diff --git a/flight-computer.ino b/flight-computer.ino
index 48af264..9c9c019 100644
--- a/flight-computer.ino
+++ b/flight-computer.ino
@@ -4,29 +4,30 @@
 #include "mosfet_igniter.h"
 #include "adafruit_gps_api.h"
 #include "definitions.h"
+#include "SD.h"
 
-LSM9DS1_API imu_sensor = LSM9DS1_API::getInstance();
-BMP3XX_API altimeter = BMP3XX_API::getInstance();
-Telemetry telemetry = Telemetry::getInstance();
-MosfetIgniter igniter = MosfetIgniter::getInstance();
-Adafruit_GPS_API gps = Adafruit_GPS_API::getInstance();
-FSM *fsm;
+static LSM9DS1_API* imu_sensor = nullptr;
+static BMP3XX_API* altimeter = nullptr;
+static Telemetry* telemetry = nullptr;
+static MosfetIgniter* igniter = nullptr;
+static Adafruit_GPS_API* gps = nullptr;
+static FSM* fsm = nullptr;
 // TODO: improve buzzer code
 const int buzzer = 17;
 bool sound = false;
 uint8_t loop_frequency = 10; // Hz
 
-void setup() {
-#if SERIAL_DEBUG
-  Serial.begin(115200);
-#endif
+bool SetupSensorsAndCommunication();
 
-#if BUZZER
-  pinMode(buzzer, OUTPUT);
-  tone(buzzer, 500);
-#endif
+void setup() {
+  #if SERIAL_DEBUG
+    Serial.begin(115200);
+  #endif
 
-  fsm = new FSM(&telemetry, &imu_sensor, &altimeter, &gps, &igniter, &loop_frequency);
+  if (!SetupSensorsAndCommunication()) {
+    Serial.println("Did not initialize sensors");
+    while(1);
+  }
 
 #if BUZZER
   noTone(buzzer);
@@ -36,8 +37,8 @@ void setup() {
 void loop() {
   int timerStart = millis();
 
-  if (telemetry.messageAvailable()) {
-    String message = telemetry.receiveMessage();
+  if (telemetry->messageAvailable()) {
+    String message = telemetry->receiveMessage();
     if (message.substring(0, 5).equals("SPCMD")) {
       int event;
       if (sscanf(message.c_str(), "SPCMD:%i--", &event) == 1) {
@@ -69,3 +70,51 @@ void loop() {
 
   delay(max(0, delayTime));
 }
+
+bool SetupSensorsAndCommunication() {
+#if SD_LOGS
+  while(!SD.begin(SD_CS)) {
+#if SERIAL_DEBUG
+    Serial.println("SD did not initialize");
+#endif
+  }
+#endif
+
+#if BUZZER
+  pinMode(buzzer, OUTPUT);
+  tone(buzzer, 500);
+#endif
+
+  imu_sensor = static_cast<LSM9DS1_API*>(malloc(sizeof(LSM9DS1_API)));
+  if (imu_sensor == nullptr) {
+    return false;
+  }
+  *imu_sensor = LSM9DS1_API::getInstance();
+
+  altimeter = static_cast<BMP3XX_API*>(malloc(sizeof(BMP3XX_API)));
+  if (altimeter == nullptr) {
+    return false;
+  }
+  *altimeter = BMP3XX_API::getInstance();
+
+  telemetry = static_cast<Telemetry*>(malloc(sizeof(Telemetry)));
+  if (telemetry == nullptr) {
+    return false;
+  }
+  *telemetry = Telemetry::getInstance();
+
+  igniter = static_cast<MosfetIgniter*>(malloc(sizeof(MosfetIgniter)));
+  if (igniter == nullptr) {
+    return false;
+  }
+  *igniter = MosfetIgniter::getInstance();
+
+  gps = static_cast<Adafruit_GPS_API*>(malloc(sizeof(Adafruit_GPS_API)));
+  if (gps == nullptr) {
+    return false;
+  }
+  *gps = Adafruit_GPS_API::getInstance();
+
+  fsm = new FSM(telemetry, imu_sensor, altimeter, gps, igniter, &loop_frequency);
+  return fsm != nullptr;
+}
\ No newline at end of file
diff --git a/libraries/adafruit_gps_api.cpp b/libraries/adafruit_gps_api.cpp
index 2a1f00d..6e6376a 100644
--- a/libraries/adafruit_gps_api.cpp
+++ b/libraries/adafruit_gps_api.cpp
@@ -1,29 +1,35 @@
+#include <Adafruit_GPS.h>
 #include "adafruit_gps_api.h"
 
