diff --git a/applications/app_adc.c b/applications/app_adc.c
index c98777f83..a1f24a9df 100644
--- a/applications/app_adc.c
+++ b/applications/app_adc.c
@@ -38,7 +38,7 @@
 
 // Threads
 static THD_FUNCTION(adc_thread, arg);
-static THD_WORKING_AREA(adc_thread_wa, 1024);
+static THD_WORKING_AREA(adc_thread_wa, 512);
 
 // Private variables
 static volatile adc_config config;
diff --git a/applications/app_balance.c b/applications/app_balance.c
index 66f69aade..c4bc94120 100644
--- a/applications/app_balance.c
+++ b/applications/app_balance.c
@@ -80,7 +80,7 @@ typedef enum {
 
 // Balance thread
 static THD_FUNCTION(balance_thread, arg);
-static THD_WORKING_AREA(balance_thread_wa, 2048); // 2kb stack for this thread
+static THD_WORKING_AREA(balance_thread_wa, 1024); // 2kb stack for this thread
 
 static thread_t *app_thread;
 
diff --git a/applications/app_custom_template.c b/applications/app_custom_template.c
index 09f9766fd..87898bbf3 100644
--- a/applications/app_custom_template.c
+++ b/applications/app_custom_template.c
@@ -37,7 +37,7 @@
 
 // Threads
 static THD_FUNCTION(my_thread, arg);
-static THD_WORKING_AREA(my_thread_wa, 2048);
+static THD_WORKING_AREA(my_thread_wa, 1024);
 
 // Private functions
 static void pwm_callback(void);
diff --git a/applications/app_nunchuk.c b/applications/app_nunchuk.c
index 71c0f9ec8..15a0e6950 100644
--- a/applications/app_nunchuk.c
+++ b/applications/app_nunchuk.c
@@ -39,9 +39,9 @@
 
 // Threads
 static THD_FUNCTION(chuk_thread, arg);
-static THD_WORKING_AREA(chuk_thread_wa, 1024);
+static THD_WORKING_AREA(chuk_thread_wa, 512);
 static THD_FUNCTION(output_thread, arg);
-static THD_WORKING_AREA(output_thread_wa, 1024);
+static THD_WORKING_AREA(output_thread_wa, 512);
 
 // Private variables
 static volatile bool stop_now = true;
diff --git a/applications/app_pas.c b/applications/app_pas.c
index aac02a5aa..8e509ae5b 100644
--- a/applications/app_pas.c
+++ b/applications/app_pas.c
@@ -39,7 +39,7 @@
 
 // Threads
 static THD_FUNCTION(pas_thread, arg);
-static THD_WORKING_AREA(pas_thread_wa, 1024);
+static THD_WORKING_AREA(pas_thread_wa, 512);
 
 // Private variables
 static volatile pas_config config;
diff --git a/applications/app_ppm.c b/applications/app_ppm.c
index a86c64f1a..054e2422e 100644
--- a/applications/app_ppm.c
+++ b/applications/app_ppm.c
@@ -35,7 +35,7 @@
 
 // Threads
 static THD_FUNCTION(ppm_thread, arg);
-static THD_WORKING_AREA(ppm_thread_wa, 1536);
+static THD_WORKING_AREA(ppm_thread_wa, 512);
 static thread_t *ppm_tp;
 static volatile bool ppm_rx = false;
 
diff --git a/applications/app_uartcomm.c b/applications/app_uartcomm.c
index aca68ed22..3818e9666 100644
--- a/applications/app_uartcomm.c
+++ b/applications/app_uartcomm.c
@@ -42,7 +42,7 @@
 
 // Threads
 static THD_FUNCTION(packet_process_thread, arg);
-static THD_WORKING_AREA(packet_process_thread_wa, 4096);
+static THD_WORKING_AREA(packet_process_thread_wa, 2048);
 
 // Variables
 static volatile bool thread_is_running = false;
diff --git a/comm_can.c b/comm_can.c
index a55e9cc89..c5452115f 100644
--- a/comm_can.c
+++ b/comm_can.c
@@ -45,8 +45,8 @@
 
 #if CAN_ENABLE
 // Threads
-static THD_WORKING_AREA(cancom_read_thread_wa, 512);
-static THD_WORKING_AREA(cancom_process_thread_wa, 4096);
+static THD_WORKING_AREA(cancom_read_thread_wa, 256);
+static THD_WORKING_AREA(cancom_process_thread_wa, 2048);
 static THD_WORKING_AREA(cancom_status_thread_wa, 512);
 static THD_FUNCTION(cancom_read_thread, arg);
 static THD_FUNCTION(cancom_status_thread, arg);
diff --git a/comm_usb.c b/comm_usb.c
index 65e07ee8f..5684ad654 100644
--- a/comm_usb.c
+++ b/comm_usb.c
@@ -30,7 +30,7 @@ static uint8_t serial_rx_buffer[SERIAL_RX_BUFFER_SIZE];
 static int serial_rx_read_pos = 0;
 static int serial_rx_write_pos = 0;
 static THD_WORKING_AREA(serial_read_thread_wa, 256);
-static THD_WORKING_AREA(serial_process_thread_wa, 4096);
+static THD_WORKING_AREA(serial_process_thread_wa, 2048);
 static mutex_t send_mutex;
 static thread_t *process_tp;
 static volatile unsigned int write_timeout_cnt = 0;
diff --git a/conf_general.h b/conf_general.h
index d2292d9aa..507934fed 100755
--- a/conf_general.h
+++ b/conf_general.h
@@ -21,10 +21,10 @@
 #define CONF_GENERAL_H_
 
 // Firmware version
-#define FW_VERSION_MAJOR			5
-#define FW_VERSION_MINOR			03
+#define FW_VERSION_MAJOR			6
+#define FW_VERSION_MINOR			00
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		0
+#define FW_TEST_VERSION_NUMBER		1
 
 #include "datatypes.h"
 
diff --git a/gpdrive.c b/gpdrive.c
index f99719e44..481be0484 100644
--- a/gpdrive.c
+++ b/gpdrive.c
@@ -81,7 +81,7 @@ static void set_modulation(float mod);
 static void do_dc_cal(void);
 
 // Threads
-static THD_WORKING_AREA(timer_thread_wa, 2048);
+static THD_WORKING_AREA(timer_thread_wa, 512);
 static THD_FUNCTION(timer_thread, arg);
 static volatile bool timer_thd_stop;
 
diff --git a/hwconf/hw_45.c b/hwconf/hw_45.c
index 17f4a7243..79ca8b850 100644
--- a/hwconf/hw_45.c
+++ b/hwconf/hw_45.c
@@ -31,7 +31,7 @@
 
 // Threads
 THD_FUNCTION(temp_thread, arg);
-static THD_WORKING_AREA(temp_thread_wa, 512);
+static THD_WORKING_AREA(temp_thread_wa, 256);
 static bool temp_thread_running = false;
 
 // Variables
diff --git a/hwconf/hw_gesc.c b/hwconf/hw_gesc.c
index 308460169..86fe7430f 100644
--- a/hwconf/hw_gesc.c
+++ b/hwconf/hw_gesc.c
@@ -38,7 +38,7 @@
 
 	// Threads
 THD_FUNCTION(mag_thread, arg);
-static THD_WORKING_AREA(mag_thread_wa, 512);
+static THD_WORKING_AREA(mag_thread_wa, 256);
 static bool mag_thread_running = false;
 
 // Variables
diff --git a/hwconf/hw_stormcore_100d.c b/hwconf/hw_stormcore_100d.c
index 4e09b4b2f..4303a833c 100644
--- a/hwconf/hw_stormcore_100d.c
+++ b/hwconf/hw_stormcore_100d.c
@@ -39,7 +39,7 @@ typedef enum {
 // Variables
 static volatile bool i2c_running = false;
 static THD_WORKING_AREA(smart_switch_thread_wa, 128);
-static THD_WORKING_AREA(mux_thread_wa, 256);
+static THD_WORKING_AREA(mux_thread_wa, 128);
 static THD_WORKING_AREA(switch_color_thread_wa, 128);
 static THD_FUNCTION(mux_thread, arg);
 static THD_FUNCTION(switch_color_thread, arg);
diff --git a/hwconf/hw_stormcore_60d.c b/hwconf/hw_stormcore_60d.c
index 276757ec1..e45cbd689 100644
--- a/hwconf/hw_stormcore_60d.c
+++ b/hwconf/hw_stormcore_60d.c
@@ -36,7 +36,7 @@ typedef enum {
 // Variables
 static volatile bool i2c_running = false;
 static THD_WORKING_AREA(smart_switch_thread_wa, 128);
-static THD_WORKING_AREA(mux_thread_wa, 256);
+static THD_WORKING_AREA(mux_thread_wa, 128);
 static THD_WORKING_AREA(switch_color_thread_wa, 128);
 static THD_FUNCTION(mux_thread, arg);
 static THD_FUNCTION(switch_color_thread, arg);
diff --git a/hwconf/hw_uavc_qcube.c b/hwconf/hw_uavc_qcube.c
index f2d5e140b..74cd7c297 100644
--- a/hwconf/hw_uavc_qcube.c
+++ b/hwconf/hw_uavc_qcube.c
@@ -25,7 +25,7 @@
 
