diff --git a/Makefile b/Makefile
index d97613b3e4..b8c891ef62 100644
--- a/Makefile
+++ b/Makefile
@@ -664,7 +664,7 @@ all: $(VALID_TARGETS)
 $(VALID_TARGETS):
 		echo "" && \
 		echo "Building $@" && \
-		$(MAKE) -j binary hex TARGET=$@ && \
+		$(MAKE) binary hex TARGET=$@ && \
 		echo "Building $@ succeeded."
 
 
@@ -712,8 +712,11 @@ st-flash_$(TARGET): $(TARGET_BIN)
 ## st-flash          : flash firmware (.bin) onto flight controller
 st-flash: st-flash_$(TARGET)
 
-binary: $(TARGET_BIN)
-hex:    $(TARGET_HEX)
+binary:
+	$(MAKE) -j $(TARGET_BIN)
+
+hex:
+	$(MAKE) -j $(TARGET_HEX)
 
 unbrick_$(TARGET): $(TARGET_HEX)
 	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 2c0c9c17d9..284c59097b 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -659,7 +659,6 @@ static void resetConf(void)
     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 #endif
 #ifdef ALIENFLIGHTF3
-    masterConfig.batteryConfig.vbatscale = 20;
     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
 #endif
     masterConfig.rxConfig.serialrx_provider = SERIALRX_SPEKTRUM2048;
@@ -687,8 +686,6 @@ static void resetConf(void)
 
 #if defined(SINGULARITY)
     // alternative defaults settings for SINGULARITY target
-    masterConfig.batteryConfig.vbatscale = 77;
-
     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 #endif
 
diff --git a/src/main/drivers/accgyro_lsm303dlhc.c b/src/main/drivers/accgyro_lsm303dlhc.c
index 7a7222d4d6..4caed30911 100644
--- a/src/main/drivers/accgyro_lsm303dlhc.c
+++ b/src/main/drivers/accgyro_lsm303dlhc.c
@@ -26,7 +26,7 @@
 #include "common/axis.h"
 
 #include "system.h"
-#include "gpio.h"
+#include "io.h"
 #include "bus_i2c.h"
 
 #include "sensor.h"
diff --git a/src/main/drivers/accgyro_lsm303dlhc.h b/src/main/drivers/accgyro_lsm303dlhc.h
index 6cc79066cc..1f5c56f68e 100644
--- a/src/main/drivers/accgyro_lsm303dlhc.h
+++ b/src/main/drivers/accgyro_lsm303dlhc.h
@@ -22,8 +22,7 @@
   */
 
 /* LSM303DLHC ACC struct */
-typedef struct
-{
+typedef struct {
   uint8_t Power_Mode;                         /* Power-down/Normal Mode */
   uint8_t AccOutput_DataRate;                 /* OUT data rate */
   uint8_t Axes_Enable;                        /* Axes enable */
@@ -31,25 +30,23 @@ typedef struct
   uint8_t BlockData_Update;                   /* Block Data Update */
   uint8_t Endianness;                         /* Endian Data selection */
   uint8_t AccFull_Scale;                      /* Full Scale selection */
-}LSM303DLHCAcc_InitTypeDef;
+} LSM303DLHCAcc_InitTypeDef;
 
 /* LSM303DLHC Acc High Pass Filter struct */
-typedef struct
-{
+typedef struct {
   uint8_t HighPassFilter_Mode_Selection;      /* Internal filter mode */
   uint8_t HighPassFilter_CutOff_Frequency;    /* High pass filter cut-off frequency */
   uint8_t HighPassFilter_AOI1;                /* HPF_enabling/disabling for AOI function on interrupt 1 */
   uint8_t HighPassFilter_AOI2;                /* HPF_enabling/disabling for AOI function on interrupt 2 */
-}LSM303DLHCAcc_FilterConfigTypeDef;
+} LSM303DLHCAcc_FilterConfigTypeDef;
 
