diff --git a/Makefile b/Makefile
index e2b76957ed..5d4c39945f 100644
--- a/Makefile
+++ b/Makefile
@@ -665,6 +665,7 @@ COMMON_SRC = \
             build/version.c \
             $(TARGET_DIR_SRC) \
             main.c \
+            common/bitarray.c \
             common/encoding.c \
             common/filter.c \
             common/maths.c \
@@ -736,6 +737,7 @@ FC_SRC = \
             fc/fc_rc.c \
             fc/rc_adjustments.c \
             fc/rc_controls.c \
+            fc/rc_modes.c \
             fc/cli.c \
             fc/settings.c \
             flight/altitude.c \
@@ -1016,7 +1018,8 @@ STM32F7xx_COMMON_SRC = \
             drivers/serial_uart_stm32f7xx.c \
             drivers/serial_uart_hal.c
 
-F7EXCLUDES = drivers/bus_spi.c \
+F7EXCLUDES = \
+            drivers/bus_spi.c \
             drivers/bus_i2c.c \
             drivers/timer.c \
             drivers/serial_uart.c
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index c665bddb48..e0fcfee6b7 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -47,6 +47,7 @@
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "flight/failsafe.h"
@@ -325,7 +326,7 @@ typedef struct blackboxSlowState_s {
 extern uint16_t motorOutputHigh, motorOutputLow;
 
 //From rc_controls.c
-extern uint32_t rcModeActivationMask;
+extern boxBitmask_t rcModeActivationMask;
 
 static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
 
@@ -753,7 +754,7 @@ static void writeSlowFrame(void)
  */
 static void loadSlowState(blackboxSlowState_t *slow)
 {
-    slow->flightModeFlags = rcModeActivationMask; //was flightModeFlags;
+    memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags;
     slow->stateFlags = stateFlags;
     slow->failsafePhase = failsafePhase();
     slow->rxSignalReceived = rxIsReceivingSignal();
@@ -861,7 +862,7 @@ static void blackboxStart(void)
      */
     blackboxBuildConditionCache();
 
-    blackboxModeActivationConditionPresent = isModeActivationConditionPresent(modeActivationConditions(0), BOXBLACKBOX);
+    blackboxModeActivationConditionPresent = isModeActivationConditionPresent(BOXBLACKBOX);
 
     blackboxResetIterationTimers();
 
@@ -870,7 +871,7 @@ static void blackboxStart(void)
      * it finally plays the beep for this arming event.
      */
     blackboxLastArmingBeep = getArmingBeepTimeMicros();
-    blackboxLastFlightModeFlags = rcModeActivationMask; // record startup status
+    memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags)); // record startup status
 
     blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
 }
@@ -1383,10 +1384,10 @@ static void blackboxCheckAndLogFlightMode(void)
     flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
 
     // Use != so that we can still detect a change if the counter wraps
-    if (rcModeActivationMask != blackboxLastFlightModeFlags) {
+    if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) {
         eventData.lastFlags = blackboxLastFlightModeFlags;
-        blackboxLastFlightModeFlags = rcModeActivationMask;
-        eventData.flags = rcModeActivationMask;
+        memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags));
+        memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags));
 
         blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *) &eventData);
     }
diff --git a/src/main/common/bitarray.c b/src/main/common/bitarray.c
new file mode 100644
index 0000000000..53ca99127c
--- /dev/null
+++ b/src/main/common/bitarray.c
@@ -0,0 +1,39 @@
+/*
+ * 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 <stdbool.h>
+
+#include "bitarray.h"
+
+#define BITARRAY_BIT_OP(array, bit, op) ((array)[(bit) / (sizeof((array)[0]) * 8)] op (1 << ((bit) % (sizeof((array)[0]) * 8))))
+
+bool bitArrayGet(const void *array, unsigned bit)
+{
+    return BITARRAY_BIT_OP((uint32_t*)array, bit, &);
+}
+
+void bitArraySet(void *array, unsigned bit)
+{
+    BITARRAY_BIT_OP((uint32_t*)array, bit, |=);
+}
+
+void bitArrayClr(void *array, unsigned bit)
+{
+    BITARRAY_BIT_OP((uint32_t*)array, bit, &=~);
+}
+
diff --git a/src/main/common/bitarray.h b/src/main/common/bitarray.h
new file mode 100644
index 0000000000..48032bb297
--- /dev/null
+++ b/src/main/common/bitarray.h
@@ -0,0 +1,20 @@
+/*
+ * 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/>.
+ */
+
+bool bitArrayGet(const void *array, unsigned bit);
+void bitArraySet(void *array, unsigned bit);
+void bitArrayClr(void *array, unsigned bit);
diff --git a/src/main/common/utils.h b/src/main/common/utils.h
index 983bd6879d..001181977f 100644
--- a/src/main/common/utils.h
+++ b/src/main/common/utils.h
@@ -20,6 +20,8 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#define NOOP do {} while (0)
+
 #define ARRAYLEN(x) (sizeof(x) / sizeof((x)[0]))
 #define ARRAYEND(x) (&(x)[ARRAYLEN(x)])
 
diff --git a/src/main/config/config_eeprom.c b/src/main/config/config_eeprom.c
index b94b3512d5..0993ac50d5 100644
--- a/src/main/config/config_eeprom.c
+++ b/src/main/config/config_eeprom.c
@@ -38,10 +38,7 @@ static uint16_t eepromConfigSize;
 
 typedef enum {
     CR_CLASSICATION_SYSTEM   = 0,
-    CR_CLASSICATION_PROFILE1 = 1,
-    CR_CLASSICATION_PROFILE2 = 2,
-    CR_CLASSICATION_PROFILE3 = 3,
-    CR_CLASSICATION_PROFILE_LAST = CR_CLASSICATION_PROFILE3,
+    CR_CLASSICATION_PROFILE_LAST = CR_CLASSICATION_SYSTEM,
 } configRecordFlags_e;
 
 #define CR_CLASSIFICATION_MASK  (0x3)
@@ -178,23 +175,12 @@ static const configRecord_t *findEEPROM(const pgRegistry_t *reg, configRecordFla
 bool loadEEPROM(void)
 {
     PG_FOREACH(reg) {
-        configRecordFlags_e cls_start, cls_end;
-        if (pgIsSystem(reg)) {
-            cls_start = CR_CLASSICATION_SYSTEM;
-            cls_end = CR_CLASSICATION_SYSTEM;
+        const configRecord_t *rec = findEEPROM(reg, CR_CLASSICATION_SYSTEM);
+        if (rec) {
+            // config from EEPROM is available, use it to initialize PG. pgLoad will handle version mismatch
+            pgLoad(reg, rec->pg, rec->size - offsetof(configRecord_t, pg), rec->version);
         } else {
-            cls_start = CR_CLASSICATION_PROFILE1;
-            cls_end = CR_CLASSICATION_PROFILE_LAST;
-        }
-        for (configRecordFlags_e cls = cls_start; cls <= cls_end; cls++) {
-            int profileIndex = cls - cls_start;
-            const configRecord_t *rec = findEEPROM(reg, cls);
-            if (rec) {
-                // config from EEPROM is available, use it to initialize PG. pgLoad will handle version mismatch
-                pgLoad(reg, profileIndex, rec->pg, rec->size - offsetof(configRecord_t, pg), rec->version);
-            } else {
-                pgReset(reg, profileIndex);
-            }
+            pgReset(reg);
         }
     }
     return true;
@@ -225,25 +211,11 @@ static bool writeSettingsToEEPROM(void)
             .flags = 0
         };
 
-        if (pgIsSystem(reg)) {
-            // write the only instance
-            record.flags |= CR_CLASSICATION_SYSTEM;
-            config_streamer_write(&streamer, (uint8_t *)&record, sizeof(record));
-            crc = crc16_ccitt_update(crc, (uint8_t *)&record, sizeof(record));
-            config_streamer_write(&streamer, reg->address, regSize);
-            crc = crc16_ccitt_update(crc, reg->address, regSize);
-        } else {
-            // write one instance for each profile
-            for (uint8_t profileIndex = 0; profileIndex < PG_PROFILE_COUNT; profileIndex++) {
-                record.flags = 0;
-                record.flags |= ((profileIndex + 1) & CR_CLASSIFICATION_MASK);
-                config_streamer_write(&streamer, (uint8_t *)&record, sizeof(record));
-                crc = crc16_ccitt_update(crc, (uint8_t *)&record, sizeof(record));
-                const uint8_t *address = reg->address + (regSize * profileIndex);
-                config_streamer_write(&streamer, address, regSize);
-                crc = crc16_ccitt_update(crc, address, regSize);
-            }
-        }
+        record.flags |= CR_CLASSICATION_SYSTEM;
+        config_streamer_write(&streamer, (uint8_t *)&record, sizeof(record));
+        crc = crc16_ccitt_update(crc, (uint8_t *)&record, sizeof(record));
+        config_streamer_write(&streamer, reg->address, regSize);
+        crc = crc16_ccitt_update(crc, reg->address, regSize);
     }
 
     configFooter_t footer = {
diff --git a/src/main/config/parameter_group.c b/src/main/config/parameter_group.c
index 58dbe51e1a..a61b454820 100644
--- a/src/main/config/parameter_group.c
+++ b/src/main/config/parameter_group.c
@@ -34,15 +34,9 @@ const pgRegistry_t* pgFind(pgn_t pgn)
     return NULL;
 }
 
-static uint8_t *pgOffset(const pgRegistry_t* reg, uint8_t profileIndex)
+static uint8_t *pgOffset(const pgRegistry_t* reg)
 {
-    const uint16_t regSize = pgSize(reg);
-
-    uint8_t *base = reg->address;
-    if (!pgIsSystem(reg)) {
-        base += (regSize * profileIndex);
-    }
-    return base;
+    return reg->address;
 }
 
 static void pgResetInstance(const pgRegistry_t *reg, uint8_t *base)
@@ -59,18 +53,9 @@ static void pgResetInstance(const pgRegistry_t *reg, uint8_t *base)
     }
 }
 
-void pgReset(const pgRegistry_t* reg, int profileIndex)
+void pgReset(const pgRegistry_t* reg)
 {
-    pgResetInstance(reg, pgOffset(reg, profileIndex));
-}
-
-void pgResetCurrent(const pgRegistry_t *reg)
-{
-    if (pgIsSystem(reg)) {
-        pgResetInstance(reg, reg->address);
-    } else {
-        pgResetInstance(reg, *reg->ptr);
-    }
+    pgResetInstance(reg, pgOffset(reg));
 }
 
 bool pgResetCopy(void *copy, pgn_t pgn)
@@ -83,44 +68,26 @@ bool pgResetCopy(void *copy, pgn_t pgn)
     return false;
 }
 
-void pgLoad(const pgRegistry_t* reg, int profileIndex, const void *from, int size, int version)
+void pgLoad(const pgRegistry_t* reg, const void *from, int size, int version)
 {
-    pgResetInstance(reg, pgOffset(reg, profileIndex));
+    pgResetInstance(reg, pgOffset(reg));
     // restore only matching version, keep defaults otherwise
     if (version == pgVersion(reg)) {
         const int take = MIN(size, pgSize(reg));
-        memcpy(pgOffset(reg, profileIndex), from, take);
+        memcpy(pgOffset(reg), from, take);
     }
 }
 
-int pgStore(const pgRegistry_t* reg, void *to, int size, uint8_t profileIndex)
+int pgStore(const pgRegistry_t* reg, void *to, int size)
 {
     const int take = MIN(size, pgSize(reg));
-    memcpy(to, pgOffset(reg, profileIndex), take);
+    memcpy(to, pgOffset(reg), take);
     return take;
 }
 
-
-void pgResetAll(int profileCount)
+void pgResetAll()
 {
     PG_FOREACH(reg) {
-        if (pgIsSystem(reg)) {
-            pgReset(reg, 0);
-        } else {
-            // reset one instance for each profile
-            for (int profileIndex = 0; profileIndex < profileCount; profileIndex++) {
-                pgReset(reg, profileIndex);
-            }
-        }
-    }
-}
-
-void pgActivateProfile(int profileIndex)
-{
-    PG_FOREACH(reg) {
-        if (!pgIsSystem(reg)) {
-            uint8_t *ptr = pgOffset(reg, profileIndex);
-            *(reg->ptr) = ptr;
-        }
+        pgReset(reg);
     }
 }
diff --git a/src/main/config/parameter_group.h b/src/main/config/parameter_group.h
index cbfe84de82..4890a95f13 100644
--- a/src/main/config/parameter_group.h
+++ b/src/main/config/parameter_group.h
@@ -34,14 +34,9 @@ typedef enum {
     PGR_PGN_MASK =          0x0fff,
     PGR_PGN_VERSION_MASK =  0xf000,
     PGR_SIZE_MASK =         0x0fff,
-    PGR_SIZE_SYSTEM_FLAG =  0x0000, // documentary
-    PGR_SIZE_PROFILE_FLAG = 0x8000  // start using flags from the top bit down
+    PGR_SIZE_SYSTEM_FLAG =  0x0000 // documentary
 } pgRegistryInternal_e;
 
-enum {
-    PG_PROFILE_COUNT = 3
-};
-
 // function that resets a single parameter group instance
 typedef void (pgResetFunc)(void * /* base */, int /* size */);
 
@@ -60,8 +55,6 @@ typedef struct pgRegistry_s {
 static inline uint16_t pgN(const pgRegistry_t* reg) {return reg->pgn & PGR_PGN_MASK;}
 static inline uint8_t pgVersion(const pgRegistry_t* reg) {return (uint8_t)(reg->pgn >> 12);}
 static inline uint16_t pgSize(const pgRegistry_t* reg) {return reg->size & PGR_SIZE_MASK;}
-static inline uint16_t pgIsSystem(const pgRegistry_t* reg) {return (reg->size & PGR_SIZE_PROFILE_FLAG) == 0;}
-static inline uint16_t pgIsProfile(const pgRegistry_t* reg) {return (reg->size & PGR_SIZE_PROFILE_FLAG) == PGR_SIZE_PROFILE_FLAG;}
 
 #define PG_PACKED __attribute__((packed))
 
@@ -89,19 +82,11 @@ extern const uint8_t __pg_resetdata_end[];
 #define PG_FOREACH(_name) \
     for (const pgRegistry_t *(_name) = __pg_registry_start; (_name) < __pg_registry_end; _name++)
 
-#define PG_FOREACH_PROFILE(_name)                                    \
-    PG_FOREACH(_name)                                                \
-        if(pgIsSystem(_name)) \
-            continue;                                                \
-        else                                                         \
-            /**/
-
 // Reset configuration to default (by name)
-// Only current profile is reset for profile based configs
-#define PG_RESET_CURRENT(_name)                                         \
+#define PG_RESET(_name)                                         \
     do {                                                                \
         extern const pgRegistry_t _name ##_Registry;                    \
-        pgResetCurrent(&_name ## _Registry);                            \
+        pgReset(&_name ## _Registry);                            \
     } while(0)                                                          \
     /**/
 
@@ -124,15 +109,6 @@ extern const uint8_t __pg_resetdata_end[];
     struct _dummy                                                       \
     /**/
 
-// Declare profile config
-#define PG_DECLARE_PROFILE(_type, _name)                                \
-    extern _type *_name ## _ProfileCurrent;                             \
-    static inline const _type* _name(void) { return _name ## _ProfileCurrent; } \
-    static inline _type* _name ## Mutable(void) { return _name ## _ProfileCurrent; } \
-    struct _dummy                                                       \
-    /**/
-
-
 // Register system config
 #define PG_REGISTER_I(_type, _name, _pgn, _version, _reset)             \
     _type _name ## _System;                                             \
@@ -195,43 +171,6 @@ extern const uint8_t __pg_resetdata_end[];
     /**/
 #endif
 
-#ifdef UNIT_TEST
-# define _PG_PROFILE_CURRENT_DECL(_type, _name)                  \
-    _type *_name ## _ProfileCurrent = &_name ## _Storage[0];
-#else
-# define _PG_PROFILE_CURRENT_DECL(_type, _name)  \
-    _type *_name ## _ProfileCurrent;
-#endif
-
-// register profile config
-#define PG_REGISTER_PROFILE_I(_type, _name, _pgn, _version, _reset)     \
-    STATIC_UNIT_TESTED _type _name ## _Storage[PG_PROFILE_COUNT];       \
-    _PG_PROFILE_CURRENT_DECL(_type, _name)                              \
-    extern const pgRegistry_t _name ## _Registry;                       \
-    const pgRegistry_t _name ## _Registry PG_REGISTER_ATTRIBUTES = {    \
-        .pgn = _pgn | (_version << 12),                                 \
-        .size = sizeof(_type) | PGR_SIZE_PROFILE_FLAG,                  \
-        .address = (uint8_t*)&_name ## _Storage,                        \
-        .ptr = (uint8_t **)&_name ## _ProfileCurrent,                   \
-        _reset,                                                         \
-    }                                                                   \
-    /**/
-
-#define PG_REGISTER_PROFILE(_type, _name, _pgn, _version)               \
-    PG_REGISTER_PROFILE_I(_type, _name, _pgn, _version, .reset = {.ptr = 0}) \
-    /**/
-
-#define PG_REGISTER_PROFILE_WITH_RESET_FN(_type, _name, _pgn, _version) \
-    extern void pgResetFn_ ## _name(_type *);                           \
-    PG_REGISTER_PROFILE_I(_type, _name, _pgn, _version, .reset = {.fn = (pgResetFunc*)&pgResetFn_ ## _name}) \
-    /**/
-
-#define PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(_type, _name, _pgn, _version) \
-    extern const _type pgResetTemplate_ ## _name;                       \
-    PG_REGISTER_PROFILE_I(_type, _name, _pgn, _version, .reset = {.ptr = (void*)&pgResetTemplate_ ## _name}) \
-    /**/
-
-
 // Emit reset defaults for config.
 // Config must be registered with PG_REGISTER_<xxx>_WITH_RESET_TEMPLATE macro
 #define PG_RESET_TEMPLATE(_type, _name, ...)                            \
@@ -245,10 +184,8 @@ extern const uint8_t __pg_resetdata_end[];
 
 const pgRegistry_t* pgFind(pgn_t pgn);
 
-void pgLoad(const pgRegistry_t* reg, int profileIndex, const void *from, int size, int version);
-int pgStore(const pgRegistry_t* reg, void *to, int size, uint8_t profileIndex);
-void pgResetAll(int profileCount);
-void pgResetCurrent(const pgRegistry_t *reg);
+void pgLoad(const pgRegistry_t* reg, const void *from, int size, int version);
+int pgStore(const pgRegistry_t* reg, void *to, int size);
+void pgResetAll();
 bool pgResetCopy(void *copy, pgn_t pgn);
-void pgReset(const pgRegistry_t* reg, int profileIndex);
-void pgActivateProfile(int profileIndex);
+void pgReset(const pgRegistry_t* reg);
diff --git a/src/main/drivers/light_led.c b/src/main/drivers/light_led.c
index 858ee1ff08..a21672640a 100644
--- a/src/main/drivers/light_led.c
+++ b/src/main/drivers/light_led.c
@@ -17,24 +17,49 @@
 
 #include "platform.h"
 
