diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index a6359047d..da4427f90 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -57,14 +57,7 @@ FLASH_TOOL = OPENOCD
 USE_THUMB_MODE = YES
 
 # List of modules to include
-MODULES = Telemetry ManualControl Actuator Attitude Stabilization FirmwareIAP
-#Actuator Telemetry ManualControl Stabilization FirmwareIAP
-
-#MODULES = Telemetry Example
-#MODULES = Telemetry MK/MKSerial
-#MODULES = Telemetry
-#MODULES += Osd/OsdEtStd
-
+MODULES = Telemetry Attitude Stabilization Actuator ManualControl #FirmwareIAP
 
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c
index ab842b4be..ad596cb48 100644
--- a/flight/CopterControl/System/pios_board.c
+++ b/flight/CopterControl/System/pios_board.c
@@ -107,7 +107,7 @@ const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
     .SPI_CRCPolynomial     = 7,
     .SPI_CPOL              = SPI_CPOL_High,
     .SPI_CPHA              = SPI_CPHA_2Edge,
-    .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, 
+    .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, 
   },
   .use_crc = FALSE,
   .dma = {
diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index 47aceb8af..02541ea62 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -58,10 +58,10 @@
 #include "pios_flash_w25x.h"
 
 // Private constants
-#define STACK_SIZE_BYTES 740
-#define TASK_PRIORITY (tskIDLE_PRIORITY+0)
+#define STACK_SIZE_BYTES 440
+#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
 
-#define UPDATE_RATE  2 /* ms */
+#define UPDATE_RATE  3
 #define GYRO_NEUTRAL 1665
 #define GYRO_SCALE   (0.008f * 180 / M_PI)
 
@@ -92,7 +92,7 @@ int32_t AttitudeInitialize(void)
 	PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
 	return 0;
 }
-
+static portTickType lastSysTime;
 /**
  * Module thread, should not return.
  */
@@ -109,7 +109,7 @@ static void AttitudeTask(void *parameters)
 
 	// Main task loop
 	while (1) {
-		//portTickType lastSysTime;
+		//
 		PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
 		
 		// TODO: register the adc callback, push the data onto a queue (safe for thread)
@@ -118,8 +118,8 @@ static void AttitudeTask(void *parameters)
 		updateAttitude();
 		
 		/* Wait for the next update interval */
-		//vTaskDelayUntil(&lastSysTime, UPDATE_RATE / portTICK_RATE_MS);
-		vTaskDelay(UPDATE_RATE / portTICK_RATE_MS);
+		vTaskDelayUntil(&lastSysTime, UPDATE_RATE / portTICK_RATE_MS);
+		//vTaskDelay(UPDATE_RATE / portTICK_RATE_MS);
 
 	}
 }
@@ -172,7 +172,7 @@ void updateSensors()
 	AttitudeRawSet(&attitudeRaw); 	
 }
 
-#define UPDATE_FRAC 0.99f
+#define UPDATE_FRAC 0.999f
 void updateAttitude()
 {
 	AttitudeActualData attitudeActual;