diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
index 1164e735d..2cdd8bbd4 100644
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
@@ -105,54 +105,49 @@ void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
 
 /*-----------------------------------------------------------*/
 
-void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment)
-{
-void *pvReturn = NULL;
-static unsigned char *pucAlignedHeap = NULL;
-size_t mask = alignment-1;
-	/* Ensure that blocks are always aligned to the required number of bytes. */
-	#if portBYTE_ALIGNMENT != 1
-		if( xWantedSize & mask )
-		{
-		    			/* Byte alignment required. */
-			xWantedSize += ( alignment - ( xWantedSize & mask ) );
-		}
-	#endif
+void *pvPortMallocGeneric(size_t xWantedSize, size_t alignment) {
+    void *pvReturn = NULL;
+    static unsigned char *pucAlignedHeap = NULL;
+    size_t mask = alignment - 1;
+    /* Ensure that blocks are always aligned to the required number of bytes. */
+#if portBYTE_ALIGNMENT != 1
+    if (xWantedSize & mask) {
+        /* Byte alignment required. */
+        xWantedSize += (alignment - (xWantedSize & mask));
+    }
+#endif
 
-	vTaskSuspendAll();
-	{
-		if( pucAlignedHeap == NULL )
-		{
-			/* Ensure the heap starts on a correctly aligned boundary. */
-			pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ alignment ] ) & ( ( portPOINTER_SIZE_TYPE ) ~ mask ) );
-		}
+    vTaskSuspendAll();
+    {
+        if (pucAlignedHeap == NULL ) {
+            /* Ensure the heap starts on a correctly aligned boundary. */
+            pucAlignedHeap = (unsigned char *) (((portPOINTER_SIZE_TYPE ) &ucHeap[alignment]) & ((portPOINTER_SIZE_TYPE ) ~mask));
+        }
 
-		/* Check there is enough room left for the allocation. */
-		if( ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) &&
-			( ( xNextFreeByte + xWantedSize ) > xNextFreeByte )	)/* Check for overflow. */
-		{
-			/* Return the next free byte then increment the index past this
-			block. */
-			pvReturn = pucAlignedHeap + xNextFreeByte;
-			xNextFreeByte += xWantedSize;
-		}
-	}
-	xTaskResumeAll();
+        /* Check there is enough room left for the allocation. */
+        if (((xNextFreeByte + xWantedSize) < configADJUSTED_HEAP_SIZE)&&
+        ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) ){
+        /* Check for overflow. */
+        /* Return the next free byte then increment the index past this block. */
+        pvReturn = pucAlignedHeap + xNextFreeByte;
+        xNextFreeByte += xWantedSize;
+        }
+    }
+    xTaskResumeAll();
 
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-	}
-	#endif
+#if( configUSE_MALLOC_FAILED_HOOK == 1 )
+    {
+        if( pvReturn == NULL ) {
+            extern void vApplicationMallocFailedHook( void );
+            vApplicationMallocFailedHook();
+        }
+    }
+#endif
 
-	return pvReturn;
+    return pvReturn;
 }
 
-void *pvPortMalloc( size_t xWantedSize){
+void *pvPortMalloc(size_t xWantedSize) {
     return pvPortMallocGeneric(xWantedSize, portBYTE_HEAP_ALIGNMENT);
 }
 
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt b/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
index c4ba4caae..aa64ebc24 100644
--- a/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
@@ -8,6 +8,7 @@ Brief list of modifications:
 *Allow heap_1.c for modification of max heap size at runtime;
 *use section ".heap" for heap.
 
+Memory manager now handles two different kind of alignments for F1, portBYTE_ALIGNMENT for standard mallocs, and portBYTE_HEAP_ALIGNMENT for stack(aligned) allocs
 
 
 
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
index aff9f208b..a40ebd000 100644
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
@@ -115,6 +115,8 @@ extern "C" {
 #define portBYTE_HEAP_ALIGNMENT     4 // this value is used to allocate heap
 /*-----------------------------------------------------------*/
 
+extern void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
+#define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMallocGeneric( ( x ) , portBYTE_ALIGNMENT) ) : ( puxStackBuffer ) )
 
 /* Scheduler utilities. */
 extern void vPortYieldFromISR( void );
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
index e99354d6f..2a5e983e1 100644
--- a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
+++ b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
@@ -111,7 +111,7 @@ extern "C" {
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
 #define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
-#define portBYTE_ALIGNMENT			8
+#define portBYTE_ALIGNMENT			8 // APCS 8 bytes aligned stack for external calls
 /*-----------------------------------------------------------*/	
 
 
diff --git a/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h b/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
index 7dcb54fe8..0ed32c74d 100644
--- a/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
+++ b/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
@@ -91,9 +91,6 @@ do {\
 #define configCHECK_FOR_STACK_OVERFLOW	1
 #endif
 
-void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
-#define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMallocGeneric( ( x ) , portBYTE_ALIGNMENT) ) : ( puxStackBuffer ) )
-
 /**
   * @}
   */