diff --git a/.gitignore b/.gitignore
index 245d33be92..b984b1e5dc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -18,3 +18,9 @@ startup_stm32f10x_md_gcc.s
 docs/Manual.pdf
 README.pdf
 
+# artifacts of top-level Makefile
+/downloads
+/tools
+/build
+# local changes only
+make/local.mk
diff --git a/.travis.sh b/.travis.sh
index f848242d32..ee310af88b 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -4,7 +4,7 @@ REVISION=$(git rev-parse --short HEAD)
 BRANCH=$(git rev-parse --abbrev-ref HEAD)
 REVISION=$(git rev-parse --short HEAD)
 LAST_COMMIT_DATE=$(git log -1 --date=short --format="%cd")
-TARGET_FILE=obj/cleanflight_${TARGET}
+TARGET_FILE=obj/betaflight_${TARGET}
 TRAVIS_REPO_SLUG=${TRAVIS_REPO_SLUG:=$USER/undefined}
 BUILDNAME=${BUILDNAME:=travis}
 TRAVIS_BUILD_NUMBER=${TRAVIS_BUILD_NUMBER:=undefined}
diff --git a/.travis.yml b/.travis.yml
index 9efb7f246d..eec253c3b2 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,27 +1,59 @@
 env:
-  - RUNTESTS=True
-  - PUBLISHMETA=True
-  - PUBLISHDOCS=True
+#  - RUNTESTS=True
+#  - PUBLISHMETA=True
+#  - PUBLISHDOCS=True
+#  - TARGET=AFROMINI
+#  - TARGET=AIORACERF3
+#  - TARGET=AIR32
+#  - TARGET=AIRHEROF3
+#  - TARGET=ALIENFLIGHTF1
+  - TARGET=ALIENFLIGHTF3
+  - TARGET=ALIENFLIGHTF4
+  - TARGET=BETAFLIGHTF3
+  - TARGET=BLUEJAYF4
   - TARGET=CC3D
   - TARGET=CC3D_OPBL
-  - TARGET=CC3D_BP6
-  - TARGET=CC3D_OPBL_BP6
-  - TARGET=COLIBRI_RACE
-  - TARGET=LUX_RACE
-  - TARGET=CHEBUZZF3
-  - TARGET=CJMCU
-  - TARGET=EUSTM32F103RC
-  - TARGET=SPRACINGF3
+#  - TARGET=CHEBUZZF3
+#  - TARGET=CJMCU
+#  - TARGET=COLIBRI
+#  - TARGET=COLIBRI_OPBL
+#  - TARGET=COLIBRI_RACE
+#  - TARGET=DOGE
+#  - TARGET=EUSTM32F103RC
+#  - TARGET=F4BY
+#  - TARGET=FURYF3
+  - TARGET=FURYF4
+#  - TARGET=IRCFUSIONF3
+#  - TARGET=ISHAPEDF3
+#  - TARGET=KISSFC
+#  - TARGET=LUX_RACE
+#  - TARGET=MICROSCISKY
+#  - TARGET=MOTOLAB
   - TARGET=NAZE
-  - TARGET=NAZE32PRO
-  - TARGET=OLIMEXINO
-  - TARGET=RMDO
-  - TARGET=PORT103R
+#  - TARGET=OLIMEXINO
+#  - TARGET=OMNIBUS
+#  - TARGET=OMNIBUSF4
+#  - TARGET=PIKOBLX
+#  - TARGET=PORT103R
+#  - TARGET=RACEBASE
+  - TARGET=REVO
+#  - TARGET=REVONANO
+#  - TARGET=REVO_OPBL
+#  - TARGET=RMDO
+#  - TARGET=SINGULARITY
+#  - TARGET=SIRINFPV
   - TARGET=SPARKY
+#  - TARGET=SPARKY2
+#  - TARGET=SPARKY_OPBL
+  - TARGET=SPRACINGF3
+  - TARGET=SPRACINGF3EVO
+#  - TARGET=SPRACINGF3MINI
   - TARGET=STM32F3DISCOVERY
-  - TARGET=ALIENFLIGHTF1
-  - TARGET=ALIENFLIGHTF3
-
+#  - TARGET=VRRACE
+#  - TARGET=X_RACERSPI
+#  - TARGET=ZCOREF3
+#  - TARGET=RCEXPLORERF3
+  
 # use new docker environment
 sudo: false
 
@@ -41,18 +73,24 @@ addons:
 language: cpp
 compiler: clang
 
-before_install:
-  - curl --retry 10 --retry-max-time 120 -L "https://launchpad.net/gcc-arm-embedded/4.9/4.9-2015-q2-update/+download/gcc-arm-none-eabi-4_9-2015q2-20150609-linux.tar.bz2" | tar xfj -
-
 install:
-  - export PATH=$PATH:$PWD/gcc-arm-none-eabi-4_9-2015q2/bin
+  - make arm_sdk_install
 
-before_script: arm-none-eabi-gcc --version
+before_script: tools/gcc-arm-none-eabi-5_4-2016q2/bin/arm-none-eabi-gcc --version
 script: ./.travis.sh
 
 cache: apt
 
+#notifications:
+#  irc: "chat.freenode.net#cleanflight"
+#  use_notice: true
+#  skip_join: true
+
 notifications:
-  irc: "chat.freenode.net#cleanflight"
-  use_notice: true
-  skip_join: true
+  webhooks:
+    urls:
+      - https://webhooks.gitter.im/e/0c20f7a1a7e311499a88
+    on_success: always  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
+    on_start: always     # options: [always|never|change] default: always
+
diff --git a/Makefile b/Makefile
index e41d2d19e4..9f3ee3456a 100644
--- a/Makefile
+++ b/Makefile
@@ -37,6 +37,20 @@ SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
 FLASH_SIZE ?=
 
+## Set verbosity level based on the V= parameter
+## V=0 Low
+## v=1 High
+export AT := @
+
+ifndef V
+export V0    :=
+export V1    := $(AT)
+else ifeq ($(V), 0)
+export V0    := $(AT)
+export V1    := $(AT)
+else ifeq ($(V), 1)
+endif
+
 ###############################################################################
 # Things that need to be maintained as the source changes
 #
@@ -53,6 +67,25 @@ INCLUDE_DIRS    = $(SRC_DIR) \
                   $(ROOT)/src/main/target
 LINKER_DIR      = $(ROOT)/src/main/target
 
+## Build tools, so we all share the same versions
+# import macros common to all supported build systems
+include $(ROOT)/make/system-id.mk
+# developer preferences, edit these at will, they'll be gitignored
+include $(ROOT)/make/local.mk
+
+# configure some directories that are relative to wherever ROOT_DIR is located
+TOOLS_DIR := $(ROOT)/tools
+BUILD_DIR := $(ROOT)/build
+DL_DIR := $(ROOT)/downloads
+
+export RM := rm
+
+# import macros that are OS specific
+include $(ROOT)/make/$(OSFAMILY).mk
+
+# include the tools makefile
+include $(ROOT)/make/tools.mk
+
 # default xtal value for F4 targets
 HSE_VALUE       = 8000000
 
@@ -122,9 +155,9 @@ endif
 
 REVISION = $(shell git log -1 --format="%h")
 
-FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
-FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
-FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
+FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
+FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
+FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 
 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 
@@ -179,7 +212,6 @@ LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 
 ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
-TARGET_FLAGS    = -D$(TARGET)
 # End F3 targets
 #
 # Start F4 targets
@@ -273,7 +305,6 @@ $(error Unknown MCU for F4 target)
 endif
 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 
-TARGET_FLAGS = -D$(TARGET)
 # End F4 targets
 #
 # Start F1 targets
@@ -313,7 +344,6 @@ endif
 
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
 ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
-TARGET_FLAGS   := -D$(TARGET) -pedantic $(TARGET_FLAGS)
 
 ifeq ($(DEVICE_FLAGS),)
 DEVICE_FLAGS    = -DSTM32F10X_MD
@@ -332,6 +362,10 @@ ifneq ($(FLASH_SIZE),)
 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 endif
 
+ifneq ($(HSE_VALUE),)
+DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
+endif
+
 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 
@@ -357,19 +391,22 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 VPATH           := $(VPATH):$(TARGET_DIR)
 
 COMMON_SRC = \
-            build_config.c \
-            debug.c \
-            version.c \
+            build/build_config.c \
+            build/debug.c \
+            build/version.c \
             $(TARGET_DIR_SRC) \
             main.c \
-            mw.c \
+            fc/mw.c \
             common/encoding.c \
             common/filter.c \
             common/maths.c \
             common/printf.c \
+            common/streambuf.c \
             common/typeconversion.c \
             config/config.c \
-            config/runtime_config.c \
+            config/config_eeprom.c \
+            config/feature.c \
+            fc/runtime_config.c \
             drivers/adc.c \
             drivers/buf_writer.c \
             drivers/bus_i2c_soft.c \
@@ -392,9 +429,11 @@ COMMON_SRC = \
             flight/imu.c \
             flight/mixer.c \
             flight/pid.c \
+            flight/pid_legacy.c \
+            flight/pid_betaflight.c \
             io/beeper.c \
-            io/rc_controls.c \
-            io/rc_curves.c \
+            fc/rc_controls.c \
+            fc/rc_curves.c \
             io/serial.c \
             io/serial_4way.c \
             io/serial_4way_avrootloader.c \
@@ -546,10 +585,18 @@ VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 # Things that might need changing to use different tools
 #
 
+# Find out if ccache is installed on the system
+CCACHE := ccache
+RESULT = $(shell (which $(CCACHE) > /dev/null 2>&1; echo $$?) )
+ifneq ($(RESULT),0)
+CCACHE :=
+endif
+
 # Tool names
-CC          = arm-none-eabi-gcc
-OBJCOPY     = arm-none-eabi-objcopy
-SIZE        = arm-none-eabi-size
+CC          := $(CCACHE) $(ARM_SDK_PREFIX)gcc
+CPP         := $(CCACHE) $(ARM_SDK_PREFIX)g++
+OBJCOPY     := $(ARM_SDK_PREFIX)objcopy
+SIZE        := $(ARM_SDK_PREFIX)size
 
 #
 # Tool options.
@@ -574,8 +621,10 @@ CFLAGS      += $(ARCH_FLAGS) \
               -Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
               -ffunction-sections \
               -fdata-sections \
+              -pedantic \
               $(DEVICE_FLAGS) \
               -DUSE_STDPERIPH_DRIVER \
+              -D$(TARGET) \
               $(TARGET_FLAGS) \
               -D'__FORKNAME__="$(FORKNAME)"' \
               -D'__TARGET__="$(TARGET)"' \
@@ -631,39 +680,39 @@ CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 # It would be nice to compute these lists, but that seems to be just beyond make.
 
 $(TARGET_HEX): $(TARGET_ELF)
-	$(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
+	$(V0) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
 
 $(TARGET_BIN): $(TARGET_ELF)
-	$(OBJCOPY) -O binary $< $@
+	$(V0) $(OBJCOPY) -O binary $< $@
 
 $(TARGET_ELF):  $(TARGET_OBJS)
-	@echo LD $(notdir $@)
-	@$(CC) -o $@ $^ $(LDFLAGS)
-	$(SIZE) $(TARGET_ELF)
+	$(V1) echo LD $(notdir $@)
+	$(V1) $(CC) -o $@ $^ $(LDFLAGS)
+	$(V0) $(SIZE) $(TARGET_ELF)
 
 # Compile
 $(OBJECT_DIR)/$(TARGET)/%.o: %.c
-	@mkdir -p $(dir $@)
-	@echo %% $(notdir $<)
-	@$(CC) -c -o $@ $(CFLAGS) $<
+	$(V1) mkdir -p $(dir $@)
+	$(V1) echo %% $(notdir $<)
+	$(V1) $(CC) -c -o $@ $(CFLAGS) $<
 
 # Assemble
 $(OBJECT_DIR)/$(TARGET)/%.o: %.s
-	@mkdir -p $(dir $@)
-	@echo %% $(notdir $<)
-	@$(CC) -c -o $@ $(ASFLAGS) $<
+	$(V1) mkdir -p $(dir $@)
+	$(V1) echo %% $(notdir $<)
+	$(V1) $(CC) -c -o $@ $(ASFLAGS) $<
 
 $(OBJECT_DIR)/$(TARGET)/%.o: %.S
-	@mkdir -p $(dir $@)
-	@echo %% $(notdir $<)
-	@$(CC) -c -o $@ $(ASFLAGS) $<
+	$(V1) mkdir -p $(dir $@)
+	$(V1) echo %% $(notdir $<)
+	$(V1) $(CC) -c -o $@ $(ASFLAGS) $<
 
 
 ## all               : Build all valid targets
 all: $(VALID_TARGETS)
 
 $(VALID_TARGETS):
-		echo "" && \
+		$(V0) echo "" && \
 		echo "Building $@" && \
 		$(MAKE) binary hex TARGET=$@ && \
 		echo "Building $@ succeeded."
@@ -675,22 +724,22 @@ TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
 
 ## clean             : clean up temporary / machine-generated files
 clean:
-	echo "Cleaning $(TARGET)"
-	rm -f $(CLEAN_ARTIFACTS)
-	rm -rf $(OBJECT_DIR)/$(TARGET)
-	echo "Cleaning $(TARGET) succeeded."
+	$(V0) echo "Cleaning $(TARGET)"
+	$(V0) rm -f $(CLEAN_ARTIFACTS)
+	$(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
+	$(V0) echo "Cleaning $(TARGET) succeeded."
 
 ## clean_test        : clean up temporary / machine-generated files (tests)
 clean_test:
-	cd src/test && $(MAKE) clean || true
+	$(V0) cd src/test && $(MAKE) clean || true
 
 ## clean_<TARGET>    : clean up one specific target
 $(CLEAN_TARGETS) :
-	$(MAKE) -j TARGET=$(subst clean_,,$@) clean
+	$(V0) $(MAKE) -j TARGET=$(subst clean_,,$@) clean
 
 ## <TARGET>_clean    : clean up one specific target (alias for above)
 $(TARGETS_CLEAN) :
-	$(MAKE) -j TARGET=$(subst _clean,,$@) clean
+	$(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 
 ## clean_all         : clean all valid targets
 clean_all:$(CLEAN_TARGETS)
@@ -700,62 +749,72 @@ all_clean:$(TARGETS_CLEAN)
 
 
 flash_$(TARGET): $(TARGET_HEX)
-	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
-	echo -n 'R' >$(SERIAL_DEVICE)
-	stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
+	$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
+	$(V0) echo -n 'R' >$(SERIAL_DEVICE)
+	$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 
 ## flash             : flash firmware (.hex) onto flight controller
 flash: flash_$(TARGET)
 
 st-flash_$(TARGET): $(TARGET_BIN)
-	st-flash --reset write $< 0x08000000
+	$(V0) st-flash --reset write $< 0x08000000
 
 ## st-flash          : flash firmware (.bin) onto flight controller
 st-flash: st-flash_$(TARGET)
 
 binary:
-	$(MAKE) -j $(TARGET_BIN)
+	$(V0) $(MAKE) -j $(TARGET_BIN)
 
 hex:
-	$(MAKE) -j $(TARGET_HEX)
+	$(V0) $(MAKE) -j $(TARGET_HEX)
 
 unbrick_$(TARGET): $(TARGET_HEX)
-	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
-	stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
+	$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
+	$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 
 ## unbrick           : unbrick flight controller
 unbrick: unbrick_$(TARGET)
 
 ## cppcheck          : run static analysis on C source code
 cppcheck: $(CSOURCES)
-	$(CPPCHECK)
+	$(V0) $(CPPCHECK)
 
 cppcheck-result.xml: $(CSOURCES)
-	$(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
+	$(V0) $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
+
+## mkdirs
+$(DL_DIR):
+	mkdir -p $@
+
+$(TOOLS_DIR):
+	mkdir -p $@
+
+$(BUILD_DIR):
+	mkdir -p $@
 
 ## help              : print this help message and exit
 help: Makefile
-	@echo ""
-	@echo "Makefile for the $(FORKNAME) firmware"
-	@echo ""
-	@echo "Usage:"
-	@echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
-	@echo "Or:"
-	@echo "        make <target> [OPTIONS=\"<options>\"]"
-	@echo ""
-	@echo "Valid TARGET values are: $(VALID_TARGETS)"
-	@echo ""
-	@sed -n 's/^## //p' $<
+	$(V0) @echo ""
+	$(V0) @echo "Makefile for the $(FORKNAME) firmware"
+	$(V0) @echo ""
+	$(V0) @echo "Usage:"
+	$(V0) @echo "        make [V=<verbosity>] [TARGET=<target>] [OPTIONS=\"<options>\"]"
+	$(V0) @echo "Or:"
+	$(V0) @echo "        make <target> [V=<verbosity>] [OPTIONS=\"<options>\"]"
+	$(V0) @echo ""
+	$(V0) @echo "Valid TARGET values are: $(VALID_TARGETS)"
+	$(V0) @echo ""
+	$(V0) @sed -n 's/^## //p' $<
 
 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 targets:
-	@echo "Valid targets: $(VALID_TARGETS)"
-	@echo "Target:        $(TARGET)"
-	@echo "Base target:   $(BASE_TARGET)"
+	$(V0) @echo "Valid targets: $(VALID_TARGETS)"
+	$(V0) @echo "Target:        $(TARGET)"
+	$(V0) @echo "Base target:   $(BASE_TARGET)"
 
 ## test              : run the cleanflight test suite
 test:
-	cd src/test && $(MAKE) test || true
+	$(V0) cd src/test && $(MAKE) test || true
 
 # rebuild everything when makefile changes
 $(TARGET_OBJS) : Makefile
diff --git a/README.md b/README.md
index 0253334eff..471729b398 100644
--- a/README.md
+++ b/README.md
@@ -61,11 +61,9 @@ If what you need is not covered then refer to the baseflight documentation. If y
 
 ## IRC Support and Developers Channel
 
-There's a dedicated IRC channel here:
+There's a dedicated IRCgitter chat channel here:
 
-irc://irc.freenode.net/#cleanflight
-
-If you are using windows and don't have an IRC client installed then take a look at HydraIRC - here: http://hydrairc.com/
+https://gitter.im/betaflight/betaflight
 
 Etiquette: Don't ask to ask and please wait around long enough for a reply - sometimes people are out flying, asleep or at work and can't answer immediately.
 
@@ -79,13 +77,13 @@ Please subscribe and '+1' the videos if you find them useful.
 
 ## Configuration Tool
 
-To configure Cleanflight you should use the Cleanflight-configurator GUI tool (Windows/OSX/Linux) that can be found here:
+To configure Betaflight you should use the Betaflight-configurator GUI tool (Windows/OSX/Linux) that can be found here:
 
-https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb
+https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao
 
 The source for it is here:
 
-https://github.com/cleanflight/cleanflight-configurator
+https://github.com/betaflight/betaflight-configurator
 
 ## Contributing
 
@@ -97,10 +95,10 @@ Contributions are welcome and encouraged.  You can contribute in many ways:
 * New features.
 * Telling us your ideas and suggestions.
 
-The best place to start is the IRC channel on freenode (see above), drop in, say hi. Next place is the github issue tracker:
+The best place to start is the IRC channel on gitter (see above), drop in, say hi. Next place is the github issue tracker:
 
-https://github.com/cleanflight/cleanflight/issues
-https://github.com/cleanflight/cleanflight-configurator/issues
+https://github.com/betaflight/betaflight/issues
+https://github.com/betaflight/betaflight-configurator/issues
 
 Before creating new issues please check to see if there is an existing one, search first otherwise you waste peoples time when they could be coding instead!
 
@@ -110,11 +108,48 @@ Please refer to the development section in the `docs/development` folder.
 
 TravisCI is used to run automatic builds
 
-https://travis-ci.org/cleanflight/cleanflight
+https://travis-ci.org/betaflight/betaflight
 
-[![Build Status](https://travis-ci.org/cleanflight/cleanflight.svg?branch=master)](https://travis-ci.org/cleanflight/cleanflight)
+[![Build Status](https://travis-ci.org/betaflight/betaflight.svg?branch=master)](https://travis-ci.org/betaflight/betaflight)
 
-## Cleanflight Releases
-https://github.com/cleanflight/cleanflight/releases
+## Betaflight Releases
+https://github.com/betaflight/betaflight/releases
 
 
+## Open Source / Contributors
+
+Betaflight is software that is **open source** and is available free of charge without warranty to all users.
+
+Betaflight is forked from Cleanflight, so thanks goes to all those whom have contributed to Cleanflight and its origins.
+
+Origins for this fork (Thanks!):
+* **Alexinparis** (for MultiWii),
+* **timecop** (for Baseflight),
+* **Dominic Clifton** (for Cleanflight), and
+* **Sambas** (for the original STM32F4 port).
+
+The Betaflight Configurator is forked from Cleanflight Configurator and its origins. 
+
+Origins for Betaflight Configurator:
+* **Dominic Clifton** (for Cleanflight configurator), and
+* **ctn** (for the original Configurator). 
+
+Big thanks to current and past contributors:
+* Budden, Martin (martinbudden)
+* Bardwell, Joshua (joshuabardwell)
+* Blackman, Jason (blckmn)
+* ctzsnooze
+* Höglund, Anders (andershoglund) 
+* Ledvin, Peter (ledvinap) - **IO code awesomeness!**
+* kc10kevin
+* Keeble, Gary (MadmanK)
+* Keller, Michael (mikeller) - **Configurator brilliance**
+* Kravcov, Albert (skaman82) - **Configurator brilliance**
+* MJ666
+* Nathan (nathantsoi)
+* ravnav
+* sambas - **bringing us the F4**
+* savaga
+* Stålheim, Anton (KiteAnton)
+
+And many many others who haven't been mentioned....
diff --git a/Vagrantfile b/Vagrantfile
index ae6b26551f..af1c6a064f 100644
--- a/Vagrantfile
+++ b/Vagrantfile
@@ -19,8 +19,18 @@ Vagrant.configure(2) do |config|
   # documentation for more information about their specific syntax and use.
   config.vm.provision "shell", inline: <<-SHELL
     apt-get remove -y binutils-arm-none-eabi gcc-arm-none-eabi
-    add-apt-repository ppa:terry.guo/gcc-arm-embedded
+    add-apt-repository ppa:team-gcc-arm-embedded/ppa
     apt-get update
-    apt-get install -y git gcc-arm-none-eabi=4.9.3.2015q3-1trusty1
+    apt-get install -y git ccache gcc-arm-embedded=5-2016q2-1~trusty1
   SHELL
 end
+
+# Usage
+# On windows start a command shell in the project root directory, where the "Vagrantfile" exists.
+# "vagrant up"     to start the VM. First time it takes a while.....
+# "vagrant ssh"    to log into your VM.
+# "cd /vagrant"    Here are the windows project directory mounted with all your files.
+# "make all"       Start working, building all targets for example.
+# "exit"           when done
+# vagrant halt     to stop your VM
+# vagrant --help   for more....
diff --git a/fake_travis_build.sh b/fake_travis_build.sh
index 1a2c9af909..10d3e67966 100755
--- a/fake_travis_build.sh
+++ b/fake_travis_build.sh
@@ -21,8 +21,8 @@ targets=("PUBLISHMETA=True" \
     "TARGET=DOGE" \
     "TARGET=SINGULARITY" \
     "TARGET=SIRINFPV" \
-    "TARGET=X_RACERSPI")
-
+    "TARGET=X_RACERSPI" \
+    "TARGET=RCEXPLORERF3")
 