+#include "config/parameter_group_ids.h"
+
 #include "drivers/io.h"
 #include "io_impl.h"
 
 #include "light_led.h"
 
-static IO_t leds[LED_NUMBER];
-static uint8_t ledPolarity = 0;
+PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0);
+
+static IO_t leds[STATUS_LED_NUMBER];
+static uint8_t ledInversion = 0;
+
+void pgResetFn_statusLedConfig(statusLedConfig_t *statusLedConfig)
+{
+#ifdef LED0_PIN
+    statusLedConfig->ioTags[0] = IO_TAG(LED0_PIN);
+#endif
+#ifdef LED1_PIN
+    statusLedConfig->ioTags[1] = IO_TAG(LED1_PIN);
+#endif
+#ifdef LED2_PIN
+    statusLedConfig->ioTags[2] = IO_TAG(LED2_PIN);
+#endif
+
+    statusLedConfig->inversion = 0
+#ifdef LED0_INVERTED
+    | BIT(0)
+#endif
+#ifdef LED1_INVERTED
+    | BIT(1)
+#endif
+#ifdef LED2_INVERTED
+    | BIT(2)
+#endif
+    ;
+}
 
 void ledInit(const statusLedConfig_t *statusLedConfig)
 {
-    LED0_OFF;
-    LED1_OFF;
-    LED2_OFF;
-
-    ledPolarity = statusLedConfig->polarity;
-    for (int i = 0; i < LED_NUMBER; i++) {
-        if (statusLedConfig->ledTags[i]) {
-            leds[i] = IOGetByTag(statusLedConfig->ledTags[i]);
+    ledInversion = statusLedConfig->inversion;
+    for (int i = 0; i < STATUS_LED_NUMBER; i++) {
+        if (statusLedConfig->ioTags[i]) {
+            leds[i] = IOGetByTag(statusLedConfig->ioTags[i]);
             IOInit(leds[i], OWNER_LED, RESOURCE_INDEX(i));
             IOConfigGPIO(leds[i], IOCFG_OUT_PP);
         } else {
@@ -54,6 +79,6 @@ void ledToggle(int led)
 
 void ledSet(int led, bool on)
 {
-    const bool inverted = (1 << (led)) & ledPolarity;
+    const bool inverted = (1 << (led)) & ledInversion;
     IOWrite(leds[led], on ? inverted : !inverted);
 }
diff --git a/src/main/drivers/light_led.h b/src/main/drivers/light_led.h
index 341bbb81d9..198a3f3244 100644
--- a/src/main/drivers/light_led.h
+++ b/src/main/drivers/light_led.h
@@ -19,47 +19,48 @@
 
 #include "config/parameter_group.h"
 #include "drivers/io_types.h"
+#include "common/utils.h"
 
-#define LED_NUMBER 3
+#define STATUS_LED_NUMBER 3
 
 typedef struct statusLedConfig_s {
-    ioTag_t ledTags[LED_NUMBER];
-    uint8_t polarity;
+    ioTag_t ioTags[STATUS_LED_NUMBER];
+    uint8_t inversion;
 } statusLedConfig_t;
 
 PG_DECLARE(statusLedConfig_t, statusLedConfig);
 
 // Helpful macros
-#ifdef LED0
-# define LED0_TOGGLE              ledToggle(0)
-# define LED0_OFF                 ledSet(0, false)
-# define LED0_ON                  ledSet(0, true)
-#else
-# define LED0_TOGGLE              do {} while(0)
-# define LED0_OFF                 do {} while(0)
-# define LED0_ON                  do {} while(0)
-#endif
+#if defined(UNIT_TEST) || defined(USE_FAKE_LED)
 
-#ifdef LED1
-# define LED1_TOGGLE              ledToggle(1)
-# define LED1_OFF                 ledSet(1, false)
-# define LED1_ON                  ledSet(1, true)
-#else
-# define LED1_TOGGLE              do {} while(0)
-# define LED1_OFF                 do {} while(0)
-# define LED1_ON                  do {} while(0)
-#endif
+#define LED0_TOGGLE              NOOP
+#define LED0_OFF                 NOOP
+#define LED0_ON                  NOOP
+
+#define LED1_TOGGLE              NOOP
+#define LED1_OFF                 NOOP
+#define LED1_ON                  NOOP
+
+#define LED2_TOGGLE              NOOP
+#define LED2_OFF                 NOOP
+#define LED2_ON                  NOOP
 
-#ifdef LED2
-# define LED2_TOGGLE              ledToggle(2)
-# define LED2_OFF                 ledSet(2, false)
-# define LED2_ON                  ledSet(2, true)
 #else
-# define LED2_TOGGLE              do {} while(0)
-# define LED2_OFF                 do {} while(0)
-# define LED2_ON                  do {} while(0)
-#endif
+
+#define LED0_TOGGLE              ledToggle(0)
+#define LED0_OFF                 ledSet(0, false)
+#define LED0_ON                  ledSet(0, true)
+
+#define LED1_TOGGLE              ledToggle(1)
+#define LED1_OFF                 ledSet(1, false)
+#define LED1_ON                  ledSet(1, true)
+
+#define LED2_TOGGLE              ledToggle(2)
+#define LED2_OFF                 ledSet(2, false)
+#define LED2_ON                  ledSet(2, true)
 
 void ledInit(const statusLedConfig_t *statusLedConfig);
 void ledToggle(int led);
 void ledSet(int led, bool state);
+
+#endif
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 34467696c1..82bcc7a40e 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -158,7 +158,9 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 
 void pwmWriteMotor(uint8_t index, uint16_t value)
 {
-    pwmWritePtr(index, value);
+    if (pwmMotorsEnabled) {
+        pwmWritePtr(index, value);
+    }    
 }
 
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
@@ -245,11 +247,16 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
         idlePulse = 0;
         break;
 #ifdef USE_DSHOT
+    case PWM_TYPE_PROSHOT1000:
+        pwmWritePtr = pwmWriteProShot;
+        pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
+        isDigital = true;
+        break;
     case PWM_TYPE_DSHOT1200:
     case PWM_TYPE_DSHOT600:
     case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:
-        pwmWritePtr = pwmWriteDigital;
+        pwmWritePtr = pwmWriteDshot;
         pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
         isDigital = true;
         break;
@@ -320,15 +327,17 @@ pwmOutputPort_t *pwmGetMotors(void)
 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
 {
     switch (pwmProtocolType) {
-        case(PWM_TYPE_DSHOT1200):
-            return MOTOR_DSHOT1200_MHZ * 1000000;
-        case(PWM_TYPE_DSHOT600):
-            return MOTOR_DSHOT600_MHZ * 1000000;
-        case(PWM_TYPE_DSHOT300):
-            return MOTOR_DSHOT300_MHZ * 1000000;
-        default:
-        case(PWM_TYPE_DSHOT150):
-            return MOTOR_DSHOT150_MHZ * 1000000;
+    case(PWM_TYPE_PROSHOT1000):
+        return MOTOR_PROSHOT1000_MHZ * 1000000;
+    case(PWM_TYPE_DSHOT1200):
+        return MOTOR_DSHOT1200_MHZ * 1000000;
+    case(PWM_TYPE_DSHOT600):
+        return MOTOR_DSHOT600_MHZ * 1000000;
+    case(PWM_TYPE_DSHOT300):
+        return MOTOR_DSHOT300_MHZ * 1000000;
+    default:
+    case(PWM_TYPE_DSHOT150):
+        return MOTOR_DSHOT150_MHZ * 1000000;
     }
 }
 
@@ -338,11 +347,21 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
         motorDmaOutput_t *const motor = getMotorDmaOutput(index);
 
         unsigned repeats;
-        if ((DSHOT_CMD_SPIN_ONE_WAY >= 7 && DSHOT_CMD_3D_MODE_ON <= 10) || DSHOT_CMD_SAVE_SETTINGS == 12 || (DSHOT_CMD_ROTATE_NORMAL >= 20 && DSHOT_CMD_ROTATE_REVERSE <= 21) ) {
+        switch (command) {
+        case DSHOT_CMD_SPIN_DIRECTION_1:
+        case DSHOT_CMD_SPIN_DIRECTION_2:
+        case DSHOT_CMD_3D_MODE_OFF:
+        case DSHOT_CMD_3D_MODE_ON:
+        case DSHOT_CMD_SAVE_SETTINGS:
+        case DSHOT_CMD_SPIN_DIRECTION_NORMAL:
+        case DSHOT_CMD_SPIN_DIRECTION_REVERSED:
             repeats = 10;
-        } else {
+            break;
+        default:
             repeats = 1;
+            break;
         }
+
         for (; repeats; repeats--) {
             motor->requestTelemetry = true;
             pwmWritePtr(index, command);
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 1a23e493ff..e87014a62a 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -36,14 +36,14 @@ typedef enum {
     DSHOT_CMD_BEEP4,
     DSHOT_CMD_BEEP5,
     DSHOT_CMD_ESC_INFO,
-    DSHOT_CMD_SPIN_ONE_WAY, 
-    DSHOT_CMD_SPIN_OTHER_WAY, 
+    DSHOT_CMD_SPIN_DIRECTION_1,
+    DSHOT_CMD_SPIN_DIRECTION_2,
     DSHOT_CMD_3D_MODE_OFF,
     DSHOT_CMD_3D_MODE_ON, 
     DSHOT_CMD_SETTINGS_REQUEST,
     DSHOT_CMD_SAVE_SETTINGS, 
-    DSHOT_CMD_ROTATE_NORMAL = 20, //Blheli_S only command
-    DSHOT_CMD_ROTATE_REVERSE = 21,  //Blheli_S only command
+    DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20, //Blheli_S only command
+    DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,  //Blheli_S only command
     DSHOT_CMD_MAX = 47
 } dshotCommands_e;
 
@@ -59,6 +59,7 @@ typedef enum {
     PWM_TYPE_DSHOT300,
     PWM_TYPE_DSHOT600,
     PWM_TYPE_DSHOT1200,
+    PWM_TYPE_PROSHOT1000,
 #endif
     PWM_TYPE_MAX
 } motorPwmProtocolTypes_e;
@@ -76,6 +77,11 @@ typedef enum {
 #define MOTOR_BIT_0           7
 #define MOTOR_BIT_1           14
 #define MOTOR_BITLENGTH       19
+
+#define MOTOR_PROSHOT1000_MHZ        24 
+#define PROSHOT_BASE_SYMBOL          24 // 1uS
+#define PROSHOT_BIT_WIDTH            3
+#define MOTOR_NIBBLE_LENGTH_PROSHOT  96 // 4uS
 #endif
 
 #if defined(STM32F40_41xxx) // must be multiples of timer clock
@@ -95,7 +101,8 @@ typedef enum {
 #define PWM_BRUSHED_TIMER_MHZ 24
 #endif
 
-#define MOTOR_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
+#define DSHOT_DMA_BUFFER_SIZE   18 /* resolution + frame reset (2us) */
+#define PROSHOT_DMA_BUFFER_SIZE 6/* resolution + frame reset (2us) */
 
 typedef struct {
     TIM_TypeDef *timer;
@@ -109,9 +116,9 @@ typedef struct {
     uint16_t timerDmaSource;
     volatile bool requestTelemetry;
 #if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
-    uint32_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
+    uint32_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
 #else
-    uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
+    uint8_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
 #endif
 #if defined(STM32F7)
     TIM_HandleTypeDef TimHandle;
@@ -160,7 +167,8 @@ void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIn
 #ifdef USE_DSHOT
 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
 void pwmWriteDshotCommand(uint8_t index, uint8_t command);
-void pwmWriteDigital(uint8_t index, uint16_t value);
+void pwmWriteProShot(uint8_t index, uint16_t value);
+void pwmWriteDshot(uint8_t index, uint16_t value);
 void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
 void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
 #endif
diff --git a/src/main/drivers/pwm_output_dshot.c b/src/main/drivers/pwm_output_dshot.c
index 38a4c1ccd5..35fbad1ecd 100644
--- a/src/main/drivers/pwm_output_dshot.c
+++ b/src/main/drivers/pwm_output_dshot.c
@@ -54,13 +54,8 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
     return dmaMotorTimerCount-1;
 }
 
-void pwmWriteDigital(uint8_t index, uint16_t value)
+void pwmWriteDshot(uint8_t index, uint16_t value)
 {
-
-    if (!pwmMotorsEnabled) {
-        return;
-    }
-
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
     if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
@@ -86,7 +81,39 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
         packet <<= 1;
     }
 
-    DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, MOTOR_DMA_BUFFER_SIZE);
+    DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, DSHOT_DMA_BUFFER_SIZE);
+    DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
+}
+
+void pwmWriteProShot(uint8_t index, uint16_t value)
+{
+    motorDmaOutput_t * const motor = &dmaMotors[index];
+
+    if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
+        return;
+    }
+
+    uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
+    motor->requestTelemetry = false;    // reset telemetry request to make sure it's triggered only once in a row
+
+    // compute checksum
+    int csum = 0;
+    int csum_data = packet;
+    for (int i = 0; i < 3; i++) {
+        csum ^=  csum_data;   // xor data by nibbles
+        csum_data >>= 4;
+    }
+    csum &= 0xf;
+    // append checksum
+    packet = (packet << 4) | csum;
+
+    // generate pulses for Proshot
+    for (int i = 0; i < 4; i++) {
+        motor->dmaBuffer[i] = PROSHOT_BASE_SYMBOL + ((packet & 0xF000) >> 12) * PROSHOT_BIT_WIDTH;  // Most significant nibble first
+        packet <<= 4;	// Shift 4 bits
+    }
+
+    DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, PROSHOT_DMA_BUFFER_SIZE);
     DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
 }
 
@@ -139,7 +166,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
         TIM_Cmd(timer, DISABLE);
 
         TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((timerClock(timer) / getDshotHz(pwmProtocolType)) - 1);
-        TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
+        TIM_TimeBaseStructure.TIM_Period = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
         TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
         TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
         TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
@@ -205,7 +232,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
 #endif
     DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)timerChCCR(timerHardware);
-    DMA_InitStructure.DMA_BufferSize = MOTOR_DMA_BUFFER_SIZE;
+    DMA_InitStructure.DMA_BufferSize = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? PROSHOT_DMA_BUFFER_SIZE : DSHOT_DMA_BUFFER_SIZE;
     DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
     DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
     DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
diff --git a/src/main/drivers/pwm_output_dshot_hal.c b/src/main/drivers/pwm_output_dshot_hal.c
index 01083add6c..c1a1137f39 100644
--- a/src/main/drivers/pwm_output_dshot_hal.c
+++ b/src/main/drivers/pwm_output_dshot_hal.c
@@ -49,12 +49,8 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
     return dmaMotorTimerCount - 1;
 }
 
-void pwmWriteDigital(uint8_t index, uint16_t value)
+void pwmWriteDshot(uint8_t index, uint16_t value)
 {
-    if (!pwmMotorsEnabled) {
-        return;
-    }
-
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
     if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
@@ -81,12 +77,53 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
     }
 
     if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
-        if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK) {
+        if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, DSHOT_DMA_BUFFER_SIZE) != HAL_OK) {
             /* Starting PWM generation Error */
             return;
         }
     } else {
-        if (HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK) {
+        if (HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, DSHOT_DMA_BUFFER_SIZE) != HAL_OK) {
+            /* Starting PWM generation Error */
+            return;
+        }
+    }
+}
+
+void pwmWriteProShot(uint8_t index, uint16_t value)
+{
+    motorDmaOutput_t * const motor = &dmaMotors[index];
+
+    if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
+        return;
+    }
+
+    uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
+    motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
+
+    // compute checksum
+    int csum = 0;
+    int csum_data = packet;
+    for (int i = 0; i < 3; i++) {
+        csum ^=  csum_data;   // xor data by nibbles
+        csum_data >>= 4;
+    }
+    csum &= 0xf;
+    // append checksum
+    packet = (packet << 4) | csum;
+
+    // generate pulses for Proshot
+    for (int i = 0; i < 4; i++) {
+        motor->dmaBuffer[i] = PROSHOT_BASE_SYMBOL + ((packet & 0xF000) >> 12) * PROSHOT_BIT_WIDTH;  // Most significant nibble first
+        packet <<= 4;	// Shift 4 bits
+    }
+
+    if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
+        if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, PROSHOT_DMA_BUFFER_SIZE) != HAL_OK) {
+            /* Starting PWM generation Error */
+            return;
+        }
+    } else {
+        if (HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, PROSHOT_DMA_BUFFER_SIZE) != HAL_OK) {
             /* Starting PWM generation Error */
             return;
         }
@@ -122,8 +159,8 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     RCC_ClockCmd(timerRCC(timer), ENABLE);
 
     motor->TimHandle.Instance = timerHardware->tim;
-    motor->TimHandle.Init.Prescaler = (timerClock(timer) / getDshotHz(pwmProtocolType)) - 1;;
-    motor->TimHandle.Init.Period = MOTOR_BITLENGTH;
+    motor->TimHandle.Init.Prescaler = (timerClock(timer) / getDshotHz(pwmProtocolType)) - 1;
+    motor->TimHandle.Init.Period = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
     motor->TimHandle.Init.RepetitionCounter = 0;
     motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
     motor->TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 16ecfc6579..ed81611eca 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -74,6 +74,7 @@ extern uint8_t __config_end;
 #include "drivers/time.h"
 #include "drivers/timer.h"
 #include "drivers/vcd.h"
+#include "drivers/light_led.h"
 
 #include "fc/settings.h"
 #include "fc/cli.h"
@@ -2755,6 +2756,7 @@ const cliResourceValue_t resourceTable[] = {
     { OWNER_I2C_SCL,       PG_I2C_CONFIG, offsetof(i2cConfig_t, ioTagScl[0]), I2CDEV_COUNT },
     { OWNER_I2C_SDA,       PG_I2C_CONFIG, offsetof(i2cConfig_t, ioTagSda[0]), I2CDEV_COUNT },
 #endif
+    { OWNER_LED,           PG_STATUS_LED_CONFIG, offsetof(statusLedConfig_t, ioTags[0]), STATUS_LED_NUMBER },
 #ifdef USE_SPEKTRUM_BIND
     { OWNER_RX_BIND,       PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_bind_pin_override_ioTag), 0 },
     { OWNER_RX_BIND_PLUG,  PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_bind_plug_ioTag), 0 },
@@ -2982,11 +2984,7 @@ static void backupConfigs(void)
 {
     // make copies of configs to do differencing
     PG_FOREACH(pg) {
-        if (pgIsProfile(pg)) {
-            //memcpy(pg->copy, pg->address, pg->size * MAX_PROFILE_COUNT);
-        } else {
-            memcpy(pg->copy, pg->address, pg->size);
-        }
+        memcpy(pg->copy, pg->address, pg->size);
     }
 
     configIsInCopy = true;
@@ -2995,11 +2993,7 @@ static void backupConfigs(void)
 static void restoreConfigs(void)
 {
     PG_FOREACH(pg) {
-        if (pgIsProfile(pg)) {
-            //memcpy(pg->address, pg->copy, pg->size * MAX_PROFILE_COUNT);
-        } else {
-            memcpy(pg->address, pg->copy, pg->size);
-        }
+        memcpy(pg->address, pg->copy, pg->size);
     }
 
     configIsInCopy = false;
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index d1cfe8c963..b4d3d6822d 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -148,7 +148,6 @@ PG_REGISTER_WITH_RESET_FN(pwmConfig_t, pwmConfig, PG_PWM_CONFIG, 0);
 #ifdef USE_PPM
 PG_REGISTER_WITH_RESET_FN(ppmConfig_t, ppmConfig, PG_PPM_CONFIG, 0);
 #endif
-PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0);
 
 #ifdef USE_FLASHFS
 PG_REGISTER_WITH_RESET_TEMPLATE(flashConfig_t, flashConfig, PG_FLASH_CONFIG, 0);
@@ -255,35 +254,6 @@ void pgResetFn_pwmConfig(pwmConfig_t *pwmConfig)
 #define SECOND_PORT_INDEX 1
 #endif
 
-void pgResetFn_statusLedConfig(statusLedConfig_t *statusLedConfig)
-{
-    for (int i = 0; i < LED_NUMBER; i++) {
-        statusLedConfig->ledTags[i] = IO_TAG_NONE;
-    }
-
-#ifdef LED0
-    statusLedConfig->ledTags[0] = IO_TAG(LED0);
-#endif
-#ifdef LED1
-    statusLedConfig->ledTags[1] = IO_TAG(LED1);
-#endif
-#ifdef LED2
-    statusLedConfig->ledTags[2] = IO_TAG(LED2);
-#endif
-
-    statusLedConfig->polarity = 0
-#ifdef LED0_INVERTED
-    | BIT(0)
-#endif
-#ifdef LED1_INVERTED
-    | BIT(1)
-#endif
-#ifdef LED2_INVERTED
-    | BIT(2)
-#endif
-    ;
-}
-
 #ifndef USE_OSD_SLAVE
 uint8_t getCurrentPidProfileIndex(void)
 {
@@ -312,14 +282,12 @@ uint16_t getCurrentMinthrottle(void)
 
 void resetConfigs(void)
 {
-    pgResetAll(MAX_PROFILE_COUNT);
+    pgResetAll();
 
 #if defined(TARGET_CONFIG)
     targetConfiguration();
 #endif
 
-    pgActivateProfile(0);
-
 #ifndef USE_OSD_SLAVE
     setPidProfile(0);
     setControlRateProfile(0);
@@ -337,7 +305,7 @@ void activateConfig(void)
 
     resetAdjustmentStates();
 
-    useRcControlsConfig(modeActivationConditions(0), currentPidProfile);
+    useRcControlsConfig(currentPidProfile);
     useAdjustmentConfig(currentPidProfile);
 
 #ifdef GPS
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 5685bf7bb7..4c7b2a6120 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -207,16 +207,17 @@ void mwArm(void)
         }
         if (!ARMING_FLAG(PREVENT_ARMING)) {
             #ifdef USE_DSHOT
+            //TODO: Use BOXDSHOTREVERSE here
             if (!feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
                 reverseMotors = false;
                 for (unsigned index = 0; index < getMotorCount(); index++) {
-                    pwmWriteDshotCommand(index, DSHOT_CMD_ROTATE_NORMAL);
+                    pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
                 }
             }
             if (!feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
                 reverseMotors = true;
                 for (unsigned index = 0; index < getMotorCount(); index++) {
-                    pwmWriteDshotCommand(index, DSHOT_CMD_ROTATE_REVERSE);
+                    pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
                 }
             }
             #endif
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 382ca39234..c90fdd309f 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -223,7 +223,9 @@ void init(void)
     targetPreInit();
 #endif
 
+#if !defined(UNIT_TEST) && !defined(USE_FAKE_LED)
     ledInit(statusLedConfig());
+#endif
     LED2_ON;
 
 #ifdef USE_EXTI
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 9998228362..28f6ea4258 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -29,6 +29,7 @@
 #include "build/version.h"
 
 #include "common/axis.h"
+#include "common/bitarray.h"
 #include "common/color.h"
 #include "common/maths.h"
 #include "common/streambuf.h"
@@ -59,6 +60,8 @@
 #include "fc/fc_msp.h"
 #include "fc/fc_rc.h"
 #include "fc/rc_adjustments.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "flight/altitude.h"
@@ -110,12 +113,13 @@
 #endif
 
 #define STATIC_ASSERT(condition, name) \
-    typedef char assert_failed_ ## name [(condition) ? 1 : -1 ]
+    typedef char assert_failed_ ## name [(condition) ? 1 : -1 ] __attribute__((unused))
 
 static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
 static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 
 #ifndef USE_OSD_SLAVE
+// permanent IDs must uniquely identify BOX meaning, DO NOT REUSE THEM!
 static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
     { BOXARM, "ARM", 0 },
     { BOXANGLE, "ANGLE", 1 },
@@ -152,9 +156,8 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
 };
 
 // mask of enabled IDs, calculated on startup based on enabled features. boxId_e is used as bit index
-static uint32_t activeBoxIds;
-// check that all boxId_e values fit
-STATIC_ASSERT(sizeof(activeBoxIds) * 8 >= CHECKBOX_ITEM_COUNT, CHECKBOX_ITEMS_wont_fit_in_activeBoxIds);
+
+static boxBitmask_t activeBoxIds;
 
 static const char pidnames[] =
     "ROLL;"
@@ -276,23 +279,41 @@ const box_t *findBoxByPermanentId(uint8_t permanentId)
     return NULL;
 }
 
-static void serializeBoxNamesReply(sbuf_t *dst)
+static bool activeBoxIdGet(boxId_e boxId)
 {
-    for (boxId_e id = 0; id < CHECKBOX_ITEM_COUNT; id++) {
-        if(activeBoxIds & (1 << id)) {
-            const box_t *box = findBoxByBoxId(id);
-            sbufWriteString(dst, box->boxName);
-            sbufWriteU8(dst, ';');
-        }
-    }
+    if(boxId > sizeof(activeBoxIds) * 8)
+        return false;
+    return bitArrayGet(&activeBoxIds, boxId);
 }
 
-static void serializeBoxIdsReply(sbuf_t *dst)
+
+// callcack for box serialization
+typedef void serializeBoxFn(sbuf_t *dst, const box_t *box);
+
+static void serializeBoxNameFn(sbuf_t *dst, const box_t *box)
 {
+    sbufWriteString(dst, box->boxName);
+    sbufWriteU8(dst, ';');
+}
+
+static void serializeBoxPermanentIdFn(sbuf_t *dst, const box_t *box)
+{
+    sbufWriteU8(dst, box->permanentId);
+}
+
+// serialize 'page' of boxNames.
+// Each page contains at most 32 boxes
+static void serializeBoxReply(sbuf_t *dst, int page, serializeBoxFn *serializeBox)
+{
+    unsigned boxIdx = 0;
+    unsigned pageStart = page * 32;
+    unsigned pageEnd = pageStart + 32;
     for (boxId_e id = 0; id < CHECKBOX_ITEM_COUNT; id++) {
-        if(activeBoxIds & (1 << id)) {
-            const box_t *box = findBoxByBoxId(id);
-            sbufWriteU8(dst, box->permanentId);
+        if (activeBoxIdGet(id)) {
+            if (boxIdx >= pageStart && boxIdx < pageEnd) {
+                (*serializeBox)(dst, findBoxByBoxId(id));
+            }
+            boxIdx++;                 // count active boxes
         }
     }
 }
@@ -300,9 +321,11 @@ static void serializeBoxIdsReply(sbuf_t *dst)
 void initActiveBoxIds(void)
 {
     // calculate used boxes based on features and set corresponding activeBoxIds bits
-    uint32_t ena = 0;  // temporary variable to collect result
+    boxBitmask_t ena;  // temporary variable to collect result
+    memset(&ena, 0, sizeof(ena));
+
     // macro to enable boxId (BoxidMaskEnable). Reference to ena is hidden, local use only
-#define BME(boxId) do { ena |= (1 << (boxId)); } while(0)
+#define BME(boxId) do { bitArraySet(&ena, boxId); } while(0)
     BME(BOXARM);
 
     if (!feature(FEATURE_AIRMODE)) {
@@ -370,6 +393,7 @@ void initActiveBoxIds(void)
 
     BME(BOXFPVANGLEMIX);
 
+    //TODO: Split this into BOX3DDISABLESWITCH and BOXDSHOTREVERSE
     BME(BOX3DDISABLESWITCH);
 
     if (feature(FEATURE_SERVO_TILT)) {
@@ -398,63 +422,69 @@ void initActiveBoxIds(void)
 
 #undef BME
     // check that all enabled IDs are in boxes array (check may be skipped when using findBoxById() functions)
-    for(boxId_e boxId = 0;  boxId < CHECKBOX_ITEM_COUNT; boxId++)
-        if((ena & (1 << boxId))
-           && findBoxByBoxId(boxId) == NULL)
-            ena &= ~ (1 << boxId);             // this should not happen, but handle it gracefully
+    for (boxId_e boxId = 0;  boxId < CHECKBOX_ITEM_COUNT; boxId++)
+        if (bitArrayGet(&ena, boxId)
+            && findBoxByBoxId(boxId) == NULL)
+            bitArrayClr(&ena, boxId);                 // this should not happen, but handle it gracefully
 
-    activeBoxIds = ena;                        // set global variable
+    activeBoxIds = ena;                               // set global variable
 }
 
-static uint32_t packFlightModeFlags(void)
+// pack used flightModeFlags into supplied array
+// returns number of bits used
+static int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
 {
     // Serialize the flags in the order we delivered them, ignoring BOXNAMES and BOXINDEXES
+    memset(mspFlightModeFlags, 0, sizeof(boxBitmask_t));
 
-    uint32_t boxEnabledMask = 0;      // enabled BOXes, bits indexed by boxId_e
+    // enabled BOXes, bits indexed by boxId_e
+    boxBitmask_t boxEnabledMask;
+    memset(&boxEnabledMask, 0, sizeof(boxEnabledMask));
 
     // enable BOXes dependent on FLIGHT_MODE, use mapping table (from runtime_config.h)
     // flightMode_boxId_map[HORIZON_MODE] == BOXHORIZON
     static const int8_t flightMode_boxId_map[] = FLIGHT_MODE_BOXID_MAP_INITIALIZER;
     flightModeFlags_e flightModeCopyMask = ~0;  // only modes with bit set will be copied
-    for(unsigned i = 0; i < ARRAYLEN(flightMode_boxId_map); i++) {
-        if(flightMode_boxId_map[i] != -1        // boxId_e does exist for this FLIGHT_MODE
+    for (unsigned i = 0; i < ARRAYLEN(flightMode_boxId_map); i++) {
+        if (flightMode_boxId_map[i] != -1        // boxId_e does exist for this FLIGHT_MODE
            && (flightModeCopyMask & (1 << i))   // this flightmode is copy is enabled
            && FLIGHT_MODE(1 << i)) {            // this flightmode is active
-            boxEnabledMask |= (1 << flightMode_boxId_map[i]);
+            bitArraySet(&boxEnabledMask, flightMode_boxId_map[i]);
         }
     }
 
     // enable BOXes dependent on rcMode bits, indexes are the same.
     // only subset of BOXes depend on rcMode, use mask to select them
-#define BM(x) (1 << (x))
-    const uint32_t rcModeCopyMask = BM(BOXHEADADJ) | BM(BOXCAMSTAB) | BM(BOXCAMTRIG) | BM(BOXBEEPERON)
+#define BM(x) (1ULL << (x))
+    // limited to 64 BOXes now to keep code simple
+    const uint64_t rcModeCopyMask = BM(BOXHEADADJ) | BM(BOXCAMSTAB) | BM(BOXCAMTRIG) | BM(BOXBEEPERON)
         | BM(BOXLEDMAX) | BM(BOXLEDLOW) | BM(BOXLLIGHTS) | BM(BOXCALIB) | BM(BOXGOV) | BM(BOXOSD)
         | BM(BOXTELEMETRY) | BM(BOXGTUNE) | BM(BOXBLACKBOX) | BM(BOXBLACKBOXERASE) | BM(BOXAIRMODE)
         | BM(BOXANTIGRAVITY) | BM(BOXFPVANGLEMIX);
-    for(unsigned i = 0; i < sizeof(rcModeCopyMask) * 8; i++) {
-        if((rcModeCopyMask & BM(i))    // mode copy is enabled
+    STATIC_ASSERT(sizeof(rcModeCopyMask) * 8 >= CHECKBOX_ITEM_COUNT, copy_mask_too_small_for_boxes);
+    for (unsigned i = 0; i < CHECKBOX_ITEM_COUNT; i++) {
+        if ((rcModeCopyMask & BM(i))    // mode copy is enabled
            && IS_RC_MODE_ACTIVE(i)) {    // mode is active
-            boxEnabledMask |= (1 << i);
+            bitArraySet(&boxEnabledMask, i);
         }
     }
 #undef BM
     // copy ARM state
-    if(ARMING_FLAG(ARMED))
-        boxEnabledMask |= (1 << BOXARM);
+    if (ARMING_FLAG(ARMED))
+        bitArraySet(&boxEnabledMask, BOXARM);
 
     // map boxId_e enabled bits to MSP status indexes
     // only active boxIds are sent in status over MSP, other bits are not counted
-    uint32_t mspBoxEnabledMask = 0;
     unsigned mspBoxIdx = 0;           // index of active boxId (matches sent permanentId and boxNames)
     for (boxId_e boxId = 0; boxId < CHECKBOX_ITEM_COUNT; boxId++) {
-        if(activeBoxIds & (1 << boxId)) {
-            if (boxEnabledMask & (1 << boxId))
-                mspBoxEnabledMask |= 1 << mspBoxIdx;      // box is enabled
-            mspBoxIdx++;                                  // box is active, count it
+        if (activeBoxIdGet(boxId)) {
+            if (bitArrayGet(&boxEnabledMask,  boxId))
+                bitArraySet(mspFlightModeFlags,  mspBoxIdx);      // box is enabled
+            mspBoxIdx++;                                          // box is active, count it
         }
     }
-
-    return mspBoxEnabledMask;
+    // return count of used bits
+    return mspBoxIdx;
 }
 
 static void serializeSDCardSummaryReply(sbuf_t *dst)
@@ -829,20 +859,6 @@ static bool mspOsdSlaveProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostPro
 
     switch (cmdMSP) {
     case MSP_STATUS_EX:
-        sbufWriteU16(dst, getTaskDeltaTime(TASK_SERIAL));
-#ifdef USE_I2C
-        sbufWriteU16(dst, i2cGetErrorCounter());
-#else
-        sbufWriteU16(dst, 0);
-#endif
-        sbufWriteU16(dst, 0); // sensors
-        sbufWriteU32(dst, 0); // flight modes
-        sbufWriteU8(dst, 0); // profile
-        sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
-        sbufWriteU8(dst, 1); // max profiles
-        sbufWriteU8(dst, 0); // control rate profile
-        break;
-
     case MSP_STATUS:
         sbufWriteU16(dst, getTaskDeltaTime(TASK_SERIAL));
 #ifdef USE_I2C
@@ -854,7 +870,12 @@ static bool mspOsdSlaveProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostPro
         sbufWriteU32(dst, 0); // flight modes
         sbufWriteU8(dst, 0); // profile
         sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
-        sbufWriteU16(dst, 0); // gyro cycle time
+        if (cmdMSP == MSP_STATUS_EX) {
+            sbufWriteU8(dst, 1); // max profiles
+            sbufWriteU8(dst, 0); // control rate profile
+        } else {
+            sbufWriteU16(dst, 0); // gyro cycle time
+        }
         break;
 
     default:
@@ -871,32 +892,35 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
 
     switch (cmdMSP) {
     case MSP_STATUS_EX:
-        sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
-#ifdef USE_I2C
-        sbufWriteU16(dst, i2cGetErrorCounter());
-#else
-        sbufWriteU16(dst, 0);
-#endif
-        sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
-        sbufWriteU32(dst, packFlightModeFlags());
-        sbufWriteU8(dst, getCurrentPidProfileIndex());
-        sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
-        sbufWriteU8(dst, MAX_PROFILE_COUNT);
-        sbufWriteU8(dst, getCurrentControlRateProfileIndex());
-        break;
-
     case MSP_STATUS:
-        sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
+        {
+            boxBitmask_t flightModeFlags;
+            const int flagBits = packFlightModeFlags(&flightModeFlags);
+
+            sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
 #ifdef USE_I2C
-        sbufWriteU16(dst, i2cGetErrorCounter());
+            sbufWriteU16(dst, i2cGetErrorCounter());
 #else
-        sbufWriteU16(dst, 0);
+            sbufWriteU16(dst, 0);
 #endif
-        sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
-        sbufWriteU32(dst, packFlightModeFlags());
-        sbufWriteU8(dst, getCurrentPidProfileIndex());
-        sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
-        sbufWriteU16(dst, 0); // gyro cycle time
+            sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
+            sbufWriteData(dst, &flightModeFlags, 4);        // unconditional part of flags, first 32 bits
+            sbufWriteU8(dst, getCurrentPidProfileIndex());
+            sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
+            if (cmdMSP == MSP_STATUS_EX) {
+                sbufWriteU8(dst, MAX_PROFILE_COUNT);
+                sbufWriteU8(dst, getCurrentControlRateProfileIndex());
+            } else {  // MSP_STATUS
+                sbufWriteU16(dst, 0); // gyro cycle time
+            }
+
+            // write flightModeFlags header. Lowest 4 bits contain number of bytes that follow
+            // header is emited even when all bits fit into 32 bits to allow future extension
+            int byteCount = (flagBits - 32 + 7) / 8;        // 32 already stored, round up
+            byteCount = constrain(byteCount, 0, 15);        // limit to 16 bytes (128 bits)
+            sbufWriteU8(dst, byteCount);
+            sbufWriteData(dst, ((uint8_t*)&flightModeFlags) + 4, byteCount);
+        }
         break;
 
     case MSP_RAW_IMU:
@@ -1058,14 +1082,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         }
         break;
 
-    case MSP_BOXNAMES:
-        serializeBoxNamesReply(dst);
-        break;
-
-    case MSP_BOXIDS:
-        serializeBoxIdsReply(dst);
-        break;
-
     case MSP_MOTOR_CONFIG:
         sbufWriteU16(dst, motorConfig()->minthrottle);
         sbufWriteU16(dst, motorConfig()->maxthrottle);
@@ -1332,13 +1348,13 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
 
                 uint8_t band=0, channel=0;
                 vtxCommonGetBandAndChannel(&band,&channel);
-                
+
                 uint8_t powerIdx=0; // debug
                 vtxCommonGetPowerIndex(&powerIdx);
-                
+
                 uint8_t pitmode=0;
                 vtxCommonGetPitMode(&pitmode);
-                
+
                 sbufWriteU8(dst, deviceType);
                 sbufWriteU8(dst, band);
                 sbufWriteU8(dst, channel);
@@ -1358,6 +1374,29 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
     }
     return true;
 }
+
+static mspResult_e mspFcProcessOutCommandWithArg(uint8_t cmdMSP, sbuf_t *arg, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
+{
+    UNUSED(mspPostProcessFn);
+
+    switch (cmdMSP) {
+    case MSP_BOXNAMES:
+        {
+            const int page = sbufBytesRemaining(arg) ? sbufReadU8(arg) : 0;
+            serializeBoxReply(dst, page, &serializeBoxNameFn);
+        }
+        break;
+    case MSP_BOXIDS:
+        {
+            const int page = sbufBytesRemaining(arg) ? sbufReadU8(arg) : 0;
+            serializeBoxReply(dst, page, &serializeBoxPermanentIdFn);
+        }
+        break;
+    default:
+        return MSP_RESULT_CMD_UNKNOWN;
+    }
+    return MSP_RESULT_ACK;
+}
 #endif
 
