diff --git a/src/main/common/maths.h b/src/main/common/maths.h
index 78fd819d77..5283d6eba4 100644
--- a/src/main/common/maths.h
+++ b/src/main/common/maths.h
@@ -30,6 +30,10 @@
 #define M_PIf       3.14159265358979323846f
 
 #define RAD    (M_PIf / 180.0f)
+#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
+#define DECIDEGREES_TO_DEGREES(angle) (angle / 10)
+#define DECIDEGREES_TO_RADIANS(angle) ((angle / 10.0f) * 0.0174532925f)
+#define DEGREES_TO_RADIANS(angle) ((angle) * 0.0174532925f)
 
 #define MIN(a, b) ((a) < (b) ? (a) : (b))
 #define MAX(a, b) ((a) > (b) ? (a) : (b))
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 584c18876e..21cf9d4218 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -325,7 +325,5 @@ typedef struct master_s {
 } master_t;
 
 extern master_t masterConfig;
-extern profile_t *currentProfile;
-extern controlRateConfig_t *currentControlRateProfile;
 
 void createDefaultConfig(master_t *config);
diff --git a/src/main/drivers/light_led.c b/src/main/drivers/light_led.c
index 8011f04cf4..8f3fcd9d15 100644
--- a/src/main/drivers/light_led.c
+++ b/src/main/drivers/light_led.c
@@ -25,7 +25,7 @@
 static IO_t leds[LED_NUMBER];
 static uint8_t ledPolarity = 0;
 
-void ledInit(statusLedConfig_t *statusLedConfig)
+void ledInit(const statusLedConfig_t *statusLedConfig)
 {
     LED0_OFF;
     LED1_OFF;
diff --git a/src/main/drivers/light_led.h b/src/main/drivers/light_led.h
index 25961579e4..341bbb81d9 100644
--- a/src/main/drivers/light_led.h
+++ b/src/main/drivers/light_led.h
@@ -17,6 +17,7 @@
 
 #pragma once
 
+#include "config/parameter_group.h"
 #include "drivers/io_types.h"
 
 #define LED_NUMBER 3
@@ -26,6 +27,8 @@ typedef struct statusLedConfig_s {
     uint8_t polarity;
 } statusLedConfig_t;
 
+PG_DECLARE(statusLedConfig_t, statusLedConfig);
+
 // Helpful macros
 #ifdef LED0
 # define LED0_TOGGLE              ledToggle(0)
@@ -57,6 +60,6 @@ typedef struct statusLedConfig_s {
 # define LED2_ON                  do {} while(0)
 #endif
 
-void ledInit(statusLedConfig_t *statusLedConfig);
+void ledInit(const statusLedConfig_t *statusLedConfig);
 void ledToggle(int led);
 void ledSet(int led, bool state);
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 58a847ecf8..e4eb8c3c10 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -892,7 +892,6 @@ void activateConfig(void)
 
     useRcControlsConfig(
         modeActivationProfile()->modeActivationConditions,
-        &masterConfig.motorConfig,
         &currentProfile->pidProfile
     );
 
@@ -918,12 +917,7 @@ void activateConfig(void)
         throttleCorrectionConfig()->throttle_correction_angle
     );
 
-    configureAltitudeHold(
-        &currentProfile->pidProfile,
-        &masterConfig.barometerConfig,
-        &masterConfig.rcControlsConfig,
-        &masterConfig.motorConfig
-    );
+    configureAltitudeHold(&currentProfile->pidProfile);
 }
 
 void validateAndFixConfig(void)
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index 3b69a1f189..b092f15f80 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -66,6 +66,10 @@ typedef struct systemConfig_s {
 } systemConfig_t;
 
 //!!TODOPG_DECLARE(systemConfig_t, systemConfig);
+struct profile_s;
+extern struct profile_s *currentProfile;
+struct controlRateConfig_s;
+extern struct controlRateConfig_s *currentControlRateProfile;
 
 void beeperOffSet(uint32_t mask);
 void beeperOffSetAll(uint8_t beeperCount);
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 57b926142c..47535bb6f3 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -24,10 +24,10 @@
 
 #include "blackbox/blackbox.h"
 
-#include "common/maths.h"
 #include "common/axis.h"
-#include "common/utils.h"
 #include "common/filter.h"
+#include "common/maths.h"
+#include "common/utils.h"
 
 #include "config/config_profile.h"
 #include "config/feature.h"
@@ -72,6 +72,7 @@
 #include "flight/pid.h"
 #include "flight/failsafe.h"
 #include "flight/altitudehold.h"
+#include "flight/imu.h"
 
 
 // June 2013     V2.2-dev
@@ -287,7 +288,7 @@ void processRx(timeUs_t currentTimeUs)
         failsafeUpdateState();
     }
 
-    throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
+    const throttleStatus_e throttleStatus = calculateThrottleStatus();
 
     if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
         if (rcCommand[THROTTLE] >= rxConfig()->airModeActivateThreshold) airmodeIsActivated = true; // Prevent Iterm from being reset
@@ -353,7 +354,7 @@ void processRx(timeUs_t currentTimeUs)
         }
     }
 
-    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, armingConfig()->disarm_kill_switch);
+    processRcStickPositions(throttleStatus);
 
     if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
         updateInflightCalibrationState();
@@ -363,7 +364,7 @@ void processRx(timeUs_t currentTimeUs)
 
     if (!cliMode) {
         updateAdjustmentStates(adjustmentProfile()->adjustmentRanges);
-        processRcAdjustments(currentControlRateProfile, rxConfig());
+        processRcAdjustments(currentControlRateProfile);
     }
 
     bool canUseHorizonMode = true;
@@ -484,7 +485,7 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
     updateRcCommands();
     if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
         if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
-            applyAltHold(&masterConfig.airplaneConfig);
+            applyAltHold();
         }
     }
 #endif
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index f1652946b6..5abdcaee74 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -443,7 +443,7 @@ void init(void)
     cliInit(serialConfig());
 #endif
 
-    failsafeInit(flight3DConfig()->deadband3d_throttle);
+    failsafeInit();
 
     rxInit(rxConfig(), modeActivationProfile()->modeActivationConditions);
 
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 43175c83c5..b8a7d5aeb5 100755
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1356,7 +1356,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
                 mac->range.startStep = sbufReadU8(src);
                 mac->range.endStep = sbufReadU8(src);
 
-                useRcControlsConfig(modeActivationConditions(0), motorConfig(), &currentProfile->pidProfile);
+                useRcControlsConfig(modeActivationConditions(0), &currentProfile->pidProfile);
             } else {
                 return MSP_RESULT_ERROR;
             }
diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index d37278147e..ecbb07659d 100644
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -131,7 +131,7 @@ static void taskUpdateBattery(timeUs_t currentTimeUs)
 
         if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
             ibatLastServiced = currentTimeUs;
-            updateCurrentMeter(ibatTimeSinceLastServiced, rxConfig(), flight3DConfig()->deadband3d_throttle);
+            updateCurrentMeter(ibatTimeSinceLastServiced);
         }
     }
 }
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 943be00b87..2f09eed281 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -60,7 +60,6 @@
 #include "flight/failsafe.h"
 
 
-static const motorConfig_t *motorConfig;
 static pidProfile_t *pidProfile;
 
 // true if arming is done via the sticks (as opposed to a switch)
@@ -116,20 +115,20 @@ bool areSticksInApModePosition(uint16_t ap_mode)
     return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
 }
 