 
 #fake a travis build environment
diff --git a/make/linux.mk b/make/linux.mk
new file mode 100644
index 0000000000..ba1744fcbd
--- /dev/null
+++ b/make/linux.mk
@@ -0,0 +1,35 @@
+# linux.mk
+#
+# Goals:
+#   Configure an environment that will allow Taulabs GCS and firmware to be built
+#   on a Linux system. The environment will support the current versions of Qt SDK
+#   and the ARM toolchain installed to either the Taulabs/tools directory, their
+#   respective default installation locations, or made available on the system path.
+
+# Check for and find Python 2
+
+# Get Python version, separate major/minor/patch, then put into wordlist
+PYTHON_VERSION_=$(wordlist 2,4,$(subst ., ,$(shell python -V 2>&1)))
+# Get major version from aforementioned list
+PYTHON_MAJOR_VERSION_=$(word 1,$(PYTHON_VERSION_))
+# Just in case Make has some weird scope stuff
+PYTHON=0
+# If the major Python version is the one we want..
+ifeq ($(PYTHON_MAJOR_VERSION_),2)
+	# Then we can just use the normal Python executable
+	PYTHON:=python
+else
+	# However, this isn't always the case..
+	# Let's look for `python2`. If `which` doesn't return a null value, then
+	#  it exists!
+	ifneq ($(shell which python2), "")
+		PYTHON:=python2
+	else
+		# And if it doesn't exist, let's use the default Python, and warn the user.
+		# PYTHON NOT FOUND.
+		PYTHON:=python
+		echo "Python not found."
+	endif
+endif
+
+export PYTHON
diff --git a/make/local.mk b/make/local.mk
new file mode 100644
index 0000000000..1b66457a50
--- /dev/null
+++ b/make/local.mk
@@ -0,0 +1,2 @@
+# override the toolchain version, should match the output from of your version of the toolchain: $(arm-none-eabi-gcc -dumpversion)
+#GCC_REQUIRED_VERSION=5.4.1
diff --git a/make/macosx.mk b/make/macosx.mk
new file mode 100644
index 0000000000..7f15c4fba1
--- /dev/null
+++ b/make/macosx.mk
@@ -0,0 +1,35 @@
+# macosx.mk
+#
+# Goals:
+#   Configure an environment that will allow Taulabs GCS and firmware to be built
+#   on a Mac OSX system. The environment will support the current version of the
+#   ARM toolchain installed to either their respective default installation
+#   locations, the tools directory or made available on the system path.
+
+# Check for and find Python 2
+
+# Get Python version, separate major/minor/patch, then put into wordlist
+PYTHON_VERSION_=$(wordlist 2,4,$(subst ., ,$(shell python -V 2>&1)))
+# Get major version from aforementioned list
+PYTHON_MAJOR_VERSION_=$(word 1,$(PYTHON_VERSION_))
+# Just in case Make has some weird scope stuff
+PYTHON=0
+# If the major Python version is the one we want..
+ifeq ($(PYTHON_MAJOR_VERSION_),2)
+	# Then we can just use the normal Python executable
+	PYTHON:=python
+else
+	# However, this isn't always the case..
+	# Let's look for `python2`. If `which` doesn't return a null value, then
+	#  it exists!
+	ifneq ($(shell which python2), "")
+		PYTHON:=python2
+	else
+		# And if it doesn't exist, let's use the default Python, and warn the user.
+		# PYTHON NOT FOUND.
+		PYTHON:=python
+		echo "Python not found."
+	endif
+endif
+
+export PYTHON
diff --git a/make/system-id.mk b/make/system-id.mk
new file mode 100644
index 0000000000..fc28a955e1
--- /dev/null
+++ b/make/system-id.mk
@@ -0,0 +1,50 @@
+# shared.mk
+#
+# environment variables common to all operating systems supported by the make system
+
+# Make sure we know a few things about the architecture
+UNAME := $(shell uname)
+ARCH := $(shell uname -m)
+ifneq (,$(filter $(ARCH), x86_64 amd64))
+  X86-64 := 1
+  X86_64 := 1
+  AMD64 := 1
+  ARCHFAMILY := x86_64
+else
+  ARCHFAMILY := $(ARCH)
+endif
+
+# configure some variables dependent upon what type of system this is
+
+# Linux
+ifeq ($(UNAME), Linux)
+  OSFAMILY := linux
+  LINUX := 1
+endif
+
+# Mac OSX
+ifeq ($(UNAME), Darwin)
+  OSFAMILY := macosx
+  MACOSX := 1
+endif
+
+# Windows using MinGW shell
+ifeq (MINGW, $(findstring MINGW,$(UNAME)))
+  OSFAMILY := windows
+  MINGW := 1
+  WINDOWS := 1
+endif
+
+# Windows using Cygwin shell
+ifeq (CYGWIN ,$(findstring CYGWIN,$(UNAME)))
+  OSFAMILY := windows
+  WINDOWS := 1
+  CYGWIN := 1
+endif
+
+# report an error if we couldn't work out what OS this is running on
+ifndef OSFAMILY
+  $(info uname reports $(UNAME))
+  $(info uname -m reports $(ARCH))
+  $(error failed to detect operating system)
+endif
diff --git a/make/tools.mk b/make/tools.mk
new file mode 100644
index 0000000000..a12dc50a3c
--- /dev/null
+++ b/make/tools.mk
@@ -0,0 +1,331 @@
+###############################################################
+#
+# Installers for tools
+#
+# NOTE: These are not tied to the default goals
+#       and must be invoked manually
+#
+###############################################################
+
+##############################
+#
+# Check that environmental variables are sane
+#
+##############################
+
+# Set up ARM (STM32) SDK
+ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-5_4-2016q2
+# Checked below, Should match the output of $(shell arm-none-eabi-gcc -dumpversion)
+GCC_REQUIRED_VERSION := 5.4.1
+
+.PHONY: arm_sdk_install
+
+# source: https://launchpad.net/gcc-arm-embedded/5.0/
+ifdef LINUX
+  arm_sdk_install: ARM_SDK_URL  := https://launchpad.net/gcc-arm-embedded/5.0/5-2016-q2-update/+download/gcc-arm-none-eabi-5_4-2016q2-20160622-linux.tar.bz2
+endif
+
+ifdef MACOSX
+  arm_sdk_install: ARM_SDK_URL  := https://launchpad.net/gcc-arm-embedded/5.0/5-2016-q2-update/+download/gcc-arm-none-eabi-5_4-2016q2-20160622-mac.tar.bz2
+endif
+
+ifdef WINDOWS
+  arm_sdk_install: ARM_SDK_URL  := https://launchpad.net/gcc-arm-embedded/5.0/5-2016-q2-update/+download/gcc-arm-none-eabi-5_4-2016q2-20160622-win32.zip
+endif
+
+arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
+# order-only prereq on directory existance:
+arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
+arm_sdk_install: arm_sdk_clean
+ifneq ($(OSFAMILY), windows)
+        # download the source only if it's newer than what we already have
+	$(V1) curl -L -k -o "$(DL_DIR)/$(ARM_SDK_FILE)" "$(ARM_SDK_URL)"
+
+        # binary only release so just extract it
+	$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"
+else
+	$(V1) curl -L -k -o "$(DL_DIR)/$(ARM_SDK_FILE)" "$(ARM_SDK_URL)"
+	$(V1) unzip -q -d $(ARM_SDK_DIR) "$(DL_DIR)/$(ARM_SDK_FILE)"
+endif
+
+.PHONY: arm_sdk_clean
+arm_sdk_clean:
+	$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -r $(ARM_SDK_DIR)
+
+.PHONY: openocd_win_install
+
+openocd_win_install: | $(DL_DIR) $(TOOLS_DIR)
+openocd_win_install: OPENOCD_URL  := git://git.code.sf.net/p/openocd/code
+openocd_win_install: OPENOCD_REV  := cf1418e9a85013bbf8dbcc2d2e9985695993d9f4
+openocd_win_install: OPENOCD_OPTIONS :=
+
+ifeq ($(OPENOCD_FTDI), yes)
+openocd_win_install: OPENOCD_OPTIONS := $(OPENOCD_OPTIONS) --enable-ft2232_ftd2xx --with-ftd2xx-win32-zipdir=$(FTD2XX_DIR)
+endif
+
+openocd_win_install: openocd_win_clean libusb_win_install ftd2xx_install
+        # download the source
+	$(V0) @echo " DOWNLOAD     $(OPENOCD_URL) @ $(OPENOCD_REV)"
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
+	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
+	$(V1) git clone --no-checkout $(OPENOCD_URL) "$(DL_DIR)/openocd-build"
+	$(V1) ( \
+	  cd $(OPENOCD_BUILD_DIR) ; \
+	  git checkout -q $(OPENOCD_REV) ; \
+	)
+
+        # apply patches
+	$(V0) @echo " PATCH        $(OPENOCD_BUILD_DIR)"
+	$(V1) ( \
+	  cd $(OPENOCD_BUILD_DIR) ; \
+	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0003-freertos-cm4f-fpu-support.patch ; \
+	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0004-st-icdi-disable.patch ; \
+	)
+
+        # build and install
+	$(V0) @echo " BUILD        $(OPENOCD_WIN_DIR)"
+	$(V1) mkdir -p "$(OPENOCD_WIN_DIR)"
+	$(V1) ( \
+	  cd $(OPENOCD_BUILD_DIR) ; \
+	  ./bootstrap ; \
+	  ./configure --enable-maintainer-mode --prefix="$(OPENOCD_WIN_DIR)" \
+		--build=i686-pc-linux-gnu --host=i586-mingw32msvc \
+		CPPFLAGS=-I$(LIBUSB_WIN_DIR)/include \
+		LDFLAGS=-L$(LIBUSB_WIN_DIR)/lib/gcc \
+		$(OPENOCD_OPTIONS) \
+		--disable-werror \
+		--enable-stlink ; \
+	  $(MAKE) ; \
+	  $(MAKE) install ; \
+	)
+
+        # delete the extracted source when we're done
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
+
+.PHONY: openocd_win_clean
+openocd_win_clean:
+	$(V0) @echo " CLEAN        $(OPENOCD_WIN_DIR)"
+	$(V1) [ ! -d "$(OPENOCD_WIN_DIR)" ] || $(RM) -r "$(OPENOCD_WIN_DIR)"
+
+# Set up openocd tools
+OPENOCD_DIR       := $(TOOLS_DIR)/openocd
+OPENOCD_WIN_DIR   := $(TOOLS_DIR)/openocd_win
+OPENOCD_BUILD_DIR := $(DL_DIR)/openocd-build
+
+.PHONY: openocd_install
+
+openocd_install: | $(DL_DIR) $(TOOLS_DIR)
+openocd_install: OPENOCD_URL     := git://git.code.sf.net/p/openocd/code
+openocd_install: OPENOCD_TAG     := v0.9.0
+openocd_install: OPENOCD_OPTIONS := --enable-maintainer-mode --prefix="$(OPENOCD_DIR)" --enable-buspirate --enable-stlink
+
+ifeq ($(OPENOCD_FTDI), yes)
+openocd_install: OPENOCD_OPTIONS := $(OPENOCD_OPTIONS) --enable-ftdi
+endif
+
+ifeq ($(UNAME), Darwin)
+openocd_install: OPENOCD_OPTIONS := $(OPENOCD_OPTIONS) --disable-option-checking
+endif
+
+openocd_install: openocd_clean
+        # download the source
+	$(V0) @echo " DOWNLOAD     $(OPENOCD_URL) @ $(OPENOCD_TAG)"
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
+	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
+	$(V1) git clone --no-checkout $(OPENOCD_URL) "$(OPENOCD_BUILD_DIR)"
+	$(V1) ( \
+	  cd $(OPENOCD_BUILD_DIR) ; \
+	  git checkout -q tags/$(OPENOCD_TAG) ; \
+	)
+
+        # build and install
+	$(V0) @echo " BUILD        $(OPENOCD_DIR)"
+	$(V1) mkdir -p "$(OPENOCD_DIR)"
+	$(V1) ( \
+	  cd $(OPENOCD_BUILD_DIR) ; \
+	  ./bootstrap ; \
+	  ./configure  $(OPENOCD_OPTIONS) ; \
+	  $(MAKE) ; \
+	  $(MAKE) install ; \
+	)
+
+        # delete the extracted source when we're done
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
+
+.PHONY: openocd_clean
+openocd_clean:
+	$(V0) @echo " CLEAN        $(OPENOCD_DIR)"
+	$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
+
+STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
+
+.PHONY: stm32flash_install
+stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
+stm32flash_install: STM32FLASH_REV := 61
+stm32flash_install: stm32flash_clean
+        # download the source
+	$(V0) @echo " DOWNLOAD     $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"
+	$(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)"
+
+        # build
+	$(V0) @echo " BUILD        $(STM32FLASH_DIR)"
+	$(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all
+
+.PHONY: stm32flash_clean
+stm32flash_clean:
+	$(V0) @echo " CLEAN        $(STM32FLASH_DIR)"
+	$(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)"
+
+DFUUTIL_DIR := $(TOOLS_DIR)/dfu-util
+
+.PHONY: dfuutil_install
+dfuutil_install: DFUUTIL_URL  := http://dfu-util.sourceforge.net/releases/dfu-util-0.8.tar.gz
+dfuutil_install: DFUUTIL_FILE := $(notdir $(DFUUTIL_URL))
+dfuutil_install: | $(DL_DIR) $(TOOLS_DIR)
+dfuutil_install: dfuutil_clean
+        # download the source
+	$(V0) @echo " DOWNLOAD     $(DFUUTIL_URL)"
+	$(V1) curl -L -k -o "$(DL_DIR)/$(DFUUTIL_FILE)" "$(DFUUTIL_URL)"
+
+        # extract the source
+	$(V0) @echo " EXTRACT      $(DFUUTIL_FILE)"
+	$(V1) [ ! -d "$(DL_DIR)/dfuutil-build" ] || $(RM) -r "$(DL_DIR)/dfuutil-build"
+	$(V1) mkdir -p "$(DL_DIR)/dfuutil-build"
+	$(V1) tar -C $(DL_DIR)/dfuutil-build -xf "$(DL_DIR)/$(DFUUTIL_FILE)"
+
+        # build
+	$(V0) @echo " BUILD        $(DFUUTIL_DIR)"
+	$(V1) mkdir -p "$(DFUUTIL_DIR)"
+	$(V1) ( \
+	  cd $(DL_DIR)/dfuutil-build/dfu-util-0.8 ; \
+	  ./configure --prefix="$(DFUUTIL_DIR)" ; \
+	  $(MAKE) ; \
+	  $(MAKE) install ; \
+	)
+
+.PHONY: dfuutil_clean
+dfuutil_clean:
+	$(V0) @echo " CLEAN        $(DFUUTIL_DIR)"
+	$(V1) [ ! -d "$(DFUUTIL_DIR)" ] || $(RM) -r "$(DFUUTIL_DIR)"
+
+# Set up uncrustify tools
+UNCRUSTIFY_DIR := $(TOOLS_DIR)/uncrustify-0.61
+UNCRUSTIFY_BUILD_DIR := $(DL_DIR)/uncrustify
+
+.PHONY: uncrustify_install
+uncrustify_install: | $(DL_DIR) $(TOOLS_DIR)
+uncrustify_install: UNCRUSTIFY_URL := http://downloads.sourceforge.net/project/uncrustify/uncrustify/uncrustify-0.61/uncrustify-0.61.tar.gz
+uncrustify_install: UNCRUSTIFY_FILE := uncrustify-0.61.tar.gz
+uncrustify_install: UNCRUSTIFY_OPTIONS := prefix=$(UNCRUSTIFY_DIR)
+uncrustify_install: uncrustify_clean
+ifneq ($(OSFAMILY), windows)
+	$(V0) @echo " DOWNLOAD     $(UNCRUSTIFY_URL)"
+	$(V1) curl -L -k -o "$(DL_DIR)/$(UNCRUSTIFY_FILE)" "$(UNCRUSTIFY_URL)"
+endif
+        # extract the src
+	$(V0) @echo " EXTRACT      $(UNCRUSTIFY_FILE)"
+	$(V1) tar -C $(TOOLS_DIR) -xf "$(DL_DIR)/$(UNCRUSTIFY_FILE)"
+
+	$(V0) @echo " BUILD        $(UNCRUSTIFY_DIR)"
+	$(V1) ( \
+	  cd $(UNCRUSTIFY_DIR) ; \
+	  ./configure --prefix="$(UNCRUSTIFY_DIR)" ; \
+	  $(MAKE) ; \
+	  $(MAKE) install ; \
+	)
+	      # delete the extracted source when we're done
+	$(V1) [ ! -d "$(UNCRUSTIFY_BUILD_DIR)" ] || $(RM) -r "$(UNCRUSTIFY_BUILD_DIR)"
+
+.PHONY: uncrustify_clean
+uncrustify_clean:
+	$(V0) @echo " CLEAN        $(UNCRUSTIFY_DIR)"
+	$(V1) [ ! -d "$(UNCRUSTIFY_DIR)" ] || $(RM) -r "$(UNCRUSTIFY_DIR)"
+	$(V0) @echo " CLEAN        $(UNCRUSTIFY_BUILD_DIR)"
+	$(V1) [ ! -d "$(UNCRUSTIFY_BUILD_DIR)" ] || $(RM) -r "$(UNCRUSTIFY_BUILD_DIR)"
+
+# ZIP download URL
+zip_install: ZIP_URL  := http://pkgs.fedoraproject.org/repo/pkgs/zip/zip30.tar.gz/7b74551e63f8ee6aab6fbc86676c0d37/zip30.tar.gz
+
+zip_install: ZIP_FILE := $(notdir $(ZIP_URL))
+
+ZIP_DIR = $(TOOLS_DIR)/zip30
+
+# order-only prereq on directory existance:
+zip_install : | $(DL_DIR) $(TOOLS_DIR)
+zip_install: zip_clean
+	$(V1) curl -L -k -o "$(DL_DIR)/$(ZIP_FILE)" "$(ZIP_URL)"
+	$(V1) tar --force-local -C $(TOOLS_DIR) -xzf "$(DL_DIR)/$(ZIP_FILE)"
+ifneq ($(OSFAMILY), windows)
+	$(V1) cd "$(ZIP_DIR)" && $(MAKE) -f unix/Makefile generic_gcc
+else
+	$(V1) cd "$(ZIP_DIR)" && $(MAKE) -f win32/makefile.gcc
+endif
+
+.PHONY: zip_clean
+zip_clean:
+	$(V1) [ ! -d "$(ZIP_DIR)" ] || $(RM) -rf $(ZIP_DIR)
+
+##############################
+#
+# Set up paths to tools
+#
+##############################
+
+GCC_VERSION=$(shell arm-none-eabi-gcc -dumpversion)
+ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists)
+  ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
+else ifeq (,$(findstring _install,$(MAKECMDGOALS)))
+  ifeq ($(GCC_VERSION),)
+    $(error **ERROR** arm-none-eabi-gcc not in the PATH. Run 'make arm_sdk_install' to install automatically in the tools folder of this repo)
+  else ifneq ($(GCC_VERSION), $(GCC_REQUIRED_VERSION))
+    $(error **ERROR** your arm-none-eabi-gcc is '$(GCC_VERSION)', but '$(GCC_REQUIRED_VERSION)' is expected. Override with 'GCC_REQUIRED_VERSION' in make/local.mk or run 'make arm_sdk_install' to install the right version automatically in the tools folder of this repo)
+  endif
+  # not installed, hope it's in the path...
+  ARM_SDK_PREFIX ?= arm-none-eabi-
+endif
+
+ifeq ($(shell [ -d "$(ZIP_DIR)" ] && echo "exists"), exists)
+  export ZIPBIN := $(ZIP_DIR)/zip
+else
+  export ZIPBIN := zip
+endif
+
+ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && echo "exists"), exists)
+  OPENOCD := $(OPENOCD_DIR)/bin/openocd
+else
+  # not installed, hope it's in the path...
+  OPENOCD ?= openocd
+endif
+
+ifeq ($(shell [ -d "$(UNCRUSTIFY_DIR)" ] && echo "exists"), exists)
+  UNCRUSTIFY := $(UNCRUSTIFY_DIR)/bin/uncrustify
+else
+  # not installed, hope it's in the path...
+  UNCRUSTIFY ?= uncrustify
+endif
+
+# Google Breakpad
+DUMP_SYMBOLS_TOOL := $(TOOLS_DIR)/breakpad/$(OSFAMILY)-$(ARCHFAMILY)/dump_syms
+BREAKPAD_URL := http://dronin.tracer.nz/tools/breakpad.zip
+BREAKPAD_DL_FILE := $(DL_DIR)/$(notdir $(BREAKPAD_URL))
+BREAKPAD_DIR := $(TOOLS_DIR)/breakpad
+
+.PHONY: breakpad_install
+breakpad_install: | $(DL_DIR) $(TOOLS_DIR)
+breakpad_install: breakpad_clean
+	$(V0) @echo " DOWNLOAD     $(BREAKPAD_URL)"
+	$(V1) $(V1) curl -L -k -z "$(BREAKPAD_DL_FILE)" -o "$(BREAKPAD_DL_FILE)" "$(BREAKPAD_URL)"
+	$(V0) @echo " EXTRACT      $(notdir $(BREAKPAD_DL_FILE))"
+	$(V1) mkdir -p "$(BREAKPAD_DIR)"
+	$(V1) unzip -q -d $(BREAKPAD_DIR) "$(BREAKPAD_DL_FILE)"
+ifeq ($(OSFAMILY), windows)
+	$(V1) ln -s "$(TOOLS_DIR)/breakpad/$(OSFAMILY)-i686" "$(TOOLS_DIR)/breakpad/$(OSFAMILY)-x86_64"
+endif
+
+.PHONY: breakpad_clean
+breakpad_clean:
+	$(V0) @echo " CLEAN        $(BREAKPAD_DIR)"
+	$(V1) [ ! -d "$(BREAKPAD_DIR)" ] || $(RM) -rf $(BREAKPAD_DIR)
+	$(V0) @echo " CLEAN        $(BREAKPAD_DL_FILE)"
+	$(V1) $(RM) -f $(BREAKPAD_DL_FILE)
+
diff --git a/make/windows.mk b/make/windows.mk
new file mode 100644
index 0000000000..ceb968bbbc
--- /dev/null
+++ b/make/windows.mk
@@ -0,0 +1,14 @@
+# windows.mk
+#
+# Goals:
+#   Configure an environment that will allow Taulabs GCS and firmware to be built
+#   on a Windows system. The environment will support the current version of the
+#   ARM toolchain installed to either their respective default installation
+#   locations, the tools directory or made available on the system path.
+#
+# Requirements:
+#   msysGit
+#   Python
+
+PYTHON := python
+export PYTHON
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index c529f4132b..7192e79d70 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -19,11 +19,12 @@
 #include <string.h>
 
 #include "platform.h"
-#include "version.h"
-#include "debug.h"
 
 #ifdef BLACKBOX
 
+#include "build/version.h"
+#include "build/debug.h"
+
 #include "common/maths.h"
 #include "common/axis.h"
 #include "common/color.h"
@@ -52,7 +53,7 @@
 #include "io/beeper.h"
 #include "io/display.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -72,12 +73,15 @@
 #include "flight/altitudehold.h"
 #include "flight/failsafe.h"
 #include "flight/imu.h"
+#include "flight/pid.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
+#include "config/feature.h"
 
 #include "blackbox.h"
 #include "blackbox_io.h"
@@ -632,7 +636,7 @@ static void writeInterframe(void)
     arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
     blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
 
-    /* 
+    /*
      * The PID I field changes very slowly, most of the time +-2, so use an encoding
      * that can pack all three fields into one byte in that situation.
      */
@@ -893,6 +897,61 @@ void finishBlackbox(void)
     }
 }
 
+/**
+ * Test Motors Blackbox Logging
+ */
+bool startedLoggingInTestMode = false;
+
+void startInTestMode(void)
+{
+    if(!startedLoggingInTestMode) {
+        if (masterConfig.blackbox_device == BLACKBOX_DEVICE_SERIAL) {
+            serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
+            if (sharedBlackboxAndMspPort) {
+                return; // When in test mode, we cannot share the MSP and serial logger port!
+            }
+        }
+        startBlackbox();
+        startedLoggingInTestMode = true;
+    }
+}
+void stopInTestMode(void)
+{
+    if(startedLoggingInTestMode) {
+        finishBlackbox();
+        startedLoggingInTestMode = false;
+    }
+}
+/**
+ * We are going to monitor the MSP_SET_MOTOR target variables motor_disarmed[] for values other than minthrottle
+ * on reading a value (i.e. the user is testing the motors), then we enable test mode logging;
+ * we monitor when the values return to minthrottle and start a delay timer (5 seconds); if
+ * the test motors are left at minimum throttle for this delay timer, then we assume we are done testing and
+ * shutdown the logger.
+ *
+ * Of course, after the 5 seconds and shutdown of the logger, the system will be re-enabled to allow the
+ * test mode to trigger again; its just that the data will be in a second, third, fourth etc log file.
+ */
+bool inMotorTestMode(void) {
+    static uint32_t resetTime = 0;
+    uint16_t inactiveMotorCommand = (feature(FEATURE_3D) ? masterConfig.flight3DConfig.neutral3d : masterConfig.escAndServoConfig.mincommand);
+    int i;
+    bool atLeastOneMotorActivated = false;
+
+    // set disarmed motor values
+    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
+        atLeastOneMotorActivated |= (motor_disarmed[i] != inactiveMotorCommand);
+
+    if(atLeastOneMotorActivated) {
+        resetTime = millis() + 5000; // add 5 seconds
+        return true;
+    } else {
+        // Monitor the duration at minimum
+        return (millis() < resetTime);
+    }
+    return false;
+}
+
 #ifdef GPS
 static void writeGPSHomeFrame()
 {
@@ -1140,6 +1199,7 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s",                    "Cleanflight");
         BLACKBOX_PRINT_HEADER_LINE("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName);
         BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s",                 buildDate, buildTime);
+        BLACKBOX_PRINT_HEADER_LINE("Craft name:%s",                       masterConfig.name);
         BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d",                    masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
         BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d",                      masterConfig.escAndServoConfig.minthrottle);
         BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d",                      masterConfig.escAndServoConfig.maxthrottle);
@@ -1167,6 +1227,8 @@ static bool blackboxWriteSysinfo()
             );
 
         BLACKBOX_PRINT_HEADER_LINE("looptime:%d",                         gyro.targetLooptime);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom:%d",                  masterConfig.gyro_sync_denom);
+        BLACKBOX_PRINT_HEADER_LINE("pid_process_denom:%d",                masterConfig.pid_process_denom);
         BLACKBOX_PRINT_HEADER_LINE("rcRate:%d",                           masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8);
         BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d",                           masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
         BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d",                        masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8);
@@ -1207,25 +1269,47 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d",                     masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
                                                                           masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
                                                                           masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
-        BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d",                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_filter_type);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d",               (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d",                 (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d",              masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
-        BLACKBOX_PRINT_HEADER_LINE("dynamic_pid:%d",                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pid);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d",             (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d",         (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("deltaMethod:%d",                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
         BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d",         masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
         BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d",               masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d",               (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d",                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d",              masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
+        BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d",            masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
+        BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d",                 masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidAtMinThrottle);
+
+        // Betaflight PID controller parameters
+        BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain);
+        BLACKBOX_PRINT_HEADER_LINE("ptermSRateWeight:%d",                 masterConfig.profile[masterConfig.current_profile_index].pidProfile.ptermSRateWeight);
+        BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d",              masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight);
+        BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawRateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit);
+        // End of Betaflight controller parameters
+
         BLACKBOX_PRINT_HEADER_LINE("deadband:%d",                         masterConfig.rcControlsConfig.deadband);
         BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d",                     masterConfig.rcControlsConfig.yaw_deadband);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d",                         masterConfig.gyro_lpf);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d",                   masterConfig.gyro_soft_type);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d",            (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d",              (int)(masterConfig.gyro_soft_notch_hz * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d",          (int)(masterConfig.gyro_soft_notch_cutoff * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d",                 (int)(masterConfig.acc_lpf_hz * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d",                     masterConfig.acc_hardware);
         BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d",                    masterConfig.baro_hardware);
         BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d",                     masterConfig.mag_hardware);
         BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d",            masterConfig.gyro_cal_on_first_arm);
-        BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d",            masterConfig.batteryConfig.vbatPidCompensation);
-        BLACKBOX_PRINT_HEADER_LINE("rc_smooth_interval:%d",               masterConfig.rxConfig.rcSmoothInterval);
+        BLACKBOX_PRINT_HEADER_LINE("rc_interpolation:%d",                 masterConfig.rxConfig.rcInterpolation);
+        BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d",        masterConfig.rxConfig.rcInterpolationInterval);
         BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d",        masterConfig.rxConfig.airModeActivateThreshold);
+        BLACKBOX_PRINT_HEADER_LINE("serialrx_provider:%d",                masterConfig.rxConfig.serialrx_provider);
+        BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d",                masterConfig.use_unsyncedPwm);
+        BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d",                masterConfig.motor_pwm_protocol);
+        BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d",                   masterConfig.motor_pwm_rate);
+        BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d",                       masterConfig.debug_mode);
         BLACKBOX_PRINT_HEADER_LINE("features:%d",                         masterConfig.enabledFeatures);
 
         default:
@@ -1314,7 +1398,7 @@ static void blackboxCheckAndLogFlightMode()
     }
 }
 
-/* 
+/*
  * Use the user's num/denom settings to decide if the P-frame of the given index should be logged, allowing the user to control
  * the portion of logged loop iterations.
  */
@@ -1505,7 +1589,8 @@ void handleBlackbox(void)
         break;
         case BLACKBOX_STATE_RUNNING:
             // On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
-            if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX)) {
+            // Prevent the Pausing of the log on the mode switch if in Motor Test Mode
+            if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX) && !startedLoggingInTestMode) {
                 blackboxSetState(BLACKBOX_STATE_PAUSED);
             } else {
                 blackboxLogIteration();
@@ -1534,6 +1619,20 @@ void handleBlackbox(void)
     // Did we run out of room on the device? Stop!
     if (isBlackboxDeviceFull()) {
         blackboxSetState(BLACKBOX_STATE_STOPPED);
+        // ensure we reset the test mode flag if we stop due to full memory card
+        if (startedLoggingInTestMode) startedLoggingInTestMode = false;
+    } else { // Only log in test mode if there is room!
+
+        if(masterConfig.blackbox_on_motor_test) {
+            // Handle Motor Test Mode
+            if(inMotorTestMode()) {
+                if(blackboxState==BLACKBOX_STATE_STOPPED)
+                    startInTestMode();
+            } else {
+                if(blackboxState!=BLACKBOX_STATE_STOPPED)
+                    stopInTestMode();
+            }
+        }
     }
 }
 
diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c
index 7f9b1ec5bd..44bd59cbd5 100644
--- a/src/main/blackbox/blackbox_io.c
+++ b/src/main/blackbox/blackbox_io.c
@@ -4,8 +4,8 @@
 
 #include "blackbox_io.h"
 
-#include "version.h"
-#include "build_config.h"
+#include "build/version.h"
+#include "build/build_config.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -34,7 +34,7 @@
 #include "io/display.h"
 #include "io/escservo.h"
 #include "rx/rx.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/osd.h"
 #include "io/vtx.h"
 
@@ -53,9 +53,11 @@
 #include "flight/altitudehold.h"
 #include "flight/failsafe.h"
 #include "flight/imu.h"
+#include "flight/pid.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
@@ -507,7 +509,7 @@ void blackboxWriteFloat(float value)
 
 /**
  * If there is data waiting to be written to the blackbox device, attempt to write (a portion of) that now.
- * 
+ *
  * Intended to be called regularly for the blackbox device to perform housekeeping.
  */
 void blackboxDeviceFlush(void)
@@ -648,7 +650,7 @@ void blackboxDeviceClose(void)
              * of time to shut down asynchronously, we're the only ones that know when to call it.
              */
             if (blackboxPortSharing == PORTSHARING_SHARED) {
-                mspAllocateSerialPorts(&masterConfig.serialConfig);
+                mspSerialAllocatePorts(&masterConfig.serialConfig);
             }
         break;
         default:
diff --git a/src/main/common/atomic.h b/src/main/build/atomic.h
similarity index 100%
rename from src/main/common/atomic.h
rename to src/main/build/atomic.h
diff --git a/src/main/build_config.c b/src/main/build/build_config.c
similarity index 100%
rename from src/main/build_config.c
rename to src/main/build/build_config.c
diff --git a/src/main/build_config.h b/src/main/build/build_config.h
similarity index 100%
rename from src/main/build_config.h
rename to src/main/build/build_config.h
diff --git a/src/main/debug.c b/src/main/build/debug.c
similarity index 100%
rename from src/main/debug.c
rename to src/main/build/debug.c
diff --git a/src/main/debug.h b/src/main/build/debug.h
similarity index 92%
rename from src/main/debug.h
rename to src/main/build/debug.h
index 4f6250b758..42745e9e89 100644
--- a/src/main/debug.h
+++ b/src/main/build/debug.h
@@ -15,6 +15,8 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#pragma once
+
 #define DEBUG16_VALUE_COUNT 4
 extern int16_t debug[DEBUG16_VALUE_COUNT];
 extern uint8_t debugMode;
@@ -50,5 +52,10 @@ typedef enum {
     DEBUG_MIXER,
     DEBUG_AIRMODE,
     DEBUG_PIDLOOP,
+    DEBUG_NOTCH,
+    DEBUG_RC_INTERPOLATION,
+    DEBUG_VELOCITY,
+    DEBUG_DTERM_FILTER,
+    DEBUG_ANGLERATE,
     DEBUG_COUNT
 } debugType_e;
diff --git a/src/main/version.c b/src/main/build/version.c
similarity index 100%
rename from src/main/version.c
rename to src/main/build/version.c
diff --git a/src/main/version.h b/src/main/build/version.h
similarity index 95%
rename from src/main/version.h
rename to src/main/build/version.h
index 0f770674c1..c3c6529ed3 100644
--- a/src/main/version.h
+++ b/src/main/build/version.h
@@ -16,7 +16,7 @@
  */
 
 #define FC_VERSION_MAJOR            3  // increment when a major release is made (big new feature, etc)
-#define FC_VERSION_MINOR            0  // increment when a minor release is made (small new feature, change etc)
+#define FC_VERSION_MINOR            1  // increment when a minor release is made (small new feature, change etc)
 #define FC_VERSION_PATCH_LEVEL      0  // increment when a bug is fixed
 
 #define STR_HELPER(x) #x
diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index d059fe882f..75763a5ade 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -17,6 +17,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <string.h>
 #include <math.h>
 
 #include "common/filter.h"
@@ -55,25 +56,45 @@ float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT)
     return filter->state;
 }
 
