diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index 827ea2a1c..2ed464a0d 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -2285,7 +2285,8 @@
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>240</dataSize>
           <plotCurve0>
-            <color>4294945280</color>
+            <color>4294901760</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
             <uavField>StackRemaining-System</uavField>
             <uavObject>TaskInfo</uavObject>
@@ -2296,38 +2297,20 @@
           </plotCurve0>
           <plotCurve1>
             <color>4294945280</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-Actuator</uavField>
+            <uavField>StackRemaining-CallbackScheduler0</uavField>
             <uavObject>TaskInfo</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
             <yScalePower>0</yScalePower>
           </plotCurve1>
-          <plotCurve10>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-Guidance</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve10>
-          <plotCurve11>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-Watchdog</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve11>
           <plotCurve2>
-            <color>4294945280</color>
+            <color>4278190335</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-TelemetryTx</uavField>
+            <uavField>StackRemaining-CallbackScheduler1</uavField>
             <uavObject>TaskInfo</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
@@ -2335,9 +2318,10 @@
             <yScalePower>0</yScalePower>
           </plotCurve2>
           <plotCurve3>
-            <color>4294945280</color>
+            <color>4294967040</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-TelemetryTxPri</uavField>
+            <uavField>StackRemaining-ManualControl</uavField>
             <uavObject>TaskInfo</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
@@ -2345,9 +2329,10 @@
             <yScalePower>0</yScalePower>
           </plotCurve3>
           <plotCurve4>
-            <color>4294945280</color>
+            <color>4278255615</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-TelemetryRx</uavField>
+            <uavField>StackRemaining-Stabilization</uavField>
             <uavObject>TaskInfo</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
@@ -2355,9 +2340,10 @@
             <yScalePower>0</yScalePower>
           </plotCurve4>
           <plotCurve5>
-            <color>4294945280</color>
+            <color>4294923775</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-GPS</uavField>
+            <uavField>StackRemaining-Actuator</uavField>
             <uavObject>TaskInfo</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
@@ -2365,9 +2351,10 @@
             <yScalePower>0</yScalePower>
           </plotCurve5>
           <plotCurve6>
-            <color>4294945280</color>
+            <color>4289331327</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-ManualControl</uavField>
+            <uavField>StackRemaining-Sensors</uavField>
             <uavObject>TaskInfo</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
@@ -2376,6 +2363,7 @@
           </plotCurve6>
           <plotCurve7>
             <color>4294945280</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
             <uavField>StackRemaining-Altitude</uavField>
             <uavObject>TaskInfo</uavObject>
@@ -2385,9 +2373,10 @@
             <yScalePower>0</yScalePower>
           </plotCurve7>
           <plotCurve8>
-            <color>4294945280</color>
+            <color>4283760767</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-AHRSComms</uavField>
+            <uavField>StackRemaining-TelemetryTx</uavField>
             <uavObject>TaskInfo</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
@@ -2395,15 +2384,38 @@
             <yScalePower>0</yScalePower>
           </plotCurve8>
           <plotCurve9>
-            <color>4294945280</color>
+            <color>4289331327</color>
+            <drawAntialiased>true</drawAntialiased>
             <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-Stabilization</uavField>
+            <uavField>StackRemaining-TelemetryTxPri</uavField>
             <uavObject>TaskInfo</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
             <yScalePower>0</yScalePower>
           </plotCurve9>
+          <plotCurve10>
+            <color>4294901760</color>
+            <drawAntialiased>true</drawAntialiased>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-TelemetryRx</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve10>
+          <plotCurve11>
+            <color>4283782527</color>
+            <drawAntialiased>true</drawAntialiased>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-RadioRx</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve11>
           <plotCurveCount>12</plotCurveCount>
           <plotType>1</plotType>
           <refreshInterval>1000</refreshInterval>
diff --git a/shared/uavobjectdefinition/taskinfo.xml b/shared/uavobjectdefinition/taskinfo.xml
index 7dc843c0a..c5ddc5058 100644
--- a/shared/uavobjectdefinition/taskinfo.xml
+++ b/shared/uavobjectdefinition/taskinfo.xml
@@ -3,72 +3,70 @@
         <description>Task information</description>
         <field name="StackRemaining" units="bytes" type="uint16">
 		<elementnames>
+			<!-- system -->
 			<elementname>System</elementname>
-			<elementname>Actuator</elementname>
-			<elementname>Attitude</elementname>
-			<elementname>Sensors</elementname>
-			<elementname>TelemetryTx</elementname>
-			<elementname>TelemetryTxPri</elementname>
-			<elementname>TelemetryRx</elementname>
-			<elementname>RadioRx</elementname>
-			<elementname>GPS</elementname>
-			<elementname>ManualControl</elementname>
-			<elementname>Altitude</elementname>