-throttleStatus_e calculateThrottleStatus(const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
+throttleStatus_e calculateThrottleStatus(void)
 {
     if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
-        if ((rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
+        if ((rcData[THROTTLE] > (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)))
             return THROTTLE_LOW;
     } else {
-        if (rcData[THROTTLE] < rxConfig->mincheck)
+        if (rcData[THROTTLE] < rxConfig()->mincheck)
             return THROTTLE_LOW;
     }
 
     return THROTTLE_HIGH;
 }
 
-void processRcStickPositions(const rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
+void processRcStickPositions(throttleStatus_e throttleStatus)
 {
     static uint8_t rcDelayCommand;      // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
     static uint8_t rcSticks;            // this hold sticks position for command combos
@@ -141,9 +140,9 @@ void processRcStickPositions(const rxConfig_t *rxConfig, throttleStatus_e thrott
     // checking sticks positions
     for (i = 0; i < 4; i++) {
         stTmp >>= 2;
-        if (rcData[i] > rxConfig->mincheck)
+        if (rcData[i] > rxConfig()->mincheck)
             stTmp |= 0x80;  // check for MIN
-        if (rcData[i] < rxConfig->maxcheck)
+        if (rcData[i] < rxConfig()->maxcheck)
             stTmp |= 0x40;  // check for MAX
     }
     if (stTmp == rcSticks) {
@@ -170,7 +169,7 @@ void processRcStickPositions(const rxConfig_t *rxConfig, throttleStatus_e thrott
             if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive()  ) {
                 rcDisarmTicks++;
                 if (rcDisarmTicks > 3) {
-                    if (disarm_kill_switch) {
+                    if (armingConfig()->disarm_kill_switch) {
                         mwDisarm();
                     } else if (throttleStatus == THROTTLE_LOW) {
                         mwDisarm();
@@ -647,7 +646,7 @@ static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
 
 #define RESET_FREQUENCY_2HZ (1000 / 2)
 
-void processRcAdjustments(controlRateConfig_t *controlRateConfig, const rxConfig_t *rxConfig)
+void processRcAdjustments(controlRateConfig_t *controlRateConfig)
 {
     uint8_t adjustmentIndex;
     uint32_t now = millis();
@@ -682,9 +681,9 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, const rxConfig
 
         if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
             int delta;
-            if (rcData[channelIndex] > rxConfig->midrc + 200) {
+            if (rcData[channelIndex] > rxConfig()->midrc + 200) {
                 delta = adjustmentState->config->data.stepConfig.step;
-            } else if (rcData[channelIndex] < rxConfig->midrc - 200) {
+            } else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
                 delta = 0 - adjustmentState->config->data.stepConfig.step;
             } else {
                 // returning the switch to the middle immediately resets the ready state
@@ -728,9 +727,8 @@ int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
     return MIN(ABS(rcData[axis] - midrc), 500);
 }
 
-void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, const motorConfig_t *motorConfigToUse, pidProfile_t *pidProfileToUse)
+void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, pidProfile_t *pidProfileToUse)
 {
-    motorConfig = motorConfigToUse;
     pidProfile = pidProfileToUse;
 
     isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
diff --git a/src/main/fc/rc_controls.h b/src/main/fc/rc_controls.h
index bf6ac276b6..24024da319 100644
--- a/src/main/fc/rc_controls.h
+++ b/src/main/fc/rc_controls.h
@@ -178,6 +178,15 @@ typedef struct rcControlsConfig_s {
 
 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 
+typedef struct flight3DConfig_s {
+    uint16_t deadband3d_low;                // min 3d value
+    uint16_t deadband3d_high;               // max 3d value
+    uint16_t neutral3d;                     // center 3d value
+    uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
+} flight3DConfig_t;
+
+PG_DECLARE(flight3DConfig_t, flight3DConfig);
+
 typedef struct armingConfig_s {
     uint8_t gyro_cal_on_first_arm;          // allow disarm/arm on throttle down + roll left/right
     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
@@ -189,9 +198,8 @@ PG_DECLARE(armingConfig_t, armingConfig);
 bool areUsingSticksToArm(void);
 
 bool areSticksInApModePosition(uint16_t ap_mode);
-struct rxConfig_s;
-throttleStatus_e calculateThrottleStatus(const struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
-void processRcStickPositions(const struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
+throttleStatus_e calculateThrottleStatus(void);
+void processRcStickPositions(throttleStatus_e throttleStatus);
 
 bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
@@ -287,7 +295,8 @@ typedef struct adjustmentProfile_s {
 bool isAirmodeActive(void);
 void resetAdjustmentStates(void);
 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
-void processRcAdjustments(controlRateConfig_t *controlRateConfig, const struct rxConfig_s *rxConfig);
+struct rxConfig_s;
+void processRcAdjustments(controlRateConfig_t *controlRateConfig);
 
 bool isUsingSticksForArming(void);
 
