diff --git a/unified_targets/configs/MATEKF405MINI.config b/unified_targets/configs/MATEKF405MINI.config
index c44b39092c..d8b7b3c200 100644
--- a/unified_targets/configs/MATEKF405MINI.config
+++ b/unified_targets/configs/MATEKF405MINI.config
@@ -1,123 +1,133 @@
-# Betaflight / STM32F405 (S405) 4.0.4 Jun 30 2019 / 14:58:15 (f3a95efa3) MSP API: 1.41
-
-board_name MATEKF405MINI
-manufacturer_id MTKS
-
-# resources
-resource BEEPER 1 C13
-resource MOTOR 1 C06
-resource MOTOR 2 C07
-resource MOTOR 3 C08
-resource MOTOR 4 C09
-resource MOTOR 5 A15
-resource MOTOR 6 A08
-resource MOTOR 7 B08
-resource PPM 1 A03
-resource PWM 1 A00
-resource PWM 2 A01
-resource PWM 3 A02
-resource LED_STRIP 1 B06
-resource SERIAL_TX 1 A09
-resource SERIAL_TX 2 A02
-resource SERIAL_TX 3 C10
-resource SERIAL_TX 4 A00
-resource SERIAL_TX 5 C12
-resource SERIAL_RX 1 A10
-resource SERIAL_RX 2 A03
-resource SERIAL_RX 3 C11
-resource SERIAL_RX 4 A01
-resource SERIAL_RX 5 D02
-resource I2C_SCL 1 B06
-resource I2C_SDA 1 B07
-resource LED 1 B09
-resource LED 2 A14
-resource SPI_SCK 1 A05
-resource SPI_SCK 2 B13
-resource SPI_SCK 3 B03
-resource SPI_MISO 1 A06
-resource SPI_MISO 2 B14
-resource SPI_MISO 3 B04
-resource SPI_MOSI 1 A07
-resource SPI_MOSI 2 B15
-resource SPI_MOSI 3 B05
-resource ESCSERIAL 1 A03
-resource ADC_BATT 1 C05
-resource ADC_RSSI 1 B01
-resource ADC_CURR 1 C04
-resource FLASH_CS 1 C00
-resource OSD_CS 1 B10
-resource GYRO_EXTI 1 C03
-resource GYRO_CS 1 C02
-resource USB_DETECT 1 B12
-
-# timer
-timer A03 AF2
-# pin A03: TIM5 CH4 (AF2)
-timer C06 AF2
-# pin C06: TIM3 CH1 (AF2)
-timer C07 AF3
-# pin C07: TIM8 CH2 (AF3)
-timer C08 AF3
-# pin C08: TIM8 CH3 (AF3)
-timer C09 AF3
-# pin C09: TIM8 CH4 (AF3)
-timer A15 AF1
-# pin A15: TIM2 CH1 (AF1)
-timer A08 AF1
-# pin A08: TIM1 CH1 (AF1)
-timer B08 AF2
-# pin B08: TIM4 CH3 (AF2)
-timer B06 AF2
-# pin B06: TIM4 CH1 (AF2)
-timer A00 AF2
-# pin A00: TIM5 CH1 (AF2)
-timer A01 AF2
-# pin A01: TIM5 CH2 (AF2)
-timer A02 AF3
-# pin A02: TIM9 CH1 (AF3)
-
-# dma
-dma ADC 1 0
-# ADC 1: DMA2 Stream 0 Channel 0
-dma pin A03 0
-# pin A03: DMA1 Stream 1 Channel 6
-dma pin C06 0
-# pin C06: DMA1 Stream 4 Channel 5
-dma pin C07 1
-# pin C07: DMA2 Stream 3 Channel 7
-dma pin C08 1
-# pin C08: DMA2 Stream 4 Channel 7
-dma pin C09 0
-# pin C09: DMA2 Stream 7 Channel 7
-dma pin A15 0
-# pin A15: DMA1 Stream 5 Channel 3
-dma pin A08 0
-# pin A08: DMA2 Stream 6 Channel 0
-dma pin B08 0
-# pin B08: DMA1 Stream 7 Channel 2
-dma pin B06 0
-# pin B06: DMA1 Stream 0 Channel 2
-dma pin A00 0
-# pin A00: DMA1 Stream 2 Channel 6
-dma pin A01 0
-# pin A01: DMA1 Stream 4 Channel 6
-
-# master
-set mag_bustype = I2C
-set mag_i2c_device = 1
-set baro_bustype = I2C
-set baro_i2c_device = 1
-set blackbox_device = SPIFLASH
-set dshot_burst = ON
-set current_meter = ADC
-set battery_meter = ADC
-set ibata_scale = 179
-set beeper_inversion = ON
-set beeper_od = OFF
-set system_hse_mhz = 8
-set max7456_spi_bus = 2
-set dashboard_i2c_bus = 1
-set flash_spi_bus = 3
-set gyro_1_bustype = SPI
-set gyro_1_spibus = 1
-set gyro_1_sensor_align = CW180
+# Betaflight / STM32F405 (S405) 4.1.0 Sep  8 2019 / 01:17:40 (f331cb3dd) MSP API: 1.42
+
+board_name MATEKF405MINI
+manufacturer_id MTKS
+
+# resources
+resource BEEPER 1 C13
+resource MOTOR 1 C06
+resource MOTOR 2 C07
+resource MOTOR 3 C08
+resource MOTOR 4 C09
+resource MOTOR 5 A15
+resource MOTOR 6 A08
+resource MOTOR 7 B08
+resource PPM 1 A03
+resource PWM 1 A00
+resource PWM 2 A01
+resource PWM 3 A02
+resource LED_STRIP 1 B06
+resource SERIAL_TX 1 A09
+resource SERIAL_TX 2 A02
+resource SERIAL_TX 3 C10
+resource SERIAL_TX 4 A00
+resource SERIAL_TX 5 C12
+resource SERIAL_RX 1 A10
+resource SERIAL_RX 2 A03
+resource SERIAL_RX 3 C11
+resource SERIAL_RX 4 A01
+resource SERIAL_RX 5 D02
+resource I2C_SCL 1 B06
+resource I2C_SDA 1 B07
+resource LED 1 B09
+resource LED 2 A14
+resource SPI_SCK 1 A05
+resource SPI_SCK 2 B13
+resource SPI_SCK 3 B03
+resource SPI_MISO 1 A06
+resource SPI_MISO 2 B14
+resource SPI_MISO 3 B04
+resource SPI_MOSI 1 A07
+resource SPI_MOSI 2 B15
+resource SPI_MOSI 3 B05
+resource ESCSERIAL 1 A03
+resource ADC_BATT 1 C05
+resource ADC_RSSI 1 B01
+resource ADC_CURR 1 C04
+resource FLASH_CS 1 C00
+resource OSD_CS 1 B10
+resource GYRO_EXTI 1 C03
+resource GYRO_CS 1 C02
+resource USB_DETECT 1 B12
+
+# timer
+timer A03 AF2
+# pin A03: TIM5 CH4 (AF2)
+timer C06 AF2
+# pin C06: TIM3 CH1 (AF2)
+timer C07 AF3
+# pin C07: TIM8 CH2 (AF3)
+timer C08 AF3
+# pin C08: TIM8 CH3 (AF3)
+timer C09 AF3
+# pin C09: TIM8 CH4 (AF3)
+timer A15 AF1
+# pin A15: TIM2 CH1 (AF1)
+timer A08 AF1
+# pin A08: TIM1 CH1 (AF1)
+timer B08 AF2
+# pin B08: TIM4 CH3 (AF2)
+timer B06 AF2
+# pin B06: TIM4 CH1 (AF2)
+timer A00 AF2
+# pin A00: TIM5 CH1 (AF2)
+timer A01 AF2
+# pin A01: TIM5 CH2 (AF2)
+timer A02 AF3
+# pin A02: TIM9 CH1 (AF3)
+
+# dma
+dma ADC 1 0
+# ADC 1: DMA2 Stream 0 Channel 0
+dma pin A03 0
+# pin A03: DMA1 Stream 1 Channel 6
+dma pin C06 0
+# pin C06: DMA1 Stream 4 Channel 5
+dma pin C07 1
+# pin C07: DMA2 Stream 3 Channel 7
+dma pin C08 1
