diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index 009e7431ac..517e073afb 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -8,7 +8,7 @@ then
 	if ver hwcmp PX4FMU_V1
 	then
 		echo "Start sdlog2 at 50Hz"
-		sdlog2 start -r 50 -a -b 5 -t
+		sdlog2 start -r 50 -a -b 4 -t
 	else
 		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -a -b 16 -t
diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index c599b118f7..bc0c120679 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -418,7 +418,7 @@ CONFIG_PREALLOC_TIMERS=50
 # Stack and heap information
 #
 CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=3500
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_PTHREAD_STACK_DEFAULT=2048
 
diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c
index 57a03bc844..18de3f4dac 100644
--- a/src/drivers/frsky_telemetry/frsky_data.c
+++ b/src/drivers/frsky_telemetry/frsky_data.c
@@ -53,6 +53,8 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_status.h>
 
+#include <drivers/drv_hrt.h>
+
 /* FrSky sensor hub data IDs */
 #define FRSKY_ID_GPS_ALT_BP     0x01
 #define FRSKY_ID_TEMP1          0x02
diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c
index 7b08ca69e9..6e08390436 100644
--- a/src/drivers/frsky_telemetry/frsky_telemetry.c
+++ b/src/drivers/frsky_telemetry/frsky_telemetry.c
@@ -222,7 +222,7 @@ int frsky_telemetry_main(int argc, char *argv[])
 		frsky_task = task_spawn_cmd("frsky_telemetry",
 					  SCHED_DEFAULT,
 					  SCHED_PRIORITY_DEFAULT,
-					  2048,
+					  2000,
 					  frsky_telemetry_thread_main,
 					  (const char **)argv);
 
diff --git a/src/drivers/frsky_telemetry/module.mk b/src/drivers/frsky_telemetry/module.mk
index 1632c74f75..9a49589ee5 100644
--- a/src/drivers/frsky_telemetry/module.mk
+++ b/src/drivers/frsky_telemetry/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	= frsky_telemetry
 
 SRCS		= frsky_data.c \
               frsky_telemetry.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 2d8d37298e..6195cd6eab 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -56,6 +56,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/device/i2c.h>
+#include <systemlib/systemlib.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/scheduling_priorities.h>
 #include <systemlib/err.h>
@@ -78,12 +79,6 @@
 #endif
 static const int ERROR = -1;
 
-#ifndef CONFIG_SCHED_WORKQUEUE
-# error This requires CONFIG_SCHED_WORKQUEUE.
-#endif
-
-
-
 class GPS : public device::CDev
 {
 public:
@@ -211,7 +206,8 @@ GPS::init()
 		goto out;
 
 	/* start the GPS driver worker task */
-	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
+	_task = task_spawn_cmd("gps", SCHED_DEFAULT,
+				SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr);
 
 	if (_task < 0) {
 		warnx("task start failed: %d", errno);
diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk
index 82c67d40a3..eb382c4b26 100644
--- a/src/drivers/gps/module.mk
+++ b/src/drivers/gps/module.mk
@@ -41,3 +41,5 @@ SRCS		= gps.cpp \
 		  gps_helper.cpp \
 		  mtk.cpp \
 		  ubx.cpp
+
+MODULE_STACKSIZE = 1200
diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c
index 495c415f2b..c775428ef1 100644
--- a/src/examples/flow_position_estimator/flow_position_estimator_main.c
+++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c
@@ -65,6 +65,7 @@
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/filtered_bottom_flow.h>
 #include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
 #include <poll.h>
 
 #include "flow_position_estimator_params.h"
@@ -109,9 +110,9 @@ int flow_position_estimator_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		daemon_task = task_spawn_cmd("flow_position_estimator",
-					 SCHED_RR,
+					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 5,
-					 4096,
+					 4000,
 					 flow_position_estimator_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 199e85305c..6c97bfca71 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2204,7 +2204,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2000,
+		       1950,
 		       (main_t)&Mavlink::start_helper,
 		       (const char **)argv);
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index b03a68c076..72b9ee83a3 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -949,7 +949,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
 	param.sched_priority = SCHED_PRIORITY_MAX - 40;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
-	pthread_attr_setstacksize(&receiveloop_attr, 3000);
+	pthread_attr_setstacksize(&receiveloop_attr, 2900);
 
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
diff --git a/src/modules/position_estimator_inav/module.mk b/src/modules/position_estimator_inav/module.mk
index 939d768495..0658d3f09c 100644
--- a/src/modules/position_estimator_inav/module.mk
+++ b/src/modules/position_estimator_inav/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	 	= position_estimator_inav
 SRCS		 	= position_estimator_inav_main.c \
 			position_estimator_inav_params.c \
 			inertial_filter.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 368424853c..d8d0ff37d3 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -135,7 +135,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
-					       SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
+					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4000,
 					       position_estimator_inav_thread_main,
 					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
 		exit(0);
diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk
index fe79ec3b76..b22b446dae 100644
--- a/src/systemcmds/nshterm/module.mk
+++ b/src/systemcmds/nshterm/module.mk
@@ -38,4 +38,4 @@
 MODULE_COMMAND	 = nshterm
 SRCS		 = nshterm.c
 
-MODULE_STACKSIZE = 1500
+MODULE_STACKSIZE = 1200