diff --git a/latest/Firmware/Inc/EventQueue.hpp b/latest/Firmware/Inc/EventQueue.hpp
index 148896c..653a212 100644
--- a/latest/Firmware/Inc/EventQueue.hpp
+++ b/latest/Firmware/Inc/EventQueue.hpp
@@ -48,7 +48,7 @@ public:
   /*
    * We push events here to be processed by the dispatching task
    */
-  void push(Event *event);
+  bool push(Event *event);
 
   /*
    * This method must be called repeatedly by an RTOS task or main() (never an ISR)
diff --git a/latest/Firmware/Inc/Stats.hpp b/latest/Firmware/Inc/Stats.hpp
new file mode 100644
index 0000000..6606f4f
--- /dev/null
+++ b/latest/Firmware/Inc/Stats.hpp
@@ -0,0 +1,32 @@
+/*
+ * Stats.hpp
+ *
+ *  Created on: Nov 4, 2020
+ *      Author: peter
+ */
+
+#ifndef INC_STATS_HPP_
+#define INC_STATS_HPP_
+
+#include <stdint.h>
+#include "EventQueue.hpp"
+
+class Stats : public EventConsumer
+{
+public:
+  static Stats &instance();
+  void init();
+
+  void processEvent(const Event &e);
+
+private:
+  Stats();
+public:
+  int eventQueuePopFailures       = 0;
+  int eventQueuePushFailures      = 0;
+  int rxPacketPoolPopFailures     = 0;
+};
+
+
+
+#endif /* INC_STATS_HPP_ */
diff --git a/latest/Firmware/Inc/config.h b/latest/Firmware/Inc/config.h
index 31bf8ad..9d72498 100644
--- a/latest/Firmware/Inc/config.h
+++ b/latest/Firmware/Inc/config.h
@@ -24,8 +24,8 @@
 #include "radio_config.h"
 #include "TXPowerSettings.h"
 
-// Set to non-zero to enable FreeRTOS instead of "bare metal". Doesn't add much value at the moment.
-#define RTOS 0
+// Define to enable FreeRTOS instead of "bare metal". Doesn't add much value at the moment.
+//#define RTOS
 
 /**
  * If this is defined, the device transmits carrier on channel 87 (161.975MHz) for 1 second after reset.
@@ -74,7 +74,7 @@
 #define MAX_TX_PACKETS_IN_QUEUE        4
 
 // Headroom above noise floor (in dB) that constitutes a clear channel for transmission
-#define TX_CCA_HEADROOM                6
+#define TX_CCA_HEADROOM                3
 
 // Transmission intervals in seconds
 #define MIN_TX_INTERVAL                5
diff --git a/latest/Firmware/Src/EventQueue.cpp b/latest/Firmware/Src/EventQueue.cpp
index 54e31cc..74cbe86 100644
--- a/latest/Firmware/Src/EventQueue.cpp
+++ b/latest/Firmware/Src/EventQueue.cpp
@@ -29,9 +29,6 @@
 #include "task.h"
 #include "bsp.hpp"
 
-#define EVENT_QUEUE_SIZE  50
-
-//static Event* __queue[EVENT_QUEUE_SIZE];
 
 EventQueue &EventQueue::instance()
 {
@@ -46,34 +43,28 @@ EventQueue::EventQueue()
 
 void EventQueue::init()
 {
-  //mQueueHandle = xQueueCreateStatic(EVENT_QUEUE_SIZE, sizeof(Event*), (uint8_t*)&__queue[0], &mQueue);
-  //configASSERT(mQueueHandle);
 }
 
-void EventQueue::push(Event *e)
+bool EventQueue::push(Event *e)
 {
-  //if ( xTaskGetSchedulerState() != taskSCHEDULER_RUNNING )
-    //return;
-
-  //BaseType_t xHighPriorityTaskWoken = pdTRUE;
   if ( Utils::inISR() )
     {
-      //bsp_signal_high();
-      //xQueueSendFromISR(mQueueHandle, &e, &xHighPriorityTaskWoken);
-      //bsp_signal_low();
       if ( !mISRQueue.push(e) )
-        EventPool::instance().deleteEvent(e);
-#if 0
-      if ( xHighPriorityTaskWoken )
-        portYIELD_FROM_ISR(xHighPriorityTaskWoken);
-#endif
+        {
+          EventPool::instance().deleteEvent(e);
+          return false;
+        }
     }
   else
     {
-      //xQueueSend(mQueueHandle, &e, 0);
       if ( !mTaskQueue.push(e) )
-        EventPool::instance().deleteEvent(e);
+        {
+          EventPool::instance().deleteEvent(e);
+          return false;
+        }
     }
+
+  return true;
 }
 
 void EventQueue::addObserver(EventConsumer *c, uint32_t eventMask)
diff --git a/latest/Firmware/Src/RFIC.cpp b/latest/Firmware/Src/RFIC.cpp
index d713758..ee316d7 100644
--- a/latest/Firmware/Src/RFIC.cpp
+++ b/latest/Firmware/Src/RFIC.cpp
@@ -205,9 +205,13 @@ uint8_t RFIC::readRSSI()
 {
   MODEM_STATUS_REPLY s;
   if ( sendCmd(GET_MODEM_STATUS, NULL, 0, &s, sizeof s) )
-    return s.CurrentRSSI;
+    {
+      return s.CurrentRSSI;
+    }
   else
-    return 0;
+    {
+      return 0;
+    }
 }
 
 bool RFIC::checkStatus()
diff --git a/latest/Firmware/Src/Receiver.cpp b/latest/Firmware/Src/Receiver.cpp
index a822947..988cb4d 100644
--- a/latest/Firmware/Src/Receiver.cpp
+++ b/latest/Firmware/Src/Receiver.cpp
@@ -24,6 +24,8 @@
 #include "EventQueue.hpp"
 #include "NoiseFloorDetector.hpp"
 #include "bsp.hpp"
+#include "Stats.hpp"
+
 
 Receiver::Receiver(GPIO_TypeDef *sdnPort, uint32_t sdnPin, GPIO_TypeDef *csPort, uint32_t csPin,
     GPIO_TypeDef *dataPort, uint32_t dataPin,
@@ -119,13 +121,16 @@ void Receiver::resetBitScanner()
 
 void Receiver::onBitClock()
 {
+  bsp_signal_high();
   ++mSlotBitNumber;
 
   // Don't waste time processing bits when the transceiver is transmitting
   if ( gRadioState == RADIO_TRANSMITTING )
-    return;
+    {
+      bsp_signal_low();
+      return;
+    }
 
-  bsp_signal_high();
 
   if ( !mRXPacket )
     {
@@ -153,8 +158,7 @@ void Receiver::onBitClock()
   else if ( mTimeSlot != 0xffffffff && mSlotBitNumber != 0xffff &&
       mTimeSlot % 17 == mChipID && mSlotBitNumber == CCA_SLOT_BIT - 1 )
     {
-      uint8_t rssi = reportRSSI();
-      mRXPacket->setRSSI(rssi);
+      reportRSSI();
     }
 #endif
 
@@ -224,13 +228,13 @@ Receiver::Action Receiver::processNRZIBit(uint8_t bit)
           // Start over
           return RESTART_RX;
         }
-#if 0
+
+      // We can never have 7 consecutive "1" bits in a proper NRZI encoded packet
       if ( mOneBitCount >= 7 )
         {
-          // Bad packet!
           return RESTART_RX;
         }
-#endif
+
       mLastNRZIBit = bit;
       mBitWindow <<= 1;
       mBitWindow |= decodedBit;
@@ -302,12 +306,23 @@ void Receiver::pushPacket()
     {
       //bsp_signal_high();
       p->rxPacket = mRXPacket;
-      EventQueue::instance().push(p);
+      if ( !EventQueue::instance().push(p) )
+        {
+          // Count this
+          ++Stats::instance().eventQueuePushFailures;
+        }
       //bsp_signal_low();
       mRXPacket = EventPool::instance().newRXPacket();
+      if ( !mRXPacket )
+        {
+          // TODO: Count this
+          ++Stats::instance().rxPacketPoolPopFailures;
+        }
     }
   else
     {
+      // TODO: Count this
+      ++Stats::instance().eventQueuePopFailures;
       /**
        * We're out of resources so just keep using the existing packet.
        * If this happens, the most logical outcome is a watchdog reset
@@ -323,9 +338,11 @@ void Receiver::pushPacket()
  */
 uint8_t Receiver::reportRSSI()
 {
+  //bsp_signal_high();
   uint8_t rssi = readRSSI();
   char channel = AIS_CHANNELS[mChannel].designation;
   NoiseFloorDetector::instance().report(channel, rssi);
+  //bsp_signal_low();
   return rssi;
 }
 
diff --git a/latest/Firmware/Src/Stats.cpp b/latest/Firmware/Src/Stats.cpp
new file mode 100644
index 0000000..21a79a2
--- /dev/null
+++ b/latest/Firmware/Src/Stats.cpp
@@ -0,0 +1,48 @@
+/*
+ * Stats.cpp
+ *
+ *  Created on: Nov 4, 2020
+ *      Author: peter
+ */
+
+
+#include "Stats.hpp"
+#include "Utils.hpp"
+#include "EventQueue.hpp"
+
+static int count = 0;
+
+Stats &Stats::instance()
+{
+  static Stats __instance;
+  return __instance;
+}
+
+Stats::Stats()
+{
+  EventQueue::instance().addObserver(this, CLOCK_EVENT);
+}
+
+void Stats::init()
+{
+
+}
+
+void Stats::processEvent(const Event &e)
+{
+  ++count;
+  if ( count % 60 == 0 )
+    {
+      char buff[32];
+      sprintf(buff, "$PAISTC,%d,%d,%d*", eventQueuePopFailures, eventQueuePushFailures, rxPacketPoolPopFailures);
+      Utils::completeNMEA(buff);
+
+      printf_serial(buff);
+      count = 1;
+    }
+}
+
+
+
+
+
diff --git a/latest/Firmware/Src/Transceiver.cpp b/latest/Firmware/Src/Transceiver.cpp
index 203883a..5ac8d0b 100644
--- a/latest/Firmware/Src/Transceiver.cpp
+++ b/latest/Firmware/Src/Transceiver.cpp
@@ -217,7 +217,7 @@ void Transceiver::onBitClock()
         }
       else if ( mUTC && mSlotBitNumber == CCA_SLOT_BIT && mTXPacket->channel() == mChannel )
         {
-          int rssi = mRXPacket->rssi();
+          int rssi = readRSSI();
           int nf = NoiseFloorDetector::instance().getNoiseFloor(AIS_CHANNELS[mChannel].designation);
           if ( rssi <= nf + TX_CCA_HEADROOM )
             {
diff --git a/latest/Firmware/Src/bsp/bsp_6_1.cpp b/latest/Firmware/Src/bsp/bsp_6_1.cpp
index 471351d..ba8d194 100644
--- a/latest/Firmware/Src/bsp/bsp_6_1.cpp
+++ b/latest/Firmware/Src/bsp/bsp_6_1.cpp
@@ -337,13 +337,16 @@ void HAL_MspInit(void)
   /* UsageFault_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
   /* SVCall_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(SVCall_IRQn, 2, 0);
+  HAL_NVIC_SetPriority(SVCall_IRQn, 10, 0);
   /* DebugMonitor_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
   /* PendSV_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(PendSV_IRQn, 2, 0);
+  HAL_NVIC_SetPriority(PendSV_IRQn, 10, 0);
   /* SysTick_IRQn interrupt configuration */
+
+#ifndef RTOS
   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+#endif
 
   /* USER CODE BEGIN MspInit 1 */
 
diff --git a/latest/Firmware/Src/main.cpp b/latest/Firmware/Src/main.cpp
index d27d198..da8c70c 100644
--- a/latest/Firmware/Src/main.cpp
+++ b/latest/Firmware/Src/main.cpp
@@ -28,6 +28,9 @@
 #include "CommandProcessor.hpp"
 #include "bsp.hpp"
 #include "printf_serial.h"
+#include "Stats.hpp"
+
+
 #ifdef RTOS
 #include "FreeRTOS.h"
 #include "task.h"
@@ -59,6 +62,7 @@ void mainTask(void *params)
   Configuration::instance().init();
   CommandProcessor::instance().init();
   DataTerminal::instance().init();
+  Stats::instance().init();
 
   RXPacketProcessor packetProcessor;
 
diff --git a/latest/Firmware/Src/stm32l4xx_hal_timebase_tim.c b/latest/Firmware/Src/stm32l4xx_hal_timebase_tim.c
index 5c5cb17..8283381 100644
--- a/latest/Firmware/Src/stm32l4xx_hal_timebase_tim.c
+++ b/latest/Firmware/Src/stm32l4xx_hal_timebase_tim.c
@@ -134,6 +134,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   /* USER CODE END Callback 0 */
   if (htim->Instance == TIM6) {
     HAL_IncTick();
+    HAL_SYSTICK_IRQHandler();
   }
   /* USER CODE BEGIN Callback 1 */