-/* sets up a biquad Filter */
-void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate)
-{
-    const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
+float filterGetNotchQ(uint16_t centerFreq, uint16_t cutoff) {
+    float octaves = log2f((float) centerFreq  / (float) cutoff) * 2;
+    return sqrtf(powf(2, octaves)) / (powf(2, octaves) - 1);
+}
 
+/* sets up a biquad Filter */
+void biquadFilterInitLPF(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate)
+{
+    biquadFilterInit(filter, filterFreq, refreshRate, BIQUAD_Q, FILTER_LPF);
+}
+void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, biquadFilterType_e filterType)
+{
     // setup variables
-    const float omega = 2 * M_PI_FLOAT * filterCutFreq / sampleRate;
+    const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
+    const float omega = 2 * M_PI_FLOAT * filterFreq / sampleRate;
     const float sn = sinf(omega);
     const float cs = cosf(omega);
-    //this is wrong, should be hyperbolic sine
-    //alpha = sn * sinf(M_LN2_FLOAT /2 * BIQUAD_BANDWIDTH * omega /sn);
-    const float alpha = sn / (2 * BIQUAD_Q);
+    const float alpha = sn / (2 * Q);
 
-    const float b0 = (1 - cs) / 2;
-    const float b1 = 1 - cs;
-    const float b2 = (1 - cs) / 2;
-    const float a0 = 1 + alpha;
-    const float a1 = -2 * cs;
-    const float a2 = 1 - alpha;
+    float b0, b1, b2, a0, a1, a2;
+
+    switch (filterType) {
+        case FILTER_LPF:
+            b0 = (1 - cs) / 2;
+            b1 = 1 - cs;
+            b2 = (1 - cs) / 2;
+            a0 = 1 + alpha;
+            a1 = -2 * cs;
+            a2 = 1 - alpha;
+            break;
+        case FILTER_NOTCH:
+            b0 =  1;
+            b1 = -2 * cs;
+            b2 =  1;
+            a0 =  1 + alpha;
+            a1 = -2 * cs;
+            a2 =  1 - alpha;
+            break;
+    }
 
     // precompute the coefficients
     filter->b0 = b0 / a0;
@@ -95,25 +116,124 @@ float biquadFilterApply(biquadFilter_t *filter, float input)
     return result;
 }
 
-int32_t filterApplyAverage(int32_t input, uint8_t averageCount, int32_t averageState[DELTA_MAX_SAMPLES]) {
-    int count;
-    int32_t averageSum = 0;
-
-    for (count = averageCount-1; count > 0; count--) averageState[count] = averageState[count-1];
-    averageState[0] = input;
-    for (count = 0; count < averageCount; count++) averageSum += averageState[count];
-
-    return averageSum / averageCount;
+/*
+ * FIR filter
+ */
+void firFilterInit2(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs, uint8_t coeffsLength)
+{
+    filter->buf = buf;
+    filter->bufLength = bufLength;
+    filter->coeffs = coeffs;
+    filter->coeffsLength = coeffsLength;
+    memset(filter->buf, 0, sizeof(float) * filter->bufLength);
 }
 
-float filterApplyAveragef(float input, uint8_t averageCount, float averageState[DELTA_MAX_SAMPLES]) {
-    int count;
-    float averageSum = 0.0f;
-
-    for (count = averageCount-1; count > 0; count--) averageState[count] = averageState[count-1];
-    averageState[0] = input;
-    for (count = 0; count < averageCount; count++) averageSum += averageState[count];
-
-    return averageSum / averageCount;
+/*
+ * FIR filter initialisation
+ * If FIR filter is just used for averaging, coeffs can be set to NULL
+ */
+void firFilterInit(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs)
+{
+    firFilterInit2(filter, buf, bufLength, coeffs, bufLength);
+}
+
+void firFilterUpdate(firFilter_t *filter, float input)
+{
+    memmove(&filter->buf[1], &filter->buf[0], (filter->bufLength-1) * sizeof(input));
+    filter->buf[0] = input;
+}
+
+float firFilterApply(const firFilter_t *filter)
+{
+    float ret = 0.0f;
+    for (int ii = 0; ii < filter->coeffsLength; ++ii) {
+        ret += filter->coeffs[ii] * filter->buf[ii];
+    }
+    return ret;
+}
+
+float firFilterCalcPartialAverage(const firFilter_t *filter, uint8_t count)
+{
+    float ret = 0.0f;
+    for (int ii = 0; ii < count; ++ii) {
+        ret += filter->buf[ii];
+    }
+    return ret / count;
+}
+
+float firFilterCalcAverage(const firFilter_t *filter)
+{
+    return firFilterCalcPartialAverage(filter, filter->coeffsLength);
+}
+
+float firFilterLastInput(const firFilter_t *filter)
+{
+    return filter->buf[0];
+}
+
+float firFilterGet(const firFilter_t *filter, int index)
+{
+    return filter->buf[index];
+}
+
+/*
+ *  int16_t based FIR filter
+ *  Can be directly updated from devices that produce 16-bit data, eg gyros and accelerometers
+ */
+void firFilterInt16Init2(firFilterInt16_t *filter, int16_t *buf, uint8_t bufLength, const float *coeffs, uint8_t coeffsLength)
+{
+    filter->buf = buf;
+    filter->bufLength = bufLength;
+    filter->coeffs = coeffs;
+    filter->coeffsLength = coeffsLength;
+    memset(filter->buf, 0, sizeof(int16_t) * filter->bufLength);
+}
+
+/*
+ * FIR filter initialisation
+ * If FIR filter is just used for averaging, coeffs can be set to NULL
+ */
+void firFilterInt16Init(firFilterInt16_t *filter, int16_t *buf, uint8_t bufLength, const float *coeffs)
+{
+    firFilterInt16Init2(filter, buf, bufLength, coeffs, bufLength);
+}
+
+void firFilterInt16Update(firFilterInt16_t *filter, int16_t input)
+{
+    memmove(&filter->buf[1], &filter->buf[0], (filter->bufLength-1) * sizeof(input));
+    filter->buf[0] = input;
+}
+
+float firFilterInt16Apply(const firFilterInt16_t *filter)
+{
+    float ret = 0.0f;
+    for (int ii = 0; ii < filter->coeffsLength; ++ii) {
+        ret += filter->coeffs[ii] * filter->buf[ii];
+    }
+    return ret;
+}
+
+float firFilterInt16CalcPartialAverage(const firFilterInt16_t *filter, uint8_t count)
+{
+    float ret = 0;
+    for (int ii = 0; ii < count; ++ii) {
+        ret += filter->buf[ii];
+    }
+    return ret / count;
+}
+
+float firFilterInt16CalcAverage(const firFilterInt16_t *filter)
+{
+    return firFilterInt16CalcPartialAverage(filter, filter->coeffsLength);
+}
+
+int16_t firFilterInt16LastInput(const firFilterInt16_t *filter)
+{
+    return filter->buf[0];
+}
+
+int16_t firFilterInt16Get(const firFilter_t *filter, int index)
+{
+    return filter->buf[index];
 }
 
diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index 66fcb53bb0..c63f1cad19 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -29,14 +29,56 @@ typedef struct biquadFilter_s {
     float d1, d2;
 } biquadFilter_t;
 
+typedef enum {
+    FILTER_PT1 = 0,
+    FILTER_BIQUAD,
+    FILTER_FIR,
+} filterType_e;
 
-void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate);
+typedef enum {
+    FILTER_LPF,
+    FILTER_NOTCH
+} biquadFilterType_e;
+
+typedef struct firFilter_s {
+    float *buf;
+    const float *coeffs;
+    uint8_t bufLength;
+    uint8_t coeffsLength;
+} firFilter_t;
+
+typedef struct firFilterInt16_s {
+    int16_t *buf;
+    const float *coeffs;
+    uint8_t bufLength;
+    uint8_t coeffsLength;
+} firFilterInt16_t;
+
+
+void biquadFilterInitLPF(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate);
+void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, biquadFilterType_e filterType);
 float biquadFilterApply(biquadFilter_t *filter, float input);
+float filterGetNotchQ(uint16_t centerFreq, uint16_t cutoff);
 
 void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT);
 float pt1FilterApply(pt1Filter_t *filter, float input);
 float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT);
 
-int32_t filterApplyAverage(int32_t input, uint8_t averageCount, int32_t averageState[DELTA_MAX_SAMPLES]);
-float filterApplyAveragef(float input, uint8_t averageCount, float averageState[DELTA_MAX_SAMPLES]);
+void firFilterInit(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs);
+void firFilterInit2(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs, uint8_t coeffsLength);
+void firFilterUpdate(firFilter_t *filter, float input);
+float firFilterApply(const firFilter_t *filter);
+float firFilterCalcPartialAverage(const firFilter_t *filter, uint8_t count);
+float firFilterCalcAverage(const firFilter_t *filter);
+float firFilterLastInput(const firFilter_t *filter);
+float firFilterGet(const firFilter_t *filter, int index);
+
+void firFilterInt16Init(firFilterInt16_t *filter, int16_t *buf, uint8_t bufLength, const float *coeffs);
+void firFilterInt16Init2(firFilterInt16_t *filter, int16_t *buf, uint8_t bufLength, const float *coeffs, uint8_t coeffsLength);
+void firFilterInt16Update(firFilterInt16_t *filter, int16_t input);
+float firFilterInt16Apply(const firFilterInt16_t *filter);
+float firFilterInt16CalcPartialAverage(const firFilterInt16_t *filter, uint8_t count);
+float firFilterInt16CalcAverage(const firFilterInt16_t *filter);
+int16_t firFilterInt16LastInput(const firFilterInt16_t *filter);
+int16_t firFilterInt16Get(const firFilter_t *filter, int index);
 
diff --git a/src/main/common/maths.c b/src/main/common/maths.c
index 888847e075..ee1b65ce67 100644
--- a/src/main/common/maths.c
+++ b/src/main/common/maths.c
@@ -99,6 +99,13 @@ float acos_approx(float x)
 }
 #endif
 
+float powerf(float base, int exp) {
+    float result = base;
+    for (int count = 1; count < exp; count++) result *= base;
+
+    return result;
+}
+
 int32_t applyDeadband(int32_t value, int32_t deadband)
 {
     if (ABS(value) < deadband) {
@@ -231,7 +238,7 @@ int32_t quickMedianFilter5(int32_t * v)
 
     QMF_SORT(p[0], p[1]); QMF_SORT(p[3], p[4]); QMF_SORT(p[0], p[3]);
     QMF_SORT(p[1], p[4]); QMF_SORT(p[1], p[2]); QMF_SORT(p[2], p[3]);
-    QMF_SORT(p[1], p[2]); 
+    QMF_SORT(p[1], p[2]);
     return p[2];
 }
 
@@ -279,7 +286,7 @@ float quickMedianFilter5f(float * v)
 
     QMF_SORTF(p[0], p[1]); QMF_SORTF(p[3], p[4]); QMF_SORTF(p[0], p[3]);
     QMF_SORTF(p[1], p[4]); QMF_SORTF(p[1], p[2]); QMF_SORTF(p[2], p[3]);
-    QMF_SORTF(p[1], p[2]); 
+    QMF_SORTF(p[1], p[2]);
     return p[2];
 }
 
diff --git a/src/main/common/maths.h b/src/main/common/maths.h
index 3251c237a8..3b24dd734d 100644
--- a/src/main/common/maths.h
+++ b/src/main/common/maths.h
@@ -69,6 +69,7 @@ typedef union {
     fp_angles_def angles;
 } fp_angles_t;
 
+float powerf(float base, int exp);
 int32_t applyDeadband(int32_t value, int32_t deadband);
 
 void devClear(stdev_t *dev);
diff --git a/src/main/common/printf.c b/src/main/common/printf.c
index 7847fb3035..39d072dbe6 100644
--- a/src/main/common/printf.c
+++ b/src/main/common/printf.c
@@ -36,12 +36,11 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "drivers/serial.h"
 #include "io/serial.h"
 
-#include "build_config.h"
 #include "printf.h"
 
 #ifdef REQUIRE_PRINTF_LONG_SUPPORT
@@ -56,7 +55,7 @@ typedef void (*putcf) (void *, char);
 static putcf stdout_putf;
 static void *stdout_putp;
 
-// print bf, padded from left to at least n characters. 
+// print bf, padded from left to at least n characters.
 // padding is zero ('0') if z!=0, space (' ') otherwise
 static int putchw(void *putp, putcf putf, int n, char z, char *bf)
 {
diff --git a/src/main/common/printf.h b/src/main/common/printf.h
index dff4efdd2d..467b054d52 100644
--- a/src/main/common/printf.h
+++ b/src/main/common/printf.h
@@ -102,13 +102,10 @@ For further details see source code.
 regs Kusti, 23.10.2004
 */
 
-#ifndef __TFP_PRINTF__
-#define __TFP_PRINTF__
+#pragma once
 
 #include <stdarg.h>
 
-#include "drivers/serial.h"
-
 void init_printf(void *putp, void (*putf) (void *, char));
 
 int tfp_printf(const char *fmt, ...);
@@ -119,6 +116,6 @@ int tfp_format(void *putp, void (*putf) (void *, char), const char *fmt, va_list
 #define printf tfp_printf
 #define sprintf tfp_sprintf
 
-void setPrintfSerialPort(serialPort_t *serialPort);
-
-#endif
+struct serialPort_s;
+void setPrintfSerialPort(struct serialPort_s *serialPort);
+void printfSupportInit(void);
diff --git a/src/main/common/streambuf.c b/src/main/common/streambuf.c
new file mode 100644
index 0000000000..0f47511e03
--- /dev/null
+++ b/src/main/common/streambuf.c
@@ -0,0 +1,106 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <string.h>
+#include <stdint.h>
+
+#include "streambuf.h"
+
+void sbufWriteU8(sbuf_t *dst, uint8_t val)
+{
+    *dst->ptr++ = val;
+}
+
+void sbufWriteU16(sbuf_t *dst, uint16_t val)
+{
+    sbufWriteU8(dst, val >> 0);
+    sbufWriteU8(dst, val >> 8);
+}
+
+void sbufWriteU32(sbuf_t *dst, uint32_t val)
+{
+    sbufWriteU8(dst, val >> 0);
+    sbufWriteU8(dst, val >> 8);
+    sbufWriteU8(dst, val >> 16);
+    sbufWriteU8(dst, val >> 24);
+}
+
+void sbufWriteData(sbuf_t *dst, const void *data, int len)
+{
+    memcpy(dst->ptr, data, len);
+    dst->ptr += len;
+}
+
+void sbufWriteString(sbuf_t *dst, const char *string)
+{
+    sbufWriteData(dst, string, strlen(string));
+}
+
+uint8_t sbufReadU8(sbuf_t *src)
+{
+    return *src->ptr++;
+}
+
+uint16_t sbufReadU16(sbuf_t *src)
+{
+    uint16_t ret;
+    ret = sbufReadU8(src);
+    ret |= sbufReadU8(src) << 8;
+    return ret;
+}
+
+uint32_t sbufReadU32(sbuf_t *src)
+{
+    uint32_t ret;
+    ret = sbufReadU8(src);
+    ret |= sbufReadU8(src) <<  8;
+    ret |= sbufReadU8(src) << 16;
+    ret |= sbufReadU8(src) << 24;
+    return ret;
+}
+
+void sbufReadData(sbuf_t *src, void *data, int len)
+{
+    memcpy(data, src->ptr, len);
+}
+
+// reader - return bytes remaining in buffer
+// writer - return available space
+int sbufBytesRemaining(sbuf_t *buf)
+{
+    return buf->end - buf->ptr;
+}
+
+uint8_t* sbufPtr(sbuf_t *buf)
+{
+    return buf->ptr;
+}
+
+// advance buffer pointer
+// reader - skip data
+// writer - commit written data
+void sbufAdvance(sbuf_t *buf, int size)
+{
+    buf->ptr += size;
+}
+
+// modifies streambuf so that written data are prepared for reading
+void sbufSwitchToReader(sbuf_t *buf, uint8_t *base)
+{
+    buf->end = buf->ptr;
+    buf->ptr = base;
+}
diff --git a/src/main/common/streambuf.h b/src/main/common/streambuf.h
new file mode 100644
index 0000000000..7de771ef02
--- /dev/null
+++ b/src/main/common/streambuf.h
@@ -0,0 +1,45 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+// simple buffer-based serializer/deserializer without implicit size check
+// little-endian encoding implemneted now
+
+typedef struct sbuf_s {
+    uint8_t *ptr;          // data pointer must be first (sbuff_t* is equivalent to uint8_t **)
+    uint8_t *end;
+} sbuf_t;
+
+void sbufWriteU8(sbuf_t *dst, uint8_t val);
+void sbufWriteU16(sbuf_t *dst, uint16_t val);
+void sbufWriteU32(sbuf_t *dst, uint32_t val);
+void sbufWriteData(sbuf_t *dst, const void *data, int len);
+void sbufWriteString(sbuf_t *dst, const char *string);
+
+uint8_t sbufReadU8(sbuf_t *src);
+uint16_t sbufReadU16(sbuf_t *src);
+uint32_t sbufReadU32(sbuf_t *src);
+void sbufReadData(sbuf_t *dst, void *data, int len);
+
+int sbufBytesRemaining(sbuf_t *buf);
+uint8_t* sbufPtr(sbuf_t *buf);
+void sbufAdvance(sbuf_t *buf, int size);
+
+void sbufSwitchToReader(sbuf_t *buf, uint8_t * base);
diff --git a/src/main/common/typeconversion.c b/src/main/common/typeconversion.c
index 4e3f8b4c2e..469d0b725a 100644
--- a/src/main/common/typeconversion.c
+++ b/src/main/common/typeconversion.c
@@ -17,7 +17,7 @@
 #include <stdint.h>
 #include <string.h>
 #include <math.h>
-#include "build_config.h"
+#include "build/build_config.h"
 #include "maths.h"
 
 #ifdef REQUIRE_PRINTF_LONG_SUPPORT
diff --git a/src/main/common/utils.h b/src/main/common/utils.h
index a5c0591918..27a51f3984 100644
--- a/src/main/common/utils.h
+++ b/src/main/common/utils.h
@@ -71,4 +71,15 @@ http://resnet.uoregon.edu/~gurney_j/jmpc/bitwise.html
 static inline int16_t cmp16(uint16_t a, uint16_t b) { return a-b; }
 static inline int32_t cmp32(uint32_t a, uint32_t b) { return a-b; }
 
+// using memcpy_fn will force memcpy function call, instead of inlining it. In most cases function call takes fewer instructions
+//  than inlined version (inlining is cheaper for very small moves < 8 bytes / 2 store instructions)
+#ifdef UNIT_TEST
+// Call memcpy when building unittest - this is easier that asm symbol name mangling (symbols start with _underscore on win32)
+#include <string.h>
+static inline void  memcpy_fn ( void * destination, const void * source, size_t num ) { memcpy(destination, source, num); };
+#else
+void * memcpy_fn ( void * destination, const void * source, size_t num ) asm("memcpy");
+#endif
+
+
 #endif
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 06ba7c9c09..5afd827e37 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "blackbox/blackbox_io.h"
 
@@ -34,6 +35,7 @@
 #include "drivers/accgyro.h"
 #include "drivers/compass.h"
 #include "drivers/system.h"
+#include "drivers/io.h"
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
@@ -53,8 +55,8 @@
 #include "io/serial.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 #include "io/osd.h"
@@ -71,11 +73,14 @@
 #include "flight/altitudehold.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
+#include "config/config_eeprom.h"
 
 #include "config/config_profile.h"
 #include "config/config_master.h"
+#include "config/feature.h"
 
 #ifndef DEFAULT_RX_FEATURE
 #define DEFAULT_RX_FEATURE FEATURE_RX_PARALLEL_PWM
@@ -89,89 +94,18 @@
 #endif
 
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
-void targetConfiguration(void);
-
-#if !defined(FLASH_SIZE)
-#error "Flash size not defined for target. (specify in KB)"
-#endif
-
-
-#ifndef FLASH_PAGE_SIZE
-    #ifdef STM32F303xC
-        #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
-    #endif
-
-    #ifdef STM32F10X_MD
-        #define FLASH_PAGE_SIZE                 ((uint16_t)0x400)
-    #endif
-
-    #ifdef STM32F10X_HD
-        #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
-    #endif
-
-    #if defined(STM32F40_41xxx)
-        #define FLASH_PAGE_SIZE                 ((uint32_t)0x20000)
-    #endif
-
-    #if defined (STM32F411xE)
-        #define FLASH_PAGE_SIZE                 ((uint32_t)0x20000)
-    #endif
-
-#endif
-
-#if !defined(FLASH_SIZE) && !defined(FLASH_PAGE_COUNT)
-    #ifdef STM32F10X_MD
-        #define FLASH_PAGE_COUNT 128
-    #endif
-
-    #ifdef STM32F10X_HD
-        #define FLASH_PAGE_COUNT 128
-    #endif
-#endif
-
-#if defined(FLASH_SIZE)
-#if defined(STM32F40_41xxx)
-#define FLASH_PAGE_COUNT 4 // just to make calculations work
-#elif defined (STM32F411xE)
-#define FLASH_PAGE_COUNT 4 // just to make calculations work
-#else
-#define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE)
-#endif
-#endif
-
-#if !defined(FLASH_PAGE_SIZE)
-#error "Flash page size not defined for target."
-#endif
-
-#if !defined(FLASH_PAGE_COUNT)
-#error "Flash page count not defined for target."
-#endif
-
-#if FLASH_SIZE <= 128
-#define FLASH_TO_RESERVE_FOR_CONFIG 0x800
-#else
-#define FLASH_TO_RESERVE_FOR_CONFIG 0x1000
-#endif
-
-// use the last flash pages for storage
-#ifdef CUSTOM_FLASH_MEMORY_ADDRESS
-size_t custom_flash_memory_address = 0;
-#define CONFIG_START_FLASH_ADDRESS (custom_flash_memory_address)
-#else
-// use the last flash pages for storage
-#ifndef CONFIG_START_FLASH_ADDRESS 
-#define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
-#endif
-#endif
+void targetConfiguration(master_t *config);
 
 master_t masterConfig;                 // master config struct with data independent from profiles
 profile_t *currentProfile;
-static uint32_t activeFeaturesLatch = 0;
 
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 141;
+
+void intFeatureClearAll(master_t *config);
+void intFeatureSet(uint32_t mask, master_t *config);
+void intFeatureClear(uint32_t mask, master_t *config);
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -180,22 +114,37 @@ static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
     accelerometerTrims->values.yaw = 0;
 }
 
-void resetPidProfile(pidProfile_t *pidProfile)
+static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
 {
+    controlRateConfig->rcRate8 = 100;
+    controlRateConfig->rcYawRate8 = 100;
+    controlRateConfig->rcExpo8 = 0;
+    controlRateConfig->thrMid8 = 50;
+    controlRateConfig->thrExpo8 = 0;
+    controlRateConfig->dynThrPID = 10;
+    controlRateConfig->rcYawExpo8 = 0;
+    controlRateConfig->tpa_breakpoint = 1650;
 
-#if (defined(STM32F10X))
-    pidProfile->pidController = PID_CONTROLLER_INTEGER;
+    for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
+        controlRateConfig->rates[axis] = 70;
+    }
+}
+
+static void resetPidProfile(pidProfile_t *pidProfile)
+{
+#if defined(SKIP_PID_FLOAT)
+    pidProfile->pidController = PID_CONTROLLER_LEGACY;
 #else
-    pidProfile->pidController = PID_CONTROLLER_FLOAT;
+    pidProfile->pidController = PID_CONTROLLER_BETAFLIGHT;
 #endif
 
     pidProfile->P8[ROLL] = 45;
     pidProfile->I8[ROLL] = 40;
-    pidProfile->D8[ROLL] = 18;
-    pidProfile->P8[PITCH] = 50;
-    pidProfile->I8[PITCH] = 40;
-    pidProfile->D8[PITCH] = 18;
-    pidProfile->P8[YAW] = 80;
+    pidProfile->D8[ROLL] = 20;
+    pidProfile->P8[PITCH] = 60;
+    pidProfile->I8[PITCH] = 65;
+    pidProfile->D8[PITCH] = 22;
+    pidProfile->P8[YAW] = 70;
     pidProfile->I8[YAW] = 45;
     pidProfile->D8[YAW] = 20;
     pidProfile->P8[PIDALT] = 50;
@@ -219,12 +168,23 @@ void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D8[PIDVEL] = 75;
 
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
-    pidProfile->yaw_lpf_hz = 80;
-    pidProfile->rollPitchItermIgnoreRate = 180;
-    pidProfile->yawItermIgnoreRate = 35;
+    pidProfile->yaw_lpf_hz = 0;
+    pidProfile->rollPitchItermIgnoreRate = 130;
+    pidProfile->yawItermIgnoreRate = 32;
+    pidProfile->dterm_filter_type = FILTER_BIQUAD;
     pidProfile->dterm_lpf_hz = 100;    // filtering ON by default
+    pidProfile->dterm_notch_hz = 260;
+    pidProfile->dterm_notch_cutoff = 160;
     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
-    pidProfile->dynamic_pid = 1;
+    pidProfile->vbatPidCompensation = 0;
+    pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
+
+    // Betaflight PID controller parameters
+    pidProfile->ptermSRateWeight = 85;
+    pidProfile->dtermSetpointWeight = 150;
+    pidProfile->yawRateAccelLimit = 220;
+    pidProfile->rateAccelLimit = 0;
+    pidProfile->itermThrottleGain = 0;
 
 #ifdef GTUNE
     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
@@ -239,6 +199,17 @@ void resetPidProfile(pidProfile_t *pidProfile)
 #endif
 }
 
+void resetProfile(profile_t *profile)
+{
+    resetPidProfile(&profile->pidProfile);
+
+    for (int rI = 0; rI<MAX_RATEPROFILES; rI++) {
+        resetControlRateConfig(&profile->controlRateProfile[rI]);
+    }
+
+    profile->activeRateProfile = 0;
+}
+
 #ifdef GPS
 void resetGpsProfile(gpsProfile_t *gpsProfile)
 {
@@ -252,6 +223,7 @@ void resetGpsProfile(gpsProfile_t *gpsProfile)
 }
 #endif
 
+#ifdef BARO
 void resetBarometerConfig(barometerConfig_t *barometerConfig)
 {
     barometerConfig->baro_sample_count = 21;
@@ -259,6 +231,7 @@ void resetBarometerConfig(barometerConfig_t *barometerConfig)
     barometerConfig->baro_cf_vel = 0.985f;
     barometerConfig->baro_cf_alt = 0.965f;
 }
+#endif
 
 void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
 {
@@ -271,14 +244,13 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
 {
 #ifdef BRUSHED_MOTORS
     escAndServoConfig->minthrottle = 1000;
-    escAndServoConfig->maxthrottle = 2000;
 #else
-    escAndServoConfig->minthrottle = 1150;
-    escAndServoConfig->maxthrottle = 1850;
+    escAndServoConfig->minthrottle = 1070;
 #endif
+    escAndServoConfig->maxthrottle = 2000;
     escAndServoConfig->mincommand = 1000;
     escAndServoConfig->servoCenterPulse = 1500;
-    escAndServoConfig->escDesyncProtection = 0;
+    escAndServoConfig->maxEscThrottleJumpMs = 0;
 }
 
 void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
@@ -289,9 +261,10 @@ void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
     flight3DConfig->deadband3d_throttle = 50;
 }
 
+#ifdef TELEMETRY
 void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
 {
-    telemetryConfig->telemetry_inversion = 0;
+    telemetryConfig->telemetry_inversion = 1;
     telemetryConfig->telemetry_switch = 0;
     telemetryConfig->gpsNoFixLatitude = 0;
     telemetryConfig->gpsNoFixLongitude = 0;
@@ -300,7 +273,9 @@ void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
     telemetryConfig->frsky_vfas_precision = 0;
     telemetryConfig->frsky_vfas_cell_voltage = 0;
     telemetryConfig->hottAlarmSoundInterval = 5;
+    telemetryConfig->pidValuesAsTelemetry = 0;
 }
+#endif
 
 void resetBatteryConfig(batteryConfig_t *batteryConfig)
 {
@@ -311,11 +286,11 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
     batteryConfig->vbatmincellvoltage = 33;
     batteryConfig->vbatwarningcellvoltage = 35;
     batteryConfig->vbathysteresis = 1;
-    batteryConfig->vbatPidCompensation = 0;
     batteryConfig->currentMeterOffset = 0;
     batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
     batteryConfig->batteryCapacity = 0;
     batteryConfig->currentMeterType = CURRENT_SENSOR_ADC;
+    batteryConfig->batterynotpresentlevel = 55; // VBAT below 5.5 V will be igonored
 }
 
 #ifdef SWAP_SERIAL_PORT_0_AND_1_DEFAULTS
@@ -333,7 +308,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
 
     for (index = 0; index < SERIAL_PORT_COUNT; index++) {
         serialConfig->portConfigs[index].identifier = serialPortIdentifiers[index];
-        serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_115200;
+        serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_500000;
         serialConfig->portConfigs[index].gps_baudrateIndex = BAUD_57600;
         serialConfig->portConfigs[index].telemetry_baudrateIndex = BAUD_AUTO;
         serialConfig->portConfigs[index].blackbox_baudrateIndex = BAUD_115200;
@@ -349,24 +324,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
     serialConfig->reboot_character = 'R';
 }
 
