diff --git a/esp32s3/balance/main/main.c b/esp32s3/balance/main/main.c
index fcd63a2..5842895 100644
--- a/esp32s3/balance/main/main.c
+++ b/esp32s3/balance/main/main.c
@@ -166,7 +166,7 @@ void app_main(void)
     xTaskCreate(orin_serial_tx_task, "orin_tx",  2048, s_orin_tx_q,  9, NULL);
     if (!g_twai_bus_off) {
         xTaskCreate(vesc_can_rx_task,    "vesc_rx",  4096, s_orin_tx_q, 10, NULL);
-        xTaskCreate(drive_task,          "drive",    2048, NULL,          8, NULL);
+        xTaskCreate(drive_task,          "drive",    4096, NULL,          8, NULL);
     } else {
         ESP_LOGW(TAG, "CAN disabled — vesc_rx and drive tasks not started");
     }
diff --git a/esp32s3/balance/main/vesc_can.c b/esp32s3/balance/main/vesc_can.c
index e77b1e5..7df9dcb 100644
--- a/esp32s3/balance/main/vesc_can.c
+++ b/esp32s3/balance/main/vesc_can.c
@@ -72,7 +72,7 @@ void vesc_can_send_rpm(uint8_t vesc_id, int32_t erpm)
     msg.data[1] = (uint8_t)(u >> 16u);
     msg.data[2] = (uint8_t)(u >>  8u);
     msg.data[3] = (uint8_t)(u);
-    ESP_LOGI(TAG, "send_rpm vesc_id=%u erpm=%" PRId32 " ext_id=0x%08" PRIx32, vesc_id, erpm, ext_id);
+    ESP_LOGD(TAG, "send_rpm vesc_id=%u erpm=%" PRId32 " ext_id=0x%08" PRIx32, vesc_id, erpm, ext_id);
     esp_err_t err = twai_transmit(&msg, pdMS_TO_TICKS(5));
     if (err != ESP_OK) {
         ESP_LOGW(TAG, "twai_transmit failed vesc_id=%u err=0x%x", vesc_id, err);
diff --git a/esp32s3/balance/sdkconfig.defaults b/esp32s3/balance/sdkconfig.defaults
index 6c2b31e..3b224fc 100644
--- a/esp32s3/balance/sdkconfig.defaults
+++ b/esp32s3/balance/sdkconfig.defaults
@@ -7,3 +7,4 @@ CONFIG_TWAI_ISR_IN_IRAM=y
 CONFIG_UART_ISR_IN_IRAM=y
 CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
 CONFIG_LOG_DEFAULT_LEVEL_INFO=y
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192