diff --git a/.travis.yml b/.travis.yml
index 5072324926..df472a95ec 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -82,7 +82,7 @@ install:
   - make arm_sdk_install
 
 before_script:
-  - tools/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-gcc --version
+  - tools/gcc-arm-none-eabi-6_2-2016q4/bin/arm-none-eabi-gcc --version
   - clang --version
   - clang++ --version
 
diff --git a/make/tools.mk b/make/tools.mk
index 810716a57d..4ad98115d6 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -14,16 +14,16 @@
 ##############################
 
 # Set up ARM (STM32) SDK
-ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-5_4-2016q3
+ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-6_2-2016q4
 # Checked below, Should match the output of $(shell arm-none-eabi-gcc -dumpversion)
-GCC_REQUIRED_VERSION ?= 5.4.1
+GCC_REQUIRED_VERSION ?= 6.2.1
 
 ## arm_sdk_install   : Install Arm SDK
 .PHONY: arm_sdk_install
 
-ARM_SDK_URL_BASE  := https://launchpad.net/gcc-arm-embedded/5.0/5-2016-q3-update/+download/gcc-arm-none-eabi-5_4-2016q3-20160926
+ARM_SDK_URL_BASE  := https://developer.arm.com/-/media/Files/downloads/gnu-rm/6-2016q4/gcc-arm-none-eabi-6_2-2016q4-20161216
 
-# source: https://launchpad.net/gcc-arm-embedded/5.0/
+# source: https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads
 ifdef LINUX
   ARM_SDK_URL  := $(ARM_SDK_URL_BASE)-linux.tar.bz2
 endif
@@ -33,7 +33,7 @@ ifdef MACOSX
 endif
 
 ifdef WINDOWS
-  ARM_SDK_URL  := $(ARM_SDK_URL_BASE)-win32.zip
+  ARM_SDK_URL  := $(ARM_SDK_URL_BASE)-win32-zip.zip
 endif
 
 ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
diff --git a/src/main/build/atomic.h b/src/main/build/atomic.h
index 4603091ed4..959c6e9d8d 100644
--- a/src/main/build/atomic.h
+++ b/src/main/build/atomic.h
@@ -85,7 +85,7 @@ static inline uint8_t __basepriSetRetVal(uint8_t prio)
 // ideally this would only protect memory passed as parameter (any type should work), but gcc is curently creating almost full barrier
 // this macro can be used only ONCE PER LINE, but multiple uses per block are fine
 
-#if (__GNUC__ > 5)
+#if (__GNUC__ > 6)
 #warning "Please verify that ATOMIC_BARRIER works as intended"
 // increment version number is BARRIER works
 // TODO - use flag to disable ATOMIC_BARRIER and use full barrier instead
diff --git a/src/main/cms/cms_menu_blackbox.c b/src/main/cms/cms_menu_blackbox.c
index d1ea564a88..7e5e891eeb 100644
--- a/src/main/cms/cms_menu_blackbox.c
+++ b/src/main/cms/cms_menu_blackbox.c
@@ -90,7 +90,9 @@ static char cmsx_BlackboxDeviceStorageFree[CMS_BLACKBOX_STRING_LENGTH];
 static void cmsx_Blackbox_GetDeviceStatus()
 {
     char * unit = "B";
+#if defined(USE_SDCARD) || defined(USE_FLASHFS)
     bool storageDeviceIsWorking = false;
+#endif
     uint32_t storageUsed = 0;
     uint32_t storageFree = 0;
 
@@ -148,7 +150,6 @@ static void cmsx_Blackbox_GetDeviceStatus()
 #endif
 
     default:
-        storageDeviceIsWorking = true;
         snprintf(cmsx_BlackboxStatus, CMS_BLACKBOX_STRING_LENGTH, "---");
     }
 
diff --git a/src/main/target/BLUEJAYF4/target.h.orig b/src/main/target/BLUEJAYF4/target.h.orig
new file mode 100644
index 0000000000..a3c6593f84
--- /dev/null
+++ b/src/main/target/BLUEJAYF4/target.h.orig
@@ -0,0 +1,175 @@
+/*
+ * 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
+#define TARGET_BOARD_IDENTIFIER "BJF4"
+#define TARGET_CONFIG
+#define TARGET_VALIDATECONFIG
+#define TARGET_PREINIT
+
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING     "BlueJayF4"
+
+#define USE_HARDWARE_REVISION_DETECTION
+#define HW_PIN                  PB2
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+
+#define LED0                    PB6
+#define LED1                    PB5
+#define LED2                    PB4
+
+#define BEEPER                  PC1
+#define BEEPER_OPT              PB7
+#define BEEPER_INVERTED
+
+#define INVERTER_PIN_USART6     PB15
+//#define INVERTER_PIN_USART1     PC9
+
+#define UART1_INVERTER          PC9
+
+// MPU6500 interrupt
+#define USE_EXTI
+#define MPU_INT_EXTI            PC5
+#define USE_MPU_DATA_READY_SIGNAL
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+
+#define MPU6500_CS_PIN          PC4
+#define MPU6500_SPI_INSTANCE    SPI1
+
+#define ACC
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW0_DEG
+
+#define GYRO
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW0_DEG
+
+//#define MAG
+//#define USE_MAG_AK8963
+
+#define BARO
+#define USE_BARO_MS5611
+#define MS5611_I2C_INSTANCE     I2CDEV_1
+
+#define USE_SDCARD
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PD2
+#define SDCARD_SPI_INSTANCE                 SPI3
+#define SDCARD_SPI_CS_PIN                   PA15
+
+// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
+
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+
+// Performance logging for SD card operations:
+// #define AFATFS_USE_INTROSPECTIVE_LOGGING
+
+#define M25P16_CS_PIN           PB7
+#define M25P16_SPI_INSTANCE     SPI3
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_VCP
+//#define VBUS_SENSING_PIN PA8
+//#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL1_RX_PIN      PB0 // PWM5
+#define SOFTSERIAL1_TX_PIN      PB1 // PWM6
+<<<<<<< HEAD
+
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT       6
+
+=======
+
+#define SERIAL_PORT_COUNT       5
+
+>>>>>>> betaflight/patch_v3.1.6
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN            PC4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_PULLUP
+
+#define USE_ADC
+#define VBAT_ADC_PIN            PC3
+#define CURRENT_METER_ADC_PIN   PC2
+
+#define USE_ESC_SENSOR
+#define LED_STRIP
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART6
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define SPEKTRUM_BIND
+#define BIND_PIN                PB11
+
+#define TARGET_IO_PORTA             0xffff
+#define TARGET_IO_PORTB             0xffff
+#define TARGET_IO_PORTC             0xffff
+#define TARGET_IO_PORTD             (BIT(2))
+
+#define USABLE_TIMER_CHANNEL_COUNT     7
+#define USED_TIMERS                   ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/CC3D/target.h.orig b/src/main/target/CC3D/target.h.orig
new file mode 100644
index 0000000000..c2da16cb98
--- /dev/null
+++ b/src/main/target/CC3D/target.h.orig
@@ -0,0 +1,139 @@
+/*
+ * 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/>.
+ */
+
+#define TARGET_BOARD_IDENTIFIER "CC3D" // CopterControl 3D
+
+#define LED0                    PB3
+
+#define INVERTER_PIN_USART1     PB2 // PB2 (BOOT1) used as inverter select GPIO
+
+#define BEEPER                  PA15
+#define BEEPER_OPT              PA2
+
+#define USE_EXTI
+#define MPU_INT_EXTI            PA3
+#define USE_MPU_DATA_READY_SIGNAL
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_2
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_2) // Flex port - SCL/PB10, SDA/PB11
+
+#define MPU6000_CS_GPIO         GPIOA
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define M25P16_CS_GPIO          GPIOB
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN CW270_DEG
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN CW270_DEG
+
