diff --git a/baseflight.uvgui.timecop b/baseflight.uvgui.timecop
index ffb27267b2..7fb8b5ed6c 100755
--- a/baseflight.uvgui.timecop
+++ b/baseflight.uvgui.timecop
@@ -73,8 +73,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -90,8 +90,8 @@
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         <OriginalItems>
           <Len>968</Len>
@@ -8052,16 +8052,16 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>3</ActiveTab>
+      <ActiveTab>13</ActiveTab>
       <Doc>
         <Name>.\drv_pwm.c</Name>
         <ColumnNumber>8</ColumnNumber>
-        <TopLine>96</TopLine>
-        <CurrentLine>96</CurrentLine>
+        <TopLine>258</TopLine>
+        <CurrentLine>258</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\config.c</Name>
-        <ColumnNumber>0</ColumnNumber>
+        <ColumnNumber>27</ColumnNumber>
         <TopLine>103</TopLine>
         <CurrentLine>115</CurrentLine>
       </Doc>
@@ -8080,14 +8080,14 @@
       <Doc>
         <Name>.\main.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>4</TopLine>
-        <CurrentLine>20</CurrentLine>
+        <TopLine>10</TopLine>
+        <CurrentLine>24</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\mixer.c</Name>
-        <ColumnNumber>63</ColumnNumber>
-        <TopLine>110</TopLine>
-        <CurrentLine>119</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>92</TopLine>
+        <CurrentLine>108</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\serial.c</Name>
@@ -8109,9 +8109,9 @@
       </Doc>
       <Doc>
         <Name>.\drv_i2c.c</Name>
-        <ColumnNumber>0</ColumnNumber>
+        <ColumnNumber>1</ColumnNumber>
         <TopLine>122</TopLine>
-        <CurrentLine>131</CurrentLine>
+        <CurrentLine>143</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\imu.c</Name>
@@ -8122,20 +8122,20 @@
       <Doc>
         <Name>.\startup_stm32f10x_md.s</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>133</TopLine>
-        <CurrentLine>133</CurrentLine>
+        <TopLine>147</TopLine>
+        <CurrentLine>180</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\drv_mpu3050.c</Name>
-        <ColumnNumber>34</ColumnNumber>
-        <TopLine>26</TopLine>
-        <CurrentLine>44</CurrentLine>
+        <ColumnNumber>39</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>1</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\sensors.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>1</CurrentLine>
+        <ColumnNumber>21</ColumnNumber>
+        <TopLine>183</TopLine>
+        <CurrentLine>214</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_flash.c</Name>
@@ -8143,6 +8143,12 @@
         <TopLine>852</TopLine>
         <CurrentLine>858</CurrentLine>
       </Doc>
+      <Doc>
+        <Name>.\drv_hmc5883l.c</Name>
+        <ColumnNumber>22</ColumnNumber>
+        <TopLine>13</TopLine>
+        <CurrentLine>27</CurrentLine>
+      </Doc>
     </MDIGroup>
   </MDIGroups>
 
