diff --git a/.travis.yml b/.travis.yml
index 57aae71afd..f4b9aaa80e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -87,6 +87,7 @@ cache: apt
 #  skip_join: true
 
 notifications:
+  slack: betaflightgroup:LQSj02nsBEdefcO5UQcLgB0U
   webhooks:
     urls:
       - https://webhooks.gitter.im/e/0c20f7a1a7e311499a88
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index c3bf59cc7d..369ac0c1c0 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1231,10 +1231,10 @@ static bool blackboxWriteSysinfo()
                                                                           masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
                                                                           masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
         BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_filter_type);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d",               (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d",                 (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d",             (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d",         (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d",                     masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz);
+        BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d",                       masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d",                   masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d",               masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff);
         BLACKBOX_PRINT_HEADER_LINE("deltaMethod:%d",                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
         BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d",         masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
         BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d",               masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
@@ -1245,7 +1245,7 @@ static bool blackboxWriteSysinfo()
 
         // Betaflight PID controller parameters
         BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain);
-        BLACKBOX_PRINT_HEADER_LINE("ptermSRateWeight:%d",                 masterConfig.profile[masterConfig.current_profile_index].pidProfile.ptermSRateWeight);
+        BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d",               masterConfig.profile[masterConfig.current_profile_index].pidProfile.setpointRelaxRatio);
         BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d",              masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight);
         BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawRateAccelLimit);
         BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit);
@@ -1255,9 +1255,11 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d",                     masterConfig.rcControlsConfig.yaw_deadband);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d",                         masterConfig.gyro_lpf);
         BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d",                   masterConfig.gyro_soft_type);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d",            (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d",              (int)(masterConfig.gyro_soft_notch_hz * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d",          (int)(masterConfig.gyro_soft_notch_cutoff * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d",                  masterConfig.gyro_soft_lpf_hz);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d,%d",                 masterConfig.gyro_soft_notch_hz_1,
+                                                                          masterConfig.gyro_soft_notch_hz_2);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d,%d",             masterConfig.gyro_soft_notch_cutoff_1,
+                                                                          masterConfig.gyro_soft_notch_cutoff_2);
         BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d",                 (int)(masterConfig.acc_lpf_hz * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d",                     masterConfig.acc_hardware);
         BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d",                    masterConfig.baro_hardware);
diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 75763a5ade..1db323062a 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -107,7 +107,7 @@ void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refresh
     filter->d1 = filter->d2 = 0;
 }
 
-/* Computes a biquad_t filter on a sample */
+/* Computes a biquadFilter_t filter on a sample */
 float biquadFilterApply(biquadFilter_t *filter, float input)
 {
     const float result = filter->b0 * input + filter->d1;
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 6d0fbc00e6..f272dc2980 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -141,10 +141,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 
     pidProfile->P8[ROLL] = 45;
     pidProfile->I8[ROLL] = 40;
-    pidProfile->D8[ROLL] = 20;
+    pidProfile->D8[ROLL] = 16;
     pidProfile->P8[PITCH] = 60;
     pidProfile->I8[PITCH] = 65;
-    pidProfile->D8[PITCH] = 22;
+    pidProfile->D8[PITCH] = 19;
     pidProfile->P8[YAW] = 70;
     pidProfile->I8[YAW] = 45;
     pidProfile->D8[YAW] = 20;
@@ -181,8 +181,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
 
     // Betaflight PID controller parameters
-    pidProfile->ptermSRateWeight = 85;
-    pidProfile->dtermSetpointWeight = 150;
+    pidProfile->setpointRelaxRatio = 70;
+    pidProfile->dtermSetpointWeight = 200;
     pidProfile->yawRateAccelLimit = 220;
     pidProfile->rateAccelLimit = 0;
     pidProfile->itermThrottleGain = 0;
@@ -432,9 +432,11 @@ void createDefaultConfig(master_t *config)
     config->pid_process_denom = 2;
 #endif
     config->gyro_soft_type = FILTER_PT1;
-    config->gyro_soft_lpf_hz = 90;
-    config->gyro_soft_notch_hz = 0;
-    config->gyro_soft_notch_cutoff = 130;
+    config->gyro_soft_lpf_hz = 80;
+    config->gyro_soft_notch_hz_1 = 400;
+    config->gyro_soft_notch_cutoff_1 = 300;
+    config->gyro_soft_notch_hz_2 = 0;
+    config->gyro_soft_notch_cutoff_2 = 100;
 
     config->debug_mode = DEBUG_NONE;
 
@@ -668,7 +670,20 @@ void activateConfig(void)
         &currentProfile->pidProfile
     );
 
-    gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_cutoff, masterConfig.gyro_soft_type);
+    // Prevent invalid notch cutoff
+    if (masterConfig.gyro_soft_notch_cutoff_1 >= masterConfig.gyro_soft_notch_hz_1)
+        masterConfig.gyro_soft_notch_hz_1 = 0;
+
+    if (masterConfig.gyro_soft_notch_cutoff_2 >= masterConfig.gyro_soft_notch_hz_2)
+        masterConfig.gyro_soft_notch_hz_2 = 0;
+
+    gyroUseConfig(&masterConfig.gyroConfig,
+        masterConfig.gyro_soft_lpf_hz,
+        masterConfig.gyro_soft_notch_hz_1,
+        masterConfig.gyro_soft_notch_cutoff_1,
+        masterConfig.gyro_soft_notch_hz_2,
+        masterConfig.gyro_soft_notch_cutoff_2,
+        masterConfig.gyro_soft_type);
 
 #ifdef TELEMETRY
     telemetryUseConfig(&masterConfig.telemetryConfig);
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 186b69ec33..87a527e417 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -100,8 +100,10 @@ typedef struct master_s {
     uint8_t gyro_sync_denom;                // Gyro sample divider
     uint8_t gyro_soft_type;                 // Gyro Filter Type
     uint8_t gyro_soft_lpf_hz;               // Biquad gyro lpf hz
-    uint16_t gyro_soft_notch_hz;            // Biquad gyro notch hz
-    uint16_t gyro_soft_notch_cutoff;        // Biquad gyro notch low cutoff
+    uint16_t gyro_soft_notch_hz_1;          // Biquad gyro notch hz
+    uint16_t gyro_soft_notch_cutoff_1;      // Biquad gyro notch low cutoff
+    uint16_t gyro_soft_notch_hz_2;          // Biquad gyro notch hz
+    uint16_t gyro_soft_notch_cutoff_2;      // Biquad gyro notch low cutoff
     uint16_t dcm_kp;                        // DCM filter proportional gain ( x 10000)
     uint16_t dcm_ki;                        // DCM filter integral gain ( x 10000)
 
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 5e297b3bba..e033674653 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -231,6 +231,23 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 type = MAP_TO_SERVO_OUTPUT;
 #endif
 
+#if defined(X_RACERSPI)
+            // skip UART2 ports when necessary
+            if (init->useUART2) {
+                // this board maps UART2 and PWM13,PWM14 to the same pins
+                if (timerIndex == PWM13 || timerIndex == PWM14)
+                    continue;
+
+                // remap PWM5+6 as servos when using UART2 .. except if softserial1, but that's caught above
+                if ((timerIndex == PWM5 || timerIndex == PWM6) && timerHardwarePtr->tim == TIM3)
+                    type = MAP_TO_SERVO_OUTPUT;
+            } else {
+                // remap PWM13+14 as servos
+                if ((timerIndex == PWM13 || timerIndex == PWM14) && timerHardwarePtr->tim == TIM15)
+                    type = MAP_TO_SERVO_OUTPUT;
+            }
+#endif
+
 #if defined(SPRACINGF3MINI) || defined(OMNIBUS)
             // remap PWM6+7 as servos
             if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
@@ -288,7 +305,12 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 // remap PWM5..8 as servos when used in extended servo mode
                 if (timerIndex >= PWM5 && timerIndex <= PWM8)
                     type = MAP_TO_SERVO_OUTPUT;
+#elif defined(X_RACERSPI)
+                // remap PWM3..6 as servos when used in extended servo mode
+                if (timerIndex >= PWM3 && timerIndex <= PWM6)
+                    type = MAP_TO_SERVO_OUTPUT;
 #endif
+
         }
 
 #endif // USE_SERVOS
diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c
index f9a2e6fcac..2ee60acefb 100644
--- a/src/main/fc/mw.c
+++ b/src/main/fc/mw.c
@@ -122,10 +122,9 @@ static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the m
 
 extern uint8_t PIDweight[3];
 
-uint16_t filteredCycleTime;
 static bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
-float setpointRate[3], ptermSetpointRate[3];
+float setpointRate[3];
 float rcInput[3];
 
 extern pidControllerFuncPtr pid_controller;
@@ -203,19 +202,7 @@ void calculateSetpointRate(int axis, int16_t rc) {
 
     if (currentControlRateProfile->rates[axis]) {
         rcSuperfactor = 1.0f / (constrainf(1.0f - (ABS(rcCommandf) * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
-        if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) {
-            ptermSetpointRate[axis] = constrainf(angleRate * rcSuperfactor, -1998.0f, 1998.0f);
-            if (currentProfile->pidProfile.ptermSRateWeight < 100 && axis != YAW && !flightModeFlags) {
-                const float pWeight = currentProfile->pidProfile.ptermSRateWeight / 100.0f;
-                angleRate = angleRate + (pWeight * ptermSetpointRate[axis] - angleRate);
-            } else {
-                angleRate = ptermSetpointRate[axis];
-            }
-        } else {
-            angleRate *= rcSuperfactor;
-        }
-    } else {
-        if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) ptermSetpointRate[axis] = angleRate;
+        angleRate *= rcSuperfactor;
     }
 
     if (debugMode == DEBUG_ANGLERATE) {
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 9cea9bad7a..44b6751faf 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -47,11 +47,8 @@
 
 #include "fc/runtime_config.h"
 
-
 uint32_t targetPidLooptime;
-
 bool pidStabilisationEnabled;
-
 uint8_t PIDweight[3];
 
 int16_t axisPID[3];
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index c63921a038..1daa2c3895 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -89,7 +89,7 @@ typedef struct pidProfile_s {
 
     // Betaflight PID controller parameters
     uint8_t itermThrottleGain;              // Throttle coupling to iterm. Quick throttle changes will bump iterm
-    uint8_t ptermSRateWeight;               // Setpoint super expo ratio for Pterm (lower means that pretty much only P has super expo rates)
+    uint8_t setpointRelaxRatio;             // Setpoint weight relaxation effect
     uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
     uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
     uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
diff --git a/src/main/flight/pid_betaflight.c b/src/main/flight/pid_betaflight.c
index 2e3a7d4e30..705649f0bc 100644
--- a/src/main/flight/pid_betaflight.c
+++ b/src/main/flight/pid_betaflight.c
@@ -50,7 +50,7 @@
 #include "flight/gtune.h"
 
 extern float rcInput[3];
-extern float setpointRate[3], ptermSetpointRate[3];
+extern float setpointRate[3];
 
 extern float errorGyroIf[3];
 extern bool pidStabilisationEnabled;
@@ -70,10 +70,10 @@ float getdT(void);
 void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
          const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
 {
-    float errorRate = 0, rP = 0, rD = 0, PVRate = 0;
+    float errorRate = 0, rD = 0, PVRate = 0, dynC;
     float ITerm,PTerm,DTerm;
     static float lastRateError[2];
-    static float Kp[3], Ki[3], Kd[3], c[3], rollPitchMaxVelocity, yawMaxVelocity, previousSetpoint[3];
+    static float Kp[3], Ki[3], Kd[3], c[3], rollPitchMaxVelocity, yawMaxVelocity, previousSetpoint[3], relaxFactor[3];
     float delta;
     int axis;
     float horizonLevelStrength = 1;
@@ -126,6 +126,7 @@ void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
             Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
             Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
             c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
+            relaxFactor[axis] = 1.0f - (pidProfile->setpointRelaxRatio / 100.0f);
             yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * getdT();
             rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * getdT();
 
@@ -156,11 +157,11 @@ void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
 #endif
             if (FLIGHT_MODE(ANGLE_MODE)) {
                 // ANGLE mode - control is angle based, so control loop is needed
-                ptermSetpointRate[axis] = setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
+                setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
             } else {
                 // HORIZON mode - direct sticks control is applied to rate PID
                 // mix up angle error to desired AngleRate to add a little auto-level feel
-                ptermSetpointRate[axis] = setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
+                setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
             }
         }
 
@@ -171,10 +172,9 @@ void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
         // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
         // ----- calculate error / angle rates  ----------
         errorRate = setpointRate[axis] - PVRate;       // r - y
-        rP = ptermSetpointRate[axis] - PVRate;         // br - y
 
-        // -----calculate P component
-        PTerm = Kp[axis] * rP * tpaFactor;
+        // -----calculate P component and add Dynamic Part based on stick input
+        PTerm = Kp[axis] * errorRate * tpaFactor;
 
         // -----calculate I component.
         // Reduce strong Iterm accumulation during higher stick inputs
@@ -192,7 +192,11 @@ void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
 
         //-----calculate D-term (Yaw D not yet supported)
         if (axis != YAW) {
-            rD = c[axis] * setpointRate[axis] - PVRate;    // cr - y
+            if (pidProfile->setpointRelaxRatio < 100)
+                dynC = c[axis] * powerf(rcInput[axis], 2) * relaxFactor[axis] + c[axis] * (1-relaxFactor[axis]);
+            else
+                dynC = c[axis];
+            rD = dynC * setpointRate[axis] - PVRate;    // cr - y
             delta = rD - lastRateError[axis];
             lastRateError[axis] = rD;
 
@@ -215,7 +219,7 @@ void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
             DTerm = Kd[axis] * delta * tpaFactor;
 
             // -----calculate total PID output
-            axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -900, 900);
+            axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -800, 800);
         } else {
             if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
 
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index cda4002654..72bbad0183 100755
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -81,7 +81,7 @@ uint16_t refreshTimeout = 0;
 
 #define VISIBLE_FLAG  0x0800
 #define BLINK_FLAG    0x0400
-uint8_t blinkState = 1;
+bool blinkState = true;
 
 #define OSD_POS(x,y)  (x | (y << 5))
 #define OSD_X(x)      (x & 0x001F)
@@ -141,7 +141,9 @@ bool inMenu = false;
 
 typedef void (* OSDMenuFuncPtr)(void *data);
 
-void osdUpdate(uint32_t currentTime);
+void osdUpdate(uint8_t guiKey);
+char osdGetAltitudeSymbol();
+int32_t osdGetAltitude(int32_t alt);
 void osdOpenMenu(void);
 void osdExitMenu(void * ptr);
 void osdMenuBack(void);
@@ -451,7 +453,7 @@ static OSD_FLOAT_t entryRcExpo = {&rateProfile.rcExpo8, 0, 100, 1, 10};
 static OSD_FLOAT_t entryRcExpoYaw = {&rateProfile.rcYawExpo8, 0, 100, 1, 10};
 static OSD_FLOAT_t extryTpaEntry = {&rateProfile.dynThrPID, 0, 70, 1, 10};
 static OSD_UINT16_t entryTpaBreak = {&rateProfile.tpa_breakpoint, 1100, 1800, 10};
-static OSD_FLOAT_t entryPSetpoint = {&masterConfig.profile[0].pidProfile.ptermSRateWeight, 0, 100, 1, 10};
+static OSD_FLOAT_t entryPSetpoint = {&masterConfig.profile[0].pidProfile.setpointRelaxRatio, 0, 100, 1, 10};
 static OSD_FLOAT_t entryDSetpoint = {&masterConfig.profile[0].pidProfile.dtermSetpointWeight, 0, 255, 1, 10};
 
 OSD_Entry menuRateExpo[] =
@@ -625,10 +627,36 @@ void osdInit(void)
     refreshTimeout = 4 * REFRESH_1S;
 }
 
+/**
+ * Gets the correct altitude symbol for the current unit system
+ */
+char osdGetAltitudeSymbol()
+{
+    switch (masterConfig.osdProfile.units) {
+        case OSD_UNIT_IMPERIAL:
+            return 0xF;
+        default:
+            return 0xC;
+    }
+}
+
+/**
+ * Converts altitude based on the current unit system.
+ * @param alt Raw altitude (i.e. as taken from BaroAlt)
+ */
+int32_t osdGetAltitude(int32_t alt)
+{
+    switch (masterConfig.osdProfile.units) {
+        case OSD_UNIT_IMPERIAL:
+            return (alt * 328) / 100; // Convert to feet / 100
+        default:
+            return alt;               // Already in metre / 100
+    }
+}
+
 void osdUpdateAlarms(void)
 {
-    int32_t alt = BaroAlt / 100;
-
+    int32_t alt = osdGetAltitude(BaroAlt) / 100;
     statRssi = rssi * 100 / 1024;
 
     if (statRssi < OSD_cfg.rssi_alarm)
@@ -656,10 +684,6 @@ void osdUpdateAlarms(void)
     else
         OSD_cfg.item_pos[OSD_MAH_DRAWN] &= ~BLINK_FLAG;
 