 // Threads
 THD_FUNCTION(dac_thread, arg);
-static THD_WORKING_AREA(dac_thread_wa, 512);
+static THD_WORKING_AREA(dac_thread_wa, 128);
 static bool dac_thread_running = false;
 
 // Variables
diff --git a/hwconf/hw_unity.c b/hwconf/hw_unity.c
index a43433d7c..241b6ccb5 100644
--- a/hwconf/hw_unity.c
+++ b/hwconf/hw_unity.c
@@ -36,7 +36,7 @@ typedef enum {
 // Variables
 static volatile bool i2c_running = false;
 static THD_WORKING_AREA(smart_switch_thread_wa, 128);
-static THD_WORKING_AREA(mux_thread_wa, 256);
+static THD_WORKING_AREA(mux_thread_wa, 128);
 static THD_FUNCTION(mux_thread, arg);
 static volatile switch_states switch_state = SWITCH_BOOTED;
 
diff --git a/hwconf/hw_uxv_sr.c b/hwconf/hw_uxv_sr.c
index 7931ce472..5cc447ae3 100644
--- a/hwconf/hw_uxv_sr.c
+++ b/hwconf/hw_uxv_sr.c
@@ -28,7 +28,7 @@
 
 // Threads
 THD_FUNCTION(dac_thread, arg);
-static THD_WORKING_AREA(dac_thread_wa, 1024);
+static THD_WORKING_AREA(dac_thread_wa, 256);
 static bool dac_thread_running = false;
 
 // Variables
@@ -285,4 +285,4 @@ THD_FUNCTION(dac_thread, arg) {
 		DAC->DHR12R2 = scaled_current;
 		chThdSleepMilliseconds(100);
 	}
-}
\ No newline at end of file
+}
diff --git a/hwconf/si8900.c b/hwconf/si8900.c
index cecb42533..1a23a4c58 100644
--- a/hwconf/si8900.c
+++ b/hwconf/si8900.c
@@ -26,7 +26,7 @@
 
 // Private variables
 static THD_FUNCTION(si_read_thread, arg);
-static THD_WORKING_AREA(si_read_thread_wa, 512);
+static THD_WORKING_AREA(si_read_thread_wa, 256);
 static volatile float m_voltages[3];
 
 // Private functions
diff --git a/imu/imu.c b/imu/imu.c
index 422864311..0ddab99be 100644
--- a/imu/imu.c
+++ b/imu/imu.c
@@ -37,7 +37,7 @@
 static ATTITUDE_INFO m_att;
 static FusionAhrs m_fusionAhrs;
 static float m_accel[3], m_gyro[3], m_mag[3];
-static stkalign_t m_thd_work_area[THD_WORKING_AREA_SIZE(2048) / sizeof(stkalign_t)];
+static stkalign_t m_thd_work_area[THD_WORKING_AREA_SIZE(1024) / sizeof(stkalign_t)];
 static i2c_bb_state m_i2c_bb;
 static spi_bb_state m_spi_bb;
 static ICM20948_STATE m_icm20948_state;
diff --git a/libcanard/canard_driver.c b/libcanard/canard_driver.c
index e04c6f5f1..420f5aa1b 100755
--- a/libcanard/canard_driver.c
+++ b/libcanard/canard_driver.c
@@ -84,7 +84,7 @@ static uint8_t my_node_id = 0;
 static bool refresh_parameters_enabled = true;
 
 // Threads
-static THD_WORKING_AREA(canard_thread_wa, 2048);
+static THD_WORKING_AREA(canard_thread_wa, 1024);
 static THD_FUNCTION(canard_thread, arg);
 
 // Private functions
diff --git a/lora/lora.c b/lora/lora.c
index 986343554..217407e98 100644
--- a/lora/lora.c
+++ b/lora/lora.c
@@ -37,7 +37,7 @@
 
 // Threads
 static THD_FUNCTION(packet_process_thread, arg);
-static THD_WORKING_AREA(packet_process_thread_wa, 4096);
+static THD_WORKING_AREA(packet_process_thread_wa, 2048);
 
 // Variables
 static volatile bool thread_is_running = false;
diff --git a/main.c b/main.c
index 2598f1475..8cf330ede 100644
--- a/main.c
+++ b/main.c
@@ -80,7 +80,7 @@
  */
 
 // Private variables
-static THD_WORKING_AREA(periodic_thread_wa, 512);
+static THD_WORKING_AREA(periodic_thread_wa, 256);
 static THD_WORKING_AREA(led_thread_wa, 256);
 static THD_WORKING_AREA(flash_integrity_check_thread_wa, 256);
 static bool m_init_done = false;
diff --git a/mc_interface.c b/mc_interface.c
index 46bf513f9..dd4b5aa1a 100644
--- a/mc_interface.c
+++ b/mc_interface.c
@@ -132,7 +132,7 @@ static volatile motor_if_state_t *motor_now(void);
 static void(*pwn_done_func)(void) = 0;
 
 // Threads
-static THD_WORKING_AREA(timer_thread_wa, 1024);
+static THD_WORKING_AREA(timer_thread_wa, 512);
 static THD_FUNCTION(timer_thread, arg);
 static THD_WORKING_AREA(sample_send_thread_wa, 512);
 static THD_FUNCTION(sample_send_thread, arg);
diff --git a/mcpwm.c b/mcpwm.c
index 1014aca1d..69efbb265 100644
--- a/mcpwm.c
+++ b/mcpwm.c
@@ -160,9 +160,9 @@ static void pll_run(float phase, float dt, volatile float *phase_var,
 #define IS_DETECTING()			(state == MC_STATE_DETECTING)
 
 // Threads
-static THD_WORKING_AREA(timer_thread_wa, 2048);
+static THD_WORKING_AREA(timer_thread_wa, 512);
 static THD_FUNCTION(timer_thread, arg);
-static THD_WORKING_AREA(rpm_thread_wa, 1024);
+static THD_WORKING_AREA(rpm_thread_wa, 512);
 static THD_FUNCTION(rpm_thread, arg);
 static volatile bool timer_thd_stop;
 static volatile bool rpm_thd_stop;
diff --git a/mcpwm_foc.c b/mcpwm_foc.c
index e78349303..7db1de4eb 100644
--- a/mcpwm_foc.c
+++ b/mcpwm_foc.c
@@ -226,15 +226,15 @@ static void input_current_offset_measurement( void );
 static void hfi_update(volatile motor_all_state_t *motor);
 
 // Threads
-static THD_WORKING_AREA(timer_thread_wa, 1024);
+static THD_WORKING_AREA(timer_thread_wa, 512);
 static THD_FUNCTION(timer_thread, arg);
 static volatile bool timer_thd_stop;
 
-static THD_WORKING_AREA(hfi_thread_wa, 1024);
+static THD_WORKING_AREA(hfi_thread_wa, 512);
 static THD_FUNCTION(hfi_thread, arg);
 static volatile bool hfi_thd_stop;
 
-static THD_WORKING_AREA(pid_thread_wa, 512);
+static THD_WORKING_AREA(pid_thread_wa, 256);
 static THD_FUNCTION(pid_thread, arg);
 static volatile bool pid_thd_stop;
 
diff --git a/nrf/nrf_driver.c b/nrf/nrf_driver.c
index 57d129c85..96cb63b66 100644
--- a/nrf/nrf_driver.c
+++ b/nrf/nrf_driver.c
@@ -39,7 +39,7 @@
 
 // Variables
 static THD_WORKING_AREA(rx_thread_wa, 2048);
-static THD_WORKING_AREA(tx_thread_wa, 512);
+static THD_WORKING_AREA(tx_thread_wa, 256);
 static mote_state mstate;
 static uint8_t rx_buffer[RX_BUFFER_SIZE];
 static int nosend_cnt;
diff --git a/timeout.c b/timeout.c
index 8ee9f6a27..bf5268209 100644
--- a/timeout.c
+++ b/timeout.c
@@ -33,7 +33,7 @@ static volatile bool kill_sw_active;
 static volatile uint32_t feed_counter[MAX_THREADS_MONITOR];
 
 // Threads
-static THD_WORKING_AREA(timeout_thread_wa, 512);
+static THD_WORKING_AREA(timeout_thread_wa, 256);
 static THD_FUNCTION(timeout_thread, arg);
 
 void timeout_init(void) {