diff --git a/src/modules/attitude_estimator_q/CMakeLists.txt b/src/modules/attitude_estimator_q/CMakeLists.txt
index fd47087728..a727305b9a 100644
--- a/src/modules/attitude_estimator_q/CMakeLists.txt
+++ b/src/modules/attitude_estimator_q/CMakeLists.txt
@@ -33,6 +33,8 @@
 px4_add_module(
 	MODULE modules__attitude_estimator_q
 	MAIN attitude_estimator_q
+	COMPILE_FLAGS
+		-Wframe-larger-than=1400
 	STACK 1200
 	SRCS
 		attitude_estimator_q_main.cpp
diff --git a/src/modules/ekf_att_pos_estimator/CMakeLists.txt b/src/modules/ekf_att_pos_estimator/CMakeLists.txt
index 9d4ae2de6f..9386cbf9fa 100644
--- a/src/modules/ekf_att_pos_estimator/CMakeLists.txt
+++ b/src/modules/ekf_att_pos_estimator/CMakeLists.txt
@@ -36,7 +36,7 @@ px4_add_module(
 	COMPILE_FLAGS
 		-Weffc++
 		-Wframe-larger-than=3400
-		
+		-O3
 	SRCS
 		ekf_att_pos_estimator_main.cpp
 		ekf_att_pos_estimator_params.c
diff --git a/src/modules/sdlog2/CMakeLists.txt b/src/modules/sdlog2/CMakeLists.txt
index 319e614d34..ddc1b30174 100644
--- a/src/modules/sdlog2/CMakeLists.txt
+++ b/src/modules/sdlog2/CMakeLists.txt
@@ -36,7 +36,7 @@ px4_add_module(
 	PRIORITY "SCHED_PRIORITY_MAX-30"
 	STACK 1200
 	COMPILE_FLAGS
-		-Wframe-larger-than=1400
+		-Wframe-larger-than=1500
 		-Os
 	SRCS
 		sdlog2.c
diff --git a/src/modules/sensors/CMakeLists.txt b/src/modules/sensors/CMakeLists.txt
index 0d498032dd..fdfc2dd774 100644
--- a/src/modules/sensors/CMakeLists.txt
+++ b/src/modules/sensors/CMakeLists.txt
@@ -37,7 +37,7 @@ px4_add_module(
 	STACK 1200
 	COMPILE_FLAGS
 		-Wno-type-limits
-		-Os
+		-O3
 	SRCS
 		sensors.cpp
 		sensor_params.c