diff --git a/flight/Libraries/sanitycheck.c b/flight/Libraries/sanitycheck.c
index b716259ff..87b1e8352 100644
--- a/flight/Libraries/sanitycheck.c
+++ b/flight/Libraries/sanitycheck.c
@@ -29,7 +29,6 @@
 #include "openpilot.h"
 #include <pios_board_info.h>
 #include "sanitycheck.h"
-#include "hwsettings.h"
 #include "taskinfo.h"
 #include "manualcontrolsettings.h"
 #include "systemalarms.h"
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index bd4382500..e85ce85c6 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -43,6 +43,7 @@
 #include "sanitycheck.h"
 #include "objectpersistence.h"
 #include "flightstatus.h"
+#include "manualcontrolsettings.h"
 #include "systemstats.h"
 #include "systemsettings.h"
 #include "i2cstats.h"
@@ -88,6 +89,7 @@ static bool mallocFailed;
 
 // Private functions
 static void objectUpdatedCb(UAVObjEvent * ev);
+static void configurationUpdatedCb(UAVObjEvent * ev);
 static void updateStats();
 static void updateSystemAlarms();
 static void systemTask(void *parameters);
@@ -168,14 +170,19 @@ static void systemTask(void *parameters)
 	// Listen for SettingPersistance object updates, connect a callback function
 	ObjectPersistenceConnectQueue(objectPersistenceQueue);
 
+	// Whenever the configuration changes, make sure it is safe to fly
+	SystemSettingsConnectCallback(configurationUpdatedCb);
+	ManualControlSettingsConnectCallback(configurationUpdatedCb);
+	TaskInfoConnectCallback(configurationUpdatedCb);
+
+	// Run this initially to make sure the configuration is checked
+	configuration_check();
+
 	// Main system loop
 	while (1) {
 		// Update the system statistics
 		updateStats();
 
-		// TODO: Make this only be called when configuration settings change
-		configuration_check();
-
 		// Update the system alarms
 		updateSystemAlarms();
 #if defined(I2C_WDG_STATS_DIAGNOSTICS)
@@ -307,6 +314,14 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 	}
 }
 
+/**
+ * Called whenever a critical configuration component changes
+ */
+static void configurationUpdatedCb(UAVObjEvent * ev)
+{
+	configuration_check();
+}
+
 /**
  * Called periodically to update the I2C statistics 
  */