diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index a4e17e83..8f9c8954 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -959,9 +959,6 @@ var mspHelper = (function (gui) {
                     // remove timeout
                     clearTimeout(dataHandler.callbacks[i].timer);
 
-                    // remove object from array
-                    dataHandler.callbacks.splice(i, 1);
-
                     /*
                      * Compute roundtrip
                      */
@@ -970,6 +967,9 @@ var mspHelper = (function (gui) {
                         helper.mspQueue.putHardwareRoundtrip(new Date().getTime() - dataHandler.callbacks[i].sentOn);
                     }
 
+                    // remove object from array
+                    dataHandler.callbacks.splice(i, 1);
+
                     // fire callback
                     if (callback) callback({'command': dataHandler.code, 'data': data, 'length': dataHandler.message_length_expected});
                 }
diff --git a/js/serial_backend.js b/js/serial_backend.js
index babbf373..3dc33323 100755
--- a/js/serial_backend.js
+++ b/js/serial_backend.js
@@ -342,7 +342,7 @@ function onConnect() {
     MSP.send_message(MSPCodes.MSP_BOXNAMES, false, false);
 
     helper.interval.add('msp-load-update', function () {
-        $('#msp-load').text("MSP load: " + helper.mspQueue.getLoad().toFixed(2));
+        $('#msp-load').text("MSP load: " + helper.mspQueue.getLoad().toFixed(1));
         $('#msp-roundtrip').text("MSP round trip: " + helper.mspQueue.getRoundtrip().toFixed(0));
         $('#hardware-roundtrip').text("HW round trip: " + helper.mspQueue.getHardwareRoundtrip().toFixed(0));
         $('#drop-rate').text("Drop ratio: " + helper.mspQueue.getDropRatio().toFixed(0) + "%");
diff --git a/js/serial_queue.js b/js/serial_queue.js
index 188c9498..1e466615 100644
--- a/js/serial_queue.js
+++ b/js/serial_queue.js
@@ -8,11 +8,11 @@ helper.mspQueue = (function (serial, MSP) {
         privateScope = {};
 
     privateScope.handlerFrequency = 100;
-    privateScope.balancerFrequency = 10;
+    privateScope.balancerFrequency = 20;
 
-    privateScope.loadFilter = new classes.SimpleSmoothFilter(0.5, 0.995);
-    privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.97);
-    privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(5, 0.97);
+    privateScope.loadFilter = new classes.SimpleSmoothFilter(1, 0.9);
+    privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.99);
+    privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(10, 0.99);
 
     /**
      * Target load for MSP queue. When load is above target, throttling might start to appear
@@ -30,7 +30,7 @@ helper.mspQueue = (function (serial, MSP) {
     privateScope.loadPidController = new classes.PidController();
     privateScope.loadPidController.setTarget(privateScope.targetLoad);
     privateScope.loadPidController.setOutput(0, 99, 0);
-    privateScope.loadPidController.setGains(16, 6, 4);
+    privateScope.loadPidController.setGains(10, 4, 1);
     privateScope.loadPidController.setItermLimit(0, 90);
 
     privateScope.dropRatio = 0;