diff --git a/.github/workflows/artifact-links.yml b/.github/workflows/artifact-links.yml
index 4685c4c480..c56f1b0f5d 100644
--- a/.github/workflows/artifact-links.yml
+++ b/.github/workflows/artifact-links.yml
@@ -7,7 +7,7 @@ on:
 jobs:
   artifacts-url-comments:
     name: Add artifact links to PR and issues
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - name: Add artifact links to PR and issues
         uses: tonyhallett/artifacts-url-comments@v1.1.0
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 80414d3e20..0a202c9eb0 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -26,10 +26,10 @@ jobs:
         run: echo "::set-output name=targets::$(make targets-ci-print | jq -R -c 'split(" ")')"
 
       - name: Cache build toolchain
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         id: cache-toolchain
         with:
-          path: tools/
+          path: tools
           key: ${{ runner.os }}-${{ hashFiles('make/tools.mk') }}
 
       - name: Download and install toolchain
@@ -39,7 +39,7 @@ jobs:
   build:
     name: Build
     needs: setup
-    runs-on:  ubuntu-22.04
+    runs-on: ubuntu-22.04
     strategy:
       matrix:
         target: ${{ fromJson(needs.setup.outputs.targets) }}
@@ -48,10 +48,10 @@ jobs:
         uses: actions/checkout@v2
 
       - name: Fetch toolchain from cache
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         id: cache-toolchain
         with:
-          path: tools/
+          path: tools
           key: ${{ runner.os }}-${{ hashFiles('make/tools.mk') }}
 
       - name: Build target (without revision)
diff --git a/.github/workflows/hide-artifact-links.yml b/.github/workflows/hide-artifact-links.yml
index 4bcfb4ce92..2ae024d5ae 100644
--- a/.github/workflows/hide-artifact-links.yml
+++ b/.github/workflows/hide-artifact-links.yml
@@ -7,7 +7,7 @@ on:
 jobs:
   hide-artifacts-link-comments:
     name: Hide artifact links
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - name: Hide comments
         uses: int128/hide-comment-action@v1
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
new file mode 100644
index 0000000000..4a5fa39289
--- /dev/null
+++ b/.github/workflows/nightly.yml
@@ -0,0 +1,71 @@
+# You'll need to setup the follwing environment variables:
+#   env.repo_nightly - The repository to release nightly builds to e.g. betaflight-nightly
+#   env.release_notes - The release notes to be published as part of the github release
+#   env.debug_release_notes - The release notes to be published as part of the github debug release
+#   secrets.REPO_TOKEN - A GitHub token with permissions to push and publish releases to the nightly repo
+
+env:
+  repo_nightly: betaflight/betaflight-nightlies
+  debug_release_notes: >
+    This is an automated development build.
+    It may be unstable and result in craft loss or damage.
+    **Use only for testing.**
+  release_notes: This is a release build. 
+
+name: Nightly
+
+on:
+  schedule:
+    - cron: "0 1 * * *"
+
+jobs:
+  ci:
+    name: CI
+    uses: ./.github/workflows/ci.yml
+    with:
+      release_build: false
+
+  release:
+    name: Nightly release
+    needs: ci
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Fetch build artifacts
+        uses: actions/download-artifact@v2
+        with:
+          path: assets/
+
+      - name: Select release notes
+        id: notes
+        run: |
+          set -- assets/*.hex
+          echo "::set-output name=notes::$(test -e "$1" && echo '${{ env.debug_release_notes }}' || echo '${{ env.release_notes }}')"
+
+      - name: Get current date
+        id: date
+        run: echo "::set-output name=today::$(date '+%Y%m%d')"
+
+      - name: Release
+        uses: softprops/action-gh-release@1e07f4398721186383de40550babbdf2b84acfc5 # v0.1.14
+        with:
+          token: ${{ secrets.REPO_TOKEN }}
+          repository: ${{ env.repo_nightly }}
+          tag_name: v${{ steps.date.outputs.today }}.${{ github.run_number }}
+          files: assets/*.hex
+          draft: false
+          prerelease: false
+          fail_on_unmatched_files: true
+          body: |
+            ${{ steps.notes.outputs.notes }}
+
+            ### Repository:
+            ${{ github.repository }} ([link](${{ github.event.repository.html_url }}))
+
+            ### Branch:
+            ${{ github.ref_name }} ([link](${{ github.event.repository.html_url }}/tree/${{ github.ref_name }}))
+
+            ### Latest changeset:
+            ${{ github.event.head_commit.id }} ([link](${{ github.event.head_commit.url }}))
+
+            ### Changes:
+            ${{ github.event.head_commit.message }}
diff --git a/make/tools.mk b/make/tools.mk
index c6bf3d3a41..60294f48eb 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -5,6 +5,8 @@
 # NOTE: These are not tied to the default goals
 #       and must be invoked manually
 #
+# ARM SDK Version: 10.3-2021.10
+#
 ###############################################################
 
 ##############################
@@ -14,9 +16,9 @@
 ##############################
 
 # Set up ARM (STM32) SDK
-ARM_SDK_DIR ?= $(TOOLS_DIR)/gcc-arm-11.2-2022.02-x86_64-arm-none-eabi
+ARM_SDK_DIR ?= $(TOOLS_DIR)/gcc-arm-none-eabi-10.3-2021.10
 # Checked below, Should match the output of $(shell arm-none-eabi-gcc -dumpversion)
-GCC_REQUIRED_VERSION ?= 11.2
+GCC_REQUIRED_VERSION ?= 10.3
 
 .PHONY: arm_sdk_version
 
@@ -26,18 +28,18 @@ arm_sdk_version:
 ## arm_sdk_install   : Install Arm SDK
 .PHONY: arm_sdk_install
 
-# source: https://developer.arm.com/downloads/-/gnu-rm
-
+ARM_SDK_URL_BASE  := https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10
+# source: https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads
 ifeq ($(OSFAMILY), linux)
-  ARM_SDK_URL  := https://developer.arm.com/-/media/Files/downloads/gnu/11.2-2022.02/binrel/gcc-arm-11.2-2022.02-x86_64-arm-none-eabi.tar.xz
+  ARM_SDK_URL  := $(ARM_SDK_URL_BASE)-x86_64-linux.tar.bz2
 endif
 
 ifeq ($(OSFAMILY), macosx)
-  ARM_SDK_URL  := https://developer.arm.com/-/media/Files/downloads/gnu/11.2-2022.02/binrel/gcc-arm-11.2-2022.02-darwin-x86_64-arm-none-eabi.tar.xz
+  ARM_SDK_URL  := $(ARM_SDK_URL_BASE)-mac.tar.bz2
 endif
 
 ifeq ($(OSFAMILY), windows)
-  ARM_SDK_URL  := https://developer.arm.com/-/media/Files/downloads/gnu/11.2-2022.02/binrel/gcc-arm-11.2-2022.02-mingw-w64-i686-arm-none-eabi.zip
+  ARM_SDK_URL  := $(ARM_SDK_URL_BASE)-win32.zip
 endif
 
 ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
@@ -52,7 +54,7 @@ arm_sdk_install: arm_sdk_download $(SDK_INSTALL_MARKER)
 $(SDK_INSTALL_MARKER):
 ifneq ($(OSFAMILY), windows)
         # binary only release so just extract it
-	$(V1) tar -C $(TOOLS_DIR) -xf "$(DL_DIR)/$(ARM_SDK_FILE)"
+	$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"
 else
 	$(V1) unzip -q -d $(ARM_SDK_DIR) "$(DL_DIR)/$(ARM_SDK_FILE)"
 endif
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index 29980d3e03..0251b1048e 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -1082,7 +1082,7 @@ void processRxModes(timeUs_t currentTimeUs)
     pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || featureIsEnabled(FEATURE_ANTI_GRAVITY));
 }
 
-static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
+static FAST_CODE_NOINLINE void subTaskPidController(timeUs_t currentTimeUs)
 {
     uint32_t startTime = 0;
     if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 6bbb429c12..6605acaae2 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -291,7 +291,7 @@ static FAST_CODE_NOINLINE void handleOverflow(timeUs_t currentTimeUs)
     }
 }
 
-static FAST_CODE void checkForOverflow(timeUs_t currentTimeUs)
+static FAST_CODE_NOINLINE void checkForOverflow(timeUs_t currentTimeUs)
 {
     // check for overflow to handle Yaw Spin To The Moon (YSTTM)
     // ICM gyros are specified to +/- 2000 deg/sec, in a crash they can go out of spec.
@@ -346,7 +346,7 @@ static FAST_CODE_NOINLINE void handleYawSpin(timeUs_t currentTimeUs)
     }
 }
 
-static FAST_CODE void checkForYawSpin(timeUs_t currentTimeUs)
+static FAST_CODE_NOINLINE void checkForYawSpin(timeUs_t currentTimeUs)
 {
     // if not in overflow mode, handle yaw spins above threshold
 #ifdef USE_GYRO_OVERFLOW_CHECK