diff --git a/Makefile b/Makefile
index 1a63666b18..40224afded 100644
--- a/Makefile
+++ b/Makefile
@@ -43,69 +43,6 @@ FLASH_SIZE ?=
 
 FORKNAME      = betaflight
 
-CC3D_TARGETS       = CC3D CC3D_OPBL
-NAZE_TARGETS       = AFROMINI ALIENFLIGHTF1
-SPRACINGF3_TARGETS = IRCFUSIONF3 RMDO
-
-SDCARD_TARGETS     = ALIENFLIGHTF4 AQ32_V2 BLUEJAYF4 FURYF3 FURYF4 SPRACINGF3MINI
-SERIAL_USB_TARGETS = IRCFUSIONF3 SPRACINGF3
-
-# Valid targets for STM VCP support
-VCP_TARGETS = $(CC3D_TARGETS) BLUEJAYF4 FURYF3 FURYF4 REVO REVO_OPBL
-
-# Valid targets for OP BootLoader support
-OPBL_TARGETS = CC3D_OPBL REVO_OPBL
-
-
-F405_TARGETS    = ALIENFLIGHTF4 BLUEJAYF4 FURYF4 REVO REVO_OPBL
-F405_TARGETS_16 =
-F411_TARGETS    =
-
-F1_TARGETS    = $(CC3D_TARGETS) AFROMINI ALIENFLIGHTF1 NAZE OLIMEXINO PORT103R
-F3_TARGETS    = ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE DOGE FURYF3 IRCFUSIONF3 KISSFC LUX_RACE MOTOLAB NAZE32PRO RMDO SINGULARITY SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3MINI STM32F3DISCOVERY
-F4_TARGETS    = $(F405_TARGETS) $(F405_TARGETS_16) $(F411_TARGETS)
-VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
-
-
-64K_TARGETS   = CJMCU
-128K_TARGETS  = $(CC3D_TARGETS) AFROMINI ALIENFLIGHTF1 NAZE OLIMEXINO RMDO
-256K_TARGETS  = $(F3_TARGETS) EUSTM32F103RC PORT103R
-512K_TARGETS  = $(F411_TARGETS)
-1024K_TARGETS = $(F405_TARGETS) $(F405_TARGETS_16)
-
-# Configure default flash sizes for the targets
-ifeq ($(FLASH_SIZE),)
-ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
-FLASH_SIZE = 64
-else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
-FLASH_SIZE = 128
-else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
-FLASH_SIZE = 256
-else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
-FLASH_SIZE = 512
-else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
-FLASH_SIZE = 1024
-else
-$(error FLASH_SIZE not configured for target $(TARGET))
-endif
-endif
-
-# note that there is no hardfault debugging startup file assembly handler for other platforms
-ifeq ($(DEBUG_HARDFAULTS),F3)
-CFLAGS               += -DDEBUG_HARDFAULTS
-STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S
-else
-STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S
-endif
-
-REVISION = $(shell git log -1 --format="%h")
-
-FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
-FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
-FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
-
-FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
-
 # Working directories
 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
 SRC_DIR         = $(ROOT)/src/main
@@ -116,6 +53,81 @@ INCLUDE_DIRS    = $(SRC_DIR) \
                   $(ROOT)/src/main/target
 LINKER_DIR      = $(ROOT)/src/main/target
 
+# default xtal value for F4 targets
+HSE_VALUE       = 8000000
+
+# used for turning on features like VCP and SDCARD
+FEATURES        =
+
+ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
+OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
+
+#VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
+VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
+VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
+VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
+VALID_TARGETS  := $(sort $(VALID_TARGETS))
+
+ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
+BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
+-include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
+else
+BASE_TARGET    := $(TARGET)
+endif
+
+ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
+OPBL            = yes
+endif
+
+# silently ignore if the file is not present. Allows for target specific.
+-include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
+
+F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
+
+ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
+$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
+endif
+
+ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)),)
+$(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, or F411. Have you prepared a valid target.mk?)
+endif
+
+128K_TARGETS  = $(F1_TARGETS)
+256K_TARGETS  = $(F3_TARGETS)
+512K_TARGETS  = $(F411_TARGETS)
+1024K_TARGETS = $(F405_TARGETS)
+
+# Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
+ifeq ($(FLASH_SIZE),)
+ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
+FLASH_SIZE = 1024
+else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
+FLASH_SIZE = 512
+else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
+FLASH_SIZE = 256
+else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
+FLASH_SIZE = 128
+else
+$(error FLASH_SIZE not configured for target $(TARGET))
+endif
+endif
+
+# note that there is no hardfault debugging startup file assembly handler for other platforms
+ifeq ($(DEBUG_HARDFAULTS),F3)
+CFLAGS               += -DDEBUG_HARDFAULTS
+STM32F30x_COMMON_SRC  = startup_stm32f3_debug_hardfault_handler.S
+else
+STM32F30x_COMMON_SRC  = startup_stm32f30x_md_gcc.S
+endif
+
+REVISION = $(shell git log -1 --format="%h")
+
+FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
+FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
+FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
+
+FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
+
 # Search path for sources
 VPATH           := $(SRC_DIR):$(SRC_DIR)/startup
 USBFS_DIR       = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
@@ -125,7 +137,6 @@ FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 
 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 
-
 ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 # F3 TARGETS
 
@@ -146,7 +157,7 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(CMSIS_DIR)/CM1/CoreSupport \
                    $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
 
-ifneq ($(TARGET),$(filter $(TARGET), $(SERIAL_USB_TARGETS)))
+ifneq ($(filter VCP, $(FEATURES)),)
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(USBFS_DIR)/inc \
                    $(ROOT)/src/main/vcp
@@ -155,10 +166,9 @@ VPATH           := $(VPATH):$(USBFS_DIR)/src
 
 DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
                         $(USBPERIPH_SRC)
-
 endif
 
-ifeq ($(TARGET),$(filter $(TARGET), $(SDCARD_TARGETS)))
+ifneq ($(filter SDCARD, $(FEATURES)),)
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(FATFS_DIR) \
 
@@ -170,9 +180,9 @@ LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 TARGET_FLAGS    = -D$(TARGET)
-## End F3 targets
-##
-## Start F4 targets
+# End F3 targets
+#
+# Start F4 targets
 else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
 
 #STDPERIPH
@@ -243,7 +253,7 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
                    $(ROOT)/src/main/vcpf4
 
-ifeq ($(TARGET),$(filter $(TARGET),$(SDCARD_TARGETS)))
+ifneq ($(filter SDCARD,$(FEATURES)),)
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(FATFS_DIR)
 VPATH           := $(VPATH):$(FATFS_DIR)
@@ -254,54 +264,19 @@ ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu
 
 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F411xE
-DEVICE_FLAGS    += -DHSE_VALUE=8000000
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
-else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS_16)))
-DEVICE_FLAGS    = -DSTM32F40_41xxx
-DEVICE_FLAGS    += -DHSE_VALUE=16000000
-LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F40_41xxx
-DEVICE_FLAGS    += -DHSE_VALUE=8000000
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 else
 $(error Unknown MCU for F4 target)
 endif
+DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 
 TARGET_FLAGS = -D$(TARGET)
-## End F4 targets
-##
-## Start EUSTM32F103RC PORT103R targets
-else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
-
-STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
-STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
-EXCLUDES        = stm32f10x_crc.c \
-                  stm32f10x_cec.c \
-                  stm32f10x_can.c
-
-STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
-
-# Search path and source files for the CMSIS sources
-VPATH           := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
-CMSIS_SRC       = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
-                  $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
-
-INCLUDE_DIRS    := $(INCLUDE_DIRS) \
-                   $(STDPERIPH_DIR)/inc \
-                   $(CMSIS_DIR)/CM3/CoreSupport \
-                   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
-
-LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
-
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
-TARGET_FLAGS    = -D$(TARGET) -pedantic
-DEVICE_FLAGS    = -DSTM32F10X_HD -DSTM32F10X
-
-DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
-## End EUSTM32F103RC PORT103R targets
-##
-## Start F1 targets
+# End F4 targets
+#
+# Start F1 targets
 else
 
 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
@@ -324,7 +299,7 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 
 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
 
-ifeq ($(TARGET),$(filter $(TARGET), $(VCP_TARGETS)))
+ifneq ($(filter VCP, $(FEATURES)),)
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(USBFS_DIR)/inc \
                    $(ROOT)/src/main/vcp
@@ -338,72 +313,42 @@ endif
 
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
-TARGET_FLAGS    = -D$(TARGET) -pedantic
-DEVICE_FLAGS    = -DSTM32F10X_MD -DSTM32F10X
+TARGET_FLAGS   := -D$(TARGET) -pedantic $(TARGET_FLAGS)
+
+ifeq ($(DEVICE_FLAGS),)
+DEVICE_FLAGS    = -DSTM32F10X_MD
+endif
+DEVICE_FLAGS   += -DSTM32F10X
 
 endif
-##
-## End F1 targets
-##
+#
+# End F1 targets
+#
+ifneq ($(BASE_TARGET), $(TARGET))
+TARGET_FLAGS  := $(TARGET_FLAGS) -D$(BASE_TARGET)
+endif
 
 ifneq ($(FLASH_SIZE),)
-DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
+DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 endif
 
-TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
-TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
-
-# VARIANTS
-
-ifeq ($(TARGET),CHEBUZZF3)
-# CHEBUZZ is a VARIANT of STM32F3DISCOVERY
-TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
-endif
-
-ifeq ($(TARGET),$(filter $(TARGET),$(SPRACINGF3_TARGETS)))
-# VARIANTS of SPRACINGF3
-TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
-endif
-
-ifeq ($(TARGET),$(filter $(TARGET), $(NAZE_TARGETS)))
-# VARIANTS of NAZE
-TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -D$(TARGET)
-TARGET_DIR = $(ROOT)/src/main/target/NAZE
-endif
-
-ifeq ($(TARGET),$(filter $(TARGET), $(CC3D_TARGETS)))
-TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D
-ifeq ($(TARGET),CC3D_OPBL)
-TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_OPBL
-CC3D_OPBL_SRC = $(CC3D_SRC)
-endif
-TARGET_DIR = $(ROOT)/src/main/target/CC3D
-endif
-
-ifeq ($(TARGET),$(filter $(TARGET), REVO_OPBL))
-TARGET_FLAGS := $(TARGET_FLAGS) -DREVO
-TARGET_DIR = $(ROOT)/src/main/target/REVO
-TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
-endif
-
-ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
-OPBL=yes
-endif
+TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
+TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 
 ifeq ($(OPBL),yes)
-ifeq ($(TARGET),$(filter $(TARGET),$(OPBL_TARGETS)))
 TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
-ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
-LD_SCRIPT	 = $(LINKER_DIR)/stm32_flash_f411_bl.ld
-else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
-LD_SCRIPT	 = $(LINKER_DIR)/stm32_flash_f405_bl.ld
-else
-LD_SCRIPT	 = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
+ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
+LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
+else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
+LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
+else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
+LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
+else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
+LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
 endif
 .DEFAULT_GOAL := binary
 else
-$(error OPBL specified with a unsupported target)
-endif
+.DEFAULT_GOAL := hex
 endif
 
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
@@ -415,7 +360,7 @@ COMMON_SRC = \
             build_config.c \
             debug.c \
             version.c \
-            $(TARGET_SRC) \
+            $(TARGET_DIR_SRC) \
             main.c \
             mw.c \
             scheduler.c \
@@ -497,6 +442,15 @@ HIGHEND_SRC = \
             telemetry/smartport.c \
             telemetry/ltm.c
 
+ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
+VCP_SRC = \
+            vcpf4/stm32f4xx_it.c \
+            vcpf4/usb_bsp.c \
+            vcpf4/usbd_desc.c \
+            vcpf4/usbd_usr.c \
+            vcpf4/usbd_cdc_vcp.c \
+            drivers/serial_usb_vcp.c
+else
 VCP_SRC = \
             vcp/hw_config.c \
             vcp/stm32_it.c \
@@ -507,14 +461,7 @@ VCP_SRC = \
             vcp/usb_pwr.c \
             drivers/serial_usb_vcp.c \
             drivers/usb_io.c
-
-VCPF4_SRC = \
-            vcpf4/stm32f4xx_it.c \
-            vcpf4/usb_bsp.c \
-            vcpf4/usbd_desc.c \
-            vcpf4/usbd_usr.c \
-            vcpf4/usbd_cdc_vcp.c \
-            drivers/serial_usb_vcp.c
+endif
 
 STM32F10x_COMMON_SRC = \
             startup_stm32f10x_md_gcc.S \
@@ -553,430 +500,49 @@ STM32F4xx_COMMON_SRC = \
             drivers/serial_uart_stm32f4xx.c \
             drivers/system_stm32f4xx.c \
             drivers/timer_stm32f4xx.c \
-            drivers/dma_stm32f4xx.c \
+            drivers/dma_stm32f4xx.c
+
+# check if target.mk supplied
+ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
+TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
+else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
+TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
+else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
+TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
+endif
+
+ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
+TARGET_SRC += \
             drivers/flash_m25p16.c \
             io/flashfs.c
+endif
 
