diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile
index 353b6d773..a7f6ab6d5 100644
--- a/flight/OpenPilot/Makefile
+++ b/flight/OpenPilot/Makefile
@@ -6,7 +6,7 @@
  #
  # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
  #
- #
+ # 
  # This program is free software; you can redistribute it and/or modify
  # it under the terms of the GNU General Public License as published by
  # the Free Software Foundation; either version 3 of the License, or
@@ -119,6 +119,16 @@ RTOSINCDIR = $(RTOSSRCDIR)/include
 DOXYGENDIR = ../Doc/Doxygen
 AHRSBOOTLOADER = ../Bootloaders/AHRS/
 AHRSBOOTLOADERINC = $(AHRSBOOTLOADER)/inc
+#PYMITE = $(FLIGHTLIB)/PyMite
+#PYMITELIB = $(PYMITE)/lib
+#PYMITEPLAT = $(PYMITE)/platform/openpilot
+#PYMITETOOLS = $(PYMITE)/tools
+#PYMITEVM = $(PYMITE)/vm
+#PYMITEINC = $(PYMITEVM)
+#PYMITEINC += $(PYMITEPLAT)
+#PYMITEINC += $(OUTDIR)
+#FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
+#FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
 
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
@@ -134,6 +144,7 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/openpilot.c
 SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/alarms.c
+SRC += $(OPSYSTEM)/taskmonitor.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/uavobjectsinit.c
@@ -186,6 +197,7 @@ SRC += $(OPUAVOBJ)/ratedesired.c
 SRC += $(OPUAVOBJ)/pipxtrememodemsettings.c
 SRC += $(OPUAVOBJ)/pipxtrememodemstatus.c
 SRC += $(OPUAVOBJ)/batterysettings.c
+SRC += $(OPUAVOBJ)/taskinfo.c
 endif
 
 ## PIOS Hardware (STM32F10x)
@@ -279,6 +291,11 @@ SRC += $(DOSFSDIR)/dfs_sdcard.c
 SRC += $(AHRSBOOTLOADER)/ahrs_spi_program_master.c
 SRC += $(AHRSBOOTLOADER)/ahrs_spi_program.c
 
+## PyMite files
+#SRC += $(wildcard ${PYMITEVM}/*.c)
+#SRC += $(wildcard ${PYMITEPLAT}/*.c)
+#SRC += $(wildcard ${OUTDIR}/pmlib*.c)
+
 ## Mass Storage Device
 #SRC += $(MSDDIR)/msd.c
 #SRC += $(MSDDIR)/msd_bot.c
@@ -336,6 +353,7 @@ EXTRAINCDIRS  += $(RTOSINCDIR)
 EXTRAINCDIRS  += $(APPLIBDIR)
 EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
 EXTRAINCDIRS  += $(AHRSBOOTLOADERINC)
+#EXTRAINCDIRS  += $(PYMITEINC)
 
 EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
@@ -511,6 +529,7 @@ OBJDUMP = $(TCHAIN_PREFIX)objdump
 SIZE    = $(TCHAIN_PREFIX)size
 NM      = $(TCHAIN_PREFIX)nm
 REMOVE  = $(REMOVE_CMD) -f
+PYTHON  = python
 ###SHELL   = sh
 ###COPY    = cp
 
@@ -538,6 +557,7 @@ MSG_CLEANING = ${quote}Cleaning project:${quote}
 MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
 MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
 MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
+#MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${quote}
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -560,7 +580,7 @@ bin: $(OUTDIR)/$(TARGET).bin
 
 # Default target.
 #all: begin gccversion sizebefore build sizeafter finished end
-all: begin gccversion build sizeafter finished end
+all: begin gencode gccversion build sizeafter finished end
 
 ifeq ($(LOADFORMAT),ihex)
 build: elf hex lss sym
@@ -584,6 +604,10 @@ else
 	quote =
 endif
 
+# Generate intermediate code
+gencode: ${OUTDIR}/InitMods.c #$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h
+
+# Generate code for module initialization
 ${OUTDIR}/InitMods.c: Makefile
 	@echo ${MSG_MODINIT}
 	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@@ -592,6 +616,13 @@ ${OUTDIR}/InitMods.c: Makefile
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
 
+# Generate code for PyMite
+#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py) 
+#	@echo ${MSG_PYMITEINIT}
+#	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
+#	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
+#	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
+
 # Eye candy.
 begin:
 ##	@echo
@@ -670,7 +701,7 @@ endif
 	$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
 #	$(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
 
