diff --git a/Source/Devices/RadioReceiver.cpp b/Source/Devices/RadioReceiver.cpp
index 841c9ef..cdbaadd 100644
--- a/Source/Devices/RadioReceiver.cpp
+++ b/Source/Devices/RadioReceiver.cpp
@@ -17,6 +17,9 @@ void receiver_gpio_init()
 	GPIOA->AFR[0] &= ~(0xF << (3 * 4));
 	GPIOA->AFR[0] |= 12 << (3 * 4);
 	
+  GPIOA->OSPEEDR &= ~(3 << (3 * 2));
+  GPIOA->OSPEEDR |= 2 << (3 * 2);
+  
 	// pull-up
 	GPIOA->PUPDR &= ~(3 << (3 * 2));
 	GPIOA->PUPDR |= 1 << (3 * 2);
@@ -37,7 +40,7 @@ void receiver_uart_init()
 	LPUART1->CR2 = 0;
 	LPUART1->CR3 = 0;
 	
-	LPUART1->BRR = (256 * 16000000UL) / 100000UL;
+	LPUART1->BRR = SystemCoreClock / (100000UL / 256);
 	
 	// parity control enable
 	LPUART1->CR1 |= USART_CR1_PCE | USART_CR1_M0;
@@ -59,10 +62,13 @@ void receiver_uart_init()
 	// receiver enable
 	// interrupt generated whenever ORE = 1 or RXNE = 1
 	LPUART1->CR1 |= USART_CR1_RE | USART_CR1_RXNEIE;
+  
+  LPUART1->CR3 |= USART_CR3_OVRDIS;
 	
 	// uart enable
 	LPUART1->CR1 |= USART_CR1_UE;
 	
+  NVIC_SetPriority(LPUART1_IRQn, 0);
 	NVIC_EnableIRQ(LPUART1_IRQn);
 }
 
@@ -72,11 +78,11 @@ void receiver_init()
 	receiver_uart_init();
 }
 
-void LPUART1_IRQHandler()
-{ 
+extern "C" void LPUART1_IRQHandler()
+{  
 	if (LPUART1->ISR & USART_ISR_RXNE)
 	{
-		uint8_t b = LPUART1->RDR;
+		char b = LPUART1->RDR;
 		
 		if (b == SBUS_START_BYTE)
 			sbus_index = 0;
diff --git a/Source/Devices/RadioReceiver.h b/Source/Devices/RadioReceiver.h
index fd0c79c..9e84587 100644
--- a/Source/Devices/RadioReceiver.h
+++ b/Source/Devices/RadioReceiver.h
@@ -4,7 +4,6 @@
 #define RADIO_RECEIVER_H
 
 #include "stm32g431xx.h"
-#include <stdint.h>
 
 #define SBUS_FRAME_SIZE 25
 #define SBUS_START_BYTE 0X0F
@@ -22,7 +21,6 @@ void receiver_gpio_init();
 void receiver_lpuart_clock_init();
 void receiver_uart_init();
 void receiver_init();
-void LPUART1_IRQHandler();
 void receiver_update(rc_channels* chs);
 void receiver_parse_frame();
 rc_channels normalize_channels(rc_channels chs);
diff --git a/Source/main.cpp b/Source/main.cpp
index 331571a..dae8d93 100644
--- a/Source/main.cpp
+++ b/Source/main.cpp
@@ -130,6 +130,8 @@ int main()
   SystemClock_Config(); // 170MHz
   IMU_InitPower();
   
+  
+  
   TICK_Init();
   
   TIM6_Init(TIM_PRIORITY, 500, TimerUpdateSensor, TimerUpdateMain);
@@ -140,9 +142,9 @@ int main()
   TIM6_Enable();
   TIM7_Enable();
   
-  attitude_t attitude;
-  rc_channels rx_chs_raw;
-  rc_channels rx_chs_normalized;
+  static attitude_t attitude;
+  static rc_channels rx_chs_raw;
+  static rc_channels rx_chs_normalized;
   static control_channels_t ctrl_chs;
   
   attitude_init(&attitude);