diff --git a/Cargo.lock b/Cargo.lock
index 8f2ca00..8eb3a32 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -123,9 +123,9 @@ dependencies = [
 
 [[package]]
 name = "axum-core"
-version = "0.5.5"
+version = "0.5.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "59446ce19cd142f8833f856eb31f3eb097812d1479ab224f54d72428ca21ea22"
+checksum = "08c78f31d7b1291f7ee735c1c6780ccde7785daae9a9206026862dab7d8792d1"
 dependencies = [
  "bytes",
  "futures-core",
@@ -204,9 +204,9 @@ checksum = "b35204fbdc0b3f4446b89fc1ac2cf84a8a68971995d0bf2e925ec7cd960f9cb3"
 
 [[package]]
 name = "cc"
-version = "1.2.50"
+version = "1.2.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f50d563227a1c37cc0a263f64eca3334388c01c5e4c4861a9def205c614383c"
+checksum = "7a0aeaff4ff1a90589618835a598e545176939b97874f7abc7851caa0618f203"
 dependencies = [
  "find-msvc-tools",
  "shlex",
@@ -565,6 +565,16 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
 
+[[package]]
+name = "errno"
+version = "0.3.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
+dependencies = [
+ "libc",
+ "windows-sys 0.61.2",
+]
+
 [[package]]
 name = "fern"
 version = "0.7.1"
@@ -577,9 +587,9 @@ dependencies = [
 
 [[package]]
 name = "find-msvc-tools"
-version = "0.1.5"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3a3076410a55c90011c298b04d0cfa770b00fa04e1e3c97d3f6c9de105a03844"
+checksum = "645cbb3a84e60b7531617d5ae4e57f7e27308f6445f5abf653209ea76dec8dff"
 
 [[package]]
 name = "form_urlencoded"
@@ -905,9 +915,9 @@ checksum = "a6cb138bb79a146c1bd460005623e142ef0181e3d0219cb493e02f7d08a35695"
 
 [[package]]
 name = "itoa"
-version = "1.0.16"
+version = "1.0.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ee5b5339afb4c41626dde77b7a611bd4f2c202b897852b4bcf5d03eddc61010"
+checksum = "92ecc6618181def0457392ccd0ee51198e065e016d1d527a7ac1b6dc7c1f09d2"
 
 [[package]]
 name = "js-sys"
@@ -1256,9 +1266,9 @@ checksum = "7edddbd0b52d732b21ad9a5fab5c704c14cd949e5e9a1ec5929a24fded1b904c"
 
 [[package]]
 name = "portable-atomic"
-version = "1.12.0"
+version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f59e70c4aef1e55797c2e8fd94a4f2a973fc972cfde0e0b05f683667b0cd39dd"
+checksum = "f89776e4d69bb58bc6993e99ffa1d11f228b839984854c7daeb5d37f87cbe950"
 
 [[package]]
 name = "postcard"
@@ -1310,9 +1320,9 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.103"
+version = "1.0.104"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ee95bc4ef87b8d5ba32e8b7714ccc834865276eab0aed5c9958d00ec45f49e8"
+checksum = "9695f8df41bb4f3d222c95a67532365f569318332d03d5f3f67f37b20e6ebdf0"
 dependencies = [
  "unicode-ident",
 ]
@@ -1525,9 +1535,9 @@ checksum = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d"
 
 [[package]]
 name = "ryu"
-version = "1.0.21"
+version = "1.0.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62049b2877bf12821e8f9ad256ee38fdc31db7387ec2d3b3f403024de2034aea"
+checksum = "a50f4cf475b65d88e057964e0e9bb1f0aa9bbb2036dc65c64596b42932536984"
 
 [[package]]
 name = "scopeguard"
@@ -1588,15 +1598,15 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.146"
+version = "1.0.148"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "217ca874ae0207aac254aa02c957ded05585a90892cc8d87f9e5fa49669dadd8"
+checksum = "3084b546a1dd6289475996f182a22aba973866ea8e8b02c51d9f46b1336a22da"
 dependencies = [
  "itoa",
  "memchr",
- "ryu",
  "serde",
  "serde_core",
+ "zmij",
 ]
 
 [[package]]
@@ -1659,10 +1669,11 @@ checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
 
 [[package]]
 name = "signal-hook-registry"
-version = "1.4.7"
+version = "1.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7664a098b8e616bdfcc2dc0e9ac44eb231eedf41db4e9fe95d8d32ec728dedad"
+checksum = "c4db69cba1110affc0e9f7bcd48bbf87b3f4fc7c61fc9155afd4c469eb3d6c1b"
 dependencies = [
+ "errno",
  "libc",
 ]
 
@@ -2410,3 +2421,9 @@ checksum = "df94495e7f28d551b72b2bf5304267fbb0075d78b182b49fbfb74f8910d63fec"
 dependencies = [
  "embedded-hal 1.0.0",
 ]
+
+[[package]]
+name = "zmij"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6d6085d62852e35540689d1f97ad663e3971fc19cf5eceab364d62c646ea167"
diff --git a/firmware/src/main.rs b/firmware/src/main.rs
index cc5eaee..a651168 100644
--- a/firmware/src/main.rs
+++ b/firmware/src/main.rs
@@ -23,11 +23,14 @@ mod app {
 
     use as5048a::AS5048A;
 
+    use crate::bootloader;
     use core::fmt::Write;
     use heapless::{String, Vec};
     use num_traits::{Float, FloatConst};
     use postcard::{from_bytes_cobs, to_vec_cobs};
+    use qmc5883l::{self, QMC5883L};
     use radomctl_protocol::*;
+    use radomctl_protocol::{HostMessage, *};
     use rtic_monotonics::systick::prelude::*;
     use stm32f4xx_hal::{
         gpio::{gpioa, gpiob, gpioc, Output, PushPull},
@@ -43,14 +46,7 @@ mod app {
     use usbd_serial::SerialPort;
     use xca9548a::{SlaveAddr, Xca9548a};
 
-    use qmc5883l::{self, QMC5883L};
-
-    use radomctl_protocol::{HostMessage, *};
-
-    use crate::bootloader;
-    use rtic_monotonics::systick::prelude::*;
-
-    systick_monotonic!(Mono, 4000);
+    systick_monotonic!(Mono, 1000);
 
     const USB_BUFFER_SIZE: usize = 64;
 
@@ -149,7 +145,6 @@ mod app {
                 .unwrap()
                 .build()
         };
-
         defmt::info!("USB Setup done");
 
         // Todo: Check if internal pullups work here