-static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) 
-{
-    controlRateConfig->rcRate8 = 100;
-    controlRateConfig->rcYawRate8 = 100;
-    controlRateConfig->rcExpo8 = 10;
-    controlRateConfig->thrMid8 = 50;
-    controlRateConfig->thrExpo8 = 0;
-    controlRateConfig->dynThrPID = 20;
-    controlRateConfig->rcYawExpo8 = 10;
-    controlRateConfig->tpa_breakpoint = 1650;
-
-    for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
-        controlRateConfig->rates[axis] = 70;
-    }
-
-}
-
-void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) 
+void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
 {
     rcControlsConfig->deadband = 0;
     rcControlsConfig->yaw_deadband = 0;
@@ -374,7 +332,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
     rcControlsConfig->alt_hold_fast_change = 1;
 }
 
-void resetMixerConfig(mixerConfig_t *mixerConfig) 
+void resetMixerConfig(mixerConfig_t *mixerConfig)
 {
     mixerConfig->yaw_motor_direction = 1;
 #ifdef USE_SERVOS
@@ -389,7 +347,7 @@ uint8_t getCurrentProfile(void)
     return masterConfig.current_profile_index;
 }
 
-static void setProfile(uint8_t profileIndex)
+void setProfile(uint8_t profileIndex)
 {
     currentProfile = &masterConfig.profile[profileIndex];
     currentControlRateProfileIndex = currentProfile->activeRateProfile;
@@ -419,281 +377,269 @@ uint16_t getCurrentMinthrottle(void)
 }
 
 // Default settings
-static void resetConf(void)
+void createDefaultConfig(master_t *config)
 {
     // Clear all configuration
-    memset(&masterConfig, 0, sizeof(master_t));
-    setProfile(0);
+    memset(config, 0, sizeof(master_t));
 
-    featureClearAll();
-    featureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_SUPEREXPO_RATES);
+    intFeatureClearAll(config);
+    intFeatureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE , config);
 #ifdef DEFAULT_FEATURES
-    featureSet(DEFAULT_FEATURES);
+    intFeatureSet(DEFAULT_FEATURES, config);
 #endif
 
 #ifdef OSD
-    resetOsdConfig();
+    intFeatureSet(FEATURE_OSD, config);
+    resetOsdConfig(&config->osdProfile);
 #endif
 
 #ifdef BOARD_HAS_VOLTAGE_DIVIDER
     // only enable the VBAT feature by default if the board has a voltage divider otherwise
     // the user may see incorrect readings and unexpected issues with pin mappings may occur.
-    featureSet(FEATURE_VBAT);
+    intFeatureSet(FEATURE_VBAT, config);
 #endif
 
-    masterConfig.version = EEPROM_CONF_VERSION;
-    masterConfig.mixerMode = MIXER_QUADX;
+    config->version = EEPROM_CONF_VERSION;
+    config->mixerMode = MIXER_QUADX;
 
     // global settings
-    masterConfig.current_profile_index = 0;     // default profile
-    masterConfig.dcm_kp = 2500;                // 1.0 * 10000
-    masterConfig.dcm_ki = 0;                    // 0.003 * 10000
-    masterConfig.gyro_lpf = 0;                 // 256HZ default
+    config->current_profile_index = 0;     // default profile
+    config->dcm_kp = 2500;                // 1.0 * 10000
+    config->dcm_ki = 0;                    // 0.003 * 10000
+    config->gyro_lpf = 0;                 // 256HZ default
 #ifdef STM32F10X
-    masterConfig.gyro_sync_denom = 8;
+    config->gyro_sync_denom = 8;
+    config->pid_process_denom = 1;
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)
+    config->gyro_sync_denom = 1;
+    config->pid_process_denom = 4;
 #else
-    masterConfig.gyro_sync_denom = 4;
+    config->gyro_sync_denom = 4;
+    config->pid_process_denom = 2;
 #endif
-    masterConfig.gyro_soft_lpf_hz = 100;
+    config->gyro_soft_type = FILTER_PT1;
+    config->gyro_soft_lpf_hz = 90;
+    config->gyro_soft_notch_hz = 0;
+    config->gyro_soft_notch_cutoff = 130;
 
-    masterConfig.pid_process_denom = 2;
+    config->debug_mode = DEBUG_NONE;
 
-    masterConfig.debug_mode = 0;
+    resetAccelerometerTrims(&config->accZero);
 
-    resetAccelerometerTrims(&masterConfig.accZero);
+    resetSensorAlignment(&config->sensorAlignmentConfig);
 
-    resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
-
-    masterConfig.boardAlignment.rollDegrees = 0;
-    masterConfig.boardAlignment.pitchDegrees = 0;
-    masterConfig.boardAlignment.yawDegrees = 0;
-    masterConfig.acc_hardware = ACC_DEFAULT;     // default/autodetect
-    masterConfig.max_angle_inclination = 700;    // 70 degrees
-    masterConfig.yaw_control_direction = 1;
-    masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
+    config->boardAlignment.rollDegrees = 0;
+    config->boardAlignment.pitchDegrees = 0;
+    config->boardAlignment.yawDegrees = 0;
+    config->acc_hardware = ACC_DEFAULT;     // default/autodetect
+    config->max_angle_inclination = 700;    // 70 degrees
+    config->yaw_control_direction = 1;
+    config->gyroConfig.gyroMovementCalibrationThreshold = 32;
 
     // xxx_hardware: 0:default/autodetect, 1: disable
-    masterConfig.mag_hardware = 0;
+    config->mag_hardware = 1;
 
-    masterConfig.baro_hardware = 0;
+    config->baro_hardware = 1;
 
-    resetBatteryConfig(&masterConfig.batteryConfig);
+    resetBatteryConfig(&config->batteryConfig);
 
-    resetTelemetryConfig(&masterConfig.telemetryConfig);
+#ifdef TELEMETRY
+    resetTelemetryConfig(&config->telemetryConfig);
+#endif
 
 #ifdef SERIALRX_PROVIDER
-    masterConfig.rxConfig.serialrx_provider = SERIALRX_PROVIDER;
+    config->rxConfig.serialrx_provider = SERIALRX_PROVIDER;
 #else
-    masterConfig.rxConfig.serialrx_provider = 0;
+    config->rxConfig.serialrx_provider = 0;
 #endif
-    masterConfig.rxConfig.sbus_inversion = 1;
-    masterConfig.rxConfig.spektrum_sat_bind = 0;
-    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
-    masterConfig.rxConfig.midrc = 1500;
-    masterConfig.rxConfig.mincheck = 1100;
-    masterConfig.rxConfig.maxcheck = 1900;
-    masterConfig.rxConfig.rx_min_usec = 885;          // any of first 4 channels below this value will trigger rx loss detection
-    masterConfig.rxConfig.rx_max_usec = 2115;         // any of first 4 channels above this value will trigger rx loss detection
+    config->rxConfig.sbus_inversion = 1;
+    config->rxConfig.spektrum_sat_bind = 0;
+    config->rxConfig.spektrum_sat_bind_autoreset = 1;
+    config->rxConfig.midrc = 1500;
+    config->rxConfig.mincheck = 1100;
+    config->rxConfig.maxcheck = 1900;
+    config->rxConfig.rx_min_usec = 885;          // any of first 4 channels below this value will trigger rx loss detection
+    config->rxConfig.rx_max_usec = 2115;         // any of first 4 channels above this value will trigger rx loss detection
 
     for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
-        rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
+        rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &config->rxConfig.failsafe_channel_configurations[i];
         channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
-        channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
+        channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(config->rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(config->rxConfig.midrc);
     }
 
-    masterConfig.rxConfig.rssi_channel = 0;
-    masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
-    masterConfig.rxConfig.rssi_ppm_invert = 0;
-    masterConfig.rxConfig.rcSmoothInterval = 0; // 0 is predefined
-    masterConfig.rxConfig.fpvCamAngleDegrees = 0;
-#ifdef STM32F4
-    masterConfig.rxConfig.max_aux_channel = 99;
-#else
-    masterConfig.rxConfig.max_aux_channel = 6;
-#endif
-    masterConfig.rxConfig.airModeActivateThreshold = 1350;
+    config->rxConfig.rssi_channel = 0;
+    config->rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
+    config->rxConfig.rssi_ppm_invert = 0;
+    config->rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
+    config->rxConfig.rcInterpolationInterval = 19;
+    config->rxConfig.fpvCamAngleDegrees = 0;
+    config->rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
+    config->rxConfig.airModeActivateThreshold = 1350;
 
-    resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
+    resetAllRxChannelRangeConfigurations(config->rxConfig.channelRanges);
 
-    masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
+    config->inputFilteringMode = INPUT_FILTERING_DISABLED;
 
-    masterConfig.gyro_cal_on_first_arm = 0;  // TODO - Cleanup retarded arm support
-    masterConfig.disarm_kill_switch = 1;
-    masterConfig.auto_disarm_delay = 5;
-    masterConfig.small_angle = 25;
+    config->gyro_cal_on_first_arm = 0;  // TODO - Cleanup retarded arm support
+    config->disarm_kill_switch = 1;
+    config->auto_disarm_delay = 5;
+    config->small_angle = 25;
 
-    resetMixerConfig(&masterConfig.mixerConfig);
+    resetMixerConfig(&config->mixerConfig);
 
-    masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
+    config->airplaneConfig.fixedwing_althold_dir = 1;
 
     // Motor/ESC/Servo
-    resetEscAndServoConfig(&masterConfig.escAndServoConfig);
-    resetFlight3DConfig(&masterConfig.flight3DConfig);
+    resetEscAndServoConfig(&config->escAndServoConfig);
+    resetFlight3DConfig(&config->flight3DConfig);
 
 #ifdef BRUSHED_MOTORS
-    masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
-    masterConfig.motor_pwm_protocol = PWM_TYPE_BRUSHED;
+    config->motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
+    config->motor_pwm_protocol = PWM_TYPE_BRUSHED;
+    config->use_unsyncedPwm = true;
 #else
-    masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
-    masterConfig.motor_pwm_protocol = PWM_TYPE_ONESHOT125;
+    config->motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
+    config->motor_pwm_protocol = PWM_TYPE_ONESHOT125;
 #endif
-    masterConfig.servo_pwm_rate = 50;
+
+    config->servo_pwm_rate = 50;
 
 #ifdef CC3D
-    masterConfig.use_buzzer_p6 = 0;
+    config->use_buzzer_p6 = 0;
 #endif
 
 #ifdef GPS
     // gps/nav stuff
-    masterConfig.gpsConfig.provider   = GPS_NMEA;
-    masterConfig.gpsConfig.sbasMode   = SBAS_AUTO;
-    masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
-    masterConfig.gpsConfig.autoBaud   = GPS_AUTOBAUD_OFF;
+    config->gpsConfig.provider = GPS_NMEA;
+    config->gpsConfig.sbasMode = SBAS_AUTO;
+    config->gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
+    config->gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
 #endif
 
-    resetSerialConfig(&masterConfig.serialConfig);
+    resetSerialConfig(&config->serialConfig);
 
-    masterConfig.emf_avoidance = 0; // TODO - needs removal
+    resetProfile(&config->profile[0]);
 
-    resetPidProfile(&currentProfile->pidProfile);
+    resetRollAndPitchTrims(&config->accelerometerTrims);
 
-    for (int rI = 0; rI<MAX_RATEPROFILES; rI++) {
-        resetControlRateConfig(&masterConfig.profile[0].controlRateProfile[rI]);
-    }
-    resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
+    config->mag_declination = 0;
+    config->acc_lpf_hz = 10.0f;
+    config->accDeadband.xy = 40;
+    config->accDeadband.z = 40;
+    config->acc_unarmedcal = 1;
 
-    masterConfig.mag_declination = 0;
-    masterConfig.acc_lpf_hz = 10.0f;
-    masterConfig.accDeadband.xy = 40;
-    masterConfig.accDeadband.z = 40;
-    masterConfig.acc_unarmedcal = 1;
-
-    resetBarometerConfig(&masterConfig.barometerConfig);
+#ifdef BARO
+    resetBarometerConfig(&config->barometerConfig);
+#endif
 
     // Radio
-    parseRcChannels("AETR1234", &masterConfig.rxConfig);
+#ifdef RX_CHANNELS_TAER
+    parseRcChannels("TAER1234", &config->rxConfig);
+#else
+    parseRcChannels("AETR1234", &config->rxConfig);
+#endif
 
-    resetRcControlsConfig(&masterConfig.rcControlsConfig);
+    resetRcControlsConfig(&config->rcControlsConfig);
 
-    masterConfig.throttle_correction_value = 0;      // could 10 with althold or 40 for fpv
-    masterConfig.throttle_correction_angle = 800;    // could be 80.0 deg with atlhold or 45.0 for fpv
+    config->throttle_correction_value = 0;      // could 10 with althold or 40 for fpv
+    config->throttle_correction_angle = 800;    // could be 80.0 deg with atlhold or 45.0 for fpv
 
     // Failsafe Variables
-    masterConfig.failsafeConfig.failsafe_delay = 10;              // 1sec
-    masterConfig.failsafeConfig.failsafe_off_delay = 10;          // 1sec
-    masterConfig.failsafeConfig.failsafe_throttle = 1000;         // default throttle off.
-    masterConfig.failsafeConfig.failsafe_kill_switch = 0;         // default failsafe switch action is identical to rc link loss
-    masterConfig.failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
-    masterConfig.failsafeConfig.failsafe_procedure = 0;           // default full failsafe procedure is 0: auto-landing
+    config->failsafeConfig.failsafe_delay = 10;                            // 1sec
+    config->failsafeConfig.failsafe_off_delay = 10;                        // 1sec
+    config->failsafeConfig.failsafe_throttle = 1000;                       // default throttle off.
+    config->failsafeConfig.failsafe_kill_switch = 0;                       // default failsafe switch action is identical to rc link loss
+    config->failsafeConfig.failsafe_throttle_low_delay = 100;              // default throttle low delay for "just disarm" on failsafe condition
+    config->failsafeConfig.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;// default full failsafe procedure is 0: auto-landing
 
 #ifdef USE_SERVOS
     // servos
     for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-        masterConfig.servoConf[i].min = DEFAULT_SERVO_MIN;
-        masterConfig.servoConf[i].max = DEFAULT_SERVO_MAX;
-        masterConfig.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
-        masterConfig.servoConf[i].rate = 100;
-        masterConfig.servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
-        masterConfig.servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
-        masterConfig.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
+        config->servoConf[i].min = DEFAULT_SERVO_MIN;
+        config->servoConf[i].max = DEFAULT_SERVO_MAX;
+        config->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
+        config->servoConf[i].rate = 100;
+        config->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
+        config->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
+        config->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
     }
 
     // gimbal
-    masterConfig.gimbalConfig.mode = GIMBAL_MODE_NORMAL;
+    config->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
 #endif
 
 #ifdef GPS
-    resetGpsProfile(&masterConfig.gpsProfile);
+    resetGpsProfile(&config->gpsProfile);
 #endif
 
     // custom mixer. clear by defaults.
     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-        masterConfig.customMotorMixer[i].throttle = 0.0f;
+        config->customMotorMixer[i].throttle = 0.0f;
     }
 
 #ifdef LED_STRIP
-    applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT);
-    applyDefaultLedStripConfig(masterConfig.ledConfigs);
-    masterConfig.ledstrip_visual_beeper = 0;
+    applyDefaultColors(config->colors);
+    applyDefaultLedStripConfig(config->ledConfigs);
+    applyDefaultModeColors(config->modeColors);
+    applyDefaultSpecialColors(&(config->specialColors));
+    config->ledstrip_visual_beeper = 0;
 #endif
 
 #ifdef VTX
-    masterConfig.vtx_band = 4;    //Fatshark/Airwaves
-    masterConfig.vtx_channel = 1; //CH1
-    masterConfig.vtx_mode = 0;    //CH+BAND mode
-    masterConfig.vtx_mhz = 5740;  //F0
+    config->vtx_band = 4;    //Fatshark/Airwaves
+    config->vtx_channel = 1; //CH1
+    config->vtx_mode = 0;    //CH+BAND mode
+    config->vtx_mhz = 5740;  //F0
 #endif
 
 #ifdef TRANSPONDER
     static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware
 
-    memcpy(masterConfig.transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
+    memcpy(config->transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
 #endif
 
 #ifdef BLACKBOX
-
 #if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
-    featureSet(FEATURE_BLACKBOX);
-    masterConfig.blackbox_device = BLACKBOX_DEVICE_FLASH;
+    intFeatureSet(FEATURE_BLACKBOX, config);
+    config->blackbox_device = BLACKBOX_DEVICE_FLASH;
 #elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
-    featureSet(FEATURE_BLACKBOX);
-    masterConfig.blackbox_device = BLACKBOX_DEVICE_SDCARD;
+    intFeatureSet(FEATURE_BLACKBOX, config);
+    config->blackbox_device = BLACKBOX_DEVICE_SDCARD;
 #else
-    masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL;
+    config->blackbox_device = BLACKBOX_DEVICE_SERIAL;
 #endif
 
-    masterConfig.blackbox_rate_num = 1;
-    masterConfig.blackbox_rate_denom = 1;
-
+    config->blackbox_rate_num = 1;
+    config->blackbox_rate_denom = 1;
+    config->blackbox_on_motor_test = 0; // default off
 #endif // BLACKBOX
 
 #ifdef SERIALRX_UART
     if (featureConfigured(FEATURE_RX_SERIAL)) {
-        masterConfig.serialConfig.portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
+        config->serialConfig.portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
     }
 #endif
 
 #if defined(TARGET_CONFIG)
-    targetConfiguration();
+    targetConfiguration(config);
 #endif
 
+   
     // copy first profile into remaining profile
     for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
-        memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
+        memcpy(&config->profile[i], &config->profile[0], sizeof(profile_t));
     }
-
 }
 
-static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
+static void resetConf(void)
 {
-    uint8_t checksum = 0;
-    const uint8_t *byteOffset;
+    createDefaultConfig(&masterConfig);
 
-    for (byteOffset = data; byteOffset < (data + length); byteOffset++)
-        checksum ^= *byteOffset;
-    return checksum;
-}
+    setProfile(0);
 
-static bool isEEPROMContentValid(void)
-{
-    const master_t *temp = (const master_t *) CONFIG_START_FLASH_ADDRESS;
-    uint8_t checksum = 0;
-
-    // check version number
-    if (EEPROM_CONF_VERSION != temp->version)
-        return false;
-
-    // check size and magic numbers
-    if (temp->size != sizeof(master_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF)
-        return false;
-
-    // verify integrity of temporary copy
-    checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t));
-    if (checksum != 0)
-        return false;
-
-    // looks good, let's roll!
-    return true;
+#ifdef LED_STRIP
+    reevaluateLedConfig();
+#endif
 }
 
 void activateControlRateConfig(void)
@@ -715,7 +661,7 @@ void activateConfig(void)
         &currentProfile->pidProfile
     );
 
-    gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
+    gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_cutoff, masterConfig.gyro_soft_type);
 
 #ifdef TELEMETRY
     telemetryUseConfig(&masterConfig.telemetryConfig);
@@ -732,10 +678,6 @@ void activateConfig(void)
     setAccelerationFilter(masterConfig.acc_lpf_hz);
 
     mixerUseConfigs(
-#ifdef USE_SERVOS
-        masterConfig.servoConf,
-        &masterConfig.gimbalConfig,
-#endif
         &masterConfig.flight3DConfig,
         &masterConfig.escAndServoConfig,
         &masterConfig.mixerConfig,
@@ -743,6 +685,10 @@ void activateConfig(void)
         &masterConfig.rxConfig
     );
 
+#ifdef USE_SERVOS
+    servoUseConfigs(masterConfig.servoConf, &masterConfig.gimbalConfig);
+#endif
+
     imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
     imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
     imuRuntimeConfig.acc_unarmedcal = masterConfig.acc_unarmedcal;
@@ -841,12 +787,6 @@ void validateAndFixConfig(void)
     }
 #endif
 
-#ifdef STM32F303xC
-    // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's
-    masterConfig.telemetryConfig.telemetry_inversion = 1;
-#endif
-
-
 /*#if defined(LED_STRIP) && defined(TRANSPONDER) // TODO - Add transponder feature
     if ((WS2811_DMA_TC_FLAG == TRANSPONDER_DMA_TC_FLAG) && featureConfigured(FEATURE_TRANSPONDER) && featureConfigured(FEATURE_LED_STRIP)) {
         featureClear(FEATURE_LED_STRIP);
@@ -881,32 +821,6 @@ void validateAndFixConfig(void)
     }
 }
 
-void initEEPROM(void)
-{
-}
-
-void readEEPROM(void)
-{
-    // Sanity check
-    if (!isEEPROMContentValid())
-        failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
-
-    suspendRxSignal();
-
-    // Read flash
-    memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t));
-
-    if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check
-        masterConfig.current_profile_index = 0;
-
-    setProfile(masterConfig.current_profile_index);
-
-    validateAndFixConfig();
-    activateConfig();
-
-    resumeRxSignal();
-}
-
 void readEEPROMAndNotify(void)
 {
     // re-read written data
@@ -914,69 +828,6 @@ void readEEPROMAndNotify(void)
     beeperConfirmationBeeps(1);
 }
 
-void writeEEPROM(void)
-{
-    // Generate compile time error if the config does not fit in the reserved area of flash.
-    BUILD_BUG_ON(sizeof(master_t) > FLASH_TO_RESERVE_FOR_CONFIG);
-
-    FLASH_Status status = 0;
-    uint32_t wordOffset;
-    int8_t attemptsRemaining = 3;
-
-    suspendRxSignal();
-
-    // prepare checksum/version constants
-    masterConfig.version = EEPROM_CONF_VERSION;
-    masterConfig.size = sizeof(master_t);
-    masterConfig.magic_be = 0xBE;
-    masterConfig.magic_ef = 0xEF;
-    masterConfig.chk = 0; // erase checksum before recalculating
-    masterConfig.chk = calculateChecksum((const uint8_t *) &masterConfig, sizeof(master_t));
-
-    // write it
-    FLASH_Unlock();
-    while (attemptsRemaining--) {
-#if defined(STM32F4)
-        FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
-#elif defined(STM32F303)
-        FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
-#elif defined(STM32F10X)
-        FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
-#endif
-        for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
-            if (wordOffset % FLASH_PAGE_SIZE == 0) {
-#if defined(STM32F40_41xxx)
-                status = FLASH_EraseSector(FLASH_Sector_8, VoltageRange_3); //0x08080000 to 0x080A0000
-#elif defined (STM32F411xE)
-                status = FLASH_EraseSector(FLASH_Sector_7, VoltageRange_3); //0x08060000 to 0x08080000
-#else
-                status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
-#endif
-                if (status != FLASH_COMPLETE) {
-                    break;
-                }
-            }
-
-            status = FLASH_ProgramWord(CONFIG_START_FLASH_ADDRESS + wordOffset,
-                    *(uint32_t *) ((char *) &masterConfig + wordOffset));
-            if (status != FLASH_COMPLETE) {
-                break;
-            }
-        }
-        if (status == FLASH_COMPLETE) {
-            break;
-        }
-    }
-    FLASH_Lock();
-
-    // Flash write failed - just die now
-    if (status != FLASH_COMPLETE || !isEEPROMContentValid()) {
-        failureMode(FAILURE_FLASH_WRITE_FAILED);
-    }
-
-    resumeRxSignal();
-}
-
 void ensureEEPROMContainsValidData(void)
 {
     if (isEEPROMContentValid()) {
@@ -1015,41 +866,6 @@ void changeControlRateProfile(uint8_t profileIndex)
     activateControlRateConfig();
 }
 
-void latchActiveFeatures()
-{
-    activeFeaturesLatch = masterConfig.enabledFeatures;
-}
-
-bool featureConfigured(uint32_t mask)
-{
-    return masterConfig.enabledFeatures & mask;
-}
-
-bool feature(uint32_t mask)
-{
-    return activeFeaturesLatch & mask;
-}
-
-void featureSet(uint32_t mask)
-{
-    masterConfig.enabledFeatures |= mask;
-}
-
-void featureClear(uint32_t mask)
-{
-    masterConfig.enabledFeatures &= ~(mask);
-}
-
-void featureClearAll()
-{
-    masterConfig.enabledFeatures = 0;
-}
-
-uint32_t featureMask(void)
-{
-    return masterConfig.enabledFeatures;
-}
-
 void beeperOffSet(uint32_t mask)
 {
     masterConfig.beeper_off_flags |= mask;
diff --git a/src/main/config/config.h b/src/main/config/config.h
index 5a46a78c33..292fb13af8 100644
--- a/src/main/config/config.h
+++ b/src/main/config/config.h
@@ -23,7 +23,7 @@
 #define MAX_PROFILE_COUNT 3
 #endif
 #define MAX_RATEPROFILES 3
-#define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
+#define MAX_NAME_LENGTH 16
 
 typedef enum {
     FEATURE_RX_PPM = 1 << 0,
@@ -44,23 +44,17 @@ typedef enum {
     FEATURE_RSSI_ADC = 1 << 15,
     FEATURE_LED_STRIP = 1 << 16,
     FEATURE_DISPLAY = 1 << 17,
-    FEATURE_ONESHOT125 = 1 << 18,
+    FEATURE_OSD = 1 << 18,
     FEATURE_BLACKBOX = 1 << 19,
     FEATURE_CHANNEL_FORWARDING = 1 << 20,
     FEATURE_TRANSPONDER = 1 << 21,
     FEATURE_AIRMODE = 1 << 22,
-    FEATURE_SUPEREXPO_RATES = 1 << 23,
-    FEATURE_OSD = 1 << 24,
-    FEATURE_VTX = 1 << 25,
+    //FEATURE_SUPEREXPO_RATES = 1 << 23,
+    FEATURE_VTX = 1 << 24,
+    FEATURE_RX_NRF24 = 1 << 25,
+    FEATURE_SOFTSPI = 1 << 26,
 } features_e;
 
-void latchActiveFeatures(void);
-bool featureConfigured(uint32_t mask);
-bool feature(uint32_t mask);
-void featureSet(uint32_t mask);
-void featureClear(uint32_t mask);
-void featureClearAll(void);
-uint32_t featureMask(void);
 void beeperOffSet(uint32_t mask);
 void beeperOffSetAll(uint8_t beeperCount);
 void beeperOffClear(uint32_t mask);
@@ -72,16 +66,17 @@ void setPreferredBeeperOffMask(uint32_t mask);
 
 void copyCurrentProfileToProfileSlot(uint8_t profileSlotIndex);
 
