diff --git a/Makefile b/Makefile
index dfb9bcf8d0..c6d2c6463d 100644
--- a/Makefile
+++ b/Makefile
@@ -15,7 +15,7 @@
 # Things that the user might override on the commandline
 #
 
-# The target to build, see BASE_TARGETS/EXE_TARGETS below
+# The target or config to build
 TARGET    ?=
 CONFIG    ?=
 
@@ -58,7 +58,7 @@ FORKNAME      = betaflight
 
 # Working directories
 # ROOT_DIR is the full path to the directory containing this Makefile
-ROOT_DIR        := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
+ROOT_DIR        := $(realpath $(dir $(abspath $(lastword $(MAKEFILE_LIST)))))
 # ROOT is the relative path to the directory containing this Makefile
 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
 
@@ -98,13 +98,6 @@ include $(MAKE_SCRIPT_DIR)/checks.mk
 PLATFORMS        := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))
 BASE_TARGETS     := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk)))))
 
-# list of targets that are executed on host - using exe as goal recipe
-EXE_TARGETS      := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exe)))))
-# list of targets using uf2 as goal recipe
-UF2_TARGETS      := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.uf2)))))
-# list of targets using hex as goal recipe (default)
-HEX_TARGETS      := $(filter-out $(EXE_TARGETS) $(UF2_TARGETS),$(BASE_TARGETS))
-
 # configure some directories that are relative to wherever ROOT_DIR is located
 TOOLS_DIR  ?= $(ROOT)/tools
 DL_DIR     := $(ROOT)/downloads
@@ -134,7 +127,7 @@ FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk
 
 FC_VER       := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 
-# import config handling
+# import config handling (must occur after the hydration of hex, exe and uf2 targets)
 include $(MAKE_SCRIPT_DIR)/config.mk
 
 # default xtal value
@@ -150,7 +143,8 @@ TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
 LINKER_DIR          := $(TARGET_PLATFORM_DIR)/link
 
 ifneq ($(TARGET),)
-include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk
+TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
+include $(TARGET_DIR)/target.mk
 endif
 
 REVISION := norevision
@@ -229,22 +223,17 @@ ifneq ($(HSE_VALUE),)
 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 endif
 
-TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
 endif # TARGET specified
 
+ifeq ($(or $(CONFIG),$(TARGET)),)
+.DEFAULT_GOAL := all
+else
+.DEFAULT_GOAL := fwo
+endif
+
 # openocd specific includes
 include $(MAKE_SCRIPT_DIR)/openocd.mk
 
-ifeq ($(CONFIG)$(TARGET),)
-.DEFAULT_GOAL := all
-else ifneq ($(filter $(TARGET),$(EXE_TARGETS)),)
-.DEFAULT_GOAL := exe
-else ifneq ($(filter $(TARGET),$(UF2_TARGETS)),)
-.DEFAULT_GOAL := uf2
-else
-.DEFAULT_GOAL := hex
-endif
-
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(ROOT)/lib/main/MAVLink
 
@@ -370,6 +359,12 @@ CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
                   $(addprefix -isystem,$(SYS_INCLUDE_DIRS)) \
                   -I/usr/include -I/usr/include/linux
 
+ifneq ($(filter fwo hex uf2 bin elf zip, $(MAKECMDGOALS)),)
+    ifeq ($(TARGET),)
+        $(error "You must specify a target to build.")
+    endif
+endif
+
 TARGET_NAME := $(TARGET)
 
 ifneq ($(CONFIG),)
@@ -414,6 +409,7 @@ CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
 CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 CLEAN_ARTIFACTS += $(TARGET_LST)
 CLEAN_ARTIFACTS += $(TARGET_DFU)
+CLEAN_ARTIFACTS += $(TARGET_UF2)
 
 # Make sure build date and revision is updated on every incremental build
 $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
@@ -433,10 +429,6 @@ $(TARGET_HEX): $(TARGET_ELF)
 	@echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
 	$(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 
-$(TARGET_UF2): $(TARGET_ELF)
-	@echo "Creating UF2 $(TARGET_UF2)" "$(STDOUT)"
-	$(V1) $(PICOTOOL) uf2 convert $< $@ || { echo "Failed to convert ELF to UF2 format"; exit 1; }
-
 $(TARGET_DFU): $(TARGET_HEX)
 	@echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
 	$(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
@@ -493,8 +485,12 @@ $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
 	$(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 	$(V1) $(SIZE) $(TARGET_ELF)
 
+$(TARGET_UF2): $(TARGET_ELF)
+	@echo "Creating UF2 $(TARGET_UF2)" "$(STDOUT)"
+	$(V1) $(PICOTOOL) uf2 convert $< $@ || { echo "Failed to convert ELF to UF2 format"; exit 1; }
+
 $(TARGET_EXE): $(TARGET_ELF)
-	@echo Copy $< to $@ "$(STDOUT)"
+	@echo "Creating exe - copying $< to $@" "$(STDOUT)"
 	$(V1) cp $< $@
 