@@ -295,4 +304,4 @@ int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
 bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
 struct pidProfile_s;
 struct motorConfig_s;
-void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, const struct motorConfig_s *motorConfigToUse, struct pidProfile_s *pidProfileToUse);
+void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, struct pidProfile_s *pidProfileToUse);
diff --git a/src/main/flight/altitudehold.c b/src/main/flight/altitudehold.c
index 9689b24b69..d0157bd9eb 100644
--- a/src/main/flight/altitudehold.c
+++ b/src/main/flight/altitudehold.c
@@ -21,25 +21,26 @@
 #include <stdlib.h>
 #include <math.h>
 
-
 #include "platform.h"
+
 #include "build/debug.h"
 
-#include "common/maths.h"
 #include "common/axis.h"
+#include "common/maths.h"
 
-#include "sensors/barometer.h"
-#include "sensors/sonar.h"
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+
+#include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
+
+#include "flight/imu.h"
+#include "flight/pid.h"
 
 #include "rx/rx.h"
 
-#include "fc/rc_controls.h"
-#include "io/motors.h"
-
-#include "flight/pid.h"
-#include "flight/imu.h"
-
-#include "fc/runtime_config.h"
+#include "sensors/barometer.h"
+#include "sensors/sonar.h"
 
 
 int32_t setVelocity = 0;
@@ -50,22 +51,11 @@ int32_t AltHold;
 int32_t vario = 0;                      // variometer in cm/s
 
 
-static barometerConfig_t *barometerConfig;
 static pidProfile_t *pidProfile;
-static rcControlsConfig_t *rcControlsConfig;
-static motorConfig_t *motorConfig;
 
-void configureAltitudeHold(
-        pidProfile_t *initialPidProfile,
-        barometerConfig_t *intialBarometerConfig,
-        rcControlsConfig_t *initialRcControlsConfig,
-        motorConfig_t *initialMotorConfig
-)
+void configureAltitudeHold(pidProfile_t *initialPidProfile)
 {
     pidProfile = initialPidProfile;
-    barometerConfig = intialBarometerConfig;
-    rcControlsConfig = initialRcControlsConfig;
-    motorConfig = initialMotorConfig;
 }
 
 #if defined(BARO) || defined(SONAR)
@@ -82,22 +72,22 @@ static void applyMultirotorAltHold(void)
 {
     static uint8_t isAltHoldChanged = 0;
     // multirotor alt hold
-    if (rcControlsConfig->alt_hold_fast_change) {
+    if (rcControlsConfig()->alt_hold_fast_change) {
         // rapid alt changes
-        if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
+        if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig()->alt_hold_deadband) {
             errorVelocityI = 0;
             isAltHoldChanged = 1;
-            rcCommand[THROTTLE] += (rcData[THROTTLE] > initialThrottleHold) ? -rcControlsConfig->alt_hold_deadband : rcControlsConfig->alt_hold_deadband;
+            rcCommand[THROTTLE] += (rcData[THROTTLE] > initialThrottleHold) ? -rcControlsConfig()->alt_hold_deadband : rcControlsConfig()->alt_hold_deadband;
         } else {
             if (isAltHoldChanged) {
                 AltHold = EstAlt;
                 isAltHoldChanged = 0;
             }
-            rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig->minthrottle, motorConfig->maxthrottle);
+            rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig()->minthrottle, motorConfig()->maxthrottle);
         }
     } else {
         // slow alt changes, mostly used for aerial photography
-        if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
+        if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig()->alt_hold_deadband) {
             // set velocity proportional to stick movement +100 throttle gives ~ +50 cm/s
             setVelocity = (rcData[THROTTLE] - initialThrottleHold) / 2;
             velocityControl = 1;
@@ -107,23 +97,23 @@ static void applyMultirotorAltHold(void)
             velocityControl = 0;
             isAltHoldChanged = 0;
         }
-        rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig->minthrottle, motorConfig->maxthrottle);
+        rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig()->minthrottle, motorConfig()->maxthrottle);
     }
 }
 