-void initEEPROM(void);
 void resetEEPROM(void);
-void readEEPROM(void);
 void readEEPROMAndNotify(void);
-void writeEEPROM();
 void ensureEEPROMContainsValidData(void);
+
 void saveConfigAndNotify(void);
+void validateAndFixConfig(void);
+void activateConfig(void);
 
 uint8_t getCurrentProfile(void);
 void changeProfile(uint8_t profileIndex);
+void setProfile(uint8_t profileIndex);
 
 uint8_t getCurrentControlRateProfile(void);
 void changeControlRateProfile(uint8_t profileIndex);
diff --git a/src/main/config/config_eeprom.c b/src/main/config/config_eeprom.c
new file mode 100644
index 0000000000..e52d3050b3
--- /dev/null
+++ b/src/main/config/config_eeprom.c
@@ -0,0 +1,266 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/config.h"
+#include "config/config_eeprom.h"
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+#if !defined(FLASH_SIZE)
+#error "Flash size not defined for target. (specify in KB)"
+#endif
+
+
+#ifndef FLASH_PAGE_SIZE
+    #ifdef STM32F303xC
+        #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
+    #endif
+
+    #ifdef STM32F10X_MD
+        #define FLASH_PAGE_SIZE                 ((uint16_t)0x400)
+    #endif
+
+    #ifdef STM32F10X_HD
+        #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
+    #endif
+
+    #if defined(STM32F40_41xxx)
+        #define FLASH_PAGE_SIZE                 ((uint32_t)0x20000)
+    #endif
+
+    #if defined (STM32F411xE)
+        #define FLASH_PAGE_SIZE                 ((uint32_t)0x20000)
+    #endif
+
+#endif
+
+#if !defined(FLASH_SIZE) && !defined(FLASH_PAGE_COUNT)
+    #ifdef STM32F10X_MD
+        #define FLASH_PAGE_COUNT 128
+    #endif
+
+    #ifdef STM32F10X_HD
+        #define FLASH_PAGE_COUNT 128
+    #endif
+#endif
+
+#if defined(FLASH_SIZE)
+#if defined(STM32F40_41xxx)
+#define FLASH_PAGE_COUNT 4 // just to make calculations work
+#elif defined (STM32F411xE)
+#define FLASH_PAGE_COUNT 4 // just to make calculations work
+#else
+#define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE)
+#endif
+#endif
+
+#if !defined(FLASH_PAGE_SIZE)
+#error "Flash page size not defined for target."
+#endif
+
+#if !defined(FLASH_PAGE_COUNT)
+#error "Flash page count not defined for target."
+#endif
+
+#if FLASH_SIZE <= 128
+#define FLASH_TO_RESERVE_FOR_CONFIG 0x800
+#else
+#define FLASH_TO_RESERVE_FOR_CONFIG 0x1000
+#endif
+
+// use the last flash pages for storage
+#ifdef CUSTOM_FLASH_MEMORY_ADDRESS
+size_t custom_flash_memory_address = 0;
+#define CONFIG_START_FLASH_ADDRESS (custom_flash_memory_address)
+#else
+// use the last flash pages for storage
+#ifndef CONFIG_START_FLASH_ADDRESS
+#define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
+#endif
+#endif
+
+
+void initEEPROM(void)
+{
+}
+
+static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
+{
+    uint8_t checksum = 0;
+    const uint8_t *byteOffset;
+
+    for (byteOffset = data; byteOffset < (data + length); byteOffset++)
+        checksum ^= *byteOffset;
+    return checksum;
+}
+
+bool isEEPROMContentValid(void)
+{
+    const master_t *temp = (const master_t *) CONFIG_START_FLASH_ADDRESS;
+    uint8_t checksum = 0;
+
+    // check version number
+    if (EEPROM_CONF_VERSION != temp->version)
+        return false;
+
+    // check size and magic numbers
+    if (temp->size != sizeof(master_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF)
+        return false;
+
+    // verify integrity of temporary copy
+    checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t));
+    if (checksum != 0)
+        return false;
+
+    // looks good, let's roll!
+    return true;
+}
+
+void writeEEPROM(void)
+{
+    // Generate compile time error if the config does not fit in the reserved area of flash.
+    BUILD_BUG_ON(sizeof(master_t) > FLASH_TO_RESERVE_FOR_CONFIG);
+
+    FLASH_Status status = 0;
+    uint32_t wordOffset;
+    int8_t attemptsRemaining = 3;
+
+    suspendRxSignal();
+
+    // prepare checksum/version constants
+    masterConfig.version = EEPROM_CONF_VERSION;
+    masterConfig.size = sizeof(master_t);
+    masterConfig.magic_be = 0xBE;
+    masterConfig.magic_ef = 0xEF;
+    masterConfig.chk = 0; // erase checksum before recalculating
+    masterConfig.chk = calculateChecksum((const uint8_t *) &masterConfig, sizeof(master_t));
+
+    // write it
+    FLASH_Unlock();
+    while (attemptsRemaining--) {
+#if defined(STM32F4)
+        FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
+#elif defined(STM32F303)
+        FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
+#elif defined(STM32F10X)
+        FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
+#endif
+        for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
+            if (wordOffset % FLASH_PAGE_SIZE == 0) {
+#if defined(STM32F40_41xxx)
+                status = FLASH_EraseSector(FLASH_Sector_8, VoltageRange_3); //0x08080000 to 0x080A0000
+#elif defined (STM32F411xE)
+                status = FLASH_EraseSector(FLASH_Sector_7, VoltageRange_3); //0x08060000 to 0x08080000
+#else
+                status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
+#endif
+                if (status != FLASH_COMPLETE) {
+                    break;
+                }
+            }
+
+            status = FLASH_ProgramWord(CONFIG_START_FLASH_ADDRESS + wordOffset,
+                    *(uint32_t *) ((char *) &masterConfig + wordOffset));
+            if (status != FLASH_COMPLETE) {
+                break;
+            }
+        }
+        if (status == FLASH_COMPLETE) {
+            break;
+        }
+    }
+    FLASH_Lock();
+
+    // Flash write failed - just die now
+    if (status != FLASH_COMPLETE || !isEEPROMContentValid()) {
+        failureMode(FAILURE_FLASH_WRITE_FAILED);
+    }
+
+    resumeRxSignal();
+}
+
+void readEEPROM(void)
+{
+    // Sanity check
+    if (!isEEPROMContentValid())
+        failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
+
+    suspendRxSignal();
+
+    // Read flash
+    memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t));
+
+    if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check
+        masterConfig.current_profile_index = 0;
+
+    setProfile(masterConfig.current_profile_index);
+
+    validateAndFixConfig();
+    activateConfig();
+
+    resumeRxSignal();
+}
+
diff --git a/src/main/config/config_eeprom.h b/src/main/config/config_eeprom.h
new file mode 100644
index 0000000000..b48961f91f
--- /dev/null
+++ b/src/main/config/config_eeprom.h
@@ -0,0 +1,26 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define EEPROM_CONF_VERSION 143
+
+void initEEPROM(void);
+void writeEEPROM();
+void readEEPROM(void);
+bool isEEPROMContentValid(void);
+
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index c6f01b4029..db3a3364cf 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -25,7 +25,6 @@ typedef struct master_t {
 
     uint8_t mixerMode;
     uint32_t enabledFeatures;
-    uint8_t emf_avoidance;                   // change pll settings to avoid noise in the uhf band
 
     // motor/esc/servo related stuff
     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
@@ -56,9 +55,12 @@ typedef struct master_t {
     int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     uint8_t acc_for_fast_looptime;          // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
-    uint16_t gyro_lpf;                       // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
+    uint16_t gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
     uint8_t gyro_sync_denom;                // Gyro sample divider
-    uint8_t gyro_soft_lpf_hz;               // Biqyad gyro lpf hz
+    uint8_t gyro_soft_type;                 // Gyro Filter Type
+    uint8_t gyro_soft_lpf_hz;               // Biquad gyro lpf hz
+    uint16_t gyro_soft_notch_hz;            // Biquad gyro notch hz
+    uint16_t gyro_soft_notch_cutoff;        // Biquad gyro notch low cutoff
     uint16_t dcm_kp;                        // DCM filter proportional gain ( x 10000)
     uint16_t dcm_ki;                        // DCM filter integral gain ( x 10000)
 
@@ -75,7 +77,7 @@ typedef struct master_t {
 
     rollAndPitchTrims_t accelerometerTrims; // accelerometer trim
 
-    float acc_lpf_hz;                       // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
+    uint16_t acc_lpf_hz;                       // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
     accDeadband_t accDeadband;
     barometerConfig_t barometerConfig;
     uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
@@ -117,8 +119,10 @@ typedef struct master_t {
     telemetryConfig_t telemetryConfig;
 
 #ifdef LED_STRIP
-    ledConfig_t ledConfigs[MAX_LED_STRIP_LENGTH];
-    hsvColor_t colors[CONFIGURABLE_COLOR_COUNT];
+    ledConfig_t ledConfigs[LED_MAX_STRIP_LENGTH];
+    hsvColor_t colors[LED_CONFIGURABLE_COLOR_COUNT];
+    modeColorIndexes_t modeColors[LED_MODE_COUNT];
+    specialColorIndexes_t specialColors;
     uint8_t ledstrip_visual_beeper; // suppress LEDLOW mode if beeper is on
 #endif
 
@@ -137,7 +141,7 @@ typedef struct master_t {
 
     profile_t profile[MAX_PROFILE_COUNT];
     uint8_t current_profile_index;
- 
+
     modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
     adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
 
@@ -154,6 +158,7 @@ typedef struct master_t {
     uint8_t blackbox_rate_num;
     uint8_t blackbox_rate_denom;
     uint8_t blackbox_device;
+    uint8_t blackbox_on_motor_test;
 #endif
 
     uint32_t beeper_off_flags;
@@ -161,8 +166,13 @@ typedef struct master_t {
 
     uint8_t magic_ef;                       // magic number, should be 0xEF
     uint8_t chk;                            // XOR checksum
+   
+    char name[MAX_NAME_LENGTH+1];
+   
 } master_t;
 
 extern master_t masterConfig;
 extern profile_t *currentProfile;
 extern controlRateConfig_t *currentControlRateProfile;
+
+void createDefaultConfig(master_t *config);
diff --git a/src/main/config/feature.c b/src/main/config/feature.c
new file mode 100644
index 0000000000..77b9069f35
--- /dev/null
+++ b/src/main/config/feature.c
@@ -0,0 +1,124 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/config.h"
+#include "config/config_profile.h"
+#include "config/config_master.h"
+#include "config/feature.h"
+
+static uint32_t activeFeaturesLatch = 0;
+
+void intFeatureSet(uint32_t mask, master_t *config)
+{
+    config->enabledFeatures |= mask;
+}
+
+void intFeatureClear(uint32_t mask, master_t *config)
+{
+    config->enabledFeatures &= ~(mask);
+}
+
+void intFeatureClearAll(master_t *config)
+{
+    config->enabledFeatures = 0;
+}
+
+void latchActiveFeatures()
+{
+    activeFeaturesLatch = masterConfig.enabledFeatures;
+}
+
+bool featureConfigured(uint32_t mask)
+{
+    return masterConfig.enabledFeatures & mask;
+}
+
+bool feature(uint32_t mask)
+{
+    return activeFeaturesLatch & mask;
+}
+
+void featureSet(uint32_t mask)
+{
+    intFeatureSet(mask, &masterConfig);
+}
+
+void featureClear(uint32_t mask)
+{
+    intFeatureClear(mask, &masterConfig);
+}
+
+void featureClearAll()
+{
+    intFeatureClearAll(&masterConfig);
+}
+
+uint32_t featureMask(void)
+{
+    return masterConfig.enabledFeatures;
+}
+
+
diff --git a/src/main/config/feature.h b/src/main/config/feature.h
new file mode 100644
index 0000000000..526d73c839
--- /dev/null
+++ b/src/main/config/feature.h
@@ -0,0 +1,26 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+void latchActiveFeatures(void);
+bool featureConfigured(uint32_t mask);
+bool feature(uint32_t mask);
+void featureSet(uint32_t mask);
+void featureClear(uint32_t mask);
+void featureClearAll(void);
+uint32_t featureMask(void);
diff --git a/src/main/drivers/accgyro_l3gd20.c b/src/main/drivers/accgyro_l3gd20.c
index e227d7f8d4..a9323004fa 100644
--- a/src/main/drivers/accgyro_l3gd20.c
+++ b/src/main/drivers/accgyro_l3gd20.c
@@ -19,8 +19,8 @@
 #include <stdint.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/maths.h"
 
diff --git a/src/main/drivers/accgyro_lsm303dlhc.c b/src/main/drivers/accgyro_lsm303dlhc.c
index c3ea4968e7..43b75d585d 100644
--- a/src/main/drivers/accgyro_lsm303dlhc.c
+++ b/src/main/drivers/accgyro_lsm303dlhc.c
@@ -19,7 +19,10 @@
 #include <stdint.h>
 
 #include "platform.h"
-#include "debug.h"
+
+#ifdef USE_ACC_LSM303DLHC
+
+#include "build/debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -167,4 +170,4 @@ bool lsm303dlhcAccDetect(acc_t *acc)
     acc->read = lsm303dlhcAccRead;
     return true;
 }
-
+#endif
diff --git a/src/main/drivers/accgyro_mma845x.c b/src/main/drivers/accgyro_mma845x.c
index 202b90e804..69a82a0adb 100644
--- a/src/main/drivers/accgyro_mma845x.c
+++ b/src/main/drivers/accgyro_mma845x.c
@@ -21,7 +21,7 @@
 #include "platform.h"
 
 #include "system.h"
-#include "gpio.h"
+#include "io.h"
 #include "bus_i2c.h"
 
 #include "sensor.h"
diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c
index 9a3cd57253..b8d7d176ae 100644
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@@ -21,15 +21,16 @@
 #include <string.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
+
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/maths.h"
 
 #include "nvic.h"
 
 #include "system.h"
-#include "gpio.h"
+#include "io.h"
 #include "exti.h"
 #include "bus_i2c.h"
 
@@ -252,7 +253,7 @@ void mpuIntExtiInit(void)
     EXTIEnable(mpuIntIO, true);
 #endif
 
-    mpuExtiInitDone = true; 
+    mpuExtiInitDone = true;
 }
 
 static bool mpuReadRegisterI2C(uint8_t reg, uint8_t length, uint8_t* data)
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index 917c06f1a8..0b70ebb14a 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -17,8 +17,9 @@
 
 #pragma once
 
+#include "io_types.h"
 #include "exti.h"
- 
+
 // MPU6050
 #define MPU_RA_WHO_AM_I         0x75
 #define MPU_RA_WHO_AM_I_LEGACY  0x00
@@ -119,7 +120,7 @@
 
 typedef bool (*mpuReadRegisterFunc)(uint8_t reg, uint8_t length, uint8_t* data);
 typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
-typedef void(*mpuResetFuncPtr)(void);   
+typedef void(*mpuResetFuncPtr)(void);  
 
 typedef struct mpuConfiguration_s {
     uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index 3cc3ac8f69..5d2198524b 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -20,8 +20,9 @@
 #include <stdlib.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
+
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/maths.h"
 
@@ -104,7 +105,7 @@ static void mpu6050GyroInit(uint8_t lpf)
     delay(100);
     ack = mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
     ack = mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
-    delay(15); //PLL Settling time when changing CLKSEL is max 10ms.  Use 15ms to be sure 
+    delay(15); //PLL Settling time when changing CLKSEL is max 10ms.  Use 15ms to be sure
     ack = mpuConfiguration.write(MPU_RA_CONFIG, lpf); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
     ack = mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);   //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
 
diff --git a/src/main/drivers/accgyro_mpu6050.h b/src/main/drivers/accgyro_mpu6050.h
index 3e947f8fff..d8649a3c6f 100644
--- a/src/main/drivers/accgyro_mpu6050.h
+++ b/src/main/drivers/accgyro_mpu6050.h
@@ -18,4 +18,4 @@
 #pragma once
 
 bool mpu6050AccDetect(acc_t *acc);
-bool mpu6050GyroDetect(gyro_t *gyro);
\ No newline at end of file
+bool mpu6050GyroDetect(gyro_t *gyro);
diff --git a/src/main/drivers/accgyro_mpu6500.c b/src/main/drivers/accgyro_mpu6500.c
index ed872230ea..b2316cb25c 100644
--- a/src/main/drivers/accgyro_mpu6500.c
+++ b/src/main/drivers/accgyro_mpu6500.c
@@ -73,21 +73,6 @@ void mpu6500GyroInit(uint8_t lpf)
 {
     mpuIntExtiInit();
 
-#ifdef NAZE
-    // FIXME target specific code in driver code.
-
-    gpio_config_t gpio;
-    // MPU_INT output on rev5 hardware (PC13). rev4 was on PB13, conflicts with SPI devices
-    if (hse_value == 12000000) {
-        gpio.pin = Pin_13;
-        gpio.speed = Speed_2MHz;
-        gpio.mode = Mode_IN_FLOATING;
-        gpioInit(GPIOC, &gpio);
-    }
-#endif
-
-    mpuIntExtiInit();
-
     mpuConfiguration.write(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
     delay(100);
     mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x07);
@@ -107,11 +92,14 @@ void mpu6500GyroInit(uint8_t lpf)
 
     // Data ready interrupt configuration
 #ifdef USE_MPU9250_MAG
-    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN);  // INT_ANYRD_2CLEAR, BYPASS_EN
 #else
-    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR);  // INT_ANYRD_2CLEAR
 #endif
+    delay(15);
+    
 #ifdef USE_MPU_DATA_READY_SIGNAL
-    mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
+    mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
 #endif
+    delay(15);
 }
diff --git a/src/main/drivers/accgyro_mpu6500.h b/src/main/drivers/accgyro_mpu6500.h
index ecdd100bc0..32d0cefcc5 100644
--- a/src/main/drivers/accgyro_mpu6500.h
+++ b/src/main/drivers/accgyro_mpu6500.h
@@ -20,6 +20,10 @@
 #define ICM20608G_WHO_AM_I_CONST            (0xAF)
 
 #define MPU6500_BIT_RESET                   (0x80)
+#define MPU6500_BIT_INT_ANYRD_2CLEAR        (1 << 4)
+#define MPU6500_BIT_BYPASS_EN               (1 << 0)
+#define MPU6500_BIT_I2C_IF_DIS              (1 << 4)
+#define MPU6500_BIT_RAW_RDY_EN              (0x01)
 
 #pragma once
 
diff --git a/src/main/drivers/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro_spi_mpu6000.c
index b483380912..6522a282f3 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@@ -158,7 +158,7 @@ bool mpu6000SpiDetect(void)
     uint8_t in;
     uint8_t attemptsRemaining = 5;
 
-#ifdef MPU6000_CS_PIN 
+#ifdef MPU6000_CS_PIN
     mpuSpi6000CsPin = IOGetByTag(IO_TAG(MPU6000_CS_PIN));
 #endif
     IOInit(mpuSpi6000CsPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
@@ -205,8 +205,8 @@ bool mpu6000SpiDetect(void)
     return false;
 }
 
-static void mpu6000AccAndGyroInit(void) {
-
+static void mpu6000AccAndGyroInit(void) 
+{
     if (mpuSpi6000InitDone) {
         return;
     }
@@ -253,7 +253,7 @@ static void mpu6000AccAndGyroInit(void) {
     delayMicroseconds(15);
 #endif
 
-    spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST); 
+    spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST);
     delayMicroseconds(1);
 
     mpuSpi6000InitDone = true;
diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
index afc69fbf16..9c2b7a45df 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -91,13 +91,33 @@ bool mpu6500SpiDetect(void)
     return false;
 }
 
+void mpu6500SpiAccInit(acc_t *acc)
+{
+    mpu6500AccInit(acc);
+}
+
+void mpu6500SpiGyroInit(uint8_t lpf)
+{
+    spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_SLOW);
+    delayMicroseconds(1);
+    
+    mpu6500GyroInit(lpf);
+    
+    // Disable Primary I2C Interface
+    mpu6500WriteRegister(MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS);
+    delay(100);
+    
+    spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
+    delayMicroseconds(1);
+}
+
 bool mpu6500SpiAccDetect(acc_t *acc)
 {
     if (mpuDetectionResult.sensor != MPU_65xx_SPI) {
         return false;
     }
 
-    acc->init = mpu6500AccInit;
+    acc->init = mpu6500SpiAccInit;
     acc->read = mpuAccRead;
 
     return true;
@@ -109,7 +129,7 @@ bool mpu6500SpiGyroDetect(gyro_t *gyro)
         return false;
     }
 
-    gyro->init = mpu6500GyroInit;
+    gyro->init = mpu6500SpiGyroInit;
     gyro->read = mpuGyroRead;
     gyro->intStatus = checkMPUDataReady;
 
diff --git a/src/main/drivers/accgyro_spi_mpu6500.h b/src/main/drivers/accgyro_spi_mpu6500.h
index 8b2fe95827..5c687c6acc 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.h
+++ b/src/main/drivers/accgyro_spi_mpu6500.h
@@ -19,8 +19,11 @@
 
 bool mpu6500SpiDetect(void);
 
+void mpu6500SpiAccInit(acc_t *acc); 
+void mpu6500SpiGyroInit(uint8_t lpf);
+
 bool mpu6500SpiAccDetect(acc_t *acc);
 bool mpu6500SpiGyroDetect(gyro_t *gyro);
 
 bool mpu6500WriteRegister(uint8_t reg, uint8_t data);
-bool mpu6500ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
\ No newline at end of file
+bool mpu6500ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
diff --git a/src/main/drivers/accgyro_spi_mpu9250.c b/src/main/drivers/accgyro_spi_mpu9250.c
index b5beca2946..c1c1169ae9 100644
--- a/src/main/drivers/accgyro_spi_mpu9250.c
+++ b/src/main/drivers/accgyro_spi_mpu9250.c
@@ -27,7 +27,8 @@
 #include <stdint.h>
 
 #include "platform.h"
-#include "light_led.h"
+
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -38,7 +39,7 @@
 #include "exti.h"
 #include "bus_spi.h"
 #include "gyro_sync.h"
-#include "debug.h"
+#include "light_led.h"
 
 #include "sensor.h"
 #include "accgyro.h"
@@ -54,7 +55,7 @@ static IO_t mpuSpi9250CsPin = IO_NONE;
 #define DISABLE_MPU9250       IOHi(mpuSpi9250CsPin)
 #define ENABLE_MPU9250        IOLo(mpuSpi9250CsPin)
 
-void mpu9250ResetGyro(void) 
+void mpu9250ResetGyro(void)
 {
     // Device Reset
     mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
@@ -123,7 +124,7 @@ void mpu9250SpiAccInit(acc_t *acc)
     acc->acc_1G = 512 * 8;
 }
 
-bool verifympu9250WriteRegister(uint8_t reg, uint8_t data) 
+bool verifympu9250WriteRegister(uint8_t reg, uint8_t data)
 {
     uint8_t in;
     uint8_t attemptsRemaining = 20;
@@ -176,7 +177,7 @@ static void mpu9250AccAndGyroInit(uint8_t lpf) {
     verifympu9250WriteRegister(MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
 #endif
 
-    spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST); 
+    spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
 
     mpuSpi9250InitDone = true; //init done
 }
@@ -208,7 +209,7 @@ bool mpu9250SpiDetect(void)
         }
     } while (attemptsRemaining--);
 
-    spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST); 
+    spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
 
     return true;
 }
diff --git a/src/main/drivers/adc.c b/src/main/drivers/adc.c
index a65abf9128..16b70f6c64 100644
--- a/src/main/drivers/adc.c
+++ b/src/main/drivers/adc.c
@@ -19,14 +19,17 @@
 #include <stdint.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
+
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "system.h"
 
 #include "adc.h"
 #include "adc_impl.h"
 
+#include "common/utils.h"
+
 //#define DEBUG_ADC_CHANNELS
 
 #ifdef USE_ADC
diff --git a/src/main/drivers/adc.h b/src/main/drivers/adc.h
index 55914a3365..47a4b52a0e 100644
--- a/src/main/drivers/adc.h
+++ b/src/main/drivers/adc.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "io.h"
+#include "io_types.h"
 
 typedef enum {
     ADC_BATTERY = 0,
diff --git a/src/main/drivers/adc_impl.h b/src/main/drivers/adc_impl.h
index 258c8acc8d..c89dc1bf53 100644
--- a/src/main/drivers/adc_impl.h
+++ b/src/main/drivers/adc_impl.h
@@ -17,21 +17,21 @@
 
 #pragma once
 
-#include "io.h"
-#include "rcc.h"
+#include "io_types.h"
+#include "rcc_types.h"
 
 #if defined(STM32F4)
 #define ADC_TAG_MAP_COUNT 16
 #elif defined(STM32F3)
 #define ADC_TAG_MAP_COUNT 39
-#else 
+#else
 #define ADC_TAG_MAP_COUNT 10
-#endif 
+#endif
 
 typedef enum ADCDevice {
     ADCINVALID = -1,
     ADCDEV_1   = 0,
-#if defined(STM32F3) 
+#if defined(STM32F3)
     ADCDEV_2,
     ADCDEV_MAX = ADCDEV_2,
 #elif defined(STM32F4)
@@ -65,4 +65,4 @@ extern const adcTagMap_t adcTagMap[ADC_TAG_MAP_COUNT];
 extern adc_config_t adcConfig[ADC_CHANNEL_COUNT];
 extern volatile uint16_t adcValues[ADC_CHANNEL_COUNT];
 
-uint8_t adcChannelByTag(ioTag_t ioTag);
\ No newline at end of file
+uint8_t adcChannelByTag(ioTag_t ioTag);
diff --git a/src/main/drivers/adc_stm32f10x.c b/src/main/drivers/adc_stm32f10x.c
index 451c9296c6..19d7edf6f9 100644
--- a/src/main/drivers/adc_stm32f10x.c
+++ b/src/main/drivers/adc_stm32f10x.c
@@ -21,12 +21,11 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#ifdef USE_ADC
+
+#include "build/build_config.h"
 
 #include "system.h"
-
-#include "sensors/sensors.h" // FIXME dependency into the main code
-
 #include "sensor.h"
 #include "accgyro.h"
 #include "adc.h"
@@ -38,13 +37,13 @@
 #define ADC_INSTANCE   ADC1
 #endif
 
-const adcDevice_t adcHardware[] = { 
-    { .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 }  
+const adcDevice_t adcHardware[] = {
+    { .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 } 
 };
 
 ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
 {
-    if (instance == ADC1) 
+    if (instance == ADC1)
         return ADCDEV_1;
 
 /* TODO -- ADC2 available on large 10x devices.
@@ -54,7 +53,7 @@ ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
     return ADCINVALID;
 }
 
-const adcTagMap_t adcTagMap[] = { 
+const adcTagMap_t adcTagMap[] = {
     { DEFIO_TAG_E__PA0, ADC_Channel_0 }, // ADC12
     { DEFIO_TAG_E__PA1, ADC_Channel_1 }, // ADC12
     { DEFIO_TAG_E__PA2, ADC_Channel_2 }, // ADC12
@@ -64,7 +63,7 @@ const adcTagMap_t adcTagMap[] = {
     { DEFIO_TAG_E__PA6, ADC_Channel_6 }, // ADC12
     { DEFIO_TAG_E__PA7, ADC_Channel_7 }, // ADC12
     { DEFIO_TAG_E__PB0, ADC_Channel_8 }, // ADC12
-    { DEFIO_TAG_E__PB1, ADC_Channel_9 }, // ADC12   
+    { DEFIO_TAG_E__PB1, ADC_Channel_9 }, // ADC12  
 };
 
 // Driver for STM32F103CB onboard ADC
@@ -84,7 +83,6 @@ void adcInit(drv_adc_config_t *init)
     UNUSED(init);
 #endif
 
-    uint8_t i;
     uint8_t configuredAdcChannels = 0;
 
     memset(&adcConfig, 0, sizeof(adcConfig));
@@ -117,9 +115,9 @@ void adcInit(drv_adc_config_t *init)
     if (device == ADCINVALID)
         return;
 
-    adcDevice_t adc = adcHardware[device];  
+    const adcDevice_t adc = adcHardware[device];
 
-    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+    for (int  i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].tag)
             continue;
 
@@ -163,7 +161,7 @@ void adcInit(drv_adc_config_t *init)
     ADC_Init(adc.ADCx, &ADC_InitStructure);
 
     uint8_t rank = 1;
-    for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
+    for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].enabled) {
             continue;
         }
@@ -180,3 +178,4 @@ void adcInit(drv_adc_config_t *init)
 
     ADC_SoftwareStartConvCmd(adc.ADCx, ENABLE);
 }
+#endif
diff --git a/src/main/drivers/adc_stm32f30x.c b/src/main/drivers/adc_stm32f30x.c
index 6297c2bd16..f58a8086d6 100644
--- a/src/main/drivers/adc_stm32f30x.c
+++ b/src/main/drivers/adc_stm32f30x.c
@@ -21,7 +21,6 @@
 
 #include "platform.h"
 #include "system.h"
-#include "common/utils.h"
 #include "gpio.h"
 
 #include "sensor.h"
@@ -32,16 +31,18 @@
 #include "io.h"
 #include "rcc.h"
 
+#include "common/utils.h"
+
 #ifndef ADC_INSTANCE
 #define ADC_INSTANCE                ADC1
 #endif
 
-const adcDevice_t adcHardware[] = { 
-    { .ADCx = ADC1, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 },  
-    { .ADCx = ADC2, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA2), .DMAy_Channelx = DMA2_Channel1 }  
+const adcDevice_t adcHardware[] = {
+    { .ADCx = ADC1, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA1), .DMAy_Channelx = DMA1_Channel1 }, 
+    { .ADCx = ADC2, .rccADC = RCC_AHB(ADC12), .rccDMA = RCC_AHB(DMA2), .DMAy_Channelx = DMA2_Channel1 } 
 };
 
-const adcTagMap_t adcTagMap[] = { 
+const adcTagMap_t adcTagMap[] = {
     { DEFIO_TAG_E__PA0,  ADC_Channel_1  }, // ADC1
     { DEFIO_TAG_E__PA1,  ADC_Channel_2  }, // ADC1
     { DEFIO_TAG_E__PA2,  ADC_Channel_3  }, // ADC1
@@ -85,7 +86,7 @@ const adcTagMap_t adcTagMap[] = {
 
 ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
 {
-    if (instance == ADC1) 
+    if (instance == ADC1)
         return ADCDEV_1;
 
     if (instance == ADC2)
@@ -100,7 +101,6 @@ void adcInit(drv_adc_config_t *init)
     ADC_InitTypeDef ADC_InitStructure;
     DMA_InitTypeDef DMA_InitStructure;
 
-    uint8_t i;
     uint8_t adcChannelCount = 0;
 
     memset(&adcConfig, 0, sizeof(adcConfig));
@@ -133,9 +133,9 @@ void adcInit(drv_adc_config_t *init)
     if (device == ADCINVALID)
         return;
 
-    adcDevice_t adc = adcHardware[device]; 
+    adcDevice_t adc = adcHardware[device];
 
-    for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
+    for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].tag)
             continue;
 
@@ -203,7 +203,7 @@ void adcInit(drv_adc_config_t *init)
     ADC_Init(adc.ADCx, &ADC_InitStructure);
 
     uint8_t rank = 1;
-    for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
+    for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].enabled) {
             continue;
         }
diff --git a/src/main/drivers/adc_stm32f4xx.c b/src/main/drivers/adc_stm32f4xx.c
index e1bb1ae617..968f05a67e 100644
--- a/src/main/drivers/adc_stm32f4xx.c
+++ b/src/main/drivers/adc_stm32f4xx.c
@@ -26,8 +26,6 @@
 #include "io_impl.h"
 #include "rcc.h"
 
-#include "sensors/sensors.h" // FIXME dependency into the main code
-
 #include "sensor.h"
 #include "accgyro.h"
 
@@ -38,13 +36,13 @@
 #define ADC_INSTANCE                ADC1
 #endif
 
-const adcDevice_t adcHardware[] = { 
-    { .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream4, .channel = DMA_Channel_0 },  
-    //{ .ADCx = ADC2, .rccADC = RCC_APB2(ADC2), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream1, .channel = DMA_Channel_0 }  
+const adcDevice_t adcHardware[] = {
+    { .ADCx = ADC1, .rccADC = RCC_APB2(ADC1), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream4, .channel = DMA_Channel_0 }, 
+    //{ .ADCx = ADC2, .rccADC = RCC_APB2(ADC2), .rccDMA = RCC_AHB1(DMA2), .DMAy_Streamx = DMA2_Stream1, .channel = DMA_Channel_0 } 
 };
 
 /* note these could be packed up for saving space */
-const adcTagMap_t adcTagMap[] = { 
+const adcTagMap_t adcTagMap[] = {
 /*
     { DEFIO_TAG_E__PF3,  ADC_Channel_9  },
     { DEFIO_TAG_E__PF4,  ADC_Channel_14 },
@@ -75,7 +73,7 @@ const adcTagMap_t adcTagMap[] = {
 
 ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
 {
-    if (instance == ADC1) 
+    if (instance == ADC1)
         return ADCDEV_1;
 /*
     if (instance == ADC2) // TODO add ADC2 and 3
@@ -128,7 +126,7 @@ void adcInit(drv_adc_config_t *init)
     if (device == ADCINVALID)
         return;
 
-    adcDevice_t adc = adcHardware[device];   
+    adcDevice_t adc = adcHardware[device];  
 
     for (uint8_t i = 0; i < ADC_CHANNEL_COUNT; i++) {
         if (!adcConfig[i].tag)
diff --git a/src/main/drivers/barometer.h b/src/main/drivers/barometer.h
index 1d9d8f8914..dec11ad3c2 100644
--- a/src/main/drivers/barometer.h
+++ b/src/main/drivers/barometer.h
@@ -32,4 +32,4 @@ typedef struct baro_s {
 
 #ifndef BARO_I2C_INSTANCE
 #define BARO_I2C_INSTANCE I2C_DEVICE
-#endif
\ No newline at end of file
+#endif
diff --git a/src/main/drivers/barometer_bmp085.c b/src/main/drivers/barometer_bmp085.c
index 4c3e779855..9f022f6fe4 100644
--- a/src/main/drivers/barometer_bmp085.c
+++ b/src/main/drivers/barometer_bmp085.c
@@ -20,7 +20,7 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "barometer.h"
 
@@ -35,7 +35,7 @@
 
 #ifdef BARO
 
-#if defined(BARO_EOC_GPIO) 
+#if defined(BARO_EOC_GPIO)
 
 static IO_t eocIO;
 
@@ -49,7 +49,7 @@ void bmp085_extiHandler(extiCallbackRec_t* cb)
     isConversionComplete = true;
 }
 
-bool bmp085TestEOCConnected(const bmp085Config_t *config); 
+bool bmp085TestEOCConnected(const bmp085Config_t *config);
 # endif
 
 typedef struct {
@@ -139,7 +139,7 @@ static IO_t xclrIO;
 #endif
 
 
-void bmp085InitXclrIO(const bmp085Config_t *config) 
+void bmp085InitXclrIO(const bmp085Config_t *config)
 {
     if (!xclrIO && config && config->xclrIO) {
         xclrIO = IOGetByTag(config->xclrIO);
@@ -184,7 +184,7 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
 
     delay(20); // datasheet says 10ms, we'll be careful and do 20.
 