 # Compile
@@ -550,22 +546,11 @@ $(TARGET_OBJ_DIR)/%.o: %.S
 ## all               : Build all currently built targets
 all: $(CI_TARGETS)
 
-$(HEX_TARGETS):
-	$(V0) @echo "Building hex target $@" && \
-	$(MAKE) hex TARGET=$@ && \
-	echo "Building $@ succeeded."
+.PHONY: $(BASE_TARGETS)
+$(BASE_TARGETS):
+	$(MAKE) fwo TARGET=$@
 
-$(UF2_TARGETS):
-	$(V0) @echo "Building uf2 target $@" && \
-	$(MAKE) uf2 TARGET=$@ && \
-	echo "Building $@ succeeded."
-
-$(EXE_TARGETS):
-	$(V0) @echo "Building executable target $@" && \
-	$(MAKE) exe TARGET=$@ && \
-	echo "Building $@ succeeded."
-
-TARGETS_CLEAN = $(addsuffix _clean,$(HEX_TARGETS) $(UF2_TARGETS) $(EXE_TARGETS))
+TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
 
 CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 
@@ -600,7 +585,7 @@ preview: $(PREVIEW_TARGETS) test
 ## all_configs       : Build all configs
 all_configs: $(BASE_CONFIGS)
 
-TARGETS_FLASH = $(addsuffix _flash,$(HEX_TARGETS))
+TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
 
 ## <TARGET>_flash    : build and flash a target
 $(TARGETS_FLASH):
@@ -638,49 +623,59 @@ openocd-gdb: $(TARGET_ELF)
 	$(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
 endif
 
-TARGETS_ZIP = $(addsuffix _zip,$(HEX_TARGETS))
+TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
 
 ## <TARGET>_zip    : build target and zip it (useful for posting to GitHub)
+.PHONY: $(TARGETS_ZIP)
 $(TARGETS_ZIP):
-	$(V0) $(MAKE) hex TARGET=$(subst _zip,,$@)
-	$(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) zip TARGET=$(subst _zip,,$@)
 
 .PHONY: zip
-zip:
-	$(V0) zip $(TARGET_ZIP) $(TARGET_HEX)
+zip: $(TARGET_HEX)
+	$(V1) zip $(TARGET_ZIP) $(TARGET_HEX)
 
 .PHONY: binary
 binary:
-	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
 
 .PHONY: hex
 hex:
-	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
 
 .PHONY: uf2
 uf2:
-	$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_UF2)
+	$(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_UF2)
 
 .PHONY: exe
 exe: $(TARGET_EXE)
 
-TARGETS_REVISION = $(addsuffix _rev,$(HEX_TARGETS))
+# FWO (Firmware Output) is the default output for building the firmware
+.PHONY: fwo
+fwo:
+ifeq ($(DEFAULT_OUTPUT),exe)
+	$(V1) $(MAKE) exe
+else ifeq ($(DEFAULT_OUTPUT),uf2)
+	$(V1) $(MAKE) uf2
+else
+	$(V1) $(MAKE) hex
+endif
+
+TARGETS_REVISION = $(addsuffix _rev, $(BASE_TARGETS))
 ## <TARGET>_rev    : build target and add revision to filename
+.PHONY: $(TARGETS_REVISION)
 $(TARGETS_REVISION):
-	$(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
+	$(V1) $(MAKE) fwo REV=yes TARGET=$(subst _rev,,$@)
 
-EXE_TARGETS_REVISION = $(addsuffix _rev,$(EXE_TARGETS))
-## <EXE_TARGET>_rev : build executable target and add revision to filename
-$(EXE_TARGETS_REVISION):
-	$(V0) $(MAKE) exe REV=yes TARGET=$(subst _rev,,$@)
-
-all_rev: $(addsuffix _rev,$(CI_TARGETS))
+.PHONY: all_rev
+all_rev: $(addsuffix _rev, $(CI_TARGETS))
 
+.PHONY: unbrick_$(TARGET)
 unbrick_$(TARGET): $(TARGET_HEX)
 	$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
 	$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 
 ## unbrick           : unbrick flight controller
+.PHONY: unbrick
 unbrick: unbrick_$(TARGET)
 
 ## cppcheck          : run static analysis on C source code
@@ -698,12 +693,6 @@ $(DIRECTORIES):
 version:
 	@echo $(FC_VER)
 