 /* LSM303DLHC Mag struct */
-typedef struct
-{
+typedef struct {
   uint8_t Temperature_Sensor;                /* Temperature sensor enable/disable */
   uint8_t MagOutput_DataRate;                /* OUT data rate */
   uint8_t Working_Mode;                      /* operating mode */
   uint8_t MagFull_Scale;                     /* Full Scale selection */
-}LSM303DLHCMag_InitTypeDef;
+} LSM303DLHCMag_InitTypeDef;
 /**
   * @}
   */
@@ -78,43 +75,11 @@ typedef struct
   * @brief  LSM303DLHC I2C Interface pins
   */
 #define LSM303DLHC_I2C                       I2C1
-#define LSM303DLHC_I2C_CLK                   RCC_APB1Periph_I2C1
-
-#define LSM303DLHC_I2C_SCK_PIN               GPIO_Pin_6                  /* PB.06 */
-#define LSM303DLHC_I2C_SCK_GPIO_PORT         GPIOB                       /* GPIOB */
-#define LSM303DLHC_I2C_SCK_GPIO_CLK          RCC_AHBPeriph_GPIOB
-#define LSM303DLHC_I2C_SCK_SOURCE            GPIO_PinSource6
-#define LSM303DLHC_I2C_SCK_AF                GPIO_AF_4
-
-#define LSM303DLHC_I2C_SDA_PIN               GPIO_Pin_7                  /* PB.7 */
-#define LSM303DLHC_I2C_SDA_GPIO_PORT         GPIOB                       /* GPIOB */
-#define LSM303DLHC_I2C_SDA_GPIO_CLK          RCC_AHBPeriph_GPIOB
-#define LSM303DLHC_I2C_SDA_SOURCE            GPIO_PinSource7
-#define LSM303DLHC_I2C_SDA_AF                GPIO_AF_4
-
-#define LSM303DLHC_DRDY_PIN                  GPIO_Pin_2                  /* PE.02 */
-#define LSM303DLHC_DRDY_GPIO_PORT            GPIOE                       /* GPIOE */
-#define LSM303DLHC_DRDY_GPIO_CLK             RCC_AHBPeriph_GPIOE
-#define LSM303DLHC_DRDY_EXTI_LINE            EXTI_Line2
-#define LSM303DLHC_DRDY_EXTI_PORT_SOURCE     EXTI_PortSourceGPIOE
-#define LSM303DLHC_DRDY_EXTI_PIN_SOURCE      EXTI_PinSource2
-#define LSM303DLHC_DRDY_EXTI_IRQn            EXTI2_TS_IRQn
-
-#define LSM303DLHC_I2C_INT1_PIN              GPIO_Pin_4                  /* PE.04 */
-#define LSM303DLHC_I2C_INT1_GPIO_PORT        GPIOE                       /* GPIOE */
-#define LSM303DLHC_I2C_INT1_GPIO_CLK         RCC_AHBPeriph_GPIOE
-#define LSM303DLHC_I2C_INT1_EXTI_LINE        EXTI_Line4
-#define LSM303DLHC_I2C_INT1_EXTI_PORT_SOURCE EXTI_PortSourceGPIOE
-#define LSM303DLHC_I2C_INT1_EXTI_PIN_SOURCE  EXTI_PinSource4
-#define LSM303DLHC_I2C_INT1_EXTI_IRQn        EXTI4_IRQn
-
-#define LSM303DLHC_I2C_INT2_PIN              GPIO_Pin_5                  /* PE.05 */
-#define LSM303DLHC_I2C_INT2_GPIO_PORT        GPIOE                       /* GPIOE */
-#define LSM303DLHC_I2C_INT2_GPIO_CLK         RCC_AHBPeriph_GPIOE
-#define LSM303DLHC_I2C_INT2_EXTI_LINE        EXTI_Line5
-#define LSM303DLHC_I2C_INT2_EXTI_PORT_SOURCE EXTI_PortSourceGPIOE
-#define LSM303DLHC_I2C_INT2_EXTI_PIN_SOURCE  EXTI_PinSource5ss
-#define LSM303DLHC_I2C_INT2_EXTI_IRQn        EXTI9_5_IRQn
+#define LSM303DLHC_I2C_SCK_PIN               PB6                         /* PB.06 */
+#define LSM303DLHC_I2C_SDA_PIN               PB7                         /* PB.7 */
+#define LSM303DLHC_DRDY_PIN                  PE2                         /* PE.02 */
+#define LSM303DLHC_I2C_INT1_PIN              PE4                         /* PE.04 */
+#define LSM303DLHC_I2C_INT2_PIN              PE5                         /* PE.05 */
 
 /******************************************************************************/
 /*************************** START REGISTER MAPPING  **************************/
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index 4ce6b552de..917c06f1a8 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "exti.h"
+ 
 // MPU6050
 #define MPU_RA_WHO_AM_I         0x75
 #define MPU_RA_WHO_AM_I_LEGACY  0x00
diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index d4fa0fb846..3cc3ac8f69 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -38,8 +38,6 @@
 #include "accgyro_mpu.h"
 #include "accgyro_mpu6050.h"
 
-extern uint8_t mpuLowPassFilter;
-
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 
 // MPU6050, Standard address 0x68
diff --git a/src/main/drivers/adc.h b/src/main/drivers/adc.h
index f090c8fa8d..55914a3365 100644
--- a/src/main/drivers/adc.h
+++ b/src/main/drivers/adc.h
@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "io.h"
+
 typedef enum {
     ADC_BATTERY = 0,
     ADC_RSSI = 1,
@@ -28,6 +30,7 @@ typedef enum {
 #define ADC_CHANNEL_COUNT (ADC_CHANNEL_MAX + 1)
 
 typedef struct adc_config_s {
+    ioTag_t tag;
     uint8_t adcChannel;         // ADC1_INxx channel number
     uint8_t dmaIndex;           // index into DMA buffer in case of sparse channels
     bool enabled;
diff --git a/src/main/drivers/adc_stm32f10x.c b/src/main/drivers/adc_stm32f10x.c
index a810ac731b..9d94742468 100644
--- a/src/main/drivers/adc_stm32f10x.c
+++ b/src/main/drivers/adc_stm32f10x.c
@@ -91,60 +91,50 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef VBAT_ADC_PIN
     if (init->enableVBat) {
-        IOInit(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
-        adcConfig[ADC_BATTERY].adcChannel = adcChannelByTag(IO_TAG(VBAT_ADC_PIN));
-        adcConfig[ADC_BATTERY].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_BATTERY].enabled = true;
-        adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[ADC_BATTERY].tag = IO_TAG(VBAT_ADC_PIN);
     }
 #endif
 
 #ifdef RSSI_ADC_PIN
     if (init->enableRSSI) {
-        IOInit(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
-        adcConfig[ADC_RSSI].adcChannel = adcChannelByTag(IO_TAG(RSSI_ADC_PIN));
-        adcConfig[ADC_RSSI].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_RSSI].enabled = true;
-        adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[ADC_RSSI].tag = IO_TAG(RSSI_ADC_PIN);
     }
 #endif
 
 #ifdef EXTERNAL1_ADC_PIN
     if (init->enableExternal1) {
-        IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
-        adcConfig[ADC_EXTERNAL1].adcChannel = adcChannelByTag(IO_TAG(EXTERNAL1_ADC_PIN));
-        adcConfig[ADC_EXTERNAL1].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_EXTERNAL1].enabled = true;
-        adcConfig[ADC_EXTERNAL1].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[ADC_EXTERNAL1].tag = IO_TAG(EXTERNAL1_ADC_PIN);
     }
 #endif
 
 #ifdef CURRENT_METER_ADC_PIN
     if (init->enableCurrentMeter) {
-        IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AIN, 0));
-        adcConfig[ADC_CURRENT].adcChannel = adcChannelByTag(IO_TAG(CURRENT_METER_ADC_PIN));
-        adcConfig[ADC_CURRENT].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_CURRENT].enabled = true;
-        adcConfig[ADC_CURRENT].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[ADC_CURRENT].tag = IO_TAG(CURRENT_METER_ADC_PIN);
     }
 #endif
 
