diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index b330730ce7..77ea5c2722 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -35,7 +35,6 @@
 #include "common/maths.h"
 #include "common/utils.h"
 
-#include "config/config_master.h"
 #include "config/config_profile.h"
 #include "config/feature.h"
 #include "config/parameter_group.h"
@@ -47,13 +46,18 @@
 #include "drivers/pwm_output.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
 #include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/navigation.h"
 #include "flight/pid.h"
+#include "flight/servos.h"
 
 #include "io/beeper.h"
+#include "io/gps.h"
 #include "io/serial.h"
 
 #include "rx/rx.h"
@@ -371,7 +375,7 @@ static blackboxMainState_t* blackboxHistory[3];
 static bool blackboxModeActivationConditionPresent = false;
 
 /**
- * Return true if it is safe to edit the Blackbox configuration in the emasterConfig.
+ * Return true if it is safe to edit the Blackbox configuration.
  */
 bool blackboxMayEditConfig()
 {
@@ -1195,7 +1199,6 @@ static bool blackboxWriteSysinfo()
         return false;
     }
 
-    const profile_t *currentProfile = &masterConfig.profile[systemConfig()->current_profile_index];
     const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile);
     switch (xmitState.headerIndex) {
         BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s",                    "Cleanflight");
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 49cee1d845..93aa7c57a7 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -91,7 +91,7 @@
 #define throttleCorrectionConfig(x) (&masterConfig.throttleCorrectionConfig)
 #define batteryConfig(x) (&masterConfig.batteryConfig)
 #define rcControlsConfig(x) (&masterConfig.rcControlsConfig)
-#define gpsProfile(x) (&masterConfig.gpsProfile)
+#define navigationConfig(x) (&masterConfig.navigationConfig)
 #define gpsConfig(x) (&masterConfig.gpsConfig)
 #define rxConfig(x) (&masterConfig.rxConfig)
 #define armingConfig(x) (&masterConfig.armingConfig)
@@ -109,7 +109,7 @@
 #define sonarConfig(x) (&masterConfig.sonarConfig)
 #define ledStripConfig(x) (&masterConfig.ledStripConfig)
 #define statusLedConfig(x) (&masterConfig.statusLedConfig)
-#define osdConfig(x) (&masterConfig.osdProfile)
+#define osdConfig(x) (&masterConfig.osdConfig)
 #define vcdProfile(x) (&masterConfig.vcdProfile)
 #define sdcardConfig(x) (&masterConfig.sdcardConfig)
 #define blackboxConfig(x) (&masterConfig.blackboxConfig)
@@ -143,7 +143,7 @@
 #define throttleCorrectionConfigMutable(x) (&masterConfig.throttleCorrectionConfig)
 #define batteryConfigMutable(x) (&masterConfig.batteryConfig)
 #define rcControlsConfigMutable(x) (&masterConfig.rcControlsConfig)
-#define gpsProfileMutable(x) (&masterConfig.gpsProfile)
+#define navigationConfigMutable(x) (&masterConfig.navigationConfig)
 #define gpsConfigMutable(x) (&masterConfig.gpsConfig)
 #define rxConfigMutable(x) (&masterConfig.rxConfig)
 #define armingConfigMutable(x) (&masterConfig.armingConfig)
@@ -160,7 +160,7 @@
 #define sonarConfigMutable(x) (&masterConfig.sonarConfig)
 #define ledStripConfigMutable(x) (&masterConfig.ledStripConfig)
 #define statusLedConfigMutable(x) (&masterConfig.statusLedConfig)
-#define osdProfileMutable(x) (&masterConfig.osdProfile)
+#define osdConfigMutable(x) (&masterConfig.osdConfig)
 #define vcdProfileMutable(x) (&masterConfig.vcdProfile)
 #define sdcardConfigMutable(x) (&masterConfig.sdcardConfig)
 #define blackboxConfigMutable(x) (&masterConfig.blackboxConfig)
@@ -178,7 +178,6 @@
 #define beeperConfigMutable(x) (&masterConfig.beeperConfig)
 #define transponderConfigMutable(x) (&masterConfig.transponderConfig)
 