 #ifdef GPS
@@ -1495,7 +1534,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
                 mac->range.startStep = sbufReadU8(src);
                 mac->range.endStep = sbufReadU8(src);
 
-                useRcControlsConfig(modeActivationConditions(0), currentPidProfile);
+                useRcControlsConfig(currentPidProfile);
             } else {
                 return MSP_RESULT_ERROR;
             }
@@ -1657,7 +1696,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         }*/
         validateAndFixGyroConfig();
 
-        if (sbufBytesRemaining(src)) {        
+        if (sbufBytesRemaining(src)) {
             motorConfigMutable()->dev.motorPwmInversion = sbufReadU8(src);
         }
         break;
@@ -1760,13 +1799,13 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
 
                 if (sbufBytesRemaining(src) < 2)
                     break;
-            
+
                 uint8_t power = sbufReadU8(src);
                 uint8_t current_power = 0;
                 vtxCommonGetPowerIndex(&current_power);
                 if (current_power != power)
                     vtxCommonSetPowerByIndex(power);
-            
+
                 uint8_t pitmode = sbufReadU8(src);
                 uint8_t current_pitmode = 0;
                 vtxCommonGetPitMode(&current_pitmode);
@@ -2176,6 +2215,8 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro
 #ifndef USE_OSD_SLAVE
     } else if (mspFcProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
         ret = MSP_RESULT_ACK;
+    } else if ((ret = mspFcProcessOutCommandWithArg(cmdMSP, src, dst, mspPostProcessFn)) != MSP_RESULT_CMD_UNKNOWN) {
+        /* ret */;
 #endif
 #ifdef USE_OSD_SLAVE
     } else if (mspOsdSlaveProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
diff --git a/src/main/fc/fc_msp.h b/src/main/fc/fc_msp.h
index ac3bc51958..92e0cc2647 100644
--- a/src/main/fc/fc_msp.h
+++ b/src/main/fc/fc_msp.h
@@ -18,12 +18,12 @@
 #pragma once
 
 #include "msp/msp.h"
-#include "rc_controls.h"
+#include "fc/rc_modes.h"
 
 typedef struct box_e {
     const uint8_t boxId;            // see boxId_e
     const char *boxName;            // GUI-readable box name
-    const uint8_t permanentId;      //
+    const uint8_t permanentId;      // permanent ID used to identify BOX. This ID is unique for one function, DO NOT REUSE IT
 } box_t;
 
 const box_t *findBoxByBoxId(boxId_e boxId);
diff --git a/src/main/fc/fc_rc.c b/src/main/fc/fc_rc.c
index f472787727..afc1f45b7d 100755
--- a/src/main/fc/fc_rc.c
+++ b/src/main/fc/fc_rc.c
@@ -37,6 +37,7 @@
 #include "fc/fc_core.h"
 #include "fc/fc_rc.h"
 #include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "rx/rx.h"
diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c
index 2fbba702b0..3ad6b04867 100644
--- a/src/main/fc/rc_adjustments.c
+++ b/src/main/fc/rc_adjustments.c
@@ -88,7 +88,7 @@ static void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustm
 }
 #endif
 
-static uint8_t adjustmentStateMask = 0;
+STATIC_UNIT_TESTED uint8_t adjustmentStateMask = 0;
 
 #define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
 #define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
@@ -199,9 +199,9 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
 
 #define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
 
-static adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
+STATIC_UNIT_TESTED adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
 
-static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig)
+STATIC_UNIT_TESTED void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig)
 {
     adjustmentState_t *adjustmentState = &adjustmentStates[index];
 
@@ -386,10 +386,7 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig)
             continue;
         }
 
-        const int32_t signedDiff = now - adjustmentState->timeoutAt;
-        const bool canResetReadyStates = signedDiff >= 0L;
-
-        if (canResetReadyStates) {
+        if (cmp32(now, adjustmentState->timeoutAt) >= 0) {
             adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
             MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
         }
diff --git a/src/main/fc/rc_adjustments.h b/src/main/fc/rc_adjustments.h
index 3d44a4629a..60900403a6 100644
--- a/src/main/fc/rc_adjustments.h
+++ b/src/main/fc/rc_adjustments.h
@@ -19,7 +19,7 @@
 
 #include <stdbool.h>
 #include "config/parameter_group.h"
-#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 
 typedef enum {
     ADJUSTMENT_NONE = 0,
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 0bcdfe7cb5..259cab256f 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -65,8 +65,6 @@ static bool isUsingSticksToArm = true;
 
 float rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
 
-uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
-
 PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
 
 PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
@@ -85,15 +83,13 @@ PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
     .auto_disarm_delay = 5
 );
 
-PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
-
-bool isAirmodeActive(void) {
-    return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
-}
-
-bool isAntiGravityModeActive(void) {
-    return (IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || feature(FEATURE_ANTI_GRAVITY));
-}
+PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
+PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
+    .deadband3d_low = 1406,
+    .deadband3d_high = 1514,
+    .neutral3d = 1460,
+    .deadband3d_throttle = 50
+);
 
 bool isUsingSticksForArming(void)
 {
@@ -308,51 +304,13 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
 
 }
 
-bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId)
-{
-    uint8_t index;
-
-    for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
-        const modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
-
-        if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
-            return true;
-        }
-    }
-
-    return false;
-}
-
-bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
-    if (!IS_RANGE_USABLE(range)) {
-        return false;
-    }
-
-    const uint16_t channelValue = constrain(rcData[auxChannelIndex + NON_AUX_CHANNEL_COUNT], CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX - 1);
-    return (channelValue >= 900 + (range->startStep * 25) &&
-            channelValue < 900 + (range->endStep * 25));
-}
-
-void updateActivatedModes(void)
-{
-    rcModeActivationMask = 0;
-
-    for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
-        const modeActivationCondition_t *modeActivationCondition = modeActivationConditions(index);
-
-        if (isRangeActive(modeActivationCondition->auxChannelIndex, &modeActivationCondition->range)) {
-            ACTIVATE_RC_MODE(modeActivationCondition->modeId);
-        }
-    }
-}
-
 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
     return MIN(ABS(rcData[axis] - midrc), 500);
 }
 
-void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, pidProfile_t *pidProfileToUse)
+void useRcControlsConfig(pidProfile_t *pidProfileToUse)
 {
     pidProfile = pidProfileToUse;
 
-    isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
+    isUsingSticksToArm = !isModeActivationConditionPresent(BOXARM);
 }
diff --git a/src/main/fc/rc_controls.h b/src/main/fc/rc_controls.h
index 9be4198d2a..a7eb5c10a0 100644
--- a/src/main/fc/rc_controls.h
+++ b/src/main/fc/rc_controls.h
@@ -21,47 +21,6 @@
 
 #include "config/parameter_group.h"
 
-typedef enum {
-    BOXARM = 0,
-    BOXANGLE,
-    BOXHORIZON,
-    BOXBARO,
-    BOXANTIGRAVITY,
-    BOXMAG,
-    BOXHEADFREE,
-    BOXHEADADJ,
-    BOXCAMSTAB,
-    BOXCAMTRIG,
-    BOXGPSHOME,
-    BOXGPSHOLD,
-    BOXPASSTHRU,
-    BOXBEEPERON,
-    BOXLEDMAX,
-    BOXLEDLOW,
-    BOXLLIGHTS,
-    BOXCALIB,
-    BOXGOV,
-    BOXOSD,
-    BOXTELEMETRY,
-    BOXGTUNE,
-    BOXSONAR,
-    BOXSERVO1,
-    BOXSERVO2,
-    BOXSERVO3,
-    BOXBLACKBOX,
-    BOXFAILSAFE,
-    BOXAIRMODE,
-    BOX3DDISABLESWITCH,
-    BOXFPVANGLEMIX,
-    BOXBLACKBOXERASE,
-    CHECKBOX_ITEM_COUNT
-} boxId_e;
-
-extern uint32_t rcModeActivationMask;
-
-#define IS_RC_MODE_ACTIVE(modeId) ((1 << (modeId)) & rcModeActivationMask)
-#define ACTIVATE_RC_MODE(modeId) (rcModeActivationMask |= (1 << modeId))
-
 typedef enum rc_alias {
     ROLL = 0,
     PITCH,
@@ -109,17 +68,6 @@ typedef enum {
 #define THR_CE (3 << (2 * THROTTLE))
 #define THR_HI (2 << (2 * THROTTLE))
 
-#define MAX_MODE_ACTIVATION_CONDITION_COUNT 20
-
-#define CHANNEL_RANGE_MIN 900
-#define CHANNEL_RANGE_MAX 2100
-
-#define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * step)
-#define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)
-
-#define MIN_MODE_RANGE_STEP 0
-#define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
-
 // Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0:
 #define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX  100
 
@@ -128,29 +76,6 @@ typedef enum {
 
 #define CONTROL_RATE_CONFIG_TPA_MAX              100
 
-// steps are 25 apart
-// a value of 0 corresponds to a channel value of 900 or less
-// a value of 48 corresponds to a channel value of 2100 or more
-// 48 steps between 900 and 1200
-typedef struct channelRange_s {
-    uint8_t startStep;
-    uint8_t endStep;
-} channelRange_t;
-
-typedef struct modeActivationCondition_s {
-    boxId_e modeId;
-    uint8_t auxChannelIndex;
-    channelRange_t range;
-} modeActivationCondition_t;
-
-PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);
-
-typedef struct modeActivationProfile_s {
-    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
-} modeActivationProfile_t;
-
-#define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
-
 extern float rcCommand[4];
 
 typedef struct rcControlsConfig_s {
@@ -186,15 +111,9 @@ bool areSticksInApModePosition(uint16_t ap_mode);
 throttleStatus_e calculateThrottleStatus(void);
 void processRcStickPositions(throttleStatus_e throttleStatus);
 
-bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
-void updateActivatedModes(void);
-
-bool isAirmodeActive(void);
-bool isAntiGravityModeActive(void);
-
 bool isUsingSticksForArming(void);
 
 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
-bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
 struct pidProfile_s;
-void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, struct pidProfile_s *pidProfileToUse);
+struct modeActivationCondition_s;
+void useRcControlsConfig(struct pidProfile_s *pidProfileToUse);
diff --git a/src/main/fc/rc_modes.c b/src/main/fc/rc_modes.c
new file mode 100644
index 0000000000..16d5369c25
--- /dev/null
+++ b/src/main/fc/rc_modes.c
@@ -0,0 +1,101 @@
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "rc_modes.h"
+
+#include "common/bitarray.h"
+#include "common/maths.h"
+
+#include "config/feature.h"
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+
+#include "fc/config.h"
+#include "fc/rc_controls.h"
+
+#include "rx/rx.h"
+
+boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
+
+PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions,
+                  PG_MODE_ACTIVATION_PROFILE, 0);
+
+
+bool IS_RC_MODE_ACTIVE(boxId_e boxId)
+{
+    return bitArrayGet(&rcModeActivationMask, boxId);
+}
+
+void rcModeUpdate(boxBitmask_t *newState)
+{
+    rcModeActivationMask = *newState;
+}
+
+bool isAirmodeActive(void) {
+    return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
+}
+
+bool isAntiGravityModeActive(void) {
+    return (IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || feature(FEATURE_ANTI_GRAVITY));
+}
+
+bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
+    if (!IS_RANGE_USABLE(range)) {
+        return false;
+    }
+
+    const uint16_t channelValue = constrain(rcData[auxChannelIndex + NON_AUX_CHANNEL_COUNT], CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX - 1);
+    return (channelValue >= 900 + (range->startStep * 25) &&
+            channelValue < 900 + (range->endStep * 25));
+}
+
+
+void updateActivatedModes(void)
+{
+    boxBitmask_t newMask;
+    memset(&newMask, 0, sizeof(newMask));
+
+    for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
+        const modeActivationCondition_t *modeActivationCondition = modeActivationConditions(index);
+
+        if (isRangeActive(modeActivationCondition->auxChannelIndex, &modeActivationCondition->range)) {
+            boxId_e mode = modeActivationCondition->modeId;
+            if (mode < CHECKBOX_ITEM_COUNT)
+                bitArraySet(&newMask, mode);
+        }
+    }
+    rcModeUpdate(&newMask);
+}
+
+bool isModeActivationConditionPresent(boxId_e modeId)
+{
+    uint8_t index;
+
+    for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
+        const modeActivationCondition_t *modeActivationCondition = modeActivationConditions(index);
+
+        if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
+            return true;
+        }
+    }
+
+    return false;
+}
diff --git a/src/main/fc/rc_modes.h b/src/main/fc/rc_modes.h
new file mode 100644
index 0000000000..2b0d223786
--- /dev/null
+++ b/src/main/fc/rc_modes.h
@@ -0,0 +1,105 @@
+/*
+ * 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/>.
+ */
+
+#pragma once
+
+#include <stdbool.h>
+
+#include "config/parameter_group.h"
+
+typedef enum {
+    BOXARM = 0,
+    BOXANGLE,
+    BOXHORIZON,
+    BOXBARO,
+    BOXANTIGRAVITY,
+    BOXMAG,
+    BOXHEADFREE,
+    BOXHEADADJ,
+    BOXCAMSTAB,
+    BOXCAMTRIG,
+    BOXGPSHOME,
+    BOXGPSHOLD,
+    BOXPASSTHRU,
+    BOXBEEPERON,
+    BOXLEDMAX,
+    BOXLEDLOW,
+    BOXLLIGHTS,
+    BOXCALIB,
+    BOXGOV,
+    BOXOSD,
+    BOXTELEMETRY,
+    BOXGTUNE,
+    BOXSONAR,
+    BOXSERVO1,
+    BOXSERVO2,
+    BOXSERVO3,
+    BOXBLACKBOX,
+    BOXFAILSAFE,
+    BOXAIRMODE,
+    BOX3DDISABLESWITCH,
+    BOXFPVANGLEMIX,
+    BOXBLACKBOXERASE,
+    CHECKBOX_ITEM_COUNT
+} boxId_e;
+
+// type to hold enough bits for CHECKBOX_ITEM_COUNT. Struct used for value-like behavior
+typedef struct { uint32_t bits[(CHECKBOX_ITEM_COUNT + 31) / 32]; } boxBitmask_t;
+
+#define MAX_MODE_ACTIVATION_CONDITION_COUNT 20
+
+#define CHANNEL_RANGE_MIN 900
+#define CHANNEL_RANGE_MAX 2100
+
+#define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * step)
+#define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)
+
+#define MIN_MODE_RANGE_STEP 0
+#define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
+
+// steps are 25 apart
+// a value of 0 corresponds to a channel value of 900 or less
+// a value of 48 corresponds to a channel value of 2100 or more
+// 48 steps between 900 and 1200
+typedef struct channelRange_s {
+    uint8_t startStep;
+    uint8_t endStep;
+} channelRange_t;
+
+typedef struct modeActivationCondition_s {
+    boxId_e modeId;
+    uint8_t auxChannelIndex;
+    channelRange_t range;
+} modeActivationCondition_t;
+
+PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);
+
+typedef struct modeActivationProfile_s {
+    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
+} modeActivationProfile_t;
+
+#define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
+
+bool IS_RC_MODE_ACTIVE(boxId_e boxId);
+void rcModeUpdate(boxBitmask_t *newState);
+
+bool isAirmodeActive(void);
+bool isAntiGravityModeActive(void);
+
+bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
+void updateActivatedModes(void);
+bool isModeActivationConditionPresent(boxId_e modeId);
diff --git a/src/main/fc/settings.c b/src/main/fc/settings.c
index dbb091f20e..6ccfbfb104 100644
--- a/src/main/fc/settings.c
+++ b/src/main/fc/settings.c
@@ -36,10 +36,13 @@
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
+#include "drivers/light_led.h"
+
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
 #include "fc/fc_core.h"
 #include "fc/rc_adjustments.h"
+#include "fc/rc_controls.h"
 #include "fc/settings.h"
 
 #include "flight/altitude.h"
@@ -593,7 +596,7 @@ const clivalue_t valueTable[] = {
 // PG_TELEMETRY_CONFIG
 #ifdef TELEMETRY
     { "tlm_switch",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, telemetry_switch) },
-    { "tlm_inverted",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, telemetry_inverted) },
+    { "tlm_inverted",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, telemetry_inverted) },
     { "tlm_halfduplex",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, halfDuplex) },
     { "frsky_default_lat",          VAR_INT16  | MASTER_VALUE, .config.minmax = { -9000, 9000 }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, gpsNoFixLatitude) },
     { "frsky_default_long",         VAR_INT16  | MASTER_VALUE, .config.minmax = { -18000, 18000 }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, gpsNoFixLongitude) },
@@ -603,7 +606,7 @@ const clivalue_t valueTable[] = {
     { "hott_alarm_int",             VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, 120 }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, hottAlarmSoundInterval) },
     { "pid_in_tlm",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, pidValuesAsTelemetry) },
 #if defined(TELEMETRY_IBUS)
-    { "report_cell_voltage",   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, report_cell_voltage) },
+    { "report_cell_voltage",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, report_cell_voltage) },
 #endif
 #endif
 
@@ -713,6 +716,7 @@ const clivalue_t valueTable[] = {
 #ifdef USE_ESC_SENSOR
     { "esc_sensor_halfduplex",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ESC_SENSOR_CONFIG, offsetof(escSensorConfig_t, halfDuplex) },
 #endif
+    { "led_inversion",                  VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, ((1 << STATUS_LED_NUMBER) - 1) }, PG_STATUS_LED_CONFIG, offsetof(statusLedConfig_t, inversion) },
 };
 
 const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);
diff --git a/src/main/flight/altitude.c b/src/main/flight/altitude.c
index ada46f6d4c..7ae6f62496 100644
--- a/src/main/flight/altitude.c
+++ b/src/main/flight/altitude.c
@@ -33,6 +33,7 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "flight/altitude.h"
diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index bf21c74d87..a9c9e9c877 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -31,6 +31,7 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "flight/failsafe.h"
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index de7c331f70..f5fcd647e5 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -40,6 +40,7 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 #include "fc/fc_core.h"
 
@@ -52,16 +53,6 @@
 
 #include "sensors/battery.h"
 
-
-PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
-
-PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
-    .deadband3d_low = 1406,
-    .deadband3d_high = 1514,
-    .neutral3d = 1460,
-    .deadband3d_throttle = 50
-);
-
 PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
 
 #ifndef TARGET_DEFAULT_MIXER
diff --git a/src/main/flight/navigation.c b/src/main/flight/navigation.c
index d5ce24a515..1ee364b87b 100644
--- a/src/main/flight/navigation.c
+++ b/src/main/flight/navigation.c
@@ -37,7 +37,7 @@
 
