diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c
index e2894a767..e8321543b 100644
--- a/flight/Modules/CameraStab/camerastab.c
+++ b/flight/Modules/CameraStab/camerastab.c
@@ -51,6 +51,7 @@
 #include "attitudeactual.h"
 #include "camerastabsettings.h"
 #include "cameradesired.h"
+#include "hwsettings.h"
 
 //
 // Configuration
@@ -61,6 +62,8 @@
 
 // Private variables
 
+static uint8_t camerastabEnabled = 0;
+
 // Private functions
 static void attitudeUpdated(UAVObjEvent* ev);
 static float bound(float val);
@@ -72,16 +75,33 @@ static float bound(float val);
 int32_t CameraStabInitialize(void)
 {
 	static UAVObjEvent ev;
-	ev.obj = AttitudeActualHandle();
-	ev.instId = 0;
-	ev.event = 0;
 
-	CameraStabSettingsInitialize();
-	CameraDesiredInitialize();
+	HwSettingsInitialize();
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+	HwSettingsOptionalModulesGet(optionalModules);
+    if (optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTAB]==HWSETTINGS_OPTIONALMODULES_ENABLED) {
+		camerastabEnabled=1;
+	} else {
+		camerastabEnabled=0;
+	}
 
-	EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
+	if (camerastabEnabled) {
 
-	return 0;
+		AttitudeActualInitialize();
+
+		ev.obj = AttitudeActualHandle();
+		ev.instId = 0;
+		ev.event = 0;
+
+		CameraStabSettingsInitialize();
+		CameraDesiredInitialize();
+
+		EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
+
+		return 0;
+	}
+
+	return -1;
 }
 
 /* stub: module has no module thread */
@@ -90,6 +110,8 @@ int32_t CameraStabStart(void)
 	return 0;
 }
 
+MODULE_INITCALL(CameraStabInitialize, CameraStabStart)
+
 static void attitudeUpdated(UAVObjEvent* ev)
 {
 	if (ev->obj != AttitudeActualHandle())
diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index 0830d5762..3d844d5fc 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -78,6 +78,7 @@ static float GravityAccel(float latitude, float longitude, float altitude);
 // Private variables
 
 static uint32_t gpsPort;
+static uint8_t gpsEnabled = 0;
 
 static xTaskHandle gpsTaskHandle;
 
@@ -98,14 +99,16 @@ static uint32_t numParsingErrors;
 
 int32_t GPSStart(void)
 {
-	if (gpsPort) {
-		// Start gps task
-		xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
-		TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
-		return 0;
-	}
+	if (gpsEnabled) {
+		if (gpsPort) {
+			// Start gps task
+			xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
+			TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
+			return 0;
+		}
 
-	AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
+		AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
+	}
 	return -1;
 }
 
@@ -117,8 +120,16 @@ int32_t GPSStart(void)
 int32_t GPSInitialize(void)
 {
 	gpsPort = PIOS_COM_GPS;
+	HwSettingsInitialize();
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+	HwSettingsOptionalModulesGet(optionalModules);
+    if (optionalModules[HWSETTINGS_OPTIONALMODULES_GPS]==HWSETTINGS_OPTIONALMODULES_ENABLED) {
+		gpsEnabled=1;
+	} else {
+		gpsEnabled=0;
+	}
 
-	if (gpsPort) {
+	if (gpsPort && gpsEnabled) {
 		GPSPositionInitialize();
 #if !defined(PIOS_GPS_MINIMAL)
 		GPSTimeInitialize();
@@ -138,8 +149,7 @@ int32_t GPSInitialize(void)
 
 	return -1;
 }
-// optional module, gets initialized separately
-//MODULE_INITCALL(GPSInitialize, GPSStart)
+MODULE_INITCALL(GPSInitialize, GPSStart)
 
 // ****************
 /**