-#define osdConfig(x) (&masterConfig.osdProfile)
 #define servoParams(i) (&servoProfile()->servoConf[i])
 #define adjustmentRanges(i) (&adjustmentProfile()->adjustmentRanges[i])
 #define rxFailsafeChannelConfigs(i) (&masterConfig.rxConfig.failsafe_channel_configurations[i])
@@ -186,7 +185,6 @@
 #define controlRateProfiles(i) (&masterConfig.controlRateProfile[i])
 #define pidProfiles(i) (&masterConfig.profile[i].pidProfile)
 
-#define osdConfigMutable(x) (&masterConfig.osdProfile)
 #define servoParamsMutable(i) (&servoProfile()->servoConf[i])
 #define adjustmentRangesMutable(i) (&masterConfig.adjustmentProfile.adjustmentRanges[i])
 #define rxFailsafeChannelConfigsMutable(i) (&masterConfig.rxConfig.>failsafe_channel_configurations[i])
@@ -242,7 +240,7 @@ typedef struct master_s {
     rcControlsConfig_t rcControlsConfig;
 
 #ifdef GPS
-    gpsProfile_t gpsProfile;
+    navigationConfig_t navigationConfig;
     gpsConfig_t gpsConfig;
 #endif
 
@@ -290,7 +288,7 @@ typedef struct master_s {
 #endif
 
 #ifdef OSD
-    osd_profile_t osdProfile;
+    osdConfig_t osdConfig;
 #endif
 
 #ifdef USE_MAX7456
diff --git a/src/main/config/feature.c b/src/main/config/feature.c
index 09410192e7..bb5e5b9a75 100644
--- a/src/main/config/feature.c
+++ b/src/main/config/feature.c
@@ -21,7 +21,6 @@
 
 #include "platform.h"
 
-#include "config/config_master.h"
 #include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
@@ -78,5 +77,3 @@ uint32_t featureMask(void)
 {
     return featureConfig()->enabledFeatures;
 }
-
-
diff --git a/src/main/config/parameter_group_ids.h b/src/main/config/parameter_group_ids.h
index d1f45b9c96..ea2e99484b 100644
--- a/src/main/config/parameter_group_ids.h
+++ b/src/main/config/parameter_group_ids.h
@@ -94,7 +94,9 @@
 #define PG_ADC_CONFIG 510
 #define PG_SDCARD_CONFIG 511
 #define PG_DISPLAY_PORT_MSP_CONFIG 512
-#define PG_BETAFLIGHT_END 512
+#define PG_DISPLAY_PORT_MAX7456_CONFIG 513
+#define PG_VCD_CONFIG 514
+#define PG_BETAFLIGHT_END 514
 
 
 // OSD configuration (subject to change)
diff --git a/src/main/drivers/accgyro_spi_bmi160.c b/src/main/drivers/accgyro_spi_bmi160.c
index e18e92ef76..40738e4b76 100644
--- a/src/main/drivers/accgyro_spi_bmi160.c
+++ b/src/main/drivers/accgyro_spi_bmi160.c
@@ -54,7 +54,6 @@
 
 #include "config/config_eeprom.h"
 #include "config/config_profile.h"
-#include "config/config_master.h"
 #include "fc/runtime_config.h"
 
 #ifdef USE_ACCGYRO_BMI160
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 197c646cc1..48c4e0fe53 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -73,6 +73,7 @@ uint8_t cliMode = 0;
 
 #include "fc/cli.h"
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
@@ -621,11 +622,11 @@ static const clivalue_t valueTable[] = {
     { "gps_nav_p",                  VAR_UINT8  | PROFILE_VALUE, &pidProfiles(0)->P8[PIDNAVR], .config.minmax = { 0,  200 } },
     { "gps_nav_i",                  VAR_UINT8  | PROFILE_VALUE, &pidProfiles(0)->I8[PIDNAVR], .config.minmax = { 0,  200 } },
     { "gps_nav_d",                  VAR_UINT8  | PROFILE_VALUE, &pidProfiles(0)->D8[PIDNAVR], .config.minmax = { 0,  200 } },
-    { "gps_wp_radius",              VAR_UINT16 | MASTER_VALUE, &gpsProfile()->gps_wp_radius, .config.minmax = { 0,  2000 } },
-    { "nav_controls_heading",       VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &gpsProfile()->nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
-    { "nav_speed_min",              VAR_UINT16 | MASTER_VALUE, &gpsProfile()->nav_speed_min, .config.minmax = { 10,  2000 } },
-    { "nav_speed_max",              VAR_UINT16 | MASTER_VALUE, &gpsProfile()->nav_speed_max, .config.minmax = { 10,  2000 } },
-    { "nav_slew_rate",              VAR_UINT8  | MASTER_VALUE, &gpsProfile()->nav_slew_rate, .config.minmax = { 0,  100 } },
+    { "gps_wp_radius",              VAR_UINT16 | MASTER_VALUE, &navigationConfig()->gps_wp_radius, .config.minmax = { 0,  2000 } },
+    { "nav_controls_heading",       VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &navigationConfig()->nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
+    { "nav_speed_min",              VAR_UINT16 | MASTER_VALUE, &navigationConfig()->nav_speed_min, .config.minmax = { 10,  2000 } },
+    { "nav_speed_max",              VAR_UINT16 | MASTER_VALUE, &navigationConfig()->nav_speed_max, .config.minmax = { 10,  2000 } },
+    { "nav_slew_rate",              VAR_UINT8  | MASTER_VALUE, &navigationConfig()->nav_slew_rate, .config.minmax = { 0,  100 } },
 #endif
 
 #ifdef BEEPER
@@ -927,7 +928,7 @@ static gpsConfig_t gpsConfigCopy;
 #endif
 #ifdef NAV
 static positionEstimationConfig_t positionEstimationConfigCopy;
-static navConfig_t navConfigCopy;
+static navigationConfig_t navigationConfigCopy;
 #endif
 #ifdef TELEMETRY
 static telemetryConfig_t telemetryConfigCopy;
@@ -938,7 +939,7 @@ static adjustmentRange_t adjustmentRangesCopy[MAX_ADJUSTMENT_RANGE_COUNT];
 static ledStripConfig_t ledStripConfigCopy;
 #endif
 #ifdef OSD
-static osd_profile_t osdConfigCopy;
+static osdConfig_t osdConfigCopy;
 #endif
 static systemConfig_t systemConfigCopy;
 #ifdef BEEPER
@@ -1221,8 +1222,8 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
         ret.defaultConfig = positionEstimationConfig();
         break;
     case PG_NAV_CONFIG:
-        ret.currentConfig = &navConfigCopy;
-        ret.defaultConfig = navConfig();
+        ret.currentConfig = &navigationConfigCopy;
+        ret.defaultConfig = navigationConfig();
         break;
 #endif
 #ifdef TELEMETRY
@@ -1375,7 +1376,7 @@ void *getValuePointer(const clivalue_t *value)
 
     return ptr;
 }
-#endif
+#endif // USE_PARAMETER_GROUPS
 
 static void *getDefaultPointer(void *valuePointer, const master_t *defaultConfig)
 {
@@ -3148,7 +3149,7 @@ static void cliMap(char *cmdline)
             cliShowParseError();
             return;
         }
-        parseRcChannels(cmdline, &masterConfig.rxConfig);
+        parseRcChannels(cmdline, rxConfigMutable());
     }
     cliPrint("Map: ");
     uint32_t i;
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index e01e315fdc..147163a11b 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -156,6 +156,9 @@ PG_RESET_TEMPLATE(sdcardConfig_t, sdcardConfig,
 );
 #endif
 
+// no template required since defaults are zero
+PG_REGISTER(vcdProfile_t, vcdProfile, PG_VCD_CONFIG, 0);
+
 #ifndef USE_PARAMETER_GROUPS
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -253,15 +256,15 @@ void resetProfile(profile_t *profile)
 }
 
 #ifdef GPS
-void resetGpsProfile(gpsProfile_t *gpsProfile)
+void resetNavigationConfig(navigationConfig_t *navigationConfig)
 {
-    gpsProfile->gps_wp_radius = 200;
-    gpsProfile->gps_lpf = 20;
-    gpsProfile->nav_slew_rate = 30;
-    gpsProfile->nav_controls_heading = 1;
-    gpsProfile->nav_speed_min = 100;
-    gpsProfile->nav_speed_max = 300;
-    gpsProfile->ap_mode = 40;
+    navigationConfig->gps_wp_radius = 200;
+    navigationConfig->gps_lpf = 20;
+    navigationConfig->nav_slew_rate = 30;
+    navigationConfig->nav_controls_heading = 1;
+    navigationConfig->nav_speed_min = 100;
+    navigationConfig->nav_speed_max = 300;
+    navigationConfig->ap_mode = 40;
 }
 #endif
 
@@ -741,6 +744,7 @@ void resetMixerConfig(mixerConfig_t *mixerConfig)
 }
 #endif
 
+#ifndef USE_PARAMETER_GROUPS
 #ifdef USE_MAX7456
 void resetMax7456Config(vcdProfile_t *pVcdProfile)
 {
@@ -750,7 +754,6 @@ void resetMax7456Config(vcdProfile_t *pVcdProfile)
 }
 #endif
 
-#ifndef USE_PARAMETER_GROUPS
 void resetDisplayPortProfile(displayPortProfile_t *pDisplayPortProfile)
 {
     pDisplayPortProfile->colAdjust = 0;
@@ -842,6 +845,7 @@ void createDefaultConfig(master_t *config)
     intFeatureSet(DEFAULT_FEATURES, featuresPtr);
 #endif
 
+#ifndef USE_PARAMETER_GROUPS
 #ifdef USE_MSP_DISPLAYPORT
     resetDisplayPortProfile(&config->displayPortProfileMsp);
 #endif
@@ -854,8 +858,9 @@ void createDefaultConfig(master_t *config)
 #endif
 
 #ifdef OSD
-    osdResetConfig(&config->osdProfile);
+    osdResetConfig(&config->osdConfig);
 #endif
+#endif // USE_PARAMETER_GROUPS
 
 #ifdef BOARD_HAS_VOLTAGE_DIVIDER
     // only enable the VBAT feature by default if the board has a voltage divider otherwise
@@ -1089,7 +1094,7 @@ void createDefaultConfig(master_t *config)
 
 #ifndef USE_PARAMETER_GROUPS
 #ifdef GPS
-    resetGpsProfile(&config->gpsProfile);
+    resetNavigationConfig(&config->navigationConfig);
 #endif
 #endif
 
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index a05ee1843f..6748d79c7a 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -464,7 +464,7 @@ void init(void)
 #ifdef GPS
     if (feature(FEATURE_GPS)) {
         gpsInit();
-        navigationInit(&currentProfile->pidProfile);
+        navigationInit();
     }
 #endif
 
diff --git a/src/main/fc/fc_rc.c b/src/main/fc/fc_rc.c
index d7e50f6276..eda9e16ffa 100755
--- a/src/main/fc/fc_rc.c
+++ b/src/main/fc/fc_rc.c
@@ -28,22 +28,26 @@
 #include "common/utils.h"
 #include "common/filter.h"
 
+#include "config/config_profile.h"
+#include "config/feature.h"
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
+#include "fc/fc_core.h"
+#include "fc/fc_rc.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
-#include "fc/fc_rc.h"
-#include "fc/fc_core.h"
 
 #include "rx/rx.h"
 
 #include "scheduler/scheduler.h"
 
+#include "flight/failsafe.h"
+#include "flight/imu.h"
 #include "flight/pid.h"
 
-#include "config/config_profile.h"
-#include "config/config_master.h"
-#include "config/feature.h"
-
 static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
 static float throttlePIDAttenuation;
 
diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c
index 633e1163a8..f553c11a80 100644
--- a/src/main/fc/rc_adjustments.c
+++ b/src/main/fc/rc_adjustments.c
@@ -36,17 +36,17 @@
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 #include "config/feature.h"
-#include "config/config_master.h"
 
 #include "flight/pid.h"
 
 #include "io/beeper.h"
 #include "io/motors.h"
 
+#include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/fc_rc.h"
-#include "fc/config.h"
 
 #include "rx/rx.h"
 
diff --git a/src/main/flight/navigation.c b/src/main/flight/navigation.c
index de7eeb990f..03d42395d6 100644
--- a/src/main/flight/navigation.c
+++ b/src/main/flight/navigation.c
@@ -31,6 +31,7 @@
 #include "common/maths.h"
 #include "common/time.h"
 
