diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 31660c9937..d9e269d6f6 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,2719 +1,2705 @@
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diff --git a/src/cli.c b/src/cli.c
index ef96ea8cfa..dd872276d5 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -23,7 +23,7 @@ extern const char rcChannelLetters[];
 
 // buffer
 static char cliBuffer[32];
-static uint8_t bufferIndex = 0;
+static uint32_t bufferIndex = 0;
 
 // sync this with MultiType enum from mw.h
 const char *mixerNames[] = {
@@ -151,6 +151,9 @@ const clivalue_t valueTable[] = {
     { "p_yaw", VAR_UINT8, &cfg.P8[YAW], 0, 200 },
     { "i_yaw", VAR_UINT8, &cfg.I8[YAW], 0, 200 },
     { "d_yaw", VAR_UINT8, &cfg.D8[YAW], 0, 200 },
+    { "p_alt", VAR_UINT8, &cfg.P8[PIDALT], 0, 200 },
+    { "i_alt", VAR_UINT8, &cfg.I8[PIDALT], 0, 200 },
+    { "d_alt", VAR_UINT8, &cfg.D8[PIDALT], 0, 200 },
     { "p_level", VAR_UINT8, &cfg.P8[PIDLEVEL], 0, 200 },
     { "i_level", VAR_UINT8, &cfg.I8[PIDLEVEL], 0, 200 },
     { "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200 },
@@ -159,7 +162,7 @@ const clivalue_t valueTable[] = {
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
 
 static void cliSetVar(const clivalue_t *var, const int32_t value);
-static void cliPrintVar(const clivalue_t *var);
+static void cliPrintVar(const clivalue_t *var, uint32_t full);
 
 #ifndef HAVE_ITOA_FUNCTION
 
@@ -231,8 +234,8 @@ static void cliExit(char *cmdline)
 
 static void cliFeature(char *cmdline)
 {
-    uint8_t i;
-    uint8_t len;
+    uint32_t i;
+    uint32_t len;
     uint32_t mask;
 
     len = strlen(cmdline);
@@ -290,7 +293,7 @@ static void cliFeature(char *cmdline)
 
 static void cliHelp(char *cmdline)
 {
-    uint8_t i = 0;
+    uint32_t i = 0;
 
     uartPrint("Available commands:\r\n");    
 
@@ -305,8 +308,8 @@ static void cliHelp(char *cmdline)
 
 static void cliMap(char *cmdline)
 {
-    uint8_t len;
-    uint8_t i;
+    uint32_t len;
+    uint32_t i;
     char out[9];
 
     len = strlen(cmdline);
@@ -379,7 +382,7 @@ static void cliSave(char *cmdline)
     systemReset(false);
 }
 
-static void cliPrintVar(const clivalue_t *var)
+static void cliPrintVar(const clivalue_t *var, uint32_t full)
 {
     int32_t value = 0;
     char buf[16];
@@ -407,6 +410,14 @@ static void cliPrintVar(const clivalue_t *var)
     }
     itoa(value, buf, 10);
     uartPrint(buf);
+    if (full) {
+        uartPrint(" ");
+        itoa(var->min, buf, 10);
+        uartPrint(buf);
+        uartPrint(" ");
+        itoa(var->max, buf, 10);
+        uartPrint(buf);
+    }
 }
 
 static void cliSetVar(const clivalue_t *var, const int32_t value)
@@ -430,21 +441,21 @@ static void cliSetVar(const clivalue_t *var, const int32_t value)
 
 static void cliSet(char *cmdline)
 {
-    uint8_t i;
-    uint8_t len;
+    uint32_t i;
+    uint32_t len;
     const clivalue_t *val;
     char *eqptr = NULL;
     int32_t value = 0;
 
     len = strlen(cmdline);
 
-    if (len == 0) {
+    if (len == 0 || (len == 1 && cmdline[0] == '*')) {
         uartPrint("Current settings: \r\n");
         for (i = 0; i < VALUE_COUNT; i++) {
             val = &valueTable[i];
             uartPrint((char *)valueTable[i].name);
             uartPrint(" = ");
-            cliPrintVar(val);
+            cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
             uartPrint("\r\n");
             while (!uartTransmitEmpty());
         }
@@ -461,7 +472,7 @@ static void cliSet(char *cmdline)
                     cliSetVar(val, value);
                     uartPrint((char *)valueTable[i].name);
                     uartPrint(" set to ");
-                    cliPrintVar(val);
+                    cliPrintVar(val, 0);
                 } else {
                     uartPrint("ERR: Value assignment out of range\r\n");
                 }
diff --git a/src/config.c b/src/config.c
index a5050e5e90..d5402aabdf 100755
--- a/src/config.c
+++ b/src/config.c
@@ -13,7 +13,7 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-uint8_t checkNewConf = 19;
+uint8_t checkNewConf = 22;
 
 void parseRcChannels(const char *input)
 {
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 4958505cbe..9615f50961 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -79,11 +79,7 @@ static void ppmIRQHandler(TIM_TypeDef *tim)
 