 #define GPSSerial Serial1
 
-Adafruit_GPS_API::Adafruit_GPS_API() {};
+static Adafruit_GPS_API* instance = nullptr;
+static Adafruit_GPS* receiver = nullptr;
+static unsigned long last_read = 0;
 
-Adafruit_GPS Adafruit_GPS_API::receiver(&GPSSerial);
+Adafruit_GPS_API::Adafruit_GPS_API() {};
 
 Adafruit_GPS_API& Adafruit_GPS_API::getInstance() {
-  static Adafruit_GPS_API instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new Adafruit_GPS_API();
+    receiver = new Adafruit_GPS(&GPSSerial);
+  }
+  return *instance;
 }
 
 void Adafruit_GPS_API::setup() {
   last_read = 0;
 
-  receiver.begin(9600);
+  receiver->begin(9600);
 
   // turn on GPRMC and GGA.
-  receiver.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
+  receiver->sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
   
   // Update every 1Hz.
-  receiver.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
+  receiver->sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
   
   // Possition fix update every 1Hz.
-  receiver.sendCommand(PMTK_API_SET_FIX_CTL_1HZ);
+  receiver->sendCommand(PMTK_API_SET_FIX_CTL_1HZ);
 }
 
 void Adafruit_GPS_API::readData() {
@@ -33,13 +39,13 @@ void Adafruit_GPS_API::readData() {
   }
 
   // Empty buffer.
-  while(receiver.read());
+  while(receiver->read());
 
   last_read = millis();
 
   // Parse data.
-  if (receiver.newNMEAreceived()) {
-    receiver.parse(receiver.lastNMEA());
+  if (receiver->newNMEAreceived()) {
+    receiver->parse(receiver->lastNMEA());
   }
 }
 
@@ -47,7 +53,7 @@ bool Adafruit_GPS_API::fix() {
   // Check if last data is updated.
   readData();
 
-  return receiver.fix;
+  return receiver->fix;
 }
 
 int32_t Adafruit_GPS_API::latitude() {
@@ -60,7 +66,7 @@ int32_t Adafruit_GPS_API::latitude() {
     return 0;
   }
 
-  return receiver.latitude_fixed;
+  return receiver->latitude_fixed;
 }
 
 int32_t Adafruit_GPS_API::longitude() {
@@ -73,7 +79,7 @@ int32_t Adafruit_GPS_API::longitude() {
     return 0;
   }
 
-  return receiver.longitude_fixed;
+  return receiver->longitude_fixed;
 }
 
 float Adafruit_GPS_API::altitude() {
@@ -86,12 +92,12 @@ float Adafruit_GPS_API::altitude() {
     return 0;
   }
 
-  return receiver.altitude;
+  return receiver->altitude;
 }
 
 int Adafruit_GPS_API::satellites() {
   // Check if last data is updated.
   readData();
 
-  return receiver.satellites;
-}
+  return receiver->satellites;
+}
\ No newline at end of file
diff --git a/libraries/adafruit_gps_api.h b/libraries/adafruit_gps_api.h
index f646b91..895ac4b 100644
--- a/libraries/adafruit_gps_api.h
+++ b/libraries/adafruit_gps_api.h
@@ -1,4 +1,3 @@
-#include <Adafruit_GPS.h>
 #include "gps_receiver.h"
 
 class Adafruit_GPS_API: public GPSReceiver {
@@ -87,15 +86,6 @@ class Adafruit_GPS_API: public GPSReceiver {
      */
     Adafruit_GPS_API();
 