 #include "fc/config.h"
 #include "fc/fc_core.h"
-#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "flight/imu.h"
diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
index d137127416..72b08821e6 100755
--- a/src/main/flight/servos.c
+++ b/src/main/flight/servos.c
@@ -38,6 +38,7 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "flight/imu.h"
diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c
index 9b0154d1a0..0be72d3a94 100644
--- a/src/main/io/ledstrip.c
+++ b/src/main/io/ledstrip.c
@@ -44,6 +44,7 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "flight/failsafe.h"
diff --git a/src/main/io/vtx_control.h b/src/main/io/vtx_control.h
index 76007d6172..3715b60e00 100644
--- a/src/main/io/vtx_control.h
+++ b/src/main/io/vtx_control.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 
 #define MAX_CHANNEL_ACTIVATION_CONDITION_COUNT  10
 
diff --git a/src/main/msp/msp.h b/src/main/msp/msp.h
index 9a9ddb0f4b..702898bb9b 100644
--- a/src/main/msp/msp.h
+++ b/src/main/msp/msp.h
@@ -23,7 +23,8 @@
 typedef enum {
     MSP_RESULT_ACK = 1,
     MSP_RESULT_ERROR = -1,
-    MSP_RESULT_NO_REPLY = 0
+    MSP_RESULT_NO_REPLY = 0,
+    MSP_RESULT_CMD_UNKNOWN = -2,   // don't know how to process command, try next handler
 } mspResult_e;
 
 typedef enum {
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index a93a6f5f39..5ae38829e8 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -41,6 +41,7 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 
 #include "flight/failsafe.h"
 
@@ -297,6 +298,7 @@ void rxInit(void)
     rcData[THROTTLE] = (feature(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
 
     // Initialize ARM switch to OFF position when arming via switch is defined
+    // TODO - move to rc_mode.c
     for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
         const modeActivationCondition_t *modeActivationCondition = modeActivationConditions(i);
         if (modeActivationCondition->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationCondition->range)) {
diff --git a/src/main/sensors/current.c b/src/main/sensors/current.c
index f6e6647851..fd2078a855 100644
--- a/src/main/sensors/current.c
+++ b/src/main/sensors/current.c
@@ -211,7 +211,6 @@ void currentMeterESCReadCombined(currentMeter_t *meter)
     meter->amperageLatest = currentMeterESCState.amperage;
     meter->amperage = currentMeterESCState.amperage;
     meter->mAhDrawn = currentMeterESCState.mAhDrawn;
-    currentMeterReset(meter);
 }
 
 void currentMeterESCReadMotor(uint8_t motorNumber, currentMeter_t *meter)
diff --git a/src/main/target/AIR32/target.h b/src/main/target/AIR32/target.h
index 42b292f0b2..33fb04fb8c 100644
--- a/src/main/target/AIR32/target.h
+++ b/src/main/target/AIR32/target.h
@@ -21,7 +21,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0                    PB5 // Blue LED - PB5
+#define LED0_PIN                PB5 // Blue LED - PB5
 
 #define BEEPER                  PA0
 
diff --git a/src/main/target/AIRHEROF3/target.h b/src/main/target/AIRHEROF3/target.h
index b0a6b87197..f91f87b3ac 100755
--- a/src/main/target/AIRHEROF3/target.h
+++ b/src/main/target/AIRHEROF3/target.h
@@ -22,8 +22,8 @@
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 #define CONFIG_PREFER_ACC_ON
 
-#define LED0                    PB3
-#define LED1                    PB4
+#define LED0_PIN                PB3
+#define LED1_PIN                PB4
 
 #define BEEPER                  PA12
 #define BEEPER_INVERTED
diff --git a/src/main/target/ALIENFLIGHTF1/target.h b/src/main/target/ALIENFLIGHTF1/target.h
index 55172ae6bc..596b4f47a7 100644
--- a/src/main/target/ALIENFLIGHTF1/target.h
+++ b/src/main/target/ALIENFLIGHTF1/target.h
@@ -22,8 +22,8 @@
 
 #define BRUSHED_ESC_AUTODETECT
 
-#define LED0                    PB3
-#define LED1                    PB4
+#define LED0_PIN                PB3
+#define LED1_PIN                PB4
 
 #define BEEPER                  PA12
 
diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c
index dee3884cb2..200915262f 100644
--- a/src/main/target/ALIENFLIGHTF3/config.c
+++ b/src/main/target/ALIENFLIGHTF3/config.c
@@ -57,7 +57,7 @@ void targetConfiguration(void)
 {
     /* depending on revision ... depends on the LEDs to be utilised. */
     if (hardwareRevision == AFF3_REV_2) {
-        statusLedConfigMutable()->polarity = 0
+        statusLedConfigMutable()->inversion = 0
 #ifdef LED0_A_INVERTED
             | BIT(0)
 #endif
@@ -69,17 +69,17 @@ void targetConfiguration(void)
 #endif
             ;
 
-        for (int i = 0; i < LED_NUMBER; i++) {
-            statusLedConfigMutable()->ledTags[i] = IO_TAG_NONE;
+        for (int i = 0; i < STATUS_LED_NUMBER; i++) {
+            statusLedConfigMutable()->ioTags[i] = IO_TAG_NONE;
         }
 #ifdef LED0_A
-        statusLedConfigMutable()->ledTags[0] = IO_TAG(LED0_A);
+        statusLedConfigMutable()->ioTags[0] = IO_TAG(LED0_A);
 #endif
 #ifdef LED1_A
-        statusLedConfigMutable()->ledTags[1] = IO_TAG(LED1_A);
+        statusLedConfigMutable()->ioTags[1] = IO_TAG(LED1_A);
 #endif
 #ifdef LED2_A
-        statusLedConfigMutable()->ledTags[2] = IO_TAG(LED2_A);
+        statusLedConfigMutable()->ioTags[2] = IO_TAG(LED2_A);
 #endif
     } else {
         gyroConfigMutable()->gyro_sync_denom = 2;
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index ef8d085ee5..f0ce648bc9 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -28,8 +28,8 @@
 #define BRUSHED_ESC_AUTODETECT
 
 // LED's V1
-#define LED0                    PB4
-#define LED1                    PB5
+#define LED0_PIN                PB4
+#define LED1_PIN                PB5
 
 // LED's V2
 #define LED0_A                  PB8
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index cf7b5f17cf..bb7b3329d0 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -25,8 +25,8 @@
 
 #define USBD_PRODUCT_STRING "AlienFlight F4"
 
-#define LED0                    PC12
-#define LED1                    PD2
+#define LED0_PIN                PC12
+#define LED1_PIN                PD2
 
 #define BEEPER                  PC13
 #define BEEPER_INVERTED
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
index ca4cfcd439..7e07c38670 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.h
+++ b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -25,8 +25,8 @@
 
 #define USBD_PRODUCT_STRING "AlienFlightNG F7"
 
-#define LED0                    PC12
-#define LED1                    PD2
+#define LED0_PIN                PC12
+#define LED1_PIN                PD2
 
 #define BEEPER                  PC13
 #define BEEPER_INVERTED
diff --git a/src/main/target/BEEROTORF4/target.h b/src/main/target/BEEROTORF4/target.h
index 116a7e930d..01bcfc995c 100644
--- a/src/main/target/BEEROTORF4/target.h
+++ b/src/main/target/BEEROTORF4/target.h
@@ -20,7 +20,7 @@
 
 #define USBD_PRODUCT_STRING "BeeRotorF4"
 
-#define LED0                    PB4
+#define LED0_PIN                PB4
 
 #define BEEPER                  PB3
 #define BEEPER_INVERTED
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index cd5516755a..a9ec2522bd 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -28,9 +28,9 @@
 
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 
-#define LED0                    PB6
-#define LED1                    PB5
-#define LED2                    PB4
+#define LED0_PIN                PB6
+#define LED1_PIN                PB5
+#define LED2_PIN                PB4
 
 #define BEEPER                  PC1
 #define BEEPER_OPT              PB7
diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h
index 7fdd2af6b7..d03e0aa676 100644
--- a/src/main/target/CC3D/target.h
+++ b/src/main/target/CC3D/target.h
@@ -17,7 +17,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "CC3D" // CopterControl 3D
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 
 #define INVERTER_PIN_UART1      PB2 // PB2 (BOOT1) used as inverter select GPIO
 
diff --git a/src/main/target/CHEBUZZF3/target.h b/src/main/target/CHEBUZZF3/target.h
index c44f461412..848cfd3c66 100644
--- a/src/main/target/CHEBUZZF3/target.h
+++ b/src/main/target/CHEBUZZF3/target.h
@@ -24,9 +24,9 @@
 #define STM32F3DISCOVERY
 #endif
 
-#define LED0                    PE8 // Blue LEDs - PE8/PE12
+#define LED0_PIN                PE8 // Blue LEDs - PE8/PE12
 #define LED0_INVERTED
-#define LED1                    PE10  // Orange LEDs - PE10/PE14
+#define LED1_PIN                PE10  // Orange LEDs - PE10/PE14
 #define LED1_INVERTED
 
 #define BEEPER                  PE9 // Red LEDs - PE9/PE13
diff --git a/src/main/target/CJMCU/target.h b/src/main/target/CJMCU/target.h
index cfb52ab8b0..84d573b88c 100644
--- a/src/main/target/CJMCU/target.h
+++ b/src/main/target/CJMCU/target.h
@@ -21,9 +21,9 @@
 #define USE_HARDWARE_REVISION_DETECTION
 #define TARGET_BUS_INIT
 
-#define LED0                    PC14
-#define LED1                    PC13
-#define LED2                    PC15
+#define LED0_PIN                PC14
+#define LED1_PIN                PC13
+#define LED2_PIN                PC15
 
 #undef BEEPER
 
diff --git a/src/main/target/CLRACINGF4/target.h b/src/main/target/CLRACINGF4/target.h
index 0b0638d659..8ddfe2e402 100644
--- a/src/main/target/CLRACINGF4/target.h
+++ b/src/main/target/CLRACINGF4/target.h
@@ -24,7 +24,7 @@
 #endif
 
 
-#define LED0                      PB5
+#define LED0_PIN                  PB5
 #define BEEPER                    PB4
 #define BEEPER_INVERTED
 #define BEEPER_PWM_HZ             3800 // Beeper PWM frequency in Hz
diff --git a/src/main/target/CLRACINGF7/target.h b/src/main/target/CLRACINGF7/target.h
index b9b781f84a..62ab3fe003 100644
--- a/src/main/target/CLRACINGF7/target.h
+++ b/src/main/target/CLRACINGF7/target.h
@@ -20,7 +20,7 @@
 
 #define USBD_PRODUCT_STRING "CLRACINGF7"
 
-#define LED0                    PB0
+#define LED0_PIN                PB0
 #define BEEPER                  PB4
 #define BEEPER_INVERTED
 
diff --git a/src/main/target/COLIBRI/target.h b/src/main/target/COLIBRI/target.h
index 47f1a60ceb..14df4b4594 100644
--- a/src/main/target/COLIBRI/target.h
+++ b/src/main/target/COLIBRI/target.h
@@ -26,8 +26,8 @@
 
 #define TARGET_XTAL_MHZ         16
 
-#define LED0                    PC14
-#define LED1                    PC13
+#define LED0_PIN                PC14
+#define LED1_PIN                PC13
 
 #define BEEPER                  PC5
 
diff --git a/src/main/target/COLIBRI_RACE/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c
index 970fab00f8..34a62f3849 100644
--- a/src/main/target/COLIBRI_RACE/i2c_bst.c
+++ b/src/main/target/COLIBRI_RACE/i2c_bst.c
@@ -483,7 +483,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
                     mac->range.startStep = bstRead8();
                     mac->range.endStep = bstRead8();
 
-                    useRcControlsConfig(modeActivationConditions(0), currentPidProfile);
+                    useRcControlsConfig(currentPidProfile);
                 } else {
                     ret = BST_FAILED;
                 }
diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h
index 52bd44f43a..73843b2e52 100755
--- a/src/main/target/COLIBRI_RACE/target.h
+++ b/src/main/target/COLIBRI_RACE/target.h
@@ -26,9 +26,9 @@
 
 #undef USE_RX_MSP // never used.
 
-#define LED0                    PC15
-#define LED1                    PC14
-#define LED2                    PC13
+#define LED0_PIN                PC15
+#define LED1_PIN                PC14
+#define LED2_PIN                PC13
 
 #define BEEPER                  PB13
 #define BEEPER_INVERTED
diff --git a/src/main/target/CRAZYFLIE2/target.h b/src/main/target/CRAZYFLIE2/target.h
index e61ed7c0fd..2a45adf722 100644
--- a/src/main/target/CRAZYFLIE2/target.h
+++ b/src/main/target/CRAZYFLIE2/target.h
@@ -42,9 +42,9 @@
 #define USED_TIMERS             ( TIM_N(2) | TIM_N(4) )
 #endif
 
-#define LED0                    PD2
-#define LED1                    PC0
-#define LED2                    PC3
+#define LED0_PIN                PD2
+#define LED1_PIN                PC0
+#define LED2_PIN                PC3
 
 // Using STM32F405RG, 64 pin package (LQFP64)
 // 16 pins per port, ports A, B, C, and also PD2
diff --git a/src/main/target/DOGE/target.h b/src/main/target/DOGE/target.h
index cd6206c225..a59e827abc 100644
--- a/src/main/target/DOGE/target.h
+++ b/src/main/target/DOGE/target.h
@@ -22,11 +22,11 @@
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
 // tqfp48 pin 34
-#define LED0                    PA13
+#define LED0_PIN                PA13
 // tqfp48 pin 37
-#define LED1                    PA14
+#define LED1_PIN                PA14
 // tqfp48 pin 38
-#define LED2                    PA15
+#define LED2_PIN                PA15
 
 #define BEEPER                  PB2
 #define BEEPER_INVERTED
diff --git a/src/main/target/ELLE0/target.h b/src/main/target/ELLE0/target.h
index ec5cd8aaae..9ba906cc4f 100644
--- a/src/main/target/ELLE0/target.h
+++ b/src/main/target/ELLE0/target.h
@@ -22,9 +22,9 @@
 
 #define USBD_PRODUCT_STRING "Elle0"
 
-#define LED0                    PA8
-#define LED1                    PB4
-#define LED2                    PC2
+#define LED0_PIN                PA8
+#define LED1_PIN                PB4
+#define LED2_PIN                PC2
 
 // MPU9250 interrupt
 #define USE_EXTI
diff --git a/src/main/target/F4BY/target.h b/src/main/target/F4BY/target.h
index df1f436278..91280a0fa5 100644
--- a/src/main/target/F4BY/target.h
+++ b/src/main/target/F4BY/target.h
@@ -20,9 +20,9 @@
 
 #define USBD_PRODUCT_STRING     "Swift-Flyer F4BY"
 
-#define LED0                    PE3 // Blue LED
-#define LED1                    PE2 // Red LED
-#define LED2                    PE1 // Blue LED
+#define LED0_PIN                PE3 // Blue LED
+#define LED1_PIN                PE2 // Red LED
+#define LED2_PIN                PE1 // Blue LED
 
 #define BEEPER                  PE5
 
diff --git a/src/main/target/FF_FORTINIF4/target.h b/src/main/target/FF_FORTINIF4/target.h
index 1f66ab2438..5e5069d0c7 100644
--- a/src/main/target/FF_FORTINIF4/target.h
+++ b/src/main/target/FF_FORTINIF4/target.h
@@ -19,8 +19,8 @@
 #define TARGET_BOARD_IDENTIFIER "FORT"
 #define USBD_PRODUCT_STRING     "FortiniF4"
 /*--------------LED----------------*/
-#define LED0                    PB5
-#define LED1                    PB6
+#define LED0_PIN                PB5
+#define LED1_PIN                PB6
 #define LED_STRIP
 /*---------------------------------*/
 
diff --git a/src/main/target/FF_PIKOBLX/target.h b/src/main/target/FF_PIKOBLX/target.h
index f340f76369..2b7d9ed722 100644
--- a/src/main/target/FF_PIKOBLX/target.h
+++ b/src/main/target/FF_PIKOBLX/target.h
@@ -32,8 +32,8 @@
 #define TARGET_CONFIG
 #define BRUSHED_ESC_AUTODETECT
 
-#define LED0                    PB9
-#define LED1                    PB5
+#define LED0_PIN                PB9
+#define LED1_PIN                PB5
 
 #define BEEPER                  PA0
 #define BEEPER_INVERTED
diff --git a/src/main/target/FF_PIKOF4/target.h b/src/main/target/FF_PIKOF4/target.h
index 10ee4f1588..ab0cb499cc 100644
--- a/src/main/target/FF_PIKOF4/target.h
+++ b/src/main/target/FF_PIKOF4/target.h
@@ -19,8 +19,8 @@
 #define TARGET_BOARD_IDENTIFIER "PIK4"
 #define USBD_PRODUCT_STRING     "PikoF4"
 /*--------------LED----------------*/
-#define LED0                    PA15
-#define LED1                    PB6
+#define LED0_PIN                PA15
+#define LED1_PIN                PB6
 #define LED_STRIP
 /*---------------------------------*/
 
diff --git a/src/main/target/FISHDRONEF4/target.h b/src/main/target/FISHDRONEF4/target.h
index 8855c40c0c..027919a90d 100644
--- a/src/main/target/FISHDRONEF4/target.h
+++ b/src/main/target/FISHDRONEF4/target.h
@@ -21,8 +21,8 @@
 
 #define USBD_PRODUCT_STRING  "FishDroneF4"
 
-#define LED0                    PC13
-#define LED1                    PC14
+#define LED0_PIN                PC13
+#define LED1_PIN                PC14
 
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
diff --git a/src/main/target/FRSKYF3/target.h b/src/main/target/FRSKYF3/target.h
index e3d4484e01..550666518b 100644
--- a/src/main/target/FRSKYF3/target.h
+++ b/src/main/target/FRSKYF3/target.h
@@ -21,7 +21,7 @@
 #define TARGET_CONFIG
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
 
diff --git a/src/main/target/FRSKYF4/target.h b/src/main/target/FRSKYF4/target.h
index f715d723d2..26b83a916e 100644
--- a/src/main/target/FRSKYF4/target.h
+++ b/src/main/target/FRSKYF4/target.h
@@ -19,7 +19,7 @@
 #define USBD_PRODUCT_STRING "FRSKYF4"
 #define TARGET_CONFIG
 
-#define LED0                    PB5
+#define LED0_PIN                PB5
 #define BEEPER                  PB4
 #define BEEPER_INVERTED
 
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index 464d7e2cc5..5a9d893841 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -28,7 +28,7 @@
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 #define CONFIG_PREFER_ACC_ON
 
-#define LED0                    PC14
+#define LED0_PIN                PC14
 
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
diff --git a/src/main/target/FURYF4/target.h b/src/main/target/FURYF4/target.h
index 45d9c65113..182b662e30 100644
--- a/src/main/target/FURYF4/target.h
+++ b/src/main/target/FURYF4/target.h
@@ -25,8 +25,8 @@
     #define USBD_PRODUCT_STRING     "FuryF4"
 #endif
 
