diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index 732fa5f4ae..6999a9798e 100755
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -17,7 +17,6 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 #include <string.h>
 
 #include "platform.h"
@@ -26,7 +25,6 @@
 
 #include "nvic.h"
 
-#include "gpio.h"
 #include "gpio.h"
 #include "rcc.h"
 #include "system.h"
diff --git a/src/main/main.c b/src/main/main.c
index b1a157c4d5..e31c6933df 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -17,11 +17,11 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 #include <string.h>
 #include <math.h>
 
 #include "platform.h"
+
 #include "common/axis.h"
 #include "common/color.h"
 #include "common/maths.h"
@@ -153,9 +153,6 @@ static uint8_t systemState = SYSTEM_STATE_INITIALISING;
 
 void init(void)
 {
-    uint8_t i;
-    drv_pwm_config_t pwm_params;
-
     printfSupportInit();
 
     initEEPROM();
@@ -260,6 +257,7 @@ void init(void)
     mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
 #endif
 
+    drv_pwm_config_t pwm_params;
     memset(&pwm_params, 0, sizeof(pwm_params));
 
 #ifdef SONAR
@@ -333,6 +331,7 @@ void init(void)
 #endif
     pwmRxInit(masterConfig.inputFilteringMode);
 
+    // pwmInit() needs to be called as soon as possible for ESC compatibility reasons
     pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
 
     mixerUsePWMOutputConfiguration(pwmOutputConfiguration, use_unsyncedPwm);
@@ -504,7 +503,7 @@ void init(void)
     LED0_OFF;
     LED2_OFF;
     
-    for (i = 0; i < 10; i++) {
+    for (int i = 0; i < 10; i++) {
         LED1_TOGGLE;
         LED0_TOGGLE;
         delay(25);
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 320d00ddde..1a4f6ef219 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -45,7 +45,7 @@ acc_t acc;                       // acc access functions
 sensor_align_e accAlign = 0;
 uint32_t accTargetLooptime;
 
-uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
+static uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
 
 extern uint16_t InflightcalibratingA;
 extern bool AccInflightCalibrationArmed;
diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 2a011d8e2b..1793e37948 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -20,6 +20,10 @@
 #include <math.h>
 
 #include "platform.h"
+
+int32_t BaroAlt = 0;
+
+#ifdef BARO
 #include "common/maths.h"
 
 #include "drivers/barometer.h"
@@ -32,9 +36,6 @@ baro_t baro;                        // barometer access functions
 uint16_t calibratingB = 0;      // baro calibration = get new ground pressure value
 int32_t baroPressure = 0;
 int32_t baroTemperature = 0;
-int32_t BaroAlt = 0;
-
-#ifdef BARO
 
 static int32_t baroGroundAltitude = 0;
 static int32_t baroGroundPressure = 0;
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 7ee14da4c7..de075bfe23 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -40,13 +40,14 @@
 #endif
 
 mag_t mag;                   // mag access functions
+int32_t magADC[XYZ_AXIS_COUNT];
+sensor_align_e magAlign = 0;
+
+#ifdef MAG
 
 extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
 
-int16_t magADCRaw[XYZ_AXIS_COUNT];
-int32_t magADC[XYZ_AXIS_COUNT];
-sensor_align_e magAlign = 0;
-#ifdef MAG
+static int16_t magADCRaw[XYZ_AXIS_COUNT];
 static uint8_t magInit = 0;
 
 void compassInit(void)
diff --git a/src/main/target/X_RACERSPI/target.c b/src/main/target/X_RACERSPI/target.c
index ddebee117f..9c0bd04034 100644
--- a/src/main/target/X_RACERSPI/target.c
+++ b/src/main/target/X_RACERSPI/target.c
@@ -84,7 +84,6 @@ const uint16_t airPWM[] = {
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH1 - PA0  - *TIM2_CH1
     { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
-    // Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype.
     { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
     { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1,  0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
     { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2,  0}, // RC_CH5 - PB4  - *TIM3_CH1
diff --git a/src/main/target/X_RACERSPI/target.h b/src/main/target/X_RACERSPI/target.h
index a655c93e25..39c2e6c209 100644
--- a/src/main/target/X_RACERSPI/target.h
+++ b/src/main/target/X_RACERSPI/target.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "X_RACERSPI"
+#define TARGET_BOARD_IDENTIFIER "XRC3"
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE