ int32_t VtolPathFollowerStart()
 {
     if (vtolpathfollower_enabled) {
         // Start main task
-        xTaskCreate(vtolPathFollowerTask, (signed char *)"VtolPathFollower", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
+        xTaskCreate(vtolPathFollowerTask, (const char *)"VtolPathFollower", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
         PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
     }
 
diff --git a/flight/pios/common/libraries/msheap/msheap.c b/flight/pios/common/libraries/msheap/msheap.c
index 9c46af60a..7466fb971 100644
--- a/flight/pios/common/libraries/msheap/msheap.c
+++ b/flight/pios/common/libraries/msheap/msheap.c
@@ -36,6 +36,20 @@
 
 #include "msheap.h"
 
+#if defined(PIOS_INCLUDE_FREERTOS)
+
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#else
+#define traceMALLOC(...)
+#define traceFREE(...)
+#endif
+
 /*
  * Integrity checking.
  *
diff --git a/flight/targets/boards/revolution/firmware/revolution.c b/flight/targets/boards/revolution/firmware/revolution.c
index 42b4a995e..eba092769 100644
--- a/flight/targets/boards/revolution/firmware/revolution.c
+++ b/flight/targets/boards/revolution/firmware/revolution.c
@@ -97,7 +97,7 @@ int main()
 
     /* For Revolution we use a FreeRTOS task to bring up the system so we can */
     /* always rely on FreeRTOS primitive */
-    result = xTaskCreate(initTask, (const signed char *)"init",
+    result = xTaskCreate(initTask, (const char *)"init",
                          INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
                          &initTaskHandle);
     PIOS_Assert(result == pdPASS);