diff --git a/sw/airborne/firmwares/fixedwing/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h
index a7ae8e0d64..7e81247790 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot.h
+++ b/sw/airborne/firmwares/fixedwing/autopilot.h
@@ -135,8 +135,4 @@ extern bool_t power_switch;
 #define NAVIGATION_FREQUENCY 4
 #endif
 
-#ifndef MODULES_FREQUENCY
-#define MODULES_FREQUENCY 60
-#endif
-
 #endif /* AUTOPILOT_H */
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index e4fb19b0cd..2d46edf2d1 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -85,6 +85,16 @@
 #include "gpio.h"
 #include "led.h"
 
+/* if PRINT_CONFIG is defined, print some config options */
+PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)
+PRINT_CONFIG_VAR(NAVIGATION_FREQUENCY)
+PRINT_CONFIG_VAR(CONTROL_FREQUENCY)
+
+#ifndef MODULES_FREQUENCY
+#define MODULES_FREQUENCY 60
+#endif
+PRINT_CONFIG_VAR(MODULES_FREQUENCY)
+
 
 #if USE_AHRS && USE_IMU
 
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index f0ee27496f..b76ad5ca98 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -71,9 +71,20 @@
 
 #include "generated/modules.h"
 
+
+/* if PRINT_CONFIG is defined, print some config options */
+PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)
+
+#ifndef MODULES_FREQUENCY
+#define MODULES_FREQUENCY 512
+#endif
+PRINT_CONFIG_VAR(MODULES_FREQUENCY)
+
 #ifndef BARO_PERIODIC_FREQUENCY
 #define BARO_PERIODIC_FREQUENCY 50
 #endif
+PRINT_CONFIG_VAR(BARO_PERIODIC_FREQUENCY)
+
 
 static inline void on_gyro_event( void );
 static inline void on_accel_event( void );
@@ -84,6 +95,7 @@ static inline void on_mag_event( void );
 
 
 tid_t main_periodic_tid; ///< id for main_periodic() timer
+tid_t modules_tid;       ///< id for modules_periodic_task() timer
 tid_t failsafe_tid;      ///< id for failsafe_check() timer
 tid_t radio_control_tid; ///< id for radio_control_periodic_task() timer
 tid_t electrical_tid;    ///< id for electrical_periodic() timer
@@ -146,6 +158,7 @@ STATIC_INLINE void main_init( void ) {
 
   // register the timers for the periodic functions
   main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
+  modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
   radio_control_tid = sys_time_register_timer((1./60.), NULL);
   failsafe_tid = sys_time_register_timer(0.05, NULL);
   electrical_tid = sys_time_register_timer(0.1, NULL);
@@ -156,6 +169,8 @@ STATIC_INLINE void main_init( void ) {
 STATIC_INLINE void handle_periodic_tasks( void ) {
   if (sys_time_check_and_ack_timer(main_periodic_tid))
     main_periodic();
+  if (sys_time_check_and_ack_timer(modules_tid))
+    modules_periodic_task();
   if (sys_time_check_and_ack_timer(radio_control_tid))
     radio_control_periodic_task();
   if (sys_time_check_and_ack_timer(failsafe_tid))
@@ -178,8 +193,6 @@ STATIC_INLINE void main_periodic( void ) {
   //actuators_set(autopilot_motors_on);
   SetActuatorsFromCommands(commands);
 
-  modules_periodic_task();
-
   if (autopilot_in_flight) {
     RunOnceEvery(PERIODIC_FREQUENCY, { autopilot_flight_time++; datalink_time++; });
   }