diff --git a/README.md b/README.md
index 03a7126a..214d6cce 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,3 @@
-<<<<<<< HEAD
 # Cleanflight Configurator
 
 Cleanflight Configurator is a crossplatform configuration tool for the [Cleanflight](http://cleanflight.com/) flight control system.
@@ -42,43 +41,6 @@ You can find the Cleanflight Configurator icon in your application tab "Apps"
 
 ### WebGL
 
-=======
-*NOTICE*
-========
-
-This code is dead, cTn made the original closed source.  All new development should happen on the cleanflight/development branch.
-
-https://github.com/cleanflight/cleanflight-configurator/tree/development
-
-This copy of the old baseflight code is placed in the cleanflight repository as a courtesy to the Open Source community.
-
-Baseflight Configurator
-=======================
-Configurator based on chrome.serial API running on Google Chrome/Chromium core
-
-Keep in mind that this configurator is the most up-to-date configurator implementation for Baseflight flight software,
-in many cases it requires latest firmware on the flight controller, if you are experiencing any problems,
-please make sure you are running the latest version of firmware.
-
-Installation
-------------
-1. - Visit [Chrome web store](https://chrome.google.com/webstore/detail/baseflight-multiwii-confi/mppkgnedeapfejgfimkdoninnofofigk)
-2. - Click <strong>+ Free</strong>
-
-Alternative way
----------------
-1. - Clone the repo to any local directory or download it as zip
-2. - Start chromium or google chrome and go to tools -> extension
-3. - Check the "Developer mode" checkbox
-4. - Click on load unpacked extension and point it to the baseflight configurator directory (for example D:/baseflight-configurator)
-
-How to use
------------
-You can find the Baseflight - Configurator icon in your application tab "Apps"
-
-WebGL
------
->>>>>>> origin/baseflight-configurator-development
 Make sure Settings -> System -> "User hardware acceleration when available" is checked to achieve the best performance
 
 ### Linux users
diff --git a/js/libraries/d3.min.js b/js/libraries/d3.min.js
index b1884f18..1984d172 100644
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+++ b/js/libraries/d3.min.js
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1!=n.getDate()}],["%B",function(n){return n.getMonth()}],["%Y",Ne]]),Bl={range:function(n,t,e){return ta.range(Math.ceil(n/e)*e,+t,e).map(Ko)},floor:y,ceil:y};Xl.year=ac.year,ac.scale=function(){return Go(ta.scale.linear(),Xl,$l)};var Wl=Xl.map(function(n){return[n[0].utc,n[1]]}),Jl=Yl.multi([[".%L",function(n){return n.getUTCMilliseconds()}],[":%S",function(n){return n.getUTCSeconds()}],["%I:%M",function(n){return n.getUTCMinutes()}],["%I %p",function(n){return n.getUTCHours()}],["%a %d",function(n){return n.getUTCDay()&&1!=n.getUTCDate()}],["%b %d",function(n){return 1!=n.getUTCDate()}],["%B",function(n){return n.getUTCMonth()}],["%Y",Ne]]);Wl.year=ac.year.utc,ac.scale.utc=function(){return Go(ta.scale.linear(),Wl,Jl)},ta.text=At(function(n){return n.responseText}),ta.json=function(n,t){return Nt(n,"application/json",Qo,t)},ta.html=function(n,t){return Nt(n,"text/html",na,t)},ta.xml=At(function(n){return n.responseXML}),"function"==typeof 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\ No newline at end of file
diff --git a/js/msp.js b/js/msp.js
index e45ac87c..1cdc18c0 100644
--- a/js/msp.js
+++ b/js/msp.js
@@ -51,7 +51,7 @@ var MSP_codes = {
     MSP_PIDNAMES:           117,
     MSP_WP:                 118,
     MSP_BOXIDS:             119,
-    MSP_SERVO_CONF:         120,
+    MSP_SERVO_CONFIGURATIONS: 120,
     
     MSP_SET_RAW_RC:         200,
     MSP_SET_RAW_GPS:        201,
@@ -65,10 +65,13 @@ var MSP_codes = {
     MSP_SET_WP:             209,
     MSP_SELECT_SETTING:     210,
     MSP_SET_HEAD:           211,
-    MSP_SET_SERVO_CONF:     212,
+    MSP_SET_SERVO_CONFIGURATION: 212,
     MSP_SET_MOTOR:          214,
     