diff --git a/baseflight.uvopt b/baseflight.uvopt
index 8c59134a85..0dd072494f 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -163,7 +163,7 @@
           <Type>0</Type>
           <LineNumber>114</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134231124</Address>
+          <Address>134231132</Address>
           <ByteObject>0</ByteObject>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
@@ -176,21 +176,6 @@
         <Bp>
           <Number>1</Number>
           <Type>0</Type>
-          <LineNumber>19</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134217988</Address>
-          <ByteObject>0</ByteObject>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename></Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\baseflight\main.c\19</Expression>
-        </Bp>
-        <Bp>
-          <Number>2</Number>
-          <Type>0</Type>
           <LineNumber>77</LineNumber>
           <EnabledFlag>1</EnabledFlag>
           <Address>134230968</Address>
@@ -527,8 +512,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>4</TopLine>
-      <CurrentLine>20</CurrentLine>
+      <TopLine>10</TopLine>
+      <CurrentLine>24</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
@@ -583,8 +568,8 @@
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       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
-      <CurrentLine>6</CurrentLine>
+      <TopLine>225</TopLine>
+      <CurrentLine>253</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\mw.h</PathWithFileName>
       <FilenameWithoutPath>mw.h</FilenameWithoutPath>
@@ -595,10 +580,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>21</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
-      <CurrentLine>1</CurrentLine>
+      <TopLine>183</TopLine>
+      <CurrentLine>214</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\sensors.c</PathWithFileName>
       <FilenameWithoutPath>sensors.c</FilenameWithoutPath>
@@ -609,10 +594,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>63</ColumnNumber>
+      <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>110</TopLine>
-      <CurrentLine>119</CurrentLine>
+      <TopLine>92</TopLine>
+      <CurrentLine>108</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\mixer.c</PathWithFileName>
       <FilenameWithoutPath>mixer.c</FilenameWithoutPath>
@@ -637,7 +622,7 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>27</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
       <TopLine>103</TopLine>
       <CurrentLine>115</CurrentLine>
@@ -658,10 +643,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>1</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
       <TopLine>122</TopLine>
-      <CurrentLine>131</CurrentLine>
+      <CurrentLine>143</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_i2c.c</PathWithFileName>
       <FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
@@ -674,8 +659,8 @@
       <Focus>0</Focus>
       <ColumnNumber>8</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>96</TopLine>
-      <CurrentLine>96</CurrentLine>
+      <TopLine>258</TopLine>
+      <CurrentLine>258</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_pwm.c</PathWithFileName>
       <FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath>
@@ -728,10 +713,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>34</ColumnNumber>
+      <ColumnNumber>39</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>26</TopLine>
-      <CurrentLine>44</CurrentLine>
+      <TopLine>1</TopLine>
+      <CurrentLine>1</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_mpu3050.c</PathWithFileName>
       <FilenameWithoutPath>drv_mpu3050.c</FilenameWithoutPath>
@@ -770,10 +755,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>42</ColumnNumber>
+      <ColumnNumber>22</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
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-      <CurrentLine>0</CurrentLine>
+      <TopLine>13</TopLine>
+      <CurrentLine>27</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_hmc5883l.c</PathWithFileName>
       <FilenameWithoutPath>drv_hmc5883l.c</FilenameWithoutPath>
@@ -961,8 +946,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>133</TopLine>
-      <CurrentLine>133</CurrentLine>
+      <TopLine>147</TopLine>
+      <CurrentLine>180</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\startup_stm32f10x_md.s</PathWithFileName>
       <FilenameWithoutPath>startup_stm32f10x_md.s</FilenameWithoutPath>
diff --git a/mixer.c b/mixer.c
index a97d647d97..35e117c570 100755
--- a/mixer.c
+++ b/mixer.c
@@ -105,6 +105,7 @@ void mixTable(void)
     }
 
     switch (mixerConfiguration) {
+
         case MULTITYPE_BI:
             motor[0] = PIDMIX(+1, 0, 0);        //LEFT
             motor[1] = PIDMIX(-1, 0, 0);        //RIGHT        
diff --git a/sensors.c b/sensors.c
index e17d3cad9b..307e13de0e 100755
--- a/sensors.c
+++ b/sensors.c
@@ -207,8 +207,12 @@ static void Mag_getRawADC(void)
     
     // Hearty FUCK-YOU goes to all teh breakout sensor faggots who make a new orientation for each shitty board they make
     // sensor order: X Z Y
-    magADC[ROLL] = rawADC[0]; // X or negative? who knows mag stuff in multiwii is broken hardcore
-    magADC[PITCH] = rawADC[2]; // Y
+//    magADC[ROLL] = rawADC[0]; // X or negative? who knows mag stuff in multiwii is broken hardcore
+//    magADC[PITCH] = rawADC[2]; // Y
+
+    // no way? is this finally the proper orientation??
+    magADC[ROLL] = -rawADC[2]; // X or negative? who knows mag stuff in multiwii is broken hardcore
+    magADC[PITCH] = rawADC[0]; // Y
     magADC[YAW] = rawADC[1]; // Z
 }