diff --git a/src/main/drivers/bus_i2c_stm32f10x.c b/src/main/drivers/bus_i2c_stm32f10x.c
index a444332aba..c7e972b2d7 100644
--- a/src/main/drivers/bus_i2c_stm32f10x.c
+++ b/src/main/drivers/bus_i2c_stm32f10x.c
@@ -82,10 +82,10 @@ static void i2cUnstick(IO_t scl, IO_t sda);
 #endif
 
 static i2cDevice_t i2cHardwareMap[] = {
-    { .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .overClock = false, .ev_irq = I2C1_EV_IRQn, .er_irq = I2C1_ER_IRQn },
-    { .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .overClock = false, .ev_irq = I2C2_EV_IRQn, .er_irq = I2C2_ER_IRQn },
+    { .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .overClock = I2C1_OVERCLOCK, .ev_irq = I2C1_EV_IRQn, .er_irq = I2C1_ER_IRQn },
+    { .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .overClock = I2C2_OVERCLOCK, .ev_irq = I2C2_EV_IRQn, .er_irq = I2C2_ER_IRQn },
 #ifdef STM32F4
-    { .dev = I2C3, .scl = IO_TAG(I2C3_SCL), .sda = IO_TAG(I2C3_SDA), .rcc = RCC_APB1(I2C3), .overClock = false, .ev_irq = I2C3_EV_IRQn, .er_irq = I2C3_ER_IRQn }
+    { .dev = I2C3, .scl = IO_TAG(I2C3_SCL), .sda = IO_TAG(I2C3_SDA), .rcc = RCC_APB1(I2C3), .overClock = I2C2_OVERCLOCK, .ev_irq = I2C3_EV_IRQn, .er_irq = I2C3_ER_IRQn }
 #endif
 };
 
@@ -396,7 +396,7 @@ void i2cInit(I2CDevice device)
     i2cUnstick(scl, sda);
      
     // Init pins
-#if defined(STM32F40_41xxx) || defined(STM32F411xE)
+#ifdef STM32F4
     IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_I2C);
     IOConfigGPIOAF(sda, IOCFG_I2C, GPIO_AF_I2C);
 #else
@@ -416,8 +416,7 @@ void i2cInit(I2CDevice device)
 
     if (i2c->overClock) {
         i2cInit.I2C_ClockSpeed = 800000; // 800khz Maximum speed tested on various boards without issues
-    }
-    else {
+    } else {
         i2cInit.I2C_ClockSpeed = 400000; // 400khz Operation according specs
     }
 
diff --git a/src/main/drivers/bus_i2c_stm32f30x.c b/src/main/drivers/bus_i2c_stm32f30x.c
index 8f9225ef74..c324d03e7a 100644
--- a/src/main/drivers/bus_i2c_stm32f30x.c
+++ b/src/main/drivers/bus_i2c_stm32f30x.c
@@ -54,8 +54,8 @@ static volatile uint16_t i2cErrorCount = 0;
 //static volatile uint16_t i2c2ErrorCount = 0;
 
 static i2cDevice_t i2cHardwareMap[] = {
-	{ .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .overClock = false },
-	{ .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .overClock = false }
+    { .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .overClock = I2C1_OVERCLOCK },
+    { .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .overClock = I2C2_OVERCLOCK }
 };
 
 ///////////////////////////////////////////////////////////////////////////////
@@ -64,190 +64,189 @@ static i2cDevice_t i2cHardwareMap[] = {
 
 uint32_t i2cTimeoutUserCallback(void)
 {
-	i2cErrorCount++;
-	return false;
+    i2cErrorCount++;
+    return false;
 }
 
 void i2cInit(I2CDevice device)
 {
     
-	i2cDevice_t *i2c;
-	i2c = &(i2cHardwareMap[device]);
+    i2cDevice_t *i2c;
+    i2c = &(i2cHardwareMap[device]);
 
-	I2C_TypeDef *I2Cx;
-	I2Cx = i2c->dev;
+    I2C_TypeDef *I2Cx;
+    I2Cx = i2c->dev;
        
-	IO_t scl = IOGetByTag(i2c->scl);
-	IO_t sda = IOGetByTag(i2c->sda);
+    IO_t scl = IOGetByTag(i2c->scl);
+    IO_t sda = IOGetByTag(i2c->sda);
     
-	RCC_ClockCmd(i2c->rcc, ENABLE);
-	RCC_I2CCLKConfig(I2Cx == I2C2 ? RCC_I2C2CLK_SYSCLK : RCC_I2C1CLK_SYSCLK);
+    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_NOPULL), GPIO_AF_4);
-	IOConfigGPIOAF(sda, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_NOPULL), GPIO_AF_4);
+    IOConfigGPIOAF(scl, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_NOPULL), GPIO_AF_4);
+    IOConfigGPIOAF(sda, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_NOPULL), GPIO_AF_4);
 
