diff --git a/baseflight.uvopt b/baseflight.uvopt
index 07c3ee0daa..aec8cdd9a1 100755
--- a/baseflight.uvopt
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diff --git a/src/board.h b/src/board.h
index 63acf0ab15..14884baa22 100755
--- a/src/board.h
+++ b/src/board.h
@@ -37,7 +37,7 @@ typedef struct sensor_t
 {
     sensorInitFuncPtr init;
     sensorReadFuncPtr read;
-    sensorReadFuncPtr orient;
+    sensorReadFuncPtr align;
 } sensor_t;
 
 #define digitalHi(p, i)     { p->BSRR = i; }
diff --git a/src/cli.c b/src/cli.c
index a798ad036d..27e1e53a05 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -10,8 +10,12 @@ static void cliHelp(char *cmdline);
 static void cliMixer(char *cmdline);
 static void cliSave(char *cmdline);
 static void cliSet(char *cmdline);
+static void cliStatus(char *cmdline);
 static void cliVersion(char *cmdline);
 
+// from sensors.c
+extern uint8_t batteryCellCount;
+
 // buffer
 static char cliBuffer[32];
 static uint8_t bufferIndex = 0;
@@ -46,6 +50,7 @@ const clicmd_t cmdTable[] = {
     { "mixer", "mixer name or list", cliMixer },
     { "save", "save and reboot", cliSave },
     { "set", "name=value or blank for list", cliSet },
+    { "status", "show system status", cliStatus },
     { "version", "", cliVersion },
 };
 #define CMD_COUNT (sizeof(cmdTable) / sizeof(cmdTable[0]))
@@ -74,6 +79,8 @@ const clivalue_t valueTable[] = {
     { "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
     { "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
     { "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
+    { "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
+    { "vbatmincellvoltage", VAR_UINT8, &cfg.vbatmincellvoltage, 10, 50 },
     { "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
     { "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 },
     { "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 },
@@ -82,6 +89,18 @@ const clivalue_t valueTable[] = {
     { "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
     { "tilt_pitch_prop", VAR_INT8, &cfg.tilt_pitch_prop, -100, 100 },
     { "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
+    { "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
+    { "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200},
+    { "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200},
+    { "p_roll", VAR_UINT8, &cfg.P8[ROLL], 0, 200},
+    { "i_roll", VAR_UINT8, &cfg.I8[ROLL], 0, 200},
+    { "d_roll", VAR_UINT8, &cfg.D8[ROLL], 0, 200},
+    { "p_yaw", VAR_UINT8, &cfg.P8[YAW], 0, 200},
+    { "i_yaw", VAR_UINT8, &cfg.I8[YAW], 0, 200},
+    { "d_yaw", VAR_UINT8, &cfg.D8[YAW], 0, 200},
+    { "p_level", VAR_UINT8, &cfg.P8[PIDLEVEL], 0, 200},
+    { "i_level", VAR_UINT8, &cfg.I8[PIDLEVEL], 0, 200},
+    { "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200},
 };
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
@@ -365,9 +384,31 @@ static void cliSet(char *cmdline)
     }
 }
 
+static void cliStatus(char *cmdline)
+{
+    char buf[16];
+    uartPrint("System Uptime: ");
+    itoa(millis() / 1000, buf, 10);
+    uartPrint(buf);
+    uartPrint(" seconds, Voltage: ");
+    itoa(vbat, buf, 10);
+    uartPrint(buf);
+    uartPrint(" * 0.1V (");
+    itoa(batteryCellCount, buf, 10);
+    uartPrint(buf);
+    uartPrint("S battery)\r\n");
+    uartPrint("Cycle Time: ");
+    itoa(cycleTime, buf, 10);
+    uartPrint(buf);
+    uartPrint(", I2C Errors: ");
+    itoa(i2cGetErrorCounter(), buf, 10);
+    uartPrint(buf);
+    uartPrint("\r\n");
+}
+
 static void cliVersion(char *cmdline)
 {
-    uartPrint("Afro32 CLI version 2.0-pre3");
+    uartPrint("Afro32 CLI version 2.0-pre3 " __DATE__ " / " __TIME__);
 }
 