     TIM_ClearITPendingBit(tim, TIM_IT_CC1);
 
-    if (now > last) {
-        diff = (now - last);
-    } else {
-        diff = ((0xFFFF - last) + now);
-    }
+    diff = now - last;
 
     if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
         chan = 0;
@@ -98,7 +94,7 @@ static void ppmIRQHandler(TIM_TypeDef *tim)
 
 static void pwmIRQHandler(TIM_TypeDef *tim)
 {
-    uint8_t i;
+    uint32_t i;
     uint16_t val = 0;
 
     for (i = 0; i < 8; i++) {
@@ -162,7 +158,7 @@ static void pwmInitializeInput(bool usePPM)
     GPIO_InitTypeDef GPIO_InitStructure = { 0, };
     TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure = { 0, };
     NVIC_InitTypeDef NVIC_InitStructure = { 0, };
-    uint8_t i;
+    uint32_t i;
 
    // Input pins
     if (usePPM) {
diff --git a/src/drv_system.c b/src/drv_system.c
index f588310e34..43b78c8c3d 100755
--- a/src/drv_system.c
+++ b/src/drv_system.c
@@ -45,7 +45,7 @@ uint32_t millis(void)
 void systemInit(void)
 {
     GPIO_InitTypeDef GPIO_InitStructure;
-    uint8_t i;
+    uint32_t i;
 
     gpio_config_t gpio_cfg[] = {
         { LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP }, // PB3 (LED)
diff --git a/src/gps.c b/src/gps.c
index 0f082d052a..68e3604851 100644
--- a/src/gps.c
+++ b/src/gps.c
@@ -621,7 +621,7 @@ static uint32_t GPS_coord_to_degrees(char *s)
 // helper functions
 static uint32_t grab_fields(char *src, uint8_t mult)
 {                               // convert string to uint32
-    uint8_t i;
+    uint32_t i;
     uint32_t tmp = 0;
     for (i = 0; src[i] != 0; i++) {
         if (src[i] == '.') {
diff --git a/src/imu.c b/src/imu.c
index 6236549305..39d611d583 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -34,7 +34,7 @@ void imuInit(void)
 
 void computeIMU(void)
 {
-    uint8_t axis;
+    uint32_t axis;
     static int16_t gyroADCprevious[3] = { 0, 0, 0 };
     int16_t gyroADCp[3];
     int16_t gyroADCinter[3];
@@ -180,7 +180,7 @@ static int16_t _atan2f(float y, float x)
 
 static void getEstimatedAttitude(void)
 {
-    uint8_t axis;
+    uint32_t axis;
     int32_t accMag = 0;
     static t_fp_vector EstG;
     static t_fp_vector EstM;
@@ -265,10 +265,10 @@ static void getEstimatedAttitude(void)
 
 void getEstimatedAltitude(void)
 {
-    uint8_t index;
+    uint32_t index;
     static uint32_t deadLine = INIT_DELAY;
     static int16_t BaroHistTab[BARO_TAB_SIZE];
-    static int8_t BaroHistIdx;
+    static uint32_t BaroHistIdx;
     static int32_t BaroHigh = 0;
     static int32_t BaroLow = 0;
     int32_t temp32;
diff --git a/src/mixer.c b/src/mixer.c
index ad0a1d0ac9..a1deafef50 100755
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -97,7 +97,7 @@ void writeAllMotors(int16_t mc)
 void mixTable(void)
 {
     int16_t maxMotor;
-    uint8_t i;
+    uint32_t i;
     static uint8_t camCycle = 0;
     static uint8_t camState = 0;
     static uint32_t camTime = 0;
diff --git a/src/mw.c b/src/mw.c
index 9ccc8734e7..7ba49da3e6 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -43,7 +43,6 @@ uint8_t GPS_update = 0;         // it's a binary toogle to distinct a GPS positi
 int16_t GPS_angle[2] = { 0, 0 };        // it's the angles that must be applied for GPS correction
 uint16_t GPS_ground_course = 0; // degrees*10
 uint8_t GPS_Present = 0;        // Checksum from Gps serial
-uint8_t GPS_Enable = 0;
 int16_t nav[2];
 int8_t nav_mode = NAV_MODE_NONE;        // Navigation mode
 