+// MPU6000 interrupts
+#define USE_MPU_DATA_READY_SIGNAL
+
+// External I2C BARO
+//#define BARO
+//#define USE_BARO_MS5611
+//#define USE_BARO_BMP085
+//#define USE_BARO_BMP280
+
+// External I2C MAG
+//#define MAG
+//#define USE_MAG_HMC5883
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART3
+#define USE_SOFTSERIAL1
+<<<<<<< HEAD
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT       5
+
+#ifndef CC3D_OPBL
+#define SOFTSERIAL1_TX_PIN      PB5 // PWM 2
+#define SOFTSERIAL1_RX_PIN      PB0 // PWM 3
+=======
+#define SOFTSERIAL1_TX_PIN      PB5 // PWM 2
+#define SOFTSERIAL1_RX_PIN      PB0 // PWM 3
+#define SERIAL_PORT_COUNT       4
+>>>>>>> betaflight/patch_v3.1.6
+#endif
+
+#ifdef USE_UART1_RX_DMA
+#undef USE_UART1_RX_DMA
+#endif
+
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_ADC
+#define CURRENT_METER_ADC_PIN   PB1
+#define VBAT_ADC_PIN            PA0
+#define RSSI_ADC_PIN            PB0
+
+#define SPEKTRUM_BIND
+// USART3, PB11 (Flexport)
+#define BIND_PIN   PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+//#define SONAR
+//#define SONAR_ECHO_PIN          PB0
+//#define SONAR_TRIGGER_PIN       PB5
+
+#undef GPS
+#undef MAG
+
+#ifdef CC3D_OPBL
+#define SKIP_CLI_COMMAND_HELP
+//#undef USE_SERVOS
+#undef BARO
+#undef SONAR
+#undef LED_STRIP
+#undef USE_SERIAL_4WAY_BLHELI_INTERFACE
+//#undef USE_SERIALRX_SPEKTRUM   // SRXL, DSM2 and DSMX protocol
+//#undef USE_SERIALRX_SBUS       // Frsky and Futaba receivers
+//#undef USE_SERIALRX_IBUS       // FlySky and Turnigy receivers
+#undef USE_SERIALRX_CRSF       // Team Black Sheep Crossfire protocol
+#undef USE_SERIALRX_SUMD       // Graupner Hott protocol
+#undef USE_SERIALRX_SUMH       // Graupner legacy protocol
+#undef USE_SERIALRX_XBUS       // JR
+#endif
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+
+// IO - from schematics
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         ( BIT(14) )
+
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/KISSFC/target.h.orig b/src/main/target/KISSFC/target.h.orig
new file mode 100644
index 0000000000..a089bea162
--- /dev/null
+++ b/src/main/target/KISSFC/target.h.orig
@@ -0,0 +1,123 @@
+/*
+ * 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
+
+#define TARGET_BOARD_IDENTIFIER "KISS"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+#define SBUS_PORT_OPTIONS (SERIAL_STOPBITS_2 | SERIAL_PARITY_EVEN | SERIAL_INVERTED | SERIAL_BIDIR)
+
+#define USE_ESC_SENSOR
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 6
+#define REMAP_TIM17_DMA
+
+#define LED0                    PB1
+
+#define BEEPER                  PB13
+#define BEEPER_INVERTED
+
+#define USE_EXTI
+#define MPU_INT_EXTI            PB2
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+#ifdef KISSCC
+#define TARGET_CONFIG
+
+#define GYRO
+#define USE_GYRO_MPU6050
+#define GYRO_MPU6050_ALIGN      CW90_DEG
+
+#define ACC
+#define USE_ACC_MPU6050
+#define ACC_MPU6050_ALIGN       CW90_DEG
+#else
+#define GYRO
+#define USE_GYRO_MPU6050
+#define GYRO_MPU6050_ALIGN      CW180_DEG
+
+#define ACC
+#define USE_ACC_MPU6050
+#define ACC_MPU6050_ALIGN       CW180_DEG
+
+#define LED_STRIP
+#endif
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+<<<<<<< HEAD
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT       6
+=======
+>>>>>>> betaflight/patch_v3.1.6
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PB3
+#define UART2_RX_PIN            PB4
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#ifdef KISSCC
+<<<<<<< HEAD
+#define SOFTSERIAL1_TX_PIN      PA13
+=======
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL1_TX_PIN      PA13
+#define SERIAL_PORT_COUNT       5
+#else
+#define SERIAL_PORT_COUNT       4
+>>>>>>> betaflight/patch_v3.1.6
+#endif
+
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_ADC
+#define VBAT_SCALE_DEFAULT      160
+#define ADC_INSTANCE            ADC1
+#define VBAT_ADC_PIN            PA0
+//#define CURRENT_METER_ADC_PIN   PA5
+//#define RSSI_ADC_PIN            PB2
+
+#define DEFAULT_FEATURES        FEATURE_VBAT
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+#define AVOID_UART2_FOR_PWM_PPM
+
+#define SPEKTRUM_BIND
+#define BIND_PIN                PB4
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTF         (BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
diff --git a/src/main/target/OMNIBUS/target.h.orig b/src/main/target/OMNIBUS/target.h.orig
new file mode 100644
index 0000000000..bd80fb5336
--- /dev/null
+++ b/src/main/target/OMNIBUS/target.h.orig
@@ -0,0 +1,192 @@
+/*
+ * 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
+
+#define TARGET_BOARD_IDENTIFIER "OMNI" // https://en.wikipedia.org/wiki/Omnibus
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+#define LED0                    PB3
+
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+#define USE_EXTI
+#define MPU_INT_EXTI PC13
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
+
+#define MPU6000_SPI_INSTANCE    SPI1
+#define MPU6000_CS_PIN          PA4
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW90_DEG
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW90_DEG
+
+#define BMP280_SPI_INSTANCE     SPI1
+#define BMP280_CS_PIN           PA13
+
+#define BARO
+#define USE_BARO_BMP280
+#define USE_BARO_SPI_BMP280
+
+#define MAG // External
+#define USE_MAG_AK8963
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+
+//#define SONAR
+//#define SONAR_ECHO_PIN          PB1
+//#define SONAR_TRIGGER_PIN       PB0
+
+#undef GPS
+
+#define USB_IO
+#define USB_CABLE_DETECTION
+#define USB_DETECT_PIN          PB5
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+<<<<<<< HEAD
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT       6
+=======
+#define SERIAL_PORT_COUNT       4
+>>>>>>> betaflight/patch_v3.1.6
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#undef USE_I2C
+//#define USE_I2C
+//#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+// OSD define info:
+//   feature name (includes source) -> MAX_OSD, used in target.mk
+// include the osd code
+#define OSD
+
+// include the max7456 driver
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI1
+#define MAX7456_SPI_CS_PIN      PB1
+#define MAX7456_SPI_CLK         (SPI_CLOCK_STANDARD*2)
+#define MAX7456_RESTORE_CLK     (SPI_CLOCK_FAST)
+//#define MAX7456_DMA_CHANNEL_TX            DMA1_Channel3
+//#define MAX7456_DMA_CHANNEL_RX            DMA1_Channel2
+//#define MAX7456_DMA_IRQ_HANDLER_ID        DMA1_CH3_HANDLER
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SDCARD
+#define USE_SDCARD_SPI2
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PC14
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_PIN                   SPI2_NSS_PIN
+
+// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     2
+
+#define USE_ESC_SENSOR
+
+// DSHOT output 4 uses DMA1_Channel5, so don't use it for the SDCARD until we find an alternative
+#ifndef USE_DSHOT
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Channel5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
+#endif
+
+// Performance logging for SD card operations:
+// #define AFATFS_USE_INTROSPECTIVE_LOGGING
+
+#define USE_ADC
+//#define BOARD_HAS_VOLTAGE_DIVIDER
+#define VBAT_ADC_PIN                PA0
+#define CURRENT_METER_ADC_PIN       PA1
+#define ADC_INSTANCE                ADC1
+
+//#define RSSI_ADC_PIN                PB1
+//#define ADC_INSTANCE                ADC3
+
+#define LED_STRIP
+
+#define TRANSPONDER
+#define REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX)
+
+#define BUTTONS
+#define BUTTON_A_PIN            PB1
+#define BUTTON_B_PIN            PB0
+
+//#define AVOID_UART3_FOR_PWM_PPM // Disable this for using UART3
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN                PB11
+
+#define HARDWARE_BIND_PLUG
+#define BINDPLUG_PIN            PB0
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 8 // PPM + 6 Outputs (2 shared with UART3)
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15))
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index bc175d46bd..de6313d746 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -125,7 +125,10 @@
 #define UART6_RX_PIN            PC7
 #define UART6_TX_PIN            PC6
 
-#define SERIAL_PORT_COUNT       4 //VCP, USART1, USART3, USART6
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT       6 //VCP, USART1, USART3, USART6, SOFTSERIAL x 2
 
 #define USE_ESCSERIAL
 #define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
diff --git a/src/main/target/REVO/target.h.orig b/src/main/target/REVO/target.h.orig
new file mode 100644
index 0000000000..e1a2dd8def
--- /dev/null
+++ b/src/main/target/REVO/target.h.orig
@@ -0,0 +1,224 @@
+/*
+ * 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
+
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#if defined(AIRBOTF4)
+#define TARGET_BOARD_IDENTIFIER "AIR4"
+#define USBD_PRODUCT_STRING     "AirbotF4"
+
+#elif defined(REVOLT)
+#define TARGET_BOARD_IDENTIFIER "RVLT"
+#define USBD_PRODUCT_STRING     "Revolt"
+#define TARGET_DEFAULT_MIXER    MIXER_QUADX_1234
+
+#elif defined(SOULF4)
+#define TARGET_BOARD_IDENTIFIER "SOUL"
+#define USBD_PRODUCT_STRING     "DemonSoulF4"
+
+#elif defined(PODIUMF4)
+#define TARGET_BOARD_IDENTIFIER "PODI"
+#define USBD_PRODUCT_STRING     "PodiumF4"
+
+#else
+#define TARGET_BOARD_IDENTIFIER "REVO"
+#define USBD_PRODUCT_STRING     "Revolution"
+
+#ifdef OPBL
+#define USBD_SERIALNUMBER_STRING "0x8020000"
+#endif
+
+#endif
+
+#define USE_ESC_SENSOR
+
+#define LED0                    PB5
+#if defined(PODIUMF4)
+#define LED1                    PB4
+#define LED2                    PB6
+#endif
+
+// Disable LED1, conflicts with AirbotF4/Flip32F4/Revolt beeper
+#if defined(AIRBOTF4)
+#define BEEPER                  PB4
+#define BEEPER_INVERTED
+#elif defined(REVOLT)
+#define BEEPER                  PB4
+#elif defined(SOULF4)
+#define BEEPER                  PB6
+#define BEEPER_INVERTED
+#else
+#define LED1                    PB4
+// Leave beeper here but with none as io - so disabled unless mapped.
+#define BEEPER                  NONE
+#endif
+
+// PC0 used as inverter select GPIO
+#define INVERTER_PIN_USART1     PC0
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
+
+#if defined(SOULF4)
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW180_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW180_DEG
+
+#elif defined(REVOLT) || defined(PODIUMF4)
+
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW0_DEG
+
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW0_DEG
+
+#else
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW270_DEG
+
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW270_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW270_DEG
+
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW270_DEG
+
+#endif
+
+// MPU6000 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI            PC4
+#define USE_MPU_DATA_READY_SIGNAL
+
+#if !defined(AIRBOTF4) && !defined(REVOLT) && !defined(SOULF4) && !defined(PODIUMF4)
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW90_DEG
+
+#define BARO
+#define USE_BARO_MS5611
+
+#endif
+
+#define M25P16_CS_PIN           PB3
+#define M25P16_SPI_INSTANCE     SPI3
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_VCP
+#if defined(PODIUMF4)
+#define VBUS_SENSING_PIN        PA8
+#else
+#define VBUS_SENSING_PIN        PC5
+#endif
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+<<<<<<< HEAD
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT       6 //VCP, USART1, USART3, USART6, SOFTSERIAL x 2
+=======
+#define SERIAL_PORT_COUNT       4 //VCP, USART1, USART3, USART6
+>>>>>>> betaflight/patch_v3.1.6
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_1)
+
+#define USE_ADC
+#if !defined(PODIUMF4)
+#define CURRENT_METER_ADC_PIN   PC1
+#define VBAT_ADC_PIN            PC2
+#else
+#define VBAT_ADC_PIN            PC3
+#define VBAT_ADC_CHANNEL        ADC_Channel_13
+#endif
+
+#define LED_STRIP
+
+#define SENSORS_SET             (SENSOR_ACC)
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#if defined(PODIUMF4)
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART6
+#define DEFAULT_FEATURES        FEATURE_TELEMETRY
+#else
+#define DEFAULT_FEATURES        (FEATURE_BLACKBOX)
+#endif
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN                PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+#ifdef REVOLT
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#else
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#endif
+
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/SPRACINGF3/target.h.orig b/src/main/target/SPRACINGF3/target.h.orig
new file mode 100644
index 0000000000..c618d93a44
--- /dev/null
+++ b/src/main/target/SPRACINGF3/target.h.orig
@@ -0,0 +1,203 @@
+/*
+ * 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
+
+#if defined(RMDO)
+#define TARGET_BOARD_IDENTIFIER "RMDO"
+#elif defined(ZCOREF3)
+#define TARGET_BOARD_IDENTIFIER "ZCF3"
+#elif defined(FLIP32F3OSD)
+#define TARGET_BOARD_IDENTIFIER "FLF3"
+#else
+#define TARGET_BOARD_IDENTIFIER "SRF3"
+#endif
+
+#if defined(ZCOREF3)
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
+
+#define LED0                    PB8
+#else
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+#define LED0                    PB3
+#endif
+
+#if defined(ZCOREF3)
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 1
+#elif defined(FLIP32F3OSD)
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready and MAG data ready
+#endif
+
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+#define USE_EXTI
+#define MPU_INT_EXTI            PC13
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define GYRO
+
+#define ACC
+
+#define BARO
+#define USE_BARO_BMP280
+
+#if defined(FLIP32F3OSD)
+#define USE_GYRO_MPU6500
+#define GYRO_MPU6500_ALIGN CW270_DEG
+
+#define USE_ACC_MPU6500
+#define ACC_MPU6500_ALIGN CW270_DEG
+
+#elif defined(ZCOREF3)
+#define GYRO
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW180_DEG
+
+#define ACC
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW180_DEG
+
+#define USE_SPI_DEVICE_1 // PB9,3,4,5 on AF5 SPI1 (MPU)
+
+#define SPI1_NSS_PIN            PB9
+#define SPI1_SCK_PIN            PB3
+#define SPI1_MISO_PIN           PB4
+#define SPI1_MOSI_PIN           PB5
+
+#define MPU6500_CS_PIN          PB9
+#define MPU6500_SPI_INSTANCE    SPI1
+
+#else
+#define USE_GYRO_MPU6050
+#define GYRO_MPU6050_ALIGN      CW270_DEG
+
+#define USE_ACC_MPU6050
+#define ACC_MPU6050_ALIGN       CW270_DEG
+#endif
+
+#if defined(FLIP32F3OSD)
+#define SONAR
+#define SONAR_TRIGGER_PIN       PB0
+#define SONAR_ECHO_PIN          PB1
+
+#elif defined(RMDO)
+#undef USE_GPS
+
+#elif defined(ZCOREF3)
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+#else //SPRACINGF3
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+
+#define MAG
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW270_DEG
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+#define MAG_INT_EXTI            PC14
+#endif
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT       5
+
+<<<<<<< HEAD
+#if !defined(ZCOREF3)
+=======
+>>>>>>> betaflight/patch_v3.1.6
+#define SOFTSERIAL1_RX_PIN      PB4 // PWM 5
+#define SOFTSERIAL1_TX_PIN      PB5 // PWM 6
+
+#define SOFTSERIAL2_RX_PIN      PB0 // PWM 7
+#define SOFTSERIAL2_TX_PIN      PB1 // PWM 8
+
+#define SONAR_SOFTSERIAL2_EXCLUSIVE
+#endif
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
+
+#define USE_ESC_SENSOR
+#define REMAP_TIM17_DMA
+
+// UART1 TX uses DMA1_Channel4, which is also used by dshot on motor 4
+#if defined(USE_UART1_TX_DMA) && defined(USE_DSHOT)
+#undef USE_UART1_TX_DMA
+#endif
+
+#define LED_STRIP
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_TELEMETRY)
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN                PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
index 922c4701ce..2dc383aa0a 100755
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -77,6 +77,9 @@
 #define USE_ESCSERIAL
 #define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
 