-NAZE_SRC = \
-            $(STM32F10x_COMMON_SRC) \
-            drivers/accgyro_adxl345.c \
-            drivers/accgyro_bma280.c \
-            drivers/accgyro_l3g4200d.c \
-            drivers/accgyro_mma845x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu3050.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c \
-            drivers/flash_m25p16.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c \
-            io/flashfs.c \
-            hardware_revision.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC)
+ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS) $(F3_TARGETS)))
+TARGET_SRC += $(HIGHEND_SRC)
+else ifneq ($(filter HIGHEND,$(FEATURES)),)
+TARGET_SRC += $(HIGHEND_SRC)
+endif
 
-ALIENFLIGHTF1_SRC = $(NAZE_SRC)
+TARGET_SRC += $(COMMON_SRC)
 
-AFROMINI_SRC = $(NAZE_SRC)
-
-EUSTM32F103RC_SRC = \
-            $(STM32F10x_COMMON_SRC) \
-            drivers/accgyro_adxl345.c \
-            drivers/accgyro_bma280.c \
-            drivers/accgyro_l3g4200d.c \
-            drivers/accgyro_mma845x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu3050.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/flash_m25p16.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c \
-            io/flashfs.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC)
-
-PORT103R_SRC = $(EUSTM32F103RC_SRC)
-
-OLIMEXINO_SRC = \
-            $(STM32F10x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC)
-
-CJMCU_SRC = \
-            $(STM32F10x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/compass_hmc5883l.c \
-            hardware_revision.c \
-            flight/gtune.c \
-            blackbox/blackbox.c \
-            blackbox/blackbox_io.c \
-            $(COMMON_SRC)
-
-CC3D_SRC = \
-            $(STM32F10x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c \
-            drivers/flash_m25p16.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c \
-            io/flashfs.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-NAZE32PRO_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-STM32F3DISCOVERY_COMMON_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/light_ws2811strip.c \
-            drivers/accgyro_l3gd20.c \
-            drivers/accgyro_lsm303dlhc.c \
-            drivers/compass_hmc5883l.c \
-            $(VCP_SRC)
-
-STM32F3DISCOVERY_SRC = \
-            $(STM32F3DISCOVERY_COMMON_SRC) \
-            drivers/accgyro_adxl345.c \
-            drivers/accgyro_bma280.c \
-            drivers/accgyro_mma845x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu3050.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_l3g4200d.c \
-            drivers/barometer_ms5611.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c \
+ifneq ($(filter SDCARD,$(FEATURES)),)
+TARGET_SRC += \
             drivers/sdcard.c \
             drivers/sdcard_standard.c \
             io/asyncfatfs/asyncfatfs.c \
-            io/asyncfatfs/fat_standard.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC)
+            io/asyncfatfs/fat_standard.c
+endif
 
-CHEBUZZF3_SRC = \
-            $(STM32F3DISCOVERY_SRC) \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC)
+ifneq ($(filter VCP,$(FEATURES)),)
+TARGET_SRC += $(VCP_SRC)
+endif
 
-COLIBRI_RACE_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            io/i2c_bst.c \
-            drivers/bus_bst_stm32f30x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_ak8963.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_usb_vcp.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
+ifneq ($(filter MAX_OSD, $(FEATURES)),)
+TARGET_SRC += $(SRC_DIR)/drivers/max7456.c \
+              $(SRC_DIR)/io/osd.c
+endif
+# end target specific make file checks
 
-KISSFC_SRC = \
-		   $(STM32F30x_COMMON_SRC) \
-		   drivers/accgyro_mpu.c \
-		   drivers/display_ug2864hsweg01.c \
-		   drivers/accgyro_mpu6050.c \
-		   drivers/serial_usb_vcp.c \
-		   io/flashfs.c \
-		   $(HIGHEND_SRC) \
-		   $(COMMON_SRC) \
-		   $(VCP_SRC)
-
-LUX_RACE_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_usb_vcp.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-DOGE_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_spi_bmp280.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_usb_vcp.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-SPARKY_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_ms5611.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_usb_vcp.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-ALIENFLIGHTF3_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/compass_ak8963.c \
-            hardware_revision.c \
-            drivers/serial_usb_vcp.c \
-            drivers/sonar_hcsr04.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-RMDO_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_bmp280.c \
-            drivers/flash_m25p16.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/sonar_hcsr04.c \
-            io/flashfs.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC)
-
-SPRACINGF3_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_ms5611.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/flash_m25p16.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/sonar_hcsr04.c \
-            io/flashfs.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC)
-
-IRCFUSIONF3_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_bmp085.c \
-            drivers/flash_m25p16.c \
-            io/flashfs.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC)
-
-SPRACINGF3EVO_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8963.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_usb_vcp.c \
-            drivers/sdcard.c \
-            drivers/sdcard_standard.c \
-            drivers/transponder_ir.c \
-            drivers/transponder_ir_stm32f30x.c \
-            io/asyncfatfs/asyncfatfs.c \
-            io/asyncfatfs/fat_standard.c \
-            io/transponder_ir.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-MOTOLAB_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/serial_usb_vcp.c \
-            drivers/flash_m25p16.c \
-            io/flashfs.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-SPRACINGF3MINI_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/flash_m25p16.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/serial_usb_vcp.c \
-            drivers/sonar_hcsr04.c \
-            drivers/sdcard.c \
-            drivers/sdcard_standard.c \
-            drivers/transponder_ir.c \
-            drivers/transponder_ir_stm32f30x.c \
-            io/asyncfatfs/asyncfatfs.c \
-            io/asyncfatfs/fat_standard.c \
-            io/transponder_ir.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-#            $(FATFS_SRC)
-
-SINGULARITY_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/flash_m25p16.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/serial_usb_vcp.c \
-            drivers/vtx_rtc6705.c \
-            io/flashfs.c \
-            io/vtx.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-FURYF3_SRC = \
-            $(STM32F30x_COMMON_SRC) \
-            drivers/accgyro_mpu.c \
-            drivers/barometer_ms5611.c \
-            drivers/barometer_bmp280.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_usb_vcp.c \
-            drivers/sdcard.c \
-            drivers/sdcard_standard.c \
-            drivers/flash_m25p16.c \
-            drivers/sonar_hcsr04.c \
-            drivers/serial_softserial.c \
-            io/asyncfatfs/asyncfatfs.c \
-            io/asyncfatfs/fat_standard.c \
-            io/flashfs.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCP_SRC)
-
-ALIENFLIGHTF4_SRC = \
-            $(STM32F4xx_COMMON_SRC) \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_spi_mpu9250.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_ak8963.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f4xx.c \
-            drivers/sdcard.c \
-            drivers/sdcard_standard.c \
-            io/asyncfatfs/asyncfatfs.c \
-            io/asyncfatfs/fat_standard.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCPF4_SRC)
-
-BLUEJAYF4_SRC = \
-            $(STM32F4xx_COMMON_SRC) \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/barometer_ms5611.c \
-            drivers/sdcard.c \
-            drivers/sdcard_standard.c \
-            io/asyncfatfs/asyncfatfs.c \
-            io/asyncfatfs/fat_standard.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCPF4_SRC)
-
-REVO_SRC = \
-            $(STM32F4xx_COMMON_SRC) \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCPF4_SRC)
-
-REVO_OPBL_SRC = $(REVO_SRC)
-
-FURYF4_SRC = \
-            $(STM32F4xx_COMMON_SRC) \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/barometer_ms5611.c \
-            drivers/sdcard.c \
-            drivers/sdcard_standard.c \
-            io/asyncfatfs/asyncfatfs.c \
-            io/asyncfatfs/fat_standard.c \
-            $(HIGHEND_SRC) \
-            $(COMMON_SRC) \
-            $(VCPF4_SRC)
 
 # Search path and source files for the ST stdperiph library
 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
@@ -1053,15 +619,11 @@ CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
 #
 # Things we will build
 #
-ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
-$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
-endif
-
 TARGET_BIN      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
 TARGET_HEX      = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
 TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
-TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
-TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
+TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
+TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
 TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
 
 
@@ -1081,7 +643,7 @@ $(TARGET_BIN): $(TARGET_ELF)
 $(TARGET_ELF):  $(TARGET_OBJS)
 	@echo LD $(notdir $@)
 	@$(CC) -o $@ $^ $(LDFLAGS)
-	$(SIZE) $(TARGET_ELF) 
+	$(SIZE) $(TARGET_ELF)
 
 # Compile
 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
@@ -1101,37 +663,47 @@ $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 	@$(CC) -c -o $@ $(ASFLAGS) $<
 
 
-## all         : default task; compile C code, build firmware
-all: binary
-
-## all_targets : build all valid target platforms
-all_targets:
+## all               : default task; compile C code, build firmware
+all:
 	for build_target in $(VALID_TARGETS); do \
+		echo "" && \
 		echo "Building $$build_target" && \
-		$(MAKE) clean && \
-		$(MAKE) -j TARGET=$$build_target || \
+		$(MAKE) -j binary hex TARGET=$$build_target || \
 		break; \
 		echo "Building $$build_target succeeded."; \
 	done
 
-## clean       : clean up all temporary / machine-generated files
+## clean             : clean up all temporary / machine-generated files
 clean:
 	rm -f $(CLEAN_ARTIFACTS)
 	rm -rf $(OBJECT_DIR)/$(TARGET)
+
+## clean_test        : clean up all temporary / machine-generated files (tests)
+clean_test:
 	cd src/test && $(MAKE) clean || true
 
+## clean_all_targets : clean all valid target platforms
+clean_all:
+	for clean_target in $(VALID_TARGETS); do \
+		echo "" && \
+		echo "Cleaning $$clean_target" && \
+		$(MAKE) -j TARGET=$$clean_target clean || \
+		break; \
+		echo "Cleaning $$clean_target succeeded."; \
+	done
+
 flash_$(TARGET): $(TARGET_HEX)
 	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 	echo -n 'R' >$(SERIAL_DEVICE)
 	stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 
-## flash       : flash firmware (.hex) onto flight controller
+## flash             : flash firmware (.hex) onto flight controller
 flash: flash_$(TARGET)
 
 st-flash_$(TARGET): $(TARGET_BIN)
 	st-flash --reset write $< 0x08000000
 
-## st-flash    : flash firmware (.bin) onto flight controller
+## st-flash          : flash firmware (.bin) onto flight controller
 st-flash: st-flash_$(TARGET)
 
 binary: $(TARGET_BIN)
@@ -1141,17 +713,17 @@ unbrick_$(TARGET): $(TARGET_HEX)
 	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 	stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 
-## unbrick     : unbrick flight controller
+## unbrick           : unbrick flight controller
 unbrick: unbrick_$(TARGET)
 
-## cppcheck    : run static analysis on C source code
+## cppcheck          : run static analysis on C source code
 cppcheck: $(CSOURCES)
 	$(CPPCHECK)
 
 cppcheck-result.xml: $(CSOURCES)
 	$(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
 
-## help        : print this help message and exit
+## help              : print this help message and exit
 help: Makefile
 	@echo ""
 	@echo "Makefile for the $(FORKNAME) firmware"
@@ -1163,11 +735,13 @@ help: Makefile
 	@echo ""
 	@sed -n 's/^## //p' $<
 
-## targets     : print a list of all valid target platforms (for consumption by scripts)
+## targets           : print a list of all valid target platforms (for consumption by scripts)
 targets:
-	@echo $(VALID_TARGETS)
+	@echo "Valid targets: $(VALID_TARGETS)"
+	@echo "Target:        $(TARGET)"
+	@echo "Base target:   $(BASE_TARGET)"
 
-## test        : run the cleanflight test suite
+## test              : run the cleanflight test suite
 test:
 	cd src/test && $(MAKE) test || true
 
diff --git a/fake_travis_build.sh b/fake_travis_build.sh
index 7749d64354..339c4008d0 100755
--- a/fake_travis_build.sh
+++ b/fake_travis_build.sh
@@ -17,7 +17,8 @@ targets=("PUBLISHMETA=True" \
     "TARGET=ALIENFLIGHTF1" \
     "TARGET=ALIENFLIGHTF3" \
     "TARGET=DOGE" \
-    "TARGET=SINGULARITY")
+    "TARGET=SINGULARITY" \
+    "TARGET=SIRINFPV")
 
