diff --git a/App/Src/startup.cpp b/App/Src/startup.cpp
index 4fe3a2b..3078ce3 100644
--- a/App/Src/startup.cpp
+++ b/App/Src/startup.cpp
@@ -39,7 +39,7 @@ namespace sta
 			Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("State 1"), {1});
 			Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("State 2 - FAIL"), {2});
 			Manager::instance()->registerThread(std::make_shared<demo::Toggle>(), {0, 1});
-			Manager::instance()->registerThread(std::make_shared<demo::DisturbTask>(), {0, 1});
+			// Manager::instance()->registerThread(std::make_shared<demo::DisturbTask>(), {0, 1});
 
 			STA_DEBUG_PRINTF("The answer to everything is %d", 42);
 
diff --git a/App/Src/tasks/toggle.cpp b/App/Src/tasks/toggle.cpp
index cdeb197..418c34c 100644
--- a/App/Src/tasks/toggle.cpp
+++ b/App/Src/tasks/toggle.cpp
@@ -24,24 +24,10 @@ namespace demo
 
 	void Toggle::func()
 	{
-		osDelay(5000);
-
-		// Have we been requested to terminate while waiting?
-		if (isTerminationRequested())
-			return;
-
-		// Do some important stuff...
-
 		uint16_t state = sta::tacos::Statemachine::instance()->getCurrentState();
-		uint16_t next;
+		uint16_t next = 1 - state;
 
-		if (state != 2)
-		{
-			next = 1 - state;
-
-			STA_DEBUG_PRINTLN("Toggle!");
-			sta::tacos::Statemachine::instance()->requestStateTransition(state, next, 0);
-		}
+		sta::tacos::Statemachine::instance()->requestStateTransition(state, next, 5000);
 	}
 }
 
diff --git a/Libs/rtos2-utils b/Libs/rtos2-utils
index dccdaca..b1d6456 160000
--- a/Libs/rtos2-utils
+++ b/Libs/rtos2-utils
@@ -1 +1 @@
-Subproject commit dccdacae426f699405da195f7d6ddb283a12e632
+Subproject commit b1d6456dd88f881f68674824339483f69dd280f0
diff --git a/Libs/sta-core b/Libs/sta-core
index fb17c11..c469228 160000
--- a/Libs/sta-core
+++ b/Libs/sta-core
@@ -1 +1 @@
-Subproject commit fb17c11903d1e7c92a2de3ea08bbed8386a7f35a
+Subproject commit c4692287cf88e518d22078c1d284be343fc82fba