diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index 794b0dbff99d377379d0fb2b87907c8323019543..5c4a17bf6a1def7bd543a3cef3acc7391d01b5ae 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -9,8 +9,8 @@
 #include "exceptions.h"
 
 //check me out
-// #define INTERNAL_SPIN
-// #define DYNAMIC_CFG
+#define INTERNAL_SPIN
+#define DYNAMIC_CFG
 #define DIAGNOSTICS
 
 #ifdef INTERNAL_SPIN
@@ -186,9 +186,11 @@ void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
 	  //run node stuff
       iriNode->mainNodeThread();
 
+#ifdef DIAGNOSTICS
 	  #ifdef DIAGNOSTICS
 	  iriNode->diagnostic_.update();
 	  #endif
+#endif
 	
 	  //sleep remainder time
       iriNode->loop_rate_.sleep();
@@ -214,7 +216,7 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
   //launch node thread
   this->thread_server_->start_thread( this->main_thread_id_);
   
-  while(ros::ok()) && !ctrl_c_hit_count_)
+  while(ros::ok() && !ctrl_c_hit_count_)
   {
 	#ifdef DIAGNOSTICS
 	this->diagnostic_.update();