+#include "config/config_profile.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
@@ -56,9 +57,9 @@
 #include "sensors/sensors.h"
 
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gpsProfile_t, gpsProfile, PG_NAVIGATION_CONFIG, 0);
+PG_REGISTER_WITH_RESET_TEMPLATE(navigationConfig_t, navigationConfig, PG_NAVIGATION_CONFIG, 0);
 
-PG_RESET_TEMPLATE(gpsProfile_t, gpsProfile,
+PG_RESET_TEMPLATE(navigationConfig_t, navigationConfig,
     .gps_wp_radius = 200,
     .gps_lpf = 20,
     .nav_slew_rate = 30,
@@ -85,9 +86,9 @@ static int16_t nav_rated[2];               // Adding a rate controller to the na
 navigationMode_e nav_mode = NAV_MODE_NONE;    // Navigation mode
 
 // When using PWM input GPS usage reduces number of available channels by 2 - see pwm_common.c/pwmInit()
-void navigationInit(pidProfile_t *pidProfile)
+void navigationInit(void)
 {
-    gpsUsePIDs(pidProfile);
+    gpsUsePIDs(&currentProfile->pidProfile);
 }
 
 
@@ -167,7 +168,7 @@ static int32_t get_D(int32_t input, float *dt, PID *pid, PID_PARAM *pid_param)
 
     // Low pass filter cut frequency for derivative calculation
     // Set to  "1 / ( 2 * PI * gps_lpf )
-    float pidFilter = (1.0f / (2.0f * M_PIf * (float)gpsProfile()->gps_lpf));
+    float pidFilter = (1.0f / (2.0f * M_PIf * (float)navigationConfig()->gps_lpf));
     // discrete low pass filter, cuts out the
     // high frequency noise that can drive the controller crazy
     pid->derivative = pid->last_derivative + (*dt / (pidFilter + *dt)) * (pid->derivative - pid->last_derivative);
@@ -331,13 +332,13 @@ void onGpsNewData(void)
             break;
 
         case NAV_MODE_WP:
-            speed = GPS_calc_desired_speed(gpsProfile()->nav_speed_max, NAV_SLOW_NAV);    // slow navigation
+            speed = GPS_calc_desired_speed(navigationConfig()->nav_speed_max, NAV_SLOW_NAV);    // slow navigation
             // use error as the desired rate towards the target
             // Desired output is in nav_lat and nav_lon where 1deg inclination is 100
             GPS_calc_nav_rate(speed);
 
             // Tail control
-            if (gpsProfile()->nav_controls_heading) {
+            if (navigationConfig()->nav_controls_heading) {
                 if (NAV_TAIL_FIRST) {
                     magHold = wrap_18000(nav_bearing - 18000) / 100;
                 } else {
@@ -345,7 +346,7 @@ void onGpsNewData(void)
                 }
             }
             // Are we there yet ?(within x meters of the destination)
-            if ((wp_distance <= gpsProfile()->gps_wp_radius) || check_missed_wp()) {      // if yes switch to poshold mode
+            if ((wp_distance <= navigationConfig()->gps_wp_radius) || check_missed_wp()) {      // if yes switch to poshold mode
                 nav_mode = NAV_MODE_POSHOLD;
                 if (NAV_SET_TAKEOFF_HEADING) {
                     magHold = nav_takeoff_bearing;
@@ -435,7 +436,7 @@ void GPS_set_next_wp(int32_t *lat, int32_t *lon)
     nav_bearing = target_bearing;
     GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &GPS_coord[LAT], &GPS_coord[LON]);
     original_target_bearing = target_bearing;
-    waypoint_speed_gov = gpsProfile()->nav_speed_min;
+    waypoint_speed_gov = navigationConfig()->nav_speed_min;
 }
 
 ////////////////////////////////////////////////////////////////////////////////////
@@ -614,7 +615,7 @@ static uint16_t GPS_calc_desired_speed(uint16_t max_speed, bool _slow)
         max_speed = MIN(max_speed, wp_distance / 2);
     } else {
         max_speed = MIN(max_speed, wp_distance);
-        max_speed = MAX(max_speed, gpsProfile()->nav_speed_min);      // go at least 100cm/s
+        max_speed = MAX(max_speed, navigationConfig()->nav_speed_min);      // go at least 100cm/s
     }
 
     // limit the ramp up of the speed
@@ -651,9 +652,9 @@ void updateGpsStateForHomeAndHoldMode(void)
 {
     float sin_yaw_y = sin_approx(DECIDEGREES_TO_DEGREES(attitude.values.yaw) * 0.0174532925f);
     float cos_yaw_x = cos_approx(DECIDEGREES_TO_DEGREES(attitude.values.yaw) * 0.0174532925f);
-    if (gpsProfile()->nav_slew_rate) {
-        nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -gpsProfile()->nav_slew_rate, gpsProfile()->nav_slew_rate); // TODO check this on uint8
-        nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -gpsProfile()->nav_slew_rate, gpsProfile()->nav_slew_rate);
+    if (navigationConfig()->nav_slew_rate) {
+        nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -navigationConfig()->nav_slew_rate, navigationConfig()->nav_slew_rate); // TODO check this on uint8
+        nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -navigationConfig()->nav_slew_rate, navigationConfig()->nav_slew_rate);
         GPS_angle[AI_ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
         GPS_angle[AI_PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
     } else {
@@ -697,7 +698,7 @@ void updateGpsWaypointsAndMode(void)
             // process HOLD mode
             //
 
-            if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(gpsProfile()->ap_mode)) {
+            if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(navigationConfig()->ap_mode)) {
                 if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
 
                     // Transition to HOLD mode
diff --git a/src/main/flight/navigation.h b/src/main/flight/navigation.h
index af49cfd263..c7375dd82d 100644
--- a/src/main/flight/navigation.h
+++ b/src/main/flight/navigation.h
@@ -26,7 +26,7 @@ typedef enum {
 
 // FIXME ap_mode is badly named, it's a value that is compared to rcCommand, not a flag at it's name implies.
 
-typedef struct gpsProfile_s {
+typedef struct navigationConfig_s {
     uint16_t gps_wp_radius;                 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
     uint8_t gps_lpf;                        // Low pass filter cut frequency for derivative calculation (default 20Hz)
     uint8_t nav_slew_rate;                  // Adds a rate control to nav output, will smoothen out nav angle spikes
@@ -34,9 +34,9 @@ typedef struct gpsProfile_s {
     uint16_t nav_speed_min;                 // cm/sec
     uint16_t nav_speed_max;                 // cm/sec
     uint16_t ap_mode;                       // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
-} gpsProfile_t;
+} navigationConfig_t;
 
-PG_DECLARE(gpsProfile_t, gpsProfile);
+PG_DECLARE(navigationConfig_t, navigationConfig);
 
 extern int16_t GPS_angle[ANGLE_INDEX_COUNT];                // it's the angles that must be applied for GPS correction
 
@@ -48,8 +48,7 @@ extern int16_t GPS_directionToHome;        // direction to home or hol point in
 
 extern navigationMode_e nav_mode;          // Navigation mode
 
-struct pidProfile_s;
-void navigationInit(struct pidProfile_s *pidProfile);
+void navigationInit(void);
 void GPS_reset_home_position(void);
 void GPS_reset_nav(void);
 void GPS_set_next_wp(int32_t* lat, int32_t* lon);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 6845c1fcd3..c656f6fb2d 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -29,9 +29,10 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
+#include "config/config_reset.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
-#include "config/config_reset.h"
+#include "config/config_profile.h"
 
 #include "fc/fc_core.h"
 #include "fc/fc_rc.h"
@@ -75,61 +76,72 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
 
 PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 0);
 
