diff --git a/Core/Inc/msb_conf.h b/Core/Inc/msb_conf.h
index 99728cb..2877ed8 100644
--- a/Core/Inc/msb_conf.h
+++ b/Core/Inc/msb_conf.h
@@ -27,16 +27,16 @@
 // Sensors to use, comment out to disable
 
 // internal
-//#define CAN_ENABLE
+#define CAN_ENABLE
 
 //on central
-//#define SENSOR_TEMP
+#define SENSOR_TEMP
 #define SENSOR_SHOCKPOT
 #define SENSOR_STRAIN
 //#define SENSOR_TOF
 
-//#define SENSOR_IMU
-// on knuckle or wheel
+#define SENSOR_IMU
+// on knuckle or /wheel
 //#define SENSOR_WHEEL_TEMP
 
 // VERBOSE LOGGING
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 20f3340..460ee90 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -61,7 +61,7 @@ void vCanDispatch(void *pv_params)
 					      osWaitForever)) {
 #ifdef CAN_ENABLE
 			msg_status = can_send_msg(can1, &msg_from_queue);
-			if (msg_status == HAL_ERROR) {
+			if (msg_status != HAL_OK) {
 				printf("Failed to send CAN message");
 			} else if (msg_status == HAL_BUSY) {
 				printf("Outbound mailbox full!");
@@ -72,7 +72,7 @@ void vCanDispatch(void *pv_params)
 #endif
 		}
 
-		osDelay(DELAY_CAN_DISPATCH);
+		//osDelay(DELAY_CAN_DISPATCH);
 	}
 }