diff --git a/Makefile b/Makefile
index 8954a9a3..ef7d621d 100644
--- a/Makefile
+++ b/Makefile
@@ -13,9 +13,7 @@ TARGET = ODriveFirmware
 # debug build?
 DEBUG = 1
 # optimization
-# OPT = -O3 -ffast-math -flto
-# OPT = -O3 -ffast-math
-OPT = -O0 -ffast-math -u _printf_float -u _scanf_float
+OPT = -Og -ffast-math
 
 #######################################
 # pathes
@@ -117,9 +115,9 @@ C_INCLUDES += -IDrivers/CMSIS/Include
 C_INCLUDES += -IInc
 C_INCLUDES += -IMotorControl
 # compile gcc flags
-ASFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
-CFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
-CXXFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+ASFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -u _printf_float -u _scanf_float
+CFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -u _printf_float -u _scanf_float
+CXXFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -u _printf_float -u _scanf_float
 ifeq ($(DEBUG), 1)
 CFLAGS += -g -gdwarf-2
 CXXFLAGS += -g -gdwarf-2
diff --git a/MotorControl/axis.cpp b/MotorControl/axis.cpp
index cda35325..27711567 100644
--- a/MotorControl/axis.cpp
+++ b/MotorControl/axis.cpp
@@ -17,13 +17,17 @@ void axis_thread_entry(void const* temp_motor_ptr) {
     while(&motors[ax_number] != motor)
         ++ax_number;
 
-    Axis axis(ax_number, motor);
+    static const AxisConfig default_config;
+
+    Axis axis(default_config, ax_number, motor);
     axis.StateMachineLoop();
 }
 }  // extern "C"
 
-Axis::Axis(uint8_t axis_number, Motor_t* legacy_motor_ref)
+Axis::Axis(const AxisConfig& config, uint8_t axis_number, Motor_t* legacy_motor_ref)
     : axis_number_(axis_number),
+      enable_control_(config.enable_control_at_start),
+      do_calibration_(config.do_calibration_at_start),
       legacy_motor_ref_(legacy_motor_ref) {}
 
 void Axis::StateMachineLoop() {
@@ -32,5 +36,9 @@ void Axis::StateMachineLoop() {
     exposed_bools[4*axis_number_ + 1] = &enable_control_;
     exposed_bools[4*axis_number_ + 2] = &do_calibration_;
 
+    // for (;;) {
+        
+    // }
+
     motor_thread(legacy_motor_ref_);
 }
\ No newline at end of file
diff --git a/MotorControl/axis.hpp b/MotorControl/axis.hpp
index 2431d383..5929acf8 100644
--- a/MotorControl/axis.hpp
+++ b/MotorControl/axis.hpp
@@ -10,6 +10,11 @@ extern "C" {
     //command handler
     //callback dispatch
 
+// TODO: decide if we want to consolidate all default configs in one file for ease of use?
+struct AxisConfig {
+    bool enable_control_at_start = true;
+    bool do_calibration_at_start = true;
+};
 
 class Axis {
 public:
@@ -35,7 +40,7 @@ public:
     //step/dir handler
 
     // Object operation requires ptr to legacy object for now, TODO: get rid of this dep
-    Axis(uint8_t axis_number, Motor_t* legacy_motor_ref);
+    Axis(const AxisConfig& config, uint8_t axis_number, Motor_t* legacy_motor_ref);
 
     // Infinite loop that does calibration and enters main control loop as appropriate
     void StateMachineLoop();