diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
new file mode 100644
index 0000000000..2d5e272bdd
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
@@ -0,0 +1,31 @@
+#!nsh
+#
+# Team Blacksheep Discovery Long Range Quadcopter
+# 
+# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
+#
+# Simon Wilks <simon@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLLRATE_I 0.02
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.4
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+fi
+
+set MIXER FMU_quad_w
+
+set PWM_OUTPUTS 1234
+set PWM_MIN 1200
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 8388da1dd7..20f2be0d9e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -221,6 +221,11 @@ then
 	sh /etc/init.d/10017_steadidrone_qu4d
 fi
 
+if param compare SYS_AUTOSTART 10018 18
+then
+	sh /etc/init.d/10018_tbs_endurance
+fi
+
 #
 # Hexa Coaxial
 #
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index e7c95cc864..948b29bcbe 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1399,8 +1399,6 @@ FixedwingPositionControl::task_main()
 			continue;
 		}
 
-		perf_begin(_loop_perf);
-
 		/* check vehicle control mode for changes to publication state */
 		vehicle_control_mode_poll();
 
@@ -1419,6 +1417,7 @@ FixedwingPositionControl::task_main()
 
 		/* only run controller if position changed */
 		if (fds[1].revents & POLLIN) {
+			perf_begin(_loop_perf);
 
 			/* XXX Hack to get mavlink output going */
 			if (_mavlink_fd < 0) {
@@ -1473,10 +1472,9 @@ FixedwingPositionControl::task_main()
 				}
 
 			}
-
+			perf_end(_loop_perf);
 		}
 
-		perf_end(_loop_perf);
 	}
 
 	_task_running = false;
diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk
index 15b575b50f..440bab2c5a 100644
--- a/src/modules/fw_pos_control_l1/module.mk
+++ b/src/modules/fw_pos_control_l1/module.mk
@@ -45,3 +45,5 @@ SRCS		= fw_pos_control_l1_main.cpp \
 		  mtecs/mTecs_params.c
 
 MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION	 = -Os