-
+ 
 # Assemble: create object files from assembler source files.
 define ASSEMBLE_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
@@ -754,6 +785,8 @@ clean_list :
 	$(REMOVE) $(OUTDIR)/$(TARGET).bin
 	$(REMOVE) $(OUTDIR)/$(TARGET).sym
 	$(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(REMOVE) $(wildcard $(OUTDIR)/*.c)
+	$(REMOVE) $(wildcard $(OUTDIR)/*.h)
 	$(REMOVE) $(ALLOBJ)
 	$(REMOVE) $(LSTFILES)
 	$(REMOVE) $(DEPFILES)
@@ -782,5 +815,5 @@ endif
 
 # Listing of phony targets.
 .PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex bin lss sym clean clean_list program
+build elf hex bin lss sym clean clean_list program gencode
 
diff --git a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
index 61d28c758..cc56018d6 100644
--- a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
+++ b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
@@ -78,6 +78,7 @@ int32_t AHRSCommsInitialize(void)
 
 	// Start main task
 	xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
 
 	return 0;
 }
diff --git a/flight/OpenPilot/Modules/Actuator/actuator.c b/flight/OpenPilot/Modules/Actuator/actuator.c
index 2cc55f279..0ea6d1835 100644
--- a/flight/OpenPilot/Modules/Actuator/actuator.c
+++ b/flight/OpenPilot/Modules/Actuator/actuator.c
@@ -95,6 +95,7 @@ int32_t ActuatorInitialize()
 
 	// Start main task
 	xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
 
 	return 0;
 }
diff --git a/flight/OpenPilot/Modules/Altitude/altitude.c b/flight/OpenPilot/Modules/Altitude/altitude.c
index 3005023f2..7d15df36f 100644
--- a/flight/OpenPilot/Modules/Altitude/altitude.c
+++ b/flight/OpenPilot/Modules/Altitude/altitude.c
@@ -67,6 +67,7 @@ int32_t AltitudeInitialize()
 {
 	// Start main task
 	xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
 
 	// init down-sampling data
     alt_ds_temp = 0;
diff --git a/flight/OpenPilot/Modules/GPS/GPS.c b/flight/OpenPilot/Modules/GPS/GPS.c
index 2c29fc504..a244395e0 100644
--- a/flight/OpenPilot/Modules/GPS/GPS.c
+++ b/flight/OpenPilot/Modules/GPS/GPS.c
@@ -81,6 +81,7 @@ int32_t GPSInitialize(void)
 
 	// Start gps task
 	xReturn = xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE, NULL, TASK_PRIORITY, &gpsTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
 
 	return 0;
 }
diff --git a/flight/OpenPilot/Modules/Guidance/guidance.c b/flight/OpenPilot/Modules/Guidance/guidance.c
index a49764419..c168fad1d 100644
--- a/flight/OpenPilot/Modules/Guidance/guidance.c
+++ b/flight/OpenPilot/Modules/Guidance/guidance.c
@@ -81,6 +81,7 @@ int32_t GuidanceInitialize()
 {
 	// Start main task
 	xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE, NULL, TASK_PRIORITY, &guidanceTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
 
 	return 0;
 }
diff --git a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
index a69a1f331..ccf186f05 100644
--- a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
+++ b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
@@ -73,6 +73,7 @@ int32_t ManualControlInitialize()
 {
 	// Start main task
 	xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
 
 	return 0;
 }
diff --git a/flight/OpenPilot/Modules/Stabilization/stabilization.c b/flight/OpenPilot/Modules/Stabilization/stabilization.c
index cbfaaed9d..a2ef6fa94 100644
--- a/flight/OpenPilot/Modules/Stabilization/stabilization.c
+++ b/flight/OpenPilot/Modules/Stabilization/stabilization.c
@@ -99,6 +99,7 @@ int32_t StabilizationInitialize()
 	SettingsUpdatedCb(StabilizationSettingsHandle());
 	// Start main task
 	xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
 
 	return 0;
 }
diff --git a/flight/OpenPilot/Modules/System/systemmod.c b/flight/OpenPilot/Modules/System/systemmod.c
index 90e62c294..4fd1e4fdb 100644
--- a/flight/OpenPilot/Modules/System/systemmod.c
+++ b/flight/OpenPilot/Modules/System/systemmod.c
@@ -44,6 +44,7 @@
 #include "manualcontrolcommand.h"
 #include "systemstats.h"
 #include "i2cstats.h"
+#include "taskmonitor.h"
 
 
 // Private constants
@@ -97,6 +98,9 @@ static void systemTask(void *parameters)
 	// System initialization
 	OpenPilotInit();
 
