diff --git a/flight/CopterControl/System/inc/FreeRTOSConfig.h b/flight/CopterControl/System/inc/FreeRTOSConfig.h
new file mode 100644
index 000000000..622378ffe
--- /dev/null
+++ b/flight/CopterControl/System/inc/FreeRTOSConfig.h
@@ -0,0 +1,78 @@
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+/**
+  * @addtogroup PIOS PIOS
+  * @{
+  * @addtogroup FreeRTOS FreeRTOS
+  * @{
+  */
+
+/* Notes: We use 5 task priorities */
+
+#define configUSE_PREEMPTION		1
+#define configUSE_IDLE_HOOK		1
+#define configUSE_TICK_HOOK		0
+#define configCPU_CLOCK_HZ		( ( unsigned long ) 72000000 )
+#define configTICK_RATE_HZ		( ( portTickType ) 1000 )
+#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 5 )
+#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 256 )
+#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 5 * 1024 ) )
+#define configMAX_TASK_NAME_LEN		( 16 )
+#define configUSE_TRACE_FACILITY	0
+#define configUSE_16_BIT_TICKS		0
+#define configIDLE_SHOULD_YIELD		0
+#define configUSE_MUTEXES		1
+#define configUSE_RECURSIVE_MUTEXES	1
+#define configUSE_COUNTING_SEMAPHORES	0
+#define configUSE_ALTERNATIVE_API	0
+#define configCHECK_FOR_STACK_OVERFLOW	2
+#define configQUEUE_REGISTRY_SIZE	10
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 		0
+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+
+#define INCLUDE_vTaskPrioritySet		1
+#define INCLUDE_uxTaskPriorityGet		1
+#define INCLUDE_vTaskDelete			1
+#define INCLUDE_vTaskCleanUpResources		0
+#define INCLUDE_vTaskSuspend			1
+#define INCLUDE_vTaskDelayUntil			1
+#define INCLUDE_vTaskDelay			1
+#define INCLUDE_xTaskGetSchedulerState		1
+#define INCLUDE_xTaskGetCurrentTaskHandle	1
+#define INCLUDE_uxTaskGetStackHighWaterMark	1
+
+/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
+(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
+#define configKERNEL_INTERRUPT_PRIORITY 	15 << 4	/* equivalent to NVIC priority 15 */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	 3 << 4	/* equivalent to NVIC priority  3 */
+
+/* This is the value being used as per the ST library which permits 16
+priority values, 0 to 15.  This must correspond to the
+configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
+NVIC value of 255. */
+#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
+
+/**
+  * @}
+  */
+
+#endif /* FREERTOS_CONFIG_H */
diff --git a/flight/PiOS/inc/FreeRTOSConfig.h b/flight/OpenPilot/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/PiOS/inc/FreeRTOSConfig.h
rename to flight/OpenPilot/System/inc/FreeRTOSConfig.h
diff --git a/flight/UAVObjects/uavobjectmanager.c b/flight/UAVObjects/uavobjectmanager.c
index aebe7a8b0..df7f13b5e 100644
--- a/flight/UAVObjects/uavobjectmanager.c
+++ b/flight/UAVObjects/uavobjectmanager.c
@@ -84,7 +84,7 @@ static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId);
 static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask);
 static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
 
-#if defined(PIOS_USE_SDCARD)
+#if defined(PIOS_INCLUDE_SDCARD)
 static void objectFilename(ObjectList* obj, uint8_t* filename);
 static void customSPrintf(uint8_t* buffer, uint8_t* format, ...);
 #endif
@@ -514,7 +514,7 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
  */
 int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
 {
-#if defined(PIOS_USE_SDCARD)
+#if defined(PIOS_INCLUDE_SDCARD)
 	uint32_t bytesWritten;
 	ObjectList* objEntry;
 	ObjectInstList* instEntry;
@@ -558,7 +558,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
 
 	// Done
 	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_USE_SDCARD */
+#endif /* PIOS_INCLUDE_SDCARD */
 	return 0;
 }
 
@@ -574,7 +574,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
  */
 int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 {
-#if defined(PIOS_USE_SDCARD)
+#if defined(PIOS_INCLUDE_SDCARD)
 	FILEINFO file;
 	ObjectList* objEntry;
 	uint8_t filename[14];
@@ -612,7 +612,7 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 	// Done, close file and unlock
 	PIOS_FCLOSE(file);
 	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_USD_SDCARD */
+#endif /* PIOS_INCLUDE_SDCARD */
 	return 0;
 }
 
@@ -695,7 +695,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
 	// Unlock
 	xSemaphoreGiveRecursive(mutex);
 	return obj;
-#else
+#else /* PIOS_INCLUDE_SDCARD */
 	return NULL;
 #endif
 }
@@ -760,7 +760,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 	// Done, close file and unlock
 	PIOS_FCLOSE(file);
 	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_USE_SDCARD */
+#endif /* PIOS_INCLUDE_SDCARD */
 	return 0;
 }
 
@@ -772,7 +772,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
  */
 int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
 {
-#if defined(PIOS_USE_SDCARD)
+#if defined(PIOS_INCLUDE_SDCARD)
 	ObjectList* objEntry;
 	uint8_t filename[14];
 
@@ -796,7 +796,7 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
 
 	// Done
 	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_USD_SDCARD */
+#endif /* PIOS_INCLUDE_SDCARD */
 	return 0;
 }
 
@@ -1487,7 +1487,7 @@ static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCa
 	return -1;
 }
 
-#if defined(PIOS_USE_SDCARD)
+#if defined(PIOS_INCLUDE_SDCARD)
 /**
  * Wrapper for the sprintf function
  */
@@ -1505,7 +1505,7 @@ static void objectFilename(ObjectList* obj, uint8_t* filename)
 {
 	customSPrintf(filename, (uint8_t*)"%X.obj", obj->id);
 }
-#endif /* PIOS_USD_SDCARD */
+#endif /* PIOS_INCLUDE_SDCARD */