diff --git a/UAV-ControlSystem/.cproject b/UAV-ControlSystem/.cproject
index 3f1288d..beadf65 100644
--- a/UAV-ControlSystem/.cproject
+++ b/UAV-ControlSystem/.cproject
@@ -44,6 +44,7 @@
 									<listOptionValue builtIn="false" value="bool=int"/>
 									<listOptionValue builtIn="false" value="true=1"/>
 									<listOptionValue builtIn="false" value="&quot;false =0&quot;"/>
+									<listOptionValue builtIn="false" value="USE_FULL_ASSERT"/>
 								</option>
 								<inputType id="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.c.1429172986" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.c"/>
 								<inputType id="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.s.1184599199" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.s"/>
@@ -139,6 +140,7 @@
 									<listOptionValue builtIn="false" value="bool=int"/>
 									<listOptionValue builtIn="false" value="true=1"/>
 									<listOptionValue builtIn="false" value="false=0"/>
+									<listOptionValue builtIn="false" value="USE_FULL_ASSERT"/>
 								</option>
 								<inputType id="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.c.517933833" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.c"/>
 								<inputType id="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.s.348853835" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.s"/>
@@ -214,4 +216,5 @@
 			<resource resourceType="PROJECT" workspacePath="/UAV-ControlSystem"/>
 		</configuration>
 	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
 </cproject>
diff --git a/UAV-ControlSystem/LinkerScript.ld b/UAV-ControlSystem/LinkerScript.ld
index 83e93ae..0e2c315 100644
--- a/UAV-ControlSystem/LinkerScript.ld
+++ b/UAV-ControlSystem/LinkerScript.ld
@@ -63,6 +63,7 @@ MEMORY
 {
   RAM (xrw)		: ORIGIN = 0x20000000, LENGTH = 128K
   ROM (rx)		: ORIGIN = 0x8000000, LENGTH = 512K
+  EEPROM (xrw) : ORIGIN = 0x80E0000, LENGTH = 128K
 }
 
 /* Sections */
diff --git a/UAV-ControlSystem/src/drivers/system_clock.c b/UAV-ControlSystem/src/drivers/system_clock.c
index 44510b9..8a5eca0 100644
--- a/UAV-ControlSystem/src/drivers/system_clock.c
+++ b/UAV-ControlSystem/src/drivers/system_clock.c
@@ -76,8 +76,6 @@ uint32_t clock_get_us()
 		asm volatile("\tnop\n");
 	} while (ms != clock_get_ms());
 
-	assert_param(us >= 1000);
-
 	return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
 }