diff --git a/src/main/config/config.c b/src/main/config/config.c
index bb177b2f41..3b03fb23b6 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -474,6 +474,9 @@ static void resetConf(void)
 #ifdef STM32F10X
     masterConfig.gyro_sync_denom = 8;
     masterConfig.pid_process_denom = 1;
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)
+    masterConfig.gyro_sync_denom = 8;
+    masterConfig.pid_process_denom = 4;
 #else
     masterConfig.gyro_sync_denom = 4;
     masterConfig.pid_process_denom = 2;
diff --git a/src/main/config/config.h b/src/main/config/config.h
index b97ac6b45b..cc239da923 100644
--- a/src/main/config/config.h
+++ b/src/main/config/config.h
@@ -46,16 +46,15 @@ typedef enum {
     FEATURE_RSSI_ADC = 1 << 15,
     FEATURE_LED_STRIP = 1 << 16,
     FEATURE_DISPLAY = 1 << 17,
-    FEATURE_ONESHOT125 = 1 << 18,
+    FEATURE_OSD = 1 << 18,
     FEATURE_BLACKBOX = 1 << 19,
     FEATURE_CHANNEL_FORWARDING = 1 << 20,
     FEATURE_TRANSPONDER = 1 << 21,
     FEATURE_AIRMODE = 1 << 22,
     FEATURE_SUPEREXPO_RATES = 1 << 23,
-    FEATURE_OSD = 1 << 24,
-    FEATURE_VTX = 1 << 25,
-    FEATURE_RX_NRF24 = 1 << 26,
-    FEATURE_SOFTSPI = 1 << 27,
+    FEATURE_VTX = 1 << 24,
+    FEATURE_RX_NRF24 = 1 << 25,
+    FEATURE_SOFTSPI = 1 << 26,
 } features_e;
 
 void latchActiveFeatures(void);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index dcf8828457..5aef0f5392 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -206,9 +206,8 @@ static const char * const featureNames[] = {
     "RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
     "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
     "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
-    "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
-    "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", "SUPEREXPO_RATES",
-    "OSD", NULL
+    "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
+    "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", "SUPEREXPO_RATES", NULL
 };
 
 // sync this with rxFailsafeChannelMode_e
diff --git a/src/main/main.c b/src/main/main.c
index 7ec478feae..24b983308d 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -288,12 +288,6 @@ void init(void)
     pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
 #endif
 
-    if (masterConfig.motor_pwm_protocol == PWM_TYPE_ONESHOT125) {
-        featureSet(FEATURE_ONESHOT125);
-    } else {
-        featureClear(FEATURE_ONESHOT125);
-    }
-
     bool use_unsyncedPwm = masterConfig.use_unsyncedPwm || masterConfig.motor_pwm_protocol == PWM_TYPE_CONVENTIONAL || masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED;
 
     // Configurator feature abused for enabling Fast PWM
diff --git a/src/main/target/ALIENFLIGHTF1/config.c b/src/main/target/ALIENFLIGHTF1/config.c
index 3369b17635..b16a16444a 100644
--- a/src/main/target/ALIENFLIGHTF1/config.c
+++ b/src/main/target/ALIENFLIGHTF1/config.c
@@ -72,7 +72,6 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void) 
 {
-    featureClear(FEATURE_ONESHOT125);
     masterConfig.rxConfig.spektrum_sat_bind = 5;
     masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
     masterConfig.motor_pwm_rate = 32000;
diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c
index be0a9bfea3..3aed5a3ceb 100644
--- a/src/main/target/ALIENFLIGHTF3/config.c
+++ b/src/main/target/ALIENFLIGHTF3/config.c
@@ -77,7 +77,6 @@
 
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void) {
-    featureClear(FEATURE_ONESHOT125);
     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
     masterConfig.rxConfig.spektrum_sat_bind = 5;
     masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c
index ecce870a48..5264a16735 100644
--- a/src/main/target/ALIENFLIGHTF4/config.c
+++ b/src/main/target/ALIENFLIGHTF4/config.c
@@ -77,7 +77,6 @@
 
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void) {
-    featureClear(FEATURE_ONESHOT125);
     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
     masterConfig.rxConfig.spektrum_sat_bind = 5;
     masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
diff --git a/src/main/target/F4BY/target.h b/src/main/target/F4BY/target.h
index 8b4b846c40..7c9e89b48b 100644
--- a/src/main/target/F4BY/target.h
+++ b/src/main/target/F4BY/target.h
@@ -138,7 +138,7 @@
 #define CURRENT_METER_ADC_PIN   PC2
 #define RSSI_ADC_PIN            PC1
 
-#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX)
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 
diff --git a/src/main/target/FURYF4/target.h b/src/main/target/FURYF4/target.h
index 073e2fb916..8f69378592 100644
--- a/src/main/target/FURYF4/target.h
+++ b/src/main/target/FURYF4/target.h
@@ -150,7 +150,7 @@
 #define RSSI_ADC_GPIO_PIN       PC2
 #define CURRENT_METER_ADC_PIN   PC3
 
-#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX)
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 
diff --git a/src/main/target/MOTOLAB/config.c b/src/main/target/MOTOLAB/config.c
new file mode 100755
index 0000000000..490236ce04
--- /dev/null
+++ b/src/main/target/MOTOLAB/config.c
@@ -0,0 +1,82 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// Motolab target supports 2 different type of boards Tornado / Cyclone.
+void targetConfiguration(void) {
+    masterConfig.gyro_sync_denom = 4;
+    masterConfig.pid_process_denom = 1;
+}
diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h
index 0a0ec2593d..ad84573b59 100644
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@@ -167,7 +167,7 @@
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
-#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX)
 
 #define BUTTONS
 #define BUTTON_A_PORT           GPIOB
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index 5250a336b7..4bd45103a3 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -121,7 +121,7 @@
 
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
-#define DEFAULT_FEATURES        (FEATURE_BLACKBOX | FEATURE_ONESHOT125 | FEATURE_RX_SERIAL)
+#define DEFAULT_FEATURES        (FEATURE_BLACKBOX | FEATURE_RX_SERIAL)
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index 9aab5b4b10..76738118d0 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -110,7 +110,7 @@
 
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES        (FEATURE_BLACKBOX | FEATURE_ONESHOT125)
+#define DEFAULT_FEATURES        (FEATURE_BLACKBOX)
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/VRRACE/target.h b/src/main/target/VRRACE/target.h
index da1581e9f3..cda9b14463 100644
--- a/src/main/target/VRRACE/target.h
+++ b/src/main/target/VRRACE/target.h
@@ -156,7 +156,7 @@
 #define RSSI_ADC_GPIO_PIN           PB1
 #define CURRENT_METER_ADC_PIN       PA5
 
-#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_ONESHOT125 | FEATURE_SOFTSERIAL | FEATURE_TELEMETRY)
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_SOFTSERIAL | FEATURE_TELEMETRY)
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS