diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h
index 4362dbca2..af1b7d22d 100644
--- a/flight/CopterControl/System/inc/pios_config.h
+++ b/flight/CopterControl/System/inc/pios_config.h
@@ -84,16 +84,16 @@
 #define AUXUART_BAUDRATE		19200
 
 /* Alarm Thresholds */
-#define HEAP_LIMIT_WARNING		450
-#define HEAP_LIMIT_CRITICAL		350
+#define HEAP_LIMIT_WARNING		350
+#define HEAP_LIMIT_CRITICAL		250
 #define CPULOAD_LIMIT_WARNING		80
 #define CPULOAD_LIMIT_CRITICAL		95
 
 /* Task stack sizes */
 #define PIOS_ACTUATOR_STACK_SIZE       1020
-#define PIOS_MANUAL_STACK_SIZE          644
-#define PIOS_SYSTEM_STACK_SIZE          644
-#define PIOS_STABILIZATION_STACK_SIZE   624
+#define PIOS_MANUAL_STACK_SIZE          724
+#define PIOS_SYSTEM_STACK_SIZE          504
+#define PIOS_STABILIZATION_STACK_SIZE   524
 #define PIOS_TELEM_STACK_SIZE           500
 
 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index 1cc3a6a5b..c36160a1e 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -59,8 +59,8 @@
 											  // optimisation options are changed.
 #endif
 
-#if defined(PIOS_MANUAL_STACK_SIZE)
-#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
+#if defined(PIOS_SYSTEM_STACK_SIZE)
+#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
 #else
 #define STACK_SIZE_BYTES 924
 #endif