 void cliProcess(void)
@@ -380,8 +421,8 @@ void cliProcess(void)
 
     while (uartAvailable()) {
         uint8_t c = uartRead();
-
         if (c == '\t' || c == '?') {
+            // do tab completion
             const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
             int i = bufferIndex;
             for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
@@ -406,7 +447,7 @@ void cliProcess(void)
             if (!bufferIndex || pstart != pend) {
                 /* Print list of ambiguous matches */
                 uartPrint("\r\033[K");
-                for (cmd = pstart;cmd <= pend;cmd++) {
+                for (cmd = pstart; cmd <= pend; cmd++) {
                     uartPrint(cmd->name);
                     uartWrite('\t');
                 }
diff --git a/src/config.c b/src/config.c
index 1c617fdee3..7f9c37c751 100755
--- a/src/config.c
+++ b/src/config.c
@@ -8,7 +8,7 @@
 config_t cfg;
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 5;
+static uint8_t checkNewConf = 6;
 
 void readEEPROM(void)
 {
@@ -103,6 +103,8 @@ void checkFirstTime(bool reset)
     cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
     cfg.powerTrigger1 = 0;
     cfg.vbatscale = 110;
+    cfg.vbatmaxcellvoltage = 43;
+    cfg.vbatmincellvoltage = 33;
 
     // Radio/ESC
     cfg.deadband = 0;
diff --git a/src/drv_adxl345.c b/src/drv_adxl345.c
index db9a28f943..3b14ca2f62 100755
--- a/src/drv_adxl345.c
+++ b/src/drv_adxl345.c
@@ -30,7 +30,7 @@ bool adxl345Detect(sensor_t *acc)
         
     acc->init = adxl345Init;
     acc->read = adxl345Read;
-    acc->orient = adxl345Align;
+    acc->align = adxl345Align;
     return true;
 }
 
diff --git a/src/drv_mpu3050.c b/src/drv_mpu3050.c
index 348958874e..22a5c3001a 100755
--- a/src/drv_mpu3050.c
+++ b/src/drv_mpu3050.c
@@ -41,7 +41,7 @@ bool mpu3050Detect(sensor_t *gyro)
 
     gyro->init = mpu3050Init;
     gyro->read = mpu3050Read;
-    gyro->orient = mpu3050Align;
+    gyro->align = mpu3050Align;
 
     return true;
 }
diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c
index dc627d9f91..6031b63004 100644
--- a/src/drv_mpu6050.c
+++ b/src/drv_mpu6050.c
@@ -28,15 +28,15 @@ bool mpu6050Detect(sensor_t *acc, sensor_t *gyro)
     if (!ack)
         return false;
     
-    if (sig != 0x68)
+    if (sig != MPU6050_ADDRESS)
         return false;
 
     acc->init = mpu6050AccInit;
     acc->read = mpu6050AccRead;
-    acc->orient = mpu6050AccAlign;
+    acc->align = mpu6050AccAlign;
     gyro->init = mpu6050GyroInit;
     gyro->read = mpu6050GyroRead;
-    gyro->orient = mpu6050GyroAlign;
+    gyro->align = mpu6050GyroAlign;
 
     return true;
 }
diff --git a/src/main.c b/src/main.c
index 32f906f26f..54e400dd4f 100755
--- a/src/main.c
+++ b/src/main.c
@@ -24,7 +24,7 @@ int main(void)
     // We have these sensors
     sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
 
-    mixerInit(); // this will configure FEATURE_SERVO depending on mixer type
+    mixerInit(); // this will set useServo var depending on mixer type
     pwmInit(feature(FEATURE_PPM), useServo, feature(FEATURE_DIGITAL_SERVO));
 
     LED1_ON;
@@ -44,6 +44,10 @@ int main(void)
     sensorsAutodetect();
     imuInit(); // Mag is initialized inside imuInit
 
+    // Check battery type/voltage
+    if (feature(FEATURE_VBAT))
+        batteryInit();
+
     previousTime = micros();
     calibratingG = 400;
 #if defined(POWERMETER)
diff --git a/src/mw.c b/src/mw.c
index d292126afe..883302138b 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -79,6 +79,8 @@ uint32_t pAlarm;         // we scale the eeprom value from [0:255] to this value
 // uint8_t powerTrigger1 = 0;       
 uint16_t powerValue = 0; // last known current
 uint16_t intPowerMeterSum, intPowerTrigger1;
+uint8_t batteryCellCount = 3;   // cell count
+uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead
 
 void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
 {
@@ -159,6 +161,7 @@ void annexCode(void)
         rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
         rcCommand[PITCH] = rcCommand_PITCH;
     }
+
 #if defined(POWERMETER_HARD)
     if (!(++psensorTimer % PSENSORFREQ)) {
         pMeterRaw = analogRead(PSENSORPIN);
@@ -180,15 +183,15 @@ void annexCode(void)
             vbatRawArray[(ind++) % 8] = adcGetBattery();
             for (i = 0; i < 8; i++)
                 vbatRaw += vbatRawArray[i];
-            vbat = (((vbatRaw / 8) * 3.3f) / 4095) * cfg.vbatscale;       // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
+            vbat = batteryAdcToVoltage(vbatRaw / 8);
         }
         if (rcOptions[BOXBEEPERON]) {       // unconditional beeper on via AUXn switch 
             buzzerFreq = 7;
-        } else if (((vbat > VBATLEVEL1_3S)
+        } else if (((vbat > batteryWarningVoltage)
     #if defined(POWERMETER)
                     && ((pMeter[PMOTOR_SUM] < pAlarm) || (pAlarm == 0))
     #endif
-                   ) || (NO_VBAT > vbat))   // ToLuSe
+                   ) || (vbat < cfg.vbatmincellvoltage))
         {                           //VBAT ok AND powermeter ok, buzzer off
             buzzerFreq = 0;
             buzzerState = 0;
@@ -197,12 +200,8 @@ void annexCode(void)
         } else if (pMeter[PMOTOR_SUM] > pAlarm) {   // sound alarm for powermeter
             buzzerFreq = 4;
     #endif
-        } else if (vbat > VBATLEVEL2_3S)
-            buzzerFreq = 1;
-        else if (vbat > VBATLEVEL3_3S)
-            buzzerFreq = 2;
-        else
-            buzzerFreq = 4;
+        } else
+            buzzerFreq = 4; // low battery
         if (buzzerFreq) {
             if (buzzerState && (currentTime > buzzerTime + 250000)) {
                 buzzerState = 0;
@@ -268,19 +267,19 @@ void annexCode(void)
     }
 #endif
 
-#if GPS
-    static uint32_t GPSLEDTime;
-    if (currentTime > GPSLEDTime && (GPS_fix_home == 1)) {
-        GPSLEDTime = currentTime + 150000;
-        LEDPIN_TOGGLE;
+    if (sensors(SENSOR_GPS)) {
+        static uint32_t GPSLEDTime;
+        if (currentTime > GPSLEDTime && (GPS_fix_home == 1)) {
+            GPSLEDTime = currentTime + 150000;
+            LED1_TOGGLE;
+        }
     }
-#endif
 }
 
 uint16_t readRawRC(uint8_t chan)
 {
     uint16_t data;
-    
+
     failsafeCnt = 0;
     data = pwmRead(rcChannel[chan]);
     if (data < 750 || data > 2250)
@@ -294,7 +293,7 @@ void computeRC(void)
     static int16_t rcData4Values[8][4], rcDataMean[8];
     static uint8_t rc4ValuesIndex = 0;
     uint8_t chan, a;
-    
+
 #if defined(SBUS)
     readSBus();
 #endif
diff --git a/src/mw.h b/src/mw.h
index cb35a7925d..df3cf07a1c 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -50,15 +50,8 @@
 #define CAM_TIME_HIGH 1000   // the duration of HIGH state servo expressed in ms
 #define CAM_TIME_LOW 1000    // the duration of LOW state servo expressed in ms
 
-/* for V BAT monitoring
-   after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
-   with R1=33k and R2=51k
-   vbat = [0;1023]*16/VBATSCALE */
+/* for VBAT monitoring frequency */
 #define VBATFREQ 6        // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing
-#define VBATLEVEL1_3S 107 // 10,7V
-#define VBATLEVEL2_3S 103 // 10,3V
-#define VBATLEVEL3_3S 99  // 9.9V
-#define NO_VBAT       16 // Avoid beeping without any battery
 
 // Moving Average Gyros by Magnetron1 (Michele Ardito) ########## beta
 //#define MMGYRO                         // Active Moving Average Function for Gyros
@@ -155,6 +148,8 @@ typedef struct config_t {
     uint8_t activate2[CHECKBOXITEMS];
     uint8_t powerTrigger1;                  // trigger for alarm based on power consumption
     uint8_t vbatscale;                      // adjust this to match battery voltage to reported value
+    uint8_t vbatmaxcellvoltage;             // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
+    uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
     
     // Radio/ESC-related configuration
     uint8_t deadband;                       // introduce a deadband around the stick center. Must be greater than zero
@@ -248,6 +243,8 @@ void getEstimatedAltitude(void);
 
 // Sensors
 void sensorsAutodetect(void);
+void batteryInit(void);
+uint16_t batteryAdcToVoltage(uint16_t src);
 void ACC_getADC(void);
 void Baro_update(void);
 void Gyro_getADC(void);
diff --git a/src/sensors.c b/src/sensors.c
index 8776e80de0..bd9ba14543 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -13,6 +13,8 @@ extern int16_t AccInflightCalibrationArmed;
 extern uint16_t AccInflightCalibrationMeasurementDone;
 extern uint16_t AccInflightCalibrationSavetoEEProm;
 extern uint16_t AccInflightCalibrationActive;
+extern uint16_t batteryWarningVoltage;
+extern uint8_t batteryCellCount;
 
 sensor_t acc;                   // acc access functions
 sensor_t gyro;                  // gyro access functions
@@ -45,6 +47,34 @@ void sensorsAutodetect(void)
     gyro.init();
 }
 
+uint16_t batteryAdcToVoltage(uint16_t src)
+{
+    // calculate battery voltage based on ADC reading
+    // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
+    return (((src) * 3.3f) / 4095) * cfg.vbatscale;
+}
+
+void batteryInit(void)
+{
+    uint8_t i;
+    uint32_t voltage = 0;
+
+    for (i = 0; i < 32; i++) {
+        voltage += adcGetBattery();
+        delay(10);
+    }
+
+    voltage = batteryAdcToVoltage((uint16_t)(voltage / 32));
+
+    // autodetect cell count, going from 2S..6S
+    for (i = 2; i < 6; i++) {
+    	if (voltage < i * cfg.vbatmaxcellvoltage)
+    	    break;
+    }
+    batteryCellCount = i;
+    batteryWarningVoltage = i * cfg.vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
+}
+
 static void ACC_Common(void)
 {
     static int32_t a[3];
@@ -132,7 +162,7 @@ static void ACC_Common(void)
 void ACC_getADC(void)
 {
     acc.read(accADC);
-    acc.orient(accADC);
+    acc.align(accADC);
 
     ACC_Common();
 }
@@ -237,7 +267,7 @@ void Gyro_getADC(void)
 {
     // range: +/- 8192; +/- 2000 deg/sec
     gyro.read(gyroADC);
-    gyro.orient(gyroADC);
+    gyro.align(gyroADC);
 
     GYRO_Common();
 }