diff --git a/CM4/RemoteProc/WildhornAV_CM4.elf.bz2 b/CM4/RemoteProc/WildhornAV_CM4.elf.bz2
index 033ad761..1c5a2f69 100755
Binary files a/CM4/RemoteProc/WildhornAV_CM4.elf.bz2 and b/CM4/RemoteProc/WildhornAV_CM4.elf.bz2 differ
diff --git a/CM4/ert/driver/can.c b/CM4/ert/driver/can.c
index 199c8d60..9b46f5c7 100755
--- a/CM4/ert/driver/can.c
+++ b/CM4/ert/driver/can.c
@@ -19,6 +19,7 @@
 #include <od/od.h>
 #include <device/device.h>
 #include <feedback/led.h>
+#include <feedback/debug.h>
 
 /**********************
  *	CONSTANTS
@@ -144,7 +145,9 @@ util_error_t can_handle_data(device_interface_t * can_if) {
 		frame.data_id = rxHeader.Identifier >> CAN_DATAID_OFFSET;
 		uint8_t source = rxHeader.Identifier & CAN_BOARDID_MASK;
 
-		od_handle_can_frame(source, &frame);
+		debug_log("CAN Received: %x\n", source);
+
+		//od_handle_can_frame(source, &frame);
 
 	}
 	return ER_SUCCESS;
@@ -270,13 +273,17 @@ void can_transmit_thread(__attribute__((unused))  void *arg) {
 	while(1) {
 		// retrieve next frame
 		od_frame_t frame;
-		od_pop_from_out_q(&frame);
-		od_push_to_in_q(&frame);
+
+		frame.data[0] = 35;
+		//od_pop_from_out_q(&frame);
+		//od_push_to_in_q(&frame);
 
 		led_checkpoint(checkpoint_tx);
 
 		// send over CAN
 		device_interface_send(&fdcan1_interface, (uint8_t *) &frame, sizeof(od_frame_t));
+
+		osDelay(1000);
 	}
 }
 
diff --git a/CM4/ert/init.c b/CM4/ert/init.c
index 6991103b..a1c7beb3 100755
--- a/CM4/ert/init.c
+++ b/CM4/ert/init.c
@@ -123,7 +123,7 @@ void init(void) {
 	od_init();
 
 	// NOT USED DUE TO BUGS!!!!
-	//can_init(WH_COMPUTER);
+	can_init(1);
 
 #if WH_HAS_FEEDBACK == WH_TRUE
 #if WH_USE_BUZZER == WH_TRUE
@@ -155,9 +155,9 @@ void init(void) {
 	INIT_THREAD_CREATE(hostcom_handle, hostcom, hostcom_thread, NULL, HOSTCOM_SZ, HOSTCOM_PRIO);
 
 	// NOT USED DUE TO BUGS!!!!
-	//INIT_THREAD_CREATE(can_rx_handle, can_rx, can_receive_thread, NULL, CAN_TX_SZ, CAN_TX_PRIO);
+	INIT_THREAD_CREATE(can_rx_handle, can_rx, can_receive_thread, NULL, CAN_TX_SZ, CAN_TX_PRIO);
 	UNUSED(can_rx_handle);
-	//INIT_THREAD_CREATE(can_tx_handle, can_tx, can_transmit_thread, NULL, CAN_RX_SZ, CAN_RX_PRIO);
+	INIT_THREAD_CREATE(can_tx_handle, can_tx, can_transmit_thread, NULL, CAN_RX_SZ, CAN_RX_PRIO);
 	UNUSED(can_tx_handle);
 
 #if WH_HAS_RADIO