diff --git a/latest/Firmware/Inc/EZRadioPRO.h b/latest/Firmware/Inc/EZRadioPRO.h
index 95de9ab..8cdf5e0 100644
--- a/latest/Firmware/Inc/EZRadioPRO.h
+++ b/latest/Firmware/Inc/EZRadioPRO.h
@@ -126,11 +126,11 @@ typedef struct
   uint8_t Pending;
   uint8_t Status;
   uint8_t CurrentRSSI;
-  uint8_t LatchedRSSI;
-  uint8_t Ant1RSSI;
-  uint8_t Ant2RSSI;
-  uint8_t AFCFreqOffH;
-  uint8_t AFCFreqOffL;
+  //uint8_t LatchedRSSI;
+  //uint8_t Ant1RSSI;
+  //uint8_t Ant2RSSI;
+  //uint8_t AFCFreqOffH;
+  //uint8_t AFCFreqOffL;
 } MODEM_STATUS_REPLY;
 
 typedef struct
diff --git a/latest/Firmware/Inc/FreeRTOSConfig.h b/latest/Firmware/Inc/FreeRTOSConfig.h
index ca336f8..10ac11f 100644
--- a/latest/Firmware/Inc/FreeRTOSConfig.h
+++ b/latest/Firmware/Inc/FreeRTOSConfig.h
@@ -47,6 +47,8 @@
 /* Section where include file can be added */
 /* USER CODE END Includes */ 
 
+#include "config.h"
+
 /* Ensure definitions are only used by the compiler, and not by the assembler. */
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
   #include <stdint.h>
@@ -134,13 +136,14 @@ header file. */
 
 /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
 standard names. */
-#define vPortSVCHandler    SVC_Handler
-#define xPortPendSVHandler PendSV_Handler
 
 /* IMPORTANT: This define is commented when used with STM32Cube firmware, when the timebase source is SysTick,
               to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
- 
+#ifdef RTOS
+#define vPortSVCHandler    SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
 #define xPortSysTickHandler SysTick_Handler
+#endif
 
 /* USER CODE BEGIN Defines */   	      
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
diff --git a/latest/Firmware/Inc/bsp/bsp.hpp b/latest/Firmware/Inc/bsp/bsp.hpp
index 7ce78b9..b41ab9c 100644
--- a/latest/Firmware/Inc/bsp/bsp.hpp
+++ b/latest/Firmware/Inc/bsp/bsp.hpp
@@ -21,6 +21,7 @@
 #define INC_BSP_HPP_
 
 #include "StationData.h"
+#include "config.h"
 
 // Current board revision is 5.0
 // Either modify this header or define a different symbol in the preprocessor to build for a different board
diff --git a/latest/Firmware/Inc/config.h b/latest/Firmware/Inc/config.h
index a7e1adb..31bf8ad 100644
--- a/latest/Firmware/Inc/config.h
+++ b/latest/Firmware/Inc/config.h
@@ -23,20 +23,18 @@
 
 #include "radio_config.h"
 #include "TXPowerSettings.h"
-#include "config.h"
 
+// Set to non-zero to enable FreeRTOS instead of "bare metal". Doesn't add much value at the moment.
+#define RTOS 0
 
 /**
  * If this is defined, the device transmits carrier on channel 87 (161.975MHz) for 1 second after reset.
  */
 //#define CALIBRATION_MODE               1
 
-// Undefine to disable AIS transmission
+// Set to non-zero to enable transmission support
 #define ENABLE_TX                       1
 
-// Defining this fires a single packet after reset. Only do this during conducted testing, never with antenna attached!
-//#define TX_TEST_MODE                    1
-
 
 #ifdef CALIBRATION_MODE
 #define TX_POWER_LEVEL              PWR_P33
diff --git a/latest/Firmware/Src/EventQueue.cpp b/latest/Firmware/Src/EventQueue.cpp
index 826b2a1..54e31cc 100644
--- a/latest/Firmware/Src/EventQueue.cpp
+++ b/latest/Firmware/Src/EventQueue.cpp
@@ -94,7 +94,6 @@ void EventQueue::dispatch()
 {
   Event *e = nullptr;
 