-	I2C_InitTypeDef i2cInit = {
-		.I2C_Mode = I2C_Mode_I2C,
-		.I2C_AnalogFilter = I2C_AnalogFilter_Enable,
-		.I2C_DigitalFilter = 0x00,
-		.I2C_OwnAddress1 = 0x00,
-		.I2C_Ack = I2C_Ack_Enable,
-		.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
-		.I2C_Timing = 0x00E0257A, // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
-		//.I2C_Timing              = 0x8000050B;
-	};
+    I2C_InitTypeDef i2cInit = {
+        .I2C_Mode = I2C_Mode_I2C,
+        .I2C_AnalogFilter = I2C_AnalogFilter_Enable,
+        .I2C_DigitalFilter = 0x00,
+        .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;
+    };
     
-	if (i2c->overClock) {
-		i2cInit.I2C_Timing = 0x00500E30; // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
-	}
-	I2C_Init(I2Cx, &i2cInit);
+    I2C_Init(I2Cx, &i2cInit);
 
-	I2C_Cmd(I2Cx, ENABLE);
+    I2C_Cmd(I2Cx, ENABLE);
 }
 
 uint16_t i2cGetErrorCounter(void)
 {
-	return i2cErrorCount;
+    return i2cErrorCount;
 }
 
 bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
 {
-	addr_ <<= 1;
+    addr_ <<= 1;
 
-	I2C_TypeDef *I2Cx;
-	I2Cx = i2cHardwareMap[device].dev; 
+    I2C_TypeDef *I2Cx;
+    I2Cx = i2cHardwareMap[device].dev; 
     
-	/* Test on BUSY Flag */
-	i2cTimeout = I2C_LONG_TIMEOUT;
-	while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
-		if ((i2cTimeout--) == 0) {
-			return i2cTimeoutUserCallback();
-		}
-	}
+    /* Test on BUSY Flag */
+    i2cTimeout = I2C_LONG_TIMEOUT;
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
+        if ((i2cTimeout--) == 0) {
+            return i2cTimeoutUserCallback();
+        }
+    }
 
-	    /* Configure slave address, nbytes, reload, end mode and start or stop generation */
-	I2C_TransferHandling(I2Cx, addr_, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
+        /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+    I2C_TransferHandling(I2Cx, addr_, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
 
-	    /* Wait until TXIS flag is set */
-	i2cTimeout = I2C_LONG_TIMEOUT;
-	while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
-		if ((i2cTimeout--) == 0) {
-			return i2cTimeoutUserCallback();
-		}
-	}
+        /* Wait until TXIS flag is set */
+    i2cTimeout = I2C_LONG_TIMEOUT;
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
+        if ((i2cTimeout--) == 0) {
+            return i2cTimeoutUserCallback();
+        }
+    }
 
-	    /* Send Register address */
-	I2C_SendData(I2Cx, (uint8_t) reg);
+        /* Send Register address */
+    I2C_SendData(I2Cx, (uint8_t) reg);
 
-	    /* Wait until TCR flag is set */
-	i2cTimeout = I2C_LONG_TIMEOUT;
-	while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET)
-	{
-		if ((i2cTimeout--) == 0) {
-			return i2cTimeoutUserCallback();
-		}
-	}
+        /* Wait until TCR flag is set */
+    i2cTimeout = I2C_LONG_TIMEOUT;
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET)
+    {
+        if ((i2cTimeout--) == 0) {
+            return i2cTimeoutUserCallback();
+        }
+    }
 
-	    /* Configure slave address, nbytes, reload, end mode and start or stop generation */
-	I2C_TransferHandling(I2Cx, addr_, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
+        /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+    I2C_TransferHandling(I2Cx, addr_, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
 
-	    /* Wait until TXIS flag is set */
-	i2cTimeout = I2C_LONG_TIMEOUT;
-	while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
-		if ((i2cTimeout--) == 0) {
-			return i2cTimeoutUserCallback();
-		}
-	}
+        /* Wait until TXIS flag is set */
+    i2cTimeout = I2C_LONG_TIMEOUT;
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
+        if ((i2cTimeout--) == 0) {
+            return i2cTimeoutUserCallback();
+        }
+    }
 
-	    /* Write data to TXDR */
-	I2C_SendData(I2Cx, data);
+        /* Write data to TXDR */
+    I2C_SendData(I2Cx, data);
 
-	    /* Wait until STOPF flag is set */
-	i2cTimeout = I2C_LONG_TIMEOUT;
-	while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
-		if ((i2cTimeout--) == 0) {
-			return i2cTimeoutUserCallback();
-		}
-	}
+        /* Wait until STOPF flag is set */
+    i2cTimeout = I2C_LONG_TIMEOUT;
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
+        if ((i2cTimeout--) == 0) {
+            return i2cTimeoutUserCallback();
+        }
+    }
 
-	    /* Clear STOPF flag */
-	I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
+        /* Clear STOPF flag */
+    I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
 
-	return true;
+    return true;
 }
 
 bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t* buf)
 {
-	addr_ <<= 1;
+    addr_ <<= 1;
 
-	I2C_TypeDef *I2Cx;
-	I2Cx = i2cHardwareMap[device].dev; 
+    I2C_TypeDef *I2Cx;
+    I2Cx = i2cHardwareMap[device].dev; 
         
-	/* Test on BUSY Flag */
-	i2cTimeout = I2C_LONG_TIMEOUT;
-	while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
-		if ((i2cTimeout--) == 0) {
-			return i2cTimeoutUserCallback();
-		}
-	}
+    /* Test on BUSY Flag */
+    i2cTimeout = I2C_LONG_TIMEOUT;
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
+        if ((i2cTimeout--) == 0) {
+            return i2cTimeoutUserCallback();
+        }
+    }
 
-	    /* Configure slave address, nbytes, reload, end mode and start or stop generation */
-	I2C_TransferHandling(I2Cx, addr_, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
+        /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+    I2C_TransferHandling(I2Cx, addr_, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
 
-	    /* Wait until TXIS flag is set */
-	i2cTimeout = I2C_LONG_TIMEOUT;
-	while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
-		if ((i2cTimeout--) == 0) {
-			return i2cTimeoutUserCallback();
-		}
-	}
+        /* Wait until TXIS flag is set */
+    i2cTimeout = I2C_LONG_TIMEOUT;
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
+        if ((i2cTimeout--) == 0) {
+            return i2cTimeoutUserCallback();
+        }
+    }
 
-	    /* Send Register address */
-	I2C_SendData(I2Cx, (uint8_t) reg);
+        /* Send Register address */
+    I2C_SendData(I2Cx, (uint8_t) reg);
 
-	    /* Wait until TC flag is set */
-	i2cTimeout = I2C_LONG_TIMEOUT;
-	while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET) {
-		if ((i2cTimeout--) == 0) {
-			return i2cTimeoutUserCallback();
-		}
-	}
+        /* Wait until TC flag is set */
+    i2cTimeout = I2C_LONG_TIMEOUT;
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET) {
+        if ((i2cTimeout--) == 0) {
+            return i2cTimeoutUserCallback();
+        }
+    }
 
-	    /* Configure slave address, nbytes, reload, end mode and start or stop generation */
-	I2C_TransferHandling(I2Cx, addr_, len, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
+        /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+    I2C_TransferHandling(I2Cx, addr_, len, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
 
-	    /* Wait until all data are received */
-	while (len) {
-	    /* Wait until RXNE flag is set */
-		i2cTimeout = I2C_LONG_TIMEOUT;
-		while (I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET) {
-			if ((i2cTimeout--) == 0) {
-				return i2cTimeoutUserCallback();
-			}
-		}
+        /* Wait until all data are received */
+    while (len) {
+        /* Wait until RXNE flag is set */
+        i2cTimeout = I2C_LONG_TIMEOUT;
+        while (I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET) {
+            if ((i2cTimeout--) == 0) {
+                return i2cTimeoutUserCallback();
+            }
+        }
 
-		        /* Read data from RXDR */
-		*buf = I2C_ReceiveData(I2Cx);
-		/* Point to the next location where the byte read will be saved */
-		buf++;
+                /* Read data from RXDR */
+        *buf = I2C_ReceiveData(I2Cx);
+        /* Point to the next location where the byte read will be saved */
+        buf++;
 
-		        /* Decrement the read bytes counter */
-		len--;
-	}
+                /* Decrement the read bytes counter */
+        len--;
+    }
 
-	    /* Wait until STOPF flag is set */
-	i2cTimeout = I2C_LONG_TIMEOUT;
-	while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
-		if ((i2cTimeout--) == 0) {
-			return i2cTimeoutUserCallback();
-		}
-	}
+        /* Wait until STOPF flag is set */
+    i2cTimeout = I2C_LONG_TIMEOUT;
+    while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
+        if ((i2cTimeout--) == 0) {
+            return i2cTimeoutUserCallback();
+        }
+    }
 
-	    /* Clear STOPF flag */
-	I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
+        /* Clear STOPF flag */
+    I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
 
-	    /* If all operations OK */
-	return true;
+        /* If all operations OK */
+    return true;
 }
 
 #endif
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 9a8d6aede7..dbe2c3a374 100644
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -17,13 +17,19 @@
  
 #pragma once
 
+#define I2C1_OVERCLOCK true
+#define I2C2_OVERCLOCK true
+
+
+/* STM32F4 specific settings that apply to all F4 targets */
 #ifdef STM32F4
 
 #define TASK_GYROPID_DESIRED_PERIOD 125
 #define SCHEDULER_DELAY_LIMIT 10
 #define USE_SLOW_SERIAL_CLI
+#define I2C3_OVERCLOCK true
 
-#else
+#else /* when not an F4 */
 
 #define TASK_GYROPID_DESIRED_PERIOD 1000
 #define SCHEDULER_DELAY_LIMIT 100