-    static Adafruit_GPS receiver;
-    
-    /**
-     * @brief <h1>Last read data time.</h1>
-     * 
-     * Ensure data is read every 100ms.
-     */
-    unsigned long last_read;
-
     /**
      * @brief <h1>Reads the latest data from the serial.</h1>
      * Clear the GPS buffer and read the last data available from the GPS module.
diff --git a/libraries/bmp280_api.cpp b/libraries/bmp280_api.cpp
index 59ee9ec..32d1c6b 100644
--- a/libraries/bmp280_api.cpp
+++ b/libraries/bmp280_api.cpp
@@ -1,3 +1,4 @@
+#include "Adafruit_BMP280.h"
 #include "bmp280_api.h"
 
 #define BMP_SCK  (13)
@@ -5,19 +6,24 @@
 #define BMP_MOSI (11) // SD1
 #define BMP_CS   (10)
 
-Adafruit_BMP280 BMP280_API::sensor;
+static BMP280_API* instance = nullptr;
+static Adafruit_BMP280* sensor = nullptr;
+static int32_t ground_level = 0;
 
 BMP280_API& BMP280_API::getInstance() {
-  static BMP280_API instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new BMP280_API();
+    sensor = new Adafruit_BMP280();
+  }
+  return *instance;
 }
 
 int32_t BMP280_API::altitude_cm() {
-  return sensor.readAltitude() * 100;
+  return sensor->readAltitude() * 100;
 }
 
 int32_t BMP280_API::pressure() {
-  return sensor.readPressure();
+  return sensor->readPressure();
 }
 
 int32_t BMP280_API::aglCM() {
@@ -33,13 +39,13 @@ int32_t BMP280_API::getGroundLevelCM() {
 }
 
 void BMP280_API::setup() {
-  if (!sensor.begin()) {
+  if (!sensor->begin()) {
     while(1); //Freeze
   }
 }
 
 void BMP280_API::calibrate() {
-  sensor.setSampling(
+  sensor->setSampling(
     Adafruit_BMP280::MODE_NORMAL,
     Adafruit_BMP280::SAMPLING_X16,
     Adafruit_BMP280::SAMPLING_X16,
diff --git a/libraries/bmp280_api.h b/libraries/bmp280_api.h
index b13cde7..067ef92 100644
--- a/libraries/bmp280_api.h
+++ b/libraries/bmp280_api.h
@@ -1,10 +1,7 @@
 #include "altimeter.h"
-#include "Adafruit_BMP280.h"
 #include <stdint.h>
 
 class BMP280_API: public Altimeter {
-  static Adafruit_BMP280 sensor;
-
   public:
     static BMP280_API& getInstance();
 
@@ -101,11 +98,6 @@ class BMP280_API: public Altimeter {
      * @author themicp
      */
     BMP280_API();
-
-    /**
-     * @brief <h1>Reference ground level.</h1>
-     */
-    int32_t ground_level = 0;
     
     void setGroundLevel();
 };
diff --git a/libraries/bmp3xx_api.cpp b/libraries/bmp3xx_api.cpp
index ef895bc..ff321c4 100644
--- a/libraries/bmp3xx_api.cpp
+++ b/libraries/bmp3xx_api.cpp
@@ -1,3 +1,4 @@
+#include "Adafruit_BMP3XX.h"
 #include "bmp3xx_api.h"
 
 #define BMP_SCK  (13)
@@ -8,11 +9,19 @@
 #define BMP_REFRESH_RATE 50 // Hz
 #define MAX_ALTITUDE_STEP 100000 // cm
 
-Adafruit_BMP3XX BMP3XX_API::sensor;
+static BMP3XX_API* instance = nullptr;
+static Adafruit_BMP3XX* sensor = nullptr;
+static unsigned long last_sensor_read = 0;
+static int32_t cached_altitude_cm;
+static int32_t ground_level = 0;
+static bool broken_connection;
 
 BMP3XX_API& BMP3XX_API::getInstance() {
-  static BMP3XX_API instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new BMP3XX_API();
+    sensor = new Adafruit_BMP3XX();
+  }
+  return *instance;
 }
 
 
@@ -28,7 +37,7 @@ void BMP3XX_API::readSensorData() {
     return;
   }
 
-  int32_t reading = sensor.readAltitude(SEALEVELPRESSURE_HPA) * 100;
+  int32_t reading = sensor->readAltitude(SEALEVELPRESSURE_HPA) * 100;
   if (abs(reading - cached_altitude_cm) >= MAX_ALTITUDE_STEP) {
     // Ignore reading if difference is extreme. Probably problem with the sensor.
     return;
@@ -43,11 +52,11 @@ int32_t BMP3XX_API::altitude_cm() {
 }
 
 int32_t BMP3XX_API::pressure() {
-  return sensor.pressure;
+  return sensor->pressure;
 }
 
 int16_t BMP3XX_API::temperature() {
-  return sensor.temperature * 100;
+  return sensor->temperature * 100;
 }
 
 int32_t BMP3XX_API::aglCM() {
@@ -63,18 +72,18 @@ int32_t BMP3XX_API::getGroundLevelCM() {
 }
 
 void BMP3XX_API::setup() {
-  if (!sensor.begin()) {
+  if (!sensor->begin()) {
     while(1); //Freeze
   }
 }
 
 void BMP3XX_API::calibrate() {
-  sensor.setPressureOversampling(BMP3_OVERSAMPLING_16X);
-  sensor.setIIRFilterCoeff(BMP3_IIR_FILTER_COEFF_7);
-  sensor.setOutputDataRate(BMP3_ODR_100_HZ);
+  sensor->setPressureOversampling(BMP3_OVERSAMPLING_16X);
+  sensor->setIIRFilterCoeff(BMP3_IIR_FILTER_COEFF_7);
+  sensor->setOutputDataRate(BMP3_ODR_100_HZ);
 
   // TODO: use something better than a constant here
-  while (sensor.readAltitude(SEALEVELPRESSURE_HPA) > 1700) {
+  while (sensor->readAltitude(SEALEVELPRESSURE_HPA) > 1700) {
     delay(100);
   }
   delay(1000); // TODO: refine the value. New BMP needed more time
diff --git a/libraries/bmp3xx_api.h b/libraries/bmp3xx_api.h
index 942168a..9d10986 100644
--- a/libraries/bmp3xx_api.h
+++ b/libraries/bmp3xx_api.h
@@ -1,10 +1,6 @@
 #include "altimeter.h"
-#include "Adafruit_BMP3XX.h"
-
 
 class BMP3XX_API: public Altimeter {
-  static Adafruit_BMP3XX sensor;
-
   public:
     static BMP3XX_API& getInstance();
 
@@ -121,26 +117,6 @@ class BMP3XX_API: public Altimeter {
      */
     BMP3XX_API();
 
-    /**
-     * @brief <h1>Last read data time.</h1>
-     * 
-     * Ensure data is read every (1000/BMP_REFRESH_RATE)s.
-     */
-    unsigned long last_sensor_read = 0;
-
-
-    int32_t cached_altitude_cm;
-    
-    /**
-     * @brief <h1>Reference ground level.</h1>
-     */
-    int32_t ground_level = 0;
-    
-    /**
-     * @brief <h1>Checks if communication protocol failed.</h1>
-     */
-    bool broken_connection;
-
     void setGroundLevel();
 
     /**
diff --git a/libraries/bno055_api.cpp b/libraries/bno055_api.cpp
index bfcc348..ce2bee2 100644
--- a/libraries/bno055_api.cpp
+++ b/libraries/bno055_api.cpp
@@ -1,4 +1,4 @@
-#include <Adafruit_Sensor.h>
+#include <Adafruit_sensor.h>
 #include <Adafruit_BNO055.h>
 #include <utility/imumaths.h>
 #include "bno055_api.h"
@@ -7,11 +7,17 @@
 
 #define READ_INTERVAL (10)
 
-Adafruit_BNO055 BNO055_API::sensor(55, 0x28);
+static BNO055_API* instance = nullptr;
+static Adafruit_BNO055* sensor = nullptr;
+static unsigned long last_read = 0;
+static imu::Vector<3> euler, acc, gyro, mag;
 