-#define LED0                    PB5
-#define LED1                    PB4
+#define LED0_PIN                PB5
+#define LED1_PIN                PB4
 
 #define BEEPER                  PA8
 #define BEEPER_INVERTED
diff --git a/src/main/target/FURYF7/target.h b/src/main/target/FURYF7/target.h
index e7c09271b1..335d1513a1 100644
--- a/src/main/target/FURYF7/target.h
+++ b/src/main/target/FURYF7/target.h
@@ -21,8 +21,8 @@
 
 #define USBD_PRODUCT_STRING "FuryF7"
 
-#define LED0                    PB5
-#define LED1                    PB4
+#define LED0_PIN                PB5
+#define LED1_PIN                PB4
 
 #define BEEPER                  PD10
 #define BEEPER_INVERTED
diff --git a/src/main/target/IMPULSERCF3/target.h b/src/main/target/IMPULSERCF3/target.h
index 6a4e3a140e..f63687d568 100644
--- a/src/main/target/IMPULSERCF3/target.h
+++ b/src/main/target/IMPULSERCF3/target.h
@@ -21,7 +21,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PB7
+#define LED0_PIN                PB7
 
 #define BEEPER                  PC15
 
diff --git a/src/main/target/IRCFUSIONF3/target.h b/src/main/target/IRCFUSIONF3/target.h
index bec37f4b37..41a478ffa5 100644
--- a/src/main/target/IRCFUSIONF3/target.h
+++ b/src/main/target/IRCFUSIONF3/target.h
@@ -21,7 +21,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 
 #define USE_EXTI
 #define MPU_INT_EXTI            PC13
diff --git a/src/main/target/ISHAPEDF3/target.h b/src/main/target/ISHAPEDF3/target.h
index e9eef103fd..2367ef2151 100644
--- a/src/main/target/ISHAPEDF3/target.h
+++ b/src/main/target/ISHAPEDF3/target.h
@@ -21,7 +21,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0        PB3
+#define LED0_PIN    PB3
 
 #define BEEPER      PC15
 #define BEEPER_INVERTED
diff --git a/src/main/target/KAKUTEF4/target.h b/src/main/target/KAKUTEF4/target.h
index 8e2874df0c..8edd69b2fc 100644
--- a/src/main/target/KAKUTEF4/target.h
+++ b/src/main/target/KAKUTEF4/target.h
@@ -20,9 +20,9 @@
 
 #define USBD_PRODUCT_STRING "KakuteF4-V1"
 
-#define LED0                    PB5
-#define LED1                    PB4
-#define LED2                    PB6
+#define LED0_PIN                PB5
+#define LED1_PIN                PB4
+#define LED2_PIN                PB6
 
 #define BEEPER                  PC9
 #define BEEPER_INVERTED
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index a552c0089c..46e7b3c445 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -29,7 +29,7 @@
 #define ESCSERIAL_TIMER_TX_HARDWARE 6
 #define REMAP_TIM17_DMA
 
-#define LED0                    PB1
+#define LED0_PIN                PB1
 
 #define BEEPER                  PB13
 #define BEEPER_INVERTED
diff --git a/src/main/target/KIWIF4/target.h b/src/main/target/KIWIF4/target.h
index bcc469df0d..0f72485724 100644
--- a/src/main/target/KIWIF4/target.h
+++ b/src/main/target/KIWIF4/target.h
@@ -32,11 +32,11 @@
 #endif
 
 #if defined(PLUMF4) || defined(KIWIF4V2)
-#define LED0                    PB4
+#define LED0_PIN                PB4
 
 #else
-#define LED0                    PB5
-#define LED1                    PB4				
+#define LED0_PIN                PB5
+#define LED1_PIN                PB4				
 #endif
 
 #define BEEPER                  PA8
diff --git a/src/main/target/KROOZX/target.h b/src/main/target/KROOZX/target.h
index 8d8e4e291a..d8fa00132b 100755
--- a/src/main/target/KROOZX/target.h
+++ b/src/main/target/KROOZX/target.h
@@ -27,8 +27,8 @@
 #define TARGET_CONFIG
 #define TARGET_PREINIT
 
-#define LED0                    PA14 // Red LED
-#define LED1                    PA13 // Green LED
+#define LED0_PIN                PA14 // Red LED
+#define LED1_PIN                PA13 // Green LED
 
 #define BEEPER                  PC1
 
diff --git a/src/main/target/LUMBAF3/target.h b/src/main/target/LUMBAF3/target.h
index 2fcc9369f8..04c6650772 100644
--- a/src/main/target/LUMBAF3/target.h
+++ b/src/main/target/LUMBAF3/target.h
@@ -17,7 +17,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "MCF3"	// LumbaF3 Flight Controller by mC
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 #define BEEPER                  PC15
 
 // MPU6000 interrupts
diff --git a/src/main/target/LUX_RACE/target.h b/src/main/target/LUX_RACE/target.h
index 88e86f5ad8..fea3621eea 100644
--- a/src/main/target/LUX_RACE/target.h
+++ b/src/main/target/LUX_RACE/target.h
@@ -26,10 +26,10 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0                    PC15
-#define LED1                    PC14
+#define LED0_PIN                PC15
+#define LED1_PIN                PC14
 #ifndef LUXV2_RACE
-#define LED2                    PC13
+#define LED2_PIN                PC13
 #endif
 
 #ifdef LUXV2_RACE
diff --git a/src/main/target/MATEKF405/target.h b/src/main/target/MATEKF405/target.h
index 430fb68a55..bff65e156e 100644
--- a/src/main/target/MATEKF405/target.h
+++ b/src/main/target/MATEKF405/target.h
@@ -22,8 +22,8 @@
 
 #define USBD_PRODUCT_STRING  "MatekF4"
 
-#define LED0                    PB9
-#define LED1                    PA14
+#define LED0_PIN                PB9
+#define LED1_PIN                PA14
 
 #define BEEPER                  PC13
 #define BEEPER_INVERTED
diff --git a/src/main/target/MICROSCISKY/target.h b/src/main/target/MICROSCISKY/target.h
index a741a3f23c..7c2431aa44 100644
--- a/src/main/target/MICROSCISKY/target.h
+++ b/src/main/target/MICROSCISKY/target.h
@@ -19,8 +19,8 @@
 
 #define TARGET_BOARD_IDENTIFIER "MSKY" // Micro sciSKY
 
-#define LED0                    PB3
-#define LED1                    PB4
+#define LED0_PIN                PB3
+#define LED1_PIN                PB4
 
 #define BEEPER                  PA12
 
diff --git a/src/main/target/MOTOLAB/target.h b/src/main/target/MOTOLAB/target.h
index c9d6db3056..f9e0d681ff 100644
--- a/src/main/target/MOTOLAB/target.h
+++ b/src/main/target/MOTOLAB/target.h
@@ -22,8 +22,8 @@
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 #define TARGET_CONFIG
 
-#define LED0                    PB5 // Blue LEDs - PB5
-//#define LED1                    PB9 // Green LEDs - PB9
+#define LED0_PIN                PB5 // Blue LEDs - PB5
+//#define LED1_PIN                PB9 // Green LEDs - PB9
 
 #define BEEPER                  PA0
 #define BEEPER_INVERTED
diff --git a/src/main/target/MULTIFLITEPICO/config.c b/src/main/target/MULTIFLITEPICO/config.c
index 4ba3a85876..aff23afdea 100755
--- a/src/main/target/MULTIFLITEPICO/config.c
+++ b/src/main/target/MULTIFLITEPICO/config.c
@@ -27,6 +27,7 @@
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
+#include "fc/rc_modes.h"
 #include "fc/rc_controls.h"
 
 #include "flight/failsafe.h"
diff --git a/src/main/target/MULTIFLITEPICO/target.h b/src/main/target/MULTIFLITEPICO/target.h
index d646884666..0e249af074 100755
--- a/src/main/target/MULTIFLITEPICO/target.h
+++ b/src/main/target/MULTIFLITEPICO/target.h
@@ -22,7 +22,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index fd267ae29d..1de6785bf4 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -26,8 +26,8 @@
 
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 
-#define LED0                    PB3
-#define LED1                    PB4
+#define LED0_PIN                PB3
+#define LED1_PIN                PB4
 
 #define BEEPER                  PA12
 
diff --git a/src/main/target/NERO/target.h b/src/main/target/NERO/target.h
index 3756f95f10..3106be009f 100644
--- a/src/main/target/NERO/target.h
+++ b/src/main/target/NERO/target.h
@@ -24,9 +24,9 @@
 
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 
-#define LED0                    PB6
-#define LED1                    PB5
-#define LED2                    PB4
+#define LED0_PIN                PB6
+#define LED1_PIN                PB5
+#define LED2_PIN                PB4
 
 #define BEEPER                  PC1
 #define BEEPER_INVERTED
diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h
index b2ef6253f5..50f3e3a753 100644
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@@ -26,7 +26,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index f7e66c3805..3775074832 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -33,8 +33,8 @@
 #define USBD_SERIALNUMBER_STRING "0x8020000" // Remove this at the next major release (?)
 #endif
 
-#define LED0                    PB5
-//#define LED1                    PB4 // Remove this at the next major release
+#define LED0_PIN                PB5
+//#define LED1_PIN                PB4 // Remove this at the next major release
 #define BEEPER                  PB4
 #define BEEPER_INVERTED
 
@@ -93,9 +93,7 @@
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 #define USE_SDCARD
 #define USE_SDCARD_SPI2
-#if defined(OMNIBUSF4SD)
 #define SDCARD_DETECT_INVERTED
-#endif
 #define SDCARD_DETECT_PIN               PB7
 #define SDCARD_SPI_INSTANCE             SPI2
 #define SDCARD_SPI_CS_PIN               SPI2_NSS_PIN
diff --git a/src/main/target/OMNIBUSF7/target.h b/src/main/target/OMNIBUSF7/target.h
index 12fabe9529..2461db0b35 100644
--- a/src/main/target/OMNIBUSF7/target.h
+++ b/src/main/target/OMNIBUSF7/target.h
@@ -19,7 +19,7 @@
 
 #define USBD_PRODUCT_STRING "OmnibusF7"
 
-#define LED0                    PE0
+#define LED0_PIN                PE0
 
 #define BEEPER                  PD15
 #define BEEPER_INVERTED
diff --git a/src/main/target/RACEBASE/target.h b/src/main/target/RACEBASE/target.h
index 1fe543c435..139d760d08 100755
--- a/src/main/target/RACEBASE/target.h
+++ b/src/main/target/RACEBASE/target.h
@@ -21,10 +21,10 @@
 #define USE_HARDWARE_REVISION_DETECTION
 #define TARGET_CONFIG
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 #define LED0_INVERTED
 
-#define LED1                    PB4
+#define LED1_PIN                PB4
 #define LED1_INVERTED
 
 #define BEEPER                  PA12
diff --git a/src/main/target/RCEXPLORERF3/target.h b/src/main/target/RCEXPLORERF3/target.h
index 5dfa3dca79..93f1e37309 100644
--- a/src/main/target/RCEXPLORERF3/target.h
+++ b/src/main/target/RCEXPLORERF3/target.h
@@ -21,8 +21,8 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0        PB4
-#define LED1        PB5
+#define LED0_PIN    PB4
+#define LED1_PIN    PB5
 
 #define BEEPER      PA0
 #define BEEPER_INVERTED
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index 283912fefc..0c3926c7e5 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -48,10 +48,10 @@
 
 #endif
 
-#define LED0                    PB5
+#define LED0_PIN                PB5
 #if defined(PODIUMF4)
-#define LED1                    PB4
-#define LED2                    PB6
+#define LED1_PIN                PB4
+#define LED2_PIN                PB6
 #endif
 
 // Disable LED1, conflicts with AirbotF4/Flip32F4/Revolt beeper
@@ -64,7 +64,7 @@
 #define BEEPER                  PB6
 #define BEEPER_INVERTED
 #else
-#define LED1                    PB4
+#define LED1_PIN                PB4
 // Leave beeper here but with none as io - so disabled unless mapped.
 #define BEEPER                  NONE
 #endif
diff --git a/src/main/target/REVONANO/target.h b/src/main/target/REVONANO/target.h
index 87a9b4008d..67c178b5b4 100644
--- a/src/main/target/REVONANO/target.h
+++ b/src/main/target/REVONANO/target.h
@@ -23,8 +23,8 @@
 #define USBD_SERIALNUMBER_STRING "0x8010000"
 #endif
 
-#define LED0                    PC14
-#define LED1                    PC13
+#define LED0_PIN                PC14
+#define LED1_PIN                PC13
 
 #define BEEPER                  PC13
 
diff --git a/src/main/target/RG_SSD_F3/target.h b/src/main/target/RG_SSD_F3/target.h
index 73ceb71ace..b83c875a10 100644
--- a/src/main/target/RG_SSD_F3/target.h
+++ b/src/main/target/RG_SSD_F3/target.h
@@ -19,8 +19,8 @@
 
 #define TARGET_BOARD_IDENTIFIER "RGF3" // rgSSD_F3
 
-#define LED0                     PC1
-#define LED1                     PC0
+#define LED0_PIN                 PC1
+#define LED1_PIN                 PC0
 
 #define BEEPER                   PA8
 #define BEEPER_INVERTED
diff --git a/src/main/target/SINGULARITY/target.h b/src/main/target/SINGULARITY/target.h
index 19f51f4d91..34fbef33fa 100644
--- a/src/main/target/SINGULARITY/target.h
+++ b/src/main/target/SINGULARITY/target.h
@@ -21,7 +21,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 
 #define BEEPER                  PC15
 
diff --git a/src/main/target/SIRINFPV/target.h b/src/main/target/SIRINFPV/target.h
index 4f8c84e623..52b68f9cbc 100644
--- a/src/main/target/SIRINFPV/target.h
+++ b/src/main/target/SIRINFPV/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "SIRF"
 
-#define LED0                    PB2
+#define LED0_PIN                PB2
 #define BEEPER                  PA1
 
 
diff --git a/src/main/target/SITL/target.h b/src/main/target/SITL/target.h
index dc811d9246..d7d39d97b7 100644
--- a/src/main/target/SITL/target.h
+++ b/src/main/target/SITL/target.h
@@ -45,6 +45,8 @@
 #undef SCHEDULER_DELAY_LIMIT
 #define SCHEDULER_DELAY_LIMIT           1
 
+#define USE_FAKE_LED
+
 #define ACC
 #define USE_FAKE_ACC
 
diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h
index 0d7e768e2d..ef2fb481f0 100644
--- a/src/main/target/SPARKY/target.h
+++ b/src/main/target/SPARKY/target.h
@@ -21,8 +21,8 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PB4  // Blue (Rev 1 & 2) - PB4
-#define LED1                    PB5  // Green (Rev 1) / Red (Rev 2) - PB5
+#define LED0_PIN                PB4  // Blue (Rev 1 & 2) - PB4
+#define LED1_PIN                PB5  // Green (Rev 1) / Red (Rev 2) - PB5
 
 #define BEEPER                  PA1
 #define BEEPER_INVERTED
diff --git a/src/main/target/SPARKY2/target.h b/src/main/target/SPARKY2/target.h
index c7275f34d5..626b10dd2b 100755
--- a/src/main/target/SPARKY2/target.h
+++ b/src/main/target/SPARKY2/target.h
@@ -23,9 +23,9 @@
     #define USBD_SERIALNUMBER_STRING "0x8020000"
 #endif
 
-#define LED0                    PB5
-#define LED1                    PB4
-#define LED2                    PB6
+#define LED0_PIN                PB5
+#define LED1_PIN                PB4
+#define LED2_PIN                PB6
 
 #define BEEPER                  PC9
 #define BEEPER_INVERTED
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index 99a0069123..baf48775ea 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -30,11 +30,11 @@
 #if defined(ZCOREF3)
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0                    PB8
+#define LED0_PIN                PB8
 #else
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 #endif
 
 #define BEEPER                  PC15
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
index a1e84fe49a..80da46617b 100755
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -46,7 +46,7 @@
 
 #define BRUSHED_ESC_AUTODETECT
 
-#define LED0                    PB8
+#define LED0_PIN                PB8
 
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h
index 30536dc657..eefad26999 100644
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@@ -22,7 +22,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0                    PB8
+#define LED0_PIN                PB8
 #else
 #define TARGET_BOARD_IDENTIFIER "SRFM"
 
@@ -32,7 +32,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PB3
+#define LED0_PIN                PB3
 #endif
 
 #define BEEPER                  PC15
diff --git a/src/main/target/SPRACINGF3NEO/target.h b/src/main/target/SPRACINGF3NEO/target.h
index 4fa325d14c..de917c8595 100755
--- a/src/main/target/SPRACINGF3NEO/target.h
+++ b/src/main/target/SPRACINGF3NEO/target.h
@@ -22,8 +22,8 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0                    PB9
-#define LED1                    PB2
+#define LED0_PIN                PB9
+#define LED1_PIN                PB2
 
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
diff --git a/src/main/target/SPRACINGF3OSD/target.h b/src/main/target/SPRACINGF3OSD/target.h
index bd2d30a798..c532c98cf2 100644
--- a/src/main/target/SPRACINGF3OSD/target.h
+++ b/src/main/target/SPRACINGF3OSD/target.h
@@ -22,7 +22,7 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0                    PA15
+#define LED0_PIN                PA15
 
 #define USE_EXTI
 
diff --git a/src/main/target/SPRACINGF4EVO/target.h b/src/main/target/SPRACINGF4EVO/target.h
index 33061f23b8..256e1a31c9 100644
--- a/src/main/target/SPRACINGF4EVO/target.h
+++ b/src/main/target/SPRACINGF4EVO/target.h
@@ -26,7 +26,7 @@
 
 #define USBD_PRODUCT_STRING     "SP Racing F4 NEO"
 
-#define LED0                    PA0
+#define LED0_PIN                PA0
 
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
diff --git a/src/main/target/SPRACINGF4NEO/target.h b/src/main/target/SPRACINGF4NEO/target.h
index 5007562183..04b18fde14 100644
--- a/src/main/target/SPRACINGF4NEO/target.h
+++ b/src/main/target/SPRACINGF4NEO/target.h
@@ -27,16 +27,16 @@
 #define USBD_PRODUCT_STRING                 "SP Racing F4 NEO"
 
 #if (SPRACINGF4NEO_REV >= 3)
-    #define LED0                            PA0
-    #define LED1                            PB1
+    #define LED0_PIN                        PA0
+    #define LED1_PIN                        PB1
 #endif
 #if (SPRACINGF4NEO_REV == 2)
-    #define LED0                            PB9
-    #define LED1                            PB2
+    #define LED0_PIN                        PB9
+    #define LED1_PIN                        PB2
 #endif
 #if (SPRACINGF4NEO_REV == 1)
-    #define LED0                            PB9
-    #define LED1                            PB2
+    #define LED0_PIN                        PB9
+    #define LED1_PIN                        PB2
 #endif
 