     ADCDevice device = adcDeviceByInstance(ADC_INSTANCE);
     if (device == ADCINVALID)
         return;
-    
+
     adcDevice_t adc = adcHardware[device];  
+
+    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+        if (!adcConfig[i].tag)
+            continue;
+
+        IOInit(IOGetByTag(adcConfig[i].tag), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_Mode_AIN, 0));
+        adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag);
+        adcConfig[i].dmaIndex = configuredAdcChannels++;
+        adcConfig[i].sampleTime = ADC_SampleTime_239Cycles5;
+        adcConfig[i].enabled = true;
+    }
     
     RCC_ADCCLKConfig(RCC_PCLK2_Div8);  // 9MHz from 72MHz APB2 clock(HSE), 8MHz from 64MHz (HSI)
     RCC_ClockCmd(adc.rccADC, ENABLE);
     RCC_ClockCmd(adc.rccDMA, ENABLE);
     
-    // FIXME ADC driver assumes all the GPIO was already placed in 'AIN' mode
-
     DMA_DeInit(adc.DMAy_Channelx);
     DMA_InitTypeDef DMA_InitStructure;
     DMA_StructInit(&DMA_InitStructure);
diff --git a/src/main/drivers/adc_stm32f30x.c b/src/main/drivers/adc_stm32f30x.c
index 8c2ccba5ec..3fc7427b5a 100644
--- a/src/main/drivers/adc_stm32f30x.c
+++ b/src/main/drivers/adc_stm32f30x.c
@@ -107,53 +107,25 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef VBAT_ADC_PIN
     if (init->enableVBat) {
-        IOInit(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-
-        adcConfig[ADC_BATTERY].adcChannel = adcChannelByTag(IO_TAG(VBAT_ADC_PIN));
-        adcConfig[ADC_BATTERY].dmaIndex = adcChannelCount;
-        adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_601Cycles5;
-        adcConfig[ADC_BATTERY].enabled = true;
-        adcChannelCount++;
+        adcConfig[ADC_BATTERY].tag = IO_TAG(VBAT_ADC_PIN);
     }
 #endif
 
 #ifdef RSSI_ADC_PIN
     if (init->enableRSSI) {
-        IOInit(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-
-        adcConfig[ADC_RSSI].adcChannel = adcChannelByTag(IO_TAG(RSSI_ADC_PIN));
-        adcConfig[ADC_RSSI].dmaIndex = adcChannelCount;
-        adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_601Cycles5;
-        adcConfig[ADC_RSSI].enabled = true;
-        adcChannelCount++;
+        adcConfig[ADC_RSSI].tag = IO_TAG(RSSI_ADC_PIN);
     }
 #endif
 
 #ifdef CURRENT_METER_ADC_GPIO
     if (init->enableCurrentMeter) {
-        IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-
-        adcConfig[ADC_CURRENT].adcChannel = adcChannelByTag(IO_TAG(CURRENT_METER_ADC_PIN));
-        adcConfig[ADC_CURRENT].dmaIndex = adcChannelCount;
-        adcConfig[ADC_CURRENT].sampleTime = ADC_SampleTime_601Cycles5;
-        adcConfig[ADC_CURRENT].enabled = true;
-        adcChannelCount++;
+        adcConfig[ADC_CURRENT].tag = IO_TAG(CURRENT_METER_ADC_PIN);
     }
 #endif
 
 #ifdef EXTERNAL1_ADC_GPIO
     if (init->enableExternal1) {
-        IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-
-        adcConfig[ADC_EXTERNAL1].adcChannel = adcChannelByTag(IO_TAG(EXTERNAL1_ADC_PIN));
-        adcConfig[ADC_EXTERNAL1].dmaIndex = adcChannelCount;
-        adcConfig[ADC_EXTERNAL1].sampleTime = ADC_SampleTime_601Cycles5;
-        adcConfig[ADC_EXTERNAL1].enabled = true;
-        adcChannelCount++;
+        adcConfig[ADC_EXTERNAL1].tag = IO_TAG(EXTERNAL1_ADC_PIN);
     }
 #endif
 
@@ -163,6 +135,18 @@ void adcInit(drv_adc_config_t *init)
     
     adcDevice_t adc = adcHardware[device];     
 
+    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+        if (!adcConfig[i].tag)
+            continue;
+
+        IOInit(IOGetByTag(adcConfig[i].tag), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag);
+        adcConfig[i].dmaIndex = adcChannelCount++;
+        adcConfig[i].sampleTime = ADC_SampleTime_601Cycles5;
+        adcConfig[i].enabled = true;
+    }
+
     RCC_ADCCLKConfig(RCC_ADC12PLLCLK_Div256);  // 72 MHz divided by 256 = 281.25 kHz
     RCC_ClockCmd(adc.rccADC, ENABLE);
     RCC_ClockCmd(adc.rccDMA, ENABLE);
diff --git a/src/main/drivers/adc_stm32f4xx.c b/src/main/drivers/adc_stm32f4xx.c
index e4c086a609..e0b36a5f33 100644
--- a/src/main/drivers/adc_stm32f4xx.c
+++ b/src/main/drivers/adc_stm32f4xx.c
@@ -100,45 +100,25 @@ void adcInit(drv_adc_config_t *init)
 
 #ifdef VBAT_ADC_PIN
     if (init->enableVBat) {
-        IOInit(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(VBAT_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-        adcConfig[ADC_BATTERY].adcChannel = adcChannelByTag(IO_TAG(VBAT_ADC_PIN)); //VBAT_ADC_CHANNEL;
-        adcConfig[ADC_BATTERY].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_BATTERY].enabled = true;
-        adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_480Cycles;
-    }
-#endif
-
-#ifdef EXTERNAL1_ADC_PIN
-    if (init->enableExternal1) {
-        IOInit(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(EXTERNAL1_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-        adcConfig[ADC_EXTERNAL1].adcChannel = adcChannelByTag(IO_TAG(EXTERNAL1_ADC_PIN)); //EXTERNAL1_ADC_CHANNEL;
-        adcConfig[ADC_EXTERNAL1].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_EXTERNAL1].enabled = true;
-        adcConfig[ADC_EXTERNAL1].sampleTime = ADC_SampleTime_480Cycles;
+        adcConfig[ADC_BATTERY].tag = IO_TAG(VBAT_ADC_PIN); //VBAT_ADC_CHANNEL;
     }
 #endif
 