-    ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */ 
+    ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */
     if (ack) {
         bmp085.chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID);
         bmp085.oversampling_setting = 3;
diff --git a/src/main/drivers/barometer_bmp085.h b/src/main/drivers/barometer_bmp085.h
index 328bffb134..ffe863d1ba 100644
--- a/src/main/drivers/barometer_bmp085.h
+++ b/src/main/drivers/barometer_bmp085.h
@@ -19,7 +19,7 @@
 
 typedef struct bmp085Config_s {
     ioTag_t xclrIO;
-    ioTag_t eocIO; 
+    ioTag_t eocIO;
 } bmp085Config_t;
 
 bool bmp085Detect(const bmp085Config_t *config, baro_t *baro);
diff --git a/src/main/drivers/barometer_bmp280.c b/src/main/drivers/barometer_bmp280.c
index 6d42458486..bebf45ac3b 100644
--- a/src/main/drivers/barometer_bmp280.c
+++ b/src/main/drivers/barometer_bmp280.c
@@ -20,7 +20,7 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "barometer.h"
 
diff --git a/src/main/drivers/barometer_ms5611.c b/src/main/drivers/barometer_ms5611.c
index 468f86046f..4864324de9 100644
--- a/src/main/drivers/barometer_ms5611.c
+++ b/src/main/drivers/barometer_ms5611.c
@@ -20,14 +20,14 @@
 
 #include <platform.h>
 
+#include "build/build_config.h"
+
 #include "barometer.h"
 
 #include "gpio.h"
 #include "system.h"
 #include "bus_i2c.h"
 
-#include "build_config.h"
-
 // MS5611, Standard address 0x77
 #define MS5611_ADDR                 0x77
 
diff --git a/src/main/drivers/barometer_spi_bmp280.c b/src/main/drivers/barometer_spi_bmp280.c
index 9d97343e11..0c97684972 100644
--- a/src/main/drivers/barometer_spi_bmp280.c
+++ b/src/main/drivers/barometer_spi_bmp280.c
@@ -15,6 +15,7 @@
  * along with Betaflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <stddef.h>
 #include <stdbool.h>
 #include <stdint.h>
 
@@ -24,6 +25,7 @@
 
 #include "barometer.h"
 #include "barometer_bmp280.h"
+#include "io.h"
 
 #ifdef USE_BARO_SPI_BMP280
 #define DISABLE_BMP280       IOHi(bmp280CsPin)
diff --git a/src/main/drivers/bus_i2c.h b/src/main/drivers/bus_i2c.h
index bdfc75dfa9..26cce3792f 100644
--- a/src/main/drivers/bus_i2c.h
+++ b/src/main/drivers/bus_i2c.h
@@ -21,12 +21,12 @@
 #define I2C_LONG_TIMEOUT             ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
 #define I2C_DEFAULT_TIMEOUT          I2C_SHORT_TIMEOUT
 
-#include "drivers/io.h"
-#include "drivers/rcc.h"
+#include "io_types.h"
+#include "rcc_types.h"
 
 #ifndef I2C_DEVICE
 #define I2C_DEVICE I2CINVALID
-#endif 
+#endif
 
 typedef enum I2CDevice {
     I2CINVALID = -1,
diff --git a/src/main/drivers/bus_i2c_soft.c b/src/main/drivers/bus_i2c_soft.c
index 104c77c379..540a139427 100644
--- a/src/main/drivers/bus_i2c_soft.c
+++ b/src/main/drivers/bus_i2c_soft.c
@@ -20,9 +20,10 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "bus_i2c.h"
-#include "drivers/io.h"
+#include "io.h"
 
 // Software I2C driver, using same pins as hardware I2C, with hw i2c module disabled.
 // Can be configured for I2C2 pinout (SCL: PB10, SDA: PB11) or I2C1 pinout (SCL: PB6, SDA: PB7)
diff --git a/src/main/drivers/bus_i2c_stm32f10x.c b/src/main/drivers/bus_i2c_stm32f10x.c
index 74a9f36559..be298d3cf9 100644
--- a/src/main/drivers/bus_i2c_stm32f10x.c
+++ b/src/main/drivers/bus_i2c_stm32f10x.c
@@ -47,35 +47,39 @@ static void i2cUnstick(IO_t scl, IO_t sda);
 #define IOCFG_I2C IOCFG_AF_OD
 #endif
 
-#ifndef I2C1_SCL 
-#define I2C1_SCL PB8 
+#ifndef I2C1_SCL
+#define I2C1_SCL PB8
 #endif
-#ifndef I2C1_SDA 
-#define I2C1_SDA PB9 
+#ifndef I2C1_SDA
+#define I2C1_SDA PB9
 #endif
+
 #else
-#ifndef I2C1_SCL 
-#define I2C1_SCL PB6 
+
+#ifndef I2C1_SCL
+#define I2C1_SCL PB6
 #endif
-#ifndef I2C1_SDA 
-#define I2C1_SDA PB7 
+#ifndef I2C1_SDA
+#define I2C1_SDA PB7
 #endif
+#define IOCFG_I2C   IO_CONFIG(GPIO_Mode_AF_OD, GPIO_Speed_50MHz)
 
 #endif
 
-#ifndef I2C2_SCL 
-#define I2C2_SCL PB10 
+#ifndef I2C2_SCL
+#define I2C2_SCL PB10
 #endif
-#ifndef I2C2_SDA 
+
+#ifndef I2C2_SDA
 #define I2C2_SDA PB11
 #endif
 
 #ifdef STM32F4
-#ifndef I2C3_SCL 
+#ifndef I2C3_SCL
 #define I2C3_SCL PA8
 #endif
-#ifndef I2C3_SDA 
-#define I2C3_SDA PB4 
+#ifndef I2C3_SDA
+#define I2C3_SDA PB4
 #endif
 #endif
 
@@ -93,7 +97,7 @@ static i2cState_t i2cState[] = {
     { false, false, 0, 0, 0, 0, 0, 0, 0 },
     { false, false, 0, 0, 0, 0, 0, 0, 0 },
     { false, false, 0, 0, 0, 0, 0, 0, 0 }
-}; 
+};
 
 void I2C1_ER_IRQHandler(void) {
     i2c_er_handler(I2CDEV_1);
@@ -121,7 +125,7 @@ void I2C3_EV_IRQHandler(void) {
 }
 #endif
 
-static bool i2cHandleHardwareFailure(I2CDevice device) 
+static bool i2cHandleHardwareFailure(I2CDevice device)
 {
     i2cErrorCount++;
     // reinit peripheral + clock out garbage
@@ -129,7 +133,7 @@ static bool i2cHandleHardwareFailure(I2CDevice device)
     return false;
 }
 
-bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data) 
+bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
 {
 
     if (device == I2CINVALID)
@@ -138,7 +142,7 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
     uint32_t timeout = I2C_DEFAULT_TIMEOUT;
 
     I2C_TypeDef *I2Cx;
-    I2Cx = i2cHardwareMap[device].dev; 
+    I2Cx = i2cHardwareMap[device].dev;
 
     i2cState_t *state;
     state = &(i2cState[device]);
@@ -171,12 +175,12 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
     return !(state->error);
 }
 
-bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data) 
+bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
 {
     return i2cWriteBuffer(device, addr_, reg_, 1, &data);
 }
 
-bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf) 
+bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
 {
     if (device == I2CINVALID)
         return false;
@@ -369,7 +373,7 @@ void i2c_ev_handler(I2CDevice device) {
     }
 }
 
-void i2cInit(I2CDevice device) 
+void i2cInit(I2CDevice device)
 {
     if (device == I2CINVALID)
         return;
@@ -392,14 +396,14 @@ void i2cInit(I2CDevice device)
     I2C_ITConfig(i2c->dev, I2C_IT_EVT | I2C_IT_ERR, DISABLE);
 
     i2cUnstick(scl, sda);
- 
+
     // Init pins
 #ifdef STM32F4
     IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_I2C);
     IOConfigGPIOAF(sda, IOCFG_I2C, GPIO_AF_I2C);
 #else
-    IOConfigGPIO(scl, IOCFG_AF_OD);
-    IOConfigGPIO(sda, IOCFG_AF_OD);
+    IOConfigGPIO(scl, IOCFG_I2C);
+    IOConfigGPIO(sda, IOCFG_I2C);
 #endif
 
     I2C_DeInit(i2c->dev);
diff --git a/src/main/drivers/bus_i2c_stm32f30x.c b/src/main/drivers/bus_i2c_stm32f30x.c
index d645a70504..524148fe9c 100644
--- a/src/main/drivers/bus_i2c_stm32f30x.c
+++ b/src/main/drivers/bus_i2c_stm32f30x.c
@@ -20,18 +20,19 @@
 
 #include <platform.h>
 
-#include "gpio.h"
 #include "system.h"
-#include "drivers/io_impl.h"
+#include "io.h"
+#include "io_impl.h"
+#include "rcc.h"
 
 #include "bus_i2c.h"
 
 #ifndef SOFT_I2C
 
 #if defined(USE_I2C_PULLUP)
-#define IOCFG_I2C IO_CONFIG(GPIO_Mode_AF, 0, GPIO_OType_OD, GPIO_PuPd_UP)
+#define IOCFG_I2C IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP)
 #else
-#define IOCFG_I2C IOCFG_AF_OD
+#define IOCFG_I2C IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_NOPULL)
 #endif
 
 #define I2C_HIGHSPEED_TIMING  0x00500E30  // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
@@ -39,18 +40,18 @@
 
 #define I2C_SHORT_TIMEOUT   ((uint32_t)0x1000)
 #define I2C_LONG_TIMEOUT    ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
-#define I2C_GPIO_AF         GPIO_AF_4 
+#define I2C_GPIO_AF         GPIO_AF_4
 
-#ifndef I2C1_SCL 
-#define I2C1_SCL PB6 
+#ifndef I2C1_SCL
+#define I2C1_SCL PB6
 #endif
-#ifndef I2C1_SDA 
-#define I2C1_SDA PB7 
+#ifndef I2C1_SDA
+#define I2C1_SDA PB7
 #endif
-#ifndef I2C2_SCL 
-#define I2C2_SCL PF4 
+#ifndef I2C2_SCL
+#define I2C2_SCL PF4
 #endif
-#ifndef I2C2_SDA 
+#ifndef I2C2_SDA
 #define I2C2_SDA PA10
 #endif
 
@@ -82,7 +83,7 @@ void i2cInit(I2CDevice device)
 
     I2C_TypeDef *I2Cx;
     I2Cx = i2c->dev;
-   
+  
     IO_t scl = IOGetByTag(i2c->scl);
     IO_t sda = IOGetByTag(i2c->sda);
 
@@ -108,7 +109,7 @@ void i2cInit(I2CDevice device)
     I2C_Init(I2Cx, &i2cInit);
 
     I2C_StretchClockCmd(I2Cx, ENABLE);
-  
+ 
     I2C_Cmd(I2Cx, ENABLE);
 }
 
@@ -122,7 +123,7 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
     addr_ <<= 1;
 
     I2C_TypeDef *I2Cx;
-    I2Cx = i2cHardwareMap[device].dev; 
+    I2Cx = i2cHardwareMap[device].dev;
 
     /* Test on BUSY Flag */
     i2cTimeout = I2C_LONG_TIMEOUT;
@@ -132,10 +133,10 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
         }
     }
 
-        /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+    /* Configure slave address, nbytes, reload, end mode and start or stop generation */
     I2C_TransferHandling(I2Cx, addr_, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
 
-        /* Wait until TXIS flag is set */
+    /* Wait until TXIS flag is set */
     i2cTimeout = I2C_LONG_TIMEOUT;
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
         if ((i2cTimeout--) == 0) {
@@ -143,10 +144,10 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
         }
     }
 
-        /* Send Register address */
+    /* Send Register address */
     I2C_SendData(I2Cx, (uint8_t) reg);
 
-        /* Wait until TCR flag is set */
+    /* Wait until TCR flag is set */
     i2cTimeout = I2C_LONG_TIMEOUT;
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET)
     {
@@ -155,10 +156,10 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
         }
     }
 
-        /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+    /* Configure slave address, nbytes, reload, end mode and start or stop generation */
     I2C_TransferHandling(I2Cx, addr_, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
 
-        /* Wait until TXIS flag is set */
+    /* Wait until TXIS flag is set */
     i2cTimeout = I2C_LONG_TIMEOUT;
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
         if ((i2cTimeout--) == 0) {
@@ -166,10 +167,10 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
         }
     }
 
-        /* Write data to TXDR */
+    /* Write data to TXDR */
     I2C_SendData(I2Cx, data);
 
-        /* Wait until STOPF flag is set */
+    /* Wait until STOPF flag is set */
     i2cTimeout = I2C_LONG_TIMEOUT;
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
         if ((i2cTimeout--) == 0) {
@@ -177,7 +178,7 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
         }
     }
 
-        /* Clear STOPF flag */
+    /* Clear STOPF flag */
     I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
 
     return true;
@@ -188,7 +189,7 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
     addr_ <<= 1;
 
     I2C_TypeDef *I2Cx;
-    I2Cx = i2cHardwareMap[device].dev; 
+    I2Cx = i2cHardwareMap[device].dev;
 
     /* Test on BUSY Flag */
     i2cTimeout = I2C_LONG_TIMEOUT;
@@ -198,10 +199,10 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
         }
     }
 
-        /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+    /* Configure slave address, nbytes, reload, end mode and start or stop generation */
     I2C_TransferHandling(I2Cx, addr_, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
 
-        /* Wait until TXIS flag is set */
+    /* Wait until TXIS flag is set */
     i2cTimeout = I2C_LONG_TIMEOUT;
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
         if ((i2cTimeout--) == 0) {
@@ -209,10 +210,10 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
         }
     }
 
-        /* Send Register address */
+    /* Send Register address */
     I2C_SendData(I2Cx, (uint8_t) reg);
 
-        /* Wait until TC flag is set */
+    /* Wait until TC flag is set */
     i2cTimeout = I2C_LONG_TIMEOUT;
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET) {
         if ((i2cTimeout--) == 0) {
@@ -220,10 +221,10 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
         }
     }
 
-        /* Configure slave address, nbytes, reload, end mode and start or stop generation */
+    /* Configure slave address, nbytes, reload, end mode and start or stop generation */
     I2C_TransferHandling(I2Cx, addr_, len, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
 
-        /* Wait until all data are received */
+    /* Wait until all data are received */
     while (len) {
         /* Wait until RXNE flag is set */
         i2cTimeout = I2C_LONG_TIMEOUT;
@@ -233,16 +234,16 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
             }
         }
 
-                /* Read data from RXDR */
+        /* Read data from RXDR */
         *buf = I2C_ReceiveData(I2Cx);
         /* Point to the next location where the byte read will be saved */
         buf++;
 
-                /* Decrement the read bytes counter */
+        /* Decrement the read bytes counter */
         len--;
     }
 
-        /* Wait until STOPF flag is set */
+    /* Wait until STOPF flag is set */
     i2cTimeout = I2C_LONG_TIMEOUT;
     while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
         if ((i2cTimeout--) == 0) {
@@ -250,10 +251,10 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
         }
     }
 
-        /* Clear STOPF flag */
+    /* Clear STOPF flag */
     I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
 
-        /* If all operations OK */
+    /* If all operations OK */
     return true;
 }
 
diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
index 005f7936b6..c86fdbdb48 100644
--- a/src/main/drivers/bus_spi.c
+++ b/src/main/drivers/bus_spi.c
@@ -21,6 +21,7 @@
 #include <platform.h>
 
 #include "bus_spi.h"
+#include "exti.h"
 #include "io.h"
 #include "io_impl.h"
 #include "rcc.h"
@@ -36,7 +37,7 @@
 #ifndef GPIO_AF_SPI3
 #define GPIO_AF_SPI3    GPIO_AF_6
 #endif
-#endif 
+#endif
 
 #ifndef SPI1_SCK_PIN
 #define SPI1_NSS_PIN    PA4
@@ -84,7 +85,7 @@ static spiDevice_t spiHardwareMap[] = {
 
 SPIDevice spiDeviceByInstance(SPI_TypeDef *instance)
 {
-    if (instance == SPI1) 
+    if (instance == SPI1)
         return SPIDEV_1;
 
     if (instance == SPI2)
diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h
index dbba94881c..58c76c9d78 100644
--- a/src/main/drivers/bus_spi.h
+++ b/src/main/drivers/bus_spi.h
@@ -17,9 +17,8 @@
 
 #pragma once
 
-#include <stdint.h>
-#include "io.h"
-#include "rcc.h"
+#include "io_types.h"
+#include "rcc_types.h"
 
 #if defined(STM32F4) || defined(STM32F3)
 #define SPI_IO_AF_CFG      IO_CONFIG(GPIO_Mode_AF,  GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
@@ -31,8 +30,6 @@
 #define SPI_IO_AF_MOSI_CFG    IO_CONFIG(GPIO_Mode_AF_PP,       GPIO_Speed_50MHz)
 #define SPI_IO_AF_MISO_CFG    IO_CONFIG(GPIO_Mode_IN_FLOATING, GPIO_Speed_50MHz)
 #define SPI_IO_CS_CFG         IO_CONFIG(GPIO_Mode_Out_PP,      GPIO_Speed_50MHz)
-#else
-#error "Unknown processor"
 #endif
 
 /*
diff --git a/src/main/drivers/compass.h b/src/main/drivers/compass.h
index 68d44442f4..b20ae332bc 100644
--- a/src/main/drivers/compass.h
+++ b/src/main/drivers/compass.h
@@ -24,4 +24,4 @@ typedef struct mag_s {
 
 #ifndef MAG_I2C_INSTANCE
 #define MAG_I2C_INSTANCE I2C_DEVICE
-#endif
\ No newline at end of file
+#endif
diff --git a/src/main/drivers/compass_ak8963.c b/src/main/drivers/compass_ak8963.c
index 0668fcdd77..d8e8fa6d52 100644
--- a/src/main/drivers/compass_ak8963.c
+++ b/src/main/drivers/compass_ak8963.c
@@ -20,11 +20,10 @@
 
 #include <math.h>
 
-#include "build_config.h"
-
 #include "platform.h"
 
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -33,9 +32,6 @@
 #include "bus_i2c.h"
 #include "bus_spi.h"
 
-#include "sensors/boardalignment.h"
-#include "sensors/sensors.h"
-
 #include "sensor.h"
 #include "compass.h"
 
diff --git a/src/main/drivers/compass_ak8975.c b/src/main/drivers/compass_ak8975.c
index c35db1d1f6..df6cfd4f10 100644
--- a/src/main/drivers/compass_ak8975.c
+++ b/src/main/drivers/compass_ak8975.c
@@ -20,10 +20,12 @@
 
 #include <math.h>
 
-#include "build_config.h"
-
 #include "platform.h"
 
+#ifdef USE_MAG_AK8975
+
+#include "build/build_config.h"
+
 #include "common/axis.h"
 #include "common/maths.h"
 
@@ -31,9 +33,6 @@
 #include "gpio.h"
 #include "bus_i2c.h"
 
-#include "sensors/boardalignment.h"
-#include "sensors/sensors.h"
-
 #include "sensor.h"
 #include "compass.h"
 
@@ -59,7 +58,7 @@
 #define AK8975_MAG_REG_CNTL         0x0a
 #define AK8975_MAG_REG_ASCT         0x0c // self test
 
-bool ak8975detect(mag_t *mag)
+bool ak8975Detect(mag_t *mag)
 {
     bool ack = false;
     uint8_t sig = 0;
@@ -155,3 +154,4 @@ bool ak8975Read(int16_t *magData)
     ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x01); // start reading again
     return true;
 }
+#endif
diff --git a/src/main/drivers/compass_ak8975.h b/src/main/drivers/compass_ak8975.h
index f80e646130..493114cb3d 100644
--- a/src/main/drivers/compass_ak8975.h
+++ b/src/main/drivers/compass_ak8975.h
@@ -17,6 +17,6 @@
 
 #pragma once
 
-bool ak8975detect(mag_t *mag);
+bool ak8975Detect(mag_t *mag);
 void ak8975Init(void);
 bool ak8975Read(int16_t *magData);
diff --git a/src/main/drivers/compass_hmc5883l.c b/src/main/drivers/compass_hmc5883l.c
index 68c404d804..6d91614540 100644
--- a/src/main/drivers/compass_hmc5883l.c
+++ b/src/main/drivers/compass_hmc5883l.c
@@ -21,7 +21,10 @@
 #include <math.h>
 
 #include "platform.h"
-#include "debug.h"
+
+#ifdef USE_MAG_HMC5883
+
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -36,8 +39,6 @@
 #include "sensor.h"
 #include "compass.h"
 
-#include "sensors/sensors.h"
-
 #include "compass_hmc5883l.h"
 
 //#define DEBUG_MAG_DATA_READY_INTERRUPT
@@ -271,3 +272,4 @@ bool hmc5883lRead(int16_t *magData)
 
     return true;
 }
+#endif
diff --git a/src/main/drivers/compass_hmc5883l.h b/src/main/drivers/compass_hmc5883l.h
index 035a2c936f..e2f71fd28d 100644
--- a/src/main/drivers/compass_hmc5883l.h
+++ b/src/main/drivers/compass_hmc5883l.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "io.h"
+#include "io_types.h"
 
 typedef struct hmc5883Config_s {
     ioTag_t intTag;
diff --git a/src/main/drivers/dma.c b/src/main/drivers/dma.c
index 0ad411312e..7e4942fbe1 100644
--- a/src/main/drivers/dma.c
+++ b/src/main/drivers/dma.c
@@ -21,8 +21,8 @@
 
 #include <platform.h>
 
-#include "drivers/nvic.h"
-#include "drivers/dma.h"
+#include "nvic.h"
+#include "dma.h"
 
 /*
  * DMA descriptors.
diff --git a/src/main/drivers/dma.h b/src/main/drivers/dma.h
index 4f0dabdfff..726a5a1807 100644
--- a/src/main/drivers/dma.h
+++ b/src/main/drivers/dma.h
@@ -22,13 +22,15 @@ typedef void (*dmaCallbackHandlerFuncPtr)(struct dmaChannelDescriptor_s *channel
 #ifdef STM32F4
 
 typedef enum {
-    DMA1_ST1_HANDLER = 0,
+    DMA1_ST0_HANDLER = 0,
+    DMA1_ST1_HANDLER,
     DMA1_ST2_HANDLER,
     DMA1_ST3_HANDLER,
     DMA1_ST4_HANDLER,
     DMA1_ST5_HANDLER,
     DMA1_ST6_HANDLER,
     DMA1_ST7_HANDLER,
+    DMA2_ST0_HANDLER,
     DMA2_ST1_HANDLER,
     DMA2_ST2_HANDLER,
     DMA2_ST3_HANDLER,
@@ -63,7 +65,7 @@ typedef struct dmaChannelDescriptor_s {
 #define DMA_IT_TEIF                         ((uint32_t)0x00000008)
 #define DMA_IT_DMEIF                        ((uint32_t)0x00000004)
 #define DMA_IT_FEIF                         ((uint32_t)0x00000001)
-
+   
 #else
 
 typedef enum {
diff --git a/src/main/drivers/dma_stm32f4xx.c b/src/main/drivers/dma_stm32f4xx.c
index ce960ab4c2..8372ad0bcb 100644
--- a/src/main/drivers/dma_stm32f4xx.c
+++ b/src/main/drivers/dma_stm32f4xx.c
@@ -21,8 +21,8 @@
 
 #include <platform.h>
 
-#include "drivers/nvic.h"
-#include "drivers/dma.h"
+#include "nvic.h"
+#include "dma.h"
 
 /*
  * DMA descriptors.
@@ -45,12 +45,12 @@ static dmaChannelDescriptor_t dmaDescriptors[] = {
     DEFINE_DMA_CHANNEL(DMA2, DMA2_Stream5, 38, DMA2_Stream5_IRQn, RCC_AHB1Periph_DMA2),
     DEFINE_DMA_CHANNEL(DMA2, DMA2_Stream6, 48, DMA2_Stream6_IRQn, RCC_AHB1Periph_DMA2),
     DEFINE_DMA_CHANNEL(DMA2, DMA2_Stream7, 54, DMA2_Stream7_IRQn, RCC_AHB1Periph_DMA2),
-
 };
 
 /*
  * DMA IRQ Handlers
  */
+DEFINE_DMA_IRQ_HANDLER(1, 0, DMA1_ST0_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(1, 1, DMA1_ST1_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(1, 2, DMA1_ST2_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(1, 3, DMA1_ST3_HANDLER)
@@ -58,12 +58,14 @@ DEFINE_DMA_IRQ_HANDLER(1, 4, DMA1_ST4_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(1, 5, DMA1_ST5_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(1, 6, DMA1_ST6_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(1, 7, DMA1_ST7_HANDLER)
+DEFINE_DMA_IRQ_HANDLER(2, 0, DMA2_ST0_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(2, 1, DMA2_ST1_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(2, 2, DMA2_ST2_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(2, 3, DMA2_ST3_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(2, 4, DMA2_ST4_HANDLER)
 DEFINE_DMA_IRQ_HANDLER(2, 5, DMA2_ST5_HANDLER)
-
+DEFINE_DMA_IRQ_HANDLER(2, 6, DMA2_ST6_HANDLER)
+DEFINE_DMA_IRQ_HANDLER(2, 7, DMA2_ST7_HANDLER)
 
 void dmaInit(void)
 {
diff --git a/src/main/drivers/exti.c b/src/main/drivers/exti.c
index cd97ba9b74..ce665bb077 100644
--- a/src/main/drivers/exti.c
+++ b/src/main/drivers/exti.c
@@ -24,22 +24,22 @@ static uint8_t extiGroupPriority[EXTI_IRQ_GROUPS];
 