 #fake a travis build environment
 export TRAVIS_BUILD_NUMBER=$(date +%s)
diff --git a/q b/q
deleted file mode 100644
index 04586033b6..0000000000
--- a/q
+++ /dev/null
@@ -1,59 +0,0 @@
-diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
-index fdde2cf..53464ef 100644
---- a/src/main/io/rc_controls.c
-+++ b/src/main/io/rc_controls.c
-@@ -67,6 +67,7 @@ static pidProfile_t *pidProfile;
- static bool isUsingSticksToArm = true;
- 
- int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
-+int16_t rcCommandSmooth[4];     // Smoothed RcCommand
- 
- uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
- 
-diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
-index eaec277..dd8afaf 100644
---- a/src/main/io/rc_controls.h
-+++ b/src/main/io/rc_controls.h
-@@ -147,6 +147,7 @@ typedef struct controlRateConfig_s {
- } controlRateConfig_t;
- 
- extern int16_t rcCommand[4];
-+extern int16_t rcCommandSmooth[4];     // Smoothed RcCommand
- 
- typedef struct rcControlsConfig_s {
-     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
-diff --git a/src/main/mw.c b/src/main/mw.c
-index 125674c..5da79cf 100644
---- a/src/main/mw.c
-+++ b/src/main/mw.c
-@@ -181,7 +181,7 @@ void filterRc(void)
- 
-     if (isRXDataNew) {
-         for (int channel=0; channel < 4; channel++) {
--            deltaRC[channel] = rcCommand[channel] -  (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
-+            deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
-             lastCommand[channel] = rcCommand[channel];
-         }
- 
-@@ -194,7 +194,7 @@ void filterRc(void)
-     // Interpolate steps of rcCommand
-     if (factor > 0) {
-         for (int channel=0; channel < 4; channel++) {
--            rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
-+            rcCommandSmooth[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
-          }
-     } else {
-         factor = 0;
-@@ -649,8 +649,11 @@ void subTaskMainSubprocesses(void) {
- 
-     const uint32_t startTime = micros();
- 
-+    filterRc();
-+
-     if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
--        filterRc();
-+        int axis;
-+        for (axis = 0; axis <= 4; axis++) rcCommand[axis] = rcCommandSmooth[axis];
-     }
- 
-     // Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 80df3ba141..4b3aa51cc8 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -60,6 +60,7 @@
 #include "io/serial_cli.h"
 #include "io/serial_msp.h"
 #include "io/statusindicator.h"
+#include "io/osd.h"
 #include "io/vtx.h"
 
 #include "rx/rx.h"
diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c
index 0eeead3156..82c105eb4a 100644
--- a/src/main/blackbox/blackbox_io.c
+++ b/src/main/blackbox/blackbox_io.c
@@ -36,6 +36,7 @@
 #include "io/escservo.h"
 #include "rx/rx.h"
 #include "io/rc_controls.h"
+#include "io/osd.h"
 #include "io/vtx.h"
 
 #include "io/gimbal.h"
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 7c2fc82ccd..ad8cf1f43b 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -55,6 +55,7 @@
 #include "io/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
+#include "io/osd.h"
 #include "io/vtx.h"
 
 #include "rx/rx.h"
@@ -418,6 +419,32 @@ static void resetConf(void)
     featureSet(DEFAULT_FEATURES);
 #endif
 
+#ifdef SIRINFPV
+    featureSet(FEATURE_OSD);
+    featureSet(FEATURE_RX_SERIAL);
+    masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
+    //masterConfig.batteryConfig.vbatscale = 20;
+    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
+    masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
+    masterConfig.blackbox_device = 1;
+    masterConfig.blackbox_rate_num = 1;
+    masterConfig.blackbox_rate_denom = 1;
+#endif
+
+#ifdef OSD
+    masterConfig.vtx_channel = 19;
+    masterConfig.osdProfile.system = 0;
+    masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE] = -29;
+    masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE]        = -59;
+    masterConfig.osdProfile.item_pos[OSD_TIMER]             = -39;
+    masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS]      = -9;
+    masterConfig.osdProfile.item_pos[OSD_CPU_LOAD]          = 26;
+    masterConfig.osdProfile.item_pos[OSD_VTX_CHANNEL]       = 1;
+    masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING]   = -80;
+    masterConfig.osdProfile.item_pos[OSD_ARMED]             = -107;
+    masterConfig.osdProfile.item_pos[OSD_DISARMED]          = -109;
+#endif
+
 #ifdef BOARD_HAS_VOLTAGE_DIVIDER
     // only enable the VBAT feature by default if the board has a voltage divider otherwise
     // the user may see incorrect readings and unexpected issues with pin mappings may occur.
diff --git a/src/main/config/config.h b/src/main/config/config.h
index 7bd7a2e052..219cc31bea 100644
--- a/src/main/config/config.h
+++ b/src/main/config/config.h
@@ -46,6 +46,7 @@ typedef enum {
     FEATURE_TRANSPONDER = 1 << 21,
     FEATURE_AIRMODE = 1 << 22,
     FEATURE_SUPEREXPO_RATES = 1 << 23,
+    FEATURE_OSD = 1 << 24,
 } features_e;
 
 void handleOneshotFeatureChangeOnRestart(void);
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 01bf4e8f3f..6d1c943179 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -125,6 +125,11 @@ typedef struct master_t {
     uint8_t transponderData[6];
 #endif
 
+#ifdef OSD
+    uint8_t vtx_channel;
+    osd_profile osdProfile;
+#endif
+
     profile_t profile[MAX_PROFILE_COUNT];
     uint8_t current_profile_index;
  
diff --git a/src/main/drivers/max7456.c b/src/main/drivers/max7456.c
new file mode 100644
index 0000000000..9a9605fb2d
--- /dev/null
+++ b/src/main/drivers/max7456.c
@@ -0,0 +1,188 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <stdbool.h>
+#include <string.h>
+#include <stdint.h>
+
+#include "common/printf.h"
+#include "platform.h"
+#include "version.h"
+
+#ifdef USE_MAX7456
+
+#include "drivers/bus_spi.h"
+#include "drivers/system.h"
+
+#include "max7456.h"
+
+#define DISABLE_MAX7456       GPIO_SetBits(MAX7456_CS_GPIO,   MAX7456_CS_PIN)
+#define ENABLE_MAX7456        GPIO_ResetBits(MAX7456_CS_GPIO, MAX7456_CS_PIN)
+
+
+uint16_t max_screen_size;
+uint8_t  video_signal_type = 0;
+uint8_t  max7456_lock = 0;
+char screen[480];
+
+
+uint8_t max7456_send(uint8_t add, uint8_t data) {
+    spiTransferByte(MAX7456_SPI_INSTANCE, add);
+    return spiTransferByte(MAX7456_SPI_INSTANCE, data);
+}
+
+
+void max7456_init(uint8_t system) {
+    uint8_t max_screen_rows;
+    uint8_t srdata = 0;
+    uint16_t x;
+    char buf[30];
+
+    //Minimum spi clock period for max7456 is 100ns (10Mhz)
+    spiSetDivisor(MAX7456_SPI_INSTANCE, SPI_9MHZ_CLOCK_DIVIDER);
+
+    delay(1000);
+    // force soft reset on Max7456
+    ENABLE_MAX7456;
+    max7456_send(VM0_REG, MAX7456_RESET);
+    delay(100);
+
+    srdata = max7456_send(0xA0, 0xFF);
+    if ((0x01 & srdata) == 0x01){     //PAL
+          video_signal_type = VIDEO_MODE_PAL;
+    }
+    else if((0x02 & srdata) == 0x02){ //NTSC
+        video_signal_type = VIDEO_MODE_NTSC;
+    }
+
+    // Override detected type: 0-AUTO, 1-PAL, 2-NTSC
+    switch(system) {
+        case 1:
+            video_signal_type = VIDEO_MODE_PAL;
+            break;
+        case 2:
+            video_signal_type = VIDEO_MODE_NTSC;
+            break;
+    }
+
+    if (video_signal_type) { //PAL
+        max_screen_size = 480;
+        max_screen_rows = 16;
+    } else {                 // NTSC
+        max_screen_size = 390;
+        max_screen_rows = 13;
+    }
+
+    // set all rows to same charactor black/white level
+    for(x = 0; x < max_screen_rows; x++) {
+        max7456_send(MAX7456ADD_RB0 + x, BWBRIGHTNESS);
+    }
+
+    // make sure the Max7456 is enabled
+    max7456_send(VM0_REG, OSD_ENABLE | video_signal_type);
+
+    DISABLE_MAX7456;
+    delay(100);
+
+    x =  160;
+    for (int i = 1; i < 5; i++) {
+        for (int j = 3; j < 27; j++)
+            screen[i * 30 + j] = (char)x++;
+    }
+    tfp_sprintf(buf, "BF VERSION: %s", FC_VERSION_STRING);
+    max7456_write_string(buf, 5*30+5);
+    max7456_write_string("MENU: THRT MID", 6*30+7);
+    max7456_write_string("YAW RIGHT", 7*30+13);
+    max7456_write_string("PITCH UP", 8*30+13);
+    max7456_draw_screen();
+}
+
+// Copy string from ram into screen buffer
+void max7456_write_string(const char *string, int16_t address) {
+    char *dest;
+
+    if (address >= 0)
+        dest  = screen + address;
+    else
+        dest  = screen + (max_screen_size + address);
+
+    while(*string)
+        *dest++ = *string++;
+}
+
+void max7456_draw_screen(void) {
+    uint16_t xx;
+    if (!max7456_lock) {
+        ENABLE_MAX7456;
+        for (xx = 0; xx < max_screen_size; ++xx) {
+            max7456_send(MAX7456ADD_DMAH, xx>>8);
+            max7456_send(MAX7456ADD_DMAL, xx);
+            max7456_send(MAX7456ADD_DMDI, screen[xx]);
+            screen[xx] = ' ';
+        }
+        DISABLE_MAX7456;
+    }
+}
+
+void max7456_draw_screen_fast(void) {
+    uint16_t xx;
+    if (!max7456_lock) {
+        ENABLE_MAX7456;
+        max7456_send(MAX7456ADD_DMAH, 0);
+        max7456_send(MAX7456ADD_DMAL, 0);
+        max7456_send(MAX7456ADD_DMM, 1);
+        for (xx = 0; xx < max_screen_size; ++xx) {
+           max7456_send(MAX7456ADD_DMDI, screen[xx]);
+            screen[xx] = ' ';
+        }
+        max7456_send(MAX7456ADD_DMDI, 0xFF);
+        max7456_send(MAX7456ADD_DMM, 0);
+        DISABLE_MAX7456;
+    }
+}
+
+
+void max7456_write_nvm(uint8_t char_address, uint8_t *font_data) {
+    uint8_t x;
+
+    max7456_lock = 1;
+    ENABLE_MAX7456;
+
+    // disable display
+    max7456_send(VM0_REG, video_signal_type);
+
+    max7456_send(MAX7456ADD_CMAH, char_address); // set start address high
+
+    for(x = 0; x < 54; x++) {
+        max7456_send(MAX7456ADD_CMAL, x); //set start address low
+        max7456_send(MAX7456ADD_CMDI, font_data[x]);
+    }
+
+    // transfer 54 bytes from shadow ram to NVM
+    max7456_send(MAX7456ADD_CMM, WRITE_NVR);
+
+    // wait until bit 5 in the status register returns to 0 (12ms)
+    while ((spiTransferByte(MAX7456_SPI_INSTANCE, MAX7456ADD_STAT) & STATUS_REG_NVR_BUSY) != 0);
+
+    max7456_send(VM0_REG, video_signal_type | 0x0C);
+    DISABLE_MAX7456;
+    max7456_lock = 0;
+}
+
+
+#endif
diff --git a/src/main/drivers/max7456.h b/src/main/drivers/max7456.h
new file mode 100644
index 0000000000..86bd4dd1ee
--- /dev/null
+++ b/src/main/drivers/max7456.h
@@ -0,0 +1,125 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifndef WHITEBRIGHTNESS
+  #define WHITEBRIGHTNESS 0x01
+#endif
+#ifndef BLACKBRIGHTNESS
+  #define BLACKBRIGHTNESS 0x00
+#endif
+
+#define BWBRIGHTNESS ((BLACKBRIGHTNESS << 2) | WHITEBRIGHTNESS)
+
+//MAX7456 opcodes
+#define DMM_REG   0x04
+#define DMAH_REG  0x05
+#define DMAL_REG  0x06
+#define DMDI_REG  0x07
+#define VM0_REG   0x00
+#define VM1_REG   0x01
+
+// video mode register 0 bits
+#define VIDEO_BUFFER_DISABLE 0x01
+#define MAX7456_RESET 0x02
+#define VERTICAL_SYNC_NEXT_VSYNC 0x04
+#define OSD_ENABLE 0x08
+#define SYNC_MODE_AUTO 0x00
+#define SYNC_MODE_INTERNAL 0x30
+#define SYNC_MODE_EXTERNAL 0x20
+#define VIDEO_MODE_PAL 0x40
+#define VIDEO_MODE_NTSC 0x00
+
+// video mode register 1 bits
+
+
+// duty cycle is on_off
+#define BLINK_DUTY_CYCLE_50_50 0x00
+#define BLINK_DUTY_CYCLE_33_66 0x01
+#define BLINK_DUTY_CYCLE_25_75 0x02
+#define BLINK_DUTY_CYCLE_75_25 0x03
+
+// blinking time
+#define BLINK_TIME_0 0x00
+#define BLINK_TIME_1 0x04
+#define BLINK_TIME_2 0x08
+#define BLINK_TIME_3 0x0C
+
+// background mode brightness (percent)
+#define BACKGROUND_BRIGHTNESS_0 0x00
+#define BACKGROUND_BRIGHTNESS_7 0x01
+#define BACKGROUND_BRIGHTNESS_14 0x02
+#define BACKGROUND_BRIGHTNESS_21 0x03
+#define BACKGROUND_BRIGHTNESS_28 0x04
+#define BACKGROUND_BRIGHTNESS_35 0x05
+#define BACKGROUND_BRIGHTNESS_42 0x06
+#define BACKGROUND_BRIGHTNESS_49 0x07
+
+#define BACKGROUND_MODE_GRAY 0x40
+
+//MAX7456 commands
+#define CLEAR_DISPLAY 0x04
+#define CLEAR_DISPLAY_VERT 0x06
+#define END_STRING 0xff
+
+
+#define MAX7456ADD_VM0          0x00  //0b0011100// 00 // 00             ,0011100
+#define MAX7456ADD_VM1          0x01
+#define MAX7456ADD_HOS          0x02
+#define MAX7456ADD_VOS          0x03
+#define MAX7456ADD_DMM          0x04
+#define MAX7456ADD_DMAH         0x05
+#define MAX7456ADD_DMAL         0x06
+#define MAX7456ADD_DMDI         0x07
+#define MAX7456ADD_CMM          0x08
+#define MAX7456ADD_CMAH         0x09
+#define MAX7456ADD_CMAL         0x0a
+#define MAX7456ADD_CMDI         0x0b
+#define MAX7456ADD_OSDM         0x0c
+#define MAX7456ADD_RB0          0x10
+#define MAX7456ADD_RB1          0x11
+#define MAX7456ADD_RB2          0x12
+#define MAX7456ADD_RB3          0x13
+#define MAX7456ADD_RB4          0x14
+#define MAX7456ADD_RB5          0x15
+#define MAX7456ADD_RB6          0x16
+#define MAX7456ADD_RB7          0x17
+#define MAX7456ADD_RB8          0x18
+#define MAX7456ADD_RB9          0x19
+#define MAX7456ADD_RB10         0x1a
+#define MAX7456ADD_RB11         0x1b
+#define MAX7456ADD_RB12         0x1c
+#define MAX7456ADD_RB13         0x1d
+#define MAX7456ADD_RB14         0x1e
+#define MAX7456ADD_RB15         0x1f
+#define MAX7456ADD_OSDBL        0x6c
+#define MAX7456ADD_STAT         0xA0
+
+#define NVM_RAM_SIZE            54
+#define WRITE_NVR               0xA0
+#define STATUS_REG_NVR_BUSY     0x20
+
+extern uint16_t max_screen_size;
+char screen[480];
+
+
+void max7456_init(uint8_t system);
+void max7456_draw_screen(void);
+void max7456_draw_screen_fast(void);
+void max7456_write_string(const char *string, int16_t address);
+void max7456_write_nvm(uint8_t char_address, uint8_t *font_data);
diff --git a/src/main/drivers/rtc6705.c b/src/main/drivers/rtc6705.c
new file mode 100644
index 0000000000..319430f526
--- /dev/null
+++ b/src/main/drivers/rtc6705.c
@@ -0,0 +1,151 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_RTC6705
+
+#include "drivers/bus_spi.h"
+#include "drivers/system.h"
+#include "drivers/gpio.h"
+
+#include "rtc6705.h"
+
+#define RTC6705_SPICLK_ON        GPIO_SetBits(RTC6705_SPICLK_GPIO,   RTC6705_SPICLK_PIN)
+#define RTC6705_SPICLK_OFF       GPIO_ResetBits(RTC6705_SPICLK_GPIO, RTC6705_SPICLK_PIN)
+
+#define RTC6705_SPIDATA_ON       GPIO_SetBits(RTC6705_SPIDATA_GPIO,   RTC6705_SPIDATA_PIN)
+#define RTC6705_SPIDATA_OFF      GPIO_ResetBits(RTC6705_SPIDATA_GPIO, RTC6705_SPIDATA_PIN)
+
+#define RTC6705_SPILE_ON         GPIO_SetBits(RTC6705_SPILE_GPIO,   RTC6705_SPILE_PIN)
+#define RTC6705_SPILE_OFF        GPIO_ResetBits(RTC6705_SPILE_GPIO, RTC6705_SPILE_PIN)
+
+char *vtx_bands[] = {
+    "BOSCAM A",
+    "BOSCAM B",
+    "BOSCAM E",
+    "FATSHARK",
+    "RACEBAND",
+};
+
+uint16_t vtx_freq[] =
+{
+    5865, 5845, 5825, 5805, 5785, 5765, 5745, 5725,
+    5733, 5752, 5771, 5790, 5809, 5828, 5847, 5866,
+    5705, 5685, 5665, 5645, 5885, 5905, 5925, 5945,
+    5740, 5760, 5780, 5800, 5820, 5840, 5860, 5880,
+    5658, 5695, 5732, 5769, 5806, 5843, 5880, 5917,
+};
+
+uint16_t current_vtx_channel;
+
+void rtc6705_init(void) {
+    gpio_config_t gpio;
+
+#ifdef STM32F303
+    #ifdef RTC6705_SPICLK_PERIPHERAL
+    RCC_AHBPeriphClockCmd(RTC6705_SPICLK_PERIPHERAL, ENABLE);
+    #endif
+    #ifdef RTC6705_SPILE_PERIPHERAL
+    RCC_AHBPeriphClockCmd(RTC6705_SPILE_PERIPHERAL, ENABLE);
+    #endif
+    #ifdef RTC6705_SPIDATA_PERIPHERAL
+    RCC_AHBPeriphClockCmd(RTC6705_SPIDATA_PERIPHERAL, ENABLE);
+    #endif
+#endif
+#ifdef STM32F10X
+    #ifdef RTC6705_SPICLK_PERIPHERAL
+    RCC_APB2PeriphClockCmd(RTC6705_SPICLK_PERIPHERAL, ENABLE);
+    #endif
+    #ifdef RTC6705_SPILE_PERIPHERAL
+    RCC_APB2PeriphClockCmd(RTC6705_SPILE_PERIPHERAL, ENABLE);
+    #endif
+    #ifdef RTC6705_SPIDATA_PERIPHERAL
+    RCC_APB2PeriphClockCmd(RTC6705_SPIDATA_PERIPHERAL, ENABLE);
+    #endif
+#endif
+
+    gpio.pin = RTC6705_SPICLK_PIN;
+    gpio.speed = Speed_50MHz;
+    gpio.mode = Mode_Out_PP;
+    gpioInit(RTC6705_SPICLK_GPIO, &gpio);
+
+    gpio.pin = RTC6705_SPILE_PIN;
+    gpio.speed = Speed_50MHz;
+    gpio.mode = Mode_Out_PP;
+    gpioInit(RTC6705_SPILE_GPIO, &gpio);
+
+    gpio.pin = RTC6705_SPIDATA_PIN;
+    gpio.speed = Speed_50MHz;
+    gpio.mode = Mode_Out_PP;
+    gpioInit(RTC6705_SPIDATA_GPIO, &gpio);
+}
+
+void rtc6705_write_register(uint8_t addr, uint32_t data) {
+    uint8_t i;
+
+    RTC6705_SPILE_OFF;
+    delay(1);
+    // send address
+    for (i=0; i<4; i++) {
+        if ((addr >> i) & 1)
+            RTC6705_SPIDATA_ON;
+        else
+            RTC6705_SPIDATA_OFF;
+
+        RTC6705_SPICLK_ON;
+        delay(1);
+        RTC6705_SPICLK_OFF;
+        delay(1);
+    }
+    // Write bit
+
+    RTC6705_SPIDATA_ON;
+    RTC6705_SPICLK_ON;
+    delay(1);
+    RTC6705_SPICLK_OFF;
+    delay(1);
+    for (i=0; i<20; i++) {
+        if ((data >> i) & 1)
+            RTC6705_SPIDATA_ON;
+        else
+            RTC6705_SPIDATA_OFF;
+        RTC6705_SPICLK_ON;
+        delay(1);
+        RTC6705_SPICLK_OFF;
+        delay(1);
+    }
+    RTC6705_SPILE_ON;
+}
+
+
+void rtc6705_set_channel(uint16_t channel_freq) {
+
+    uint32_t freq = (uint32_t)channel_freq * 1000;
+    uint32_t N, A;
+
+    freq /= 40;
+    N = freq / 64;
+    A = freq % 64;
+    rtc6705_write_register(0, 400);
+    rtc6705_write_register(1, (N << 7) | A);
+}
+#endif
diff --git a/src/main/drivers/rtc6705.h b/src/main/drivers/rtc6705.h
new file mode 100644
index 0000000000..511d090878
--- /dev/null
+++ b/src/main/drivers/rtc6705.h
@@ -0,0 +1,25 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+extern char* vtx_bands[];
+extern uint16_t vtx_freq[];
+extern uint16_t current_vtx_channel;
+
+void rtc6705_init(void);
+void rtc6705_set_channel(uint16_t channel_freq);
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 8828ba08b3..22c1c008d1 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -187,6 +187,8 @@ void writeServos(void);
 void filterServos(void);
 #endif
 
+bool motorLimitReached;
+
 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 bool motorLimitReached;
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
new file mode 100644
index 0000000000..1cae90f982
--- /dev/null
+++ b/src/main/io/osd.c
@@ -0,0 +1,711 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include "platform.h"
+#include "scheduler.h"
+
+#include "common/axis.h"
+#include "common/color.h"
+#include "common/atomic.h"
+#include "common/maths.h"
+#include "common/typeconversion.h"
+
+#include "drivers/nvic.h"
+
+#include "drivers/sensor.h"
+#include "drivers/system.h"
+#include "drivers/gpio.h"
+#include "drivers/light_led.h"
+#include "drivers/sound_beeper.h"
+#include "drivers/timer.h"
+#include "drivers/serial.h"
+#include "drivers/serial_softserial.h"
+#include "drivers/serial_uart.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/adc.h"
+#include "drivers/bus_i2c.h"
+#include "drivers/bus_bst.h"
+#include "drivers/bus_spi.h"
+#include "drivers/inverter.h"
+#include "drivers/flash_m25p16.h"
+#include "drivers/sonar_hcsr04.h"
+#include "drivers/gyro_sync.h"
+#include "drivers/usb_io.h"
+#include "drivers/transponder_ir.h"
+#include "drivers/sdcard.h"
+
+#include "rx/rx.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/flashfs.h"
+#include "io/gps.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/gimbal.h"
+#include "io/ledstrip.h"
+#include "io/display.h"
+#include "io/asyncfatfs/asyncfatfs.h"
+#include "io/transponder_ir.h"
+#include "io/osd.h"
+
+#include "sensors/sensors.h"
+#include "sensors/sonar.h"
+#include "sensors/barometer.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/gyro.h"
+#include "sensors/battery.h"
+#include "sensors/boardalignment.h"
+#include "sensors/initialisation.h"
+
+#include "telemetry/telemetry.h"
+#include "blackbox/blackbox.h"
+
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/failsafe.h"
+#include "flight/navigation.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+#ifdef USE_HARDWARE_REVISION_DETECTION
+#include "hardware_revision.h"
+#endif
+
+#include "build_config.h"
+#include "debug.h"
+
+#ifdef OSD
+
+#include "drivers/max7456.h"
+#include "drivers/rtc6705.h"
+#include "scheduler.h"
+#include "common/printf.h"
+
+#define MICROSECONDS_IN_A_SECOND (1000 * 1000)
+
+#define OSD_UPDATE_FREQUENCY (MICROSECONDS_IN_A_SECOND / 5)
+#define OSD_LINE_LENGTH 30
+
+#define STICKMIN 10
+#define STICKMAX 90
+
+
+static uint32_t next_osd_update_at = 0;
+static uint32_t armed_seconds = 0;
+static uint32_t armed_at = 0;
+static bool armed = false;
+
+static uint8_t current_page = 0;
+static uint8_t sticks[] = {0,0,0,0};
+static char string_buffer[30];
+static uint8_t cursor_row = 255;
+static uint8_t cursor_col = 0;
+static bool in_menu = false;
+static bool activating_menu = false;
+extern uint16_t rssi;
+
+
+#ifdef USE_RTC6705
+void update_vtx_band(bool increase, uint8_t col) {
+    (void)col;
+    if (increase) {
+        if (current_vtx_channel < 32)
+            current_vtx_channel += 8;
+    } else {
+        if (current_vtx_channel > 7)
+            current_vtx_channel -= 8;
+    }
+}
+
+void print_vtx_band(uint16_t pos, uint8_t col) {
+    (void)col;
+    sprintf(string_buffer,  "%s", vtx_bands[current_vtx_channel / 8]);
+    max7456_write_string(string_buffer, pos);
+}
+
+void update_vtx_channel(bool increase, uint8_t col) {
+    (void)col;
+    if (increase) {
+        if ((current_vtx_channel % 8) < 7)
+            current_vtx_channel++;
+    } else {
+        if ((current_vtx_channel % 8) > 0)
+            current_vtx_channel--;
+    }
+}
+
+void print_vtx_channel(uint16_t pos, uint8_t col) {
+    (void)col;
+    sprintf(string_buffer,  "%d", current_vtx_channel % 8 + 1);
+    max7456_write_string(string_buffer, pos);
+}
+
+void print_vtx_freq(uint16_t pos, uint8_t col) {
+    (void)col;
+    sprintf(string_buffer,  "%d M", vtx_freq[current_vtx_channel]);
+    max7456_write_string(string_buffer, pos);
+}
+#endif
+
+void print_pid(uint16_t pos, uint8_t col, int pid_term) {
+    switch(col) {
+        case 0:
+            sprintf(string_buffer, "%d", currentProfile->pidProfile.P8[pid_term]);
+            break;
+        case 1:
+            sprintf(string_buffer, "%d", currentProfile->pidProfile.I8[pid_term]);
+            break;
+        case 2:
+            sprintf(string_buffer, "%d", currentProfile->pidProfile.D8[pid_term]);
+            break;
+        default:
+            return;
+    }
+    max7456_write_string(string_buffer, pos);
+}
+
+void print_roll_pid(uint16_t pos, uint8_t col) {
+    print_pid(pos, col, ROLL);
+}
+
+void print_pitch_pid(uint16_t pos, uint8_t col) {
+    print_pid(pos, col, PITCH);
+}
+
+void print_yaw_pid(uint16_t pos, uint8_t col) {
+    print_pid(pos, col, YAW);
+}
+
+void print_roll_rate(uint16_t pos, uint8_t col) {
+    if (col == 0) {
+        sprintf(string_buffer, "%d", currentControlRateProfile->rates[FD_ROLL]);
+        max7456_write_string(string_buffer, pos);
+    }
+}
+
+void print_pitch_rate(uint16_t pos, uint8_t col) {
+    if (col == 0) {
+        sprintf(string_buffer, "%d", currentControlRateProfile->rates[FD_PITCH]);
+        max7456_write_string(string_buffer, pos);
+    }
+}
+
+void print_yaw_rate(uint16_t pos, uint8_t col) {
+    if (col == 0) {
+        sprintf(string_buffer, "%d", currentControlRateProfile->rates[FD_YAW]);
+        max7456_write_string(string_buffer, pos);
+    }
+}
+
+void print_tpa_rate(uint16_t pos, uint8_t col) {
+    if (col == 0) {
+        sprintf(string_buffer, "%d", currentControlRateProfile->dynThrPID);
+        max7456_write_string(string_buffer, pos);
+    }
+}
+
+void print_tpa_brkpt(uint16_t pos, uint8_t col) {
+    if (col == 0) {
+        sprintf(string_buffer, "%d", currentControlRateProfile->tpa_breakpoint);
+        max7456_write_string(string_buffer, pos);
+    }
+}
+
+void update_int_pid(bool inc, uint8_t col, int pid_term) {
+    void* ptr;
+    switch(col) {
+        case 0:
+            ptr = &currentProfile->pidProfile.P8[pid_term];
+            break;
+        case 1:
+            ptr = &currentProfile->pidProfile.I8[pid_term];
+            break;
+        case 2:
+            ptr = &currentProfile->pidProfile.D8[pid_term];
+            break;
+        default:
+            return;
+    }
+
+    if (inc) {
+        if (*(uint8_t*)ptr < 200)
+            *(uint8_t*)ptr += 1;
+    } else {
+        if (*(uint8_t*)ptr > 0)
+            *(uint8_t*)ptr -= 1;
+    }
+}
+
+void update_roll_pid(bool inc, uint8_t col) {
+    update_int_pid(inc, col, ROLL);
+}
+
+void update_pitch_pid(bool inc, uint8_t col) {
+    update_int_pid(inc, col, PITCH);
+}
+
+void update_yaw_pid(bool inc, uint8_t col) {
+    update_int_pid(inc, col, YAW);
+}
+
+void update_roll_rate(bool inc, uint8_t col) {
+    (void)col;
+    if (inc) {
+        if (currentControlRateProfile->rates[FD_ROLL] < CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX)
+            currentControlRateProfile->rates[FD_ROLL]++;
+    } else {
+        if (currentControlRateProfile->rates[FD_ROLL] > 0)
+            currentControlRateProfile->rates[FD_ROLL]--;
+    }
+}
+
+void update_pitch_rate(bool increase, uint8_t col) {
+    (void)col;
+    if (increase) {
+        if (currentControlRateProfile->rates[FD_PITCH] < CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX)
+            currentControlRateProfile->rates[FD_PITCH]++;
+    } else {
+        if (currentControlRateProfile->rates[FD_PITCH] > 0)
+            currentControlRateProfile->rates[FD_PITCH]--;
+    }
+}
+
+void update_yaw_rate(bool increase, uint8_t col) {
+    (void)col;
+    if (increase) {
+        if (currentControlRateProfile->rates[FD_YAW] < CONTROL_RATE_CONFIG_YAW_RATE_MAX)
+            currentControlRateProfile->rates[FD_YAW]++;
+    } else {
+        if (currentControlRateProfile->rates[FD_YAW] > 0)
+            currentControlRateProfile->rates[FD_YAW]--;
+    }
+}
+
+void update_tpa_rate(bool increase, uint8_t col) {
+    (void)col;
+    if (increase) {
+        if (currentControlRateProfile->dynThrPID < CONTROL_RATE_CONFIG_TPA_MAX)
+            currentControlRateProfile->dynThrPID++;
+    } else {
+        if (currentControlRateProfile->dynThrPID > 0)
+            currentControlRateProfile->dynThrPID--;
+    }
+}
+
+void update_tpa_brkpt(bool increase, uint8_t col) {
+    (void)col;
+    if (increase) {
+        if (currentControlRateProfile->tpa_breakpoint < PWM_RANGE_MAX)
+            currentControlRateProfile->tpa_breakpoint++;
+    } else {
+        if (currentControlRateProfile->tpa_breakpoint > PWM_RANGE_MIN)
+            currentControlRateProfile->tpa_breakpoint--;
+    }
+}
+
+void print_average_system_load(uint16_t pos, uint8_t col) {
+    (void)col;
+    sprintf(string_buffer, "%d", averageSystemLoadPercent);
+    max7456_write_string(string_buffer, pos);
+}
+
+void print_batt_voltage(uint16_t pos, uint8_t col) {
+    (void)col;
+    sprintf(string_buffer, "%d.%1d", vbat / 10, vbat % 10);
+    max7456_write_string(string_buffer, pos);
+}
+
+/*
+    TODO: add this to menu
+    { "rc_rate",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0,  250 } },
+    { "rc_expo",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0,  100 } },
+    { "rc_yaw_expo",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0,  100 } },
+    { "thr_mid",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0,  100 } },
+    { "thr_expo",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrExpo8, .config.minmax = { 0,  100 } },
+    { "acro_plus_factor",           VAR_UINT8  | MASTER_VALUE, &masterConfig.rxConfig.acroPlusFactor, .config.minmax = {1, 100 } },
+    { "acro_plus_offset",           VAR_UINT8  | MASTER_VALUE, &masterConfig.rxConfig.acroPlusOffset, .config.minmax = {1, 90 } },
+*/
+
+page_t menu_pages[] = {
+    {
+        .title = "STATUS",
+        .cols_number = 1,
+        .rows_number = 2,
+        .cols = {
+            {
+                .title = NULL,
+                .x_pos = 15
+            }
+        },
+        .rows = {
+            {
+                .title  = "AVG LOAD",
+                .update = NULL,
+                .print  = print_average_system_load
+            },
+            {
+                .title  = "BATT",
+                .update = NULL,
+                .print  = print_batt_voltage
+            },
+        }
+    },
+#ifdef USE_RTC6705
+    {
+        .title       = "VTX SETTINGS",
+        .cols_number = 1,
+        .rows_number = 3,
+        .cols = {
+            {
+                .title = NULL,
+                .x_pos = 15
+            }
+        },
+        .rows = {
+            {
+                .title  = "BAND",
+                .update = update_vtx_band,
+                .print  = print_vtx_band
+            },
+            {
+                .title  = "CHANNEL",
+                .update = update_vtx_channel,
+                .print  = print_vtx_channel
+            },
+            {
+                .title  = "FREQUENCY",
+                .update = NULL,
+                .print  = print_vtx_freq
+            }
+        }
+    },
+#endif
+    {
+        .title       = "PID SETTINGS",
+        .cols_number = 3,
+        .rows_number = 8,
+        .cols = {
+            {
+                .title = "P",
+                .x_pos = 13
+            },
+            {
+                .title = "I",
+                .x_pos = 19
+            },
+            {
+                .title = "D",
+                .x_pos = 25
+            }
+        },
+        .rows = {
+            {
+                .title  = "ROLL",
+                .update = update_roll_pid,
+                .print  = print_roll_pid
+            },
+            {
+                .title  = "PITCH",
+                .update = update_pitch_pid,
+                .print  = print_pitch_pid
+            },
+            {
+                .title  = "YAW",
+                .update = update_yaw_pid,
+                .print  = print_yaw_pid
+            },
+            {
+                .title  = "ROLL RATE",
+                .update = update_roll_rate,
+                .print  = print_roll_rate
+            },
+            {
+                .title  = "PITCH RATE",
+                .update = update_pitch_rate,
+                .print  = print_pitch_rate
+            },
+            {
+                .title  = "YAW RATE",
+                .update = update_yaw_rate,
+                .print  = print_yaw_rate
+            },
+            {
+                .title  = "TPA RATE",
+                .update = update_tpa_rate,
+                .print  = print_tpa_rate
+            },
+            {
+                .title  = "TPA BRKPT",
+                .update = update_tpa_brkpt,
+                .print  = print_tpa_brkpt
+            },
+        }
+    },
+};
+
+void show_menu(void) {
+    uint8_t line = 1;
+    uint16_t pos;
+    col_t *col;
+    row_t *row;
+    int16_t cursor_x = 0;
+    int16_t cursor_y = 0;
+
+    if (activating_menu) {
+        if (sticks[YAW] < 60 && sticks[YAW] > 40 && sticks[PITCH] > 40 && sticks[PITCH] < 60 && sticks[ROLL] > 40 && sticks[ROLL] < 60)
+            activating_menu = false;
+        else
+            return;
+    }
+
+    if (sticks[YAW] > STICKMAX && sticks[ROLL] > STICKMIN && sticks[ROLL] < STICKMAX && sticks[PITCH] > STICKMIN && sticks[PITCH] < STICKMAX) {
+        if (cursor_row > MAX_MENU_ROWS) {
+            switch(cursor_col) {
+                case 0:
+                    in_menu = false;
+                    break;
+                case 1:
+                    in_menu = false;
+#ifdef USE_RTC6705
+                    if (masterConfig.vtx_channel != current_vtx_channel) {
+                        masterConfig.vtx_channel = current_vtx_channel;
+                        rtc6705_set_channel(vtx_freq[current_vtx_channel]);
+                    }
+#endif
+                    writeEEPROM();
+                    break;
+                case 2:
+                    if (current_page < (sizeof(menu_pages) / sizeof(page_t) - 1))
+                        current_page++;
+                    else
+                        current_page = 0;
+            }
+        } else {
+            if (menu_pages[current_page].rows[cursor_row].update)
+                menu_pages[current_page].rows[cursor_row].update(true, cursor_col);
+        }
+    }
+
+    if (sticks[YAW] < STICKMIN && sticks[ROLL] > STICKMIN && sticks[ROLL] < STICKMAX && sticks[PITCH] > STICKMIN && sticks[PITCH] < STICKMAX) {
+        if (cursor_row > MAX_MENU_ROWS) {
+            if (cursor_col == 2 && current_page > 0) {
+                current_page--;
+            }
+        } else {
+            if (menu_pages[current_page].rows[cursor_row].update)
+                menu_pages[current_page].rows[cursor_row].update(false, cursor_col);
+        }
+    }
+
+    if (sticks[PITCH] > STICKMAX && sticks[YAW] > STICKMIN && sticks[YAW] < STICKMAX) {
+        if (cursor_row > MAX_MENU_ROWS) {
+            cursor_row = menu_pages[current_page].rows_number - 1;
+            cursor_col = 0;
+        } else {
+            if (cursor_row > 0)
+                cursor_row--;
+        }
+    }
+    if (sticks[PITCH] < STICKMIN && sticks[YAW] > STICKMIN && sticks[YAW] < STICKMAX) {
+        if (cursor_row < (menu_pages[current_page].rows_number - 1))
+            cursor_row++;
+        else
+            cursor_row = 255;
+    }
+    if (sticks[ROLL] > STICKMAX && sticks[YAW] > STICKMIN && sticks[YAW] < STICKMAX) {
+        if (cursor_row > MAX_MENU_ROWS) {
+            if (cursor_col < 2)
+                cursor_col++;
+        } else {
+            if (cursor_col < (menu_pages[current_page].cols_number - 1))
+                cursor_col++;
+        }
+    }
+    if (sticks[ROLL] < STICKMIN && sticks[YAW] > STICKMIN && sticks[YAW] < STICKMAX) {
+        if (cursor_col > 0)
+            cursor_col--;
+    }
+
+    if (cursor_row > MAX_MENU_ROWS) {
+        cursor_row = 255;
+        cursor_y = -1;
+        switch(cursor_col) {
+            case 0:
+                cursor_x = 0;
+                break;
+            case 1:
+                cursor_x = 9;
+                break;
+            case 2:
+                cursor_x = 23;
+                break;
+            default:
+                cursor_x = 0;
+        }
+    }
+
+    sprintf(string_buffer, "EXIT     SAVE+EXIT     PAGE");
+    max7456_write_string(string_buffer, -29);
+
+    pos = (OSD_LINE_LENGTH - strlen(menu_pages[current_page].title)) / 2 + line * OSD_LINE_LENGTH;
+    sprintf(string_buffer, "%s", menu_pages[current_page].title);
+    max7456_write_string(string_buffer, pos);
+
+    line += 2;
+
+    for (int i = 0; i < menu_pages[current_page].cols_number; i++){
+        col = &menu_pages[current_page].cols[i];
+        if (cursor_col == i && cursor_row < MAX_MENU_ROWS)
+            cursor_x = col->x_pos - 1;
+
+        if (col->title) {
+            sprintf(string_buffer, "%s", col->title);
+            max7456_write_string(string_buffer, line * OSD_LINE_LENGTH + col->x_pos);
+        }
+    }
+
+    line++;
+    for (int i = 0; i < menu_pages[current_page].rows_number; i++) {
+        row = &menu_pages[current_page].rows[i];
+        if (cursor_row == i)
+            cursor_y = line;
+
+        sprintf(string_buffer, "%s", row->title);
+        max7456_write_string(string_buffer, line * OSD_LINE_LENGTH + 1);
+        for (int j = 0; j < menu_pages[current_page].cols_number; j++) {
+            col = &menu_pages[current_page].cols[j];
+            row->print(line * OSD_LINE_LENGTH + col->x_pos, j);
+        }
+        line++;
+    }
+
+    max7456_write_string(">", cursor_x + cursor_y * OSD_LINE_LENGTH);
+}
+
+void updateOsd(void)
+{
+    static uint8_t skip = 0;
+    static bool blink = false;
+    static uint8_t arming = 0;
+    uint32_t seconds;
+    char line[30];
+    uint32_t now = micros();
+
+    bool updateNow = (int32_t)(now - next_osd_update_at) >= 0L;
+    if (!updateNow) {
+        return;
+    }
+    next_osd_update_at = now + OSD_UPDATE_FREQUENCY;
+    if ( !(skip % 2))
+        blink = !blink;
+
+    if (skip++ & 1) {
+        if (ARMING_FLAG(ARMED)) {
+            if (!armed) {
+                armed = true;
+                armed_at = now;
+                in_menu = false;
+                arming = 5;
+            }
+        } else {
+            if (armed) {
+                armed = false;
+                armed_seconds += ((now - armed_at) / 1000000);
+            }
+            for (uint8_t channelIndex = 0; channelIndex < 4; channelIndex++) {
+                sticks[channelIndex] = (constrain(rcData[channelIndex], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN);
+            }
+            if (!in_menu && sticks[YAW] > STICKMAX && sticks[THROTTLE] > STICKMIN && sticks[THROTTLE] < STICKMAX && sticks[ROLL] > STICKMIN && sticks[ROLL] < STICKMAX && sticks[PITCH] > STICKMAX) {
+                in_menu = true;
+                cursor_row = 255;
+                cursor_col = 2;
+                activating_menu = true;
+            }
+        }
+        if (in_menu) {
+            show_menu();
+        } else {
+            if (batteryWarningVoltage > vbat && blink && masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING] != -1) {
+                max7456_write_string("LOW VOLTAGE", masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING]);
+            }
+            if (arming && blink && masterConfig.osdProfile.item_pos[OSD_ARMED] != -1) {
+                max7456_write_string("ARMED", masterConfig.osdProfile.item_pos[OSD_ARMED]);
+                arming--;
+            }
+            if (!armed && masterConfig.osdProfile.item_pos[OSD_DISARMED] != -1) {
+                max7456_write_string("DISARMED", masterConfig.osdProfile.item_pos[OSD_DISARMED]);
+            }
+
+            if (masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE] != -1) {
+                sprintf(line, "\x01%d.%1d", vbat / 10, vbat % 10);
+                max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE]);
+            }
+            if (masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE] != -1) {
+                sprintf(line, "\x02%d", rssi / 10);
+                max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE]);
+            }
+            if (masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS] != -1) {
+                sprintf(line, "\x03%3d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
+                max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS]);
+            }
+            if (masterConfig.osdProfile.item_pos[OSD_TIMER] != -1) {
+                if (armed) {
+                    seconds = armed_seconds + ((now-armed_at) / 1000000);
+                    sprintf(line, "\x04 %02d:%02d", seconds / 60, seconds % 60);
+                } else {
+                    seconds = now  / 1000000;
+                    sprintf(line, "\x05 %02d:%02d", seconds / 60, seconds % 60);
+                }
+                max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_TIMER]);
+            }
+            if (masterConfig.osdProfile.item_pos[OSD_CPU_LOAD] != -1) {
+                print_average_system_load(masterConfig.osdProfile.item_pos[OSD_CPU_LOAD], 0);
+            }
+        }
+    } else {
+        max7456_draw_screen_fast();
+    }
+}
+
+
+void osdInit(void)
+{
+#ifdef USE_RTC6705
+    rtc6705_init();
+    current_vtx_channel = masterConfig.vtx_channel;
+    rtc6705_set_channel(vtx_freq[current_vtx_channel]);
+#endif
+    max7456_init(masterConfig.osdProfile.system);
+
+}
+
+#endif
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
new file mode 100644
index 0000000000..c72a417761
--- /dev/null
+++ b/src/main/io/osd.h
@@ -0,0 +1,61 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#define MAX_MENU_ROWS 8
+#define MAX_MENU_COLS 3
+
+typedef struct {
+    const char* title;
+    uint8_t x_pos;
+} col_t;
+
+typedef struct {
+    const char* title;
+    void (*update)(bool increase, uint8_t col);
+    void (*print)(uint16_t pos, uint8_t col);
+} row_t;
+
+typedef struct {
+    const char* title;
+    uint8_t     cols_number;
+    uint8_t     rows_number;
+    col_t       cols[MAX_MENU_COLS];
+    row_t       rows[MAX_MENU_ROWS];
+} page_t;
+
+
+typedef enum {
+    OSD_MAIN_BATT_VOLTAGE,
+    OSD_RSSI_VALUE,
+    OSD_TIMER,
+    OSD_THROTTLE_POS,
+    OSD_CPU_LOAD,
+    OSD_VTX_CHANNEL,
+    OSD_VOLTAGE_WARNING,
+    OSD_ARMED,
+    OSD_DISARMED,
+    OSD_MAX_ITEMS, // MUST BE LAST
+} osd_items;
+
+
+typedef struct {
+    uint8_t system;
+    int16_t item_pos[OSD_MAX_ITEMS];
+} osd_profile;
+
+void updateOsd(void);
+void osdInit(void);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 2ea0b022fc..bba0361042 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -60,6 +60,7 @@
 #include "io/flashfs.h"
 #include "io/beeper.h"
 #include "io/asyncfatfs/asyncfatfs.h"
+#include "io/osd.h"
 #include "io/vtx.h"
 