-static void applyFixedWingAltHold(airplaneConfig_t *airplaneConfig)
+static void applyFixedWingAltHold(void)
 {
     // handle fixedwing-related althold. UNTESTED! and probably wrong
     // most likely need to check changes on pitch channel and 'reset' althold similar to
     // how throttle does it on multirotor
 
-    rcCommand[PITCH] += altHoldThrottleAdjustment * airplaneConfig->fixedwing_althold_dir;
+    rcCommand[PITCH] += altHoldThrottleAdjustment * airplaneConfig()->fixedwing_althold_dir;
 }
 
-void applyAltHold(airplaneConfig_t *airplaneConfig)
+void applyAltHold(void)
 {
     if (STATE(FIXED_WING)) {
-        applyFixedWingAltHold(airplaneConfig);
+        applyFixedWingAltHold();
     } else {
         applyMultirotorAltHold();
     }
@@ -272,7 +262,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
 
     // Integrator - Altitude in cm
     accAlt += (vel_acc * 0.5f) * dt + vel * dt;                                                                 // integrate velocity to get distance (x= a/2 * t^2)
-    accAlt = accAlt * barometerConfig->baro_cf_alt + (float)baro.BaroAlt * (1.0f - barometerConfig->baro_cf_alt);    // complementary filter for altitude estimation (baro & acc)
+    accAlt = accAlt * barometerConfig()->baro_cf_alt + (float)baro.BaroAlt * (1.0f - barometerConfig()->baro_cf_alt);    // complementary filter for altitude estimation (baro & acc)
     vel += vel_acc;
 
 #ifdef DEBUG_ALT_HOLD
@@ -308,7 +298,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
 
     // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
     // By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
-    vel = vel * barometerConfig->baro_cf_vel + baroVel * (1.0f - barometerConfig->baro_cf_vel);
+    vel = vel * barometerConfig()->baro_cf_vel + baroVel * (1.0f - barometerConfig()->baro_cf_vel);
     vel_tmp = lrintf(vel);
 
     // set vario
diff --git a/src/main/flight/altitudehold.h b/src/main/flight/altitudehold.h
index 3201f71b9a..8dceceb093 100644
--- a/src/main/flight/altitudehold.h
+++ b/src/main/flight/altitudehold.h
@@ -23,13 +23,9 @@ extern int32_t vario;
 void calculateEstimatedAltitude(timeUs_t currentTimeUs);
 
 struct pidProfile_s;
-struct barometerConfig_s;
-struct rcControlsConfig_s;
-struct motorConfig_s;
-void configureAltitudeHold(struct pidProfile_s *initialPidProfile, struct barometerConfig_s *intialBarometerConfig, struct rcControlsConfig_s *initialRcControlsConfig, struct motorConfig_s *initialMotorConfig);
+void configureAltitudeHold(struct pidProfile_s *initialPidProfile);
 
-struct airplaneConfig_s;
-void applyAltHold(struct airplaneConfig_s *airplaneConfig);
+void applyAltHold(void);
 void updateAltHoldState(void);
 void updateSonarAltHoldState(void);
 
diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index 2ef72459b1..ba604c309c 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -53,8 +53,6 @@
 
 static failsafeState_t failsafeState;
 
-static uint16_t deadband3dThrottle;           // default throttle deadband from MIDRC
-
 /*
  * Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
  */
@@ -71,9 +69,8 @@ void failsafeReset(void)
     failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;
 }
 
-void failsafeInit(uint16_t deadband3d_throttle)
+void failsafeInit(void)
 {
-    deadband3dThrottle = deadband3d_throttle;
     failsafeState.events = 0;
     failsafeState.monitoring = false;
 