+# pin C08: DMA2 Stream 4 Channel 7
+dma pin C09 0
+# pin C09: DMA2 Stream 7 Channel 7
+dma pin A15 0
+# pin A15: DMA1 Stream 5 Channel 3
+dma pin A08 0
+# pin A08: DMA2 Stream 6 Channel 0
+dma pin B08 0
+# pin B08: DMA1 Stream 7 Channel 2
+dma pin B06 0
+# pin B06: DMA1 Stream 0 Channel 2
+dma pin A00 0
+# pin A00: DMA1 Stream 2 Channel 6
+dma pin A01 0
+# pin A01: DMA1 Stream 4 Channel 6
+
+# feature
+feature -RX_PARALLEL_PWM
+feature RX_SERIAL
+
+# serial
+serial 1 64 115200 57600 0 115200
+
+# master
+set mag_bustype = I2C
+set mag_i2c_device = 1
+set mag_hardware = NONE
+set baro_bustype = I2C
+set baro_i2c_device = 1
+set baro_hardware = NONE
+set blackbox_device = SPIFLASH
+set dshot_burst = ON
+set current_meter = ADC
+set battery_meter = ADC
+set ibata_scale = 179
+set beeper_inversion = ON
+set beeper_od = OFF
+set system_hse_mhz = 8
+set max7456_spi_bus = 2
+set dashboard_i2c_bus = 1
+set flash_spi_bus = 3
+set gyro_1_bustype = SPI
+set gyro_1_spibus = 1
+set gyro_1_sensor_align = CW180
+set gyro_1_align_yaw = 1800
diff --git a/unified_targets/configs/MATEKF722MINI.config b/unified_targets/configs/MATEKF722MINI.config
index 83f5462f14..d5005874b1 100644
--- a/unified_targets/configs/MATEKF722MINI.config
+++ b/unified_targets/configs/MATEKF722MINI.config
@@ -1,131 +1,143 @@
-# Betaflight / STM32F7X2 (S7X2) 4.0.4 Jun 30 2019 / 15:00:13 (f3a95efa3) MSP API: 1.41
-
-board_name MATEKF722MINI
-manufacturer_id MTKS
-
-# resources
-resource BEEPER 1 C13
-resource MOTOR 1 B04
-resource MOTOR 2 B05
-resource MOTOR 3 B00
-resource MOTOR 4 B01
-resource MOTOR 5 A15
-resource MOTOR 6 B03
-resource MOTOR 7 B06
-resource MOTOR 8 B07
-resource PPM 1 A03
-resource PWM 1 A02
-resource PWM 2 A01
-resource PWM 3 A00
-resource LED_STRIP 1 A08
-resource SERIAL_TX 1 A09
-resource SERIAL_TX 2 A02
-resource SERIAL_TX 3 B10
-resource SERIAL_TX 4 A00
-resource SERIAL_TX 6 C06
-resource SERIAL_RX 1 A10
-resource SERIAL_RX 2 A03
-resource SERIAL_RX 3 B11
-resource SERIAL_RX 4 A01
-resource SERIAL_RX 6 C07
-resource I2C_SCL 1 B08
-resource I2C_SDA 1 B09
-resource LED 1 A14
-resource LED 2 A13
-resource SPI_SCK 1 A05
-resource SPI_SCK 2 B13
-resource SPI_SCK 3 C10
-resource SPI_MISO 1 A06
-resource SPI_MISO 2 B14
-resource SPI_MISO 3 C11
-resource SPI_MOSI 1 A07
-resource SPI_MOSI 2 B15
-resource SPI_MOSI 3 C12
-resource ADC_BATT 1 C02
-resource ADC_RSSI 1 C00
-resource ADC_CURR 1 C01
-resource ADC_EXT 1 A04
-resource PINIO 1 C08
-resource PINIO 2 C09
-resource FLASH_CS 1 D02
-resource OSD_CS 1 B12