     // MSP_BIND:               240,
+    
+    MSP_SERVO_MIX_RULES:    241,
+    MSP_SET_SERVO_MIX_RULE: 242,
 
     MSP_EEPROM_WRITE:       250,
 
@@ -80,7 +83,7 @@ var MSP_codes = {
     MSP_ACC_TRIM:           240, // get acc angle trim values
     MSP_SET_ACC_TRIM:       239, // set acc angle trim values
     MSP_GPS_SV_INFO:        164, // get Signal Strength
-
+    
     // Additional private MSP for baseflight configurator (yes thats us \o/)
     MSP_RX_MAP:              64, // get channel map (also returns number of channels total)
     MSP_SET_RX_MAP:          65, // set rc map, numchannels to set comes from MSP_RX_MAP
@@ -102,6 +105,7 @@ var MSP = {
 
     callbacks:                  [],
     packet_error:               0,
+    unsupported:                0,
 
     ledDirectionLetters:        ['n', 'e', 's', 'w', 'u', 'd'],      // in LSB bit order
     ledFunctionLetters:         ['i', 'w', 'f', 'a', 't', 'r', 'c'], // in LSB bit order
@@ -138,10 +142,14 @@ var MSP = {
                     }
                     break;
                 case 2: // direction (should be >)
+                    this.unsupported = 0;
                     if (data[i] == 62) { // >
                         this.message_direction = 1;
-                    } else { // <
+                    } else if (data[i] == 60) { // <
                         this.message_direction = 0;
+                    } else if (data[i] == 33) { // !
+                        // FC reports unsupported message error
+                        this.unsupported = 1;
                     }
 
                     this.state++;
@@ -202,7 +210,7 @@ var MSP = {
     process_data: function (code, message_buffer, message_length) {
         var data = new DataView(message_buffer, 0); // DataView (allowing us to view arrayBuffer as struct/union)
 
-        switch (code) {
+        if (!this.unsupported) switch (code) {
             case MSP_codes.MSP_IDENT:
                 console.log('Using deprecated msp command: MSP_IDENT');
                 // Deprecated
@@ -377,7 +385,6 @@ var MSP = {
                 }
                 break;
             case MSP_codes.MSP_MISC: // 22 bytes
-<<<<<<< HEAD
                 var offset = 0;
                 MISC.midrc = data.getInt16(offset, 1);
                 offset += 2;
@@ -401,24 +408,6 @@ var MSP = {
                 MISC.vbatmincellvoltage = data.getUint8(offset++, 1) / 10; // 10-50
                 MISC.vbatmaxcellvoltage = data.getUint8(offset++, 1) / 10; // 10-50
                 MISC.vbatwarningcellvoltage = data.getUint8(offset++, 1) / 10; // 10-50
-=======
-                MISC.midrc = data.getInt16(0, 1);
-                MISC.minthrottle = data.getUint16(2, 1); // 0-2000
-                MISC.maxthrottle = data.getUint16(4, 1); // 0-2000
-                MISC.mincommand = data.getUint16(6, 1); // 0-2000
-                MISC.failsafe_throttle = data.getUint16(8, 1); // 1000-2000
-                MISC.gps_type = data.getUint8(10);
-                MISC.gps_baudrate = data.getUint8(11);
-                MISC.gps_ubx_sbas = data.getInt8(12);
-                MISC.multiwiicurrentoutput = data.getUint8(13);
-                MISC.rssi_aux_channel = data.getUint8(14);
-                MISC.placeholder2 = data.getUint8(15);
-                MISC.mag_declination = data.getInt16(16, 1) / 10; // -18000-18000
-                MISC.vbatscale = data.getUint8(18, 1); // 10-200
-                MISC.vbatmincellvoltage = data.getUint8(19, 1) / 10; // 10-50
-                MISC.vbatmaxcellvoltage = data.getUint8(20, 1) / 10; // 10-50
-                MISC.vbatwarningcellvoltage = data.getUint8(21, 1) / 10; // 10-50
->>>>>>> origin/baseflight-configurator-development
                 break;
             case MSP_codes.MSP_MOTOR_PINS:
                 console.log(data);
@@ -463,19 +452,52 @@ var MSP = {
                     AUX_CONFIG_IDS.push(data.getUint8(i));
                 }
                 break;
-            case MSP_codes.MSP_SERVO_CONF:
+            case MSP_codes.MSP_SERVO_MIX_RULES:
+                break;
+
+            case MSP_codes.MSP_SERVO_CONFIGURATIONS:
                 SERVO_CONFIG = []; // empty the array as new data is coming in
 
-                if (data.byteLength % 7 == 0) {
-                    for (var i = 0; i < data.byteLength; i += 7) {
-                        var arr = {
-                            'min': data.getInt16(i, 1),
-                            'max': data.getInt16(i + 2, 1),
-                            'middle': data.getInt16(i + 4, 1),
-                            'rate': data.getInt8(i + 6)
-                        };
-    
-                        SERVO_CONFIG.push(arr);
+                if (semver.gte(CONFIG.apiVersion, "1.12.0")) {
+                    if (data.byteLength % 14 == 0) {
+                        for (var i = 0; i < data.byteLength; i += 14) {
+                            var arr = {
+                                'min':                      data.getInt16(i + 0, 1),
+                                'max':                      data.getInt16(i + 2, 1),
+                                'middle':                   data.getInt16(i + 4, 1),
+                                'rate':                     data.getInt8(i + 6),
+                                'angleAtMin':               data.getInt8(i + 7),
+                                'angleAtMax':               data.getInt8(i + 8),
+                                'indexOfChannelToForward':  data.getInt8(i + 9),
+                                'reversedInputSources':     data.getUint32(i + 10)
+                            };
+
+                            SERVO_CONFIG.push(arr);
+                        }
+                    }
+                } else {
+                    if (data.byteLength % 7 == 0) {
+                        for (var i = 0; i < data.byteLength; i += 7) {
+                            var arr = {
+                                'min':                      data.getInt16(i + 0, 1),
+                                'max':                      data.getInt16(i + 2, 1),
+                                'middle':                   data.getInt16(i + 4, 1),
+                                'rate':                     data.getInt8(i + 6),
+                                'angleAtMin':               90,
+                                'angleAtMax':               90,
+                                'indexOfChannelToForward':  undefined,
+                                'reversedInputSources':     0
+                            };
+
+                            SERVO_CONFIG.push(arr);
+                        }
+                    }
+                    
+                    if (semver.eq(CONFIG.apiVersion, '1.10.0')) {
+                        // drop two unused servo configurations due to MSP rx buffer to small)
+                        while (SERVO_CONFIG.length > 8) {
+                            SERVO_CONFIG.pop();
+                        } 
                     }
                 }
                 break;
@@ -509,7 +531,7 @@ var MSP = {
             case MSP_codes.MSP_SELECT_SETTING:
                 console.log('Profile selected');
                 break;
-            case MSP_codes.MSP_SET_SERVO_CONF:
+            case MSP_codes.MSP_SET_SERVO_CONFIGURATION:
                 console.log('Servo Configuration saved');
                 break;
             case MSP_codes.MSP_EEPROM_WRITE:
@@ -817,6 +839,8 @@ var MSP = {
                 
             default:
                 console.log('Unknown code detected: ' + code);
+        } else {
+            console.log('FC reports unsupported message error: ' + code);
         }
 