 #include "rx/rx.h"
@@ -446,6 +447,13 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
     "AIRMODE",
     "PIDLOOP",
 };
+#ifdef OSD
+static const char * const lookupTableOsdType[] = {
+    "AUTO",
+    "PAL",
+    "NTSC"
+};
+#endif
 
 static const char * const lookupTableSuperExpoYaw[] = {
     "OFF", "ON", "ALWAYS"
@@ -482,6 +490,9 @@ typedef enum {
 	TABLE_DEBUG,
     TABLE_SUPEREXPO_YAW,
     TABLE_MOTOR_PWM_PROTOCOL,
+#ifdef OSD
+    TABLE_OSD,
+#endif
 } lookupTableIndex_e;
 
 static const lookupTableEntry_t lookupTables[] = {
@@ -506,6 +517,9 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
     { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
     { lookupTableFastPwm, sizeof(lookupTableFastPwm) / sizeof(char *) },
+#ifdef OSD
+    { lookupTableOsdType, sizeof(lookupTableOsdType) / sizeof(char *) },
+#endif
 };
 
 #define VALUE_TYPE_OFFSET 0
@@ -786,6 +800,21 @@ const clivalue_t valueTable[] = {
 #ifdef LED_STRIP
     { "ledstrip_visual_beeper",      VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },
 #endif
+#ifdef USE_RTC6705
+    { "vtx_channel",                VAR_INT16  | MASTER_VALUE, &masterConfig.vtx_channel, .config.minmax = { 0,  39 } },
+#endif
+#ifdef OSD
+    { "osd_system",                 VAR_UINT8  | MASTER_VALUE, &masterConfig.osdProfile.system, .config.minmax = { 0, 2 } },
+    { "osd_main_voltage_pos",       VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE], .config.minmax = { -480, 480 } },
+    { "osd_rssi_pos",               VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE], .config.minmax = { -480, 480 } },
+    { "osd_timer_pos",              VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_TIMER], .config.minmax = { -480, 480 } },
+    { "osd_throttle_pos",           VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS], .config.minmax = { -480, 480 } },
+    { "osd_cpu_load_pos",           VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_CPU_LOAD], .config.minmax = { -480, 480 } },
+    { "osd_vtx_channel_pos",        VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_VTX_CHANNEL], .config.minmax = { -480, 480 } },
+    { "osd_voltage_warning_pos",    VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING], .config.minmax = { -480, 480 } },
+    { "osd_armed_pos",              VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_ARMED], .config.minmax = { -480, 480 } },
+    { "osd_disarmed_pos",           VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_DISARMED], .config.minmax = { -480, 480 } },
+#endif
 };
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 31756bbe08..1eb219ab1f 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -44,6 +44,8 @@
 #include "drivers/gyro_sync.h"
 #include "drivers/sdcard.h"
 #include "drivers/buf_writer.h"
+#include "drivers/max7456.h"
+#include "drivers/rtc6705.h"
 #include "rx/rx.h"
 #include "rx/msp.h"
 
@@ -57,6 +59,7 @@
 #include "io/flashfs.h"
 #include "io/transponder_ir.h"
 #include "io/asyncfatfs/asyncfatfs.h"
+#include "io/osd.h"
 #include "io/vtx.h"
 
 #include "telemetry/telemetry.h"
@@ -1255,7 +1258,9 @@ static bool processInCommand(void)
     uint8_t wp_no;
     int32_t lat = 0, lon = 0, alt = 0;
 #endif
-
+#ifdef OSD
+    uint8_t addr, font_data[64];
+#endif
     switch (currentPort->cmdMSP) {
     case MSP_SELECT_SETTING:
         if (!ARMING_FLAG(ARMED)) {
@@ -1516,6 +1521,32 @@ static bool processInCommand(void)
         transponderUpdateData(masterConfig.transponderData);
         break;
 #endif
+#ifdef OSD
+    case MSP_SET_OSD_CONFIG:
+        masterConfig.osdProfile.system = read8();
+        for (i = 0; i < OSD_MAX_ITEMS; i++)
+            masterConfig.osdProfile.item_pos[i] = read16();
+        break;
+    case MSP_OSD_CHAR_WRITE:
+        addr = read8();
+        for (i = 0; i < 54; i++) {
+            font_data[i] = read8();
+        }
+        max7456_write_nvm(addr, font_data);
+        break;
+#endif
+
+#ifdef USE_RTC6705
+    case MSP_SET_VTX_CONFIG:
+        tmp = read16();
+        if  (tmp < 40)
+            masterConfig.vtx_channel = tmp;
+        if (current_vtx_channel != masterConfig.vtx_channel) {
+            current_vtx_channel = masterConfig.vtx_channel;
+            rtc6705_set_channel(vtx_freq[current_vtx_channel]);
+        }
+        break;
+#endif
 
 #ifdef USE_FLASHFS
     case MSP_DATAFLASH_ERASE:
diff --git a/src/main/io/serial_msp.h b/src/main/io/serial_msp.h
index c1041cf618..7db0e06942 100644
--- a/src/main/io/serial_msp.h
+++ b/src/main/io/serial_msp.h
@@ -168,6 +168,15 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 #define MSP_TRANSPONDER_CONFIG          82 //in message          Get transponder settings
 #define MSP_SET_TRANSPONDER_CONFIG      83 //out message         Set transponder settings
 