-    if (masterConfig.osdProfile.units == OSD_UNIT_IMPERIAL) {
-        alt = (alt * 328) / 100; // Convert to feet
-    }
-
     if (alt >= OSD_cfg.alt_alarm)
         OSD_cfg.item_pos[OSD_ALTITUDE] |= BLINK_FLAG;
     else
@@ -1045,6 +1069,7 @@ void osdResetStats(void)
     stats.min_voltage = 500;
     stats.max_current = 0;
     stats.min_rssi = 99;
+    stats.max_altitude = 0;
 }
 
 void osdUpdateStats(void)
@@ -1064,6 +1089,9 @@ void osdUpdateStats(void)
 
     if (stats.min_rssi > statRssi)
         stats.min_rssi = statRssi;
+
+    if (stats.max_altitude < BaroAlt)
+        stats.max_altitude = BaroAlt;
 }
 
 void osdShowStats(void)
@@ -1100,6 +1128,12 @@ void osdShowStats(void)
         strcat(buff, "\x07");
         max7456Write(22, top++, buff);
     }
+
+    max7456Write(2, top, "MAX ALTITUDE     :");
+    int32_t alt = osdGetAltitude(stats.max_altitude);
+    sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
+    max7456Write(22, top++, buff);
+
     refreshTimeout = 60 * REFRESH_1S;
 }
 
@@ -1135,7 +1169,7 @@ void updateOsd(uint32_t currentTime)
 void osdUpdate(uint32_t currentTime)
 {
     static uint8_t rcDelay = BUTTON_TIME;
-    static uint8_t last_sec = 0;
+    static uint8_t lastSec = 0;
     uint8_t key = 0, sec;
 
     // detect enter to menu
@@ -1156,9 +1190,9 @@ void osdUpdate(uint32_t currentTime)
 
     sec = currentTime / 1000000;
 
-    if (ARMING_FLAG(ARMED) && sec != last_sec) {
+    if (ARMING_FLAG(ARMED) && sec != lastSec) {
         flyTime++;
-        last_sec = sec;
+        lastSec = sec;
     }
 
     if (refreshTimeout) {
@@ -1407,7 +1441,10 @@ void osdDrawElements(void)
     if (currentElement)
         osdDrawElementPositioningHelp();
     else if (sensors(SENSOR_ACC) || inMenu)
+    {
         osdDrawSingleElement(OSD_ARTIFICIAL_HORIZON);
+        osdDrawSingleElement(OSD_CROSSHAIRS);
+    }
 
     osdDrawSingleElement(OSD_MAIN_BATT_VOLTAGE);
     osdDrawSingleElement(OSD_RSSI_VALUE);
@@ -1494,18 +1531,8 @@ void osdDrawSingleElement(uint8_t item)
 
         case OSD_ALTITUDE:
         {
-            int32_t alt = BaroAlt; // Metre x 100
-            char unitSym = 0xC;    // m
-
-            if (!VISIBLE(OSD_cfg.item_pos[OSD_ALTITUDE]) || BLINK(OSD_cfg.item_pos[OSD_ALTITUDE]))
-                return;
-
-            if (masterConfig.osdProfile.units == OSD_UNIT_IMPERIAL) {
-                alt = (alt * 328) / 100; // Convert to feet x 100
-                unitSym = 0xF;           // ft
-            }
-
-            sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), unitSym);
+            int32_t alt = osdGetAltitude(BaroAlt);
+            sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
             break;
         }
 
@@ -1573,6 +1600,21 @@ void osdDrawSingleElement(uint8_t item)
         }
 #endif // VTX
 
+        case OSD_CROSSHAIRS:
+        {
+            uint8_t *screenBuffer = max7456GetScreenBuffer();
+            uint16_t position = 194;
+
+            if (maxScreenSize == VIDEO_BUFFER_CHARS_PAL)
+                position += 30;
+
+            screenBuffer[position - 1] = (SYM_AH_CENTER_LINE);
+            screenBuffer[position + 1] = (SYM_AH_CENTER_LINE_RIGHT);
+            screenBuffer[position] = (SYM_AH_CENTER);
+
+            return;
+        }
+
         case OSD_ARTIFICIAL_HORIZON:
         {
             uint8_t *screenBuffer = max7456GetScreenBuffer();
@@ -1584,7 +1626,6 @@ void osdDrawSingleElement(uint8_t item)
             if (maxScreenSize == VIDEO_BUFFER_CHARS_PAL)
                 position += 30;
 
-
             if (pitchAngle > AH_MAX_PITCH)
                 pitchAngle = AH_MAX_PITCH;
             if (pitchAngle < -AH_MAX_PITCH)
@@ -1595,8 +1636,6 @@ void osdDrawSingleElement(uint8_t item)
                 rollAngle = -AH_MAX_ROLL;
 
             for (uint8_t x = 0; x <= 8; x++) {
-                if (x == 4)
-                    x = 5;
                 int y = (rollAngle * (4 - x)) / 64;
                 y -= pitchAngle / 8;
                 y += 41;
@@ -1606,11 +1645,8 @@ void osdDrawSingleElement(uint8_t item)
                 }
             }
 
-            screenBuffer[position - 1] = (SYM_AH_CENTER_LINE);
-            screenBuffer[position + 1] = (SYM_AH_CENTER_LINE_RIGHT);
-            screenBuffer[position] = (SYM_AH_CENTER);
-
             osdDrawSingleElement(OSD_HORIZON_SIDEBARS);
+
             return;
         }
 
