diff --git a/flight/modules/Stabilization/cruisecontrol.c b/flight/modules/Stabilization/cruisecontrol.c
index 9b86608c8..c7444faa9 100644
--- a/flight/modules/Stabilization/cruisecontrol.c
+++ b/flight/modules/Stabilization/cruisecontrol.c
@@ -38,6 +38,12 @@ static float cruisecontrol_factor = 1.0f;
 
 void cruisecontrol_compute_factor(AttitudeStateData *attitude)
 {
+    // safe CPU, only execute every 8th attitude update
+    static uint8_t cpusafer = 0;
+
+    if (cpusafer++ % (8 / OUTERLOOP_SKIPCOUNT)) {
+        return;
+    }
     float angleCosine;
 
     // get attitude state and calculate angle
diff --git a/flight/modules/Stabilization/inc/stabilization.h b/flight/modules/Stabilization/inc/stabilization.h
index 3ac8e9092..a857fba9b 100644
--- a/flight/modules/Stabilization/inc/stabilization.h
+++ b/flight/modules/Stabilization/inc/stabilization.h
@@ -68,6 +68,17 @@ extern StabilizationData stabSettings;
 #define AXES                4
 #define FAILSAFE_TIMEOUT_MS 30
 
+#ifndef PIOS_STABILIZATION_STACK_SIZE
+#define STACK_SIZE_BYTES    800
+#else
+#define STACK_SIZE_BYTES    PIOS_STABILIZATION_STACK_SIZE
+#endif
+
+// must be same as eventdispatcher to avoid needing additional mutexes
+#define CBTASK_PRIORITY     CALLBACK_TASK_FLIGHTCONTROL
+
+// outer loop only executes every 4th uavobject update to safe CPU
+#define OUTERLOOP_SKIPCOUNT 4
 
 #endif // STABILIZATION_H
 
diff --git a/flight/modules/Stabilization/innerloop.c b/flight/modules/Stabilization/innerloop.c
index 95373b48d..b04556cb6 100644
--- a/flight/modules/Stabilization/innerloop.c
+++ b/flight/modules/Stabilization/innerloop.c
@@ -50,9 +50,7 @@
 #include <cruisecontrol.h>
 
 // Private constants
-#define STACK_SIZE_BYTES  256
 
-#define CBTASK_PRIORITY   CALLBACK_TASK_FLIGHTCONTROL
 #define CALLBACK_PRIORITY CALLBACK_PRIORITY_CRITICAL
 
 #define UPDATE_EXPECTED   (1.0f / 666.0f)
@@ -116,12 +114,12 @@ static void stabilizationInnerloopTask()
         if (stabSettings.monitor.rateupdates > -64) {
             stabSettings.monitor.rateupdates--;
         }
-        if (stabSettings.monitor.rateupdates < -3) {
-            // warning if rate loop skipped more than 2 beats
+        if (stabSettings.monitor.rateupdates < -(2 * OUTERLOOP_SKIPCOUNT)) {
+            // warning if rate loop skipped more than 2 execution
             warn = true;
         }
-        if (stabSettings.monitor.rateupdates < -7) {
-            // error if rate loop skipped more than 7 beats
+        if (stabSettings.monitor.rateupdates < -(4 * OUTERLOOP_SKIPCOUNT)) {
+            // error if rate loop skipped more than 4 executions
             error = true;
         }
         // check if gyro keeps updating
diff --git a/flight/modules/Stabilization/outerloop.c b/flight/modules/Stabilization/outerloop.c
index c10077a10..853684634 100644
--- a/flight/modules/Stabilization/outerloop.c
+++ b/flight/modules/Stabilization/outerloop.c
@@ -49,9 +49,7 @@
 #include <CoordinateConversions.h>
 
 // Private constants
-#define STACK_SIZE_BYTES  256
 
-#define CBTASK_PRIORITY   CALLBACK_TASK_FLIGHTCONTROL
 #define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
 
 #define UPDATE_EXPECTED   (1.0f / 666.0f)
@@ -260,10 +258,14 @@ static void stabilizationOuterloopTask()
 
 static void AttitudeStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 {
-    // this does not need mutex protection as both eventdispatcher and stabi run in same callback task!
-    AttitudeStateGet(&attitude);
+    // to reduce CPU utilisation, outer loop is not executed every state update
+    static uint8_t cpusafer = 0;
 
-    PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);
+    if ((cpusafer++ % OUTERLOOP_SKIPCOUNT) == 0) {
+        // this does not need mutex protection as both eventdispatcher and stabi run in same callback task!
+        AttitudeStateGet(&attitude);
+        PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);
+    }
 }
 
 /**
diff --git a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
index 13697942d..d3a1aa2f9 100644
--- a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
+++ b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
@@ -160,7 +160,7 @@
 #define PIOS_ACTUATOR_STACK_SIZE        820
 #define PIOS_MANUAL_STACK_SIZE          635
 #define PIOS_RECEIVER_STACK_SIZE        620
-#define PIOS_STABILIZATION_STACK_SIZE   780
+#define PIOS_STABILIZATION_STACK_SIZE   400
 
 #ifdef DIAG_TASKS
 #define PIOS_SYSTEM_STACK_SIZE          740
diff --git a/shared/uavobjectdefinition/stabilizationstatus.xml b/shared/uavobjectdefinition/stabilizationstatus.xml
index f58200853..0a3788b76 100644
--- a/shared/uavobjectdefinition/stabilizationstatus.xml
+++ b/shared/uavobjectdefinition/stabilizationstatus.xml
@@ -22,7 +22,7 @@
 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="onchange" period="5000"/>
+        <telemetryflight acked="false" updatemode="periodic" period="5000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>