diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index db04999587..98291b5deb 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -134,7 +134,7 @@ STATIC_UNIT_TESTED void imuComputeRotationMatrix(void){
     rMat[2][1] = 2.0f * (qP.yz - -qP.wx);
     rMat[2][2] = 1.0f - 2.0f * qP.xx - 2.0f * qP.yy;
 
-#if defined(SIMULATOR_BUILD) && defined(SKIP_IMU_CALC) && !defined(SET_IMU_FROM_EULER)
+#if defined(SIMULATOR_BUILD) && !defined(USE_IMU_CALC) && !defined(SET_IMU_FROM_EULER)
     rMat[1][0] = -2.0f * (qP.xy - -qP.wz);
     rMat[2][0] = -2.0f * (qP.xz + -qP.wy);
 #endif
@@ -472,7 +472,7 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
     }
 #endif
 
-#if defined(SIMULATOR_BUILD) && defined(SKIP_IMU_CALC)
+#if defined(SIMULATOR_BUILD) && !defined(USE_IMU_CALC)
     UNUSED(imuMahonyAHRSupdate);
     UNUSED(imuIsAccelerometerHealthy);
     UNUSED(useAcc);
diff --git a/src/main/interface/cli.c b/src/main/interface/cli.c
index 5cf455ca50..dc3f000b94 100644
--- a/src/main/interface/cli.c
+++ b/src/main/interface/cli.c
@@ -1094,7 +1094,7 @@ static void cliSerial(char *cmdline)
 
 }
 
-#ifndef SKIP_SERIAL_PASSTHROUGH
+#if defined(USE_SERIAL_PASSTHROUGH)
 #ifdef USE_PINIO
 static void cbCtrlLine(void *context, uint16_t ctrl)
 {
@@ -3608,7 +3608,7 @@ static void cliStatus(char *cmdline)
     cliPrintLinefeed();
 }
 
-#ifndef SKIP_TASK_STATISTICS
+#if defined(USE_TASK_STATISTICS)
 static void cliTasks(char *cmdline)
 {
     UNUSED(cmdline);
@@ -4522,7 +4522,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
 #endif
     CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
-#ifndef SKIP_SERIAL_PASSTHROUGH
+#if defined(USE_SERIAL_PASSTHROUGH)
     CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] [DTR PINIO]: passthrough to serial", cliSerialPassthrough),
 #endif
 #ifdef USE_SERVOS
@@ -4539,7 +4539,7 @@ const clicmd_t cmdTable[] = {
         "\treverse <servo> <source> r|n", cliServoMix),
 #endif
     CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
-#ifndef SKIP_TASK_STATISTICS
+#if defined(USE_TASK_STATISTICS)
     CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
 #endif
 #ifdef USE_TIMER_MGMT
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 4d5d41d689..a1445c928a 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -1064,7 +1064,7 @@ const clivalue_t valueTable[] = {
 #endif
 
 // PG_SYSTEM_CONFIG
-#ifndef SKIP_TASK_STATISTICS
+#if defined(USE_TASK_STATISTICS)
     { "task_statistics",            VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, task_statistics) },
 #endif
     { "debug_mode",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DEBUG }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, debug_mode) },
diff --git a/src/main/io/dashboard.c b/src/main/io/dashboard.c
index 58e49e0633..18ae74665d 100644
--- a/src/main/io/dashboard.c
+++ b/src/main/io/dashboard.c
@@ -526,7 +526,7 @@ static void showSensorsPage(void)
 
 }
 
-#ifndef SKIP_TASK_STATISTICS
+#if defined(USE_TASK_STATISTICS)
 static void showTasksPage(void)
 {
     uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
@@ -576,7 +576,7 @@ static const pageEntry_t pages[PAGE_COUNT] = {
     { PAGE_RX,      "RX",              showRxPage,         PAGE_FLAGS_NONE },
     { PAGE_BATTERY, "BATTERY",         showBatteryPage,    PAGE_FLAGS_NONE },
     { PAGE_SENSORS, "SENSORS",         showSensorsPage,    PAGE_FLAGS_NONE },
-#ifndef SKIP_TASK_STATISTICS
+#if defined(USE_TASK_STATISTICS)
     { PAGE_TASKS,   "TASKS",           showTasksPage,      PAGE_FLAGS_NONE },
 #endif
 #ifdef ENABLE_DEBUG_DASHBOARD_PAGE
diff --git a/src/main/io/dashboard.h b/src/main/io/dashboard.h
index 2212b84d22..7d5d4dd18d 100644
--- a/src/main/io/dashboard.h
+++ b/src/main/io/dashboard.h
@@ -43,7 +43,7 @@ typedef enum {
     PAGE_SENSORS,
     PAGE_RX,
     PAGE_PROFILE,
-#ifndef SKIP_TASK_STATISTICS
+#if defined(USE_TASK_STATISTICS)
     PAGE_TASKS,
 #endif
 #ifdef USE_GPS
diff --git a/src/main/io/serial.c b/src/main/io/serial.c
index f0612f783c..c5379e6c72 100644
--- a/src/main/io/serial.c
+++ b/src/main/io/serial.c
@@ -505,7 +505,7 @@ void waitForSerialPortToFinishTransmitting(serialPort_t *serialPort)
     };
 }
 