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index a1b1caad9f..7b5eae891f 100755
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -22,6 +22,7 @@
 typedef enum {
     OSD_RSSI_VALUE,
     OSD_MAIN_BATT_VOLTAGE,
+    OSD_CROSSHAIRS,
     OSD_ARTIFICIAL_HORIZON,
     OSD_HORIZON_SIDEBARS,
     OSD_ONTIME,
@@ -61,6 +62,7 @@ typedef struct {
     int16_t min_voltage; // /10
     int16_t max_current; // /10
     int16_t min_rssi;
+    int16_t max_altitude;
 } statistic_t;
 
 void updateOsd(uint32_t currentTime);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 8fca17ce42..b1eb9dc4b8 100755
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -795,8 +795,10 @@ const clivalue_t valueTable[] = {
     { "gyro_sync_denom",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyro_sync_denom, .config.minmax = { 1,  8 } },
     { "gyro_lowpass_level",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gyro_soft_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
     { "gyro_lowpass",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0,  255 } },
-    { "gyro_notch_hz",              VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_soft_notch_hz, .config.minmax = { 0,  500 } },
-    { "gyro_notch_cutoff",          VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_soft_notch_cutoff, .config.minmax = { 1,  500 } },
+    { "gyro_notch_hz_1",            VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_soft_notch_hz_1, .config.minmax = { 0,  1000 } },
+    { "gyro_notch_cutoff_1",        VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_soft_notch_cutoff_1, .config.minmax = { 1,  1000 } },
+    { "gyro_notch_hz_2",            VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_soft_notch_hz_2, .config.minmax = { 0,  1000 } },
+    { "gyro_notch_cutoff_2",        VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_soft_notch_cutoff_2, .config.minmax = { 1, 1000 } },
     { "moron_threshold",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0,  128 } },
     { "imu_dcm_kp",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.dcm_kp, .config.minmax = { 0,  50000 } },
     { "imu_dcm_ki",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.dcm_ki, .config.minmax = { 0,  50000 } },
@@ -873,7 +875,7 @@ const clivalue_t valueTable[] = {
     { "vbat_pid_compensation",      VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
     { "pid_at_min_throttle",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
     { "iterm_throttle_gain",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
-    { "pterm_srate_ratio",          VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSRateWeight, .config.minmax = {0, 100 } },
+    { "setpoint_relax_ratio",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } },
     { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
     { "yaw_rate_accel_limit",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
     { "rate_accel_limit",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
@@ -939,7 +941,8 @@ const clivalue_t valueTable[] = {
 #ifdef OSD
     { "osd_video_system",           VAR_UINT8  | MASTER_VALUE, &masterConfig.osdProfile.video_system, .config.minmax = { 0, 2 } },
     { "osd_units",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.osdProfile.units, .config.lookup = { TABLE_UNIT } },
-    { "osd_rssi_alarm",             VAR_UINT8 | MASTER_VALUE, &masterConfig.osdProfile.rssi_alarm, .config.minmax = { 0, 100 } },
+
+    { "osd_rssi_alarm",             VAR_UINT8  | MASTER_VALUE, &masterConfig.osdProfile.rssi_alarm, .config.minmax = { 0, 100 } },
     { "osd_cap_alarm",              VAR_UINT16 | MASTER_VALUE, &masterConfig.osdProfile.cap_alarm, .config.minmax = { 0, 20000 } },
     { "osd_time_alarm",             VAR_UINT16 | MASTER_VALUE, &masterConfig.osdProfile.time_alarm, .config.minmax = { 0, 60 } },
     { "osd_alt_alarm",              VAR_UINT16 | MASTER_VALUE, &masterConfig.osdProfile.alt_alarm, .config.minmax = { 0, 10000 } },
@@ -951,13 +954,14 @@ const clivalue_t valueTable[] = {
     { "osd_flymode_pos",            VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_FLYMODE], .config.minmax = { 0, 65536 } },
     { "osd_throttle_pos",           VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS], .config.minmax = { 0, 65536 } },
     { "osd_vtx_channel_pos",        VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_VTX_CHANNEL], .config.minmax = { 0, 65536 } },
+    { "osd_crosshairs",             VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_CROSSHAIRS], .config.minmax = { 0, 65536 } },
     { "osd_artificial_horizon",     VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_ARTIFICIAL_HORIZON], .config.minmax = { 0, 65536 } },
     { "osd_current_draw_pos",       VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_CURRENT_DRAW], .config.minmax = { 0, 65536 } },
     { "osd_mah_drawn_pos",          VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_MAH_DRAWN], .config.minmax = { 0, 65536 } },
     { "osd_craft_name_pos",         VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_CRAFT_NAME], .config.minmax = { 0, 65536 } },
     { "osd_gps_speed_pos",          VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_GPS_SPEED], .config.minmax = { 0, 65536 } },
     { "osd_gps_sats_pos",           VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_GPS_SATS], .config.minmax = { 0, 65536 } },
-    { "osd_altitude",               VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_ALTITUDE], .config.minmax = { 0, 65536 } },
+    { "osd_altitude_pos",           VAR_UINT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_ALTITUDE], .config.minmax = { 0, 65536 } },
 #endif
 };
 
diff --git a/src/main/main.c b/src/main/main.c
index 2444c83f82..9ae7801192 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -269,6 +269,7 @@ void init(void)
     pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
 #endif
 #ifdef STM32F303xC
+    pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
     pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
 #endif
 #if defined(USE_UART2) && defined(STM32F40_41xxx)
@@ -402,7 +403,7 @@ void init(void)
     }
 #endif
 
-#if defined(SPRACINGF3MINI) || defined(OMNIBUS)
+#if defined(SPRACINGF3MINI) || defined(OMNIBUS) || defined(X_RACERSPI)
 #if defined(SONAR) && defined(USE_SOFTSERIAL1)
     if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
         serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
@@ -680,7 +681,7 @@ void main_init(void)
 
     /* Setup scheduler */
     schedulerInit();
-    rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
+    rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
     setTaskEnabled(TASK_GYROPID, true);
 
     if (sensors(SENSOR_ACC)) {
diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
index 25f821d057..8d14b4d698 100644
--- a/src/main/msp/msp_protocol.h
+++ b/src/main/msp/msp_protocol.h
@@ -59,7 +59,7 @@
 #define MSP_PROTOCOL_VERSION                0
 
 #define API_VERSION_MAJOR                   1 // increment when major changes are made
-#define API_VERSION_MINOR                   20 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
+#define API_VERSION_MINOR                   21 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
 