+void resetPidProfile(pidProfile_t *pidProfile)
+{
+    RESET_CONFIG(const pidProfile_t, pidProfile,
+        .P8[ROLL] = 44,
+        .I8[ROLL] = 40,
+        .D8[ROLL] = 20,
+        .P8[PITCH] = 58,
+        .I8[PITCH] = 50,
+        .D8[PITCH] = 22,
+        .P8[YAW] = 70,
+        .I8[YAW] = 45,
+        .D8[YAW] = 20,
+        .P8[PIDALT] = 50,
+        .I8[PIDALT] = 0,
+        .D8[PIDALT] = 0,
+        .P8[PIDPOS] = 15,   // POSHOLD_P * 100,
+        .I8[PIDPOS] = 0,    // POSHOLD_I * 100,
+        .D8[PIDPOS] = 0,
+        .P8[PIDPOSR] = 34,  // POSHOLD_RATE_P * 10,
+        .I8[PIDPOSR] = 14,  // POSHOLD_RATE_I * 100,
+        .D8[PIDPOSR] = 53,  // POSHOLD_RATE_D * 1000,
+        .P8[PIDNAVR] = 25,  // NAV_P * 10,
+        .I8[PIDNAVR] = 33,  // NAV_I * 100,
+        .D8[PIDNAVR] = 83,  // NAV_D * 1000,
+        .P8[PIDLEVEL] = 50,
+        .I8[PIDLEVEL] = 50,
+        .D8[PIDLEVEL] = 100,
+        .P8[PIDMAG] = 40,
+        .P8[PIDVEL] = 55,
+        .I8[PIDVEL] = 55,
+        .D8[PIDVEL] = 75,
+
+        .yaw_p_limit = YAW_P_LIMIT_MAX,
+        .pidSumLimit = PIDSUM_LIMIT,
+        .yaw_lpf_hz = 0,
+        .itermWindupPointPercent = 50,
+        .dterm_filter_type = FILTER_BIQUAD,
+        .dterm_lpf_hz = 100,    // filtering ON by default
+        .dterm_notch_hz = 260,
+        .dterm_notch_cutoff = 160,
+        .vbatPidCompensation = 0,
+        .pidAtMinThrottle = PID_STABILISATION_ON,
+        .levelAngleLimit = 55,
+        .levelSensitivity = 55,
+        .setpointRelaxRatio = 20,
+        .dtermSetpointWeight = 100,
+        .yawRateAccelLimit = 10.0f,
+        .rateAccelLimit = 0.0f,
+        .itermThrottleThreshold = 350,
+        .itermAcceleratorGain = 1.0f
+    );
+}
 void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)
 {
     for (int i = 0; i < MAX_PROFILE_COUNT; i++) {
-        RESET_CONFIG(const pidProfile_t, &pidProfiles[i],
-            .P8[ROLL] = 44,
-            .I8[ROLL] = 40,
-            .D8[ROLL] = 20,
-            .P8[PITCH] = 58,
-            .I8[PITCH] = 50,
-            .D8[PITCH] = 22,
-            .P8[YAW] = 70,
-            .I8[YAW] = 45,
-            .D8[YAW] = 20,
-            .P8[PIDALT] = 50,
-            .I8[PIDALT] = 0,
-            .D8[PIDALT] = 0,
-            .P8[PIDPOS] = 15,   // POSHOLD_P * 100,
-            .I8[PIDPOS] = 0,    // POSHOLD_I * 100,
-            .D8[PIDPOS] = 0,
-            .P8[PIDPOSR] = 34,  // POSHOLD_RATE_P * 10,
-            .I8[PIDPOSR] = 14,  // POSHOLD_RATE_I * 100,
-            .D8[PIDPOSR] = 53,  // POSHOLD_RATE_D * 1000,
-            .P8[PIDNAVR] = 25,  // NAV_P * 10,
-            .I8[PIDNAVR] = 33,  // NAV_I * 100,
-            .D8[PIDNAVR] = 83,  // NAV_D * 1000,
-            .P8[PIDLEVEL] = 50,
-            .I8[PIDLEVEL] = 50,
-            .D8[PIDLEVEL] = 100,
-            .P8[PIDMAG] = 40,
-            .P8[PIDVEL] = 55,
-            .I8[PIDVEL] = 55,
-            .D8[PIDVEL] = 75,
-
-            .yaw_p_limit = YAW_P_LIMIT_MAX,
-            .pidSumLimit = PIDSUM_LIMIT,
-            .yaw_lpf_hz = 0,
-            .itermWindupPointPercent = 50,
-            .dterm_filter_type = FILTER_BIQUAD,
-            .dterm_lpf_hz = 100,    // filtering ON by default
-            .dterm_notch_hz = 260,
-            .dterm_notch_cutoff = 160,
-            .vbatPidCompensation = 0,
-            .pidAtMinThrottle = PID_STABILISATION_ON,
-            .levelAngleLimit = 55,
-            .levelSensitivity = 55,
-            .setpointRelaxRatio = 20,
-            .dtermSetpointWeight = 100,
-            .yawRateAccelLimit = 10.0f,
-            .rateAccelLimit = 0.0f,
-            .itermThrottleThreshold = 350,
-            .itermAcceleratorGain = 1.0f
-        );
+        resetPidProfile(&pidProfiles[i]);
     }
 }
 
