diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c
index 9b6e34f74..f0e242b55 100644
--- a/flight/modules/Attitude/attitude.c
+++ b/flight/modules/Attitude/attitude.c
@@ -178,8 +178,9 @@ int32_t AttitudeStart(void)
     // Start main task
     xTaskCreate(AttitudeTask, "Attitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, taskHandle);
+#ifdef PIOS_INCLUDE_WDG
     PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
-
+#endif
     return 0;
 }
 
@@ -253,7 +254,9 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
         // Set critical error and wait until the accel is producing data
         while (PIOS_ADXL345_FifoElements() == 0) {
             AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
+#ifdef PIOS_INCLUDE_WDG
             PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
+#endif
         }
         accel_test = PIOS_ADXL345_Test();
 #endif
@@ -310,9 +313,9 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
             }
             init = 1;
         }
-
+#ifdef PIOS_INCLUDE_WDG
         PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
-
+#endif
         AccelStateData accelState;
         GyroStateData gyros;
         int32_t retval = 0;
@@ -487,7 +490,7 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
 
         count++;
         // check if further samples are already in queue
-        ret = xQueueReceive(queue, (void *)&mpu6000_data, 0);
+        ret = xQueueReceive(queue, (void *)mpu6000_data, 0);
     }
     PERF_TRACK_VALUE(counterAccelSamples, count);
 
diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index fa8a7497d..cf65a9328 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -43,8 +43,8 @@
 #include <systemsettings.h>
 #include <stabilizationdesired.h>
 #include <callbackinfo.h>
-#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
 #include <stabilizationsettings.h>
+#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
 #include <vtolpathfollowersettings.h>
 #endif
 
@@ -160,9 +160,9 @@ int32_t ManualControlInitialize()
     ManualControlSettingsInitialize();
     FlightModeSettingsInitialize();
     SystemSettingsInitialize();
+    StabilizationSettingsInitialize();
 #ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
     VtolSelfTuningStatsInitialize();
-    StabilizationSettingsInitialize();
     VtolPathFollowerSettingsInitialize();
 #endif
     callbackHandle = PIOS_CALLBACKSCHEDULER_Create(&manualControlTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_MANUALCONTROL, STACK_SIZE_BYTES);
diff --git a/flight/modules/Receiver/receiver.c b/flight/modules/Receiver/receiver.c
index bf68b73e0..2f42b7eed 100644
--- a/flight/modules/Receiver/receiver.c
+++ b/flight/modules/Receiver/receiver.c
@@ -135,7 +135,7 @@ int32_t ReceiverInitialize()
 {
     /* Check the assumptions about uavobject enum's are correct */
     PIOS_STATIC_ASSERT(assumptions);
-
+    AccessoryDesiredInitialize();
     ManualControlCommandInitialize();
     ReceiverActivityInitialize();
     ManualControlSettingsInitialize();
diff --git a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
index aabc651a7..4dfec4883 100644
--- a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
+++ b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
@@ -162,7 +162,7 @@
 
 /* Task stack sizes */
 #define PIOS_ACTUATOR_STACK_SIZE        820
-#define PIOS_MANUAL_STACK_SIZE          635
+#define PIOS_MANUAL_STACK_SIZE          735
 #define PIOS_RECEIVER_STACK_SIZE        620
 #define PIOS_STABILIZATION_STACK_SIZE   400
 
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
index a2f183925..474a21330 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board.c
@@ -241,8 +241,10 @@ void PIOS_Board_Init(void)
     HwSettingsInitialize();
 
 #ifndef ERASE_FLASH
+#ifdef PIOS_INCLUDE_WDG
     /* Initialize watchdog as early as possible to catch faults during init */
     PIOS_WDG_Init();
+#endif
 #endif
 
     /* Initialize the alarms library */
diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
index 084693741..ea8636250 100644
--- a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
+++ b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
@@ -119,7 +119,7 @@ void OutputChannelForm::enableChannelTest(bool state)
         ui.actuatorMin->setEnabled(false);
         ui.actuatorMax->setEnabled(false);
         ui.actuatorRev->setEnabled(false);
-    } else if (m_mixerType != "Disabled"){
+    } else if (m_mixerType != "Disabled") {
         ui.actuatorMin->setEnabled(true);
         ui.actuatorMax->setEnabled(true);
         if (m_mixerType != "Motor") {