diff --git a/Firmware/Board/v3/Inc/FreeRTOSConfig.h b/Firmware/Board/v3/Inc/FreeRTOSConfig.h
index 6da2e557..cf2d6f0e 100644
--- a/Firmware/Board/v3/Inc/FreeRTOSConfig.h
+++ b/Firmware/Board/v3/Inc/FreeRTOSConfig.h
@@ -102,8 +102,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 7 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)65536) // FreeRTOS heap takes up the entire 64kB core-coupled memory
-#define configAPPLICATION_ALLOCATED_HEAP         1
+#define configTOTAL_HEAP_SIZE                    ((size_t)65536)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
diff --git a/Firmware/Board/v3/Inc/main.h b/Firmware/Board/v3/Inc/main.h
index 50256101..ac9bd857 100644
--- a/Firmware/Board/v3/Inc/main.h
+++ b/Firmware/Board/v3/Inc/main.h
@@ -68,6 +68,7 @@
 #define TIM_APB1_CLOCK_HZ 84000000
 #define TIM_APB1_PERIOD_CLOCKS 4096
 #define TIM_APB1_DEADTIME_CLOCKS 40
+#define configAPPLICATION_ALLOCATED_HEAP 1
 
 #define M0_nCS_Pin GPIO_PIN_13
 #define M0_nCS_GPIO_Port GPIOC
diff --git a/Firmware/Board/v3/Odrive.ioc b/Firmware/Board/v3/Odrive.ioc
index b27ffb67..aea71bef 100644
--- a/Firmware/Board/v3/Odrive.ioc
+++ b/Firmware/Board/v3/Odrive.ioc
@@ -101,9 +101,11 @@ Dma.UART4_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.UART4_TX.1.PeriphInc=DMA_PINC_DISABLE
 Dma.UART4_TX.1.Priority=DMA_PRIORITY_LOW
 Dma.UART4_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+FREERTOS.FootprintOK=true
 FREERTOS.INCLUDE_vTaskDelayUntil=1
-FREERTOS.IPParameters=Tasks01,INCLUDE_vTaskDelayUntil
+FREERTOS.IPParameters=Tasks01,INCLUDE_vTaskDelayUntil,configTOTAL_HEAP_SIZE,FootprintOK
 FREERTOS.Tasks01=defaultTask,-3,256,StartDefaultTask,Default
+FREERTOS.configTOTAL_HEAP_SIZE=65536
 File.Version=6
 KeepUserPlacement=true
 Mcu.Family=STM32F4
@@ -186,7 +188,7 @@ Mcu.Pin8=PC3
 Mcu.Pin9=PA0-WKUP
 Mcu.PinsNb=56
 Mcu.ThirdPartyNb=0
-Mcu.UserConstants=TIM_1_8_CLOCK_HZ,168000000;TIM_1_8_PERIOD_CLOCKS,10192;TIM_1_8_DEADTIME_CLOCKS,20;TIM_APB1_CLOCK_HZ,84000000;TIM_APB1_PERIOD_CLOCKS,4096;TIM_APB1_DEADTIME_CLOCKS,40
+Mcu.UserConstants=TIM_1_8_CLOCK_HZ,168000000;TIM_1_8_PERIOD_CLOCKS,10192;TIM_1_8_DEADTIME_CLOCKS,20;TIM_APB1_CLOCK_HZ,84000000;TIM_APB1_PERIOD_CLOCKS,4096;TIM_APB1_DEADTIME_CLOCKS,40;configAPPLICATION_ALLOCATED_HEAP,1
 Mcu.UserName=STM32F405RGTx
 MxCube.Version=4.24.0
 MxDb.Version=DB.4.0.240