diff --git a/flight/Modules/Attitude/revolution/attitude.c b/flight/Modules/Attitude/revolution/attitude.c
index 425abdb60..18bc20630 100644
--- a/flight/Modules/Attitude/revolution/attitude.c
+++ b/flight/Modules/Attitude/revolution/attitude.c
@@ -269,14 +269,20 @@ static int32_t updateAttitudeComplimentary(bool first_run)
 	FlightStatusData flightStatus;
 	FlightStatusGet(&flightStatus);
 	if(first_run) {
+#if defined(PIOS_INCLUDE_HMC5883)
 		// To initialize we need a valid mag reading
 		if ( xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE )
 			return -1;
-
-		AttitudeActualData attitudeActual;
-		AttitudeActualGet(&attitudeActual);
 		MagnetometerData magData;
 		MagnetometerGet(&magData);
+#else
+		MagnetometerData magData;
+		magData.x = 100;
+		magData.y = 0;
+		magData.z = 0;
+#endif
+		AttitudeActualData attitudeActual;
+		AttitudeActualGet(&attitudeActual);
 		init = 0;
 		attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
 		attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
diff --git a/flight/Modules/Sensors/sensors.c b/flight/Modules/Sensors/sensors.c
index c635d53bd..c854aa37a 100644
--- a/flight/Modules/Sensors/sensors.c
+++ b/flight/Modules/Sensors/sensors.c
@@ -194,6 +194,8 @@ static void SensorsTask(void *parameters)
 
 #if defined(PIOS_INCLUDE_HMC5883)
 	mag_test = PIOS_HMC5883_Test();
+#else
+	mag_test = 0;
 #endif
 
 	if(accel_test < 0 || gyro_test < 0 || mag_test < 0) {
@@ -412,16 +414,7 @@ static void SensorsTask(void *parameters)
 
 		PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
 
-		switch(bdinfo->board_rev) {
-			case 0x01:  // L3GD20 + BMA180 board
-				lastSysTime = xTaskGetTickCount();
-				break;
-			case 0x02:
-				vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
-				break;
-			default:
-				PIOS_DEBUG_Assert(0);
-		}
+		lastSysTime = xTaskGetTickCount();
 	}
 }
 
diff --git a/flight/Revolution/Makefile b/flight/Revolution/Makefile
index f0470a590..2553004c4 100644
--- a/flight/Revolution/Makefile
+++ b/flight/Revolution/Makefile
@@ -49,7 +49,8 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS FirmwareIAP
+MODULES = Sensors Attitude/revolution ManualControl Stabilization Actuator
+MODULES += Altitude/revolution  GPS FirmwareIAP
 MODULES += AltitudeHold VtolPathFollower PathPlanner
 MODULES += CameraStab
 MODULES += OveroSync
diff --git a/flight/Revolution/System/inc/pios_config.h b/flight/Revolution/System/inc/pios_config.h
index 484b0ed60..7a82695fb 100644
--- a/flight/Revolution/System/inc/pios_config.h
+++ b/flight/Revolution/System/inc/pios_config.h
@@ -94,7 +94,7 @@
 /* Flags that alter behaviors - mostly to lower resources for CC */
 #define PIOS_INCLUDE_INITCALL           /* Include init call structures */
 #define PIOS_TELEM_PRIORITY_QUEUE       /* Enable a priority queue in telemetry */
-#define PIOS_QUATERNION_STABILIZATION   /* Stabilization options */
+//#define PIOS_QUATERNION_STABILIZATION   /* Stabilization options */
 #define PIOS_GPS_SETS_HOMELOCATION      /* GPS options */
 
 /* Alarm Thresholds */
diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c
index 2eaf5bbb8..67dfe5dad 100644
--- a/flight/Revolution/System/pios_board.c
+++ b/flight/Revolution/System/pios_board.c
@@ -174,7 +174,7 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 	.exti_cfg = &pios_exti_mpu6000_cfg,
 	.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
 	// Clock at 8 khz, downsampled by 8 for 1khz
-	.Smpl_rate_div = 7,
+	.Smpl_rate_div = 15,
 	.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
 	.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
 	.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,