 #define API_VERSION_LENGTH                  2
 
diff --git a/src/main/msp/msp_server_fc.c b/src/main/msp/msp_server_fc.c
index bbfe68fac7..cd3750392d 100755
--- a/src/main/msp/msp_server_fc.c
+++ b/src/main/msp/msp_server_fc.c
@@ -1246,14 +1246,16 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize16(masterConfig.motorConfig.motorPwmRate);
         break;
     case MSP_FILTER_CONFIG :
-        headSerialReply(13);
+        headSerialReply(17);
         serialize8(masterConfig.gyro_soft_lpf_hz);
         serialize16(currentProfile->pidProfile.dterm_lpf_hz);
         serialize16(currentProfile->pidProfile.yaw_lpf_hz);
-        serialize16(masterConfig.gyro_soft_notch_hz);
-        serialize16(masterConfig.gyro_soft_notch_cutoff);
+        serialize16(masterConfig.gyro_soft_notch_hz_1);
+        serialize16(masterConfig.gyro_soft_notch_cutoff_1);
         serialize16(currentProfile->pidProfile.dterm_notch_hz);
         serialize16(currentProfile->pidProfile.dterm_notch_cutoff);
+        serialize16(masterConfig.gyro_soft_notch_hz_2);
+        serialize16(masterConfig.gyro_soft_notch_cutoff_2);
         break;
     case MSP_PID_ADVANCED:
         headSerialReply(17);
@@ -1262,7 +1264,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize16(currentProfile->pidProfile.yaw_p_limit);
         serialize8(currentProfile->pidProfile.deltaMethod);
         serialize8(currentProfile->pidProfile.vbatPidCompensation);
-        serialize8(currentProfile->pidProfile.ptermSRateWeight);
+        serialize8(currentProfile->pidProfile.setpointRelaxRatio);
         serialize8(currentProfile->pidProfile.dtermSetpointWeight);
         serialize8(0); // reserved
         serialize8(0); // reserved
@@ -1857,11 +1859,15 @@ static bool processInCommand(void)
         currentProfile->pidProfile.dterm_lpf_hz = read16();
         currentProfile->pidProfile.yaw_lpf_hz = read16();
         if (currentPort->dataSize > 5) {
-            masterConfig.gyro_soft_notch_hz = read16();
-            masterConfig.gyro_soft_notch_cutoff = read16();
+            masterConfig.gyro_soft_notch_hz_1 = read16();
+            masterConfig.gyro_soft_notch_cutoff_1 = read16();
             currentProfile->pidProfile.dterm_notch_hz = read16();
             currentProfile->pidProfile.dterm_notch_cutoff = read16();
         }
+        if (currentPort->dataSize > 13) {
+            serialize16(masterConfig.gyro_soft_notch_hz_2);
+            serialize16(masterConfig.gyro_soft_notch_cutoff_2);
+        }
         break;
     case MSP_SET_PID_ADVANCED:
         currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();
@@ -1869,7 +1875,7 @@ static bool processInCommand(void)
         currentProfile->pidProfile.yaw_p_limit = read16();
         currentProfile->pidProfile.deltaMethod = read8();
         currentProfile->pidProfile.vbatPidCompensation = read8();
-        currentProfile->pidProfile.ptermSRateWeight = read8();
+        currentProfile->pidProfile.setpointRelaxRatio = read8();
         currentProfile->pidProfile.dtermSetpointWeight = read8();
         read8(); // reserved
         read8(); // reserved
diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h
old mode 100755
new mode 100644
index fa43fd7d8a..f44cd497f9
--- a/src/main/scheduler/scheduler.h
+++ b/src/main/scheduler/scheduler.h
@@ -119,7 +119,6 @@ typedef struct {
 } cfTask_t;
 
 extern cfTask_t cfTasks[TASK_COUNT];
-extern uint16_t cpuLoad;
 extern uint16_t averageSystemLoadPercent;
 
 void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo);
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 625c822148..36c12b0ad7 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -47,29 +47,38 @@ float gyroADCf[XYZ_AXIS_COUNT];
 static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
 static const gyroConfig_t *gyroConfig;
 static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
-static biquadFilter_t gyroFilterNotch[XYZ_AXIS_COUNT];
+static biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT], gyroFilterNotch_2[XYZ_AXIS_COUNT];
 static pt1Filter_t gyroFilterPt1[XYZ_AXIS_COUNT];
 static uint8_t gyroSoftLpfType;
-static uint16_t gyroSoftNotchHz;
-static float gyroSoftNotchQ;
+static uint16_t gyroSoftNotchHz_1, gyroSoftNotchHz_2;
+static float gyroSoftNotchQ_1, gyroSoftNotchQ_2;
 static uint8_t gyroSoftLpfHz;
 static uint16_t calibratingG = 0;
 static float gyroDt;
 
-void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint16_t gyro_soft_notch_cutoff, uint8_t gyro_soft_lpf_type)
+void gyroUseConfig(const gyroConfig_t *gyroConfigToUse,
+                   uint8_t gyro_soft_lpf_hz,
+                   uint16_t gyro_soft_notch_hz_1,
+                   uint16_t gyro_soft_notch_cutoff_1,
+                   uint16_t gyro_soft_notch_hz_2,
+                   uint16_t gyro_soft_notch_cutoff_2,
+                   uint8_t gyro_soft_lpf_type)
 {
     gyroConfig = gyroConfigToUse;
     gyroSoftLpfHz = gyro_soft_lpf_hz;
-    gyroSoftNotchHz = gyro_soft_notch_hz;
+    gyroSoftNotchHz_1 = gyro_soft_notch_hz_1;
+    gyroSoftNotchHz_2 = gyro_soft_notch_hz_2;
     gyroSoftLpfType = gyro_soft_lpf_type;
-    gyroSoftNotchQ = filterGetNotchQ(gyro_soft_notch_hz, gyro_soft_notch_cutoff);
+    gyroSoftNotchQ_1 = filterGetNotchQ(gyro_soft_notch_hz_1, gyro_soft_notch_cutoff_1);
+    gyroSoftNotchQ_2 = filterGetNotchQ(gyro_soft_notch_hz_2, gyro_soft_notch_cutoff_2);
 }
 