 #ifdef RSSI_ADC_PIN
     if (init->enableRSSI) {
-        IOInit(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(RSSI_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-        adcConfig[ADC_RSSI].adcChannel = adcChannelByTag(IO_TAG(RSSI_ADC_PIN));  //RSSI_ADC_CHANNEL;
-        adcConfig[ADC_RSSI].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_RSSI].enabled = true;
-        adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_480Cycles;
+        adcConfig[ADC_RSSI].tag = IO_TAG(RSSI_ADC_PIN);  //RSSI_ADC_CHANNEL;
+    }
+#endif
+    
+#ifdef EXTERNAL1_ADC_PIN
+    if (init->enableExternal1) {
+        adcConfig[ADC_EXTERNAL1].tag = IO_TAG(EXTERNAL1_ADC_PIN); //EXTERNAL1_ADC_CHANNEL;
     }
 #endif
 
 #ifdef CURRENT_METER_ADC_PIN
     if (init->enableCurrentMeter) {
-        IOInit(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), OWNER_SYSTEM, RESOURCE_ADC);
-        IOConfigGPIO(IOGetByTag(IO_TAG(CURRENT_METER_ADC_PIN)), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
-        adcConfig[ADC_CURRENT].adcChannel = adcChannelByTag(IO_TAG(CURRENT_METER_ADC_PIN));  //CURRENT_METER_ADC_CHANNEL;
-        adcConfig[ADC_CURRENT].dmaIndex = configuredAdcChannels++;
-        adcConfig[ADC_CURRENT].enabled = true;
-        adcConfig[ADC_CURRENT].sampleTime = ADC_SampleTime_480Cycles;
+        adcConfig[ADC_CURRENT].tag = IO_TAG(CURRENT_METER_ADC_PIN);  //CURRENT_METER_ADC_CHANNEL;
     }
 #endif
 
@@ -150,6 +130,18 @@ void adcInit(drv_adc_config_t *init)
     
     adcDevice_t adc = adcHardware[device];   
     
+    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+        if (!adcConfig[i].tag)
+            continue;
+
+        IOInit(IOGetByTag(adcConfig[i].tag), OWNER_SYSTEM, RESOURCE_ADC);
+        IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
+        adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag);
+        adcConfig[i].dmaIndex = configuredAdcChannels++;
+        adcConfig[i].sampleTime = ADC_SampleTime_480Cycles;
+        adcConfig[i].enabled = true;
+    }
+    
     RCC_ClockCmd(adc.rccDMA, ENABLE);
     RCC_ClockCmd(adc.rccADC, ENABLE);
 
@@ -174,20 +166,20 @@ void adcInit(drv_adc_config_t *init)
     ADC_CommonInitTypeDef ADC_CommonInitStructure;
 
     ADC_CommonStructInit(&ADC_CommonInitStructure);
-    ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
-    ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div8;
-    ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
+    ADC_CommonInitStructure.ADC_Mode             = ADC_Mode_Independent;
+    ADC_CommonInitStructure.ADC_Prescaler        = ADC_Prescaler_Div8;
+    ADC_CommonInitStructure.ADC_DMAAccessMode    = ADC_DMAAccessMode_Disabled;
     ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
     ADC_CommonInit(&ADC_CommonInitStructure);
 
     ADC_StructInit(&ADC_InitStructure);
 
-    ADC_InitStructure.ADC_ContinuousConvMode    = ENABLE;
-    ADC_InitStructure.ADC_Resolution            = ADC_Resolution_12b;
+    ADC_InitStructure.ADC_ContinuousConvMode       = ENABLE;
+    ADC_InitStructure.ADC_Resolution               = ADC_Resolution_12b;
     ADC_InitStructure.ADC_ExternalTrigConv         = ADC_ExternalTrigConv_T1_CC1;
     ADC_InitStructure.ADC_ExternalTrigConvEdge     = ADC_ExternalTrigConvEdge_None;
-    ADC_InitStructure.ADC_DataAlign             = ADC_DataAlign_Right;
-    ADC_InitStructure.ADC_NbrOfConversion       = configuredAdcChannels;
+    ADC_InitStructure.ADC_DataAlign                = ADC_DataAlign_Right;
+    ADC_InitStructure.ADC_NbrOfConversion          = configuredAdcChannels;
     ADC_InitStructure.ADC_ScanConvMode             = configuredAdcChannels > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
 
     ADC_Init(adc.ADCx, &ADC_InitStructure);
diff --git a/src/main/drivers/bus_i2c_stm32f30x.c b/src/main/drivers/bus_i2c_stm32f30x.c
index adb424390b..cc78da8d60 100644
--- a/src/main/drivers/bus_i2c_stm32f30x.c
+++ b/src/main/drivers/bus_i2c_stm32f30x.c
@@ -31,6 +31,15 @@
 
 #ifndef SOFT_I2C
 
+#if defined(USE_I2C_PULLUP)
+#define IOCFG_I2C IO_CONFIG(GPIO_Mode_AF, 0, GPIO_OType_OD, GPIO_PuPd_UP)
+#else
+#define IOCFG_I2C IOCFG_AF_OD
+#endif
+
+#define I2C_HIGHSPEED_TIMING  0x00500E30  // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
+#define I2C_STANDARD_TIMING   0x00E0257A  // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
+
 #define I2C_SHORT_TIMEOUT   ((uint32_t)0x1000)
 #define I2C_LONG_TIMEOUT    ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
 #define I2C_GPIO_AF         GPIO_AF_4 
@@ -83,8 +92,8 @@ void i2cInit(I2CDevice device)
     RCC_ClockCmd(i2c->rcc, ENABLE);
     RCC_I2CCLKConfig(I2Cx == I2C2 ? RCC_I2C2CLK_SYSCLK : RCC_I2C1CLK_SYSCLK);
 