-			<elementname>Airspeed</elementname>
-			<elementname>Stabilization</elementname>
-			<elementname>AltitudeHold</elementname>
-			<elementname>PathPlanner</elementname>
-			<elementname>PathFollower</elementname>
-			<elementname>FlightPlan</elementname>
-			<elementname>Com2UsbBridge</elementname>
-			<elementname>Usb2ComBridge</elementname>
-			<elementname>OveroSync</elementname>
-			<elementname>ModemRx</elementname>
-			<elementname>ModemTx</elementname>
-			<elementname>ModemStat</elementname>
-			<elementname>Autotune</elementname>
-			<elementname>EventDispatcher</elementname>
-			<elementname>MagBaro</elementname>
-			<elementname>OSDGen</elementname>
 			<elementname>CallbackScheduler0</elementname>
 			<elementname>CallbackScheduler1</elementname>
 			<elementname>CallbackScheduler2</elementname>
 			<elementname>CallbackScheduler3</elementname>
+			<!-- fligth -->
+			<elementname>ManualControl</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Airspeed</elementname>
+			<elementname>MagBaro</elementname>
+			<!-- navigation -->
+			<elementname>PathFollower</elementname>
+			<elementname>FlightPlan</elementname>
+			<!-- telemetry -->
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<!-- com -->
+			<elementname>RadioRx</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<!-- optional -->
+			<elementname>GPS</elementname>
+			<elementname>OSDGen</elementname>
+			<elementname>Autotune</elementname>
 		</elementnames>
 	</field> 
 	<field name="Running" units="bool" type="enum">
 		<elementnames>
+			<!-- system -->
 			<elementname>System</elementname>
-			<elementname>Actuator</elementname>
-			<elementname>Attitude</elementname>
-			<elementname>Sensors</elementname>
-			<elementname>TelemetryTx</elementname>
-			<elementname>TelemetryTxPri</elementname>
-			<elementname>TelemetryRx</elementname>
-			<elementname>RadioRx</elementname>
-			<elementname>GPS</elementname>
-			<elementname>ManualControl</elementname>
-			<elementname>Altitude</elementname>
-			<elementname>Airspeed</elementname>
-			<elementname>Stabilization</elementname>
-			<elementname>AltitudeHold</elementname>
-			<elementname>PathPlanner</elementname>
-			<elementname>PathFollower</elementname>
-			<elementname>FlightPlan</elementname>
-			<elementname>Com2UsbBridge</elementname>
-			<elementname>Usb2ComBridge</elementname>
-			<elementname>OveroSync</elementname>
-			<elementname>ModemRx</elementname>
-			<elementname>ModemTx</elementname>
-			<elementname>ModemStat</elementname>
-			<elementname>Autotune</elementname>
-			<elementname>EventDispatcher</elementname>
-			<elementname>MagBaro</elementname>
-			<elementname>OSDGen</elementname>
 			<elementname>CallbackScheduler0</elementname>
 			<elementname>CallbackScheduler1</elementname>
 			<elementname>CallbackScheduler2</elementname>
 			<elementname>CallbackScheduler3</elementname>
+			<!-- fligth -->
+			<elementname>ManualControl</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Airspeed</elementname>
+			<elementname>MagBaro</elementname>
+			<!-- navigation -->
+			<elementname>PathFollower</elementname>
+			<elementname>FlightPlan</elementname>
+			<!-- telemetry -->
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<!-- com -->
+			<elementname>RadioRx</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<!-- optional -->
+			<elementname>GPS</elementname>
+			<elementname>OSDGen</elementname>
+			<elementname>Autotune</elementname>
 		</elementnames>
 		<options>
 			<option>False</option>
@@ -77,40 +75,39 @@
 	</field>
 	<field name="RunningTime" units="%" type="uint8">
 		<elementnames>
+			<!-- system -->
 			<elementname>System</elementname>
-			<elementname>Actuator</elementname>
-			<elementname>Attitude</elementname>
-			<elementname>Sensors</elementname>
-			<elementname>TelemetryTx</elementname>
-			<elementname>TelemetryTxPri</elementname>
-			<elementname>TelemetryRx</elementname>
-			<elementname>RadioRx</elementname>
-			<elementname>GPS</elementname>
-			<elementname>ManualControl</elementname>
-			<elementname>Altitude</elementname>
-			<elementname>Airspeed</elementname>
-			<elementname>Stabilization</elementname>
-			<elementname>AltitudeHold</elementname>
-			<elementname>PathPlanner</elementname>
-			<elementname>PathFollower</elementname>
-			<elementname>FlightPlan</elementname>
-			<elementname>Com2UsbBridge</elementname>
-			<elementname>Usb2ComBridge</elementname>
-			<elementname>OveroSync</elementname>
-			<elementname>ModemRx</elementname>
-			<elementname>ModemTx</elementname>
-			<elementname>ModemStat</elementname>
-			<elementname>Autotune</elementname>
-			<elementname>EventDispatcher</elementname>
-			<elementname>MagBaro</elementname>
-			<elementname>OSDGen</elementname>
 			<elementname>CallbackScheduler0</elementname>
 			<elementname>CallbackScheduler1</elementname>
 			<elementname>CallbackScheduler2</elementname>
 			<elementname>CallbackScheduler3</elementname>
+			<!-- fligth -->
+			<elementname>ManualControl</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Airspeed</elementname>
+			<elementname>MagBaro</elementname>
+			<!-- navigation -->
+			<elementname>PathFollower</elementname>
+			<elementname>FlightPlan</elementname>
+			<!-- telemetry -->
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<!-- com -->
+			<elementname>RadioRx</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<!-- optional -->
+			<elementname>GPS</elementname>
+			<elementname>OSDGen</elementname>
+			<elementname>Autotune</elementname>
 		</elementnames>
 	</field> 
-        <access gcs="readwrite" flight="readwrite"/>
+        <access gcs="readonly" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="periodic" period="10000"/>
 	<logging updatemode="manual" period="0"/>