diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c
index 7e8a45deda..816733de64 100755
--- a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c
@@ -49,6 +49,14 @@ bool mpu6500SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
     return true;
 }
 
+bool mpu6500SpiWriteRegisterDelayed(const busDevice_t *bus, uint8_t reg, uint8_t data)
+{
+    mpu6500SpiWriteRegister(bus, reg, data);
+    delayMicroseconds(10);
+
+    return true;
+}
+
 bool mpu6500SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
 {
     ENABLE_MPU6500(bus->spi.csnPin);
diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6500.h b/src/main/drivers/accgyro/accgyro_spi_mpu6500.h
index 4eea122946..e2d1ef91b2 100755
--- a/src/main/drivers/accgyro/accgyro_spi_mpu6500.h
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu6500.h
@@ -25,6 +25,7 @@ bool mpu6500SpiAccDetect(accDev_t *acc);
 bool mpu6500SpiGyroDetect(gyroDev_t *gyro);
 
 bool mpu6500SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data);
+bool mpu6500SpiWriteRegisterDelayed(const busDevice_t *bus, uint8_t reg, uint8_t data);
 bool mpu6500SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data);
 
 void mpu6500SpiGyroInit(gyroDev_t *gyro);
diff --git a/src/main/drivers/compass/compass_ak8963.c b/src/main/drivers/compass/compass_ak8963.c
index 09cf52e47a..e43df108e7 100644
--- a/src/main/drivers/compass/compass_ak8963.c
+++ b/src/main/drivers/compass/compass_ak8963.c
@@ -88,7 +88,7 @@ static busDevice_t *bus = NULL; // HACK
 // Is an separate MPU9250 driver really needed? The GYRO/ACC part between MPU6500 and MPU9250 is exactly the same.
 #if defined(MPU6500_SPI_INSTANCE) && !defined(MPU9250_SPI_INSTANCE)
 #define MPU9250_SPI_INSTANCE
-#define verifympu9250SpiWriteRegister mpu6500SpiWriteRegister
+#define verifympu9250SpiWriteRegister mpu6500SpiWriteRegisterDelayed
 #define mpu9250SpiWriteRegister mpu6500SpiWriteRegister
 #define mpu9250SpiReadRegister mpu6500SpiReadRegister
 #endif
@@ -116,7 +116,7 @@ static bool ak8963SensorRead(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t
     verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80);         // read number of bytes
     delay(10);
     __disable_irq();
-    bool ack = mpu9250SpiReadRegister(bus, MPU_RA_EXT_SENS_DATA_00, len_, buf);         // read I2C
+    bool ack = mpu9250SpiReadRegister(bus, MPU_RA_EXT_SENS_DATA_00, len_, buf);    // read I2C
     __enable_irq();
     return ack;
 }
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 0ab56da79c..210b5a8186 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -2700,8 +2700,8 @@ static void cliTasks(char *cmdline)
     if (systemConfig()->task_statistics) {
         cfCheckFuncInfo_t checkFuncInfo;
         getCheckFuncInfo(&checkFuncInfo);
-        cliPrintLinef("RX Check Function %17d %7d %25d", checkFuncInfo.maxExecutionTime, checkFuncInfo.averageExecutionTime, checkFuncInfo.totalExecutionTime / 1000);
-        cliPrintLinef("Total (excluding SERIAL) %23d.%1d%% %4d.%1d%%", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
+        cliPrintLinef("RX Check Function %19d %7d %25d", checkFuncInfo.maxExecutionTime, checkFuncInfo.averageExecutionTime, checkFuncInfo.totalExecutionTime / 1000);
+        cliPrintLinef("Total (excluding SERIAL) %25d.%1d%% %4d.%1d%%", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
     }
 }
 #endif
diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c
index ce79365016..419060c121 100644
--- a/src/main/target/ALIENFLIGHTF3/config.c
+++ b/src/main/target/ALIENFLIGHTF3/config.c
@@ -34,7 +34,6 @@
 
 #include "rx/rx.h"
 
-#include "sensors/compass.h"
 #include "sensors/gyro.h"
 
 #include "hardware_revision.h"
@@ -81,7 +80,6 @@ void targetConfiguration(void)
 
     rxConfigMutable()->spektrum_sat_bind = 5;
     rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
-    compassConfigMutable()->mag_hardware = MAG_NONE;            // disabled by default
 
     if (hardwareMotorType == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index 58a83e3086..eac41d692e 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -90,6 +90,7 @@
 #define UART3_RX_PIN            PB11
 
 #define USE_I2C
+#define USE_I2C_PULLUP
 #define USE_I2C_DEVICE_2
 #define I2C_DEVICE              (I2CDEV_2)
 #define I2C2_SCL                PA9
diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c
index cc2697c5ac..6a79611f05 100644
--- a/src/main/target/ALIENFLIGHTF4/config.c
+++ b/src/main/target/ALIENFLIGHTF4/config.c
@@ -40,7 +40,6 @@
 #include "telemetry/telemetry.h"
 
 #include "sensors/battery.h"
-#include "sensors/compass.h"
 
 #include "hardware_revision.h"
 
@@ -53,8 +52,6 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void)
 {
-    compassConfigMutable()->mag_hardware = MAG_NONE;            // disabled by default
-
     if (hardwareMotorType == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         pidConfigMutable()->pid_process_denom = 1;
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index 21c14173f1..e77aabf946 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -138,6 +138,7 @@
 #define USE_SPI_DEVICE_3
 
 #define USE_I2C
+#define USE_I2C_PULLUP
 #define USE_I2C_DEVICE_1
 #define I2C_DEVICE              (I2CDEV_1)
 #define I2C1_SCL                PB6
diff --git a/src/main/target/ALIENFLIGHTNGF7/config.c b/src/main/target/ALIENFLIGHTNGF7/config.c
index cab4efe139..d48c82f7bb 100644
--- a/src/main/target/ALIENFLIGHTNGF7/config.c
+++ b/src/main/target/ALIENFLIGHTNGF7/config.c
@@ -39,7 +39,6 @@
 #include "telemetry/telemetry.h"
 
 #include "sensors/battery.h"
-#include "sensors/compass.h"
 
 #include "hardware_revision.h"
 
@@ -52,8 +51,6 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void)
 {
-    compassConfigMutable()->mag_hardware = MAG_NONE;            // disabled by default
-
     if (hardwareMotorType == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         pidConfigMutable()->pid_process_denom = 1;
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
index 634bb0610b..b3e3cd4e29 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.h
+++ b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -149,6 +149,7 @@
 #define SPI3_MOSI_PIN           PB5
 
 #define USE_I2C
+#define USE_I2C_PULLUP
 #define I2C_DEVICE              (I2CDEV_1)
 //#define I2C_DEVICE_EXT          (I2CDEV_2)
 #define I2C1_SCL                PB6
diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h
index 2570d83f55..08917d2f2f 100755
--- a/src/main/target/COLIBRI_RACE/target.h
+++ b/src/main/target/COLIBRI_RACE/target.h
@@ -73,7 +73,6 @@
 #define USE_BARO_MS5611
 
 #define MAG
-#define USE_MPU9250_MAG
 #define USE_MAG_HMC5883
 #define USE_MAG_AK8963
 #define USE_MAG_AK8975
diff --git a/src/main/target/RCEXPLORERF3/target.h b/src/main/target/RCEXPLORERF3/target.h
index 7ef39d054f..92d59bc51c 100644
--- a/src/main/target/RCEXPLORERF3/target.h
+++ b/src/main/target/RCEXPLORERF3/target.h
@@ -48,7 +48,6 @@
 #define USE_BARO_MS5611
 
 #define MAG
-#define USE_MPU9250_MAG // Enables bypass configuration
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883 // External
 
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
index eb3f85c1c5..a314a229a2 100755
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -58,7 +58,6 @@
 #define USE_BARO_BMP280
 
 #define MAG
-#define USE_MPU9250_MAG // Enables bypass configuration
 #define USE_MAG_AK8963
 //#define USE_MAG_HMC5883 // External