diff --git a/flight/libraries/pid/pidcontroldown.cpp b/flight/libraries/pid/pidcontroldown.cpp
index de86bba5b..93e218371 100644
--- a/flight/libraries/pid/pidcontroldown.cpp
+++ b/flight/libraries/pid/pidcontroldown.cpp
@@ -31,8 +31,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <CoordinateConversions.h>
diff --git a/flight/libraries/sanitycheck.c b/flight/libraries/sanitycheck.c
index 08d8a67d2..09739ce7b 100644
--- a/flight/libraries/sanitycheck.c
+++ b/flight/libraries/sanitycheck.c
@@ -41,7 +41,6 @@
 #include <systemalarms.h>
 #include <revosettings.h>
 #include <positionstate.h>
-#include <taskinfo.h>
 
 // a number of useful macros
 #define ADDSEVERITY(check)                                  severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_CRITICAL))
diff --git a/flight/modules/Airspeed/baro_airspeed_ms4525do.c b/flight/modules/Airspeed/baro_airspeed_ms4525do.c
index 181f07c47..6c93b07d8 100644
--- a/flight/modules/Airspeed/baro_airspeed_ms4525do.c
+++ b/flight/modules/Airspeed/baro_airspeed_ms4525do.c
@@ -41,7 +41,6 @@
 #include "airspeedsettings.h"
 #include "airspeedsensor.h" // object that will be updated by the module
 #include "airspeedalarm.h"
-#include "taskinfo.h"
 
 #if defined(PIOS_INCLUDE_MS4525DO)
 
diff --git a/flight/modules/GPS/ubx_autoconfig.c b/flight/modules/GPS/ubx_autoconfig.c
index e4be2cda8..b1dee67ad 100644
--- a/flight/modules/GPS/ubx_autoconfig.c
+++ b/flight/modules/GPS/ubx_autoconfig.c
@@ -34,7 +34,6 @@
 
 #include "inc/ubx_autoconfig.h"
 #include <pios_mem.h>
-#include "taskinfo.h"
 
 // private type definitions
 
diff --git a/flight/modules/Osd/osdinput/osdinput.c b/flight/modules/Osd/osdinput/osdinput.c
index f46c61a57..09d5e2c95 100644
--- a/flight/modules/Osd/osdinput/osdinput.c
+++ b/flight/modules/Osd/osdinput/osdinput.c
@@ -35,7 +35,6 @@
 #include "osdinput.h"
 
 #include "attitudestate.h"
-#include "taskinfo.h"
 #include "flightstatus.h"
 
 #include "fifo_buffer.h"
diff --git a/flight/modules/PathFollower/grounddrivecontroller.cpp b/flight/modules/PathFollower/grounddrivecontroller.cpp
index 3397a630e..f511db304 100644
--- a/flight/modules/PathFollower/grounddrivecontroller.cpp
+++ b/flight/modules/PathFollower/grounddrivecontroller.cpp
@@ -27,8 +27,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <CoordinateConversions.h>
diff --git a/flight/modules/PathFollower/pidcontrolne.cpp b/flight/modules/PathFollower/pidcontrolne.cpp
index 5aa6f7460..6a8968f24 100644
--- a/flight/modules/PathFollower/pidcontrolne.cpp
+++ b/flight/modules/PathFollower/pidcontrolne.cpp
@@ -31,8 +31,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <CoordinateConversions.h>
diff --git a/flight/modules/PathFollower/vtolautotakeoffcontroller.cpp b/flight/modules/PathFollower/vtolautotakeoffcontroller.cpp
index 0c0bc6490..06146c954 100644
--- a/flight/modules/PathFollower/vtolautotakeoffcontroller.cpp
+++ b/flight/modules/PathFollower/vtolautotakeoffcontroller.cpp
@@ -28,8 +28,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <alarms.h>
diff --git a/flight/modules/PathFollower/vtolautotakeofffsm.cpp b/flight/modules/PathFollower/vtolautotakeofffsm.cpp
index 524686d1f..9b9189096 100644
--- a/flight/modules/PathFollower/vtolautotakeofffsm.cpp
+++ b/flight/modules/PathFollower/vtolautotakeofffsm.cpp
@@ -27,8 +27,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <pathdesired.h>
diff --git a/flight/modules/PathFollower/vtolbrakecontroller.cpp b/flight/modules/PathFollower/vtolbrakecontroller.cpp
index 960e330de..9e41760c5 100644
--- a/flight/modules/PathFollower/vtolbrakecontroller.cpp
+++ b/flight/modules/PathFollower/vtolbrakecontroller.cpp
@@ -31,8 +31,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <alarms.h>
diff --git a/flight/modules/PathFollower/vtolbrakefsm.cpp b/flight/modules/PathFollower/vtolbrakefsm.cpp
index 543f526fb..a8e92e7d2 100644
--- a/flight/modules/PathFollower/vtolbrakefsm.cpp
+++ b/flight/modules/PathFollower/vtolbrakefsm.cpp
@@ -27,8 +27,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <CoordinateConversions.h>
diff --git a/flight/modules/PathFollower/vtolflycontroller.cpp b/flight/modules/PathFollower/vtolflycontroller.cpp
index 2ba3592a9..bb17b68c0 100644
--- a/flight/modules/PathFollower/vtolflycontroller.cpp
+++ b/flight/modules/PathFollower/vtolflycontroller.cpp
@@ -26,8 +26,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <CoordinateConversions.h>
diff --git a/flight/modules/PathFollower/vtollandcontroller.cpp b/flight/modules/PathFollower/vtollandcontroller.cpp
index 7362526bf..31740669f 100644
--- a/flight/modules/PathFollower/vtollandcontroller.cpp
+++ b/flight/modules/PathFollower/vtollandcontroller.cpp
@@ -28,8 +28,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <alarms.h>
diff --git a/flight/modules/PathFollower/vtollandfsm.cpp b/flight/modules/PathFollower/vtollandfsm.cpp
index 267299bc6..acfa675a0 100644
--- a/flight/modules/PathFollower/vtollandfsm.cpp
+++ b/flight/modules/PathFollower/vtollandfsm.cpp
@@ -27,8 +27,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <alarms.h>
diff --git a/flight/modules/PathFollower/vtolvelocitycontroller.cpp b/flight/modules/PathFollower/vtolvelocitycontroller.cpp
index 3934335ce..46d21228f 100644
--- a/flight/modules/PathFollower/vtolvelocitycontroller.cpp
+++ b/flight/modules/PathFollower/vtolvelocitycontroller.cpp
@@ -26,8 +26,6 @@
 extern "C" {
 #include <openpilot.h>
 
-#include <callbackinfo.h>
-
 #include <math.h>
 #include <pid.h>
 #include <alarms.h>
diff --git a/flight/modules/System/systemmod.c b/flight/modules/System/systemmod.c
index a09a77fa3..8d499bc17 100644
--- a/flight/modules/System/systemmod.c
+++ b/flight/modules/System/systemmod.c
@@ -244,7 +244,9 @@ static void systemTask(__attribute__((unused)) void *parameters)
 
 #ifdef DIAG_TASKS
     TaskInfoData taskInfoData;
+    memset(&taskInfoData, 0, sizeof(TaskInfoData));
     CallbackInfoData callbackInfoData;
+    memset(&callbackInfoData, 0, sizeof(CallbackInfoData));
 #endif
     // Main system loop
     while (1) {
@@ -270,13 +272,9 @@ static void systemTask(__attribute__((unused)) void *parameters)
         PIOS_TASK_MONITOR_ForEachTask(taskMonitorForEachCallback, &taskInfoData);
         TaskInfoSet(&taskInfoData);
         // Update the callback status object
-// if(FALSE){
         PIOS_CALLBACKSCHEDULER_ForEachCallback(callbackSchedulerForEachCallback, &callbackInfoData);
         CallbackInfoSet(&callbackInfoData);
-// }
 #endif
-// }
-
 
         UAVObjEvent ev;
         int delayTime = SYSTEM_UPDATE_PERIOD_MS;
diff --git a/flight/targets/boards/gpsplatinum/firmware/pios_board.c b/flight/targets/boards/gpsplatinum/firmware/pios_board.c
index 11b99d825..d8b29bd22 100644
--- a/flight/targets/boards/gpsplatinum/firmware/pios_board.c
+++ b/flight/targets/boards/gpsplatinum/firmware/pios_board.c
@@ -31,7 +31,6 @@
 #include <hwsettings.h>
 #include <manualcontrolsettings.h>
 #include <gcsreceiver.h>
-#include <taskinfo.h>
 
 /*
  * Pull in the board-specific static HW definitions.
diff --git a/ground/gcs/src/plugins/uavobjects/uavobjectfield.cpp b/ground/gcs/src/plugins/uavobjects/uavobjectfield.cpp
index 404b5798f..a600f8579 100644
--- a/ground/gcs/src/plugins/uavobjects/uavobjectfield.cpp
+++ b/ground/gcs/src/plugins/uavobjects/uavobjectfield.cpp
@@ -1024,7 +1024,7 @@ QVariant UAVObjectField::getValue(quint32 index)
         quint8 tmpenum;
         memcpy(&tmpenum, &data[offset + numBytesPerElement * index], numBytesPerElement);
         if (tmpenum >= options.length()) {
-            qDebug() << "Invalid value for" << name;
+            qDebug() << "Invalid enum" << tmpenum << "for field" << (obj->getName() + ":" + name + "[" + elementNames[index] + "]");
             tmpenum = 0;
         }
         return QVariant(options[tmpenum]);