diff --git a/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c b/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
index b2ad24a..c8a7ab2 100644
--- a/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
+++ b/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
@@ -28,28 +28,31 @@ XTtcPs xttcps[2];
 XGpioPs xgpiops;
 XGpioPs_Config* gpioCfg;
 
-extern int16_t pidValue;
+extern int32_t pidValue;
 
 void timer_Task(void *pdata) {
-	timer_Init();
-
-	if(pidValue){
-		uint16_t interval = 1.337*(64000/abs(pidValue));
-		uint8_t direction = pidValue<0;
-		//UCOS_Printf("%d %d\r\n", direction, interval);
-		//UCOS_Printf("counter value: %d\r\n", XTtcPs_GetCounterValue(&xttcps));
-		timer_Stop(0);
-		timer_Stop(1);
-		timer_Set_Interval_Length(0,interval);
-		timer_Set_Interval_Length(1,interval);
-		timer_Start(0);
-		timer_Start(1);
-		motor_Set_Moving_Direction(54, direction);
-		motor_Set_Moving_Direction(55, !direction);
-	}
-	else
+	while(1)
 	{
-		timer_Stop(0);
+		if(pidValue){
+			uint16_t interval = 1.337*(64000/abs(pidValue));
+			uint8_t direction = pidValue<0;
+			//UCOS_Printf("%d %d\r\n", direction, interval);
+			//UCOS_Printf("counter value: %d\r\n", XTtcPs_GetCounterValue(&xttcps));
+			timer_Stop(0);
+			timer_Stop(1);
+			timer_Set_Interval_Length(0,interval);
+			timer_Set_Interval_Length(1,interval);
+			timer_Start(0);
+			timer_Start(1);
+			motor_Set_Moving_Direction(54, direction);
+			motor_Set_Moving_Direction(55, !direction);
+		}
+		else
+		{
+			timer_Stop(0);
+			timer_Stop(1);
+		}
+		OSTimeDly(1);
 	}
 }
 
diff --git a/src/APP/Aufgabe4/ps7/core0/src/imu.c b/src/APP/Aufgabe4/ps7/core0/src/imu.c
index 166d9df..9bbb618 100644
--- a/src/APP/Aufgabe4/ps7/core0/src/imu.c
+++ b/src/APP/Aufgabe4/ps7/core0/src/imu.c
@@ -18,6 +18,7 @@
 #include "ucos_ii.h"
 #include "ucos_bsp.h"
 
+#include <math.h>
 /**
  * Global variables
  */
@@ -33,6 +34,7 @@ int16_t gyroData[3];
 
 int16_t accelBuffer[5000];
 int16_t gyroBuffer[5000];
+int16_t angleBuffer[5000];
 
 static XIicPs Iic;
 XIicPs_Config *Config;
@@ -53,28 +55,33 @@ static void mpu9250_Get_Acc_Min_Max();
  * Read sensor data and calculate angle 
  */
 int mpu9250_CalculateAngle(void *pdata){
+	static uint16_t i=0;
 
+	mpu9250_Read_Data(59, 6, (u8*)accelData);
+	mpu9250_Read_Data(67, 6, (u8*)gyroData);
+
+	int16_t accelX = (int16_t)((accelData[0]&0xFF)<<8 | (accelData[0]&0xFF00)>>8);
+	int16_t accelZ = (int16_t)((accelData[2]&0xFF)<<8 | (accelData[2]&0xFF00)>>8);
+	double accelAngle = atan2(accelX,accelZ)*180/PI;
+	double gyroAngleD = (int16_t)((gyroData[1]&0xFF)<<8 | (gyroData[1]&0xFF00)>>8);
+
+	accelBuffer[i] = accelAngle;
+	gyroBuffer[i] = gyroAngleD;
+
+	imu_current_angle = 0.98*(imu_current_angle - (0.012*250*gyroAngleD/INT16_MAX)) + 0.02*accelAngle;
+	//current_angle = current_angle - gyroBuffer[i];
+	//UCOS_Printf("%d %d %d\n", current_angle, accelBuffer[i], gyroBuffer[i]);
+	angleBuffer[i] = imu_current_angle;
+	i=(i+1)%(sizeof(angleBuffer)/sizeof(angleBuffer[0]));
 }
 
 /**
  * Initialize I2C and MPU
  */
 int mpu9250_Imu_Init(void *pdata){
-	//mpu9250_Write_Reg();
 	mpu9250_Iic_Init();
-	mpu9250_Write_Reg(29, 5);
-
-	//uint8_t rxbuf[20];
-	uint16_t i=0;
-	while(1){
-		mpu9250_Read_Data(0x3B, 6, (u8*)accelData);
-		mpu9250_Read_Data(0x43, 6, (u8*)gyroData);
-		accelBuffer[i]=(int16_t)((accelData[0]&0xFF)<<8 | (accelData[0]&0xFF00)>>8);
-		gyroBuffer[i]=(int16_t)((gyroData[1]&0xFF)<<8 | (gyroData[1]&0xFF00)>>8);
-		i=(i+1)%(sizeof(accelBuffer)/sizeof(accelBuffer[0]));
-		OSTimeDly(1);
-	}
-
+	mpu9250_Write_Reg(29, 5); // accel dlpf 10Hz
+	mpu9250_Write_Reg(26, 5); // gyro dlpf 10Hz
 }
 
 
diff --git a/src/APP/Aufgabe7/ps7/core0/main.c b/src/APP/Aufgabe7/ps7/core0/main.c
index 72ffda3..6d97fcd 100644
--- a/src/APP/Aufgabe7/ps7/core0/main.c
+++ b/src/APP/Aufgabe7/ps7/core0/main.c
@@ -26,6 +26,10 @@ void InitDoneCallback(void * p_arg) {
 	(void) p_arg;
 	UCOS_Print("OS started!\r\n");
 	GT_Init();
+	uint8_t err;
+	OSTaskNameSet(31, "IMU Task", &err);
+	OSTaskNameSet(32, "Timer Task", &err);
+	OSTaskNameSet(33, "PID Task", &err);
 }
 
 int main(void) {