diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile
index 98629f335..a06fdbbd0 100644
--- a/flight/OpenPilot/Makefile
+++ b/flight/OpenPilot/Makefile
@@ -115,6 +115,7 @@ SRC += $(MODGPS)/GPS.c $(MODGPS)/buffer.c
 ## OPENPILOT:
 SRC += $(OPSYSTEM)/openpilot.c
 SRC += $(OPSYSTEM)/op_logging.c
+SRC += $(OPSYSTEM)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/uavobjectsinit.c
diff --git a/flight/OpenPilot/Modules/Example/examplemodevent.c b/flight/OpenPilot/Modules/Example/examplemodevent.c
index 7edc4a489..d27a0d691 100644
--- a/flight/OpenPilot/Modules/Example/examplemodevent.c
+++ b/flight/OpenPilot/Modules/Example/examplemodevent.c
@@ -44,6 +44,7 @@
  *
  */
 
+#include "openpilot.h"
 #include "examplemodevent.h"
 #include "exampleobject1.h" // object the module will listen for updates (input)
 #include "exampleobject2.h" // object the module will update (output)
diff --git a/flight/OpenPilot/Modules/Example/examplemodperiodic.c b/flight/OpenPilot/Modules/Example/examplemodperiodic.c
index 611e49876..ac25c60f3 100644
--- a/flight/OpenPilot/Modules/Example/examplemodperiodic.c
+++ b/flight/OpenPilot/Modules/Example/examplemodperiodic.c
@@ -44,6 +44,7 @@
  *
  */
 
+#include "openpilot.h"
 #include "examplemodperiodic.h"
 #include "exampleobject2.h" // object that will be updated by the module
 #include "examplesettings.h" // object holding module settings
diff --git a/flight/OpenPilot/Modules/Example/examplemodthread.c b/flight/OpenPilot/Modules/Example/examplemodthread.c
index 5f601452a..fb2c0973a 100644
--- a/flight/OpenPilot/Modules/Example/examplemodthread.c
+++ b/flight/OpenPilot/Modules/Example/examplemodthread.c
@@ -43,6 +43,7 @@
  * http://www.openpilot.org/OpenPilot_Application_Architecture
  */
 
+#include "openpilot.h"
 #include "examplemodthread.h"
 #include "exampleobject1.h" // object the module will listen for updates (input)
 #include "exampleobject2.h" // object the module will update (output)
diff --git a/flight/OpenPilot/Modules/Example/inc/examplemodevent.h b/flight/OpenPilot/Modules/Example/inc/examplemodevent.h
index bcfdd052b..2d5309615 100644
--- a/flight/OpenPilot/Modules/Example/inc/examplemodevent.h
+++ b/flight/OpenPilot/Modules/Example/inc/examplemodevent.h
@@ -26,8 +26,6 @@
 #ifndef EXAMPLEMODEVENT_H
 #define EXAMPLEMODEVENT_H
 
-#include "openpilot.h"
-
 int32_t ExampleModEventInitialize();
 
 #endif // EXAMPLEMODEVENT_H
diff --git a/flight/OpenPilot/Modules/Example/inc/examplemodperiodic.h b/flight/OpenPilot/Modules/Example/inc/examplemodperiodic.h
index 36367d4bd..dd51df193 100644
--- a/flight/OpenPilot/Modules/Example/inc/examplemodperiodic.h
+++ b/flight/OpenPilot/Modules/Example/inc/examplemodperiodic.h
@@ -26,8 +26,6 @@
 #ifndef EXAMPLEMODPERIODIC_H
 #define EXAMPLEMODPERIODIC_H
 
-#include "openpilot.h"
-
 int32_t ExampleModPeriodicInitialize();
 
 #endif // EXAMPLEMODPERIODIC_H
diff --git a/flight/OpenPilot/Modules/Example/inc/examplemodthread.h b/flight/OpenPilot/Modules/Example/inc/examplemodthread.h
index 3297ac940..9b3880261 100644
--- a/flight/OpenPilot/Modules/Example/inc/examplemodthread.h
+++ b/flight/OpenPilot/Modules/Example/inc/examplemodthread.h
@@ -26,8 +26,6 @@
 #ifndef EXAMPLEMODTHREAD_H
 #define EXAMPLEMODTHREAD_H
 
-#include "openpilot.h"
-
 int32_t ExampleModThreadInitialize();
 
 #endif // EXAMPLEMODTHREAD_H
diff --git a/flight/OpenPilot/Modules/System/inc/systemmod.h b/flight/OpenPilot/Modules/System/inc/systemmod.h
index 1c6f7abd1..84c300c7f 100644
--- a/flight/OpenPilot/Modules/System/inc/systemmod.h
+++ b/flight/OpenPilot/Modules/System/inc/systemmod.h
@@ -26,8 +26,6 @@
 #ifndef SYSTEMMOD_H
 #define SYSTEMMOD_H
 
-#include "openpilot.h"
-
 int32_t SystemModInitialize(void);
 
 #endif // SYSTEMMOD_H
diff --git a/flight/OpenPilot/Modules/System/systemmod.c b/flight/OpenPilot/Modules/System/systemmod.c
index d46a958e7..7d2ac699d 100644
--- a/flight/OpenPilot/Modules/System/systemmod.c
+++ b/flight/OpenPilot/Modules/System/systemmod.c
@@ -24,6 +24,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "systemmod.h"
 #include "settingspersistence.h"
 #include "systemstats.h"
@@ -36,16 +37,23 @@
 #define STACK_SIZE configMINIMAL_STACK_SIZE
 #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
 
+#define HEAP_LIMIT_WARNING 4000
+#define HEAP_LIMIT_CRITICAL 1000
+#define CPULOAD_LIMIT_WARNING 80
+#define CPULOAD_LIMIT_CRITICAL 95
+
 // Private types
 
 // Private variables
 static uint32_t idleCounter;
 static uint32_t idleCounterClear;
 static xTaskHandle systemTaskHandle;
+static int32_t stackOverflow;
 
 // Private functions
 static void objectUpdatedCb(UAVObjEvent* ev);
 static void updateStats();
+static void updateSystemAlarms();
 static void systemTask(void* parameters);
 
 /**
@@ -54,6 +62,8 @@ static void systemTask(void* parameters);
  */
 int32_t SystemModInitialize(void)
 {
+	// Initialize vars
+	stackOverflow = 0;
 	// Create system task
 	xTaskCreate(systemTask, (signed char*)"System", STACK_SIZE, NULL, TASK_PRIORITY, &systemTaskHandle);
 	return 0;
@@ -83,9 +93,22 @@ static void systemTask(void* parameters)
 		// Update the system statistics
 		updateStats();
 
-		// Flash the LED
+		// Update the system alarms
+		updateSystemAlarms();
+
+		// Flash system alive the LED
 		PIOS_LED_Toggle(LED1);
 
+		// Flash the error LED if an alarm is set
+		if ( AlarmsHasWarnings() )
+		{
+			PIOS_LED_Toggle(LED2);
+		}
+		else
+		{
+			PIOS_LED_Off(LED2);
+		}
+
 		// Wait until next period
 		vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
 	}
@@ -132,6 +155,79 @@ static void updateStats()
 	SystemStatsSet(&stats);
 }
 
+/**
+ * Update system alarms
+ */
+static void updateSystemAlarms()
+{
+	SystemStatsData stats;
+	UAVObjStats objStats;
+	EventStats evStats;
+	SystemStatsGet(&stats);
+
+	// Check heap
+	if ( stats.HeapRemaining < HEAP_LIMIT_CRITICAL )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+	else if ( stats.HeapRemaining < HEAP_LIMIT_WARNING )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
+	}
+
+	// Check CPU load
+	if ( stats.CPULoad > CPULOAD_LIMIT_CRITICAL )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+	else if ( stats.CPULoad > CPULOAD_LIMIT_WARNING )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_WARNING);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_CPUOVERLOAD);
+	}
+
+	// Check for stack overflow
+	if ( stackOverflow == 1 )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
+	}
+
+	// Check for SD card
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_WARNING);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);
+	}
+
+	// Check for event errors
+	UAVObjGetStats(&objStats);
+	EventGetStats(&evStats);
+	UAVObjClearStats();
+	EventClearStats();
+	if ( objStats.eventErrors > 0 || evStats.eventErrors > 0 )
+	{
+		AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
+	}
+	else
+	{
+		AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
+	}
+}
+
 /**
  * Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
  */
@@ -154,6 +250,6 @@ void vApplicationIdleHook(void)
  */
 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
 {
-
+	stackOverflow = 1;
 }
 
