diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index bc8f92c17..d7b202346 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -140,7 +140,6 @@ int32_t GPSInitialize(void)
 #ifdef PIOS_GPS_SETS_HOMELOCATION
 		HomeLocationInitialize();
 #endif
-		HwSettingsInitialize();
 		updateSettings();
 
 		gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
diff --git a/flight/PiOS/Boards/STM32F4xx_Revolution.h b/flight/PiOS/Boards/STM32F4xx_Revolution.h
index b55ca78c4..82f6f1cca 100644
--- a/flight/PiOS/Boards/STM32F4xx_Revolution.h
+++ b/flight/PiOS/Boards/STM32F4xx_Revolution.h
@@ -130,6 +130,7 @@ extern uint32_t pios_com_gps_id;
 extern uint32_t pios_com_aux_id;
 extern uint32_t pios_com_telem_usb_id;
 #define PIOS_COM_AUX                    (pios_com_aux_id)
+#define PIOS_COM_GPS                    (pios_com_gps_id)
 #define PIOS_COM_TELEM_USB              (pios_com_telem_usb_id)
 #define PIOS_COM_TELEM_RF               (pios_com_telem_rf_id)
 #define PIOS_COM_DEBUG                  PIOS_COM_AUX
diff --git a/flight/Revolution/Makefile b/flight/Revolution/Makefile
index b123da092..a39ea9a4a 100644
--- a/flight/Revolution/Makefile
+++ b/flight/Revolution/Makefile
@@ -49,7 +49,7 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES = Telemetry Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator
+MODULES = Telemetry Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS
 PYMODULES = 
 #FlightPlan
 
@@ -129,7 +129,7 @@ SRC += $(OPSYSTEM)/cm3_fault_handlers.c
 
 SRC += $(FLIGHTLIB)/CoordinateConversions.c
 SRC += $(FLIGHTLIB)/fifo_buffer.c
-SRC += $(FLIGHTLIB)/NMEA.c
+SRC += $(FLIGHTLIB)/WorldMagModel.c
 
 ## PIOS Hardware (STM32F4xx)
 include $(PIOS)/STM32F4xx/library.mk
diff --git a/flight/Revolution/System/inc/pios_config.h b/flight/Revolution/System/inc/pios_config.h
index a886bb9fa..5bcf04354 100644
--- a/flight/Revolution/System/inc/pios_config.h
+++ b/flight/Revolution/System/inc/pios_config.h
@@ -71,7 +71,7 @@
 #define PIOS_INCLUDE_DSM
 //#define PIOS_INCLUDE_SBUS
 //#define PIOS_INCLUDE_PPM
-//#define PIOS_INCLUDE_PWM
+#define PIOS_INCLUDE_PWM
 //#define PIOS_INCLUDE_GCSRCVR
 
 #define PIOS_INCLUDE_SETTINGS
@@ -82,11 +82,11 @@
 /* Other Interfaces */
 //#define PIOS_INCLUDE_I2C_ESC
 
-/* Flags that alter behaviors */
+/* Flags that alter behaviors - mostly to lower resources for CC */
 #define PIOS_INCLUDE_INITCALL           /* Include init call structures */
 #define PIOS_TELEM_PRIORITY_QUEUE       /* Enable a priority queue in telemetry */
 #define PIOS_QUATERNION_STABILIZATION   /* Stabilization options */
-#define PIOS_GPS_SETS_HOMELOCATION      /* GPS options */
+//#define PIOS_GPS_SETS_HOMELOCATION      /* GPS options */
 
 /* Alarm Thresholds */
 #define HEAP_LIMIT_WARNING		4000
diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c
index d3e057d6a..0ab028e66 100644
--- a/flight/Revolution/System/pios_board.c
+++ b/flight/Revolution/System/pios_board.c
@@ -451,10 +451,7 @@ static const struct pios_usart_cfg pios_usart_gps_cfg = {
 	},
 };
 
-#define PIOS_COM_AUX_TX_BUF_LEN 150
-static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
-#define PIOS_COM_AUX_RX_BUF_LEN 10
-static uint8_t pios_com_aux_rx_buffer[PIOS_COM_AUX_RX_BUF_LEN];
+#define PIOS_COM_GPS_RX_BUF_LEN 192
 
 #endif /* PIOS_INCLUDE_GPS */
 
@@ -504,11 +501,6 @@ static const struct pios_usart_cfg pios_usart_aux_cfg = {
 	},
 };
 
-#define PIOS_COM_GPS_TX_BUF_LEN 10
-static uint8_t pios_com_gps_tx_buffer[PIOS_COM_GPS_TX_BUF_LEN];
-#define PIOS_COM_GPS_RX_BUF_LEN 192
-static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
-
 #endif /* PIOS_COM_AUX */
 
 #ifdef PIOS_INCLUDE_COM_TELEM
@@ -569,8 +561,8 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
 #include <pios_dsm_priv.h>
 
 static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
-	.regs = USART1,
-	.remap = GPIO_AF_USART1,
+	.regs = USART3,
+	.remap = GPIO_AF_USART3,
 	.init = {
 		.USART_BaudRate            = 115200,
 		.USART_WordLength          = USART_WordLength_8b,
@@ -581,16 +573,16 @@ static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
 	},
 	.irq = {
 		.init = {
-			.NVIC_IRQChannel                   = USART1_IRQn,
+			.NVIC_IRQChannel                   = USART3_IRQn,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,
 		},
 	},
 	.rx = {
-		.gpio = GPIOA,
+		.gpio = GPIOB,
 		.init = {
-			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Pin   = GPIO_Pin_11,
 			.GPIO_Speed = GPIO_Speed_2MHz,
 			.GPIO_Mode  = GPIO_Mode_AF,
 			.GPIO_OType = GPIO_OType_PP,
@@ -598,9 +590,9 @@ static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
 		},
 	},
 	.tx = {
-		.gpio = GPIOA,
+		.gpio = GPIOB,
 		.init = {
-			.GPIO_Pin   = GPIO_Pin_9,
+			.GPIO_Pin   = GPIO_Pin_10,
 			.GPIO_Speed = GPIO_Speed_2MHz,
 			.GPIO_Mode  = GPIO_Mode_AF,
 			.GPIO_OType = GPIO_OType_PP,
@@ -611,9 +603,9 @@ static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
 
 static const struct pios_dsm_cfg pios_dsm_main_cfg = {
 	.bind = {
-		.gpio = GPIOA,
+		.gpio = GPIOB,
 		.init = {
-			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Pin   = GPIO_Pin_11,
 			.GPIO_Speed = GPIO_Speed_2MHz,
 			.GPIO_Mode  = GPIO_Mode_OUT,
 			.GPIO_OType = GPIO_OType_PP,
@@ -1561,13 +1553,17 @@ void PIOS_Board_Init(void) {
 
 	uint32_t pios_usart_gps_id;
 	if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
-		PIOS_DEBUG_Assert(0);
+		PIOS_Assert(0);
 	}
+	
+	uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
+	PIOS_Assert(rx_buffer);
 	if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
-					  pios_com_gps_rx_buffer, sizeof(pios_com_gps_rx_buffer),
-					  pios_com_gps_tx_buffer, sizeof(pios_com_gps_tx_buffer))) {
-		PIOS_DEBUG_Assert(0);
+					  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
+					  NULL, 0)) {
+		PIOS_Assert(0);
 	}
+
 #endif	/* PIOS_INCLUDE_GPS */
 	
 #if defined(PIOS_INCLUDE_COM_AUX)
@@ -1628,6 +1624,7 @@ void PIOS_Board_Init(void) {
 	}
 	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
 
+#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_RCVR)
 	/* Set up the receiver port.  Later this should be optional */
 	uint32_t pios_pwm_id;
 	PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
@@ -1637,6 +1634,7 @@ void PIOS_Board_Init(void) {
 		PIOS_Assert(0);
 	}
 	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
+#endif
 
 	/* Set up the servo outputs */
 	PIOS_Servo_Init(&pios_servo_cfg);