+	// Register task
+	TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
+
 	// Initialize vars
 	idleCounter = 0;
 	idleCounterClear = 0;
@@ -114,6 +118,9 @@ static void systemTask(void *parameters)
 		updateSystemAlarms();
 		updateI2Cstats();
 		
+		// Update the task status object
+		TaskMonitorUpdateAll();
+
 		// Flash the heartbeat LED
 		PIOS_LED_Toggle(LED1);
 
diff --git a/flight/OpenPilot/Modules/Telemetry/telemetry.c b/flight/OpenPilot/Modules/Telemetry/telemetry.c
index a30cbd21b..fbac1a293 100644
--- a/flight/OpenPilot/Modules/Telemetry/telemetry.c
+++ b/flight/OpenPilot/Modules/Telemetry/telemetry.c
@@ -113,6 +113,9 @@ int32_t TelemetryInitialize(void)
 	xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
 	xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
 	xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
 
 	return 0;
 }
diff --git a/flight/OpenPilot/Modules/Watchdog/watchdog.c b/flight/OpenPilot/Modules/Watchdog/watchdog.c
index 0f148f673..0f6769e87 100644
--- a/flight/OpenPilot/Modules/Watchdog/watchdog.c
+++ b/flight/OpenPilot/Modules/Watchdog/watchdog.c
@@ -65,6 +65,7 @@ int32_t WatchdogInitialize()
 	
 	// Start main task
 	xTaskCreate(watchdogTask, (signed char *)"Watchdog", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_WATCHDOG, taskHandle);
 
 	return 0;
 }
diff --git a/flight/OpenPilot/System/inc/openpilot.h b/flight/OpenPilot/System/inc/openpilot.h
index 0f0cab579..59ae76fd4 100644
--- a/flight/OpenPilot/System/inc/openpilot.h
+++ b/flight/OpenPilot/System/inc/openpilot.h
@@ -40,6 +40,7 @@
 #include "uavobjectmanager.h"
 #include "eventdispatcher.h"
 #include "alarms.h"
+#include "taskmonitor.h"
 #include "uavtalk.h"
 
 /* Global Functions */
diff --git a/flight/OpenPilot/System/inc/taskmonitor.h b/flight/OpenPilot/System/inc/taskmonitor.h
new file mode 100644
index 000000000..511f552f7
--- /dev/null
+++ b/flight/OpenPilot/System/inc/taskmonitor.h
@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotLibraries OpenPilot System Libraries
+ * @{
+ * @file       taskmonitor.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the task monitoring library
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef TASKMONITOR_H
+#define TASKMONITOR_H
+
+#include "taskinfo.h"
+
+int32_t TaskMonitorInitialize(void);
+int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
+void TaskMonitorUpdateAll(void);
+
+#endif // TASKMONITOR_H
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c
index 7b13c0400..f710b43a4 100644
--- a/flight/OpenPilot/System/pios_board.c
+++ b/flight/OpenPilot/System/pios_board.c
@@ -63,6 +63,9 @@ void PIOS_Board_Init(void) {
 	/* Initialize the alarms library */
 	AlarmsInitialize();
 
+	/* Initialize the task monitor library */
+	TaskMonitorInitialize();
+
 	/* Initialize the PiOS library */
 	PIOS_COM_Init();
 	PIOS_Servo_Init();
diff --git a/flight/OpenPilot/System/taskmonitor.c b/flight/OpenPilot/System/taskmonitor.c
new file mode 100644
index 000000000..0a015d787
--- /dev/null
+++ b/flight/OpenPilot/System/taskmonitor.c
@@ -0,0 +1,100 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotLibraries OpenPilot System Libraries
+ * @{
+ * @file       taskmonitor.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Task monitoring library
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "openpilot.h"
+//#include "taskmonitor.h"
+
+// Private constants
+
+// Private types
+
+// Private variables
+static xSemaphoreHandle lock;
+static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
+
+// Private functions
+
+/**
+ * Initialize library
+ */
+int32_t TaskMonitorInitialize(void)
+{
+	lock = xSemaphoreCreateRecursiveMutex();
+	memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
+	return 0;
+}
+
+/**
+ * Register a task handle with the library
+ */
+int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
+{
+	if (task < TASKINFO_RUNNING_NUMELEM)
+	{
+	    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+		handles[task] = handle;
+		xSemaphoreGiveRecursive(lock);
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Update the status of all tasks
+ */
+void TaskMonitorUpdateAll(void)
+{
+	TaskInfoData data;
+	int n;
+
+	// Lock
+	xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+	// Update all task information
+	for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
+	{
+		if (handles[n] != 0)
+		{
+			data.Running[n] = TASKINFO_RUNNING_TRUE;
+			data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
+		}
+		else
+		{
+			data.Running[n] = TASKINFO_RUNNING_FALSE;
+			data.StackRemaining[n] = 0;
+		}
+	}
+
+	// Update object
+	TaskInfoSet(&data);
+
+	// Done
+	xSemaphoreGiveRecursive(lock);
+}
diff --git a/flight/OpenPilot/UAVObjects/inc/taskinfo.h b/flight/OpenPilot/UAVObjects/inc/taskinfo.h
new file mode 100644
index 000000000..54179b436
--- /dev/null
+++ b/flight/OpenPilot/UAVObjects/inc/taskinfo.h
@@ -0,0 +1,103 @@
+/**
+ ******************************************************************************
+ * @addtogroup UAVObjects OpenPilot UAVObjects
+ * @{ 
+ * @addtogroup TaskInfo TaskInfo 
+ * @brief Task information
+ *
+ * Autogenerated files and functions for TaskInfo Object
+ 
+ * @{ 
+ *
+ * @file       taskinfo.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the TaskInfo object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: taskinfo.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef TASKINFO_H
+#define TASKINFO_H
+
+// Object constants
+#define TASKINFO_OBJID 3297598544U
+#define TASKINFO_NAME "TaskInfo"
+#define TASKINFO_METANAME "TaskInfoMeta"
+#define TASKINFO_ISSINGLEINST 1
+#define TASKINFO_ISSETTINGS 0
+#define TASKINFO_NUMBYTES sizeof(TaskInfoData)
+
+// Object access macros
+/**
+ * @function TaskInfoGet(dataOut)
+ * @brief Populate a TaskInfoData object
+ * @param[out] dataOut 
+ */
+#define TaskInfoGet(dataOut) UAVObjGetData(TaskInfoHandle(), dataOut)
+#define TaskInfoSet(dataIn) UAVObjSetData(TaskInfoHandle(), dataIn)
+#define TaskInfoInstGet(instId, dataOut) UAVObjGetInstanceData(TaskInfoHandle(), instId, dataOut)
+#define TaskInfoInstSet(instId, dataIn) UAVObjSetInstanceData(TaskInfoHandle(), instId, dataIn)
+#define TaskInfoConnectQueue(queue) UAVObjConnectQueue(TaskInfoHandle(), queue, EV_MASK_ALL_UPDATES)
+#define TaskInfoConnectCallback(cb) UAVObjConnectCallback(TaskInfoHandle(), cb, EV_MASK_ALL_UPDATES)
+#define TaskInfoCreateInstance() UAVObjCreateInstance(TaskInfoHandle())
+#define TaskInfoRequestUpdate() UAVObjRequestUpdate(TaskInfoHandle())
+#define TaskInfoRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(TaskInfoHandle(), instId)
+#define TaskInfoUpdated() UAVObjUpdated(TaskInfoHandle())
+#define TaskInfoInstUpdated(instId) UAVObjUpdated(TaskInfoHandle(), instId)
+#define TaskInfoGetMetadata(dataOut) UAVObjGetMetadata(TaskInfoHandle(), dataOut)
+#define TaskInfoSetMetadata(dataIn) UAVObjSetMetadata(TaskInfoHandle(), dataIn)
+#define TaskInfoReadOnly(dataIn) UAVObjReadOnly(TaskInfoHandle())
+
+// Object data
+typedef struct {
+    uint16_t StackRemaining[12];
+    uint8_t Running[12];
+
+} __attribute__((packed)) TaskInfoData;
+
+// Field information
+// Field StackRemaining information
+/* Array element names for field StackRemaining */
+typedef enum { TASKINFO_STACKREMAINING_SYSTEM=0, TASKINFO_STACKREMAINING_ACTUATOR=1, TASKINFO_STACKREMAINING_TELEMETRYTX=2, TASKINFO_STACKREMAINING_TELEMETRYTXPRI=3, TASKINFO_STACKREMAINING_TELEMETRYRX=4, TASKINFO_STACKREMAINING_GPS=5, TASKINFO_STACKREMAINING_MANUALCONTROL=6, TASKINFO_STACKREMAINING_ALTITUDE=7, TASKINFO_STACKREMAINING_AHRSCOMMS=8, TASKINFO_STACKREMAINING_STABILIZATION=9, TASKINFO_STACKREMAINING_GUIDANCE=10, TASKINFO_STACKREMAINING_WATCHDOG=11 } TaskInfoStackRemainingElem;
+/* Number of elements for field StackRemaining */
+#define TASKINFO_STACKREMAINING_NUMELEM 12
+// Field Running information
+/* Enumeration options for field Running */
+typedef enum { TASKINFO_RUNNING_FALSE=0, TASKINFO_RUNNING_TRUE=1 } TaskInfoRunningOptions;
+/* Array element names for field Running */
+typedef enum { TASKINFO_RUNNING_SYSTEM=0, TASKINFO_RUNNING_ACTUATOR=1, TASKINFO_RUNNING_TELEMETRYTX=2, TASKINFO_RUNNING_TELEMETRYTXPRI=3, TASKINFO_RUNNING_TELEMETRYRX=4, TASKINFO_RUNNING_GPS=5, TASKINFO_RUNNING_MANUALCONTROL=6, TASKINFO_RUNNING_ALTITUDE=7, TASKINFO_RUNNING_AHRSCOMMS=8, TASKINFO_RUNNING_STABILIZATION=9, TASKINFO_RUNNING_GUIDANCE=10, TASKINFO_RUNNING_WATCHDOG=11 } TaskInfoRunningElem;
+/* Number of elements for field Running */
+#define TASKINFO_RUNNING_NUMELEM 12
+
+
+// Generic interface functions
+int32_t TaskInfoInitialize();
+UAVObjHandle TaskInfoHandle();
+
+#endif // TASKINFO_H
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/OpenPilot/UAVObjects/taskinfo.c b/flight/OpenPilot/UAVObjects/taskinfo.c
new file mode 100644
index 000000000..e3aeddbb2
--- /dev/null
+++ b/flight/OpenPilot/UAVObjects/taskinfo.c
@@ -0,0 +1,111 @@
+/**
+ ******************************************************************************
+ * @addtogroup UAVObjects OpenPilot UAVObjects
+ * @{ 
+ * @addtogroup TaskInfo TaskInfo
+ * @brief Task information
+ *
+ * Autogenerated files and functions for TaskInfo Object
+ * @{ 
+ *
+ * @file       taskinfo.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the TaskInfo object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: taskinfo.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "taskinfo.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t TaskInfoInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(TASKINFO_OBJID, TASKINFO_NAME, TASKINFO_METANAME, 0,
+			TASKINFO_ISSINGLEINST, TASKINFO_ISSETTINGS, TASKINFO_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	TaskInfoData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(TaskInfoData));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.telemetryUpdatePeriod = 10000;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.loggingUpdatePeriod = 1000;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle TaskInfoHandle()
+{
+	return handle;
+}
+
+/**
+ * @}
+ */
+
diff --git a/flight/OpenPilot/UAVObjects/uavobjectsinit.c b/flight/OpenPilot/UAVObjects/uavobjectsinit.c
index 77c5f8017..9e5d542bc 100644
--- a/flight/OpenPilot/UAVObjects/uavobjectsinit.c
+++ b/flight/OpenPilot/UAVObjects/uavobjectsinit.c
@@ -63,6 +63,7 @@
 #include "systemalarms.h"
 #include "systemsettings.h"
 #include "systemstats.h"
+#include "taskinfo.h"
 #include "telemetrysettings.h"
 #include "velocityactual.h"
 #include "velocitydesired.h"
@@ -109,6 +110,7 @@ void UAVObjectsInitializeAll()
     SystemAlarmsInitialize();
     SystemSettingsInitialize();
     SystemStatsInitialize();
+    TaskInfoInitialize();
     TelemetrySettingsInitialize();
     VelocityActualInitialize();
     VelocityDesiredInitialize();
diff --git a/flight/PiOS/inc/FreeRTOSConfig.h b/flight/PiOS/inc/FreeRTOSConfig.h
index 2a070e195..316529e76 100644
--- a/flight/PiOS/inc/FreeRTOSConfig.h
+++ b/flight/PiOS/inc/FreeRTOSConfig.h
@@ -58,7 +58,7 @@ to exclude the API function. */
 #define INCLUDE_vTaskDelay			1
 #define INCLUDE_xTaskGetSchedulerState		1
 #define INCLUDE_xTaskGetCurrentTaskHandle	1
-#define INCLUDE_uxTaskGetStackHighWaterMark	0
+#define INCLUDE_uxTaskGetStackHighWaterMark	1
 
 /* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
 (lowest) to 1 (highest maskable) to 0 (highest non-maskable). */