 #define BEEPER                              PC15
diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h
index 1bf54b7eaa..460e8c1d94 100644
--- a/src/main/target/STM32F3DISCOVERY/target.h
+++ b/src/main/target/STM32F3DISCOVERY/target.h
@@ -31,9 +31,9 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0                    PE8  // Blue LEDs - PE8/PE12
+#define LED0_PIN                PE8  // Blue LEDs - PE8/PE12
 #define LED0_INVERTED
-#define LED1                    PE10 // Orange LEDs - PE10/PE14
+#define LED1_PIN                PE10 // Orange LEDs - PE10/PE14
 #define LED1_INVERTED
 
 #define BEEPER                  PD12
diff --git a/src/main/target/TINYFISH/target.h b/src/main/target/TINYFISH/target.h
index 423c459f69..dd2706bffa 100644
--- a/src/main/target/TINYFISH/target.h
+++ b/src/main/target/TINYFISH/target.h
@@ -22,8 +22,8 @@
 #define TARGET_BOARD_IDENTIFIER "TFSH" // http://fishpepper.de/projects/tinyFISH
 
 
-#define LED0                    PC14
-#define LED1                    PA13
+#define LED0_PIN                PC14
+#define LED1_PIN                PA13
 
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
diff --git a/src/main/target/X_RACERSPI/target.h b/src/main/target/X_RACERSPI/target.h
index ff34683003..5984c6accf 100644
--- a/src/main/target/X_RACERSPI/target.h
+++ b/src/main/target/X_RACERSPI/target.h
@@ -22,7 +22,7 @@
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 
-#define LED0                    PC14
+#define LED0_PIN                PC14
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
 
diff --git a/src/main/target/YUPIF4/target.h b/src/main/target/YUPIF4/target.h
index 5c101ced58..bcb65b557c 100644
--- a/src/main/target/YUPIF4/target.h
+++ b/src/main/target/YUPIF4/target.h
@@ -21,9 +21,9 @@
 
 #define USBD_PRODUCT_STRING     "YupiF4"
 
-#define LED0                    PB6
-#define LED1                    PB4
-#define LED2                    PB5
+#define LED0_PIN                PB6
+#define LED1_PIN                PB4
+#define LED2_PIN                PB5
 
 #define BEEPER                  PC9
 #define BEEPER_PWM_HZ           2200 // Beeper PWM frequency in Hz
diff --git a/src/main/telemetry/crsf.c b/src/main/telemetry/crsf.c
index 34e8878ad7..5f32767a66 100644
--- a/src/main/telemetry/crsf.c
+++ b/src/main/telemetry/crsf.c
@@ -38,7 +38,7 @@
 #include "io/gps.h"
 #include "io/serial.h"
 
-#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "io/gps.h"
diff --git a/src/main/telemetry/telemetry.c b/src/main/telemetry/telemetry.c
index 39b8470c03..304271d8c9 100644
--- a/src/main/telemetry/telemetry.c
+++ b/src/main/telemetry/telemetry.c
@@ -35,7 +35,7 @@
 #include "io/serial.h"
 
 #include "fc/config.h"
-#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
 #include "msp/msp_serial.h"
diff --git a/src/test/Makefile b/src/test/Makefile
index 7528b6f90d..6a02179fdd 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -68,13 +68,18 @@ encoding_unittest_SRC := \
 
 
 flight_failsafe_unittest_SRC := \
+		$(USER_DIR)/common/bitarray.c \
+		$(USER_DIR)/fc/rc_modes.c \
 		$(USER_DIR)/flight/failsafe.c
 
 
 flight_imu_unittest_SRC := \
-		$(USER_DIR)/flight/imu.c \
+		$(USER_DIR)/common/bitarray.c \
+		$(USER_DIR)/common/maths.c \
+		$(USER_DIR)/config/feature.c \
+		$(USER_DIR)/fc/rc_modes.c \
 		$(USER_DIR)/flight/altitude.c \
-		$(USER_DIR)/common/maths.c
+		$(USER_DIR)/flight/imu.c
 
 
 flight_mixer_unittest :=  \
@@ -93,6 +98,8 @@ io_serial_unittest_SRC := \
 
 
 ledstrip_unittest_SRC := \
+		$(USER_DIR)/common/bitarray.c \
+		$(USER_DIR)/fc/rc_modes.c \
 		$(USER_DIR)/io/ledstrip.c
 
 
@@ -106,7 +113,11 @@ parameter_groups_unittest_SRC := \
 
 rc_controls_unittest_SRC := \
 		$(USER_DIR)/fc/rc_controls.c \
-		$(USER_DIR)/common/maths.c
+		$(USER_DIR)/config/parameter_group.c \
+		$(USER_DIR)/common/bitarray.c \
+		$(USER_DIR)/common/maths.c \
+		$(USER_DIR)/fc/rc_adjustments.c \
+		$(USER_DIR)/fc/rc_modes.c \
 
 
 rx_crsf_unittest_SRC := \
@@ -119,12 +130,16 @@ rx_ibus_unittest_SRC := \
 
 
 rx_ranges_unittest_SRC := \
-		$(USER_DIR)/rx/rx.c \
-		$(USER_DIR)/common/maths.c
+		$(USER_DIR)/common/bitarray.c \
+		$(USER_DIR)/common/maths.c \
+		$(USER_DIR)/fc/rc_modes.c \
+		$(USER_DIR)/rx/rx.c
 
 
 rx_rx_unittest_SRC := \
 		$(USER_DIR)/rx/rx.c \
+		$(USER_DIR)/fc/rc_modes.c \
+		$(USER_DIR)/common/bitarray.c \
 		$(USER_DIR)/common/maths.c \
 		$(USER_DIR)/config/feature.c
 
diff --git a/src/test/unit/flight_failsafe_unittest.cc b/src/test/unit/flight_failsafe_unittest.cc
index f2ed5371da..5edb8c45de 100644
--- a/src/test/unit/flight_failsafe_unittest.cc
+++ b/src/test/unit/flight_failsafe_unittest.cc
@@ -29,15 +29,20 @@ extern "C" {
 
     #include "common/axis.h"
     #include "common/maths.h"
+    #include "common/bitarray.h"
 
     #include "fc/runtime_config.h"
+    #include "fc/rc_modes.h"
+    #include "fc/rc_controls.h"
+
+    #include "flight/failsafe.h"
 
     #include "io/beeper.h"
-    #include "fc/rc_controls.h"
 
     #include "drivers/io.h"
     #include "rx/rx.h"
-    #include "flight/failsafe.h"
+
+    extern boxBitmask_t rcModeActivationMask;
 }
 
 #include "unittest_macros.h"
@@ -305,7 +310,11 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
     // and
     throttleStatus = THROTTLE_HIGH;                 // throttle HIGH to go for a failsafe landing procedure
     failsafeConfigMutable()->failsafe_kill_switch = true;        // configure AUX switch as kill switch
-    ACTIVATE_RC_MODE(BOXFAILSAFE);                  // and activate it
+
+    boxBitmask_t newMask;
+    bitArraySet(&newMask, BOXFAILSAFE);
+    rcModeUpdate(&newMask);                         // activate BOXFAILSAFE mode
+
     sysTickUptime = 0;                              // restart time from 0
     failsafeOnValidDataReceived();                  // set last valid sample at current time
     sysTickUptime = PERIOD_RXDATA_FAILURE + 1;      // adjust time to point just past the failure time to
@@ -325,7 +334,8 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
     sysTickUptime += PERIOD_RXDATA_RECOVERY + 1;    // adjust time to point just past the recovery time to
     failsafeOnValidDataReceived();                  // cause a recovered link
 
-    rcModeActivationMask = DE_ACTIVATE_ALL_BOXES;   // BOXFAILSAFE must be off (kill switch)
+    memset(&newMask, 0, sizeof(newMask));
+    rcModeUpdate(&newMask);            // BOXFAILSAFE must be off (kill switch)
 
     // when
     failsafeUpdateState();
@@ -405,7 +415,6 @@ extern "C" {
 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 uint8_t armingFlags;
 float rcCommand[4];
-uint32_t rcModeActivationMask;
 int16_t debug[DEBUG16_VALUE_COUNT];
 bool isUsingSticksToArm = true;
 
diff --git a/src/test/unit/flight_imu_unittest.cc b/src/test/unit/flight_imu_unittest.cc
index fc626b5e0e..b9fc11a320 100644
--- a/src/test/unit/flight_imu_unittest.cc
+++ b/src/test/unit/flight_imu_unittest.cc
@@ -28,6 +28,7 @@ extern "C" {
     #include "common/axis.h"
     #include "common/maths.h"
 
+    #include "config/feature.h"
     #include "config/parameter_group_ids.h"
 
     #include "drivers/accgyro/accgyro.h"
@@ -42,6 +43,7 @@ extern "C" {
 
     #include "fc/runtime_config.h"
     #include "fc/rc_controls.h"
+    #include "fc/rc_modes.h"
 
     #include "rx/rx.h"
 
@@ -57,6 +59,12 @@ extern "C" {
 
     PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
     PG_REGISTER(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 0);
+
+    PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
+
+    PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
+        .enabledFeatures = 0
+    );
 }
 
 #include "unittest_macros.h"
diff --git a/src/test/unit/ledstrip_unittest.cc b/src/test/unit/ledstrip_unittest.cc
index ed63fe149e..b2b712bcba 100644
--- a/src/test/unit/ledstrip_unittest.cc
+++ b/src/test/unit/ledstrip_unittest.cc
@@ -36,6 +36,7 @@ extern "C" {
 
     #include "fc/config.h"
     #include "fc/rc_controls.h"
+    #include "fc/rc_modes.h"
     #include "fc/runtime_config.h"
 
     #include "drivers/light_ws2811strip.h"
diff --git a/src/test/unit/parameter_groups_unittest.cc b/src/test/unit/parameter_groups_unittest.cc
index 4a0543bd32..4ef93af25a 100644
--- a/src/test/unit/parameter_groups_unittest.cc
+++ b/src/test/unit/parameter_groups_unittest.cc
@@ -48,7 +48,7 @@ PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
 TEST(ParameterGroupsfTest, Test_pgResetAll)
 {
     memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
-    pgResetAll(0);
+    pgResetAll();
     EXPECT_EQ(1150, motorConfig()->minthrottle);
     EXPECT_EQ(1850, motorConfig()->maxthrottle);
     EXPECT_EQ(1000, motorConfig()->mincommand);
@@ -59,7 +59,7 @@ TEST(ParameterGroupsfTest, Test_pgFind)
 {
     memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
     const pgRegistry_t *pgRegistry = pgFind(PG_MOTOR_CONFIG);
-    pgResetCurrent(pgRegistry);
+    pgReset(pgRegistry);
     EXPECT_EQ(1150, motorConfig()->minthrottle);
     EXPECT_EQ(1850, motorConfig()->maxthrottle);
     EXPECT_EQ(1000, motorConfig()->mincommand);
@@ -68,7 +68,7 @@ TEST(ParameterGroupsfTest, Test_pgFind)
     motorConfig_t motorConfig2;
     memset(&motorConfig2, 0, sizeof(motorConfig_t));
     motorConfigMutable()->dev.motorPwmRate = 500;
-    pgStore(pgRegistry, &motorConfig2, sizeof(motorConfig_t), 0);
+    pgStore(pgRegistry, &motorConfig2, sizeof(motorConfig_t));
     EXPECT_EQ(1150, motorConfig2.minthrottle);
     EXPECT_EQ(1850, motorConfig2.maxthrottle);
     EXPECT_EQ(1000, motorConfig2.mincommand);
diff --git a/src/test/unit/rc_controls_unittest.cc.txt b/src/test/unit/rc_controls_unittest.cc
similarity index 65%
rename from src/test/unit/rc_controls_unittest.cc.txt
rename to src/test/unit/rc_controls_unittest.cc
index d21defb795..415f9deb1c 100644
--- a/src/test/unit/rc_controls_unittest.cc.txt
+++ b/src/test/unit/rc_controls_unittest.cc
@@ -26,121 +26,124 @@ extern "C" {
     #include "common/maths.h"
     #include "common/axis.h"
 
+    #include "config/parameter_group.h"
+    #include "config/parameter_group_ids.h"
+
+    #include "blackbox/blackbox.h"
+
     #include "drivers/sensor.h"
-    #include "drivers/accgyro.h"
 
     #include "sensors/sensors.h"
     #include "sensors/acceleration.h"
 
     #include "io/beeper.h"
-    #include "io/escservo.h"
-    #include "io/rc_controls.h"
 
     #include "rx/rx.h"
 
     #include "flight/pid.h"
+
+    #include "fc/controlrate_profile.h"
+    #include "fc/rc_modes.h"
+    #include "fc/rc_adjustments.h"
+
+    #include "fc/rc_controls.h"
 }
 
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
 
-extern "C" {
-extern void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfig, pidProfile_t *pidProfile);
-}
-
 class RcControlsModesTest : public ::testing::Test {
 protected:
-    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
-
     virtual void SetUp() {
-        memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
     }
 };
 
 TEST_F(RcControlsModesTest, updateActivatedModesWithAllInputsAtMidde)
 {
     // given
-    rcModeActivationMask = 0;
+    boxBitmask_t mask;
+    memset(&mask, 0, sizeof(mask));
+    rcModeUpdate(&mask);
 
     // and
     memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
-    rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
+    rxRuntimeConfig.channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
 
     // and
-    uint8_t index;
-    for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
+    for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
         rcData[index] = PWM_RANGE_MIDDLE;
     }
 
     // when
-    updateActivatedModes(modeActivationConditions);
+    updateActivatedModes();
 
     // then
-    for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
+    for (int index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
 #ifdef DEBUG_RC_CONTROLS
         printf("iteration: %d\n", index);
 #endif
-        EXPECT_EQ(false, IS_RC_MODE_ACTIVE(index));
+        EXPECT_EQ(false, IS_RC_MODE_ACTIVE((boxId_e)index));
     }
 }
 
 TEST_F(RcControlsModesTest, updateActivatedModesUsingValidAuxConfigurationAndRXValues)
 {
     // given
-    modeActivationConditions[0].modeId = (boxId_e)0;
-    modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
-    modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(1700);
-    modeActivationConditions[0].range.endStep = CHANNEL_VALUE_TO_STEP(2100);
+    modeActivationConditionsMutable(0)->modeId = (boxId_e)0;
+    modeActivationConditionsMutable(0)->auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
+    modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1700);
+    modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
 
-    modeActivationConditions[1].modeId = (boxId_e)1;
-    modeActivationConditions[1].auxChannelIndex = AUX2 - NON_AUX_CHANNEL_COUNT;
-    modeActivationConditions[1].range.startStep = CHANNEL_VALUE_TO_STEP(1300);
-    modeActivationConditions[1].range.endStep = CHANNEL_VALUE_TO_STEP(1700);
+    modeActivationConditionsMutable(1)->modeId = (boxId_e)1;
+    modeActivationConditionsMutable(1)->auxChannelIndex = AUX2 - NON_AUX_CHANNEL_COUNT;
+    modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1300);
+    modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(1700);
 
-    modeActivationConditions[2].modeId = (boxId_e)2;
-    modeActivationConditions[2].auxChannelIndex = AUX3 - NON_AUX_CHANNEL_COUNT;
-    modeActivationConditions[2].range.startStep = CHANNEL_VALUE_TO_STEP(900);
-    modeActivationConditions[2].range.endStep = CHANNEL_VALUE_TO_STEP(1200);
+    modeActivationConditionsMutable(2)->modeId = (boxId_e)2;
+    modeActivationConditionsMutable(2)->auxChannelIndex = AUX3 - NON_AUX_CHANNEL_COUNT;
+    modeActivationConditionsMutable(2)->range.startStep = CHANNEL_VALUE_TO_STEP(900);
+    modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(1200);
 
-    modeActivationConditions[3].modeId = (boxId_e)3;
-    modeActivationConditions[3].auxChannelIndex = AUX4 - NON_AUX_CHANNEL_COUNT;
-    modeActivationConditions[3].range.startStep = CHANNEL_VALUE_TO_STEP(900);
-    modeActivationConditions[3].range.endStep = CHANNEL_VALUE_TO_STEP(2100);
+    modeActivationConditionsMutable(3)->modeId = (boxId_e)3;
+    modeActivationConditionsMutable(3)->auxChannelIndex = AUX4 - NON_AUX_CHANNEL_COUNT;
+    modeActivationConditionsMutable(3)->range.startStep = CHANNEL_VALUE_TO_STEP(900);
+    modeActivationConditionsMutable(3)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
 
-    modeActivationConditions[4].modeId = (boxId_e)4;
-    modeActivationConditions[4].auxChannelIndex = AUX5 - NON_AUX_CHANNEL_COUNT;
-    modeActivationConditions[4].range.startStep = CHANNEL_VALUE_TO_STEP(900);
-    modeActivationConditions[4].range.endStep = CHANNEL_VALUE_TO_STEP(925);
+    modeActivationConditionsMutable(4)->modeId = (boxId_e)4;
+    modeActivationConditionsMutable(4)->auxChannelIndex = AUX5 - NON_AUX_CHANNEL_COUNT;
+    modeActivationConditionsMutable(4)->range.startStep = CHANNEL_VALUE_TO_STEP(900);
+    modeActivationConditionsMutable(4)->range.endStep = CHANNEL_VALUE_TO_STEP(925);
 
-    EXPECT_EQ(0, modeActivationConditions[4].range.startStep);
-    EXPECT_EQ(1, modeActivationConditions[4].range.endStep);
+    EXPECT_EQ(0, modeActivationConditions(4)->range.startStep);
+    EXPECT_EQ(1, modeActivationConditions(4)->range.endStep);
 
-    modeActivationConditions[5].modeId = (boxId_e)5;
-    modeActivationConditions[5].auxChannelIndex = AUX6 - NON_AUX_CHANNEL_COUNT;
-    modeActivationConditions[5].range.startStep = CHANNEL_VALUE_TO_STEP(2075);
-    modeActivationConditions[5].range.endStep = CHANNEL_VALUE_TO_STEP(2100);
+    modeActivationConditionsMutable(5)->modeId = (boxId_e)5;
+    modeActivationConditionsMutable(5)->auxChannelIndex = AUX6 - NON_AUX_CHANNEL_COUNT;
+    modeActivationConditionsMutable(5)->range.startStep = CHANNEL_VALUE_TO_STEP(2075);
+    modeActivationConditionsMutable(5)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
 
-    EXPECT_EQ(47, modeActivationConditions[5].range.startStep);
-    EXPECT_EQ(48, modeActivationConditions[5].range.endStep);
+    EXPECT_EQ(47, modeActivationConditions(5)->range.startStep);
+    EXPECT_EQ(48, modeActivationConditions(5)->range.endStep);
 
-    modeActivationConditions[6].modeId = (boxId_e)6;
-    modeActivationConditions[6].auxChannelIndex = AUX7 - NON_AUX_CHANNEL_COUNT;
-    modeActivationConditions[6].range.startStep = CHANNEL_VALUE_TO_STEP(925);
-    modeActivationConditions[6].range.endStep = CHANNEL_VALUE_TO_STEP(950);
+    modeActivationConditionsMutable(6)->modeId = (boxId_e)6;
+    modeActivationConditionsMutable(6)->auxChannelIndex = AUX7 - NON_AUX_CHANNEL_COUNT;
+    modeActivationConditionsMutable(6)->range.startStep = CHANNEL_VALUE_TO_STEP(925);
+    modeActivationConditionsMutable(6)->range.endStep = CHANNEL_VALUE_TO_STEP(950);
 