+#ifdef USE_PARAMETER_GROUPS
+void resetProfile(profile_t *profile)
+{
+    resetPidProfile(&profile->pidProfile);
+}
+#endif
+
 void pidSetTargetLooptime(uint32_t pidLooptime)
 {
     targetPidLooptime = pidLooptime;
diff --git a/src/main/io/displayport_max7456.c b/src/main/io/displayport_max7456.c
index 23504a5929..e1a83fd67e 100644
--- a/src/main/io/displayport_max7456.c
+++ b/src/main/io/displayport_max7456.c
@@ -34,9 +34,10 @@
 #include "io/displayport_max7456.h"
 #include "io/osd.h"
 
-displayPort_t max7456DisplayPort; // Referenced from osd.c
+displayPort_t max7456DisplayPort;
 
-extern uint16_t refreshTimeout;
+// no template required since defaults are zero
+PG_REGISTER(displayPortProfile_t, displayPortProfileMax7456, PG_DISPLAY_PORT_MAX7456_CONFIG, 0);
 
 static int grab(displayPort_t *displayPort)
 {
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 033ede387b..38db0ba257 100755
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -44,7 +44,6 @@
 #include "common/typeconversion.h"
 #include "common/utils.h"
 
-#include "config/config_master.h"
 #include "config/config_profile.h"
 #include "config/feature.h"
 #include "config/parameter_group.h"
@@ -135,6 +134,8 @@ static displayPort_t *osdDisplayPort;
 #define AH_SIDEBAR_WIDTH_POS 7
 #define AH_SIDEBAR_HEIGHT_POS 3
 
+PG_REGISTER_WITH_RESET_FN(osdConfig_t, osdConfig, PG_OSD_CONFIG, 0);
+
 /**
  * Gets the correct altitude symbol for the current unit system
  */
@@ -471,7 +472,11 @@ void osdDrawElements(void)
 #endif // GPS
 }
 
-void osdResetConfig(osd_profile_t *osdProfile)
+#ifdef USE_PARAMETER_GROUPS
+void pgResetFn_osdConfig(osdConfig_t *osdProfile)
+#else
+void osdResetConfig(osdConfig_t *osdProfile)
+#endif
 {
     osdProfile->item_pos[OSD_RSSI_VALUE] = OSD_POS(22, 0);
     osdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 0) | VISIBLE_FLAG;
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 00b6abc163..7381a97f34 100755
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -56,7 +56,7 @@ typedef enum {
     OSD_UNIT_METRIC
 } osd_unit_e;
 
-typedef struct osd_profile_s {
+typedef struct osdConfig_s {
     uint16_t item_pos[OSD_ITEM_COUNT];
 
     // Alarms
@@ -66,13 +66,14 @@ typedef struct osd_profile_s {
     uint16_t alt_alarm;
 
     osd_unit_e units;
-} osd_profile_t;
+} osdConfig_t;
 
-// !!TODO change to osdConfig_t
-PG_DECLARE(osd_profile_t, osdConfig);
+extern uint16_t refreshTimeout;
+
+PG_DECLARE(osdConfig_t, osdConfig);
 
 struct displayPort_s;
 void osdInit(struct displayPort_s *osdDisplayPort);
-void osdResetConfig(osd_profile_t *osdProfile);
+void osdResetConfig(osdConfig_t *osdProfile);
 void osdResetAlarms(void);
 void osdUpdate(timeUs_t currentTimeUs);