 #if defined(STM32F1) || defined(STM32F4)
 static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
-    EXTI0_IRQn, 
-    EXTI1_IRQn, 
-    EXTI2_IRQn, 
-    EXTI3_IRQn, 
+    EXTI0_IRQn,
+    EXTI1_IRQn,
+    EXTI2_IRQn,
+    EXTI3_IRQn,
     EXTI4_IRQn,
-    EXTI9_5_IRQn, 
+    EXTI9_5_IRQn,
     EXTI15_10_IRQn
 };
 #elif defined(STM32F3)
 static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
-    EXTI0_IRQn, 
-    EXTI1_IRQn, 
-    EXTI2_TS_IRQn, 
-    EXTI3_IRQn, 
+    EXTI0_IRQn,
+    EXTI1_IRQn,
+    EXTI2_TS_IRQn,
+    EXTI3_IRQn,
     EXTI4_IRQn,
-    EXTI9_5_IRQn, 
+    EXTI9_5_IRQn,
     EXTI15_10_IRQn
 };
 #else
diff --git a/src/main/drivers/exti.h b/src/main/drivers/exti.h
index 8071c65e33..adc95f13ab 100644
--- a/src/main/drivers/exti.h
+++ b/src/main/drivers/exti.h
@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include "drivers/io.h"
+#include "io_types.h"
 
 // old EXTI interface, to be replaced
 typedef struct extiConfig_s {
diff --git a/src/main/drivers/flash_m25p16.c b/src/main/drivers/flash_m25p16.c
index 806c777dab..44d7b95464 100644
--- a/src/main/drivers/flash_m25p16.c
+++ b/src/main/drivers/flash_m25p16.c
@@ -22,9 +22,10 @@
 
 #ifdef USE_FLASH_M25P16
 
-#include "drivers/flash_m25p16.h"
-#include "drivers/bus_spi.h"
-#include "drivers/system.h"
+#include "flash_m25p16.h"
+#include "io.h"
+#include "bus_spi.h"
+#include "system.h"
 
 #define M25P16_INSTRUCTION_RDID             0x9F
 #define M25P16_INSTRUCTION_READ_BYTES       0x03
@@ -43,6 +44,7 @@
 #define JEDEC_ID_MICRON_M25P16         0x202015
 #define JEDEC_ID_MICRON_N25Q064        0x20BA17
 #define JEDEC_ID_WINBOND_W25Q64        0xEF4017
+#define JEDEC_ID_MACRONIX_MX25L3206E   0xC22016
 #define JEDEC_ID_MACRONIX_MX25L6406E   0xC22017
 #define JEDEC_ID_MICRON_N25Q128        0x20ba18
 #define JEDEC_ID_WINBOND_W25Q128       0xEF4018
@@ -161,6 +163,10 @@ static bool m25p16_readIdentification()
             geometry.sectors = 32;
             geometry.pagesPerSector = 256;
         break;
+        case JEDEC_ID_MACRONIX_MX25L3206E:
+            geometry.sectors = 64;
+            geometry.pagesPerSector = 256;
+        break;
         case JEDEC_ID_MICRON_N25Q064:
         case JEDEC_ID_WINBOND_W25Q64:
         case JEDEC_ID_MACRONIX_MX25L6406E:
@@ -196,12 +202,27 @@ static bool m25p16_readIdentification()
  * Attempts to detect a connected m25p16. If found, true is returned and device capacity can be fetched with
  * m25p16_getGeometry().
  */
-bool m25p16_init()
+bool m25p16_init(ioTag_t csTag)
 {
-
-#ifdef M25P16_CS_PIN 
-    m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
+    /* 
+        if we have already detected a flash device we can simply exit 
+        
+        TODO: change the init param in favour of flash CFG when ParamGroups work is done
+        then cs pin can be specified in hardware_revision.c or config.c (dependent on revision).
+    */
+    if (geometry.sectors) {
+        return true;
+    }
+    
+    if (csTag) {
+        m25p16CsPin = IOGetByTag(csTag);
+    } else {
+#ifdef M25P16_CS_PIN
+        m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
+#else
+        return false;
 #endif
+    }
     IOInit(m25p16CsPin, OWNER_FLASH, RESOURCE_SPI_CS, 0);
     IOConfigGPIO(m25p16CsPin, SPI_IO_CS_CFG);
 
diff --git a/src/main/drivers/flash_m25p16.h b/src/main/drivers/flash_m25p16.h
index 972fe10bbc..6cad8a8ea6 100644
--- a/src/main/drivers/flash_m25p16.h
+++ b/src/main/drivers/flash_m25p16.h
@@ -19,10 +19,11 @@
 
 #include <stdint.h>
 #include "flash.h"
+#include "io_types.h"
 
 #define M25P16_PAGESIZE 256
 
-bool m25p16_init();
+bool m25p16_init(ioTag_t csTag);
 
 void m25p16_eraseSector(uint32_t address);
 void m25p16_eraseCompletely();
diff --git a/src/main/drivers/gpio_stm32f4xx.c b/src/main/drivers/gpio_stm32f4xx.c
index 0129bf68f4..7c5281191e 100644
--- a/src/main/drivers/gpio_stm32f4xx.c
+++ b/src/main/drivers/gpio_stm32f4xx.c
@@ -20,7 +20,7 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "gpio.h"
 
diff --git a/src/main/drivers/gyro_sync.c b/src/main/drivers/gyro_sync.c
index cd95e186e1..dbdc2244c9 100644
--- a/src/main/drivers/gyro_sync.c
+++ b/src/main/drivers/gyro_sync.c
@@ -10,9 +10,9 @@
 
 #include "platform.h"
 
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
-#include "drivers/gyro_sync.h"
+#include "sensor.h"
+#include "accgyro.h"
+#include "gyro_sync.h"
 
 static uint8_t mpuDividerDrops;
 
diff --git a/src/main/drivers/inverter.c b/src/main/drivers/inverter.c
index fbbff6ffd4..336f850865 100644
--- a/src/main/drivers/inverter.c
+++ b/src/main/drivers/inverter.c
@@ -20,18 +20,23 @@
 
 #include "platform.h"
 
-#ifdef INVERTER  
+#ifdef INVERTER 
 
 #include "io.h"
 #include "io_impl.h"
 
 #include "inverter.h"
 
-static const IO_t pin = DEFIO_IO(INVERTER);
+/* 
+    TODO: move this to support multiple inverters on different UARTs etc
+    possibly move to put it in the UART driver itself.
+*/
+static IO_t pin = IO_NONE;
 
 void initInverter(void)
 {
-    IOInit(pin, OWNER_INVERTER, RESOURCE_OUTPUT, 0);
+    pin = IOGetByTag(IO_TAG(INVERTER));
+    IOInit(pin, OWNER_INVERTER, RESOURCE_OUTPUT, 1);
     IOConfigGPIO(pin, IOCFG_OUT_PP);
 
     inverterSet(false);
diff --git a/src/main/drivers/inverter.h b/src/main/drivers/inverter.h
index 6ec27ef83c..4b9c3fe274 100644
--- a/src/main/drivers/inverter.h
+++ b/src/main/drivers/inverter.h
@@ -28,5 +28,3 @@ void inverterSet(bool on);
 
 void initInverter(void);
 
-
-
diff --git a/src/main/drivers/io.c b/src/main/drivers/io.c
index 980168abba..d371d38e51 100644
--- a/src/main/drivers/io.c
+++ b/src/main/drivers/io.c
@@ -54,18 +54,17 @@ const struct ioPortDef_s ioPortDefs[] = {
 # endif
 
 const char * const ownerNames[OWNER_TOTAL_COUNT] = {
-	"FREE", "PWM", "PPM", "MOTOR", "SERVO", "SOFTSERIAL", "ADC", "SERIAL", "DEBUG", "TIMER",
-	"SONAR", "SYSTEM", "SPI", "I2C", "SDCARD", "FLASH", "USB", "BEEPER", "OSD",
-	"BARO", "MPU", "INVERTER", "LED STRIP", "LED", "RECEIVER", "TRANSMITTER"
+    "FREE", "PWM", "PPM", "MOTOR", "SERVO", "SOFTSERIAL", "ADC", "SERIAL", "DEBUG", "TIMER",
+    "SONAR", "SYSTEM", "SPI", "I2C", "SDCARD", "FLASH", "USB", "BEEPER", "OSD",
+    "BARO", "MPU", "INVERTER", "LED STRIP", "LED", "RECEIVER", "TRANSMITTER"
 };
 
 const char * const resourceNames[RESOURCE_TOTAL_COUNT] = {
-	"", // NONE
-	"IN", "OUT", "IN / OUT", "TIMER","UART TX","UART RX","UART TX/RX","EXTI","SCL",
+    "", // NONE
+    "IN", "OUT", "IN / OUT", "TIMER","UART TX","UART RX","UART TX/RX","EXTI","SCL",
     "SDA", "SCK","MOSI","MISO","CS","BATTERY","RSSI","EXT","CURRENT"
 };
 
-
 ioRec_t* IO_Rec(IO_t io)
 {
     return io;
@@ -207,8 +206,8 @@ void IOInit(IO_t io, resourceOwner_t owner, resourceType_t resource, uint8_t ind
 {
     ioRec_t *ioRec = IO_Rec(io);
     ioRec->owner = owner;
-	ioRec->resource = resource;
-	ioRec->index = index;
+    ioRec->resource = resource;
+    ioRec->index = index;
 }
 
 void IORelease(IO_t io)
diff --git a/src/main/drivers/io.h b/src/main/drivers/io.h
index 07c53a2032..5afa4abb76 100644
--- a/src/main/drivers/io.h
+++ b/src/main/drivers/io.h
@@ -6,13 +6,7 @@
 #include <platform.h>
 #include "resource.h"
 
-// IO pin identification
-// make sure that ioTag_t can't be assigned into IO_t without warning
-typedef uint8_t ioTag_t;       // packet tag to specify IO pin
-typedef void* IO_t;            // type specifying IO pin. Currently ioRec_t pointer, but this may change
-
-// NONE initializer for IO_t variable
-#define IO_NONE ((IO_t)0)
+#include "io_types.h"
 
 // preprocessor is used to convert pinid to requested C data value
 // compile-time error is generated if requested pin is not available (not set in TARGET_IO_PORTx)
@@ -21,19 +15,6 @@ typedef void* IO_t;            // type specifying IO pin. Currently ioRec_t poin
 // expand pinid to to ioTag_t
 #define IO_TAG(pinid) DEFIO_TAG(pinid)
 
-// both ioTag_t and IO_t are guarantied to be zero if pinid is NONE (no pin)
-// this simplifies initialization (globals are zeroed on start) and allows
-//  omitting unused fields in structure initializers.
-// it is also possible to use IO_t and ioTag_t as boolean value
-//   TODO - this may conflict with requirement to generate warning/error on IO_t - ioTag_t assignment
-//   IO_t being pointer is only possibility I know of ..
-
-// pin config handling
-// pin config is packed into ioConfig_t to decrease memory requirements
-// IOCFG_x macros are defined for common combinations for all CPUs; this
-//  helps masking CPU differences
-
-typedef uint8_t ioConfig_t;  // packed IO configuration
 #if defined(STM32F1)
 
 // mode is using only bits 6-2
@@ -52,7 +33,7 @@ typedef uint8_t ioConfig_t;  // packed IO configuration
 #define IO_CONFIG(mode, speed, otype, pupd) ((mode) | ((speed) << 2) | ((otype) << 4) | ((pupd) << 5))
 
 #define IOCFG_OUT_PP         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_PP, GPIO_PuPd_NOPULL)  // TODO
-#define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL) 
+#define IOCFG_OUT_PP_25      IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_25MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
 #define IOCFG_OUT_OD         IO_CONFIG(GPIO_Mode_OUT, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL)
 #define IOCFG_AF_PP          IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_NOPULL)
 #define IOCFG_AF_PP_PD       IO_CONFIG(GPIO_Mode_AF,  0, GPIO_OType_PP, GPIO_PuPd_DOWN)
diff --git a/src/main/drivers/io_impl.h b/src/main/drivers/io_impl.h
index 1b3cca2bcf..0c880fd78d 100644
--- a/src/main/drivers/io_impl.h
+++ b/src/main/drivers/io_impl.h
@@ -12,7 +12,7 @@ typedef struct ioRec_s {
     GPIO_TypeDef *gpio;
     uint16_t pin;
     resourceOwner_t owner;
-    resourceType_t resource; 
+    resourceType_t resource;
     uint8_t index;
 } ioRec_t;
 
@@ -26,7 +26,7 @@ int IO_GPIO_PortSource(IO_t io);
 
 #if defined(STM32F3) || defined(STM32F4)
 int IO_EXTI_PortSourceGPIO(IO_t io);
-int IO_EXTI_PinSource(IO_t io); 
+int IO_EXTI_PinSource(IO_t io);
 #endif
 
 GPIO_TypeDef* IO_GPIO(IO_t io);
diff --git a/src/main/drivers/io_types.h b/src/main/drivers/io_types.h
new file mode 100644
index 0000000000..ba80cd3bc7
--- /dev/null
+++ b/src/main/drivers/io_types.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <stdint.h>
+
+// IO pin identification
+// make sure that ioTag_t can't be assigned into IO_t without warning
+typedef uint8_t ioTag_t;       // packet tag to specify IO pin
+typedef void* IO_t;            // type specifying IO pin. Currently ioRec_t pointer, but this may change
+
+// NONE initializer for ioTag_t variables
+#define IOTAG_NONE ((ioTag_t)0)
+
+// NONE initializer for IO_t variable
+#define IO_NONE ((IO_t)0)
+
+// both ioTag_t and IO_t are guarantied to be zero if pinid is NONE (no pin)
+// this simplifies initialization (globals are zeroed on start) and allows
+//  omitting unused fields in structure initializers.
+// it is also possible to use IO_t and ioTag_t as boolean value
+//   TODO - this may conflict with requirement to generate warning/error on IO_t - ioTag_t assignment
+//   IO_t being pointer is only possibility I know of ..
+
+// pin config handling
+// pin config is packed into ioConfig_t to decrease memory requirements
+// IOCFG_x macros are defined for common combinations for all CPUs; this
+//  helps masking CPU differences
+
+typedef uint8_t ioConfig_t;  // packed IO configuration
diff --git a/src/main/drivers/light_led.c b/src/main/drivers/light_led.c
index 5fe73a1664..a6b2a6892e 100644
--- a/src/main/drivers/light_led.c
+++ b/src/main/drivers/light_led.c
@@ -27,12 +27,12 @@ static const IO_t leds[] = {
     DEFIO_IO(LED0),
 #else
     DEFIO_IO(NONE),
-#endif 
+#endif
 #ifdef LED1
     DEFIO_IO(LED1),
 #else
     DEFIO_IO(NONE),
-#endif 
+#endif
 #ifdef LED2
     DEFIO_IO(LED2),
 #else
@@ -78,15 +78,14 @@ uint8_t ledPolarity = 0
 #endif
     ;
 
-uint8_t ledOffset = 0;
+static uint8_t ledOffset = 0;
 
 void ledInit(bool alternative_led)
 {
-    uint32_t i;
-
 #if defined(LED0_A) || defined(LED1_A) || defined(LED2_A)
-    if (alternative_led)
+    if (alternative_led) {
         ledOffset = LED_NUMBER;
+    }
 #else
     UNUSED(alternative_led);
 #endif
@@ -95,7 +94,7 @@ void ledInit(bool alternative_led)
     LED1_OFF;
     LED2_OFF;
 
-    for (i = 0; i < LED_NUMBER; i++) {
+    for (int i = 0; i < LED_NUMBER; i++) {
         if (leds[i + ledOffset]) {
             IOInit(leds[i + ledOffset], OWNER_LED, RESOURCE_OUTPUT, RESOURCE_INDEX(i));
             IOConfigGPIO(leds[i + ledOffset], IOCFG_OUT_PP);
@@ -114,6 +113,6 @@ void ledToggle(int led)
 
 void ledSet(int led, bool on)
 {
-    bool inverted = (1 << (led + ledOffset)) & ledPolarity;
+    const bool inverted = (1 << (led + ledOffset)) & ledPolarity;
     IOWrite(leds[led + ledOffset], on ? inverted : !inverted);
 }
diff --git a/src/main/drivers/light_ws2811strip.c b/src/main/drivers/light_ws2811strip.c
index 05f0998927..bd935432dc 100644
--- a/src/main/drivers/light_ws2811strip.c
+++ b/src/main/drivers/light_ws2811strip.c
@@ -30,16 +30,20 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#ifdef LED_STRIP
+
+#include "build/build_config.h"
 
 #include "common/color.h"
 #include "common/colorconversion.h"
-#include "drivers/dma.h"
-#include "drivers/light_ws2811strip.h"
-
-#ifdef LED_STRIP
+#include "dma.h"
+#include "light_ws2811strip.h"
 
+#if defined(STM32F4)
+uint32_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
+#else
 uint8_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
+#endif
 volatile uint8_t ws2811LedDataTransferInProgress = 0;
 
 static hsvColor_t ledColorBuffer[WS2811_LED_STRIP_LENGTH];
diff --git a/src/main/drivers/light_ws2811strip.h b/src/main/drivers/light_ws2811strip.h
index 974c19c655..c24712502c 100644
--- a/src/main/drivers/light_ws2811strip.h
+++ b/src/main/drivers/light_ws2811strip.h
@@ -51,8 +51,9 @@ void setStripColors(const hsvColor_t *colors);
 
 bool isWS2811LedStripReady(void);
 
+#if defined(STM32F4)
+extern uint32_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
+#else
 extern uint8_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
+#endif
 extern volatile uint8_t ws2811LedDataTransferInProgress;
-
-extern const hsvColor_t hsv_white;
-extern const hsvColor_t hsv_black;
diff --git a/src/main/drivers/light_ws2811strip_stm32f10x.c b/src/main/drivers/light_ws2811strip_stm32f10x.c
index 96bb85fd26..911b7cdc66 100644
--- a/src/main/drivers/light_ws2811strip_stm32f10x.c
+++ b/src/main/drivers/light_ws2811strip_stm32f10x.c
@@ -20,15 +20,16 @@
 
 #include <platform.h>
 
+#ifdef LED_STRIP
+
 #include "common/color.h"
-#include "drivers/light_ws2811strip.h"
+#include "light_ws2811strip.h"
 #include "nvic.h"
 #include "io.h"
 #include "dma.h"
+#include "rcc.h"
 #include "timer.h"
 
-#ifdef LED_STRIP
-
 static IO_t ws2811IO = IO_NONE;
 bool ws2811Initialised = false;
 
@@ -105,6 +106,7 @@ void ws2811LedStripHardwareInit(void)
 
     DMA_ITConfig(DMA1_Channel6, DMA_IT_TC, ENABLE);
 
+    const hsvColor_t hsv_white = {  0, 255, 255};
     ws2811Initialised = true;
     setStripColor(&hsv_white);
     ws2811UpdateStrip();
diff --git a/src/main/drivers/light_ws2811strip_stm32f30x.c b/src/main/drivers/light_ws2811strip_stm32f30x.c
index ff52a64836..1fadfb1f03 100644
--- a/src/main/drivers/light_ws2811strip_stm32f30x.c
+++ b/src/main/drivers/light_ws2811strip_stm32f30x.c
@@ -20,17 +20,17 @@
 
 #include <platform.h>
 
+#ifdef LED_STRIP
+
 #include "io.h"
 #include "nvic.h"
 
 #include "common/color.h"
-#include "drivers/light_ws2811strip.h"
+#include "light_ws2811strip.h"
 #include "dma.h"
 #include "rcc.h"
 #include "timer.h"
 
-#ifdef LED_STRIP
-
 #ifndef WS2811_PIN
 #define WS2811_PIN                      PB8 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
@@ -111,6 +111,7 @@ void ws2811LedStripHardwareInit(void)
 
     DMA_ITConfig(WS2811_DMA_CHANNEL, DMA_IT_TC, ENABLE);
 
+    const hsvColor_t hsv_white = {  0, 255, 255};
     ws2811Initialised = true;
     setStripColor(&hsv_white);
     ws2811UpdateStrip();
diff --git a/src/main/drivers/light_ws2811strip_stm32f4xx.c b/src/main/drivers/light_ws2811strip_stm32f4xx.c
index 3a888bd21b..d1ea43d7ae 100644
--- a/src/main/drivers/light_ws2811strip_stm32f4xx.c
+++ b/src/main/drivers/light_ws2811strip_stm32f4xx.c
@@ -20,6 +20,8 @@
 
 #include "platform.h"
 
+#ifdef LED_STRIP
+
 #include "common/color.h"
 #include "light_ws2811strip.h"
 #include "nvic.h"
@@ -29,10 +31,8 @@
 #include "rcc.h"
 #include "timer.h"
 
-#ifdef LED_STRIP
-
-#if !defined(WS2811_PIN) 
-#define WS2811_PIN                      PA0 
+#if !defined(WS2811_PIN)
+#define WS2811_PIN                      PA0
 #define WS2811_TIMER                    TIM5
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
 #define WS2811_DMA_STREAM               DMA1_Stream2
@@ -50,7 +50,7 @@ static void WS2811_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
     if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
         ws2811LedDataTransferInProgress = 0;
         DMA_Cmd(descriptor->stream, DISABLE);
-        TIM_DMACmd(TIM5, TIM_DMA_CC1, DISABLE);
+        TIM_DMACmd(WS2811_TIMER, timDMASource, DISABLE);
         DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
     }
 }
@@ -154,6 +154,7 @@ void ws2811LedStripHardwareInit(void)
 
     dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, 0);
 
+    const hsvColor_t hsv_white = {  0, 255, 255};
     ws2811Initialised = true;
     setStripColor(&hsv_white);
     ws2811UpdateStrip();
diff --git a/src/main/drivers/max7456.c b/src/main/drivers/max7456.c
old mode 100644
new mode 100755
index b9f521273c..647d0dc83e
--- a/src/main/drivers/max7456.c
+++ b/src/main/drivers/max7456.c
@@ -19,16 +19,17 @@
 #include <stdint.h>
 
 #include "platform.h"
-#include "version.h"
 
 #ifdef USE_MAX7456
 
 #include "common/printf.h"
-#include "drivers/bus_spi.h"
-#include "drivers/light_led.h"
-#include "drivers/system.h"
-#include "drivers/nvic.h"
-#include "drivers/dma.h"
+
+#include "bus_spi.h"
+#include "light_led.h"
+#include "io.h"
+#include "system.h"
+#include "nvic.h"
+#include "dma.h"
 
 #include "max7456.h"
 #include "max7456_symbols.h"
@@ -75,6 +76,7 @@ static void max7456_send_dma(void* tx_buffer, void* rx_buffer, uint16_t buffer_s
 #endif
 
     // Common to both channels
+    DMA_StructInit(&DMA_InitStructure);
     DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(&(MAX7456_SPI_INSTANCE->DR));
     DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
     DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
@@ -82,22 +84,31 @@ static void max7456_send_dma(void* tx_buffer, void* rx_buffer, uint16_t buffer_s
     DMA_InitStructure.DMA_BufferSize = buffer_size;
     DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
     DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
-    DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
 
 #ifdef MAX7456_DMA_CHANNEL_RX
     // Rx Channel
+#ifdef STM32F4
+    DMA_InitStructure.DMA_Memory0BaseAddr = rx_buffer ? (uint32_t)rx_buffer : (uint32_t)(dummy);
+    DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+#else
     DMA_InitStructure.DMA_MemoryBaseAddr = rx_buffer ? (uint32_t)rx_buffer : (uint32_t)(dummy);
-    DMA_InitStructure.DMA_MemoryInc = rx_buffer ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable;
     DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
+#endif
+    DMA_InitStructure.DMA_MemoryInc = rx_buffer ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable;
 
     DMA_Init(MAX7456_DMA_CHANNEL_RX, &DMA_InitStructure);
     DMA_Cmd(MAX7456_DMA_CHANNEL_RX, ENABLE);
 #endif
     // Tx channel
 
+#ifdef STM32F4
+    DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)tx_buffer; //max7456_screen;
+    DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
+#else
     DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)tx_buffer; //max7456_screen;
-    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
     DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
+#endif
+    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
 
     DMA_Init(MAX7456_DMA_CHANNEL_TX, &DMA_InitStructure);
     DMA_Cmd(MAX7456_DMA_CHANNEL_TX, ENABLE);
@@ -147,7 +158,7 @@ void max7456_dma_irq_handler(dmaChannelDescriptor_t* descriptor) {
 }
 #endif
 
-void max7456_init(uint8_t video_system) 
+void max7456_init(uint8_t video_system)
 {
     uint8_t max_screen_rows;
     uint8_t srdata = 0;
@@ -247,7 +258,7 @@ void max7456_draw_screen(void) {
         max7456_send(MAX7456ADD_DMM, 1);
         for (xx = 0; xx < max_screen_size; ++xx) {
             max7456_send(MAX7456ADD_DMDI, SCREEN_BUFFER[xx]);
-            SCREEN_BUFFER[xx] = MAX7456_CHAR(0);
+            SCREEN_BUFFER[xx] = MAX7456_CHAR(' ');
         }
         max7456_send(MAX7456ADD_DMDI, 0xFF);
         max7456_send(MAX7456ADD_DMM, 0);
@@ -286,7 +297,7 @@ void max7456_write_nvm(uint8_t char_address, uint8_t *font_data) {
     max7456_send(MAX7456ADD_CMM, WRITE_NVR);
 
     // wait until bit 5 in the status register returns to 0 (12ms)
-    while ((spiTransferByte(MAX7456_SPI_INSTANCE, MAX7456ADD_STAT) & STATUS_REG_NVR_BUSY) != 0);
+    while ((max7456_send(MAX7456ADD_STAT, 0) & STATUS_REG_NVR_BUSY) != 0x00);
 
     max7456_send(VM0_REG, video_signal_type | 0x0C);
     DISABLE_MAX7456;
diff --git a/src/main/drivers/max7456_symbols.h b/src/main/drivers/max7456_symbols.h
index b2e8da72b5..ba798d1d97 100644
--- a/src/main/drivers/max7456_symbols.h
+++ b/src/main/drivers/max7456_symbols.h
@@ -178,7 +178,7 @@
 // Voltage and amperage
 #define SYM_VOLT 0x06
 #define SYM_AMP 0x9A
-#define SYM_MAH 0xA4
+#define SYM_MAH 0x07
 #define SYM_WATT 0x57
 
 // Flying Mode
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 13f01eac42..06ea6438cd 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -30,11 +30,6 @@
 #include "pwm_rx.h"
 #include "pwm_mapping.h"
 
-void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate);
-void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
-void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint16_t idlePulse);
-void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
-
 /*
     Configuration maps
 
@@ -94,14 +89,16 @@ pwmOutputConfiguration_t *pwmGetOutputConfiguration(void)
 
 pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 {
-    int i = 0;
     const uint16_t *setup;
 
+#ifndef SKIP_RX_PWM_PPM
     int channelIndex = 0;
+#endif
 
     memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
-   
+  
     // this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
+    int i = 0;
     if (init->airplane)
         i = 2; // switch to air hardware config
     if (init->usePPM || init->useSerialRx)
@@ -112,7 +109,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 #else
     setup = hardwareMaps[i];
 #endif
-
+	TIM_TypeDef* ppmTimer = NULL;
     for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
         uint8_t timerIndex = setup[i] & 0x00FF;
         uint8_t type = (setup[i] & 0xFF00) >> 8;
@@ -165,13 +162,13 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
         }
 #endif
 
-#ifdef RSSI_ADC_GPIO
+#ifdef RSSI_ADC_PIN
         if (init->useRSSIADC && timerHardwarePtr->tag == IO_TAG(RSSI_ADC_PIN)) {
             continue;
         }
 #endif
 
-#ifdef CURRENT_METER_ADC_GPIO
+#ifdef CURRENT_METER_ADC_PIN
         if (init->useCurrentMeterADC && timerHardwarePtr->tag == IO_TAG(CURRENT_METER_ADC_PIN)) {
             continue;
         }
@@ -180,8 +177,8 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 #ifdef SONAR
         if (init->useSonar &&
             (
-                timerHardwarePtr->tag == init->sonarConfig.triggerTag ||
-                timerHardwarePtr->tag == init->sonarConfig.echoTag
+                timerHardwarePtr->tag == init->sonarIOConfig.triggerTag ||
+                timerHardwarePtr->tag == init->sonarIOConfig.echoTag
             )) {
             continue;
         }
@@ -238,6 +235,19 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 type = MAP_TO_SERVO_OUTPUT;
 #endif
 