-    IOConfigGPIOAF(scl, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP), GPIO_AF_4);
-    IOConfigGPIOAF(sda, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP), GPIO_AF_4);
+    IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_4);
+    IOConfigGPIOAF(sda, IOCFG_I2C, GPIO_AF_4);
 
     I2C_InitTypeDef i2cInit = {
         .I2C_Mode = I2C_Mode_I2C,
@@ -93,10 +102,7 @@ void i2cInit(I2CDevice device)
         .I2C_OwnAddress1 = 0x00,
         .I2C_Ack = I2C_Ack_Enable,
         .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
-        .I2C_Timing = i2c->overClock ?
-            0x00500E30 : // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
-            0x00E0257A, // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
-        //.I2C_Timing              = 0x8000050B;
+        .I2C_Timing = (i2c->overClock ? I2C_HIGHSPEED_TIMING : I2C_STANDARD_TIMING)
     };
     
     I2C_Init(I2Cx, &i2cInit);
diff --git a/src/main/drivers/compass_ak8963.c b/src/main/drivers/compass_ak8963.c
index 7b60fe5c46..0668fcdd77 100644
--- a/src/main/drivers/compass_ak8963.c
+++ b/src/main/drivers/compass_ak8963.c
@@ -30,8 +30,6 @@
 #include "common/maths.h"
 
 #include "system.h"
-#include "gpio.h"
-#include "exti.h"
 #include "bus_i2c.h"
 #include "bus_spi.h"
 
diff --git a/src/main/drivers/compass_hmc5883l.c b/src/main/drivers/compass_hmc5883l.c
index a018ab0f52..c8c398fc3d 100644
--- a/src/main/drivers/compass_hmc5883l.c
+++ b/src/main/drivers/compass_hmc5883l.c
@@ -29,7 +29,8 @@
 
 #include "system.h"
 #include "nvic.h"
-#include "gpio.h"
+#include "io.h"
+#include "exti.h"
 #include "bus_i2c.h"
 #include "light_led.h"
 
@@ -120,14 +121,14 @@ static float magGain[3] = { 1.0f, 1.0f, 1.0f };
 
 static const hmc5883Config_t *hmc5883Config = NULL;
 
-void MAG_DATA_READY_EXTI_Handler(void)
+#ifdef USE_MAG_DATA_READY_SIGNAL
+
+static IO_t intIO;
+static extiCallbackRec_t hmc5883_extiCallbackRec;
+
+void hmc5883_extiHandler(extiCallbackRec_t* cb)
 {
-    if (EXTI_GetITStatus(hmc5883Config->exti_line) == RESET) {
-        return;
-    }
-
-    EXTI_ClearITPendingBit(hmc5883Config->exti_line);
-
+    UNUSED(cb);
 #ifdef DEBUG_MAG_DATA_READY_INTERRUPT
     // Measure the delta between calls to the interrupt handler
     // currently should be around 65/66 milli seconds / 15hz output rate
@@ -143,57 +144,26 @@ void MAG_DATA_READY_EXTI_Handler(void)
     lastCalledAt = now;
 #endif
 }
+#endif
 
 static void hmc5883lConfigureDataReadyInterruptHandling(void)
 {
 #ifdef USE_MAG_DATA_READY_SIGNAL
 
-    if (!(hmc5883Config->exti_port_source && hmc5883Config->exti_pin_source)) {
+    if (!(hmc5883Config->intTag)) {
         return;
     }
-#ifdef STM32F10X
-    // enable AFIO for EXTI support
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
-#endif
-
-#ifdef STM32F303xC
-    /* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
-#endif
-
-#ifdef STM32F10X
-    gpioExtiLineConfig(hmc5883Config->exti_port_source, hmc5883Config->exti_pin_source);
-#endif
-
-#ifdef STM32F303xC
-    gpioExtiLineConfig(hmc5883Config->exti_port_source, hmc5883Config->exti_pin_source);
-#endif
-
+    intIO = IOGetByTag(hmc5883Config->intTag);
 #ifdef ENSURE_MAG_DATA_READY_IS_HIGH
-    uint8_t status = GPIO_ReadInputDataBit(hmc5883Config->gpioPort, hmc5883Config->gpioPin);
+    uint8_t status = IORead(intIO);
     if (!status) {
         return;
     }
 #endif
 
-    registerExtiCallbackHandler(hmc5883Config->exti_irqn, MAG_DATA_READY_EXTI_Handler);
-
-    EXTI_ClearITPendingBit(hmc5883Config->exti_line);
-
-    EXTI_InitTypeDef EXTIInit;
-    EXTIInit.EXTI_Line = hmc5883Config->exti_line;
-    EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
-    EXTIInit.EXTI_Trigger = EXTI_Trigger_Falling;
-    EXTIInit.EXTI_LineCmd = ENABLE;
-    EXTI_Init(&EXTIInit);
-
-    NVIC_InitTypeDef NVIC_InitStructure;
-
-    NVIC_InitStructure.NVIC_IRQChannel = hmc5883Config->exti_irqn;
-    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MAG_DATA_READY);
-    NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_MAG_DATA_READY);
-    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-    NVIC_Init(&NVIC_InitStructure);
+    EXTIHandlerInit(&hmc5883_extiCallbackRec, hmc5883_extiHandler);
+    EXTIConfig(intIO, &hmc5883_extiCallbackRec, NVIC_PRIO_MAG_INT_EXTI, EXTI_Trigger_Rising);
+    EXTIEnable(intIO, true);
 #endif
 }
 
@@ -221,25 +191,6 @@ void hmc5883lInit(void)
     int32_t xyz_total[3] = { 0, 0, 0 }; // 32 bit totals so they won't overflow.
     bool bret = true;           // Error indicator
 
-    gpio_config_t gpio;
-
-    if (hmc5883Config) {
-#ifdef STM32F303
-        if (hmc5883Config->gpioAHBPeripherals) {
-            RCC_AHBPeriphClockCmd(hmc5883Config->gpioAHBPeripherals, ENABLE);
-        }
-#endif
-#ifdef STM32F10X
-        if (hmc5883Config->gpioAPB2Peripherals) {
-            RCC_APB2PeriphClockCmd(hmc5883Config->gpioAPB2Peripherals, ENABLE);
-        }
-#endif
-        gpio.pin = hmc5883Config->gpioPin;
-        gpio.speed = Speed_2MHz;
-        gpio.mode = Mode_IN_FLOATING;
-        gpioInit(hmc5883Config->gpioPort, &gpio);
-    }
-
     delay(50);
     i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
     // Note that the  very first measurement after a gain change maintains the same gain as the previous setting.
diff --git a/src/main/drivers/compass_hmc5883l.h b/src/main/drivers/compass_hmc5883l.h
index 53c4c9f3e5..035a2c936f 100644
--- a/src/main/drivers/compass_hmc5883l.h
+++ b/src/main/drivers/compass_hmc5883l.h
@@ -17,20 +17,10 @@
 
 #pragma once
 
-typedef struct hmc5883Config_s {
-#ifdef STM32F303
-    uint32_t gpioAHBPeripherals;
-#endif
-#ifdef STM32F10X
-    uint32_t gpioAPB2Peripherals;
-#endif
-    uint16_t gpioPin;
-    GPIO_TypeDef *gpioPort;
+#include "io.h"
 
-    uint8_t exti_port_source;
-    uint32_t exti_line;
-    uint8_t exti_pin_source;
-    IRQn_Type exti_irqn;
+typedef struct hmc5883Config_s {
+    ioTag_t intTag;
 } hmc5883Config_t;
 
 bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse);
diff --git a/src/main/drivers/max7456_symbols.h b/src/main/drivers/max7456_symbols.h
index 68de428937..2030cb956b 100644
--- a/src/main/drivers/max7456_symbols.h
+++ b/src/main/drivers/max7456_symbols.h
@@ -125,16 +125,9 @@
 #define SYM_MAG11 0xB6
 
 // AH Center screen Graphics
-//#define SYM_AH_CENTER 0x01
-#ifdef ALT_CENTER
-  #define SYM_AH_CENTER_LINE 0xB0
-  #define SYM_AH_CENTER 0xB1
-  #define SYM_AH_CENTER_LINE_RIGHT 0xB2
-#else
-  #define SYM_AH_CENTER_LINE 0x26
-  #define SYM_AH_CENTER 0x7E
-  #define SYM_AH_CENTER_LINE_RIGHT 0xBC
-#endif
+#define SYM_AH_CENTER_LINE 0x26
+#define SYM_AH_CENTER_LINE_RIGHT 0x27
+#define SYM_AH_CENTER 0x7E
 #define SYM_AH_RIGHT 0x02
 #define SYM_AH_LEFT 0x03
 #define SYM_AH_DECORATION_UP 0xC9
@@ -183,7 +176,7 @@
 #define SYM_FT 0x0F
 
 // Voltage and amperage
-#define SYM_VOLT 0xA9
+#define SYM_VOLT 0x00
 #define SYM_AMP 0x9A
 #define SYM_MAH 0xA4
 #define SYM_WATT 0x57
@@ -214,11 +207,11 @@
 #define SYM_FLY_H 0x71
 
 // Throttle Position (%)
-#define SYM_THR 0xC8
-#define SYM_THR1 0xC9
+#define SYM_THR 0x04
+#define SYM_THR1 0x05
 
 // RSSI
-#define SYM_RSSI 0xBA
+#define SYM_RSSI 0x01
 
 // Menu cursor
 #define SYM_CURSOR SYM_AH_LEFT
diff --git a/src/main/drivers/rcc.c b/src/main/drivers/rcc.c
index f8cc88b725..b1e759f972 100644
--- a/src/main/drivers/rcc.c
+++ b/src/main/drivers/rcc.c
@@ -7,7 +7,7 @@ void RCC_ClockCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
     int tag = periphTag >> 5;
     uint32_t mask = 1 << (periphTag & 0x1f);
     switch (tag) {
-#if defined(STM32F303xC)
+#if defined(STM32F3) || defined(STM32F1)
     case RCC_AHB:
         RCC_AHBPeriphClockCmd(mask, NewState);
         break;
@@ -18,7 +18,7 @@ void RCC_ClockCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
     case RCC_APB1:
         RCC_APB1PeriphClockCmd(mask, NewState);
         break;
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#if defined(STM32F4)
     case RCC_AHB1:
         RCC_AHB1PeriphClockCmd(mask, NewState);
         break;
@@ -31,7 +31,7 @@ void RCC_ResetCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
     int tag = periphTag >> 5;
     uint32_t mask = 1 << (periphTag & 0x1f);
     switch (tag) {
-#if defined(STM32F303xC)
+#if defined(STM32F3) || defined(STM32F10X_CL)
     case RCC_AHB:
         RCC_AHBPeriphResetCmd(mask, NewState);
         break;
@@ -42,7 +42,7 @@ void RCC_ResetCmd(rccPeriphTag_t periphTag, FunctionalState NewState)
     case RCC_APB1:
         RCC_APB1PeriphResetCmd(mask, NewState);
         break;
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#if defined(STM32F4)
     case RCC_AHB1:
         RCC_AHB1PeriphResetCmd(mask, NewState);
         break;
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 9e56c2abea..dc98ae78ef 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -29,10 +29,9 @@ typedef enum {
     ACC_MPU6000 = 7,
     ACC_MPU6500 = 8,
     ACC_FAKE = 9,
+    ACC_MAX = ACC_FAKE
 } accelerationSensor_e;
 
-#define ACC_MAX  ACC_FAKE
-
 extern sensor_align_e accAlign;
 extern acc_t acc;
 extern uint32_t accTargetLooptime;
diff --git a/src/main/sensors/barometer.h b/src/main/sensors/barometer.h
index 7ea2c1e5ba..0ef2638ad0 100644
--- a/src/main/sensors/barometer.h
+++ b/src/main/sensors/barometer.h
@@ -22,11 +22,11 @@ typedef enum {
     BARO_NONE = 1,
     BARO_BMP085 = 2,
     BARO_MS5611 = 3,
-    BARO_BMP280 = 4
+    BARO_BMP280 = 4,
+    BARO_MAX = BARO_BMP280
 } baroSensor_e;
 
 #define BARO_SAMPLE_COUNT_MAX   48
-#define BARO_MAX BARO_MS5611
 
 typedef struct barometerConfig_s {
     uint8_t baro_sample_count;              // size of baro filter array
@@ -38,7 +38,6 @@ typedef struct barometerConfig_s {
 extern int32_t BaroAlt;
 extern int32_t baroTemperature;             // Use temperature for telemetry
 
-#ifdef BARO
 void useBarometerConfig(barometerConfig_t *barometerConfigToUse);
 bool isBaroCalibrationComplete(void);
 void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
@@ -46,4 +45,3 @@ uint32_t baroUpdate(void);
 bool isBaroReady(void);
 int32_t baroCalculateAltitude(void);
 void performBaroCalibrationCycle(void);
-#endif
diff --git a/src/main/sensors/battery.h b/src/main/sensors/battery.h
index 26e54eb4ec..21197e07fc 100644
--- a/src/main/sensors/battery.h
+++ b/src/main/sensors/battery.h
@@ -20,7 +20,9 @@
 #include "rx/rx.h"
 #include "common/maths.h"
 
+#ifndef VBAT_SCALE_DEFAULT
 #define VBAT_SCALE_DEFAULT 110
+#endif
 #define VBAT_RESDIVVAL_DEFAULT 10
 #define VBAT_RESDIVMULTIPLIER_DEFAULT 1
 #define VBAT_SCALE_MIN 0
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index de075bfe23..cca2328c04 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -35,7 +35,7 @@
 #include "sensors/sensors.h"
 #include "sensors/compass.h"
 
-#ifdef NAZE
+#ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
 
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index 0807ba4106..2f5ae7d21a 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -23,15 +23,13 @@ typedef enum {
     MAG_NONE = 1,
     MAG_HMC5883 = 2,
     MAG_AK8975 = 3,
-    MAG_AK8963 = 4
+    MAG_AK8963 = 4,
+    MAG_MAX = MAG_AK8963
 } magSensor_e;
 
-#define MAG_MAX  MAG_AK8963
-
-#ifdef MAG
 void compassInit(void);
-void updateCompass(flightDynamicsTrims_t *magZero);
-#endif
+union flightDynamicsTrims_u;
+void updateCompass(union flightDynamicsTrims_u *magZero);
 
 extern int32_t magADC[XYZ_AXIS_COUNT];
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 48113e934a..c79d29013f 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -41,7 +41,7 @@ sensor_align_e gyroAlign = 0;
 int32_t gyroADC[XYZ_AXIS_COUNT];
 float gyroADCf[XYZ_AXIS_COUNT];
 
-static int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
+static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
 static const gyroConfig_t *gyroConfig;
 static biquad_t gyroFilterState[XYZ_AXIS_COUNT];
 static uint8_t gyroSoftLpfHz;
@@ -160,5 +160,9 @@ void gyroUpdate(void)
             gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
             gyroADC[axis] = lrintf(gyroADCf[axis]);
         }
+    } else {
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            gyroADCf[axis] = gyroADC[axis];
+        }
     }
 }
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 54069b8a64..2239eb6816 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -27,7 +27,8 @@ typedef enum {
     GYRO_MPU6000,
     GYRO_MPU6500,
     GYRO_MPU9250,
-    GYRO_FAKE
+    GYRO_FAKE,
+    GYRO_MAX = GYRO_FAKE
 } gyroSensor_e;
 
 extern gyro_t gyro;
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 80d6169518..0e75ad15f5 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -81,7 +81,7 @@ extern baro_t baro;
 extern acc_t acc;
 extern sensor_align_e gyroAlign;
 
-uint8_t detectedSensors[MAX_SENSORS_TO_DETECT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
+uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
 
 
 const extiConfig_t *selectMPUIntExtiConfig(void)
@@ -484,27 +484,12 @@ static void detectMag(magSensor_e magHardwareToUse)
 #ifdef USE_MAG_HMC5883
     const hmc5883Config_t *hmc5883Config = 0;
 
-#ifdef NAZE
+#ifdef NAZE // TODO remove this target specific define
     static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
-            .gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
-            .gpioPin = Pin_12,
-            .gpioPort = GPIOB,
-
-            /* Disabled for v4 needs more work.
-            .exti_port_source = GPIO_PortSourceGPIOB,
-            .exti_pin_source = GPIO_PinSource12,
-            .exti_line = EXTI_Line12,
-            .exti_irqn = EXTI15_10_IRQn
-            */
+            .intTag = IO_TAG(PB12) /* perhaps disabled? */
     };
     static const hmc5883Config_t nazeHmc5883Config_v5 = {
-            .gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
-            .gpioPin = Pin_14,
-            .gpioPort = GPIOC,
-            .exti_port_source = GPIO_PortSourceGPIOC,
-            .exti_line = EXTI_Line14,
-            .exti_pin_source = GPIO_PinSource14,
-            .exti_irqn = EXTI15_10_IRQn
+            .intTag = IO_TAG(MAG_INT_EXTI)
     };
     if (hardwareRevision < NAZE32_REV5) {
         hmc5883Config = &nazeHmc5883Config_v1_v4;
@@ -513,18 +498,12 @@ static void detectMag(magSensor_e magHardwareToUse)
     }
 #endif
 
-#ifdef SPRACINGF3
-    static const hmc5883Config_t spRacingF3Hmc5883Config = {
-        .gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
-        .gpioPin = Pin_14,
-        .gpioPort = GPIOC,
-        .exti_port_source = EXTI_PortSourceGPIOC,
-        .exti_pin_source = EXTI_PinSource14,
-        .exti_line = EXTI_Line14,
-        .exti_irqn = EXTI15_10_IRQn
+#ifdef MAG_INT_EXTI
+    static const hmc5883Config_t extiHmc5883Config = {
+        .intTag = IO_TAG(MAG_INT_EXTI)
     };
 
-    hmc5883Config = &spRacingF3Hmc5883Config;
+	hmc5883Config = &extiHmc5883Config;
 #endif
 
 #endif
diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h
index 92e6907eef..9e6fdda92f 100644
--- a/src/main/sensors/sensors.h
+++ b/src/main/sensors/sensors.h
@@ -21,12 +21,11 @@ typedef enum {
     SENSOR_INDEX_GYRO = 0,
     SENSOR_INDEX_ACC,
     SENSOR_INDEX_BARO,
-    SENSOR_INDEX_MAG
+    SENSOR_INDEX_MAG,
+    SENSOR_INDEX_COUNT
 } sensorIndex_e;
 
-#define MAX_SENSORS_TO_DETECT (SENSOR_INDEX_MAG + 1)
-
-extern uint8_t detectedSensors[MAX_SENSORS_TO_DETECT];
+extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
 
 typedef struct int16_flightDynamicsTrims_s {
     int16_t roll;
@@ -34,7 +33,7 @@ typedef struct int16_flightDynamicsTrims_s {
     int16_t yaw;
 } flightDynamicsTrims_def_t;
 
-typedef union {
+typedef union flightDynamicsTrims_u {
     int16_t raw[3];
     flightDynamicsTrims_def_t values;
 } flightDynamicsTrims_t;
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index 89e9c1a9c6..ccef02d34d 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
+#define ALIENFLIGHT
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
@@ -118,9 +119,7 @@
 #define ADC_INSTANCE         ADC2
 //#define BOARD_HAS_VOLTAGE_DIVIDER
 #define VBAT_ADC_PIN         PA4
-
-// alternative defaults for AlienFlight F3 target
-#define ALIENFLIGHT
+#define VBAT_SCALE_DEFAULT   20
 
 #define SPEKTRUM_BIND
 // USART2, PA3
diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index 30d03b9f69..db129454a4 100644
--- a/src/main/target/KISSFC/target.c
+++ b/src/main/target/KISSFC/target.c
@@ -7,33 +7,33 @@
 
 const uint16_t multiPPM[] = {
     PWM7  | (MAP_TO_PPM_INPUT << 8),
-    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (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),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (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),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM7  | (MAP_TO_PWM_INPUT << 8),
     PWM8  | (MAP_TO_PWM_INPUT << 8),
     PWM9  | (MAP_TO_PWM_INPUT << 8),
-    PWM10  | (MAP_TO_PWM_INPUT << 8),
-    PWM11  | (MAP_TO_PWM_INPUT << 8),
-    PWM12  | (MAP_TO_PWM_INPUT << 8),
+    PWM10 | (MAP_TO_PWM_INPUT << 8),
+    PWM11 | (MAP_TO_PWM_INPUT << 8),
+    PWM12 | (MAP_TO_PWM_INPUT << 8),
     0xFFFF
 };
 
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index 6d79046a74..538dc653b8 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -72,12 +72,15 @@
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
 
-//#define USE_ADC
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define VBAT_SCALE_DEFAULT          164
+#define ADC_INSTANCE                ADC1
+#define VBAT_ADC_PIN                PA0
+//#define CURRENT_METER_ADC_PIN       PA5
+//#define RSSI_ADC_PIN                PB2
 
+#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES FEATURE_VBAT
 
 #define SPEKTRUM_BIND
 #define BIND_PIN   PB4
diff --git a/src/main/target/KISSFC/target.mk b/src/main/target/KISSFC/target.mk
index 56c635c922..6ed94fd46d 100644
--- a/src/main/target/KISSFC/target.mk
+++ b/src/main/target/KISSFC/target.mk
@@ -1,5 +1,5 @@
 F3_TARGETS  += $(TARGET)
-FEATURES     = VCP 
+FEATURES    = VCP
 
 TARGET_SRC = \
             drivers/accgyro_mpu.c \
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index 9f6e3d2b22..95f531faf5 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -74,7 +74,8 @@
 
 //#define DEBUG_MAG_DATA_READY_INTERRUPT
 #define USE_MAG_DATA_READY_SIGNAL
-
+#define MAG_INT_EXTI PC14
+ 
 #define GYRO
 #define USE_GYRO_MPU3050
 #define USE_GYRO_MPU6050
diff --git a/src/main/target/SINGULARITY/target.h b/src/main/target/SINGULARITY/target.h
index 192971fd11..f58dcbe969 100644
--- a/src/main/target/SINGULARITY/target.h
+++ b/src/main/target/SINGULARITY/target.h
@@ -95,6 +95,7 @@
 
 #define ADC_INSTANCE                ADC2
 #define VBAT_ADC_PIN                PB2
+#define VBAT_SCALE_DEFAULT          77
 
 #define LED_STRIP
 #define LED_STRIP_TIMER TIM1
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index 68413bbe0b..a4f44762dc 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -35,10 +35,6 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define USE_MAG_DATA_READY_SIGNAL
-#define ENSURE_MAG_DATA_READY_IS_HIGH
-
-
 #define GYRO
 #define USE_GYRO_MPU6050
 #define GYRO_MPU6050_ALIGN CW270_DEG
@@ -57,6 +53,11 @@
 #define USE_MAG_HMC5883
 #define MAG_HMC5883_ALIGN CW270_DEG
 
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+#define MAG_INT_EXTI PC14
+
+
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 
diff --git a/src/main/vcpf4/usbd_desc.c b/src/main/vcpf4/usbd_desc.c
index f9478327e6..f3f9a3af91 100644
--- a/src/main/vcpf4/usbd_desc.c
+++ b/src/main/vcpf4/usbd_desc.c
@@ -57,7 +57,7 @@
   * @{
   */ 
 #define USBD_LANGID_STRING              0x409
-#define USBD_MANUFACTURER_STRING        "RaceFlight"
+#define USBD_MANUFACTURER_STRING        "BetaFlight"
 
 #ifdef USBD_PRODUCT_STRING
   #define USBD_PRODUCT_HS_STRING          USBD_PRODUCT_STRING