         // trigger callbacks, cleanup/remove callback after trigger
@@ -963,43 +987,43 @@ MSP.crunch = function (code) {
                     case 7:
                     case 8:
                     case 9:
-                        buffer.push(parseInt(PIDs[i][0] * 10));
-                        buffer.push(parseInt(PIDs[i][1] * 1000));
+                        buffer.push(Math.round(PIDs[i][0] * 10));
+                        buffer.push(Math.round(PIDs[i][1] * 1000));
                         buffer.push(parseInt(PIDs[i][2]));
                         break;
                     case 4:
-                        buffer.push(parseInt(PIDs[i][0] * 100));
-                        buffer.push(parseInt(PIDs[i][1] * 100));
+                        buffer.push(Math.round(PIDs[i][0] * 100));
+                        buffer.push(Math.round(PIDs[i][1] * 100));
                         buffer.push(parseInt(PIDs[i][2]));
                         break;
                     case 5:
                     case 6:
-                        buffer.push(parseInt(PIDs[i][0] * 10));
-                        buffer.push(parseInt(PIDs[i][1] * 100));
-                        buffer.push(parseInt(PIDs[i][2] * 1000));
+                        buffer.push(Math.round(PIDs[i][0] * 10));
+                        buffer.push(Math.round(PIDs[i][1] * 100));
+                        buffer.push(Math.round(PIDs[i][2] * 1000));
                         break;
                 }
             }
             break;
         case MSP_codes.MSP_SET_RC_TUNING:
-            buffer.push(parseInt(RC_tuning.RC_RATE * 100));
-            buffer.push(parseInt(RC_tuning.RC_EXPO * 100));
+            buffer.push(Math.round(RC_tuning.RC_RATE * 100));
+            buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
             if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
-                buffer.push(parseInt(RC_tuning.roll_pitch_rate * 100));
+                buffer.push(Math.round(RC_tuning.roll_pitch_rate * 100));
             } else {
-                buffer.push(parseInt(RC_tuning.roll_rate * 100));
-                buffer.push(parseInt(RC_tuning.pitch_rate * 100));
+                buffer.push(Math.round(RC_tuning.roll_rate * 100));
+                buffer.push(Math.round(RC_tuning.pitch_rate * 100));
             }
-            buffer.push(parseInt(RC_tuning.yaw_rate * 100));
-            buffer.push(parseInt(RC_tuning.dynamic_THR_PID * 100));
-            buffer.push(parseInt(RC_tuning.throttle_MID * 100));
-            buffer.push(parseInt(RC_tuning.throttle_EXPO * 100));
+            buffer.push(Math.round(RC_tuning.yaw_rate * 100));
+            buffer.push(Math.round(RC_tuning.dynamic_THR_PID * 100));
+            buffer.push(Math.round(RC_tuning.throttle_MID * 100));
+            buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
             if (semver.gte(CONFIG.apiVersion, "1.7.0")) {
                 buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
                 buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
             }
 			if (semver.gte(CONFIG.apiVersion, "1.10.0")) {
-                buffer.push(parseInt(RC_tuning.RC_YAW_EXPO * 100));
+                buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
             }
             break;
         // Disabled, cleanflight does not use MSP_SET_BOX.
@@ -1047,26 +1071,12 @@ MSP.crunch = function (code) {
             buffer.push(MISC.multiwiicurrentoutput);
             buffer.push(MISC.rssi_channel);
             buffer.push(MISC.placeholder2);
-            buffer.push(lowByte(MISC.mag_declination * 10));
-            buffer.push(highByte(MISC.mag_declination * 10));
+            buffer.push(lowByte(Math.round(MISC.mag_declination * 10)));
+            buffer.push(highByte(Math.round(MISC.mag_declination * 10)));
             buffer.push(MISC.vbatscale);
-            buffer.push(MISC.vbatmincellvoltage * 10);
-            buffer.push(MISC.vbatmaxcellvoltage * 10);
-            buffer.push(MISC.vbatwarningcellvoltage * 10);
-            break;
-        case MSP_codes.MSP_SET_SERVO_CONF:
-            for (var i = 0; i < SERVO_CONFIG.length; i++) {
-                buffer.push(lowByte(SERVO_CONFIG[i].min));
-                buffer.push(highByte(SERVO_CONFIG[i].min));
-
-                buffer.push(lowByte(SERVO_CONFIG[i].max));
-                buffer.push(highByte(SERVO_CONFIG[i].max));
-
-                buffer.push(lowByte(SERVO_CONFIG[i].middle));
-                buffer.push(highByte(SERVO_CONFIG[i].middle));
-
-                buffer.push(lowByte(SERVO_CONFIG[i].rate));
-            }
+            buffer.push(Math.round(MISC.vbatmincellvoltage * 10));
+            buffer.push(Math.round(MISC.vbatmaxcellvoltage * 10));
+            buffer.push(Math.round(MISC.vbatwarningcellvoltage * 10));
             break;
         case MSP_codes.MSP_SET_CHANNEL_FORWARDING:
             for (var i = 0; i < SERVO_CONFIG.length; i++) {
@@ -1127,6 +1137,22 @@ MSP.crunch = function (code) {
     return buffer;
 };
 