-    EXPECT_EQ(1, modeActivationConditions[6].range.startStep);
-    EXPECT_EQ(2, modeActivationConditions[6].range.endStep);
+    EXPECT_EQ(1, modeActivationConditions(6)->range.startStep);
+    EXPECT_EQ(2, modeActivationConditions(6)->range.endStep);
 
     // and
-    rcModeActivationMask = 0;
+    boxBitmask_t mask;
+    memset(&mask, 0, sizeof(mask));
+    rcModeUpdate(&mask);
 
     // and
     memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
-    rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
+    rxRuntimeConfig.channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
 
     // and
-    uint8_t index;
-    for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
+    for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
         rcData[index] = PWM_RANGE_MIDDLE;
     }
 
@@ -163,33 +166,28 @@ TEST_F(RcControlsModesTest, updateActivatedModesUsingValidAuxConfigurationAndRXV
     expectedMask |= (0 << 6);
 
     // when
-    updateActivatedModes(modeActivationConditions);
+    updateActivatedModes();
 
     // then
-    for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
+    for (int index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
 #ifdef DEBUG_RC_CONTROLS
         printf("iteration: %d\n", index);
 #endif
-        EXPECT_EQ(expectedMask & (1 << index), rcModeActivationMask & (1 << index));
+        EXPECT_EQ((bool)(expectedMask & (1 << index)), IS_RC_MODE_ACTIVE((boxId_e)index));
     }
 }
 
 enum {
-    COUNTER_GENERATE_PITCH_ROLL_CURVE = 0,
     COUNTER_QUEUE_CONFIRMATION_BEEP,
     COUNTER_CHANGE_CONTROL_RATE_PROFILE
 };
-#define CALL_COUNT_ITEM_COUNT 3
+#define CALL_COUNT_ITEM_COUNT 2
 
 static int callCounts[CALL_COUNT_ITEM_COUNT];
 
 #define CALL_COUNTER(item) (callCounts[item])
 
 extern "C" {
-void generatePitchRollCurve(controlRateConfig_t *) {
-    callCounts[COUNTER_GENERATE_PITCH_ROLL_CURVE]++;
-}
-
 void beeperConfirmationBeeps(uint8_t) {
     callCounts[COUNTER_QUEUE_CONFIRMATION_BEEP]++;
 }
@@ -223,17 +221,19 @@ void resetMillis(void) {
 #define DEFAULT_MIN_CHECK 1100
 #define DEFAULT_MAX_CHECK 1900
 
-rxConfig_t rxConfig;
+extern "C" {
+    PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
+    void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig);
 
-extern uint8_t adjustmentStateMask;
-extern adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
-
-static const adjustmentConfig_t rateAdjustmentConfig = {
-    .adjustmentFunction = ADJUSTMENT_RC_RATE,
-    .mode = ADJUSTMENT_MODE_STEP,
-    .data = { { 1 } }
-};
+    extern uint8_t adjustmentStateMask;
+    extern adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
 
+    static const adjustmentConfig_t rateAdjustmentConfig = {
+        .adjustmentFunction = ADJUSTMENT_RC_RATE,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { 1 }
+    };
+}
 class RcControlsAdjustmentsTest : public ::testing::Test {
 protected:
     controlRateConfig_t controlRateConfig = {
@@ -251,10 +251,10 @@ protected:
         adjustmentStateMask = 0;
         memset(&adjustmentStates, 0, sizeof(adjustmentStates));
 
-        memset(&rxConfig, 0, sizeof (rxConfig));
-        rxConfig.mincheck = DEFAULT_MIN_CHECK;
-        rxConfig.maxcheck = DEFAULT_MAX_CHECK;
-        rxConfig.midrc = 1500;
+        PG_RESET(rxConfig);
+        rxConfigMutable()->mincheck = DEFAULT_MIN_CHECK;
+        rxConfigMutable()->maxcheck = DEFAULT_MAX_CHECK;
+        rxConfigMutable()->midrc = 1500;
 
         controlRateConfig.rcRate8 = 90;
         controlRateConfig.rcExpo8 = 0;
@@ -276,8 +276,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
     configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
 
     // and
-    uint8_t index;
-    for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
+    for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
         rcData[index] = PWM_RANGE_MIDDLE;
     }
 
@@ -286,11 +285,10 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
     resetMillis();
 
     // when
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    processRcAdjustments(&controlRateConfig);
 
     // then
     EXPECT_EQ(controlRateConfig.rcRate8, 90);
-    EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 0);
     EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 0);
     EXPECT_EQ(adjustmentStateMask, 0);
 }
@@ -310,10 +308,10 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
     };
 
     // and
-    memset(&rxConfig, 0, sizeof (rxConfig));
-    rxConfig.mincheck = DEFAULT_MIN_CHECK;
-    rxConfig.maxcheck = DEFAULT_MAX_CHECK;
-    rxConfig.midrc = 1500;
+    PG_RESET(rxConfig);
+    rxConfigMutable()->mincheck = DEFAULT_MIN_CHECK;
+    rxConfigMutable()->maxcheck = DEFAULT_MAX_CHECK;
+    rxConfigMutable()->midrc = 1500;
 
     // and
     adjustmentStateMask = 0;
@@ -321,8 +319,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
     configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
 
     // and
-    uint8_t index;
-    for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
+    for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
         rcData[index] = PWM_RANGE_MIDDLE;
     }
 
@@ -341,15 +338,13 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
     fixedMillis = 496;
 
     // when
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    processRcAdjustments(&controlRateConfig);
 
     // then
     EXPECT_EQ(controlRateConfig.rcRate8, 91);
-    EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 1);
     EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1);
     EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
 
-
     //
     // now pretend a short amount of time has passed, but not enough time to allow the value to have been increased
     //
@@ -358,7 +353,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
     fixedMillis = 497;
 
     // when
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    processRcAdjustments(&controlRateConfig);
 
     EXPECT_EQ(controlRateConfig.rcRate8, 91);
     EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@@ -380,7 +375,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
             ~(1 << 0);
 
     // when
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    processRcAdjustments(&controlRateConfig);
 
     EXPECT_EQ(controlRateConfig.rcRate8, 91);
     EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@@ -400,11 +395,10 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
     fixedMillis = 499;
 
     // when
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    processRcAdjustments(&controlRateConfig);
 
     // then
     EXPECT_EQ(controlRateConfig.rcRate8, 92);
-    EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 2);
     EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 2);
     EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
 
@@ -417,7 +411,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
     fixedMillis = 500;
 
     // when
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    processRcAdjustments(&controlRateConfig);
 
     // then
     EXPECT_EQ(controlRateConfig.rcRate8, 92);
@@ -431,7 +425,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
     fixedMillis = 997;
 
     // when
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    processRcAdjustments(&controlRateConfig);
 
     // then
     EXPECT_EQ(controlRateConfig.rcRate8, 92);
@@ -447,11 +441,10 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
     fixedMillis = 998;
 
     // when
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    processRcAdjustments(&controlRateConfig);
 
     // then
     EXPECT_EQ(controlRateConfig.rcRate8, 93);
-    EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 3);
     EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 3);
     EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
 }
@@ -459,7 +452,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
 static const adjustmentConfig_t rateProfileAdjustmentConfig = {
     .adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
     .mode = ADJUSTMENT_MODE_SELECT,
-    .data = { { 3 } }
+    .data = { 3 }
 };
 
 TEST_F(RcControlsAdjustmentsTest, processRcRateProfileAdjustments)
@@ -469,8 +462,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcRateProfileAdjustments)
     configureAdjustment(adjustmentIndex, AUX4 - NON_AUX_CHANNEL_COUNT, &rateProfileAdjustmentConfig);
 
     // and
-    uint8_t index;
-    for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
+    for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
         rcData[index] = PWM_RANGE_MIDDLE;
     }
 
@@ -486,7 +478,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcRateProfileAdjustments)
             (1 << adjustmentIndex);
 
     // when
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    processRcAdjustments(&controlRateConfig);
 
     // then
     EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1);
@@ -497,61 +489,54 @@ TEST_F(RcControlsAdjustmentsTest, processRcRateProfileAdjustments)
 static const adjustmentConfig_t pidPitchAndRollPAdjustmentConfig = {
     .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
     .mode = ADJUSTMENT_MODE_STEP,
-    .data = { { 1 } }
+    .data = { 1 }
 };
 
 static const adjustmentConfig_t pidPitchAndRollIAdjustmentConfig = {
     .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
     .mode = ADJUSTMENT_MODE_STEP,
-    .data = { { 1 } }
+    .data = { 1 }
 };
 
 static const adjustmentConfig_t pidPitchAndRollDAdjustmentConfig = {
     .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
     .mode = ADJUSTMENT_MODE_STEP,
-    .data = { { 1 } }
+    .data = { 1 }
 };
 
 static const adjustmentConfig_t pidYawPAdjustmentConfig = {
     .adjustmentFunction = ADJUSTMENT_YAW_P,
     .mode = ADJUSTMENT_MODE_STEP,
-    .data = { { 1 } }
+    .data = { 1 }
 };
 
 static const adjustmentConfig_t pidYawIAdjustmentConfig = {
     .adjustmentFunction = ADJUSTMENT_YAW_I,
     .mode = ADJUSTMENT_MODE_STEP,
-    .data = { { 1 } }
+    .data = { 1 }
 };
 
 static const adjustmentConfig_t pidYawDAdjustmentConfig = {
     .adjustmentFunction = ADJUSTMENT_YAW_D,
     .mode = ADJUSTMENT_MODE_STEP,
-    .data = { { 1 } }
+    .data = { 1 }
 };
 
 TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
 {
     // given
-    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
-    memset(&modeActivationConditions, 0, sizeof (modeActivationConditions));
-
-    escAndServoConfig_t escAndServoConfig;
-    memset(&escAndServoConfig, 0, sizeof (escAndServoConfig));
-
     pidProfile_t pidProfile;
     memset(&pidProfile, 0, sizeof (pidProfile));
-    pidProfile.pidController = 0;
-    pidProfile.P8[PIDPITCH] = 0;
-    pidProfile.P8[PIDROLL] = 5;
-    pidProfile.P8[YAW] = 7;
-    pidProfile.I8[PIDPITCH] = 10;
-    pidProfile.I8[PIDROLL] = 15;
-    pidProfile.I8[YAW] = 17;
-    pidProfile.D8[PIDPITCH] = 20;
-    pidProfile.D8[PIDROLL] = 25;
-    pidProfile.D8[YAW] = 27;
-
+    pidProfile.pid[PID_PITCH].P = 0;
+    pidProfile.pid[PID_PITCH].I = 10;
+    pidProfile.pid[PID_PITCH].D = 20;
+    pidProfile.pid[PID_ROLL].P = 5;
+    pidProfile.pid[PID_ROLL].I = 15;
+    pidProfile.pid[PID_ROLL].D = 25;
+    pidProfile.pid[PID_YAW].P = 7;
+    pidProfile.pid[PID_YAW].I = 17;
+    pidProfile.pid[PID_YAW].D = 27;
+    useAdjustmentConfig(&pidProfile);
     // and
     controlRateConfig_t controlRateConfig;
     memset(&controlRateConfig, 0, sizeof (controlRateConfig));
@@ -564,8 +549,7 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
     configureAdjustment(5, AUX3 - NON_AUX_CHANNEL_COUNT, &pidYawDAdjustmentConfig);
 
     // and
-    uint8_t index;
-    for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
+    for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
         rcData[index] = PWM_RANGE_MIDDLE;
     }
 
@@ -588,34 +572,30 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
             (1 << 5);
 
     // when
-    useRcControlsConfig(modeActivationConditions, &escAndServoConfig, &pidProfile);
-    processRcAdjustments(&controlRateConfig, &rxConfig);
+    useRcControlsConfig(&pidProfile);
+    processRcAdjustments(&controlRateConfig);
 
     // then
     EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 6);
     EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
 
     // and
-    EXPECT_EQ(1, pidProfile.P8[PIDPITCH]);
-    EXPECT_EQ(6, pidProfile.P8[PIDROLL]);
-    EXPECT_EQ(8, pidProfile.P8[YAW]);
-    EXPECT_EQ(11, pidProfile.I8[PIDPITCH]);
-    EXPECT_EQ(16, pidProfile.I8[PIDROLL]);
-    EXPECT_EQ(18, pidProfile.I8[YAW]);
-    EXPECT_EQ(21, pidProfile.D8[PIDPITCH]);
-    EXPECT_EQ(26, pidProfile.D8[PIDROLL]);
-    EXPECT_EQ(28, pidProfile.D8[YAW]);
+    EXPECT_EQ(1,  pidProfile.pid[PID_PITCH].P);
+    EXPECT_EQ(11, pidProfile.pid[PID_PITCH].I);
+    EXPECT_EQ(21, pidProfile.pid[PID_PITCH].D);
+    EXPECT_EQ(6,  pidProfile.pid[PID_ROLL].P);
+    EXPECT_EQ(16, pidProfile.pid[PID_ROLL].I);
+    EXPECT_EQ(26, pidProfile.pid[PID_ROLL].D);
+    EXPECT_EQ(8,  pidProfile.pid[PID_YAW].P);
+    EXPECT_EQ(18, pidProfile.pid[PID_YAW].I);
+    EXPECT_EQ(28, pidProfile.pid[PID_YAW].D);
 }
 
+#if 0 // only one PID controller
+
 TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
 {
     // given
-    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
-    memset(&modeActivationConditions, 0, sizeof (modeActivationConditions));
-
-    escAndServoConfig_t escAndServoConfig;
-    memset(&escAndServoConfig, 0, sizeof (escAndServoConfig));
-
     pidProfile_t pidProfile;
     memset(&pidProfile, 0, sizeof (pidProfile));
     pidProfile.pidController = 2;
@@ -628,6 +608,7 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
     pidProfile.D_f[PIDPITCH] = 20.0f;
     pidProfile.D_f[PIDROLL] = 25.0f;
     pidProfile.D_f[PIDYAW] = 27.0f;
+    useAdjustmentConfig(&pidProfile);
 
     // and
     controlRateConfig_t controlRateConfig;
@@ -641,8 +622,7 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
     configureAdjustment(5, AUX3 - NON_AUX_CHANNEL_COUNT, &pidYawDAdjustmentConfig);
 
     // and
-    uint8_t index;
-    for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
+    for (int index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
         rcData[index] = PWM_RANGE_MIDDLE;
     }
 
@@ -665,7 +645,7 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
             (1 << 5);
 
     // when
-    useRcControlsConfig(modeActivationConditions, &escAndServoConfig, &pidProfile);
+    useRcControlsConfig(&escAndServoConfig, &pidProfile);
     processRcAdjustments(&controlRateConfig, &rxConfig);
 
     // then
@@ -685,33 +665,39 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
 
 }
 
+#endif
+
 extern "C" {
 void saveConfigAndNotify(void) {}
-void generateThrottleCurve(controlRateConfig_t *, escAndServoConfig_t *) {}
-void changeProfile(uint8_t) {}
+void generateThrottleCurve(void) {}
+void changePidProfile(uint8_t) {}
+void pidInitConfig(const pidProfile_t *) {}
 void accSetCalibrationCycles(uint16_t) {}
-void gyroSetCalibrationCycles(uint16_t) {}
+void gyroStartCalibration(void) {}
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
 void handleInflightCalibrationStickPosition(void) {}
 bool feature(uint32_t) { return false;}
 bool sensors(uint32_t) { return false;}
 void mwArm(void) {}
 void mwDisarm(void) {}
-void displayDisablePageCycling() {}
-void displayEnablePageCycling() {}
+void dashboardDisablePageCycling() {}
+void dashboardEnablePageCycling() {}
 
 bool failsafeIsActive() { return false; }
 bool rxIsReceivingSignal() { return true; }
 
-uint8_t getCurrentControlRateProfile(void) {
+uint8_t getCurrentControlRateProfileIndex(void) {
     return 0;
 }
 void GPS_reset_home_position(void) {}
 void baroSetCalibrationCycles(uint16_t) {}
 
+void blackboxLogEvent(FlightLogEvent, flightLogEventData_t *) {}
+
 uint8_t armingFlags = 0;
 int16_t heading;
 uint8_t stateFlags = 0;
 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 rxRuntimeConfig_t rxRuntimeConfig;
+PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
 }
diff --git a/src/test/unit/rx_ibus_unittest.cc b/src/test/unit/rx_ibus_unittest.cc
index 7f675ff95f..eb2453dc52 100644
--- a/src/test/unit/rx_ibus_unittest.cc
+++ b/src/test/unit/rx_ibus_unittest.cc
@@ -28,6 +28,7 @@ extern "C" {
 #include "telemetry/ibus_shared.h"
 #include "telemetry/telemetry.h"
 #include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
 #include "sensors/barometer.h"
 #include "sensors/battery.h"
 }
diff --git a/src/test/unit/rx_ranges_unittest.cc b/src/test/unit/rx_ranges_unittest.cc
index d1ea8489e8..d86d1db04e 100644
--- a/src/test/unit/rx_ranges_unittest.cc
+++ b/src/test/unit/rx_ranges_unittest.cc
@@ -27,6 +27,7 @@ extern "C" {
     #include "common/maths.h"
     #include "config/parameter_group_ids.h"
     #include "fc/rc_controls.h"
+    #include "fc/rc_modes.h"
     #include "rx/rx.h"
 }
 
@@ -39,8 +40,6 @@ extern "C" {
 uint32_t rcModeActivationMask;
 
 extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range);
-
-PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
 }
 
 #define RANGE_CONFIGURATION(min, max) new (rxChannelRangeConfig_t) {min, max}
diff --git a/src/test/unit/rx_rx_unittest.cc b/src/test/unit/rx_rx_unittest.cc
index d3b58c615f..5daad55c57 100644
--- a/src/test/unit/rx_rx_unittest.cc
+++ b/src/test/unit/rx_rx_unittest.cc
@@ -25,11 +25,13 @@ extern "C" {
 
     #include "drivers/io.h"
     #include "rx/rx.h"
-    #include "fc/rc_controls.h"
+    #include "fc/rc_modes.h"
     #include "common/maths.h"
+    #include "common/utils.h"
     #include "config/feature.h"
     #include "config/parameter_group.h"
     #include "config/parameter_group_ids.h"
+    #include "io/beeper.h"
 
     uint32_t rcModeActivationMask;
 
@@ -43,8 +45,6 @@ extern "C" {
     PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
         .enabledFeatures = 0
     );
-    PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
-
 }
 
 #include "unittest_macros.h"
diff --git a/src/test/unit/target.h b/src/test/unit/target.h
index 21a6a2fce2..b9cc9faf7d 100644
--- a/src/test/unit/target.h
+++ b/src/test/unit/target.h
@@ -63,6 +63,7 @@
 #define SERIAL_PORT_COUNT 8
 
 #define DEFAULT_AUX_CHANNEL_COUNT       MAX_AUX_CHANNEL_COUNT
+#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 6  // needed for unittest
 
 #define TARGET_BOARD_IDENTIFIER "TEST"