+#undef USE_SOFTSERIAL1
+#undef USE_SOFTSERIAL2
+
 #define UART1_TX_PIN            PA9
 #define UART1_RX_PIN            PA10
 
diff --git a/src/main/target/SPRACINGF3MINI/target.h.orig b/src/main/target/SPRACINGF3MINI/target.h.orig
new file mode 100644
index 0000000000..2c2f35fa4b
--- /dev/null
+++ b/src/main/target/SPRACINGF3MINI/target.h.orig
@@ -0,0 +1,218 @@
+/*
+ * 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
+
+#ifdef TINYBEEF3
+#define TARGET_BOARD_IDENTIFIER "TBF3"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
+
+#define LED0                    PB8
+#else
+#define TARGET_BOARD_IDENTIFIER "SRFM"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+// early prototype had slightly different pin mappings.
+//#define SPRACINGF3MINI_MKII_REVA
+
+#define LED0                    PB3
+#endif
+
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+#define USE_EXTI
+#define MPU_INT_EXTI            PC13
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+#define GYRO
+#define ACC
+
+#define BARO
+#define USE_BARO_BMP280
+
+#ifdef TINYBEEF3
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW270_DEG
+
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW270_DEG
+
+#define MAG_AK8963_ALIGN CW90_DEG_FLIP
+#else
+//#define USE_FAKE_GYRO
+#define USE_GYRO_MPU6500
+#define GYRO_MPU6500_ALIGN      CW180_DEG
+
+//#define USE_FAKE_ACC
+#define USE_ACC_MPU6500
+#define ACC_MPU6500_ALIGN       CW180_DEG
+
+#define MAG
+#define USE_MPU9250_MAG // Enables bypass configuration
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883 // External
+#define MAG_AK8975_ALIGN        CW90_DEG_FLIP
+#endif
+
+//#define SONAR
+//#define SONAR_ECHO_PIN          PB1
+//#define SONAR_TRIGGER_PIN       PB0
+
+#define USB_IO
+
+#ifndef TINYBEEF3
+#define USB_CABLE_DETECTION
+
+#define USB_DETECT_PIN          PB5
+#endif
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+
+#ifdef TINYBEEF3
+#define SERIAL_PORT_COUNT       4
+#else
+#define USE_SOFTSERIAL1
+<<<<<<< HEAD
+#define USE_SOFTSERIAL2
+#define SERIAL_PORT_COUNT       6
+=======
+#define SERIAL_PORT_COUNT       5
+>>>>>>> betaflight/patch_v3.1.6
+#endif
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#ifndef TINYBEEF3
+#define SOFTSERIAL1_RX_PIN      PA0 // PA0 / PAD3
+#define SOFTSERIAL1_TX_PIN      PA1 // PA1 / PAD4
+#endif
+
+#define SONAR_SOFTSERIAL1_EXCLUSIVE
+
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#ifdef TINYBEEF3
+#define USE_SPI_DEVICE_1 // PB9,3,4,5 on AF5 SPI1 (MPU)
+
+#define SPI1_NSS_PIN            PB9
+#define SPI1_SCK_PIN            PB3
+#define SPI1_MISO_PIN           PB4
+#define SPI1_MOSI_PIN           PB5
+
+#define MPU6500_CS_PIN                   PB9
+#define MPU6500_SPI_INSTANCE             SPI1
+#endif
+
+#define USE_SDCARD
+#define USE_SDCARD_SPI2
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PC14
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_PIN                   SPI2_NSS_PIN
+
+// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     2
+
+// Note, this is the same DMA channel as UART1_RX. Luckily we don't use DMA for USART Rx.
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Channel5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
+
+// Performance logging for SD card operations:
+// #define AFATFS_USE_INTROSPECTIVE_LOGGING
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define ADC_INSTANCE                ADC2
+#define VBAT_ADC_PIN                PA4
+#define CURRENT_METER_ADC_PIN       PA5
+#define RSSI_ADC_PIN                PB2
+
+#define LED_STRIP
+
+#define TRANSPONDER
+
+#define REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#ifdef TINYBEEF3
+#define BRUSHED_ESC_AUTODETECT
+#else
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
+#endif
+
+#ifndef TINYBEEF3
+#define BUTTONS
+#define BUTTON_A_PIN            PB1
+#define BUTTON_B_PIN            PB0
+
+#define HARDWARE_BIND_PLUG
+#define BINDPLUG_PIN            PB0
+#endif
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN                PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 12 // 8 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
+#ifdef TINYBEEF3
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15))
+#else
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
+#endif
diff --git a/src/main/target/VRRACE/target.h.orig b/src/main/target/VRRACE/target.h.orig
new file mode 100644
index 0000000000..d2a8211681
--- /dev/null
+++ b/src/main/target/VRRACE/target.h.orig
@@ -0,0 +1,185 @@
+/*
+ * 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
+
+#define TARGET_BOARD_IDENTIFIER "VRRA"
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "VRRACE"
+
+#define LED0 PD14
+#define LED1 PD15
+#define BEEPER PA0
+#define BEEPER_INVERTED
+
+#define INVERTER_PIN_USART6 PD7
+
+#define MPU6500_CS_PIN        PE10
+#define MPU6500_SPI_INSTANCE  SPI2
+
+#define ACC
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN CW270_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN CW270_DEG
+
+// MPU6500 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI PD10
+#define USE_MPU_DATA_READY_SIGNAL
+
+/*
+#define BARO
+#define USE_BARO_MS5611
+#define MS5611_I2C_INSTANCE I2CDEV_1
+
+#define USE_SDCARD
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PD2
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_PIN                   PB12
+*/
+
+/*
+#define SDCARD_DETECT_PIN                   PD2
+#define SDCARD_DETECT_EXTI_LINE             EXTI_Line2
+#define SDCARD_DETECT_EXTI_PIN_SOURCE       EXTI_PinSource2
+#define SDCARD_DETECT_EXTI_PORT_SOURCE      EXTI_PortSourceGPIOD
+#define SDCARD_DETECT_EXTI_IRQn             EXTI2_IRQn
+
+#define SDCARD_SPI_INSTANCE                 SPI3
+#define SDCARD_SPI_CS_PIN                   PB3
+*/
+
+// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+/*
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+*/
+// Divide to under 25MHz for normal operation:
+/*
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
+*/
+
+/*
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream4
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+*/
+
+
+/*
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN         PB3
+#define M25P16_SPI_INSTANCE   SPI3
+*/
+
+#define USE_VCP
+#define VBUS_SENSING_PIN PA9
+//#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_RX_PIN PB7
+#define UART1_TX_PIN PB6
+
+#define USE_UART2
+#define UART2_RX_PIN PD6
+#define UART2_TX_PIN PD5
+
+#define USE_UART3
+#define UART3_RX_PIN PD9
+#define UART3_TX_PIN PD8
+
+#define USE_UART6
+#define UART6_RX_PIN PC7
+#define UART6_TX_PIN PC6
+
+#define USE_SOFTSERIAL1
+
+#define SOFTSERIAL1_RX_PIN      PE13 // PWM 3
+#define SOFTSERIAL1_TX_PIN      PE11 // PWM 2
+<<<<<<< HEAD
+
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT 8 //VCP, USART1, USART2, USART3, USART6, SOFTSERIAL x 2
+=======
+#define SERIAL_PORT_COUNT 6 //VCP, USART1, USART2, USART3, USART6, SOFTSERIAL1
+>>>>>>> betaflight/patch_v3.1.6
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PE10
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+/*
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1)  // PB8-SCL, PB8-SDA
+#define USE_I2C_PULLUP
+#define I2C1_SCL             PB8
+#define I2C1_SDA             PB9
+*/
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define VBAT_ADC_PIN                PC0
+#define RSSI_ADC_PIN                PB1
+#define CURRENT_METER_ADC_PIN       PA5
+
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_SOFTSERIAL | FEATURE_TELEMETRY)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+/*
+#define SPEKTRUM_BIND
+// USART3 Rx, PB11
+#define BIND_PIN             PB11
+*/
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 65eb2bd9de..6a7c8bbd7b 100644
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -71,6 +71,10 @@
 #define USE_PWM
 #define USE_PPM
 
+// Force two softserials (Individual target.h may turn these off)
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+
 #if defined(STM32F4) || defined(STM32F7)
 #define TASK_GYROPID_DESIRED_PERIOD     125
 #define SCHEDULER_DELAY_LIMIT           10
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index 7a089ebff7..041bbfe85c 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -26,3 +26,62 @@
 # undef VTX_SMARTAUDIO
 # undef VTX_TRAMP
 #endif
+
+// Forced config of USE_SOFTSERIAL{1,2} in common.h makes SERIAL_PORT_COUNT
+// defined in target.h invalid. Count them and re-define SERIAL_PORT_COUNT.
+#ifdef USE_VCP
+#  define N_VCP 1
+#else
+#  define N_VCP 0
+#endif
+
+#ifdef USE_UART1
+  #define N_UART1 1
+#else
+  #define N_UART1 0
+#endif
+
+#ifdef USE_UART2
+  #define N_UART2 1
+#else
+  #define N_UART2 0
+#endif
+
+#ifdef USE_UART3
+  #define N_UART3 1
+#else
+  #define N_UART3 0
+#endif
+
+#ifdef USE_UART4
+  #define N_UART4 1
+#else
+  #define N_UART4 0
+#endif
+
+#ifdef USE_UART5
+  #define N_UART5 1
+#else
+  #define N_UART5 0
+#endif
+
+#ifdef USE_UART6
+  #define N_UART6 1
+#else
+  #define N_UART6 0
+#endif
+
+#ifdef USE_SOFTSERIAL1
+  #define N_SSERIAL1 1
+#else
+  #define N_SSERIAL1 0
+#endif
+
+#ifdef USE_SOFTSERIAL2
+  #define N_SSERIAL2 1
+#else
+  #define N_SSERIAL2 0
+#endif
+
+#undef SERIAL_PORT_COUNT
+#define SERIAL_PORT_COUNT (N_VCP + N_UART1 + N_UART2 + N_UART3 + N_UART4 + N_UART5 + N_UART6 + N_SSERIAL1 + N_SSERIAL2)