+/**
+ * Set raw Rx values over MSP protocol.
+ * 
+ * Channels is an array of 16-bit unsigned integer channel values to be sent. 8 channels is probably the maximum.
+ */
+MSP.setRawRx = function(channels) {
+    var buffer = [];
+    
+    for (var i = 0; i < channels.length; i++) {
+        buffer.push(specificByte(channels[i], 0));
+        buffer.push(specificByte(channels[i], 1));
+    }
+    
+    MSP.send_message(MSP_codes.MSP_SET_RAW_RC, buffer, false);
+}
+
 /**
  * Send a request to read a block of data from the dataflash at the given address and pass that address and a dataview
  * of the returned data to the given callback (or null for the data if an error occured).
@@ -1147,7 +1173,102 @@ MSP.dataflashRead = function(address, onDataCallback) {
             onDataCallback(address, null);
         }
     });
-} ;
+};
+
+MSP.sendServoMixRules = function(onCompleteCallback) {
+    // TODO implement
+    onCompleteCallback();
+};
+
+MSP.sendServoConfigurations = function(onCompleteCallback) {
+    var nextFunction = send_next_servo_configuration; 
+    
+    var servoIndex = 0;
+
+    if (SERVO_CONFIG.length == 0) {
+        onCompleteCallback();
+    }
+    
+    nextFunction();
+    
+    function send_next_servo_configuration() {
+        
+        var buffer = [];
+
+        if (semver.lt(CONFIG.apiVersion, "1.12.0")) {
+            // send all in one go
+            // 1.9.0 had a bug where the MSP input buffer was too small, limit to 8.
+            for (var i = 0; i < SERVO_CONFIG.length && i < 8; i++) {
+                buffer.push(lowByte(SERVO_CONFIG[i].min));
+                buffer.push(highByte(SERVO_CONFIG[i].min));
+
+                buffer.push(lowByte(SERVO_CONFIG[i].max));
+                buffer.push(highByte(SERVO_CONFIG[i].max));
+
+                buffer.push(lowByte(SERVO_CONFIG[i].middle));
+                buffer.push(highByte(SERVO_CONFIG[i].middle));
+
+                buffer.push(lowByte(SERVO_CONFIG[i].rate));
+            }
+            
+            nextFunction = send_channel_forwarding;
+        } else {
+            // send one at a time, with index
+            
+            var servoConfiguration = SERVO_CONFIG[servoIndex];
+            
+            buffer.push(servoIndex);
+            
+            buffer.push(lowByte(servoConfiguration.min));
+            buffer.push(highByte(servoConfiguration.min));
+
+            buffer.push(lowByte(servoConfiguration.max));
+            buffer.push(highByte(servoConfiguration.max));
+
+            buffer.push(lowByte(servoConfiguration.middle));
+            buffer.push(highByte(servoConfiguration.middle));
+
+            buffer.push(lowByte(servoConfiguration.rate));
+            
+            buffer.push(servoConfiguration.angleAtMin);
+            buffer.push(servoConfiguration.angleAtMax);
+
+            var out = servoConfiguration.indexOfChannelToForward;
+            if (out == undefined) {
+                out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
+            }
+            buffer.push(out);
+
+            buffer.push(specificByte(servoConfiguration.reversedInputSources, 0));
+            buffer.push(specificByte(servoConfiguration.reversedInputSources, 1));
+            buffer.push(specificByte(servoConfiguration.reversedInputSources, 2));
+            buffer.push(specificByte(servoConfiguration.reversedInputSources, 3));
+            
+            // prepare for next iteration
+            servoIndex++;
+            if (servoIndex == SERVO_CONFIG.length) {
+                nextFunction = onCompleteCallback;
+            }
+        }
+        MSP.send_message(MSP_codes.MSP_SET_SERVO_CONFIGURATION, buffer, false, nextFunction);
+    }
+    
+    function send_channel_forwarding() {
+        var buffer = [];
+
+        for (var i = 0; i < SERVO_CONFIG.length; i++) {
+            var out = SERVO_CONFIG[i].indexOfChannelToForward;
+            if (out == undefined) {
+                out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
+            }
+            buffer.push(out);
+        }
+
+        nextFunction = onCompleteCallback;
+
+        MSP.send_message(MSP_codes.MSP_SET_CHANNEL_FORWARDING, buffer, false, nextFunction);
+    }
+};
 
 MSP.sendModeRanges = function(onCompleteCallback) {
     var nextFunction = send_next_mode_range; 
@@ -1165,12 +1286,12 @@ MSP.sendModeRanges = function(onCompleteCallback) {
         
         var modeRange = MODE_RANGES[modeRangeIndex];
                         
-        var AUX_val_buffer_out = [];
-        AUX_val_buffer_out.push(modeRangeIndex);
-        AUX_val_buffer_out.push(modeRange.id);
-        AUX_val_buffer_out.push(modeRange.auxChannelIndex);
-        AUX_val_buffer_out.push((modeRange.range.start - 900) / 25);
-        AUX_val_buffer_out.push((modeRange.range.end - 900) / 25);
+        var buffer = [];
+        buffer.push(modeRangeIndex);
+        buffer.push(modeRange.id);
+        buffer.push(modeRange.auxChannelIndex);
+        buffer.push((modeRange.range.start - 900) / 25);
+        buffer.push((modeRange.range.end - 900) / 25);
         
         // prepare for next iteration
         modeRangeIndex++;
@@ -1178,7 +1299,7 @@ MSP.sendModeRanges = function(onCompleteCallback) {
             nextFunction = onCompleteCallback;
         
         }
-        MSP.send_message(MSP_codes.MSP_SET_MODE_RANGE, AUX_val_buffer_out, false, nextFunction);
+        MSP.send_message(MSP_codes.MSP_SET_MODE_RANGE, buffer, false, nextFunction);
     }
 };
 
@@ -1198,14 +1319,14 @@ MSP.sendAdjustmentRanges = function(onCompleteCallback) {
         
         var adjustmentRange = ADJUSTMENT_RANGES[adjustmentRangeIndex];
                         
-        var ADJUSTMENT_val_buffer_out = [];
-        ADJUSTMENT_val_buffer_out.push(adjustmentRangeIndex);
-        ADJUSTMENT_val_buffer_out.push(adjustmentRange.slotIndex);
-        ADJUSTMENT_val_buffer_out.push(adjustmentRange.auxChannelIndex);
-        ADJUSTMENT_val_buffer_out.push((adjustmentRange.range.start - 900) / 25);
-        ADJUSTMENT_val_buffer_out.push((adjustmentRange.range.end - 900) / 25);
-        ADJUSTMENT_val_buffer_out.push(adjustmentRange.adjustmentFunction);
-        ADJUSTMENT_val_buffer_out.push(adjustmentRange.auxSwitchChannelIndex);
+        var buffer = [];
+        buffer.push(adjustmentRangeIndex);
+        buffer.push(adjustmentRange.slotIndex);
+        buffer.push(adjustmentRange.auxChannelIndex);
+        buffer.push((adjustmentRange.range.start - 900) / 25);
+        buffer.push((adjustmentRange.range.end - 900) / 25);
+        buffer.push(adjustmentRange.adjustmentFunction);
+        buffer.push(adjustmentRange.auxSwitchChannelIndex);
         
         // prepare for next iteration
         adjustmentRangeIndex++;
@@ -1213,7 +1334,7 @@ MSP.sendAdjustmentRanges = function(onCompleteCallback) {
             nextFunction = onCompleteCallback;
         
         }
-        MSP.send_message(MSP_codes.MSP_SET_ADJUSTMENT_RANGE, ADJUSTMENT_val_buffer_out, false, nextFunction);
+        MSP.send_message(MSP_codes.MSP_SET_ADJUSTMENT_RANGE, buffer, false, nextFunction);
     }
 };
 
diff --git a/js/protocols/stm32.js b/js/protocols/stm32.js
index 3d4baf98..e9bdfb5b 100644
--- a/js/protocols/stm32.js
+++ b/js/protocols/stm32.js
@@ -4,8 +4,6 @@
     Official "specs" are from 115200 to 1200
 
     popular choices - 921600, 460800, 256000, 230400, 153600, 128000, 115200, 57600, 38400, 28800, 19200
-
-    Documentation reference: http://www.st.com/web/en/resource/technical/document/application_note/CD00264342.pdf
 */
 'use strict';
 
@@ -386,7 +384,7 @@ STM32_protocol.prototype.upload_procedure = function (step) {
             break;
         case 2:
             // get version of the bootloader and supported commands
-            self.send([self.command.get, self.command.get ^ 0xFF], 2, function (data) {
+            self.send([self.command.get, 0xFF], 2, function (data) { // 0x00 ^ 0xFF
                 if (self.verify_response(self.status.ACK, data)) {
                     self.retrieve(data[1] + 1 + 1, function (data) { // data[1] = number of bytes that will follow [– 1 except current and ACKs]
                         console.log('STM32 - Bootloader version: ' + (parseInt(data[0].toString(16)) / 10).toFixed(1)); // convert dec to hex, hex to dec and add floating point
@@ -401,7 +399,7 @@ STM32_protocol.prototype.upload_procedure = function (step) {
             break;
         case 3:
             // get ID (device signature)
-            self.send([self.command.get_ID, self.command.get_ID ^ 0xFF], 2, function (data) {
+            self.send([self.command.get_ID, 0xFD], 2, function (data) { // 0x01 ^ 0xFF
                 if (self.verify_response(self.status.ACK, data)) {
                     self.retrieve(data[1] + 1 + 1, function (data) { // data[1] = number of bytes that will follow [– 1 (N = 1 for STM32), except for current byte and ACKs]
                         var signature = (data[0] << 8) | data[1];
@@ -496,7 +494,7 @@ STM32_protocol.prototype.upload_procedure = function (step) {
                 console.log(message);
                 $('span.progressLabel').text(message + ' ...');
 
-                self.send([self.command.erase, self.command.erase ^ 0xFF], 1, function (reply) {
+                self.send([self.command.erase, 0xBC], 1, function (reply) { // 0x43 ^ 0xFF
                     if (self.verify_response(self.status.ACK, reply)) {
                         self.send([0xFF, 0x00], 1, function (reply) {
                             if (self.verify_response(self.status.ACK, reply)) {
@@ -512,7 +510,7 @@ STM32_protocol.prototype.upload_procedure = function (step) {
                 console.log(message);
                 $('span.progressLabel').text(message + ' ...');
 
-                self.send([self.command.erase, self.command.erase ^ 0xFF], 1, function (reply) {
+                self.send([self.command.erase, 0xBC], 1, function (reply) { // 0x43 ^ 0xFF
                     if (self.verify_response(self.status.ACK, reply)) {
                         // the bootloader receives one byte that contains N, the number of pages to be erased – 1
                         var max_address = self.hex.data[self.hex.data.length - 1].address + self.hex.data[self.hex.data.length - 1].bytes - 0x8000000,
@@ -557,7 +555,7 @@ STM32_protocol.prototype.upload_procedure = function (step) {
 
                     // console.log('STM32 - Writing to: 0x' + address.toString(16) + ', ' + bytes_to_write + ' bytes');
 
-                    self.send([self.command.write_memory, self.command.write_memory ^ 0xFF], 1, function (reply) {
+                    self.send([self.command.write_memory, 0xCE], 1, function (reply) { // 0x31 ^ 0xFF
                         if (self.verify_response(self.status.ACK, reply)) {
                             // address needs to be transmitted as 32 bit integer, we need to bit shift each byte out and then calculate address checksum
                             var address_arr = [(address >> 24), (address >> 16), (address >> 8), address];
@@ -637,7 +635,7 @@ STM32_protocol.prototype.upload_procedure = function (step) {
 
                     // console.log('STM32 - Reading from: 0x' + address.toString(16) + ', ' + bytes_to_read + ' bytes');
 
-                    self.send([self.command.read_memory, self.command.read_memory ^ 0xFF], 1, function (reply) {
+                    self.send([self.command.read_memory, 0xEE], 1, function (reply) { // 0x11 ^ 0xFF
                         if (self.verify_response(self.status.ACK, reply)) {
                             var address_arr = [(address >> 24), (address >> 16), (address >> 8), address];
                             var address_checksum = address_arr[0] ^ address_arr[1] ^ address_arr[2] ^ address_arr[3];
@@ -721,7 +719,7 @@ STM32_protocol.prototype.upload_procedure = function (step) {
             // memory address = 4 bytes, 1st high byte, 4th low byte, 5th byte = checksum XOR(byte 1, byte 2, byte 3, byte 4)
             console.log('Sending GO command: 0x8000000');
 
-            self.send([self.command.go, self.command.go ^ 0xFF], 1, function (reply) {
+            self.send([self.command.go, 0xDE], 1, function (reply) { // 0x21 ^ 0xFF
                 if (self.verify_response(self.status.ACK, reply)) {
                     var gt_address = 0x8000000,
                         address = [(gt_address >> 24), (gt_address >> 16), (gt_address >> 8), gt_address],
diff --git a/main.html b/main.html
index 724d180c..fb9bc4b4 100755
--- a/main.html
+++ b/main.html
@@ -14,8 +14,7 @@
         <link type="text/css" rel="stylesheet" href="./tabs/help.css" media="all" />
         <link type="text/css" rel="stylesheet" href="./tabs/ports.css" media="all" />
         <link type="text/css" rel="stylesheet" href="./tabs/configuration.css" media="all" />
-		<link type="text/css" rel="stylesheet" href="./tabs/pid_tuning.css" media="all" />
-
+        <link type="text/css" rel="stylesheet" href="./tabs/pid_tuning.css" media="all" />
         <link type="text/css" rel="stylesheet" href="./tabs/receiver.css" media="all" />
 <!--         <link type="text/css" rel="stylesheet" href="./tabs/modes.css" media="all" /> -->
         <link type="text/css" rel="stylesheet" href="./tabs/servos.css" media="all" />
@@ -27,21 +26,14 @@
         <link type="text/css" rel="stylesheet" href="./tabs/logging.css" media="all" />
         <link type="text/css" rel="stylesheet" href="./tabs/dataflash.css" media="all" />
         <link type="text/css" rel="stylesheet" href="./tabs/firmware_flasher.css" media="all" />
+
         <link type="text/css" rel="stylesheet" href="./tabs/adjustments.css" media="all" />
         <link type="text/css" rel="stylesheet" href="./tabs/auxiliary.css" media="all" />
 
-        <link type="text/css" rel="stylesheet" href="./styles/opensans_webfontkit/fonts.css" media="all" />
-        <link type="text/css" rel="stylesheet" href="./styles/dropdown-lists/css/style_lists.css" media="all" />
-                <link type="text/css" rel="stylesheet" href="./js/libraries/switchery/switchery.css" media="all" />
-
-                
         <script type="text/javascript" src="./js/libraries/q.js"></script>
         <script type="text/javascript" src="./js/libraries/google-analytics-bundle.js"></script>
-        <script type="text/javascript" src="./js/libraries/jquery-2.1.3.min.js"></script>
-<<<<<<< HEAD
-        <script type="text/javascript" src="./js/libraries/jquery-ui-1.11.2.min.js"></script>
-=======
->>>>>>> origin/baseflight-configurator-development
+        <script type="text/javascript" src="./js/libraries/jquery-2.1.4.min.js"></script>
+        <script type="text/javascript" src="./js/libraries/jquery-ui-1.11.4.min.js"></script>
         <script type="text/javascript" src="./js/libraries/d3.min.js"></script>
         <script type="text/javascript" src="./js/libraries/jquery.nouislider.all.min.js"></script>
         <script type="text/javascript" src="./js/libraries/three/three.min.js"></script>
@@ -85,27 +77,20 @@
         <script type="text/javascript" src="./tabs/logging.js"></script>
         <script type="text/javascript" src="./tabs/dataflash.js"></script>
         <script type="text/javascript" src="./tabs/firmware_flasher.js"></script>
-        
-        <script type="text/javascript" src="./js/libraries/switchery/switchery.js"></script>
-
     </head>
     <body>
         <div id="main-wrapper">
-       <div class="headerbar">
-        <div id="logo"></div>
             <div id="port-picker">
-                
-                        <div class="dropdown dropdown-dark" style="margin-bottom:3px;">
-      <select class="dropdown-select" id="port" title="Port">
-        <option value="manual">Manual</option>
-                       <!-- port list gets generated here -->
-
-      </select>
-    </div>
-                   
-                       <div class="dropdown dropdown-dark" style="margin-bottom:5px;">
-      <select class="dropdown-select" id="baud" title="Baud Rate">
-        					<option value="115200" selected="selected">115200</option>
+                <ul>
+                    <li class="port">
+                        <select id="port" title="Port">
+                            <option vlaue="manual">Manual</option>
+                            <!-- port list gets generated here -->
+                        </select>
+                    </li>
+                    <li>
+                        <select id="baud" title="Baud Rate">
+                            <option value="115200" selected="selected">115200</option>
                             <option value="57600">57600</option>
                             <option value="38400">38400</option>
                             <option value="28800">28800</option>
@@ -115,49 +100,23 @@
                             <option value="4800">4800</option>
                             <option value="2400">2400</option>
                             <option value="1200">1200</option>
-
-      </select>
-    </div>
-                      
-                    <div id="port-override-option" style="width:195px; float:left;">
-                        <label for="port-override" style="background-color:#2b2b2b; border-radius:3px; padding:3px; margin-bottom:5px; color:#ddd; float:left;">Port: <input id="port-override" type="text" value="/dev/rfcomm0" style="background-color:rgba(0, 0, 0, 0.1);; color:#888888; width:154px; margin-left:2px; margin-top:-2px; padding:1px; border-radius:3px; height:15px; float:right;"/></label>
-                    </div>
-                    <div>
-                        <label style="color:#888888;">
+                        </select>
+                    </li>
+                    <li id="port-override-option">
+                        <label for="port-override">Port: </label><input id="port-override" type="text" value="/dev/rfcomm0"/>
+                    </li>
+                    <li>
+                        <a class="connect" href="#" i18n="connect"></a>
+                        <label>
                             <input class="auto_connect" type="checkbox" />
                             <span class="auto_connect" i18n="autoConnect"></span>
                         </label>
-                                           <a class="connect" href="#" i18n="connect" style="color:#FFFFFF;"></a>
-
-                    </div>
-    </div>
-        
-        
-        
-        
-      
-        
-    
-    
-    
+                    </li>
+                </ul>
+            </div>
             <a id="options" href="#" i18n_title="options_title"></a>
-            
-             <div class="tab-dataflash" id="flashstate" style="width:120px; float:right; height:12px;"
->
-    <div class="require-dataflash" id="header_dataflash">
-        <ul class="dataflash-contents" style="height:7px; margin:12px;">
-               <li class="dataflash-free" style="height:10px; text-align:left;">
-                <div class="legend" align="left" style="font-size:10px; margin-top:-40px; float:left; line-height:12px; width:100%; color:white;"></div>
-            </li>
-        </ul>
-        
-    </div>
-</div> 
-
-
-
             <div class="header-wrapper">
-                <div id="sensor-status" class="sensor_state">
+                <div id="sensor-status">
                     <ul>
                         <li class="gyro" title="Gyroscope">Gyro</li>
                         <li class="accel" title="Accelerometer">Accel</li>
@@ -168,18 +127,17 @@
                     </ul>
                 </div>
                 <div id="documentation-controls">
-        <ul>
-        <li><a id="button-documentation" href="#" target="_blank"></a></li>
+                    <ul>
+                        <li><a id="button-documentation" href="#" target="_blank"></a></li>
                     </ul>
                 </div>
-            </div> </div>
-
+            </div>
             <div class="clear-both"></div>
             <div id="log">
+                <div id="watermark"></div>
                 <div class="wrapper">
                 </div>
             </div>
-            <div class="tab_container">
             <div id="tabs">
                 <ul class="mode-disconnected">
                     <li class="tab_landing"><a href="#" i18n="tabLanding"></a></li>
@@ -206,7 +164,6 @@
                 </ul>
                 <div class="clear-both"></div>
             </div>
-            </div>
             <div id="content">
             </div>
         </div>