diff --git a/src/mw.h b/src/mw.h
index 7c16104971..de69d649e7 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -198,21 +198,21 @@ typedef struct config_t {
 } config_t;
 
 typedef struct flags_t {
-    uint8_t OK_TO_ARM :1;
-    uint8_t ARMED :1;
-    uint8_t I2C_INIT_DONE :1; // For i2c gps we have to now when i2c init is done, so we can update parameters to the i2cgps from eeprom (at startup it is done in setup())
-    uint8_t ACC_CALIBRATED :1;
-    uint8_t ACC_MODE :1;
-    uint8_t MAG_MODE :1;
-    uint8_t BARO_MODE :1;
-    uint8_t GPS_HOME_MODE :1;
-    uint8_t GPS_HOLD_MODE :1;
-    uint8_t HEADFREE_MODE :1;
-    uint8_t PASSTHRU_MODE :1;
-    uint8_t GPS_FIX :1;
-    uint8_t GPS_FIX_HOME :1;
-    uint8_t SMALL_ANGLES_25 :1;
-    uint8_t CALIBRATE_MAG :1;
+    uint8_t OK_TO_ARM;
+    uint8_t ARMED;
+    uint8_t I2C_INIT_DONE; // For i2c gps we have to now when i2c init is done, so we can update parameters to the i2cgps from eeprom (at startup it is done in setup())
+    uint8_t ACC_CALIBRATED;
+    uint8_t ACC_MODE;
+    uint8_t MAG_MODE;
+    uint8_t BARO_MODE;
+    uint8_t GPS_HOME_MODE;
+    uint8_t GPS_HOLD_MODE;
+    uint8_t HEADFREE_MODE;
+    uint8_t PASSTHRU_MODE;
+    uint8_t GPS_FIX;
+    uint8_t GPS_FIX_HOME;
+    uint8_t SMALL_ANGLES_25;
+    uint8_t CALIBRATE_MAG;
 } flags_t;
 
 extern int16_t gyroZero[3];
@@ -264,7 +264,6 @@ extern uint8_t  GPS_update;                                  // it's a binary to
 extern int16_t  GPS_angle[2];                                // it's the angles that must be applied for GPS correction
 extern uint16_t GPS_ground_course;                           // degrees*10
 extern uint8_t  GPS_Present;                                 // Checksum from Gps serial
-extern uint8_t  GPS_Enable;
 extern int16_t  nav[2];
 extern int8_t   nav_mode;                                    // Navigation mode
 
diff --git a/src/sensors.c b/src/sensors.c
index 72660c830f..a2e8dbb7c3 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -115,7 +115,7 @@ uint16_t batteryAdcToVoltage(uint16_t src)
 
 void batteryInit(void)
 {
-    uint8_t i;
+    uint32_t i;
     uint32_t voltage = 0;
 
     // average up some voltage readings
@@ -138,7 +138,7 @@ void batteryInit(void)
 static void ACC_Common(void)
 {
     static int32_t a[3];
-    uint8_t axis;
+    uint32_t axis;
 
     if (calibratingA > 0) {
         for (axis = 0; axis < 3; axis++) {
@@ -272,7 +272,7 @@ static void GYRO_Common(void)
 {
     static int16_t previousGyroADC[3] = { 0, 0, 0 };
     static int32_t g[3];
-    uint8_t axis;
+    uint32_t axis;
 
     if (calibratingG > 0) {
         for (axis = 0; axis < 3; axis++) {
@@ -328,7 +328,7 @@ void Mag_init(void)
 {
     uint8_t calibration_gain = 0x60; // HMC5883
 #if 1
-    uint8_t numAttempts = 0, good_count = 0;
+    uint32_t numAttempts = 0, good_count = 0;
     bool success = false;
     uint16_t expected_x = 766;       // default values for HMC5883
     uint16_t expected_yz = 713;
@@ -405,7 +405,7 @@ void Mag_getADC(void)
     static uint32_t t, tCal = 0;
     static int16_t magZeroTempMin[3];
     static int16_t magZeroTempMax[3];
-    uint8_t axis;
+    uint32_t axis;
     
     if (currentTime < t)
         return;                 //each read is spaced by 100ms
diff --git a/src/serial.c b/src/serial.c
index 8a6533e443..e8773c2e87 100755
--- a/src/serial.c
+++ b/src/serial.c
@@ -169,7 +169,7 @@ void serialInit(uint32_t baudrate)
 
 static void evaluateCommand(void)
 {
-    uint8_t i;
+    uint32_t i;
     
     switch (cmdMSP) {
     case MSP_SET_RAW_RC: