diff --git a/sw/airborne/modules/computer_vision/colorfilter.c b/sw/airborne/modules/computer_vision/colorfilter.c
index 3b0088424c9..43bc02738b4 100644
--- a/sw/airborne/modules/computer_vision/colorfilter.c
+++ b/sw/airborne/modules/computer_vision/colorfilter.c
@@ -29,6 +29,11 @@
 
 #include "modules/computer_vision/lib/vision/image.h"
 
+#ifndef COLORFILTER_FPS
+#define COLORFILTER_FPS 0       ///< Default FPS (zero means run at camera fps)
+#endif
+PRINT_CONFIG_VAR(COLORFILTER_FPS)
+
 struct video_listener *listener = NULL;
 
 // Filter Settings
diff --git a/sw/airborne/modules/computer_vision/cv_blob_locator.c b/sw/airborne/modules/computer_vision/cv_blob_locator.c
index c75a7efdd32..1953d535674 100644
--- a/sw/airborne/modules/computer_vision/cv_blob_locator.c
+++ b/sw/airborne/modules/computer_vision/cv_blob_locator.c
@@ -23,6 +23,11 @@
  * Find a colored item and track its geo-location and update a waypoint to it
  */
 
+#ifndef BLOB_LOCATOR_FPS
+#define BLOB_LOCATOR_FPS 0       ///< Default FPS (zero means run at camera fps)
+#endif
+PRINT_CONFIG_VAR(BLOB_LOCATOR_FPS)
+
 #include "modules/computer_vision/cv_blob_locator.h"
 #include "modules/computer_vision/cv.h"
 #include "modules/computer_vision/blob/blob_finder.h"
diff --git a/sw/airborne/modules/computer_vision/cv_opencvdemo.c b/sw/airborne/modules/computer_vision/cv_opencvdemo.c
index aaa145869f5..f77bd8425fb 100644
--- a/sw/airborne/modules/computer_vision/cv_opencvdemo.c
+++ b/sw/airborne/modules/computer_vision/cv_opencvdemo.c
@@ -27,6 +27,10 @@
 #include "modules/computer_vision/cv_opencvdemo.h"
 #include "modules/computer_vision/opencv_example.h"
 
+#ifndef OPENCVDEMO_FPS
+#define OPENCVDEMO_FPS 0       ///< Default FPS (zero means run at camera fps)
+#endif
+PRINT_CONFIG_VAR(OPENCVDEMO_FPS)
 
 // Function
 struct image_t *opencv_func(struct image_t *img);
diff --git a/sw/airborne/modules/computer_vision/detect_contour.c b/sw/airborne/modules/computer_vision/detect_contour.c
index eda233b709b..2f5d8c4d3e2 100644
--- a/sw/airborne/modules/computer_vision/detect_contour.c
+++ b/sw/airborne/modules/computer_vision/detect_contour.c
@@ -23,6 +23,11 @@
  *
  */
 
+#ifndef DETECT_CONTOUR_FPS
+#define DETECT_CONTOUR_FPS 0       ///< Default FPS (zero means run at camera fps)
+#endif
+PRINT_CONFIG_VAR(DETECT_CONTOUR_FPS)
+
 #include "modules/computer_vision/cv.h"
 #include "modules/computer_vision/detect_contour.h"
 #include "modules/computer_vision/opencv_contour.h"
diff --git a/sw/airborne/modules/computer_vision/detect_window.c b/sw/airborne/modules/computer_vision/detect_window.c
index d5fe8167733..3576084bcc2 100644
--- a/sw/airborne/modules/computer_vision/detect_window.c
+++ b/sw/airborne/modules/computer_vision/detect_window.c
@@ -27,6 +27,11 @@
 #define RES 100
 #define N_WINDOW_SIZES 1
 
+#ifndef DETECT_WINDOW_FPS
+#define DETECT_WINDOW_FPS 0       ///< Default FPS (zero means run at camera fps)
+#endif
+PRINT_CONFIG_VAR(DETECT_WINDOW_FPS)
+
 #include "cv.h"
 #include "detect_window.h"
 #include <stdio.h>
diff --git a/sw/airborne/modules/computer_vision/opticflow_module.c b/sw/airborne/modules/computer_vision/opticflow_module.c
index 7809e11724d..79fd141312e 100644
--- a/sw/airborne/modules/computer_vision/opticflow_module.c
+++ b/sw/airborne/modules/computer_vision/opticflow_module.c
@@ -61,6 +61,10 @@ PRINT_CONFIG_VAR(OPTICFLOW_BODY_TO_IMU_ID)
 #endif
 PRINT_CONFIG_VAR(OPTICFLOW_SEND_ABI_ID)
 
+#ifndef OPTICFLOW_FPS
+#define OPTICFLOW_FPS 0       ///< Default FPS (zero means run at camera fps)
+#endif
+PRINT_CONFIG_VAR(OPTICFLOW_FPS)
 
 /* The main opticflow variables */
 struct opticflow_t opticflow;                      ///< Opticflow calculations
diff --git a/sw/airborne/modules/computer_vision/qrcode/qr_code.c b/sw/airborne/modules/computer_vision/qrcode/qr_code.c
index fba4e5357aa..261c5d121da 100644
--- a/sw/airborne/modules/computer_vision/qrcode/qr_code.c
+++ b/sw/airborne/modules/computer_vision/qrcode/qr_code.c
@@ -34,6 +34,11 @@
 #endif
 bool drawRectangleAroundQRCode = QRCODE_DRAW_RECTANGLE;
 
+#ifndef QRCODE_FPS
+#define QRCODE_FPS 0       ///< Default FPS (zero means run at camera fps)
+#endif
+PRINT_CONFIG_VAR(QRCODE_FPS)
+
 void qrcode_init(void)
 {
   // Add qrscan to the list of image processing tasks in video_thread
diff --git a/sw/airborne/modules/computer_vision/video_capture.c b/sw/airborne/modules/computer_vision/video_capture.c
index f6a6d35d61b..d815aef535c 100644
--- a/sw/airborne/modules/computer_vision/video_capture.c
+++ b/sw/airborne/modules/computer_vision/video_capture.c
@@ -46,6 +46,11 @@
 #define VIDEO_CAPTURE_JPEG_QUALITY 99
 #endif
 
+#ifndef VIDEO_CAPTURE_FPS
+#define VIDEO_CAPTURE_FPS 0       ///< Default FPS (zero means run at camera fps)
+#endif
+PRINT_CONFIG_VAR(VIDEO_CAPTURE_FPS)
+
 // Module settings
 bool video_capture_take_shot = false;
 int video_capture_index = 0;
diff --git a/sw/airborne/modules/computer_vision/video_usb_logger.c b/sw/airborne/modules/computer_vision/video_usb_logger.c
index d1fa4c04678..5a105b7e7bb 100644
--- a/sw/airborne/modules/computer_vision/video_usb_logger.c
+++ b/sw/airborne/modules/computer_vision/video_usb_logger.c
@@ -43,6 +43,11 @@
 #define VIDEO_USB_LOGGER_PATH /data/video/usb
 #endif
 
+#ifndef VIDEO_USB_LOGGER_FPS
+#define VIDEO_USB_LOGGER_FPS 0       ///< Default FPS (zero means run at camera fps)
+#endif
+PRINT_CONFIG_VAR(VIDEO_USB_LOGGER_FPS)
+
 /** The file pointer */
 static FILE *video_usb_logger = NULL;
 struct image_t img_jpeg_global;