@@ -180,7 +177,7 @@ void failsafeUpdateState(void)
             case FAILSAFE_IDLE:
                 if (armed) {
                     // Track throttle command below minimum time
-                    if (THROTTLE_HIGH == calculateThrottleStatus(rxConfig(), deadband3dThrottle)) {
+                    if (THROTTLE_HIGH == calculateThrottleStatus()) {
                         failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
                     }
                     // Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)
diff --git a/src/main/flight/failsafe.h b/src/main/flight/failsafe.h
index 2feefb297d..d11d61421a 100644
--- a/src/main/flight/failsafe.h
+++ b/src/main/flight/failsafe.h
@@ -74,7 +74,7 @@ typedef struct failsafeState_s {
     failsafeRxLinkState_e rxLinkState;
 } failsafeState_t;
 
-void failsafeInit(uint16_t deadband3d_throttle);
+void failsafeInit(void);
 void failsafeReset(void);
 
 void failsafeStartMonitoring(void);
diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
index 3b4d91ffbe..0deec6c89d 100644
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@@ -32,11 +32,6 @@ extern float accVelScale;
 extern int32_t accSum[XYZ_AXIS_COUNT];
 
 
-#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
-#define DECIDEGREES_TO_DEGREES(angle) (angle / 10)
-#define DECIDEGREES_TO_RADIANS(angle) ((angle / 10.0f) * 0.0174532925f)
-#define DEGREES_TO_RADIANS(angle) ((angle) * 0.0174532925f)
-
 typedef union {
     int16_t raw[XYZ_AXIS_COUNT];
     struct {
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 66baf8172b..86fd8f3d2c 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -104,15 +104,6 @@ typedef struct mixerConfig_s {
 
 PG_DECLARE(mixerConfig_t, mixerConfig);
 
-typedef struct flight3DConfig_s {
-    uint16_t deadband3d_low;                // min 3d value
-    uint16_t deadband3d_high;               // max 3d value
-    uint16_t neutral3d;                     // center 3d value
-    uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
-} flight3DConfig_t;
-
-PG_DECLARE(flight3DConfig_t, flight3DConfig);
-
 typedef struct motorConfig_s {
     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index d88a937a5b..1e093cdfc1 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -93,6 +93,8 @@ typedef struct pidConfig_s {
     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
 } pidConfig_t;
 
+PG_DECLARE(pidConfig_t, pidConfig);
+
 union rollAndPitchTrims_u;
 void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);
 
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 02f53ffa93..e54a0a1ae3 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -22,29 +22,23 @@
 
 #include "build/debug.h"
 
-#include "common/maths.h"
 #include "common/filter.h"
+#include "common/utils.h"
 
+#include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
 #include "drivers/adc.h"
 #include "drivers/system.h"
 
-#include "fc/config.h"
 #include "fc/runtime_config.h"
 
-#include "config/feature.h"
+#include "io/beeper.h"
 
 #include "sensors/battery.h"
 #include "sensors/esc_sensor.h"
 
-#include "fc/rc_controls.h"
-#include "io/beeper.h"
-
-#include "rx/rx.h"
-
-#include "common/utils.h"
 
 #define VBAT_LPF_FREQ  0.4f
 #define IBAT_LPF_FREQ  0.4f
@@ -64,7 +58,7 @@ uint16_t vbat = 0;                  // battery voltage in 0.1V steps (filtered)
 uint16_t vbatLatest = 0;            // most recent unsmoothed value
 
 int32_t amperage = 0;               // amperage read by current sensor in centiampere (1/100th A)
-int32_t amperageLatest = 0;        // most recent value
+int32_t amperageLatest = 0;         // most recent value
 
 int32_t mAhDrawn = 0;               // milliampere hours drawn from the battery since start
 