diff --git a/flight/OpenPilot/Modules/Telemetry/telemetry.c b/flight/OpenPilot/Modules/Telemetry/telemetry.c
index b512f0aca..7b048f94a 100644
--- a/flight/OpenPilot/Modules/Telemetry/telemetry.c
+++ b/flight/OpenPilot/Modules/Telemetry/telemetry.c
@@ -203,6 +203,16 @@ static void processObjEvent(UAVObjEvent* ev)
 		txErrors = 0;
 		txRetries = 0;
 		FlightTelemetryStatsSet(&stats);
+
+		// Update the telemetry alarm
+		if ( stats.Connected == FLIGHTTELEMETRYSTATS_CONNECTED_TRUE )
+		{
+			AlarmsClear(SYSTEMALARMS_ALARM_TELEMETRY);
+		}
+		else
+		{
+			AlarmsSet(SYSTEMALARMS_ALARM_TELEMETRY, SYSTEMALARMS_ALARM_ERROR);
+		}
 	}
 	// This is an object update, handle based on event type
 	else
diff --git a/flight/OpenPilot/System/alarms.c b/flight/OpenPilot/System/alarms.c
new file mode 100644
index 000000000..116a165e5
--- /dev/null
+++ b/flight/OpenPilot/System/alarms.c
@@ -0,0 +1,181 @@
+/**
+ ******************************************************************************
+ *
+ * @file       alarms.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Library for setting and clearing system alarms
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "alarms.h"
+
+// Private constants
+
+// Private types
+
+// Private variables
+static xSemaphoreHandle lock;
+
+// Private functions
+static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
+
+/**
+ * Initialize the alarms library
+ */
+int32_t AlarmsInitialize(void)
+{
+	lock = xSemaphoreCreateRecursiveMutex();
+	AlarmsClearAll();
+	return 0;
+}
+
+/**
+ * Set an alarm
+ * @param alarm The system alarm to be modified
+ * @param severity The alarm severity
+ * @return 0 if success, -1 if an error
+ */
+int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
+{
+	SystemAlarmsData alarms;
+	uint8_t changed;
+
+	// Check that this is a valid alarm
+	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
+	{
+		return -1;
+	}
+
+	// Lock
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+    // Read alarm and update its severity only if it was changed
+    SystemAlarmsGet(&alarms);
+    if ( alarms.Alarm[alarm] != severity )
+    {
+    	alarms.Alarm[alarm] = severity;
+    	SystemAlarmsSet(&alarms);
+    	SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
+    }
+
+    // Release lock
+    xSemaphoreGiveRecursive(lock);
+    return 0;
+
+}
+
+/**
+ * Get an alarm
+ * @param alarm The system alarm to be read
+ * @return Alarm severity
+ */
+SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
+{
+	SystemAlarmsData alarms;
+
+	// Check that this is a valid alarm
+	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
+	{
+		return 0;
+	}
+
+    // Read alarm
+    SystemAlarmsGet(&alarms);
+    return alarms.Alarm[alarm];
+}
+
+/**
+ * Clear an alarm
+ * @param alarm The system alarm to be modified
+ * @return 0 if success, -1 if an error
+ */
+int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
+{
+	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
+}
+
+/**
+ * Clear all alarms
+ */
+void AlarmsClearAll()
+{
+	uint32_t n;
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+    {
+    	AlarmsClear(n);
+    }
+}
+
+/**
+ * Check if there are any alarms with the given or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+int32_t AlarmsHasWarnings()
+{
+	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
+}
+
+/**
+ * Check if there are any alarms with error or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+int32_t AlarmsHasErrors()
+{
+	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
+};
+
+/**
+ * Check if there are any alarms with critical or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+int32_t AlarmsHasCritical()
+{
+	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
+};
+
+/**
+ * Check if there are any alarms with the given or higher severity
+ * @return 0 if no alarms are found, 1 if at least one alarm is found
+ */
+static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
+{
+	SystemAlarmsData alarms;
+	uint32_t n;
+
+	// Lock
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+    // Read alarms
+    SystemAlarmsGet(&alarms);
+
+    // Go through alarms and check if any are of the given severity or higher
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+    {
+    	if ( alarms.Alarm[n] >= severity)
+    	{
+    		xSemaphoreGiveRecursive(lock);
+    		return 1;
+    	}
+    }
+
+    // If this point is reached then no alarms found
+    xSemaphoreGiveRecursive(lock);
+    return 0;
+}
diff --git a/flight/OpenPilot/System/inc/alarms.h b/flight/OpenPilot/System/inc/alarms.h
new file mode 100644
index 000000000..d9b8f6461
--- /dev/null
+++ b/flight/OpenPilot/System/inc/alarms.h
@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ *
+ * @file       alarms.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the alarm library
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef ALARMS_H
+#define ALARMS_H
+
+#include "systemalarms.h"
+
+int32_t AlarmsInitialize(void);
+int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
+SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
+int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
+void AlarmsClearAll();
+int32_t AlarmsHasWarnings();
+int32_t AlarmsHasErrors();
+int32_t AlarmsHasCritical();
+
+#endif // ALARMS_H
+
diff --git a/flight/OpenPilot/System/inc/openpilot.h b/flight/OpenPilot/System/inc/openpilot.h
index 075273690..6893edfb2 100644
--- a/flight/OpenPilot/System/inc/openpilot.h
+++ b/flight/OpenPilot/System/inc/openpilot.h
@@ -31,16 +31,13 @@
 /* PIOS Includes */
 #include <pios.h>
 
-/* OpenPilot Includes */
-#include <op_config.h>
-#include <op_logging.h>
-
-/* UAVObjects */
+/* OpenPilot Libraries */
+#include "op_config.h"
+#include "op_logging.h"
+#include "utlist.h"
 #include "uavobjectmanager.h"
 #include "eventdispatcher.h"
-#include "utlist.h"
-
-/* UAVTalk */
+#include "alarms.h"
 #include "uavtalk.h"
 
 /* Global Functions */
diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c
index 87b266ff4..7e2134951 100644
--- a/flight/OpenPilot/System/openpilot.c
+++ b/flight/OpenPilot/System/openpilot.c
@@ -59,8 +59,7 @@ void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
 int main()
 {
 	/* NOTE: Do NOT modify the following start-up sequence */
-	/* Any new initialization functions should be added in */
-	/* OpenPilotInit() */
+	/* Any new initialization functions should be added in OpenPilotInit() */
 
 	/* Brings up System using CMSIS functions, enables the LEDs. */
 	PIOS_SYS_Init();
@@ -95,64 +94,40 @@ void OpenPilotInit()
 	/* SPI Init */
 	PIOS_SPI_Init();
 
-	/* Enables the SDCard */
+	/* Enable and mount the SDCard */
 	PIOS_SDCARD_Init();
-
-	/* Wait for SD card for ever */
-	for(;;)
-	{
-		/* Check if we have an SD Card with the correct settings files on it */
-		if(!PIOS_SDCARD_MountFS(0)) {
-			/* Found one without errors */
-			break;
-		}
-
-		/* SD Card not found, flash for 1 second */
-		PIOS_LED_On(LED1);
-		PIOS_LED_On(LED2);
-		for(uint32_t i = 0; i < 10; i++) {
-			PIOS_LED_Toggle(LED2);
-			PIOS_DELAY_WaitmS(100);
-		}
-	}
+	PIOS_SDCARD_MountFS(0);
 
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();
 	UAVObjectsInitializeAll();
 
-	/* Com ports init */
+	/* Initialize the alarms library */
+	AlarmsInitialize();
+
+	/* Initialize the PiOS library */
 	PIOS_COM_Init();
-
-	/* Initialise servo outputs */
 	PIOS_Servo_Init();
-
-	/* Analog to digital converter initialise */
 	PIOS_ADC_Init();
-
 	PIOS_GPIO_Init();
-
 	//PIOS_PPM_Init();
-
 	PIOS_PWM_Init();
-
 	PIOS_USB_Init(0);
-
 	PIOS_I2C_Init();
-
 	PIOS_Servo_SetHz(50, 450);
 
-	/* Create a FreeRTOS task */
-	//xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
-	//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
-	//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
-
 	/* Initialize modules */
 	TelemetryInitialize();
 	ExampleModPeriodicInitialize();
 	//ExampleModThreadInitialize();
 	//ExampleModEventInitialize();
 	GpsInitialize();
+
+	/* Create test tasks */
+	//xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
+	//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
+	//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
 }
 
 static void TaskTesting(void *pvParameters)
diff --git a/flight/OpenPilot/UAVObjects/eventdispatcher.c b/flight/OpenPilot/UAVObjects/eventdispatcher.c
index 0d30fb5b7..5055134a6 100644
--- a/flight/OpenPilot/UAVObjects/eventdispatcher.c
+++ b/flight/OpenPilot/UAVObjects/eventdispatcher.c
@@ -60,6 +60,7 @@ static PeriodicObjectList* objList;
 static xQueueHandle queue;
 static xTaskHandle eventTaskHandle;
 static xSemaphoreHandle mutex;
+static EventStats stats;
 
 // Private functions
 static int32_t processPeriodicUpdates();
@@ -74,8 +75,9 @@ static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQue
  */
 int32_t EventDispatcherInitialize()
 {
-	// Initialize list
+	// Initialize variables
 	objList = NULL;
+	memset(&stats, 0, sizeof(EventStats));
 
 	// Create mutex
 	mutex = xSemaphoreCreateRecursiveMutex();
@@ -92,6 +94,27 @@ int32_t EventDispatcherInitialize()
 	return 0;
 }
 
+/**
+ * Get the statistics counters
+ * @param[out] statsOut The statistics counters will be copied there
+ */
+void EventGetStats(EventStats* statsOut)
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memcpy(statsOut, &stats, sizeof(EventStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Clear the statistics counters
+ */
+void EventClearStats()
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memset(&stats, 0, sizeof(EventStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
 /**
  * Dispatch an event by invoking the supplied callback. The function
  * returns imidiatelly, the callback is invoked from the event task.
@@ -312,7 +335,10 @@ static int32_t processPeriodicUpdates()
     			// Push event to queue, if one
     			if ( objEntry->evInfo.queue != 0)
     			{
-    				xQueueSend(objEntry->evInfo.queue, &objEntry->evInfo.ev, 0); // do not block if queue is full
+    				if ( xQueueSend(objEntry->evInfo.queue, &objEntry->evInfo.ev, 0) != pdTRUE ) // do not block if queue is full
+    				{
+    					++stats.eventErrors;
+    				}
     			}
             }
             // Update minimum delay
diff --git a/flight/OpenPilot/UAVObjects/exampleobject1.c b/flight/OpenPilot/UAVObjects/exampleobject1.c
index ba7f8a283..669e673a2 100644
--- a/flight/OpenPilot/UAVObjects/exampleobject1.c
+++ b/flight/OpenPilot/UAVObjects/exampleobject1.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "exampleobject1.h"
 
 // Private variables
diff --git a/flight/OpenPilot/UAVObjects/exampleobject2.c b/flight/OpenPilot/UAVObjects/exampleobject2.c
index 42ac90e25..5971febff 100644
--- a/flight/OpenPilot/UAVObjects/exampleobject2.c
+++ b/flight/OpenPilot/UAVObjects/exampleobject2.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "exampleobject2.h"
 
 // Private variables
diff --git a/flight/OpenPilot/UAVObjects/examplesettings.c b/flight/OpenPilot/UAVObjects/examplesettings.c
index 216a2e073..a6c03370e 100644
--- a/flight/OpenPilot/UAVObjects/examplesettings.c
+++ b/flight/OpenPilot/UAVObjects/examplesettings.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "examplesettings.h"
 
 // Private variables
diff --git a/flight/OpenPilot/UAVObjects/flighttelemetrystats.c b/flight/OpenPilot/UAVObjects/flighttelemetrystats.c
index 73ec9b2cc..697cd8e82 100644
--- a/flight/OpenPilot/UAVObjects/flighttelemetrystats.c
+++ b/flight/OpenPilot/UAVObjects/flighttelemetrystats.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "flighttelemetrystats.h"
 
 // Private variables
diff --git a/flight/OpenPilot/UAVObjects/gcstelemetrystats.c b/flight/OpenPilot/UAVObjects/gcstelemetrystats.c
index def6ab824..4f57559fd 100644
--- a/flight/OpenPilot/UAVObjects/gcstelemetrystats.c
+++ b/flight/OpenPilot/UAVObjects/gcstelemetrystats.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "gcstelemetrystats.h"
 
 // Private variables
diff --git a/flight/OpenPilot/UAVObjects/gpsobject.c b/flight/OpenPilot/UAVObjects/gpsobject.c
index 0e361af42..9cf437218 100644
--- a/flight/OpenPilot/UAVObjects/gpsobject.c
+++ b/flight/OpenPilot/UAVObjects/gpsobject.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "gpsobject.h"
 
 // Private variables
diff --git a/flight/OpenPilot/UAVObjects/inc/eventdispatcher.h b/flight/OpenPilot/UAVObjects/inc/eventdispatcher.h
index af3f384ed..9e378b65a 100644
--- a/flight/OpenPilot/UAVObjects/inc/eventdispatcher.h
+++ b/flight/OpenPilot/UAVObjects/inc/eventdispatcher.h
@@ -27,9 +27,17 @@
 #define EVENTDISPATCHER_H
 
 // Public types
+/**
+ * Event dispatcher statistics
+ */
+typedef struct {
+	uint32_t eventErrors;
+} EventStats;
 
 // Public functions
 int32_t EventDispatcherInitialize();
+void EventGetStats(EventStats* statsOut);
+void EventClearStats();
 int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb);
 int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
 int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
diff --git a/flight/OpenPilot/UAVObjects/inc/exampleobject1.h b/flight/OpenPilot/UAVObjects/inc/exampleobject1.h
index fa7138813..e91b5c045 100644
--- a/flight/OpenPilot/UAVObjects/inc/exampleobject1.h
+++ b/flight/OpenPilot/UAVObjects/inc/exampleobject1.h
@@ -32,8 +32,6 @@
 #ifndef EXAMPLEOBJECT1_H
 #define EXAMPLEOBJECT1_H
 
-#include "openpilot.h"
-
 // Object constants
 #define EXAMPLEOBJECT1_OBJID 3852936276U
 #define EXAMPLEOBJECT1_NAME "ExampleObject1"
@@ -69,7 +67,17 @@ typedef struct {
 
 } __attribute__((packed)) ExampleObject1Data;
 
-// Enumeration types
+// Field information
+// Field Field1 information
+// Field Field2 information
+// Field Field3 information
+// Field Field4 information
+/* Number of elements for field Field4 */
+#define EXAMPLEOBJECT1_FIELD4_NUMELEM 4
+// Field Field5 information
+// Field Field6 information
+// Field Field7 information
+// Field Field8 information
 /* Enumeration options for field Field8 */
 typedef enum { EXAMPLEOBJECT1_FIELD8_OPTION1=0, EXAMPLEOBJECT1_FIELD8_OPTION2=1,  } ExampleObject1Field8Options;
 
diff --git a/flight/OpenPilot/UAVObjects/inc/exampleobject2.h b/flight/OpenPilot/UAVObjects/inc/exampleobject2.h
index 902767849..bea64b8f3 100644
--- a/flight/OpenPilot/UAVObjects/inc/exampleobject2.h
+++ b/flight/OpenPilot/UAVObjects/inc/exampleobject2.h
@@ -32,8 +32,6 @@
 #ifndef EXAMPLEOBJECT2_H
 #define EXAMPLEOBJECT2_H
 
-#include "openpilot.h"
-
 // Object constants
 #define EXAMPLEOBJECT2_OBJID 2743296914U
 #define EXAMPLEOBJECT2_NAME "ExampleObject2"
@@ -65,7 +63,13 @@ typedef struct {
 
 } __attribute__((packed)) ExampleObject2Data;
 
-// Enumeration types
+// Field information
+// Field Field1 information
+// Field Field2 information
+// Field Field3 information
+// Field Field4 information
+/* Number of elements for field Field4 */
+#define EXAMPLEOBJECT2_FIELD4_NUMELEM 4
 
 
 // Generic interface functions
diff --git a/flight/OpenPilot/UAVObjects/inc/examplesettings.h b/flight/OpenPilot/UAVObjects/inc/examplesettings.h
index 081b7d6ba..466c65948 100644
--- a/flight/OpenPilot/UAVObjects/inc/examplesettings.h
+++ b/flight/OpenPilot/UAVObjects/inc/examplesettings.h
@@ -32,8 +32,6 @@
 #ifndef EXAMPLESETTINGS_H
 #define EXAMPLESETTINGS_H
 
-#include "openpilot.h"
-
 // Object constants
 #define EXAMPLESETTINGS_OBJID 1640607828U
 #define EXAMPLESETTINGS_NAME "ExampleSettings"
@@ -64,7 +62,10 @@ typedef struct {
 
 } __attribute__((packed)) ExampleSettingsData;
 
-// Enumeration types
+// Field information
+// Field UpdatePeriod information
+// Field StepSize information
+// Field StepDirection information
 /* Enumeration options for field StepDirection */
 typedef enum { EXAMPLESETTINGS_STEPDIRECTION_UP=0, EXAMPLESETTINGS_STEPDIRECTION_DOWN=1,  } ExampleSettingsStepDirectionOptions;
 
diff --git a/flight/OpenPilot/UAVObjects/inc/flighttelemetrystats.h b/flight/OpenPilot/UAVObjects/inc/flighttelemetrystats.h
index b82189a5b..66e716db8 100644
--- a/flight/OpenPilot/UAVObjects/inc/flighttelemetrystats.h
+++ b/flight/OpenPilot/UAVObjects/inc/flighttelemetrystats.h
@@ -32,8 +32,6 @@
 #ifndef FLIGHTTELEMETRYSTATS_H
 #define FLIGHTTELEMETRYSTATS_H
 
-#include "openpilot.h"
-
 // Object constants
 #define FLIGHTTELEMETRYSTATS_OBJID 766280320U
 #define FLIGHTTELEMETRYSTATS_NAME "FlightTelemetryStats"
@@ -67,9 +65,15 @@ typedef struct {
 
 } __attribute__((packed)) FlightTelemetryStatsData;
 
-// Enumeration types
+// Field information
+// Field Connected information
 /* Enumeration options for field Connected */
 typedef enum { FLIGHTTELEMETRYSTATS_CONNECTED_TRUE=0, FLIGHTTELEMETRYSTATS_CONNECTED_FALSE=1,  } FlightTelemetryStatsConnectedOptions;
+// Field TxDataRate information
+// Field RxDataRate information
+// Field TxFailures information
+// Field RxFailures information
+// Field TxRetries information
 
 
 // Generic interface functions
diff --git a/flight/OpenPilot/UAVObjects/inc/gcstelemetrystats.h b/flight/OpenPilot/UAVObjects/inc/gcstelemetrystats.h
index fbcf36763..5e3595fb7 100644
--- a/flight/OpenPilot/UAVObjects/inc/gcstelemetrystats.h
+++ b/flight/OpenPilot/UAVObjects/inc/gcstelemetrystats.h
@@ -32,8 +32,6 @@
 #ifndef GCSTELEMETRYSTATS_H
 #define GCSTELEMETRYSTATS_H
 
-#include "openpilot.h"
-
 // Object constants
 #define GCSTELEMETRYSTATS_OBJID 607270704U
 #define GCSTELEMETRYSTATS_NAME "GCSTelemetryStats"
@@ -67,9 +65,15 @@ typedef struct {
 
 } __attribute__((packed)) GCSTelemetryStatsData;
 
-// Enumeration types
+// Field information
+// Field Connected information
 /* Enumeration options for field Connected */
 typedef enum { GCSTELEMETRYSTATS_CONNECTED_TRUE=0, GCSTELEMETRYSTATS_CONNECTED_FALSE=1,  } GCSTelemetryStatsConnectedOptions;
+// Field TxDataRate information
+// Field RxDataRate information
+// Field TxFailures information
+// Field RxFailures information
+// Field TxRetries information
 
 
 // Generic interface functions
diff --git a/flight/OpenPilot/UAVObjects/inc/gpsobject.h b/flight/OpenPilot/UAVObjects/inc/gpsobject.h
index 328934a8e..4a89436a7 100644
--- a/flight/OpenPilot/UAVObjects/inc/gpsobject.h
+++ b/flight/OpenPilot/UAVObjects/inc/gpsobject.h
@@ -32,8 +32,6 @@
 #ifndef GPSOBJECT_H
 #define GPSOBJECT_H
 
-#include "openpilot.h"
-
 // Object constants
 #define GPSOBJECT_OBJID 4217926642U
 #define GPSOBJECT_NAME "GpsObject"
@@ -66,7 +64,12 @@ typedef struct {
 
 } __attribute__((packed)) GpsObjectData;
 
-// Enumeration types
+// Field information
+// Field Latitude information
+// Field Longitude information
+// Field Altitude information
+// Field Satellites information
+// Field Updates information
 
 
 // Generic interface functions
diff --git a/flight/OpenPilot/UAVObjects/inc/settingspersistence.h b/flight/OpenPilot/UAVObjects/inc/settingspersistence.h
index 90c79d8fb..bc9da2194 100644
--- a/flight/OpenPilot/UAVObjects/inc/settingspersistence.h
+++ b/flight/OpenPilot/UAVObjects/inc/settingspersistence.h
@@ -32,8 +32,6 @@
 #ifndef SETTINGSPERSISTENCE_H
 #define SETTINGSPERSISTENCE_H
 
-#include "openpilot.h"
-
 // Object constants
 #define SETTINGSPERSISTENCE_OBJID 3652432370U
 #define SETTINGSPERSISTENCE_NAME "SettingsPersistence"
@@ -62,7 +60,8 @@ typedef struct {
 
 } __attribute__((packed)) SettingsPersistenceData;
 
-// Enumeration types
+// Field information
+// Field Operation information
 /* Enumeration options for field Operation */
 typedef enum { SETTINGSPERSISTENCE_OPERATION_LOAD=0, SETTINGSPERSISTENCE_OPERATION_SAVE=1,  } SettingsPersistenceOperationOptions;
 
diff --git a/flight/OpenPilot/UAVObjects/inc/systemalarms.h b/flight/OpenPilot/UAVObjects/inc/systemalarms.h
index b89968a48..286b465ef 100644
--- a/flight/OpenPilot/UAVObjects/inc/systemalarms.h
+++ b/flight/OpenPilot/UAVObjects/inc/systemalarms.h
@@ -32,10 +32,8 @@
 #ifndef SYSTEMALARMS_H
 #define SYSTEMALARMS_H
 
-#include "openpilot.h"
-
 // Object constants
-#define SYSTEMALARMS_OBJID 2311311912U
+#define SYSTEMALARMS_OBJID 2311311458U
 #define SYSTEMALARMS_NAME "SystemAlarms"
 #define SYSTEMALARMS_ISSINGLEINST 1
 #define SYSTEMALARMS_ISSETTINGS 0
@@ -58,15 +56,18 @@
 
 // Object data
 typedef struct {
-    uint8_t Alarm[4];
+    uint8_t Alarm[6];
 
 } __attribute__((packed)) SystemAlarmsData;
 
-// Enumeration types
+// Field information
+// Field Alarm information
 /* Enumeration options for field Alarm */
-typedef enum { SYSTEMALARMS_ALARM_NONE=0, SYSTEMALARMS_ALARM_WARNING=1, SYSTEMALARMS_ALARM_ERROR=2, SYSTEMALARMS_ALARM_CRITICAL=3,  } SystemAlarmsAlarmOptions;
+typedef enum { SYSTEMALARMS_ALARM_OK=0, SYSTEMALARMS_ALARM_WARNING=1, SYSTEMALARMS_ALARM_ERROR=2, SYSTEMALARMS_ALARM_CRITICAL=3,  } SystemAlarmsAlarmOptions;
 /* Array element names for field Alarm */
-typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3,  } SystemAlarmsAlarmElem;
+typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5,  } SystemAlarmsAlarmElem;
+/* Number of elements for field Alarm */
+#define SYSTEMALARMS_ALARM_NUMELEM 6
 
 
 // Generic interface functions
diff --git a/flight/OpenPilot/UAVObjects/inc/systemstats.h b/flight/OpenPilot/UAVObjects/inc/systemstats.h
index 2edc0d894..59bed9c2f 100644
--- a/flight/OpenPilot/UAVObjects/inc/systemstats.h
+++ b/flight/OpenPilot/UAVObjects/inc/systemstats.h
@@ -32,8 +32,6 @@
 #ifndef SYSTEMSTATS_H
 #define SYSTEMSTATS_H
 
-#include "openpilot.h"
-
 // Object constants
 #define SYSTEMSTATS_OBJID 680908530U
 #define SYSTEMSTATS_NAME "SystemStats"
@@ -64,7 +62,10 @@ typedef struct {
 
 } __attribute__((packed)) SystemStatsData;
 
-// Enumeration types
+// Field information
+// Field FlightTime information
+// Field HeapRemaining information
+// Field CPULoad information
 
 
 // Generic interface functions
diff --git a/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h b/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
index b05be0987..afc0d7832 100644
--- a/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
+++ b/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
@@ -88,7 +88,16 @@ typedef struct {
  */
 typedef void (*UAVObjEventCallback)(UAVObjEvent* ev);
 
+/**
+ * Event manager statistics
+ */
+typedef struct {
+	uint32_t eventErrors;
+} UAVObjStats;
+
 int32_t UAVObjInitialize();
+void UAVObjGetStats(UAVObjStats* statsOut);
+void UAVObjClearStats();
 UAVObjHandle UAVObjRegister(uint32_t id, const char* name, int32_t isMetaobject, int32_t isSingleInstance,
 		int32_t isSettings, uint32_t numBytes);
 UAVObjHandle UAVObjGetByID(uint32_t id);
diff --git a/flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h b/flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h
index 703ac6aee..ca62faf99 100644
--- a/flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h
+++ b/flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h
@@ -32,8 +32,6 @@
 #ifndef $(NAMEUC)_H
 #define $(NAMEUC)_H
 
-#include "openpilot.h"
-
 // Object constants
 #define $(NAMEUC)_OBJID $(OBJID)U
 #define $(NAMEUC)_NAME "$(NAME)"
@@ -61,8 +59,8 @@ typedef struct {
 $(DATAFIELDS)
 } __attribute__((packed)) $(NAME)Data;
 
-// Enumeration types
-$(DATAENUM)
+// Field information
+$(DATAFIELDINFO)
 
 // Generic interface functions
 int32_t $(NAME)Initialize();
diff --git a/flight/OpenPilot/UAVObjects/settingspersistence.c b/flight/OpenPilot/UAVObjects/settingspersistence.c
index 11ac1fc22..3ae140721 100644
--- a/flight/OpenPilot/UAVObjects/settingspersistence.c
+++ b/flight/OpenPilot/UAVObjects/settingspersistence.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "settingspersistence.h"
 
 // Private variables
diff --git a/flight/OpenPilot/UAVObjects/systemalarms.c b/flight/OpenPilot/UAVObjects/systemalarms.c
index c6294bf76..8cd09b3a4 100644
--- a/flight/OpenPilot/UAVObjects/systemalarms.c
+++ b/flight/OpenPilot/UAVObjects/systemalarms.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "systemalarms.h"
 
 // Private variables
diff --git a/flight/OpenPilot/UAVObjects/systemstats.c b/flight/OpenPilot/UAVObjects/systemstats.c
index d854946ad..66b33e89c 100644
--- a/flight/OpenPilot/UAVObjects/systemstats.c
+++ b/flight/OpenPilot/UAVObjects/systemstats.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "systemstats.h"
 
 // Private variables
diff --git a/flight/OpenPilot/UAVObjects/uavobjectmanager.c b/flight/OpenPilot/UAVObjects/uavobjectmanager.c
index 64cbcd44e..856cb9a1a 100644
--- a/flight/OpenPilot/UAVObjects/uavobjectmanager.c
+++ b/flight/OpenPilot/UAVObjects/uavobjectmanager.c
@@ -80,6 +80,7 @@ static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCa
 static ObjectList* objList;
 static xSemaphoreHandle mutex;
 static UAVObjMetadata defMetadata;
+static UAVObjStats stats;
 
 /**
  * Initialize the object manager
@@ -88,8 +89,9 @@ static UAVObjMetadata defMetadata;
  */
 int32_t UAVObjInitialize()
 {
-	// Initialize object list
+	// Initialize variables
 	objList = NULL;
+	memset(&stats, 0, sizeof(UAVObjStats));
 
 	// Create mutex
 	mutex = xSemaphoreCreateRecursiveMutex();
@@ -110,6 +112,27 @@ int32_t UAVObjInitialize()
 	return 0;
 }
 
+/**
+ * Get the statistics counters
+ * @param[out] statsOut The statistics counters will be copied there
+ */
+void UAVObjGetStats(UAVObjStats* statsOut)
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memcpy(statsOut, &stats, sizeof(UAVObjStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Clear the statistics counters
+ */
+void UAVObjClearStats()
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memset(&stats, 0, sizeof(UAVObjStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
 /**
  * Register and new object in the object manager.
  * \param[in] id Unique object ID
@@ -459,6 +482,12 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
 	ObjectList* objEntry;
 	ObjectInstList* instEntry;
 