 BNO055_API& BNO055_API::getInstance() {
-  static BNO055_API instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new BNO055_API();
+    sensor = new Adafruit_BNO055(55, 0x28);
+  }
+  return *instance;
 }
 
 void BNO055_API::readSensorData() {
@@ -20,10 +26,10 @@ void BNO055_API::readSensorData() {
     return;
   }
 
-  euler = sensor.getVector(Adafruit_BNO055::VECTOR_EULER);
-  acc = sensor.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
-  gyro = sensor.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
-  mag = sensor.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
+  euler = sensor->getVector(Adafruit_BNO055::VECTOR_EULER);
+  acc = sensor->getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
+  gyro = sensor->getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
+  mag = sensor->getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
 
   last_read = millis();
 }
@@ -92,20 +98,20 @@ void BNO055_API::calibrate() {
   uint8_t system, gyro, accel, mag;
   system = gyro = accel = mag = 0;
 
-  while (sensor.isFullyCalibrated()) {}
+  while (sensor->isFullyCalibrated()) {}
 }
 
 void BNO055_API::setup() {
   // Relative heading -- no magnetometer
-  if(!sensor.begin(Adafruit_BNO055::OPERATION_MODE_ACCGYRO)) {
+  if(!sensor->begin(Adafruit_BNO055::OPERATION_MODE_ACCGYRO)) {
     while(1);
   }
 
   // 2G = 0, 4G = 1, 8G = 2, 16G = 3
-  sensor.setAccelRange(3);
+  sensor->setAccelRange(3);
 
   // TODO: do we need this?
-  sensor.setExtCrystalUse(true);
+  sensor->setExtCrystalUse(true);
 }
 
 BNO055_API::BNO055_API() {}
diff --git a/libraries/bno055_api.h b/libraries/bno055_api.h
index a9ed73b..97c43a8 100644
--- a/libraries/bno055_api.h
+++ b/libraries/bno055_api.h
@@ -1,9 +1,6 @@
-#include <Adafruit_BNO055.h>
 #include "imu.h"
 
 class BNO055_API: public IMU {
-  static Adafruit_BNO055 sensor;
-
   public:
     static BNO055_API& getInstance();
     float pitch();
@@ -28,7 +25,5 @@ class BNO055_API: public IMU {
 
   private:
     BNO055_API();
-    unsigned long last_read = 0;
     void readSensorData();
-    imu::Vector<3> euler, acc, gyro, mag;
 };
diff --git a/libraries/definitions.h b/libraries/definitions.h
index 183dc2a..de566c6 100644
--- a/libraries/definitions.h
+++ b/libraries/definitions.h
@@ -3,3 +3,4 @@
 #define IGN_DEBUG true
 #define IGNITER 1 // 1 or 2
 #define BUZZER true
+#define SD_CS 10
diff --git a/libraries/lsm9ds1_api.cpp b/libraries/lsm9ds1_api.cpp
index 28b8972..9dff971 100644
--- a/libraries/lsm9ds1_api.cpp
+++ b/libraries/lsm9ds1_api.cpp
@@ -4,11 +4,18 @@
 
 #define IMU_REFRESH_RATE 100 // Hz
 
-Adafruit_LSM9DS1 LSM9DS1_API::sensor;
+static LSM9DS1_API* instance = nullptr;
+static Adafruit_LSM9DS1* sensor = nullptr;
+static bool broken_connection = false;
+static unsigned long last_read = 0;
+static sensors_event_t acc, mag, gyro, temp;
 
 LSM9DS1_API& LSM9DS1_API::getInstance() {
-  static LSM9DS1_API instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new LSM9DS1_API();
+    sensor = new Adafruit_LSM9DS1();
+  }
+  return *instance;
 }
 
 void LSM9DS1_API::readSensorData() {
@@ -24,8 +31,8 @@ void LSM9DS1_API::readSensorData() {
     return;
   }
 
-  sensor.read();
-  sensor.getEvent(&acc, &mag, &gyro, &temp);
+  sensor->read();
+  sensor->getEvent(&acc, &mag, &gyro, &temp);
 
   last_read = millis();
 }
@@ -93,13 +100,13 @@ void LSM9DS1_API::calibrate() {
 
 void LSM9DS1_API::setup() {
   // Relative heading -- no magnetometer
-  if (!sensor.begin()) {
+  if (!sensor->begin()) {
     while(1);
   }
 
-  sensor.setupAccel(sensor.LSM9DS1_ACCELRANGE_16G, sensor.LSM9DS1_ACCELDATARATE_119HZ);
-  sensor.setupMag(sensor.LSM9DS1_MAGGAIN_4GAUSS);
-  sensor.setupGyro(sensor.LSM9DS1_GYROSCALE_500DPS);
+  sensor->setupAccel(sensor->LSM9DS1_ACCELRANGE_16G, sensor->LSM9DS1_ACCELDATARATE_119HZ);
+  sensor->setupMag(sensor->LSM9DS1_MAGGAIN_4GAUSS);
+  sensor->setupGyro(sensor->LSM9DS1_GYROSCALE_500DPS);
 }
 
 LSM9DS1_API::LSM9DS1_API() {}
diff --git a/libraries/lsm9ds1_api.h b/libraries/lsm9ds1_api.h
index 535a0ab..a84f539 100644
--- a/libraries/lsm9ds1_api.h
+++ b/libraries/lsm9ds1_api.h
@@ -1,11 +1,7 @@
-#include <Adafruit_LSM9DS1.h>
-#include <Adafruit_Sensor.h>
 #include "imu.h"
 #include <stdint.h>
 
 class LSM9DS1_API: public IMU {
-  static Adafruit_LSM9DS1 sensor;
-
   public:
     static LSM9DS1_API& getInstance();
     float pitch();
@@ -29,8 +25,5 @@ class LSM9DS1_API: public IMU {
 
   private:
     LSM9DS1_API();
-    unsigned long last_read = 0;
     void readSensorData();
-    sensors_event_t acc, mag, gyro, temp;
-    bool broken_connection = false;
-};
+};
\ No newline at end of file
diff --git a/libraries/mosfet_igniter.cpp b/libraries/mosfet_igniter.cpp
index 941531f..3fcca92 100644
--- a/libraries/mosfet_igniter.cpp
+++ b/libraries/mosfet_igniter.cpp
@@ -7,13 +7,17 @@ struct IgniterOptions {
   int led_pin;
 };
 
-IgniterOptions igniters[2] = {
-  {5, 16}, {6, 15}
+static IgniterOptions igniters[2] = {
+  {5, 16},
+  {6, 15}
 };
+static MosfetIgniter* instance = nullptr;
 
 MosfetIgniter& MosfetIgniter::getInstance() {
-  static MosfetIgniter instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new MosfetIgniter();
+  }
+  return *instance;
 }
 
 void MosfetIgniter::setup() {
diff --git a/libraries/telemetry.cpp b/libraries/telemetry.cpp
index 14af95b..617bd17 100644
--- a/libraries/telemetry.cpp
+++ b/libraries/telemetry.cpp
@@ -1,24 +1,41 @@
+#include "Arduino.h"
+#include "SPI.h"
+#include "RH_RF95.h"
+#include "RHReliableDatagram.h"
+#include "SD.h"
+
 #include "definitions.h"
 #include "telemetry.h"
 
 #define CLIENT_ADDRESS 1
 #define SERVER_ADDRESS 2
-#define SD_CS 10
 #define SD_OFFLOAD_INTERVAL 1000 // ms
 
+static Telemetry* instance = nullptr;
 // Defaults after init are 434.0MHz, 13dBm, Bw = 125 kHz, Cr = 4/5, Sf = 128chips/symbol, CRC on
-RH_RF95 Telemetry::rf95(8, 3);
-RHReliableDatagram Telemetry::rf_manager(Telemetry::rf95, SERVER_ADDRESS);
+static RH_RF95* rf95 = nullptr;
+static RHReliableDatagram* rf_manager = nullptr;
+static bool rfInit = false;
+static uint32_t message_count;
+static String logs_filename = "flight.log";
+static File logs_file;
+static unsigned long last_sd_sync = 0;
+static unsigned long last_radio_message_time = 0;
+static uint16_t radio_throttle_ms = 0;
 