+#define MSP_OSD_CONFIG                  84 //in message          Get osd settings
+#define MSP_SET_OSD_CONFIG              85 //out message         Set osd settings
+
+#define MSP_OSD_CHAR_READ               86 //in message          Get osd settings
+#define MSP_OSD_CHAR_WRITE              87 //out message         Set osd settings
+
+#define MSP_VTX_CONFIG                  88 //in message          Get vtx settings
+#define MSP_SET_VTX_CONFIG              89 //out message         Set vtx settings
+
 //
 // Baseflight MSP commands (if enabled they exist in Cleanflight)
 //
diff --git a/src/main/main.c b/src/main/main.c
index 2a08223606..d175872d6a 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -72,6 +72,7 @@
 #include "io/display.h"
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/transponder_ir.h"
+#include "io/osd.h"
 #include "io/vtx.h"
 
 #include "sensors/sensors.h"
@@ -134,6 +135,7 @@ void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
 void spektrumBind(rxConfig_t *rxConfig);
 const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
 void sonarInit(const sonarHardware_t *sonarHardware);
+void osdInit(void);
 
 typedef enum {
     SYSTEM_STATE_INITIALISING   = 0,
@@ -467,6 +469,12 @@ void init(void)
     }
 #endif
 
+#ifdef OSD
+    if (feature(FEATURE_OSD)) {
+        osdInit();
+    }
+#endif
+
     if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
                 masterConfig.acc_hardware, 
                 masterConfig.mag_hardware, 
@@ -737,6 +745,9 @@ void main_init(void)
 #ifdef TRANSPONDER
     setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
 #endif
+#ifdef OSD
+    setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
+#endif
 #ifdef USE_BST
     setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
 #endif
diff --git a/src/main/mw.c b/src/main/mw.c
index 717dc10e8b..a52258129e 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -65,6 +65,8 @@
 #include "io/statusindicator.h"
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/transponder_ir.h"
+#include "io/osd.h"
+
 #include "io/vtx.h"
 
 #include "rx/rx.h"
@@ -963,3 +965,12 @@ void taskTransponder(void)
     }
 }
 #endif
+
+#ifdef OSD
+void taskUpdateOsd(void)
+{
+    if (feature(FEATURE_OSD)) {
+        updateOsd();
+    }
+}
+#endif
diff --git a/src/main/scheduler.h b/src/main/scheduler.h
index 237776c259..c55bbaeb05 100755
--- a/src/main/scheduler.h
+++ b/src/main/scheduler.h
@@ -79,7 +79,9 @@ typedef enum {
 #ifdef TRANSPONDER
     TASK_TRANSPONDER,
 #endif
-
+#ifdef OSD
+    TASK_OSD,
+#endif
 #ifdef USE_BST
     TASK_BST_MASTER_PROCESS,
 #endif
diff --git a/src/main/scheduler_tasks.c b/src/main/scheduler_tasks.c
index c2b949259a..393f6d2c0e 100644
--- a/src/main/scheduler_tasks.c
+++ b/src/main/scheduler_tasks.c
@@ -40,6 +40,9 @@ void taskUpdateDisplay(void);
 void taskTelemetry(void);
 void taskLedStrip(void);
 void taskTransponder(void);
+#ifdef OSD
+void taskUpdateOsd(void);
+#endif
 #ifdef USE_BST
 void taskBstReadWrite(void);
 void taskBstMasterProcess(void);
@@ -168,7 +171,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .staticPriority = TASK_PRIORITY_LOW,
     },
 #endif
-
+#ifdef OSD
+    [TASK_OSD] = {
+        .taskName = "OSD",
+        .taskFunc = taskUpdateOsd,
+        .desiredPeriod = 1000000 / 60,          // 60 Hz
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+#endif
 #ifdef TELEMETRY
     [TASK_TELEMETRY] = {
         .taskName = "TELEMETRY",
diff --git a/src/main/target/ALIENFLIGHTF3/target.mk b/src/main/target/ALIENFLIGHTF3/target.mk
new file mode 100644
index 0000000000..8c802ecd82
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF3/target.mk
@@ -0,0 +1,12 @@
+FEATURES    = VCP
+F3_TARGETS += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/compass_ak8963.c \
+            hardware_revision.c \
+            drivers/sonar_hcsr04.c 
diff --git a/src/main/target/ALIENFLIGHTF4/target.mk b/src/main/target/ALIENFLIGHTF4/target.mk
new file mode 100644
index 0000000000..b3c825022c
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF4/target.mk
@@ -0,0 +1,13 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += SDCARD VCP
+
+TARGET_SRC = \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_spi_mpu9250.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8963.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c 
diff --git a/src/main/target/BLUEJAYF4/target.mk b/src/main/target/BLUEJAYF4/target.mk
new file mode 100644
index 0000000000..d511472a59
--- /dev/null
+++ b/src/main/target/BLUEJAYF4/target.mk
@@ -0,0 +1,7 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += SDCARD VCP
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/barometer_ms5611.c 
diff --git a/src/main/target/CC3D/CC3D_OPBL.mk b/src/main/target/CC3D/CC3D_OPBL.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/CC3D/target.mk b/src/main/target/CC3D/target.mk
new file mode 100644
index 0000000000..238eb49068
--- /dev/null
+++ b/src/main/target/CC3D/target.mk
@@ -0,0 +1,13 @@
+FEATURES     = ONBOARDFLASH HIGHEND VCP
+F1_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c 
diff --git a/src/main/target/CHEBUZZF3/target.h b/src/main/target/CHEBUZZF3/target.h
index 8ec0b6b6df..29d60c5491 100644
--- a/src/main/target/CHEBUZZF3/target.h
+++ b/src/main/target/CHEBUZZF3/target.h
@@ -14,13 +14,16 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
-
 #pragma once
 
 #define TARGET_BOARD_IDENTIFIER "CHF3" // Chebuzz F3
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
+#ifndef STM32F3DISCOVERY
+#define STM32F3DISCOVERY
+#endif 
+ 
 #define LED0    PE8 // Blue LEDs - PE8/PE12
 #define LED0_INVERTED
 #define LED1    PE10  // Orange LEDs - PE10/PE14
diff --git a/src/main/target/CHEBUZZF3/target.mk b/src/main/target/CHEBUZZF3/target.mk
new file mode 100644
index 0000000000..8f0ecfe74b
--- /dev/null
+++ b/src/main/target/CHEBUZZF3/target.mk
@@ -0,0 +1,18 @@
+FEATURES    = VCP SDCARD
+F3_TARGETS += $(TARGET)
+
+TARGET_SRC = \
+            drivers/light_ws2811strip.c \
+            drivers/accgyro_l3gd20.c \
+            drivers/accgyro_lsm303dlhc.c \
+            drivers/compass_hmc5883l.c \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/barometer_ms5611.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c 
diff --git a/src/main/target/CJMCU/target.h b/src/main/target/CJMCU/target.h
index b4cfd23a9f..3b79c9754f 100644
--- a/src/main/target/CJMCU/target.h
+++ b/src/main/target/CJMCU/target.h
@@ -52,12 +52,12 @@
 #define BIND_PIN   PA3
 