+	// Check for file system availability
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		return -1;
+	}
+
 	// Lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
@@ -510,6 +539,12 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 	FILEINFO file;
 	ObjectList* objEntry;
 
+	// Check for file system availability
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		return -1;
+	}
+
 	// Lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
@@ -551,6 +586,12 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
 	uint16_t instId;
 	UAVObjHandle obj;
 
+	// Check for file system availability
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		return -1;
+	}
+
 	// Lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
@@ -626,6 +667,12 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 	UAVObjHandle loadedObj;
 	ObjectList* loadedObjEntry;
 
+	// Check for file system availability
+	if ( POIS_SDCARD_IsMounted() == 0 )
+	{
+		return -1;
+	}
+
 	// Lock
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
@@ -983,7 +1030,7 @@ void UAVObjUpdated(UAVObjHandle obj)
 void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
 {
 	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	sendEvent((ObjectList*)obj, instId, EV_UPDATED);
+	sendEvent((ObjectList*)obj, instId, EV_UPDATED_MANUAL);
 	xSemaphoreGiveRecursive(mutex);
 }
 
@@ -1030,12 +1077,18 @@ static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event
     		// Send to queue if a valid queue is registered
     		if (eventEntry->queue != 0)
     		{
-    			xQueueSend(eventEntry->queue, &msg, 0); // do not wait if queue is full
+    			if ( xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE ) // will not block
+    			{
+    				++stats.eventErrors;
+    			}
     		}
     		// Invoke callback (from event task) if a valid one is registered
     		if (eventEntry->cb != 0)
     		{
-    			EventCallbackDispatch(&msg, eventEntry->cb); // invoke callback from the event task
+    			if ( EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE ) // invoke callback from the event task, will not block
+    			{
+    				++stats.eventErrors;
+    			}
     		}
     	}
     }
diff --git a/flight/OpenPilot/UAVObjects/uavobjecttemplate.c b/flight/OpenPilot/UAVObjects/uavobjecttemplate.c
index 62d6c8082..620e63113 100644
--- a/flight/OpenPilot/UAVObjects/uavobjecttemplate.c
+++ b/flight/OpenPilot/UAVObjects/uavobjecttemplate.c
@@ -29,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "$(NAMELC).h"
 
 // Private variables
diff --git a/flight/PiOS/Common/pios_sdcard.c b/flight/PiOS/Common/pios_sdcard.c
index 4f0d1b562..b865893d5 100644
--- a/flight/PiOS/Common/pios_sdcard.c
+++ b/flight/PiOS/Common/pios_sdcard.c
@@ -87,6 +87,7 @@ uint8_t PIOS_SDCARD_Sector[SECTOR_SIZE];
 #define CT_SDC                          (CT_SD1|CT_SD2)
 #define CT_BLOCK                        0x08
 static uint8_t CardType;
+static int32_t sdcard_mounted;
 
 /**
 * Initialises SPI pins and peripheral to access MMC/SD Card
@@ -96,6 +97,9 @@ static uint8_t CardType;
 int32_t PIOS_SDCARD_Init(void)
 {
 	SDCARD_MUTEX_TAKE;
+
+	sdcard_mounted = 0;
+
 	/* Ensure that fast pin drivers are activated */
 	PIOS_SPI_IO_Init(PIOS_SDCARD_SPI, PIOS_SPI_PIN_DRIVER_STRONG);
 
@@ -804,6 +808,16 @@ int32_t PIOS_SDCARD_StartupLog(void)
 	return 0;
 }
 
+/**
+ * Check if the SD card has been mounted
+ * @return 0 if no
+ * @return 1 if yes
+ */
+int32_t POIS_SDCARD_IsMounted()
+{
+	return sdcard_mounted;
+}
+
 /**
 * Mounts the file system
 * param[in] CreateStartupLog 1 = True, 0 = False
@@ -845,6 +859,7 @@ int32_t PIOS_SDCARD_MountFS(uint32_t CreateStartupLog)
 	}
 
 	/* No errors */
+	sdcard_mounted = 1;
 	return 0;
 }
 
diff --git a/flight/PiOS/inc/FreeRTOSConfig.h b/flight/PiOS/inc/FreeRTOSConfig.h
index 4f6fe703f..78045f8c4 100644
--- a/flight/PiOS/inc/FreeRTOSConfig.h
+++ b/flight/PiOS/inc/FreeRTOSConfig.h
@@ -32,7 +32,7 @@
 #define configUSE_RECURSIVE_MUTEXES	1
 #define configUSE_COUNTING_SEMAPHORES	0
 #define configUSE_ALTERNATIVE_API	0
-#define configCHECK_FOR_STACK_OVERFLOW	0
+#define configCHECK_FOR_STACK_OVERFLOW	2
 #define configQUEUE_REGISTRY_SIZE	10
 
 
diff --git a/flight/PiOS/inc/pios_sdcard.h b/flight/PiOS/inc/pios_sdcard.h
index 286a4e2d4..3ef78dd7e 100644
--- a/flight/PiOS/inc/pios_sdcard.h
+++ b/flight/PiOS/inc/pios_sdcard.h
@@ -99,6 +99,7 @@ extern int32_t PIOS_SDCARD_CIDRead(SDCARDCidTypeDef *cid);
 extern int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef *csd);
 
 extern int32_t PIOS_SDCARD_StartupLog(void);
+extern int32_t POIS_SDCARD_IsMounted();
 extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog);
 extern int32_t PIOS_SDCARD_GetFree(void);