diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h
index bcf0b0b23..7c5857ab8 100644
--- a/flight/CopterControl/System/inc/pios_config.h
+++ b/flight/CopterControl/System/inc/pios_config.h
@@ -94,8 +94,8 @@
 
 /* Task stack sizes */
 #define PIOS_ACTUATOR_STACK_SIZE       1020
-#define PIOS_MANUAL_STACK_SIZE          724
-#define PIOS_SYSTEM_STACK_SIZE          460
+#define PIOS_MANUAL_STACK_SIZE          800
+#define PIOS_SYSTEM_STACK_SIZE          660
 #define PIOS_STABILIZATION_STACK_SIZE   524
 #define PIOS_TELEM_STACK_SIZE           500
 #define PIOS_EVENTDISPATCHER_STACK_SIZE 130
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index 94c3111b3..fe76f1660 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -180,7 +180,6 @@ void VehicleConfig::setMixerType(UAVDataObject* mixer, int channel, MixerTypeEle
             if (mixerType >= 0 && mixerType < mixerTypeDescriptions.count())
             {
                 field->setValue(mixerTypeDescriptions[mixerType]);
-                mixer->updated();
             }
         }
     }
@@ -228,7 +227,6 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
 
         if (field) {
             field->setDouble(value, elementName);
-            mixer->updated();
         }
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index 331c39e23..b54bdbc44 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -135,6 +135,14 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget * widget)
         {
             m_stabilization->RateRollILimit_2->setValue(m_stabilization->RatePitchILimit->value());
         }
+        else if(widget== m_stabilization->RollRateKd)
+        {
+            m_stabilization->PitchRateKd->setValue(m_stabilization->RollRateKd->value());
+        }
+        else if(widget== m_stabilization->PitchRateKd)
+        {
+            m_stabilization->RollRateKd->setValue(m_stabilization->PitchRateKd->value());
+        }
     }
     if(m_stabilization->checkBox_8->checkState()==Qt::Checked)
     {
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index a30172fb0..be81befb7 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -247,14 +247,6 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
     if (!firmwareIap)
         return dummy;
 
-    // The code below will ask for the object update and wait for the updated to be received,
-    // or the timeout of the timer, set to 1 second.
-    QEventLoop loop;
-    connect(firmwareIap, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
-    QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
-    firmwareIap->requestUpdate();
-    loop.exec();
-
     return firmwareIap->getData();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp b/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
index ba65e84e5..d8f98be5c 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
@@ -388,6 +388,11 @@ void Telemetry::processObjectQueue()
     UAVObject::UpdateMode updateMode = UAVObject::GetGcsTelemetryUpdateMode(metadata);
     if ( ( objInfo.event != EV_UNPACKED ) && ( ( objInfo.event != EV_UPDATED_PERIODIC ) || ( updateMode != UAVObject::UPDATEMODE_THROTTLED ) ) )
     {
+        QMap<quint32, ObjectTransactionInfo*>::iterator itr = transMap.find(objInfo.obj->getObjID());
+        if ( itr != transMap.end() ) {
+            qDebug() << "!!!!!! Making request for an object: " << objInfo.obj->getName() << " for which a request is already in progress!!!!!!";
+            return;
+        }
         UAVObject::Metadata metadata = objInfo.obj->getMetadata();
         ObjectTransactionInfo *transInfo = new ObjectTransactionInfo(this);
         transInfo->obj = objInfo.obj;
diff --git a/package/Makefile.linux b/package/Makefile.linux
index 78e902d71..086079905 100644
--- a/package/Makefile.linux
+++ b/package/Makefile.linux
@@ -42,7 +42,7 @@ DEB_PACKAGE_NAME	:= openpilot_$(VERSION_FULL)_$(DEB_PLATFORM)
 
 linux_deb_package: deb_build gcs
 	@echo $@ starting
-	cd .. && dpkg-buildpackage -b
+	cd .. && dpkg-buildpackage -b -us -uc
 	$(V1)mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).deb $(BUILD_DIR)
 	$(V1)mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).changes $(BUILD_DIR)
 	$(V1)rm -rf $(DEB_BUILD_DIR)
diff --git a/shared/uavobjectdefinition/firmwareiapobj.xml b/shared/uavobjectdefinition/firmwareiapobj.xml
index 30b070857..be8431ef5 100644
--- a/shared/uavobjectdefinition/firmwareiapobj.xml
+++ b/shared/uavobjectdefinition/firmwareiapobj.xml
@@ -10,7 +10,7 @@
         <field name="crc" units="" type="uint32" elements="1"/> 
         <access gcs="readwrite" flight="readwrite"/> 
         <telemetrygcs acked="true" updatemode="manual" period="0"/> 
-        <telemetryflight acked="true" updatemode="manual" period="0"/> 
+        <telemetryflight acked="true" updatemode="onchange" period="0"/> 
         <logging updatemode="manual" period="0"/> 
 </object> 
 </xml>