-.PHONY: submodules
-submodules:
-	@echo "Updating submodules"
-	$(V1) git submodule update --init --recursive || { echo "Failed to update submodules"; exit 1; }
-	@echo "Submodules updated"
-
 ## help              : print this help message and exit
 help: Makefile mk/tools.mk
 	@echo ""
@@ -727,8 +716,6 @@ help: Makefile mk/tools.mk
 targets:
 	@echo "Platforms:           $(PLATFORMS)"
 	@echo "Valid targets:       $(BASE_TARGETS)"
-	@echo "Executable targets:  $(EXE_TARGETS)"
-	@echo "UF2 targets:         $(UF2_TARGETS)"
 	@echo "Built targets:       $(CI_TARGETS)"
 	@echo "Default target:      $(TARGET)"
 	@echo "CI common targets:   $(CI_COMMON_TARGETS)"
diff --git a/mk/build_verbosity.mk b/mk/build_verbosity.mk
index 9d2f5dc3f3..c1c6206b43 100644
--- a/mk/build_verbosity.mk
+++ b/mk/build_verbosity.mk
@@ -9,6 +9,7 @@ ifndef V
 export V0    :=
 export V1    := $(AT)
 export STDOUT   :=
+export MAKE  := $(MAKE) --no-print-directory
 else ifeq ($(V), 0)
 export V0    := $(AT)
 export V1    := $(AT)
diff --git a/mk/config.mk b/mk/config.mk
index 5f85d4987d..d1c9e54c65 100644
--- a/mk/config.mk
+++ b/mk/config.mk
@@ -57,21 +57,23 @@ endif #config
 .PHONY: configs
 configs:
 ifeq ($(shell realpath $(CONFIG_DIR)),$(shell realpath $(CONFIGS_SUBMODULE_DIR)))
-	git submodule update --init --remote -- $(CONFIGS_SUBMODULE_DIR)
+	@echo "Updating config submodule: $(CONFIGS_SUBMODULE_DIR)"
+	$(V1) git submodule update --init -- $(CONFIGS_SUBMODULE_DIR) || { echo "Config submodule update failed. Please check your git configuration."; exit 1; }
+	@echo "Submodule update succeeded."
 else
 ifeq ($(wildcard $(CONFIG_DIR)),)
 	@echo "Hydrating clone for configs: $(CONFIG_DIR)"
-	$(V0) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR)
+	$(V1) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR)
 else
-	$(V0) git -C $(CONFIG_DIR) pull origin
+	$(V1) git -C $(CONFIG_DIR) pull origin
 endif
 endif
 
 $(BASE_CONFIGS):
 	@echo "Building target config $@"
-	$(V0) $(MAKE) $(MAKE_PARALLEL) hex CONFIG=$@
+	$(V0) $(MAKE) fwo CONFIG=$@
 	@echo "Building target config $@ succeeded."
 
 ## <CONFIG>_rev    : build configured target and add revision to filename
 $(addsuffix _rev,$(BASE_CONFIGS)):
-	$(V0) $(MAKE) $(MAKE_PARALLEL) hex CONFIG=$(subst _rev,,$@) REV=yes
+	$(V0) $(MAKE) fwo CONFIG=$(subst _rev,,$@) REV=yes
diff --git a/mk/tools.mk b/mk/tools.mk
index 5ecf7c79ab..0b53aedecb 100644
--- a/mk/tools.mk
+++ b/mk/tools.mk
@@ -340,22 +340,28 @@ PICOTOOL_DIR    := $(TOOLS_DIR)/picotool
 PICO_SDK_PATH   ?= $(ROOT_DIR)/lib/main/pico-sdk
 PICOTOOL        ?= $(PICOTOOL_DIR)/picotool
 
-ifeq ($(filter picotool_install,$(MAKECMDGOALS)), picotool_install)
-    ifneq ($(wildcard $(PICO_SDK_PATH)/CMakeLists.txt),$(PICO_SDK_PATH)/CMakeLists.txt)
-        $(error "PICO_SDK_PATH ($(PICO_SDK_PATH)) does not point to a valid Pico SDK. Please 'make submodules' to hydrate the Pico SDK.")
+ifneq ($(filter picotool_install uf2,$(MAKECMDGOALS)),)
+    ifeq ($(wildcard $(PICO_SDK_PATH)/CMakeLists.txt),)
+        $(error "PICO_SDK_PATH ($(PICO_SDK_PATH)) does not point to a valid Pico SDK. Please 'make pico_sdk' to hydrate the Pico SDK.")
     endif
 endif
 
-ifeq ($(filter uf2,$(MAKECMDGOALS)), uf2)
+ifneq ($(filter uf2,$(MAKECMDGOALS)),)
     ifeq (,$(wildcard $(PICOTOOL)))
         ifeq (,$(shell which picotool 2>/dev/null))
-            $(error "picotool not in the PATH or setup in tools. Run 'make picotool_install' to install in the tools folder.")
+            $(error "picotool not in the PATH or configured. Run 'make picotool_install' to install in the tools folder.")
         else
             PICOTOOL := picotool
         endif
     endif
 endif
 