-#if defined(USE_GPS) || ! defined(SKIP_SERIAL_PASSTHROUGH)
+#if defined(USE_GPS) || defined(USE_SERIAL_PASSTHROUGH)
 // Default data consumer for serialPassThrough.
 static void nopConsumer(uint8_t data)
 {
diff --git a/src/main/scheduler/scheduler.c b/src/main/scheduler/scheduler.c
index 8a9f277db9..a3caf4a392 100644
--- a/src/main/scheduler/scheduler.c
+++ b/src/main/scheduler/scheduler.c
@@ -138,7 +138,7 @@ void taskSystemLoad(timeUs_t currentTimeUs)
 #endif
 }
 
-#ifndef SKIP_TASK_STATISTICS
+#if defined(USE_TASK_STATISTICS)
 #define MOVING_SUM_COUNT 32
 timeUs_t checkFuncMaxExecutionTime;
 timeUs_t checkFuncTotalExecutionTime;
@@ -206,9 +206,7 @@ void schedulerSetCalulateTaskStatistics(bool calculateTaskStatisticsToUse)
 
 void schedulerResetTaskStatistics(cfTaskId_e taskId)
 {
-#ifdef SKIP_TASK_STATISTICS
-    UNUSED(taskId);
-#else
+#if defined(USE_TASK_STATISTICS)
     if (taskId == TASK_SELF) {
         currentTask->movingSumExecutionTime = 0;
         currentTask->totalExecutionTime = 0;
@@ -218,19 +216,21 @@ void schedulerResetTaskStatistics(cfTaskId_e taskId)
         cfTasks[taskId].totalExecutionTime = 0;
         cfTasks[taskId].maxExecutionTime = 0;
     }
+#else
+    UNUSED(taskId);
 #endif
 }
 
 void schedulerResetTaskMaxExecutionTime(cfTaskId_e taskId)
 {
-#ifdef SKIP_TASK_STATISTICS
-    UNUSED(taskId);
-#else
+#if defined(USE_TASK_STATISTICS)
     if (taskId == TASK_SELF) {
         currentTask->maxExecutionTime = 0;
     } else if (taskId < TASK_COUNT) {
         cfTasks[taskId].maxExecutionTime = 0;
     }
+#else
+    UNUSED(taskId);
 #endif
 }
 
@@ -279,7 +279,7 @@ FAST_CODE void scheduler(void)
 #if defined(SCHEDULER_DEBUG)
                 DEBUG_SET(DEBUG_SCHEDULER, 3, micros() - currentTimeBeforeCheckFuncCall);
 #endif
-#ifndef SKIP_TASK_STATISTICS
+#if defined(USE_TASK_STATISTICS)
                 if (calculateTaskStatistics) {
                     const uint32_t checkFuncExecutionTime = micros() - currentTimeBeforeCheckFuncCall;
                     checkFuncMovingSumExecutionTime += checkFuncExecutionTime - checkFuncMovingSumExecutionTime / MOVING_SUM_COUNT;
@@ -328,9 +328,7 @@ FAST_CODE void scheduler(void)
         selectedTask->dynamicPriority = 0;
 
         // Execute task
-#ifdef SKIP_TASK_STATISTICS
-        selectedTask->taskFunc(currentTimeUs);
-#else
+#if defined(USE_TASK_STATISTICS)
         if (calculateTaskStatistics) {
             const timeUs_t currentTimeBeforeTaskCall = micros();
             selectedTask->taskFunc(currentTimeBeforeTaskCall);
@@ -338,11 +336,12 @@ FAST_CODE void scheduler(void)
             selectedTask->movingSumExecutionTime += taskExecutionTime - selectedTask->movingSumExecutionTime / MOVING_SUM_COUNT;
             selectedTask->totalExecutionTime += taskExecutionTime;   // time consumed by scheduler + task
             selectedTask->maxExecutionTime = MAX(selectedTask->maxExecutionTime, taskExecutionTime);
-        } else {
+        } else
+#endif
+        {
             selectedTask->taskFunc(currentTimeUs);
         }
 
-#endif
 #if defined(SCHEDULER_DEBUG)
         DEBUG_SET(DEBUG_SCHEDULER, 2, micros() - currentTimeUs - taskExecutionTime); // time spent in scheduler
     } else {
diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h
index 477d7cd6be..ff6509a6bf 100644
--- a/src/main/scheduler/scheduler.h
+++ b/src/main/scheduler/scheduler.h
@@ -156,7 +156,7 @@ typedef struct {
     timeUs_t lastExecutedAt;        // last time of invocation
     timeUs_t lastSignaledAt;        // time of invocation event for event-driven tasks
 
-#ifndef SKIP_TASK_STATISTICS
+#if defined(USE_TASK_STATISTICS)
     // Statistics
     timeUs_t movingSumExecutionTime;  // moving sum over 32 samples
     timeUs_t maxExecutionTime;
diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h
index 9153e95ac9..7ea23e995f 100644
--- a/src/main/target/CC3D/target.h
+++ b/src/main/target/CC3D/target.h
@@ -108,7 +108,6 @@
 #undef USE_MAG
 
 #ifdef CC3D_OPBL
-#define SKIP_CLI_COMMAND_HELP
 //#undef USE_SERVOS
 #undef USE_BARO
 #undef USE_RANGEFINDER
diff --git a/src/main/target/CJMCU/target.h b/src/main/target/CJMCU/target.h
index bd4360ab45..af0e65110f 100644
--- a/src/main/target/CJMCU/target.h
+++ b/src/main/target/CJMCU/target.h
@@ -103,8 +103,6 @@
 #ifdef USE_SERIAL_RX
 #undef USE_SERIAL_RX
 #endif
-//#undef SKIP_TASK_STATISTICS
-
 #else
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
@@ -114,7 +112,7 @@
 
 #define BRUSHED_MOTORS
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
-#define SKIP_SERIAL_PASSTHROUGH
+#undef USE_SERIAL_PASSTHROUGH
 #undef USE_CLI
 
 // Since the CJMCU PCB has holes for 4 motors in each corner we can save same flash space by disabling support for other mixers.
diff --git a/src/main/target/SITL/target.c b/src/main/target/SITL/target.c
index 976056f112..dfeccecb8c 100644
--- a/src/main/target/SITL/target.c
+++ b/src/main/target/SITL/target.c
@@ -114,7 +114,7 @@ void updateState(const fdm_packet* pkt) {
     fakeGyroSet(fakeGyroDev, x, y, z);
 //    printf("[gyr]%lf,%lf,%lf\n", pkt->imu_angular_velocity_rpy[0], pkt->imu_angular_velocity_rpy[1], pkt->imu_angular_velocity_rpy[2]);
 
-#if defined(SKIP_IMU_CALC)
+#if !defined(USE_IMU_CALC)
 #if defined(SET_IMU_FROM_EULER)
     // set from Euler
     double qw = pkt->imu_orientation_quat[0];
diff --git a/src/main/target/SITL/target.h b/src/main/target/SITL/target.h
index da1daa596b..ee83d961be 100644
--- a/src/main/target/SITL/target.h
+++ b/src/main/target/SITL/target.h
@@ -33,7 +33,7 @@
 
 // use simulatior's attitude directly
 // disable this if wants to test AHRS algorithm
-#define SKIP_IMU_CALC
+#undef USE_IMU_CALC
 
 //#define SIMULATOR_ACC_SYNC
 //#define SIMULATOR_GYRO_SYNC
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index 49dd029380..5969883f8a 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -124,7 +124,10 @@
 #define USE_BRUSHED_ESC_AUTODETECT  // Detect if brushed motors are connected and set defaults appropriately to avoid motors spinning on boot
 
 #define USE_CLI
+#define USE_SERIAL_PASSTHROUGH
+#define USE_TASK_STATISTICS
 #define USE_GYRO_REGISTER_DUMP  // Adds gyroregisters command to cli to dump configured register values
+#define USE_IMU_CALC
 #define USE_PPM
 #define USE_PWM
 #define USE_SERIAL_RX