 void gyroInit(void)
 {
     if (gyroSoftLpfHz && gyro.targetLooptime) {  // Initialisation needs to happen once samplingrate is known
         for (int axis = 0; axis < 3; axis++) {
-            biquadFilterInit(&gyroFilterNotch[axis], gyroSoftNotchHz, gyro.targetLooptime, gyroSoftNotchQ, FILTER_NOTCH);
+            biquadFilterInit(&gyroFilterNotch_1[axis], gyroSoftNotchHz_1, gyro.targetLooptime, gyroSoftNotchQ_1, FILTER_NOTCH);
+            biquadFilterInit(&gyroFilterNotch_2[axis], gyroSoftNotchHz_2, gyro.targetLooptime, gyroSoftNotchQ_2, FILTER_NOTCH);
             if (gyroSoftLpfType == FILTER_BIQUAD)
                 biquadFilterInitLPF(&gyroFilterLPF[axis], gyroSoftLpfHz, gyro.targetLooptime);
             else
@@ -184,8 +193,11 @@ void gyroUpdate(void)
             if (debugMode == DEBUG_NOTCH)
                 debug[axis] = lrintf(gyroADCf[axis]);
 
-            if (gyroSoftNotchHz)
-                gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch[axis], gyroADCf[axis]);
+            if (gyroSoftNotchHz_1)
+                gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch_1[axis], gyroADCf[axis]);
+
+            if (gyroSoftNotchHz_2)
+                gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch_2[axis], gyroADCf[axis]);
 
             gyroADC[axis] = lrintf(gyroADCf[axis]);
         }
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 4e6122fd52..32d53b126c 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -41,7 +41,13 @@ typedef struct gyroConfig_s {
     uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
 } gyroConfig_t;
 
-void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint16_t gyro_soft_notch_cutoff, uint8_t gyro_soft_lpf_type);
+void gyroUseConfig(const gyroConfig_t *gyroConfigToUse,
+                   uint8_t gyro_soft_lpf_hz,
+                   uint16_t gyro_soft_notch_hz_1,
+                   uint16_t gyro_soft_notch_cutoff_1,
+                   uint16_t gyro_soft_notch_hz_2,
+                   uint16_t gyro_soft_notch_cutoff_2,
+                   uint8_t gyro_soft_lpf_type);
 void gyroSetCalibrationCycles(void);
 void gyroInit(void);
 void gyroUpdate(void);
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index a9f162baac..122b0eb3c3 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -114,8 +114,20 @@
 #define USE_ADC
 #define CURRENT_METER_ADC_PIN   PC1
 #define VBAT_ADC_PIN            PC2
-#define RSSI_ADC_PIN            PA0
+//#define RSSI_ADC_PIN            PA0
 
+#define LED_STRIP
+// LED Strip can run off Pin 5 (PA1) of the MOTOR outputs.
+#define WS2811_GPIO_AF                  GPIO_AF_TIM5
+#define WS2811_PIN                      PA1
+#define WS2811_TIMER                    TIM5
+#define WS2811_TIMER_CHANNEL            TIM_Channel_2
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST4_HANDLER
+#define WS2811_DMA_STREAM               DMA1_Stream4
+#define WS2811_DMA_CHANNEL              DMA_Channel_6
+#define WS2811_DMA_IRQ                  DMA1_Stream4_IRQn
+#define WS2811_DMA_FLAG                 DMA_FLAG_TCIF4
+#define WS2811_DMA_IT                   DMA_IT_TCIF4
 
 #define SENSORS_SET (SENSOR_ACC)
 
diff --git a/src/main/target/OMNIBUSF4/target.mk b/src/main/target/OMNIBUSF4/target.mk
index 18034c1332..71d6cb1ce3 100644
--- a/src/main/target/OMNIBUSF4/target.mk
+++ b/src/main/target/OMNIBUSF4/target.mk
@@ -5,6 +5,8 @@ TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \
             drivers/barometer_ms5611.c \
             drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c \
             drivers/max7456.c \
             io/osd.c
 
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index a0cd29d06b..7a628cb383 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -109,17 +109,17 @@
 //#define RSSI_ADC_PIN            PA0
 
 #define LED_STRIP
-// LED Strip can run off Pin 6 (PA0) of the MOTOR outputs.
+// LED Strip can run off Pin 5 (PA1) of the MOTOR outputs.
 #define WS2811_GPIO_AF                  GPIO_AF_TIM5
-#define WS2811_PIN                      PA0 
+#define WS2811_PIN                      PA1 
 #define WS2811_TIMER                    TIM5
 #define WS2811_TIMER_CHANNEL            TIM_Channel_2
-#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
-#define WS2811_DMA_STREAM               DMA1_Stream2
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST4_HANDLER
+#define WS2811_DMA_STREAM               DMA1_Stream4
 #define WS2811_DMA_CHANNEL              DMA_Channel_6
-#define WS2811_DMA_IRQ                  DMA1_Stream2_IRQn
-#define WS2811_DMA_FLAG                 DMA_FLAG_TCIF2
-#define WS2811_DMA_IT                   DMA_IT_TCIF2
+#define WS2811_DMA_IRQ                  DMA1_Stream4_IRQn
+#define WS2811_DMA_FLAG                 DMA_FLAG_TCIF4
+#define WS2811_DMA_IT                   DMA_IT_TCIF4
 
 #define SENSORS_SET (SENSOR_ACC)
 
diff --git a/src/main/target/SOULF4/target.c b/src/main/target/SOULF4/target.c
new file mode 100644
index 0000000000..065e0d0f71
--- /dev/null
+++ b/src/main/target/SOULF4/target.c
@@ -0,0 +1,102 @@
+/*
+ * 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 <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT     << 8),  // PPM input
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),  // Swap to servo if needed
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
+    PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT     << 8), // input #1
+    PWM2  | (MAP_TO_PWM_INPUT     << 8),
+    PWM3  | (MAP_TO_PWM_INPUT     << 8),
+    PWM4  | (MAP_TO_PWM_INPUT     << 8),
+    PWM5  | (MAP_TO_PWM_INPUT     << 8),
+    PWM6  | (MAP_TO_PWM_INPUT     << 8), // input #6
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT     << 8), // PPM input
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT     << 8), // input #1
+    PWM2  | (MAP_TO_PWM_INPUT     << 8),
+    PWM3  | (MAP_TO_PWM_INPUT     << 8),
+    PWM4  | (MAP_TO_PWM_INPUT     << 8),
+    PWM5  | (MAP_TO_PWM_INPUT     << 8),
+    PWM6  | (MAP_TO_PWM_INPUT     << 8), // input #6
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #3
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },  // PPM (5th pin on FlexiIO port)
+    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },  // S2_IN - GPIO_PartialRemap_TIM3
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S3_IN
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S4_IN
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S5_IN
+    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S6_IN
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3  },  // S1_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3  },  // S2_OUT
+    { TIM9,  IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  1, IOCFG_AF_PP, GPIO_AF_TIM9  },  // S3_OUT
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2  },  // S4_OUT
+    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5  },  // S5_OUT - GPIO_PartialRemap_TIM3
+    { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5  },  // S6_OUT
+};
diff --git a/src/main/target/SOULF4/target.h b/src/main/target/SOULF4/target.h
new file mode 100644
index 0000000000..54c6beefe6
--- /dev/null
+++ b/src/main/target/SOULF4/target.h
@@ -0,0 +1,124 @@
+/*
+ * 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 "SOUL"
+
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING     "DemonSoulF4"
+#ifdef OPBL
+#define USBD_SERIALNUMBER_STRING "0x8020000"
+#endif
+
+#define LED0                    PB5
+#define LED1                    PB4
+
+#define BEEPER                  PB6
+#define BEEPER_INVERTED
+
+#define INVERTER                PC0 // PC0 used as inverter select GPIO
+#define INVERTER_USART          USART1
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW180_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW180_DEG
+
+// MPU6000 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI            PC4
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+
+
+#define M25P16_CS_PIN           PB3
+#define M25P16_SPI_INSTANCE     SPI3
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_VCP
+#define VBUS_SENSING_PIN        PC5
+
+#define USE_UART1
+#define UART1_RX_PIN PA10
+#define UART1_TX_PIN PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       4 //VCP, USART1, USART3, USART6
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1)
+
+#define USE_ADC
+#define VBAT_ADC_PIN            PC2
+
+
+#define SENSORS_SET (SENSOR_ACC)
+
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+#define LED_STRIP
+#define WS2811_PIN                      PA0
+#define WS2811_TIMER                    TIM5
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
+#define WS2811_DMA_STREAM               DMA1_Stream2
+#define WS2811_DMA_IT                   DMA_IT_TCIF2
+#define WS2811_DMA_CHANNEL              DMA_Channel_6
+#define WS2811_TIMER_CHANNEL            TIM_Channel_1
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN                PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/SOULF4/target.mk b/src/main/target/SOULF4/target.mk
new file mode 100644
index 0000000000..d7f3c34560
--- /dev/null
+++ b/src/main/target/SOULF4/target.mk
@@ -0,0 +1,8 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+   	    drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c
+
diff --git a/src/main/target/X_RACERSPI/target.c b/src/main/target/X_RACERSPI/target.c
index a63258100e..037daf84c7 100644
--- a/src/main/target/X_RACERSPI/target.c
+++ b/src/main/target/X_RACERSPI/target.c
@@ -10,18 +10,18 @@
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
 
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
     0xFFFF
 };
 
@@ -32,33 +32,31 @@ const uint16_t multiPWM[] = {
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
     PWM6  | (MAP_TO_PWM_INPUT << 8),
-    PWM7  | (MAP_TO_PWM_INPUT << 8),
-    PWM8  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8),
-    PWM15 | (MAP_TO_MOTOR_OUTPUT  << 8),
-    PWM16 | (MAP_TO_MOTOR_OUTPUT  << 8),
     0xFFFF
 };
 
 const uint16_t airPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
-    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
-    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM16 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #10
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #10
     0xFFFF
 };
 
@@ -68,17 +66,15 @@ const uint16_t airPWM[] = {
     PWM3  | (MAP_TO_PWM_INPUT << 8),
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
-    PWM6  | (MAP_TO_PWM_INPUT << 8),
-    PWM7  | (MAP_TO_PWM_INPUT << 8),
-    PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
-    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
-    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM16 | (MAP_TO_SERVO_OUTPUT  << 8), // server #6
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #6
     0xFFFF
 };
 
@@ -87,10 +83,8 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
     { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
     { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
-    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4  - *TIM3_CH1
-    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5  - *TIM3_CH2
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
 
     { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
     { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
diff --git a/src/main/target/X_RACERSPI/target.h b/src/main/target/X_RACERSPI/target.h
index d8e8f1b179..4892ae9bd7 100644
--- a/src/main/target/X_RACERSPI/target.h
+++ b/src/main/target/X_RACERSPI/target.h
@@ -66,8 +66,8 @@
 #define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define SOFTSERIAL_1_TIMER      TIM3
-#define SOFTSERIAL_1_TIMER_RX_HARDWARE 6 // PWM 5
-#define SOFTSERIAL_1_TIMER_TX_HARDWARE 7 // PWM 6
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
 
 
 #define USE_I2C
diff --git a/src/main/target/X_RACERSPI/target.mk b/src/main/target/X_RACERSPI/target.mk
index 3d831edc43..4604ddb4cb 100644
--- a/src/main/target/X_RACERSPI/target.mk
+++ b/src/main/target/X_RACERSPI/target.mk
@@ -1,6 +1,5 @@
 F3_TARGETS   += $(TARGET)
 FEATURES     = ONBOARDFLASH
-TARGET_FLAGS = -DSPRACINGF3
 
 TARGET_SRC = \
             drivers/accgyro_mpu.c \