@@ -266,9 +260,8 @@ void updateConsumptionWarning(void)
     }
 }
 
-void updateCurrentMeter(int32_t lastUpdateAt, const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
+void updateCurrentMeter(int32_t lastUpdateAt)
 {
-    (void)(rxConfig);
     if (getBatteryState() != BATTERY_NOT_PRESENT) {
         switch(batteryConfig()->currentMeterType) {
             case CURRENT_SENSOR_ADC:
@@ -279,7 +272,7 @@ void updateCurrentMeter(int32_t lastUpdateAt, const rxConfig_t *rxConfig, uint16
             case CURRENT_SENSOR_VIRTUAL:
                 amperageLatest = (int32_t)batteryConfig()->currentMeterOffset;
                 if (ARMING_FLAG(ARMED)) {
-                    throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), deadband3d_throttle);
+                    throttleStatus_e throttleStatus = calculateThrottleStatus();
                     int throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
                     if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP)) {
                         throttleOffset = 0;
diff --git a/src/main/sensors/battery.h b/src/main/sensors/battery.h
index a8e21145ff..91b59568ce 100644
--- a/src/main/sensors/battery.h
+++ b/src/main/sensors/battery.h
@@ -18,7 +18,6 @@
 #pragma once
 
 #include "config/parameter_group.h"
-#include "common/maths.h" // for fix12_t
 
 #ifndef VBAT_SCALE_DEFAULT
 #define VBAT_SCALE_DEFAULT 110
@@ -80,9 +79,6 @@ extern uint16_t batteryWarningVoltage;
 extern int32_t amperageLatest;
 extern int32_t amperage;
 extern int32_t mAhDrawn;
-#ifndef USE_PARAMETER_GROUPS
-extern const batteryConfig_t *batteryConfig;
-#endif
 
 batteryState_e getBatteryState(void);
 const  char * getBatteryStateString(void);
@@ -90,7 +86,7 @@ void updateBattery(void);
 void batteryInit(void);
 
 struct rxConfig_s;
-void updateCurrentMeter(int32_t lastUpdateAt, const struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
+void updateCurrentMeter(int32_t lastUpdateAt);
 int32_t currentMeterToCentiamps(uint16_t src);
 
 float calculateVbatPidCompensation(void);
diff --git a/src/main/target/COLIBRI_RACE/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c
index 4912bc15f8..550f69b97c 100644
--- a/src/main/target/COLIBRI_RACE/i2c_bst.c
+++ b/src/main/target/COLIBRI_RACE/i2c_bst.c
@@ -1065,7 +1065,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
                     mac->range.startStep = bstRead8();
                     mac->range.endStep = bstRead8();
 
-                    useRcControlsConfig(modeActivationProfile()->modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
+                    useRcControlsConfig(modeActivationProfile()->modeActivationConditions, &currentProfile->pidProfile);
                 } else {
                     ret = BST_FAILED;
                 }
diff --git a/src/main/telemetry/frsky.c b/src/main/telemetry/frsky.c
index b764353caa..ef1877e82e 100644
--- a/src/main/telemetry/frsky.c
+++ b/src/main/telemetry/frsky.c
@@ -195,18 +195,15 @@ static void sendGpsAltitude(void)
 }
 #endif
 
-static void sendThrottleOrBatterySizeAsRpm(const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
+static void sendThrottleOrBatterySizeAsRpm(void)
 {
     sendDataHead(ID_RPM);
 #ifdef USE_ESC_SENSOR
-    UNUSED(rxConfig);
-    UNUSED(deadband3d_throttle);
-
     escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
     serialize16(escData->dataAge < ESC_DATA_INVALID ? escData->rpm : 0);
 #else
     if (ARMING_FLAG(ARMED)) {
-        throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig, deadband3d_throttle);
+        const throttleStatus_e throttleStatus = calculateThrottleStatus();
         uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
         if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))
                     throttleForRPM = 0;
@@ -538,7 +535,7 @@ void handleFrSkyTelemetry(void)
 
     if ((cycleNum % 8) == 0) {      // Sent every 1s
         sendTemperature1();
-        sendThrottleOrBatterySizeAsRpm(rxConfig(), flight3DConfig()->deadband3d_throttle);
+        sendThrottleOrBatterySizeAsRpm();
 
         if ((feature(FEATURE_VBAT) || feature(FEATURE_ESC_SENSOR)) && batteryCellCount > 0) {
             sendVoltage();