+.PHONY: pico_sdk
+pico_sdk:
+	@echo "Updating pico-sdk"
+	$(V1) git submodule update --init --recursive -- lib/main/pico-sdk || { echo "Failed to update pico-sdk"; exit 1; }
+	@echo "pico-sdk updated"
+
 .PHONY: picotool_install
 picotool_install: | $(DL_DIR) $(TOOLS_DIR)
 picotool_install: picotool_clean
diff --git a/src/config b/src/config
index 4136fa21f2..eda6b30999 160000
--- a/src/config
+++ b/src/config
@@ -1 +1 @@
-Subproject commit 4136fa21f2902321caad438b73505caf0c64dda3
+Subproject commit eda6b309994923772eeab82fce3d6d8c3c0812a2
diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
index 8fd7d3aee2..e12cae2ae6 100644
--- a/src/main/cli/cli.c
+++ b/src/main/cli/cli.c
@@ -224,7 +224,8 @@ static const char * const mixerNames[] = {
     "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
     "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4",
     "HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
-    "ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", "QUADX1234", NULL
+    "ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", "QUADX1234",
+    "OCTOX8P", NULL
 };
 #endif
 
@@ -5000,9 +5001,9 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
         if (rcSmoothingAutoCalculate()) {
             cliPrint("# Detected Rx frequency: ");
             if (getRxRateValid()) {
-	            cliPrintLinef("%dHz", lrintf(rcSmoothingData->smoothedRxRateHz));
+                cliPrintLinef("%dHz", lrintf(rcSmoothingData->smoothedRxRateHz));
             } else {
-            	cliPrintLine("NO SIGNAL");
+                cliPrintLine("NO SIGNAL");
             }
         }
         cliPrintf("# Active setpoint cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency);
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm40609.c b/src/main/drivers/accgyro/accgyro_spi_icm40609.c
index 5ed6c8eb73..ed45cdb668 100644
--- a/src/main/drivers/accgyro/accgyro_spi_icm40609.c
+++ b/src/main/drivers/accgyro/accgyro_spi_icm40609.c
@@ -243,7 +243,7 @@
 #define ICM40609_ACCEL_DATA_X1_UI           0x1F
 #define ICM40609_GYRO_DATA_X1_UI            0x25
 
-#define ICM40609_RESET_REG                  0x4C
+#define ICM40609_RESET_REG                  0x11
 #define ICM40609_SOFT_RESET_VAL             0x01
 
 #ifndef ICM40609_LOCK
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm426xx.c b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
index 2a3a327e4d..b323d2211d 100644
--- a/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
+++ b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
@@ -60,6 +60,10 @@
 
 #define ICM426XX_CLKIN_FREQ                         32000
 
+// Soft Reset
+#define ICM426XX_RA_DEVICE_CONFIG                   0x17
+#define DEVICE_CONFIG_SOFT_RESET_BIT                (1 << 0) // Soft reset bit
+
 #define ICM426XX_RA_REG_BANK_SEL                    0x76
 #define ICM426XX_BANK_SELECT0                       0x00
 #define ICM426XX_BANK_SELECT1                       0x01
@@ -249,8 +253,19 @@ static void icm426xxEnableExternalClock(const extDevice_t *dev)
 }
 #endif
 
+static void icm426xxSoftReset(const extDevice_t *dev)
+{
+    setUserBank(dev, ICM426XX_BANK_SELECT0);
+
+    spiWriteReg(dev, ICM426XX_RA_DEVICE_CONFIG, DEVICE_CONFIG_SOFT_RESET_BIT);
+
+    delay(1);
+}
+
 uint8_t icm426xxSpiDetect(const extDevice_t *dev)
 {
+    delay(1);                          // power-on time
+    icm426xxSoftReset(dev);
     spiWriteReg(dev, ICM426XX_RA_PWR_MGMT0, 0x00);
 
 #if defined(USE_GYRO_CLKIN)
@@ -260,7 +275,7 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
     uint8_t icmDetected = MPU_NONE;
     uint8_t attemptsRemaining = 20;
     do {
-        delay(150);
+        delay(1);
         const uint8_t whoAmI = spiReadRegMsk(dev, MPU_RA_WHO_AM_I);
         switch (whoAmI) {
         case ICM42605_WHO_AM_I_CONST:
diff --git a/src/main/drivers/rangefinder/rangefinder_lidartf.c b/src/main/drivers/rangefinder/rangefinder_lidartf.c
index 643b66694a..51e4043fa4 100644
--- a/src/main/drivers/rangefinder/rangefinder_lidartf.c
+++ b/src/main/drivers/rangefinder/rangefinder_lidartf.c
@@ -34,16 +34,24 @@
 #include "drivers/rangefinder/rangefinder.h"
 #include "drivers/rangefinder/rangefinder_lidartf.h"
 
-#define TF_DEVTYPE_NONE 0
-#define TF_DEVTYPE_MINI 1
-#define TF_DEVTYPE_02   2
-#define TF_DEVTYPE_NOVA 3
+typedef struct {
+    rangefinderType_e rfType;
+    uint16_t rangeMin;
+    uint16_t rangeMax;
+} lidarTFInfo_t;
 
-static uint8_t tfDevtype = TF_DEVTYPE_NONE;
+
+static const lidarTFInfo_t *devInfo = NULL;
+static const lidarTFInfo_t devInfos[] = {
+    { .rfType = RANGEFINDER_TFMINI, .rangeMin = 40, .rangeMax = 1200},
+    { .rfType = RANGEFINDER_TF02,   .rangeMin = 40, .rangeMax = 2200},
+    { .rfType = RANGEFINDER_TFNOVA, .rangeMin = 10, .rangeMax = 1400},
+};
 
 #define TF_FRAME_LENGTH    6             // Excluding sync bytes (0x59) x 2 and checksum
 #define TF_FRAME_SYNC_BYTE 0x59
 #define TF_TIMEOUT_MS      (100 * 2)
+#define TF_TASK_PERIOD_MS  10
 
 //
 // Benewake TFmini frame format
@@ -98,21 +106,10 @@ static uint8_t tfDevtype = TF_DEVTYPE_NONE;
 // Credibility
 // 1. If Confidence level < 90, unreliable
 // 2. If distance is 14m (1400cm), then OoR.
-//
+
 #define TF_NOVA_FRAME_CONFIDENCE 5
 
-// Maximum ratings
-
-#define TF_MINI_RANGE_MIN 40
-#define TF_MINI_RANGE_MAX 1200
-
-#define TF_02_RANGE_MIN 40
-#define TF_02_RANGE_MAX 2200
-
-#define TF_NOVA_RANGE_MIN 10
-#define TF_NOVA_RANGE_MAX 1400
-
-#define TF_DETECTION_CONE_DECIDEGREES 900
+#define TF_DETECTION_CONE_DECIDEGREES 900  // TODO
 
 static serialPort_t *tfSerialPort = NULL;
 
@@ -130,21 +127,35 @@ static uint8_t tfReceivePosition;
 // TFmini and TF02
 // Command for 100Hz sampling (10msec interval)
 // At 100Hz scheduling, skew will cause 10msec delay at the most.
-static const uint8_t tfCmd[] = { 0x42, 0x57, 0x02, 0x00, 0x00, 0x00, 0x01, 0x06 };
+// This command format does not match latest Benewake documentation
+static const uint8_t tfConfigCmd[] = { 0x42, 0x57, 0x02, 0x00, 0x00, 0x00, 0x01, 0x06 };
 
-static int32_t lidarTFValue;
-static uint16_t lidarTFerrors = 0;
+static int lidarTFValue;
+static unsigned lidarTFerrors = 0;
 
-static void lidarTFSendCommand(void)
+
+static const lidarTFInfo_t* findInfo(rangefinderType_e rfType)
 {
-    switch (tfDevtype) {
-    case TF_DEVTYPE_MINI:
-    case TF_DEVTYPE_02:
-        serialWriteBuf(tfSerialPort, tfCmd, sizeof(tfCmd));
+    for (const lidarTFInfo_t* p = devInfos; p < ARRAYEND(devInfos); p++) {
+        if (p->rfType == rfType) {
+            return p;
+        }
+    }
+    return NULL;
+}
+
+// configure/reconfigure device
+// may be called multiple times (when frames are missing)
+static void lidarTFConfig(rangefinderDev_t *dev, const lidarTFInfo_t* inf)
+{
+    UNUSED(dev);
+    switch (inf->rfType) {
+    case RANGEFINDER_TFMINI:
+    case RANGEFINDER_TF02:
+        serialWriteBuf(tfSerialPort, tfConfigCmd, sizeof(tfConfigCmd));
         break;
     default:
         break;
-
     }
 }
 
@@ -156,13 +167,54 @@ static void lidarTFInit(rangefinderDev_t *dev)
     tfReceivePosition = 0;
 }
 
+static int tfProcessFrame(const uint8_t* frame, int len)
+{
+    UNUSED(len);
+    uint16_t distance = frame[0] | (frame[1] << 8);
+    uint16_t strength = frame[2] | (frame[3] << 8);
+
+    DEBUG_SET(DEBUG_LIDAR_TF, 0, distance);  // 0,1
+    DEBUG_SET(DEBUG_LIDAR_TF, 1, strength);  // 2,3
+    DEBUG_SET(DEBUG_LIDAR_TF, 2, frame[4]);
+    DEBUG_SET(DEBUG_LIDAR_TF, 3, frame[5]);
+
+    // common distance check
+    if (distance < devInfo->rangeMin || distance > devInfo->rangeMax) {
+        return RANGEFINDER_OUT_OF_RANGE;
+    }
+
+    switch (devInfo->rfType) {
+    case RANGEFINDER_TFMINI:
+        if (frame[TF_MINI_FRAME_INTEGRAL_TIME] == 7) {
+            // When integral time is long (7), measured distance tends to be longer by 12~13.
+            distance -= 13;
+        }
+        break;
+    case RANGEFINDER_TF02:
+        if (frame[TF_02_FRAME_SIG] < 7) {
+            return RANGEFINDER_OUT_OF_RANGE;
+
+        }
+        break;
+    case RANGEFINDER_TFNOVA:
+        if (frame[TF_NOVA_FRAME_CONFIDENCE] < 90) {
+            return RANGEFINDER_OUT_OF_RANGE;
+        }
+        break;
+    default:
+        return RANGEFINDER_HARDWARE_FAILURE;  // internal error
+    }
+    // distance is valid
+    return distance;
+}
+
 static void lidarTFUpdate(rangefinderDev_t *dev)
 {
-    UNUSED(dev);
     static timeMs_t lastFrameReceivedMs = 0;
+    static timeMs_t lastReconfMs = 0;
     const timeMs_t timeNowMs = millis();
 
-    if (tfSerialPort == NULL) {
+    if (tfSerialPort == NULL || devInfo == NULL) {
         return;
     }
 
@@ -190,76 +242,37 @@ static void lidarTFUpdate(rangefinderDev_t *dev)
             }
             break;
 
-        case TF_FRAME_STATE_WAIT_CKSUM:
-            {
-                uint8_t cksum = TF_FRAME_SYNC_BYTE + TF_FRAME_SYNC_BYTE;
-                for (int i = 0; i < TF_FRAME_LENGTH; i++) {
-                    cksum += tfFrame[i];
-                }
-
-                if (c == cksum) {
-
-                    uint16_t distance = tfFrame[0] | (tfFrame[1] << 8);
-                    uint16_t strength = tfFrame[2] | (tfFrame[3] << 8);
-
-                    DEBUG_SET(DEBUG_LIDAR_TF, 0, distance);
-                    DEBUG_SET(DEBUG_LIDAR_TF, 1, strength);
-                    DEBUG_SET(DEBUG_LIDAR_TF, 2, tfFrame[4]);
-                    DEBUG_SET(DEBUG_LIDAR_TF, 3, tfFrame[5]);
-
-                    switch (tfDevtype) {
-                    case TF_DEVTYPE_MINI:
-                        if (distance >= TF_MINI_RANGE_MIN && distance < TF_MINI_RANGE_MAX) {
-                            lidarTFValue = distance;
-                            if (tfFrame[TF_MINI_FRAME_INTEGRAL_TIME] == 7) {
-                                 // When integral time is long (7), measured distance tends to be longer by 12~13.
-                                lidarTFValue -= 13;
-                            }
-                        } else {
-                            lidarTFValue = -1;
-                        }
-                        break;
-
-                    case TF_DEVTYPE_02:
-                        if (distance >= TF_02_RANGE_MIN && distance < TF_02_RANGE_MAX && tfFrame[TF_02_FRAME_SIG] >= 7) {
-                            lidarTFValue = distance;
-                        } else {
-                            lidarTFValue = -1;
-                        }
-                        break;
-
-                    case TF_DEVTYPE_NOVA:
-                        if (distance >= TF_NOVA_RANGE_MIN && distance <= TF_NOVA_RANGE_MAX && tfFrame[TF_NOVA_FRAME_CONFIDENCE] >= 90) {
-                            lidarTFValue = distance;
-                        } else {
-                            lidarTFValue = -1;
-                        }
-                        break;
-                    }
-                    lastFrameReceivedMs = timeNowMs;
-                } else {
-                    // Checksum error. Simply discard the current frame.
-                    ++lidarTFerrors;
-                    //DEBUG_SET(DEBUG_LIDAR_TF, 3, lidarTFerrors);
-                }
+        case TF_FRAME_STATE_WAIT_CKSUM: {
+            uint8_t cksum = TF_FRAME_SYNC_BYTE + TF_FRAME_SYNC_BYTE;  // SYNC bytes are checksummed too, but not stored
+            for (int i = 0; i < TF_FRAME_LENGTH; i++) {
+                cksum += tfFrame[i];
             }
 
+            if (c == cksum) {
+                lidarTFValue = tfProcessFrame(tfFrame, TF_FRAME_LENGTH);
+                lastFrameReceivedMs = timeNowMs;
+            } else {
+                // Checksum error. Simply ignore the current frame.
+                ++lidarTFerrors;
+                DEBUG_SET(DEBUG_LIDAR_TF, 4, lidarTFerrors);
+            }
             tfFrameState = TF_FRAME_STATE_WAIT_START1;
             tfReceivePosition = 0;
-
             break;
         }
+        }
     }
 
-    // If valid frame hasn't been received for more than a timeout, resend command.
-
-    if (timeNowMs - lastFrameReceivedMs > TF_TIMEOUT_MS) {
-        lidarTFSendCommand();
+    // If valid frame hasn't been received for more than a timeout, try reinit.
+    if (cmp32(timeNowMs, lastFrameReceivedMs) > TF_TIMEOUT_MS
+        && cmp32(timeNowMs, lastReconfMs) > 500) {
+        lidarTFConfig(dev, devInfo);
+        lastReconfMs = timeNowMs;    // delay sensor reconf
     }
 }
 
 // Return most recent device output in cm
-
+// TODO - handle timeout; return value only once (see lidarMT)
 static int32_t lidarTFGetDistance(rangefinderDev_t *dev)
 {
     UNUSED(dev);
@@ -267,37 +280,25 @@ static int32_t lidarTFGetDistance(rangefinderDev_t *dev)
     return lidarTFValue;
 }
 
-static bool lidarTFDetect(rangefinderDev_t *dev, uint8_t devtype)
+bool lidarTFDetect(rangefinderDev_t *dev, rangefinderType_e rfType)
 {
-    const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_LIDAR_TF);
+    const lidarTFInfo_t* inf = findInfo(rfType);
+    if (!inf) {
+        return false; // supplied rfType is not TF
+    }
 
+    const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_LIDAR_TF);
     if (!portConfig) {
         return false;
     }
 
     tfSerialPort = openSerialPort(portConfig->identifier, FUNCTION_LIDAR_TF, NULL, NULL, 115200, MODE_RXTX, 0);
-
     if (tfSerialPort == NULL) {
         return false;
     }
 
-    tfDevtype = devtype;
-
-    dev->delayMs = 10;
-    switch (devtype) {
-    case TF_DEVTYPE_MINI:
-        dev->maxRangeCm = TF_MINI_RANGE_MAX;
-        break;
-    case TF_DEVTYPE_02:
-        dev->maxRangeCm = TF_02_RANGE_MAX;
-        break;
-    case TF_DEVTYPE_NOVA:
-        dev->maxRangeCm = TF_NOVA_RANGE_MAX;
-        break;
-    default:
-        dev->maxRangeCm = 0;
-        break;
-    }
+    dev->delayMs = TF_TASK_PERIOD_MS;
+    dev->maxRangeCm = inf->rangeMax;
 
     dev->detectionConeDeciDegrees = TF_DETECTION_CONE_DECIDEGREES;
     dev->detectionConeExtendedDeciDegrees = TF_DETECTION_CONE_DECIDEGREES;
@@ -306,22 +307,12 @@ static bool lidarTFDetect(rangefinderDev_t *dev, uint8_t devtype)
     dev->update = &lidarTFUpdate;
     dev->read = &lidarTFGetDistance;
 
+    devInfo = inf;
+
+    // configure device
+    lidarTFConfig(dev, devInfo);
+
     return true;
 }
 
-bool lidarTFminiDetect(rangefinderDev_t *dev)
-{
-    return lidarTFDetect(dev, TF_DEVTYPE_MINI);
-}
-
-bool lidarTF02Detect(rangefinderDev_t *dev)
-{
-    return lidarTFDetect(dev, TF_DEVTYPE_02);
-}
-
-bool lidarTFNovaDetect(rangefinderDev_t *dev)
-{
-    return lidarTFDetect(dev, TF_DEVTYPE_NOVA);
-}
-
 #endif
diff --git a/src/main/drivers/rangefinder/rangefinder_lidartf.h b/src/main/drivers/rangefinder/rangefinder_lidartf.h
index cd786a79bc..c84370dd4c 100644
--- a/src/main/drivers/rangefinder/rangefinder_lidartf.h
+++ b/src/main/drivers/rangefinder/rangefinder_lidartf.h
@@ -20,10 +20,7 @@
 
 #pragma once
 
-#include "common/time.h"
+#include "drivers/rangefinder/rangefinder.h"
+#include "sensors/rangefinder.h"
 
-#define RANGEFINDER_TF_TASK_PERIOD_MS 10
-
-bool lidarTFminiDetect(rangefinderDev_t *dev);
-bool lidarTF02Detect(rangefinderDev_t *dev);
-bool lidarTFNovaDetect(rangefinderDev_t *dev);
+bool lidarTFDetect(rangefinderDev_t *dev, rangefinderType_e rfType);
diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index e243b5027f..4c1ac78d69 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -109,29 +109,13 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
 #endif
             break;
 
+#if defined(USE_RANGEFINDER_TF)
         case RANGEFINDER_TFMINI:
-#if defined(USE_RANGEFINDER_TF)
-            if (lidarTFminiDetect(dev)) {
-                rangefinderHardware = RANGEFINDER_TFMINI;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
         case RANGEFINDER_TF02:
-#if defined(USE_RANGEFINDER_TF)
-            if (lidarTF02Detect(dev)) {
-                rangefinderHardware = RANGEFINDER_TF02;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
         case RANGEFINDER_TFNOVA:
-#if defined(USE_RANGEFINDER_TF)
-            if (lidarTFNovaDetect(dev)) {
-                rangefinderHardware = RANGEFINDER_TFNOVA;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
+            if (lidarTFDetect(dev, rangefinderHardwareToUse)) {
+                rangefinderHardware = rangefinderHardwareToUse;
+                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(dev->delayMs));
             }
 #endif
             break;
diff --git a/src/platform/PICO/startup/bs2_default_padded_checksummed.S b/src/platform/PICO/startup/bs2_default_padded_checksummed.S
deleted file mode 100644
index 124bd8d265..0000000000
--- a/src/platform/PICO/startup/bs2_default_padded_checksummed.S
+++ /dev/null
@@ -1,25 +0,0 @@
-// Padded and checksummed version of: /home/black/src/pico/hello/build/pico-sdk/src/rp2350/boot_stage2/bs2_default.bin
-
-.cpu cortex-m0plus
-.thumb
-
-.section .boot2, "ax"
-
-.global __boot2_entry_point
-__boot2_entry_point:
-.byte 0x00, 0xb5, 0x24, 0x4b, 0x21, 0x20, 0x58, 0x60, 0x13, 0xf5, 0x40, 0x53, 0x02, 0x20, 0x98, 0x60
-.byte 0xd8, 0x60, 0x18, 0x61, 0x58, 0x61, 0x13, 0xf5, 0x0d, 0x23, 0x1f, 0x49, 0x19, 0x60, 0x18, 0x68
-.byte 0x10, 0xf0, 0x02, 0x0f, 0xfb, 0xd1, 0x35, 0x20, 0x00, 0xf0, 0x2c, 0xf8, 0x02, 0x28, 0x14, 0xd0
-.byte 0x06, 0x20, 0x58, 0x60, 0x00, 0xf0, 0x22, 0xf8, 0x98, 0x68, 0x01, 0x20, 0x58, 0x60, 0x00, 0x20
-.byte 0x58, 0x60, 0x02, 0x20, 0x58, 0x60, 0x00, 0xf0, 0x19, 0xf8, 0x98, 0x68, 0x98, 0x68, 0x98, 0x68
-.byte 0x05, 0x20, 0x00, 0xf0, 0x17, 0xf8, 0x40, 0x08, 0xfa, 0xd2, 0x31, 0xf0, 0x01, 0x01, 0x19, 0x60
-.byte 0x0e, 0x48, 0xd8, 0x60, 0x4a, 0xf2, 0xeb, 0x00, 0x58, 0x61, 0x0d, 0x48, 0x18, 0x61, 0x4f, 0xf0
-.byte 0xa0, 0x51, 0x09, 0x78, 0x20, 0xf4, 0x80, 0x50, 0x18, 0x61, 0x00, 0xbd, 0x18, 0x68, 0x80, 0x08
-.byte 0xfc, 0xd2, 0x70, 0x47, 0x00, 0xb5, 0x58, 0x60, 0x58, 0x60, 0xff, 0xf7, 0xf7, 0xff, 0x98, 0x68
-.byte 0x98, 0x68, 0x00, 0xbd, 0x00, 0x00, 0x04, 0x40, 0x41, 0x00, 0x80, 0x07, 0x02, 0x02, 0x00, 0x40
-.byte 0xa8, 0x92, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
-.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
diff --git a/src/platform/SIMULATOR/mk/SITL.mk b/src/platform/SIMULATOR/mk/SITL.mk
index 989306556f..757b0e4da8 100644
--- a/src/platform/SIMULATOR/mk/SITL.mk
+++ b/src/platform/SIMULATOR/mk/SITL.mk
@@ -1,3 +1,7 @@
+# SITL Makefile for the simulator platform
+
+# Default output is an exe file
+DEFAULT_OUTPUT := exe
 
 INCLUDE_DIRS := \
         $(INCLUDE_DIRS) \