 
-
 #if (FLASH_SIZE > 64)
 #define BLACKBOX
 #define USE_SERVOS
 #else
 // Since the CJMCU PCB has holes for 4 motors in each corner we can save same flash space by disabling support for other mixers.
+#undef USE_CLI
 #define USE_QUAD_MIXER_ONLY
 #define SKIP_TASK_STATISTICS
 #define SKIP_CLI_COMMAND_HELP
diff --git a/src/main/target/CJMCU/target.mk b/src/main/target/CJMCU/target.mk
new file mode 100644
index 0000000000..64a0ebfc02
--- /dev/null
+++ b/src/main/target/CJMCU/target.mk
@@ -0,0 +1,11 @@
+FLASH_SIZE = 64
+F1_TARGETS += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/compass_hmc5883l.c \
+            hardware_revision.c \
+            flight/gtune.c \
+            blackbox/blackbox.c \
+            blackbox/blackbox_io.c 
diff --git a/src/main/target/COLIBRI_RACE/target.mk b/src/main/target/COLIBRI_RACE/target.mk
new file mode 100644
index 0000000000..e029261d0b
--- /dev/null
+++ b/src/main/target/COLIBRI_RACE/target.mk
@@ -0,0 +1,17 @@
+FEATURES     = VCP 
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            io/i2c_bst.c \
+            drivers/bus_bst_stm32f30x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8963.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c 
diff --git a/src/main/target/DOGE/target.mk b/src/main/target/DOGE/target.mk
new file mode 100644
index 0000000000..47c076c140
--- /dev/null
+++ b/src/main/target/DOGE/target.mk
@@ -0,0 +1,15 @@
+FEATURES     = VCP 
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_spi_bmp280.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c 
+
+
+
+
diff --git a/src/main/target/EUSTM32F103RC/target.mk b/src/main/target/EUSTM32F103RC/target.mk
new file mode 100644
index 0000000000..1801357a01
--- /dev/null
+++ b/src/main/target/EUSTM32F103RC/target.mk
@@ -0,0 +1,23 @@
+FEATURES     = ONBOARDFLASH HIGHEND 
+F1_TARGETS  += $(TARGET)
+
+DEVICE_FLAGS    = -DSTM32F10X_HD
+
+TARGET_SRC = \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c
diff --git a/src/main/target/FURYF3/target.mk b/src/main/target/FURYF3/target.mk
new file mode 100644
index 0000000000..c947d79f2e
--- /dev/null
+++ b/src/main/target/FURYF3/target.mk
@@ -0,0 +1,15 @@
+FEATURES    = VCP SDCARD ONBOARDFLASH
+F3_TARGETS += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/barometer_ms5611.c \
+            drivers/barometer_bmp280.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/sonar_hcsr04.c \
+            drivers/serial_softserial.c 
+
diff --git a/src/main/target/FURYF4/target.mk b/src/main/target/FURYF4/target.mk
new file mode 100644
index 0000000000..c6c3a15733
--- /dev/null
+++ b/src/main/target/FURYF4/target.mk
@@ -0,0 +1,8 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += SDCARD VCP
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/barometer_ms5611.c 
diff --git a/src/main/target/IRCFUSIONF3/target.mk b/src/main/target/IRCFUSIONF3/target.mk
new file mode 100644
index 0000000000..c58c12fbd6
--- /dev/null
+++ b/src/main/target/IRCFUSIONF3/target.mk
@@ -0,0 +1,8 @@
+FEATURES     = VCP ONBOARDFLASH
+F3_TARGETS  += $(TARGET)
+TARGET_FLAGS = -DSPRACINGF3
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_bmp085.c 
\ No newline at end of file
diff --git a/src/main/target/KISSFC/target.mk b/src/main/target/KISSFC/target.mk
new file mode 100644
index 0000000000..6e198e8559
--- /dev/null
+++ b/src/main/target/KISSFC/target.mk
@@ -0,0 +1,10 @@
+FEATURES     = VCP 
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+		   drivers/accgyro_mpu.c \
+		   drivers/display_ug2864hsweg01.c \
+		   drivers/accgyro_mpu6050.c 
+
+
+
diff --git a/src/main/target/LUX_RACE/target.mk b/src/main/target/LUX_RACE/target.mk
new file mode 100644
index 0000000000..1862327175
--- /dev/null
+++ b/src/main/target/LUX_RACE/target.mk
@@ -0,0 +1,14 @@
+FEATURES     = VCP 
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c
+
+
+
+
diff --git a/src/main/target/MOTOLAB/target.mk b/src/main/target/MOTOLAB/target.mk
new file mode 100644
index 0000000000..f2d22aa0ea
--- /dev/null
+++ b/src/main/target/MOTOLAB/target.mk
@@ -0,0 +1,15 @@
+FEATURES     = VCP ONBOARDFLASH
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c 
+
+
+
diff --git a/src/main/target/NAZE/ALIENFLIGHTF1.mk b/src/main/target/NAZE/ALIENFLIGHTF1.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/NAZE/target.mk b/src/main/target/NAZE/target.mk
new file mode 100644
index 0000000000..a73a30ea5d
--- /dev/null
+++ b/src/main/target/NAZE/target.mk
@@ -0,0 +1,21 @@
+FEATURES     = ONBOARDFLASH HIGHEND 
+F1_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c \
+            hardware_revision.c
\ No newline at end of file
diff --git a/src/main/target/NAZE32PRO/target.mk b/src/main/target/NAZE32PRO/target.mk
new file mode 100644
index 0000000000..7239854ce6
--- /dev/null
+++ b/src/main/target/NAZE32PRO/target.mk
@@ -0,0 +1,4 @@
+FEATURES     = VCP 
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
\ No newline at end of file
diff --git a/src/main/target/OLIMEXINO/target.mk b/src/main/target/OLIMEXINO/target.mk
new file mode 100644
index 0000000000..bda4796ed1
--- /dev/null
+++ b/src/main/target/OLIMEXINO/target.mk
@@ -0,0 +1,12 @@
+FEATURES     = HIGHEND 
+F1_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c 
\ No newline at end of file
diff --git a/src/main/target/PORT103R/target.mk b/src/main/target/PORT103R/target.mk
new file mode 100644
index 0000000000..1801357a01
--- /dev/null
+++ b/src/main/target/PORT103R/target.mk
@@ -0,0 +1,23 @@
+FEATURES     = ONBOARDFLASH HIGHEND 
+F1_TARGETS  += $(TARGET)
+
+DEVICE_FLAGS    = -DSTM32F10X_HD
+
+TARGET_SRC = \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c
diff --git a/src/main/target/REVO/REVO_OPBL.mk b/src/main/target/REVO/REVO_OPBL.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/REVO/target.mk b/src/main/target/REVO/target.mk
new file mode 100644
index 0000000000..148ad83183
--- /dev/null
+++ b/src/main/target/REVO/target.mk
@@ -0,0 +1,8 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c 
+
diff --git a/src/main/target/RMDO/target.mk b/src/main/target/RMDO/target.mk
new file mode 100644
index 0000000000..c3796b11d8
--- /dev/null
+++ b/src/main/target/RMDO/target.mk
@@ -0,0 +1,13 @@
+FEATURES     = VCP ONBOARDFLASH
+F3_TARGETS  += $(TARGET)
+TARGET_FLAGS = -DSPRACINGF3
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_bmp280.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/sonar_hcsr04.c 
+
diff --git a/src/main/target/SINGULARITY/target.mk b/src/main/target/SINGULARITY/target.mk
new file mode 100644
index 0000000000..300133e12a
--- /dev/null
+++ b/src/main/target/SINGULARITY/target.mk
@@ -0,0 +1,12 @@
+FEATURES     = VCP ONBOARDFLASH
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/vtx_rtc6705.c
+
+
diff --git a/src/main/target/SIRINFPV/target.c b/src/main/target/SIRINFPV/target.c
new file mode 100644
index 0000000000..4ccf123ea2
--- /dev/null
+++ b/src/main/target/SIRINFPV/target.c
@@ -0,0 +1,62 @@
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+    // No PPM
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    // No PPM
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+
+    { TIM4,  GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_2, 0}, // PWM1 - PB6
+    { TIM4,  GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_2, 0}, // PWM2 - PB6
+    { TIM4,  GPIOB, Pin_8,  TIM_Channel_3, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource8,  GPIO_AF_2, 0},  // PWM3 - PB8
+    { TIM4,  GPIOB, Pin_9,  TIM_Channel_4, TIM4_IRQn,               1, Mode_AF_PP, GPIO_PinSource9,  GPIO_AF_2, 0},  // PWM4 - PB9
+
+    { TIM3,  GPIOB, Pin_0,  TIM_Channel_3, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource0,  GPIO_AF_2, 0}, // PWM5 - PB0  - *TIM3_CH3
+    { TIM3,  GPIOB, Pin_1,  TIM_Channel_4, TIM3_IRQn,               1, Mode_AF_PP, GPIO_PinSource1,  GPIO_AF_2, 0}, // PWM6 - PB1  - *TIM3_CH4
+
+};
+
+
diff --git a/src/main/target/SIRINFPV/target.h b/src/main/target/SIRINFPV/target.h
new file mode 100644
index 0000000000..0fb5ac2fdb
--- /dev/null
+++ b/src/main/target/SIRINFPV/target.h
@@ -0,0 +1,182 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "SIRF"
+
+#define LED0                            PB2
+#define BEEPER                          PA1
+
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU_INT
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+#define MPU_INT_EXTI                    PA8
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+
+// MPU6000
+#define ACC_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN CW180_DEG
+
+#define MPU6000_CS_PIN                  PA4
+#define MPU6000_SPI_INSTANCE            SPI1
+
+// MPU6500
+#define ACC_MPU6500_ALIGN               CW90_DEG
+#define GYRO_MPU6500_ALIGN              CW90_DEG
+
+#define MPU6500_CS_PIN                  PA4
+#define MPU6500_SPI_INSTANCE            SPI1
+
+#define USB_IO
+
+#define USE_VCP
+#define USE_USART1
+#define USE_USART2
+#define USE_USART3
+#define SERIAL_PORT_COUNT 4
+
+#ifndef UART1_GPIO
+#define UART1_TX_PIN        GPIO_Pin_9  // PA9
+#define UART1_RX_PIN        GPIO_Pin_10 // PA10
+#define UART1_GPIO          GPIOA
+#define UART1_GPIO_AF       GPIO_AF_7
+#define UART1_TX_PINSOURCE  GPIO_PinSource9
+#define UART1_RX_PINSOURCE  GPIO_PinSource10
+#endif
+
+#define UART2_TX_PIN        GPIO_Pin_2 // PA14 / SWCLK
+#define UART2_RX_PIN        GPIO_Pin_3 // PA15
+#define UART2_GPIO          GPIOA
+#define UART2_GPIO_AF       GPIO_AF_7
+#define UART2_TX_PINSOURCE  GPIO_PinSource2
+#define UART2_RX_PINSOURCE  GPIO_PinSource3
+
+#ifndef UART3_GPIO
+#define UART3_TX_PIN        GPIO_Pin_10 // PB10 (AF7)
+#define UART3_RX_PIN        GPIO_Pin_11 // PB11 (AF7)
+#define UART3_GPIO_AF       GPIO_AF_7
+#define UART3_GPIO          GPIOB
+#define UART3_TX_PINSOURCE  GPIO_PinSource10
+#define UART3_RX_PINSOURCE  GPIO_PinSource11
+#endif
+
+#undef  USE_I2C
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+#define USE_SPI_DEVICE_3
+
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define SPI3_NSS_PIN            PA15
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+#define USE_MAX7456
+#define MAX7456_CS_GPIO          GPIOA
+#define MAX7456_CS_PIN           GPIO_Pin_15
+#define MAX7456_SPI_INSTANCE     SPI3
+
+#define USE_RTC6705
+#define RTC6705_SPIDATA_GPIO        GPIOC
+#define RTC6705_SPIDATA_PIN         Pin_15
+#define RTC6705_SPIDATA_PERIPHERAL  RCC_AHBPeriph_GPIOC
+#define RTC6705_SPILE_GPIO          GPIOC
+#define RTC6705_SPILE_PIN           Pin_14
+#define RTC6705_SPILE_PERIPHERAL    RCC_AHBPeriph_GPIOC
+#define RTC6705_SPICLK_GPIO         GPIOC
+#define RTC6705_SPICLK_PIN          Pin_13
+#define RTC6705_SPICLK_PERIPHERAL   RCC_AHBPeriph_GPIOC
+
+#define USE_SDCARD
+#define USE_SDCARD_SPI2
+
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_GPIO                  SPI2_GPIO
+#define SDCARD_SPI_CS_PIN                   SPI2_NSS_PIN
+
+// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     2
+
+// Note, this is the same DMA channel as USART1_RX. Luckily we don't use DMA for USART Rx.
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Channel5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
+
+// Performance logging for SD card operations:
+// #define AFATFS_USE_INTROSPECTIVE_LOGGING
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+
+#define ADC_INSTANCE                ADC1
+#define ADC_DMA_CHANNEL             DMA1_Channel1
+#define ADC_AHB_PERIPHERAL          RCC_AHBPeriph_DMA1
+
+#define VBAT_ADC_GPIO               GPIOA
+#define VBAT_ADC_GPIO_PIN           GPIO_Pin_0
+#define VBAT_ADC_CHANNEL            ADC_Channel_1
+
+//#define USE_QUAD_MIXER_ONLY
+#define BLACKBOX
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#define TELEMETRY
+#define SERIAL_RX
+#define USE_CLI
+#define OSD
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
+
+#define USE_SERVOS
+#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 6
+#define USED_TIMERS  (TIM_N(3) | TIM_N(4))
+#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
+#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOB)
+
diff --git a/src/main/target/SIRINFPV/target.mk b/src/main/target/SIRINFPV/target.mk
new file mode 100644
index 0000000000..a4543b227c
--- /dev/null
+++ b/src/main/target/SIRINFPV/target.mk
@@ -0,0 +1,16 @@
+FEATURES    = VCP SDCARD MAX_OSD
+F3_TARGETS += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/flash_m25p16.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/rtc6705.c
+
diff --git a/src/main/target/SPARKY/target.mk b/src/main/target/SPARKY/target.mk
new file mode 100644
index 0000000000..f02f23ce1b
--- /dev/null
+++ b/src/main/target/SPARKY/target.mk
@@ -0,0 +1,14 @@
+FEATURES     = VCP 
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_ms5611.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c 
+
+
+
diff --git a/src/main/target/SPRACINGF3/target.mk b/src/main/target/SPRACINGF3/target.mk
new file mode 100644
index 0000000000..747e55ea36
--- /dev/null
+++ b/src/main/target/SPRACINGF3/target.mk
@@ -0,0 +1,15 @@
+FEATURES     = VCP ONBOARDFLASH
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_ms5611.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/sonar_hcsr04.c 
diff --git a/src/main/target/SPRACINGF3EVO/target.mk b/src/main/target/SPRACINGF3EVO/target.mk
new file mode 100644
index 0000000000..ef081538ba
--- /dev/null
+++ b/src/main/target/SPRACINGF3EVO/target.mk
@@ -0,0 +1,16 @@
+FEATURES     = VCP SDCARD
+F3_TARGETS  += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8963.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_usb_vcp.c \
+            drivers/transponder_ir.c \
+            drivers/transponder_ir_stm32f30x.c \
+            io/transponder_ir.c 
+
diff --git a/src/main/target/SPRACINGF3MINI/target.mk b/src/main/target/SPRACINGF3MINI/target.mk
new file mode 100644
index 0000000000..4906d10d42
--- /dev/null
+++ b/src/main/target/SPRACINGF3MINI/target.mk
@@ -0,0 +1,19 @@
+FEATURES    = VCP SDCARD 
+F3_TARGETS += $(TARGET)
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/flash_m25p16.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/serial_usb_vcp.c \
+            drivers/sonar_hcsr04.c \
+            drivers/transponder_ir.c \
+            drivers/transponder_ir_stm32f30x.c \
+            io/transponder_ir.c 
+
diff --git a/src/main/target/STM32F3DISCOVERY/target.mk b/src/main/target/STM32F3DISCOVERY/target.mk
new file mode 100644
index 0000000000..8f0ecfe74b
--- /dev/null
+++ b/src/main/target/STM32F3DISCOVERY/target.mk
@@ -0,0 +1,18 @@
+FEATURES    = VCP SDCARD
+F3_TARGETS += $(TARGET)
+
+TARGET_SRC = \
+            drivers/light_ws2811strip.c \
+            drivers/accgyro_l3gd20.c \
+            drivers/accgyro_lsm303dlhc.c \
+            drivers/compass_hmc5883l.c \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/barometer_ms5611.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c 
diff --git a/src/main/target/stm32_flash_f405_bl.ld b/src/main/target/stm32_flash_f405_opbl.ld
similarity index 100%
rename from src/main/target/stm32_flash_f405_bl.ld
rename to src/main/target/stm32_flash_f405_opbl.ld
diff --git a/src/main/target/stm32_flash_f411_bl.ld b/src/main/target/stm32_flash_f411_opbl.ld
similarity index 100%
rename from src/main/target/stm32_flash_f411_bl.ld
rename to src/main/target/stm32_flash_f411_opbl.ld
diff --git a/src/main/telemetry/ltm.c b/src/main/telemetry/ltm.c
index ad184b5aa6..fd775c8773 100644
--- a/src/main/telemetry/ltm.c
+++ b/src/main/telemetry/ltm.c
@@ -62,6 +62,7 @@
 #include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/beeper.h"
+#include "io/osd.h"
 #include "io/vtx.h"
 
 #include "rx/rx.h"
diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c
index 47685ab0a8..36b7c95569 100644
--- a/src/main/telemetry/smartport.c
+++ b/src/main/telemetry/smartport.c
@@ -37,6 +37,7 @@
 #include "io/gimbal.h"
 #include "io/serial.h"
 #include "io/ledstrip.h"
+#include "io/osd.h"
 #include "io/vtx.h"
 
 #include "sensors/boardalignment.h"
diff --git a/top_makefile b/top_makefile
index 4b1bb90e78..1eeee5cfbb 100644
--- a/top_makefile
+++ b/top_makefile
@@ -15,6 +15,7 @@ ALL_TARGETS += ircfusionf3
 ALL_TARGETS += afromini
 ALL_TARGETS += doge
 ALL_TARGETS += singularity
+ALL_TARGETS += sirinfpv
 
 CLEAN_TARGETS     := $(addprefix clean_, $(ALL_TARGETS)) 
 
@@ -35,6 +36,7 @@ clean_ircfusionf3 ircfusionf3 :           opts := TARGET=IRCFUSIONF3
 clean_afromini afromini :                 opts := TARGET=AFROMINI
 clean_doge doge :                         opts := TARGET=DOGE
 clean_singularity singularity :           opts := TARGET=SINGULARITY
+clean_sirinfpv sirinfpv:                  opts := TARGET=SIRINFPV
 
 
 .PHONY: all clean