-resource GYRO_EXTI 1 C04
-resource GYRO_EXTI 2 C03
-resource GYRO_CS 1 B02
-resource GYRO_CS 2 C15
-resource USB_DETECT 1 C14
-
-# timer
-timer B04 AF2
-# pin B04: TIM3 CH1 (AF2)
-timer B05 AF2
-# pin B05: TIM3 CH2 (AF2)
-timer B00 AF2
-# pin B00: TIM3 CH3 (AF2)
-timer B01 AF2
-# pin B01: TIM3 CH4 (AF2)
-timer A15 AF1
-# pin A15: TIM2 CH1 (AF1)
-timer B03 AF1
-# pin B03: TIM2 CH2 (AF1)
-timer B06 AF2
-# pin B06: TIM4 CH1 (AF2)
-timer B07 AF2
-# pin B07: TIM4 CH2 (AF2)
-timer A08 AF1
-# pin A08: TIM1 CH1 (AF1)
-timer A03 AF3
-# pin A03: TIM9 CH2 (AF3)
-timer A02 AF3
-# pin A02: TIM9 CH1 (AF3)
-timer A01 AF2
-# pin A01: TIM5 CH2 (AF2)
-timer A00 AF2
-# pin A00: TIM5 CH1 (AF2)
-
-# dma
-dma ADC 1 0
-# ADC 1: DMA2 Stream 0 Channel 0
-dma pin B04 0
-# pin B04: DMA1 Stream 4 Channel 5
-dma pin B05 0
-# pin B05: DMA1 Stream 5 Channel 5
-dma pin B00 0
-# pin B00: DMA1 Stream 7 Channel 5
-dma pin B01 0
-# pin B01: DMA1 Stream 2 Channel 5
-dma pin A15 0
-# pin A15: DMA1 Stream 5 Channel 3
-dma pin B03 0
-# pin B03: DMA1 Stream 6 Channel 3
-dma pin B06 0
-# pin B06: DMA1 Stream 0 Channel 2
-dma pin B07 0
-# pin B07: DMA1 Stream 3 Channel 2
-dma pin A08 2
-# pin A08: DMA2 Stream 3 Channel 6
-dma pin A01 0
-# pin A01: DMA1 Stream 4 Channel 6
-dma pin A00 0
-# pin A00: DMA1 Stream 2 Channel 6
-
-# master
-set mag_bustype = I2C
-set mag_i2c_device = 1
-set baro_bustype = I2C
-set baro_i2c_device = 1
-set blackbox_device = SPIFLASH
-set dshot_burst = ON
-set current_meter = ADC
-set battery_meter = ADC
-set ibata_scale = 179
-set beeper_inversion = ON
-set beeper_od = OFF
-set max7456_spi_bus = 2
-set pinio_box = 40,41,255,255
-set flash_spi_bus = 3
-set gyro_1_bustype = SPI
-set gyro_1_spibus = 1
-set gyro_1_sensor_align = CW180FLIP
-set gyro_2_spibus = 1
-set gyro_2_sensor_align = CW90
+# Betaflight / STM32F7X2 (S7X2) 4.1.0 Sep  8 2019 / 01:19:23 (f331cb3dd) MSP API: 1.42
+
+board_name MATEKF722MINI
+manufacturer_id MTKS
+
+# resources
+resource BEEPER 1 C13
+resource MOTOR 1 B04
+resource MOTOR 2 B05
+resource MOTOR 3 B00
+resource MOTOR 4 B01
+resource MOTOR 5 A15
+resource MOTOR 6 B03
+resource MOTOR 7 B06
+resource MOTOR 8 B07
+resource PPM 1 A03
+resource PWM 1 A02
+resource PWM 2 A01
+resource PWM 3 A00
+resource LED_STRIP 1 A08
+resource SERIAL_TX 1 A09
+resource SERIAL_TX 2 A02
+resource SERIAL_TX 3 B10
+resource SERIAL_TX 4 A00
+resource SERIAL_TX 6 C06
+resource SERIAL_RX 1 A10
+resource SERIAL_RX 2 A03
+resource SERIAL_RX 3 B11
+resource SERIAL_RX 4 A01
+resource SERIAL_RX 6 C07
+resource I2C_SCL 1 B08
+resource I2C_SDA 1 B09
+resource LED 1 A14
+resource LED 2 A13
+resource SPI_SCK 1 A05
+resource SPI_SCK 2 B13
+resource SPI_SCK 3 C10
+resource SPI_MISO 1 A06
+resource SPI_MISO 2 B14
+resource SPI_MISO 3 C11
+resource SPI_MOSI 1 A07
+resource SPI_MOSI 2 B15
+resource SPI_MOSI 3 C12
+resource ADC_BATT 1 C02
+resource ADC_RSSI 1 C00
+resource ADC_CURR 1 C01
+resource ADC_EXT 1 A04
+resource PINIO 1 C08
+resource PINIO 2 C09
+resource FLASH_CS 1 D02
+resource OSD_CS 1 B12
+resource GYRO_EXTI 1 C04
+resource GYRO_EXTI 2 C03
+resource GYRO_CS 1 B02
+resource GYRO_CS 2 C15
+resource USB_DETECT 1 C14
+
+# timer
+timer B04 AF2
+# pin B04: TIM3 CH1 (AF2)
+timer B05 AF2
+# pin B05: TIM3 CH2 (AF2)
+timer B00 AF2
+# pin B00: TIM3 CH3 (AF2)
+timer B01 AF2
+# pin B01: TIM3 CH4 (AF2)
+timer A15 AF1
+# pin A15: TIM2 CH1 (AF1)
+timer B03 AF1
+# pin B03: TIM2 CH2 (AF1)
+timer B06 AF2
+# pin B06: TIM4 CH1 (AF2)
+timer B07 AF2
+# pin B07: TIM4 CH2 (AF2)
+timer A08 AF1
+# pin A08: TIM1 CH1 (AF1)
+timer A03 AF3
+# pin A03: TIM9 CH2 (AF3)
+timer A02 AF3
+# pin A02: TIM9 CH1 (AF3)
+timer A01 AF2
+# pin A01: TIM5 CH2 (AF2)
+timer A00 AF2
+# pin A00: TIM5 CH1 (AF2)
+
+# dma
+dma ADC 1 0
+# ADC 1: DMA2 Stream 0 Channel 0
+dma pin B04 0
+# pin B04: DMA1 Stream 4 Channel 5
+dma pin B05 0
+# pin B05: DMA1 Stream 5 Channel 5
+dma pin B00 0
+# pin B00: DMA1 Stream 7 Channel 5
+dma pin B01 0
+# pin B01: DMA1 Stream 2 Channel 5
+dma pin A15 0
+# pin A15: DMA1 Stream 5 Channel 3
+dma pin B03 0
+# pin B03: DMA1 Stream 6 Channel 3
+dma pin B06 0
+# pin B06: DMA1 Stream 0 Channel 2
+dma pin B07 0
+# pin B07: DMA1 Stream 3 Channel 2
+dma pin A08 2
+# pin A08: DMA2 Stream 3 Channel 6
+dma pin A01 0
+# pin A01: DMA1 Stream 4 Channel 6
+dma pin A00 0
+# pin A00: DMA1 Stream 2 Channel 6
+
+# feature
+feature -RX_PARALLEL_PWM
+feature RX_SERIAL
+
+# serial
+serial 1 64 115200 57600 0 115200
+
+# master
+set mag_bustype = I2C
+set mag_i2c_device = 1
+set mag_hardware = NONE
+set baro_bustype = I2C
+set baro_i2c_device = 1
+set baro_hardware = NONE
+set blackbox_device = SPIFLASH
+set dshot_burst = ON
+set current_meter = ADC
+set battery_meter = ADC
+set ibata_scale = 179
+set beeper_inversion = ON
+set beeper_od = OFF
+set max7456_spi_bus = 2
+set pinio_box = 40,41,255,255
+set flash_spi_bus = 3
+set gyro_1_bustype = SPI
+set gyro_1_spibus = 1
+set gyro_1_sensor_align = CW180FLIP
+set gyro_1_align_pitch = 1800
+set gyro_1_align_yaw = 1800
+set gyro_2_spibus = 1
+set gyro_2_sensor_align = CW90
+set gyro_2_align_yaw = 900