diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 0940cd7b20da5c3612ec4da86a2bcf4516d91e47..b262e15b770a516fa618752979ff36ce2e398bb5 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -265,7 +265,7 @@ namespace armarx
                     double influencePrev = 1.0f - (double)(time - prevIt->first) / deltaT;
                     //                    ARMARX_INFO_S << "Interpolating: " << time << " prev: " << time - prevIt->first << " next: " << it->first - time << VAROUT(influenceNext) << VAROUT(influencePrev) << " sum: " << (influenceNext + influencePrev);
                     auto jointIt = prevIt->second.jointMap.begin();
-                    for (auto & joint : config.jointMap)
+                    for (auto& joint : config.jointMap)
                     {
                         joint.second = joint.second * influenceNext + jointIt->second * influencePrev;
                         jointIt++;
@@ -295,7 +295,7 @@ namespace armarx
         {
             timestamp = IceUtil::Time::now().toMicroSeconds();
         }
-
+        ARMARX_DEBUG << deactivateSpam(1) << "Got new jointangles: " << jointAngles << " from timestamp " << IceUtil::Time::microSeconds(timestamp).toDateTime() << " a value changed: " << aValueChanged;
         if (aValueChanged)
         {
             {
@@ -352,7 +352,7 @@ namespace armarx
         auto packages = armarx::Application::GetProjectDependencies();
         packages.push_back(Application::GetProjectName());
 
-        for (const std::string & projectName : packages)
+        for (const std::string& projectName : packages)
         {
             if (projectName.empty())
             {
diff --git a/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp b/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
index 8ca00d27d61b8207e51550420e4701f75321ad97..adc615c85bd1fb9281e75e21fb91dea991c30c18 100644
--- a/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
@@ -414,7 +414,7 @@ namespace armarx
             //            ARMARX_INFO << deactivateSpam(1) << "clamped new Vel: " << VAROUT(nextv);
             if (sign(currentV) != sign(nextv))
             {
-                ARMARX_INFO << deactivateSpam(1) << "wrong sign: stopping"; //stop now
+                //                ARMARX_INFO << deactivateSpam(1) << "wrong sign: stopping"; //stop now
                 nextv = 0;
             }
         }
@@ -429,7 +429,7 @@ namespace armarx
         {
             //the area between soft and hard limits is sticky
             //the controller can only move out of it (not further in)
-            ARMARX_DEBUG << deactivateSpam(1) << "Soft limit violation. " << softLimitViolation << VAROUT(nextv);
+            //            ARMARX_DEBUG << deactivateSpam(1) << "Soft limit violation. " << softLimitViolation << VAROUT(nextv);
             return 0;
         }
 
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
index 73226beb6b36c407978a03d59e3ceb9e261d2fd2..4ee7f8ec607a5754a93a30c1a1cb49c040932b69 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
@@ -115,6 +115,7 @@ void HokuyoLaserUnit::onConnectComponent()
     }
 
     task = new PeriodicTask<HokuyoLaserUnit>(this, &HokuyoLaserUnit::updateScanData, updatePeriod, false, "HokuyoLaserScanUpdate");
+    task->setDelayWarningTolerance(100);
     task->start();
 }