 Telemetry& Telemetry::getInstance() {
-  static Telemetry instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new Telemetry();
+    rf95 = new RH_RF95(8, 3);
+    rf_manager = new RHReliableDatagram(*rf95, SERVER_ADDRESS);
+  }
+  return *instance;
 }
 
 void Telemetry::send(TelemetryMessage message) {
   ++message_count;
   message.count = message_count;
-  if (!init) {
+  if (!rfInit) {
     return;
   }
 
@@ -52,15 +69,15 @@ void Telemetry::send(TelemetryMessage message) {
 #endif
 
   if (millis() - last_radio_message_time > radio_throttle_ms) {
-    rf95.send(stream, message_size);
-    rf95.waitPacketSent();
-    rf95.setModeRx(); // continue listening
+    rf95->send(stream, message_size);
+    rf95->waitPacketSent();
+    rf95->setModeRx(); // continue listening
     last_radio_message_time = millis();
   }
 }
 
 void Telemetry::send(String debug_message) {
-  if (!init) {
+  if (!rfInit) {
     return;
   }
   TelemetryMessage message;
@@ -70,14 +87,14 @@ void Telemetry::send(String debug_message) {
 }
 
 void Telemetry::setup() {
-  if (!rf_manager.init()) {
+  if (!rf_manager->init()) {
     while(1);
   }
 
-  rf95.setFrequency(432.25);
-  rf95.setSignalBandwidth(500000);
-  rf95.setSpreadingFactor(8);
-  rf95.setTxPower(18);
+  rf95->setFrequency(432.25);
+  rf95->setSignalBandwidth(500000);
+  rf95->setSpreadingFactor(8);
+  rf95->setTxPower(18);
 
 #if SD_LOGS
   if (!SD.begin(SD_CS)) {
@@ -93,11 +110,11 @@ void Telemetry::setup() {
 #endif
 
   message_count = 0;
-  init = true;
+  rfInit = true;
 }
 
 bool Telemetry::messageAvailable() {
-  return rf_manager.available();
+  return rf_manager->available();
 }
 
 String Telemetry::receiveMessage() {
@@ -105,12 +122,12 @@ String Telemetry::receiveMessage() {
   uint8_t len = sizeof(buf);
   uint8_t from;
 
-  rf_manager.recvfromAck(buf, &len, &from);
+  rf_manager->recvfromAck(buf, &len, &from);
   return String((char*)buf);
 }
 
-void Telemetry::setRadioThrottle(uint16_t radio_throttle_ms) {
-  this->radio_throttle_ms = radio_throttle_ms;
+void Telemetry::setRadioThrottle(uint16_t new_radio_throttle_ms) {
+  radio_throttle_ms = new_radio_throttle_ms;
 }
 
 Telemetry::Telemetry() {}
diff --git a/libraries/telemetry.h b/libraries/telemetry.h
index 6d8a2d8..2649926 100644
--- a/libraries/telemetry.h
+++ b/libraries/telemetry.h
@@ -1,8 +1,3 @@
-#include "Arduino.h"
-#include "SPI.h"
-#include "RH_RF95.h"
-#include "RHReliableDatagram.h"
-#include "SD.h"
 #include "types.h"
 
 class Telemetry {
@@ -11,20 +6,10 @@ class Telemetry {
     void send(TelemetryMessage message);
     void send(String data);
     void setup();
-    void setRadioThrottle(uint16_t radio_throttle_ms);
+    void setRadioThrottle(uint16_t new_radio_throttle_ms);
     bool messageAvailable();
     String receiveMessage();
 
   private:
-    bool init = false;
-    uint32_t message_count;
-    static RH_RF95 rf95;
-    static RHReliableDatagram rf_manager;
-    String logs_filename = "flight.log"; // max length: 8.3
-    File logs_file;
-    unsigned long last_sd_sync = 0;
-    unsigned long last_radio_message_time = 0;
-    uint16_t radio_throttle_ms = 0; // no throttling
-
     Telemetry();
 };