-  //while ( xQueueReceive(mQueueHandle, &e, 10) == pdTRUE )
   while (mISRQueue.pop(e))
     {
       for ( map<EventConsumer*, uint32_t>::iterator c = mConsumers.begin(); c != mConsumers.end(); ++c )
diff --git a/latest/Firmware/Src/RFIC.cpp b/latest/Firmware/Src/RFIC.cpp
index a899098..d713758 100644
--- a/latest/Firmware/Src/RFIC.cpp
+++ b/latest/Firmware/Src/RFIC.cpp
@@ -80,10 +80,13 @@ bool RFIC::sendCmd(uint8_t cmd, void* params, uint8_t paramLen, void* result, ui
 
   bsp_tx_spi_byte(cmd);
 
-  uint8_t *b = (uint8_t*) params;
-  for ( int i = 0; i < paramLen; ++i )
+  if ( params )
     {
-      bsp_tx_spi_byte(b[i]);
+      uint8_t *b = (uint8_t*) params;
+      for ( int i = 0; i < paramLen; ++i )
+        {
+          bsp_tx_spi_byte(b[i]);
+        }
     }
   spiOff();
   //bsp_signal_low();
@@ -195,6 +198,9 @@ void RFIC::powerOnReset()
     ;
 }
 
+/**
+ * This exhibits a lot of jitter, occassionally taking more than 100us to return
+ */
 uint8_t RFIC::readRSSI()
 {
   MODEM_STATUS_REPLY s;
diff --git a/latest/Firmware/Src/Receiver.cpp b/latest/Firmware/Src/Receiver.cpp
index fee8050..a822947 100644
--- a/latest/Firmware/Src/Receiver.cpp
+++ b/latest/Firmware/Src/Receiver.cpp
@@ -143,6 +143,7 @@ void Receiver::onBitClock()
     {
       startReceiving(mChannel, false);
     }
+#if ENABLE_TX
   /**
    * This trick ensures that we only sample RSSI every 17 time slots and never in the
    * same time slot for both ICs, so we don't conduct long SPI operations on consecutive
@@ -155,6 +156,7 @@ void Receiver::onBitClock()
       uint8_t rssi = reportRSSI();
       mRXPacket->setRSSI(rssi);
     }
+#endif
 
   bsp_signal_low();
 }
@@ -222,13 +224,13 @@ Receiver::Action Receiver::processNRZIBit(uint8_t bit)
           // Start over
           return RESTART_RX;
         }
-
+#if 0
       if ( mOneBitCount >= 7 )
         {
           // Bad packet!
           return RESTART_RX;
         }
-
+#endif
       mLastNRZIBit = bit;
       mBitWindow <<= 1;
       mBitWindow |= decodedBit;
diff --git a/latest/Firmware/Src/bsp/bsp_6_1.cpp b/latest/Firmware/Src/bsp/bsp_6_1.cpp
index 4d283cd..471351d 100644
--- a/latest/Firmware/Src/bsp/bsp_6_1.cpp
+++ b/latest/Firmware/Src/bsp/bsp_6_1.cpp
@@ -297,7 +297,7 @@ void SystemClock_Config()
   HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
 
   /* SysTick_IRQn interrupt configuration */
-  // HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
 }
 
 void gpio_pin_init()
@@ -337,13 +337,13 @@ 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, 2, 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, 2, 0);
   /* SysTick_IRQn interrupt configuration */
-  //HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
 
   /* USER CODE BEGIN MspInit 1 */
 
diff --git a/latest/Firmware/Src/main.cpp b/latest/Firmware/Src/main.cpp
index 77fd71c..d27d198 100644
--- a/latest/Firmware/Src/main.cpp
+++ b/latest/Firmware/Src/main.cpp
@@ -18,6 +18,7 @@
 */
 
 #include "stm32l4xx_hal.h"
+#include "config.h"
 #include "RadioManager.hpp"
 #include "RXPacketProcessor.hpp"
 #include "DataTerminal.hpp"
@@ -27,9 +28,10 @@
 #include "CommandProcessor.hpp"
 #include "bsp.hpp"
 #include "printf_serial.h"
+#ifdef RTOS
 #include "FreeRTOS.h"
 #include "task.h"
-#include "timers.h"
+#endif
 
 void jump_to_bootloader()
 {
@@ -78,8 +80,13 @@ void mainTask(void *params)
   while (1)
     {
       EventQueue::instance().dispatch();
+#ifdef RTOS
       vTaskDelay(10);
+#endif
       bsp_refresh_wdt();
+#ifndef RTOS
+      __WFI();
+#endif
     }
 }
 
@@ -95,7 +102,7 @@ int main(void)
   // This is for debugging imprecise bus faults
   //*(uint8_t *)0xe000ed08 |= 2;
   bsp_hw_init();
-
+#ifdef RTOS
   TaskHandle_t xHandle;
   if ( xTaskCreate(mainTask, "main", 2248u, NULL, tskIDLE_PRIORITY+4, &xHandle) != pdPASS )
     {
@@ -103,6 +110,10 @@ int main(void)
     }
 
   vTaskStartScheduler();
+#else
+  mainTask(nullptr);
+#endif
+
   asm("BKPT 0");
   return 1;
 }
diff --git a/latest/Firmware/Src/mem.cpp b/latest/Firmware/Src/mem.cpp
index 150963d..c3d3aee 100644
--- a/latest/Firmware/Src/mem.cpp
+++ b/latest/Firmware/Src/mem.cpp
@@ -4,7 +4,9 @@
  *  Created on: Oct 8, 2020
  *      Author: peter
  */
+#include "config.h"
 
+#ifdef RTOS
 #include "FreeRTOS.h"
 
 void * operator new( size_t size )
@@ -26,3 +28,4 @@ void operator delete[]( void * ptr )
 {
   vPortFree ( ptr );
 }
+#endif
diff --git a/latest/Firmware/Src/stm32l4xx_hal_timebase_tim.c b/latest/Firmware/Src/stm32l4xx_hal_timebase_tim.c
index e706e43..5c5cb17 100644
--- a/latest/Firmware/Src/stm32l4xx_hal_timebase_tim.c
+++ b/latest/Firmware/Src/stm32l4xx_hal_timebase_tim.c
@@ -17,6 +17,9 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+#include "config.h"
+
+#ifdef RTOS
 
 /* Includes ------------------------------------------------------------------*/
 #include "stm32l4xx_hal.h"
@@ -39,7 +42,7 @@ TIM_HandleTypeDef        htim6;
   * @param  TickPriority: Tick interrupt priority.
   * @retval HAL status
   */
-#if 1
+
 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 {
   RCC_ClkInitTypeDef    clkconfig;
@@ -88,7 +91,7 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
   return HAL_ERROR;
 }
 
-#endif
+
 /**
   * @brief  Suspend Tick increment.
   * @note   Disable the tick increment by disabling TIM6 update interrupt.
@@ -139,3 +142,4 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+#endif
diff --git a/latest/Firmware/Src/stm32l4xx_it.c b/latest/Firmware/Src/stm32l4xx_it.c
index fa4f1e6..5d23e36 100644
--- a/latest/Firmware/Src/stm32l4xx_it.c
+++ b/latest/Firmware/Src/stm32l4xx_it.c
@@ -34,6 +34,7 @@
 #include "stm32l4xx_hal.h"
 #include "stm32l4xx.h"
 #include "stm32l4xx_it.h"
+#include "config.h"
 
 extern TIM_HandleTypeDef htim6;
 
@@ -254,7 +255,7 @@ void PendSV_Handler(void)
 }
 #endif
 
-#if 0
+#ifndef RTOS
 /**
  * @brief This function handles System tick timer.
  */