+#if defined(RCEXPLORERF3)
+            if (timerIndex == PWM2)
+            {
+                type = MAP_TO_SERVO_OUTPUT;
+            }
+#endif
+
+#if defined(SPRACINGF3EVO)
+            // remap PWM6+7 as servos
+            if ((timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM3)
+                type = MAP_TO_SERVO_OUTPUT;
+#endif
+
 #if (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
             // remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
             if (init->useSoftSerial) {
@@ -265,7 +275,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
         if (init->useChannelForwarding && !init->airplane) {
 #if defined(NAZE) && defined(WS2811_TIMER)
             // if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
-            if (init->useLEDStrip) { 
+            if (init->useLEDStrip) {
                 if (timerIndex >= PWM13 && timerIndex <= PWM14) {
                   type = MAP_TO_SERVO_OUTPUT;
                 }
@@ -294,33 +304,42 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 #endif
 
         if (type == MAP_TO_PPM_INPUT) {
-#if defined(SPARKY) || defined(ALIENFLIGHTF3)
-            if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
-                ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
-            }
-#endif
+#ifndef SKIP_RX_PWM_PPM
+            ppmTimer = timerHardwarePtr->tim;
             ppmInConfig(timerHardwarePtr);
+#endif
         } else if (type == MAP_TO_PWM_INPUT) {
+#ifndef SKIP_RX_PWM_PPM
             pwmInConfig(timerHardwarePtr, channelIndex);
             channelIndex++;
+#endif
         } else if (type == MAP_TO_MOTOR_OUTPUT) {
-
+            // Check if we already configured maximum supported number of motors or output ports and skip the rest
+            if (pwmOutputConfiguration.motorCount >= MAX_MOTORS  || pwmOutputConfiguration.outputCount >= MAX_PWM_OUTPUT_PORTS) {
+                continue;
+            }
 #ifdef CC3D
-            if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
+            if (!(init->pwmProtocolType == PWM_TYPE_CONVENTIONAL)) {
                 // Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
                 if (timerHardwarePtr->tim == TIM2)
                     continue;
             }
 #endif
+            if (init->usePPM) {
+                if (init->pwmProtocolType != PWM_TYPE_CONVENTIONAL && timerHardwarePtr->tim == ppmTimer) {
+                    ppmAvoidPWMTimerClash(timerHardwarePtr, ppmTimer, init->pwmProtocolType);
+                }
+            }
+
             if (init->useFastPwm) {
-                pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->pwmProtocolType, init->motorPwmRate, init->idlePulse);
-                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
+                pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->pwmProtocolType);
+                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_OUTPUT_PROTOCOL_ONESHOT;
             } else if (init->pwmProtocolType == PWM_TYPE_BRUSHED) {
                 pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate);
-                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
+                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_MOTOR_MODE_BRUSHED;
             } else {
                 pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
-                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
+                pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM;
             }
             pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.motorCount;
             pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].timerHardware = timerHardwarePtr;
@@ -328,6 +347,9 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
             pwmOutputConfiguration.outputCount++;
         } else if (type == MAP_TO_SERVO_OUTPUT) {
 #ifdef USE_SERVOS
+            if (pwmOutputConfiguration.servoCount >=  MAX_SERVOS || pwmOutputConfiguration.outputCount >= MAX_PWM_OUTPUT_PORTS) {
+                continue;
+            }
             pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.servoCount;
             pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
             pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index ffb5540995..c017061835 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "timer.h"
+#include "io_types.h"
 
 #define MAX_PWM_MOTORS  12
 #define MAX_PWM_SERVOS  8
@@ -30,24 +30,8 @@
 #error Invalid motor/servo/port configuration
 #endif
 
-#define PULSE_1MS   (1000)      // 1ms pulse width
-#define MAX_INPUTS  8
 #define PWM_TIMER_MHZ 1
 
-#if defined(STM32F40_41xxx) // must be multiples of timer clock
-#define ONESHOT42_TIMER_MHZ 21
-#define ONESHOT125_TIMER_MHZ 12
-#define PWM_BRUSHED_TIMER_MHZ 21
-#define MULTISHOT_TIMER_MHZ 84
-#else
-#define PWM_BRUSHED_TIMER_MHZ 24
-#define MULTISHOT_TIMER_MHZ   72
-#define ONESHOT42_TIMER_MHZ   24
-#define ONESHOT125_TIMER_MHZ  8
-#endif
-
-#define MULTISHOT_5US_PW    (MULTISHOT_TIMER_MHZ * 5)
-#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
 
 typedef struct sonarIOConfig_s {
     ioTag_t triggerTag;
@@ -84,9 +68,10 @@ typedef struct drv_pwm_config_s {
     uint16_t motorPwmRate;
     uint16_t idlePulse;  // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
                          // some higher value (used by 3d mode), or 0, for brushed pwm drivers.
-    sonarIOConfig_t sonarConfig;
+    sonarIOConfig_t sonarIOConfig;
 } drv_pwm_config_t;
 
+
 enum {
     MAP_TO_PPM_INPUT = 1,
     MAP_TO_PWM_INPUT,
@@ -103,10 +88,11 @@ typedef enum {
     PWM_PF_OUTPUT_PROTOCOL_ONESHOT = (1 << 4)
 } pwmPortFlags_e;
 
+struct timerHardware_s;
 typedef struct pwmPortConfiguration_s {
     uint8_t index;
     pwmPortFlags_e flags;
-    const timerHardware_t *timerHardware;
+    const struct timerHardware_s *timerHardware;
 } pwmPortConfiguration_t;
 
 typedef struct pwmOutputConfiguration_s {
@@ -133,7 +119,7 @@ enum {
     PWM13,
     PWM14,
     PWM15,
-    PWM16, 
+    PWM16,
     PWM17,
     PWM18,
     PWM19,
@@ -152,4 +138,5 @@ extern const uint16_t airPPM_BP6[];
 extern const uint16_t airPWM_BP6[];
 #endif
 
+pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
 pwmOutputConfiguration_t *pwmGetOutputConfiguration(void);
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index fd8446584d..5603ce0720 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -17,21 +17,19 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-
-#include <stdlib.h>
 #include <math.h>
 
 #include "platform.h"
 
 #include "io.h"
 #include "timer.h"
-
-#include "flight/failsafe.h" // FIXME dependency into the main code from a driver
-
 #include "pwm_mapping.h"
-
 #include "pwm_output.h"
 
+#define MULTISHOT_5US_PW    (MULTISHOT_TIMER_MHZ * 5)
+#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
+
+
 typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value);  // function pointer used to write motors
 
 typedef struct {
@@ -52,35 +50,42 @@ static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
 static uint8_t allocatedOutputPortCount = 0;
 
 static bool pwmMotorsEnabled = true;
-static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t ouputPolarity)
+
+
+static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
 {
     TIM_OCInitTypeDef  TIM_OCInitStructure;
 
     TIM_OCStructInit(&TIM_OCInitStructure);
     TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
-    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
-    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
+    if (output & TIMER_OUTPUT_N_CHANNEL) {
+        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
+        TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
+    } else {
+        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+        TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
+    }
     TIM_OCInitStructure.TIM_Pulse = value;
-    TIM_OCInitStructure.TIM_OCPolarity = ouputPolarity ? TIM_OCPolarity_High : TIM_OCPolarity_Low;
+    TIM_OCInitStructure.TIM_OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_High : TIM_OCPolarity_Low;
     TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
 
     switch (channel) {
-        case TIM_Channel_1:
-            TIM_OC1Init(tim, &TIM_OCInitStructure);
-            TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
-            break;
-        case TIM_Channel_2:
-            TIM_OC2Init(tim, &TIM_OCInitStructure);
-            TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
-            break;
-        case TIM_Channel_3:
-            TIM_OC3Init(tim, &TIM_OCInitStructure);
-            TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
-            break;
-        case TIM_Channel_4:
-            TIM_OC4Init(tim, &TIM_OCInitStructure);
-            TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
-            break;
+    case TIM_Channel_1:
+        TIM_OC1Init(tim, &TIM_OCInitStructure);
+        TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
+        break;
+    case TIM_Channel_2:
+        TIM_OC2Init(tim, &TIM_OCInitStructure);
+        TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
+        break;
+    case TIM_Channel_3:
+        TIM_OC3Init(tim, &TIM_OCInitStructure);
+        TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
+        break;
+    case TIM_Channel_4:
+        TIM_OC4Init(tim, &TIM_OCInitStructure);
+        TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
+        break;
     }
 }
 
@@ -90,11 +95,11 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
 
     configTimeBase(timerHardware->tim, period, mhz);
 
-    IO_t io = IOGetByTag(timerHardware->tag);
+    const IO_t io = IOGetByTag(timerHardware->tag);
     IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount);
     IOConfigGPIO(io, IOCFG_AF_PP);
 
-    pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output & TIMER_OUTPUT_INVERTED);
+    pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output);
 
     if (timerHardware->output & TIMER_OUTPUT_ENABLED) {
         TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
@@ -102,22 +107,24 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
     TIM_Cmd(timerHardware->tim, ENABLE);
 
     switch (timerHardware->channel) {
-        case TIM_Channel_1:
-            p->ccr = &timerHardware->tim->CCR1;
-            break;
-        case TIM_Channel_2:
-            p->ccr = &timerHardware->tim->CCR2;
-            break;
-        case TIM_Channel_3:
-            p->ccr = &timerHardware->tim->CCR3;
-            break;
-        case TIM_Channel_4:
-            p->ccr = &timerHardware->tim->CCR4;
-            break;
+    case TIM_Channel_1:
+        p->ccr = &timerHardware->tim->CCR1;
+        break;
+    case TIM_Channel_2:
+        p->ccr = &timerHardware->tim->CCR2;
+        break;
+    case TIM_Channel_3:
+        p->ccr = &timerHardware->tim->CCR3;
+        break;
+    case TIM_Channel_4:
+        p->ccr = &timerHardware->tim->CCR4;
+        break;
     }
     p->period = period;
     p->tim = timerHardware->tim;
 
+    *p->ccr = 0;
+   
     return p;
 }
 
@@ -131,16 +138,16 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
     *motors[index]->ccr = value;
 }
 
-static void pwmWriteOneShot42(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
-}
-
 static void pwmWriteOneShot125(uint8_t index, uint16_t value)
 {
     *motors[index]->ccr = lrintf((float)(value * ONESHOT125_TIMER_MHZ/8.0f));
 }
 
+static void pwmWriteOneShot42(uint8_t index, uint16_t value)
+{
+    *motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
+}
+
 static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 {
     *motors[index]->ccr = lrintf(((float)(value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW);
@@ -148,15 +155,14 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 
 void pwmWriteMotor(uint8_t index, uint16_t value)
 {
-    if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled)
+    if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled) {
         motors[index]->pwmWritePtr(index, value);
+    }
 }
 
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
 {
-    uint8_t index;
-
-    for(index = 0; index < motorCount; index++){
+    for (int index = 0; index < motorCount; index++) {
         // Set the compare register to 0, which stops the output pulsing if the timer overflows
         *motors[index]->ccr = 0;
     }
@@ -174,17 +180,18 @@ void pwmEnableMotors(void)
 
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 {
-    uint8_t index;
-    TIM_TypeDef *lastTimerPtr = NULL;
-
-    for (index = 0; index < motorCount; index++) {
-
-        // Force the timer to overflow if it's the first motor to output, or if we change timers
-        if (motors[index]->tim != lastTimerPtr) {
-            lastTimerPtr = motors[index]->tim;
+    for (int index = 0; index < motorCount; index++) {
+        bool overflowed = false;
+        // If we have not already overflowed this timer
+        for (int j = 0; j < index; j++) {
+            if (motors[j]->tim == motors[index]->tim) {
+                overflowed = true;
+                break;
+            }
+        }
+        if (!overflowed) {
             timerForceOverflow(motors[index]->tim);
         }
-
         // Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
         // This compare register will be set to the output value on the next main loop.
         *motors[index]->ccr = 0;
@@ -193,44 +200,46 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 
 void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate)
 {
-    uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
+    const uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
     motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, 0);
     motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
 }
 
 void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
 {
-    uint32_t hz = PWM_TIMER_MHZ * 1000000;
+    const uint32_t hz = PWM_TIMER_MHZ * 1000000;
     motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 
-void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint16_t idlePulse)
+void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t fastPwmProtocolType)
 {
     uint32_t timerMhzCounter;
+    pwmWriteFuncPtr pwmWritePtr;
 
     switch (fastPwmProtocolType) {
-        default:
-        case (PWM_TYPE_ONESHOT125):
-            timerMhzCounter = ONESHOT125_TIMER_MHZ;
-            break;
-        case (PWM_TYPE_ONESHOT42):
-            timerMhzCounter = ONESHOT42_TIMER_MHZ;
-            break;
-        case (PWM_TYPE_MULTISHOT):
-            timerMhzCounter = MULTISHOT_TIMER_MHZ;
+    default:
+    case (PWM_TYPE_ONESHOT125):
+        timerMhzCounter = ONESHOT125_TIMER_MHZ;
+        pwmWritePtr = pwmWriteOneShot125;
+        break;
+    case (PWM_TYPE_ONESHOT42):
+        timerMhzCounter = ONESHOT42_TIMER_MHZ;
+        pwmWritePtr = pwmWriteOneShot42;
+        break;
+    case (PWM_TYPE_MULTISHOT):
+        timerMhzCounter = MULTISHOT_TIMER_MHZ;
+        pwmWritePtr = pwmWriteMultiShot;
+        break;
     }
 
     if (motorPwmRate > 0) {
-        uint32_t hz = timerMhzCounter * 1000000;
+        const uint32_t hz = timerMhzCounter * 1000000;
         motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse);
     } else {
         motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, 0xFFFF, 0);
     }
-
-    motors[motorIndex]->pwmWritePtr = (fastPwmProtocolType == PWM_TYPE_MULTISHOT) ? pwmWriteMultiShot :
-            ((fastPwmProtocolType == PWM_TYPE_ONESHOT125) ? pwmWriteOneShot125 :
-            pwmWriteOneShot42);
+    motors[motorIndex]->pwmWritePtr = pwmWritePtr;
 }
 
 #ifdef USE_SERVOS
@@ -241,7 +250,8 @@ void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, ui
 
 void pwmWriteServo(uint8_t index, uint16_t value)
 {
-    if (servos[index] && index < MAX_SERVOS)
+    if (servos[index] && index < MAX_SERVOS) {
         *servos[index]->ccr = value;
+    }
 }
 #endif
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index c89e7fa802..b8443ac406 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -25,6 +25,24 @@ typedef enum {
     PWM_TYPE_BRUSHED
 } motorPwmProtocolTypes_e;
 
+#if defined(STM32F40_41xxx) // must be multiples of timer clock
+#define ONESHOT125_TIMER_MHZ  12
+#define ONESHOT42_TIMER_MHZ   21
+#define MULTISHOT_TIMER_MHZ   84
+#define PWM_BRUSHED_TIMER_MHZ 21
+#else
+#define ONESHOT125_TIMER_MHZ  8
+#define ONESHOT42_TIMER_MHZ   24
+#define MULTISHOT_TIMER_MHZ   72
+#define PWM_BRUSHED_TIMER_MHZ 24
+#endif
+
+struct timerHardware_s;
+void pwmBrushedMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate);
+void pwmBrushlessMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
+void pwmFastPwmMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t fastPwmProtocolType);
+void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
+
 void pwmWriteMotor(uint8_t index, uint16_t value);
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
diff --git a/src/main/drivers/pwm_rx.c b/src/main/drivers/pwm_rx.c
index cde900c52b..36a101d2cc 100644
--- a/src/main/drivers/pwm_rx.c
+++ b/src/main/drivers/pwm_rx.c
@@ -20,17 +20,20 @@
 
 #include <platform.h>
 
-#include "build_config.h"
-#include "debug.h"
+#ifndef SKIP_RX_PWM_PPM
+
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/utils.h"
 
 #include "system.h"
 
 #include "nvic.h"
-#include "gpio.h"
+#include "io.h"
 #include "timer.h"
 
+#include "pwm_output.h"
 #include "pwm_mapping.h"
 
 #include "pwm_rx.h"
@@ -83,7 +86,7 @@ static uint16_t captures[PWM_PORTS_OR_PPM_CAPTURE_COUNT];
 
 static uint8_t ppmFrameCount = 0;
 static uint8_t lastPPMFrameCount = 0;
-static uint8_t ppmCountShift = 0;
+static uint8_t ppmCountDivisor = 1;
 
 typedef struct ppmDevice_s {
     uint8_t  pulseIndex;
@@ -177,7 +180,6 @@ static void ppmOverflowCallback(timerOvrHandlerRec_t* cbRec, captureCompare_t ca
     if (capture == PPM_TIMER_PERIOD - 1) {
         ppmDev.overflowed = true;
     }
-
 }
 
 static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture)
@@ -202,14 +204,14 @@ static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture
         }
     }
 
-    // Divide by 8 if Oneshot125 is active and this is a CC3D board
-    currentTime = currentTime >> ppmCountShift;
+    // Divide value if Oneshot, Multishot or brushed motors are active and the timer is shared
+    currentTime = currentTime / ppmCountDivisor;
 
     /* Capture computation */
     if (currentTime > previousTime) {
-        ppmDev.deltaTime    = currentTime - (previousTime + (ppmDev.overflowed ? (PPM_TIMER_PERIOD >> ppmCountShift) : 0));
+        ppmDev.deltaTime    = currentTime - (previousTime + (ppmDev.overflowed ? (PPM_TIMER_PERIOD / ppmCountDivisor) : 0));
     } else {
-        ppmDev.deltaTime    = (PPM_TIMER_PERIOD >> ppmCountShift) + currentTime - previousTime;
+        ppmDev.deltaTime    = (PPM_TIMER_PERIOD / ppmCountDivisor) + currentTime - previousTime;
     }
 
     ppmDev.overflowed = false;
@@ -381,11 +383,25 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
 #define UNUSED_PPM_TIMER_REFERENCE 0
 #define FIRST_PWM_PORT 0
 
-void ppmAvoidPWMTimerClash(const timerHardware_t *timerHardwarePtr, TIM_TypeDef *sharedPwmTimer)
+void ppmAvoidPWMTimerClash(const timerHardware_t *timerHardwarePtr, TIM_TypeDef *sharedPwmTimer, uint8_t pwmProtocol)
 {
-    if (timerHardwarePtr->tim == sharedPwmTimer) {
-        ppmCountShift = 3;  // Divide by 8 if the timer is running at 8 MHz
-    }
+	if (timerHardwarePtr->tim == sharedPwmTimer) {
+        switch (pwmProtocol)
+        {
+        case PWM_TYPE_ONESHOT125:
+            ppmCountDivisor = ONESHOT125_TIMER_MHZ;
+            break;
+        case PWM_TYPE_ONESHOT42:
+            ppmCountDivisor = ONESHOT42_TIMER_MHZ;
+            break;
+        case PWM_TYPE_MULTISHOT:
+            ppmCountDivisor = MULTISHOT_TIMER_MHZ;
+            break;
+        case PWM_TYPE_BRUSHED:
+            ppmCountDivisor = PWM_BRUSHED_TIMER_MHZ;
+            break;
+        }
+	}
 }
 
 void ppmInConfig(const timerHardware_t *timerHardwarePtr)
@@ -419,3 +435,4 @@ uint16_t pwmRead(uint8_t channel)
 {
     return captures[channel];
 }
+#endif
diff --git a/src/main/drivers/pwm_rx.h b/src/main/drivers/pwm_rx.h
index 46afd388c5..1eb792b7fe 100644
--- a/src/main/drivers/pwm_rx.h
+++ b/src/main/drivers/pwm_rx.h
@@ -26,7 +26,7 @@ typedef enum {
 
 
 void ppmInConfig(const timerHardware_t *timerHardwarePtr);
-void ppmAvoidPWMTimerClash(const timerHardware_t *timerHardwarePtr, TIM_TypeDef *sharedPwmTimer);
+void ppmAvoidPWMTimerClash(const timerHardware_t *timerHardwarePtr, TIM_TypeDef *sharedPwmTimer, uint8_t pwmProtocol);
 
 void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel);
 uint16_t pwmRead(uint8_t channel);
diff --git a/src/main/drivers/rcc.h b/src/main/drivers/rcc.h
index fb04ec7e2c..4dee74ee79 100644
--- a/src/main/drivers/rcc.h
+++ b/src/main/drivers/rcc.h
@@ -1,7 +1,6 @@
 #pragma once
 
-#include "platform.h"
-#include "common/utils.h"
+#include "rcc_types.h"
 
 enum rcc_reg {
     RCC_EMPTY = 0,   // make sure that default value (0) does not enable anything
@@ -17,9 +16,6 @@ enum rcc_reg {
 #define RCC_APB1(periph) RCC_ENCODE(RCC_APB1, RCC_APB1ENR_ ## periph ## EN)
 #define RCC_AHB1(periph) RCC_ENCODE(RCC_AHB1, RCC_AHB1ENR_ ## periph ## EN)
 
-typedef uint8_t rccPeriphTag_t;
-
 void RCC_ClockCmd(rccPeriphTag_t periphTag, FunctionalState NewState);
 void RCC_ResetCmd(rccPeriphTag_t periphTag, FunctionalState NewState);
 
-
diff --git a/src/main/drivers/rcc_types.h b/src/main/drivers/rcc_types.h
new file mode 100644
index 0000000000..1b7d7b9f2f
--- /dev/null
+++ b/src/main/drivers/rcc_types.h
@@ -0,0 +1,4 @@
+#pragma once
+
+typedef uint8_t rccPeriphTag_t;
+
diff --git a/src/main/drivers/resource.h b/src/main/drivers/resource.h
index a177dab1da..f9430d2844 100644
--- a/src/main/drivers/resource.h
+++ b/src/main/drivers/resource.h
@@ -1,7 +1,7 @@
 
 #pragma once
 
-#define RESOURCE_INDEX(x) x + 1
+#define RESOURCE_INDEX(x) (x + 1)
 
 typedef enum {
     OWNER_FREE = 0,
diff --git a/src/main/drivers/sdcard.c b/src/main/drivers/sdcard.c
index 489f2260ef..a86fc74577 100644
--- a/src/main/drivers/sdcard.c
+++ b/src/main/drivers/sdcard.c
@@ -25,8 +25,8 @@
 #include "nvic.h"
 #include "io.h"
 
-#include "drivers/bus_spi.h"
-#include "drivers/system.h"
+#include "bus_spi.h"
+#include "system.h"
 
 #include "sdcard.h"
 #include "sdcard_standard.h"
@@ -126,7 +126,7 @@ void sdcardInsertionDetectDeinit(void)
 #ifdef SDCARD_DETECT_PIN
     sdCardDetectPin = IOGetByTag(IO_TAG(SDCARD_DETECT_PIN));
     IOInit(sdCardDetectPin, OWNER_FREE, RESOURCE_NONE, 0);
-    IOConfigGPIO(sdCardDetectPin, IOCFG_IN_FLOATING); 
+    IOConfigGPIO(sdCardDetectPin, IOCFG_IN_FLOATING);
 #endif
 }
 
@@ -135,7 +135,7 @@ void sdcardInsertionDetectInit(void)
 #ifdef SDCARD_DETECT_PIN
     sdCardDetectPin = IOGetByTag(IO_TAG(SDCARD_DETECT_PIN));
     IOInit(sdCardDetectPin, OWNER_SDCARD, RESOURCE_INPUT, 0);
-    IOConfigGPIO(sdCardDetectPin, IOCFG_IPU); 
+    IOConfigGPIO(sdCardDetectPin, IOCFG_IPU);
 #endif
 }
 
@@ -192,6 +192,11 @@ static void sdcard_deselect(void)
  */
 static void sdcard_reset(void)
 {
+    if (!sdcard_isInserted()) {
+        sdcard.state = SDCARD_STATE_NOT_PRESENT;
+        return;
+    }
+
     if (sdcard.state >= SDCARD_STATE_READY) {
         spiSetDivisor(SDCARD_SPI_INSTANCE, SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER);
     }
diff --git a/src/main/drivers/serial.c b/src/main/drivers/serial.c
index 8a17ce6793..c6cab03d77 100644
--- a/src/main/drivers/serial.c
+++ b/src/main/drivers/serial.c
@@ -61,7 +61,7 @@ uint32_t serialRxBytesWaiting(serialPort_t *instance)
     return instance->vTable->serialTotalRxWaiting(instance);
 }
 
-uint8_t serialTxBytesFree(serialPort_t *instance)
+uint32_t serialTxBytesFree(serialPort_t *instance)
 {
     return instance->vTable->serialTotalTxFree(instance);
 }
diff --git a/src/main/drivers/serial.h b/src/main/drivers/serial.h
index 1f75e931d3..fa855e835a 100644
--- a/src/main/drivers/serial.h
+++ b/src/main/drivers/serial.h
@@ -63,7 +63,7 @@ struct serialPortVTable {
     void (*serialWrite)(serialPort_t *instance, uint8_t ch);
 
     uint32_t (*serialTotalRxWaiting)(serialPort_t *instance);
-    uint8_t (*serialTotalTxFree)(serialPort_t *instance);
+    uint32_t (*serialTotalTxFree)(serialPort_t *instance);
 
     uint8_t (*serialRead)(serialPort_t *instance);
 
@@ -82,7 +82,7 @@ struct serialPortVTable {
 
 void serialWrite(serialPort_t *instance, uint8_t ch);
 uint32_t serialRxBytesWaiting(serialPort_t *instance);
-uint8_t serialTxBytesFree(serialPort_t *instance);
+uint32_t serialTxBytesFree(serialPort_t *instance);
 void serialWriteBuf(serialPort_t *instance, uint8_t *data, int count);
 uint8_t serialRead(serialPort_t *instance);
 void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate);
diff --git a/src/main/drivers/serial_softserial.c b/src/main/drivers/serial_softserial.c
index 51cdeb2936..03ecf57456 100644
--- a/src/main/drivers/serial_softserial.c
+++ b/src/main/drivers/serial_softserial.c
@@ -22,10 +22,10 @@
 
 #if defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)
 
-#include "build_config.h"
+#include "build/build_config.h"
+#include "build/atomic.h"
 
 #include "common/utils.h"
-#include "common/atomic.h"
 
 #include "nvic.h"
 #include "system.h"
@@ -412,7 +412,7 @@ uint32_t softSerialRxBytesWaiting(serialPort_t *instance)
     return (s->port.rxBufferHead - s->port.rxBufferTail) & (s->port.rxBufferSize - 1);
 }
 
-uint8_t softSerialTxBytesFree(serialPort_t *instance)
+uint32_t softSerialTxBytesFree(serialPort_t *instance)
 {
     if ((instance->mode & MODE_TX) == 0) {
         return 0;
@@ -470,14 +470,16 @@ bool isSoftSerialTransmitBufferEmpty(serialPort_t *instance)
 
 const struct serialPortVTable softSerialVTable[] = {
     {
-        softSerialWriteByte,
-        softSerialRxBytesWaiting,
-        softSerialTxBytesFree,
-        softSerialReadByte,
-        softSerialSetBaudRate,
-        isSoftSerialTransmitBufferEmpty,
-        softSerialSetMode,
+        .serialWrite = softSerialWriteByte,
+        .serialTotalRxWaiting = softSerialRxBytesWaiting,
+        .serialTotalTxFree = softSerialTxBytesFree,
+        .serialRead = softSerialReadByte,
+        .serialSetBaudRate = softSerialSetBaudRate,
+        .isSerialTransmitBufferEmpty = isSoftSerialTransmitBufferEmpty,
+        .setMode = softSerialSetMode,
         .writeBuf = NULL,
+        .beginWrite = NULL,
+        .endWrite = NULL
     }
 };
 
diff --git a/src/main/drivers/serial_softserial.h b/src/main/drivers/serial_softserial.h
index af80423b07..eb569c9fa5 100644
--- a/src/main/drivers/serial_softserial.h
+++ b/src/main/drivers/serial_softserial.h
@@ -29,7 +29,7 @@ serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallb
 // serialPort API
 void softSerialWriteByte(serialPort_t *instance, uint8_t ch);
 uint32_t softSerialRxBytesWaiting(serialPort_t *instance);
-uint8_t softSerialTxBytesFree(serialPort_t *instance);
+uint32_t softSerialTxBytesFree(serialPort_t *instance);
 uint8_t softSerialReadByte(serialPort_t *instance);
 void softSerialSetBaudRate(serialPort_t *s, uint32_t baudRate);
 bool isSoftSerialTransmitBufferEmpty(serialPort_t *s);
diff --git a/src/main/drivers/serial_uart.c b/src/main/drivers/serial_uart.c
index ced8d97fff..88f422f2e4 100644
--- a/src/main/drivers/serial_uart.c
+++ b/src/main/drivers/serial_uart.c
@@ -25,7 +25,7 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "common/utils.h"
 #include "gpio.h"
@@ -298,7 +298,7 @@ uint32_t uartTotalRxBytesWaiting(serialPort_t *instance)
     if (s->rxDMAStream) {
         uint32_t rxDMAHead = s->rxDMAStream->NDTR;
 #else
-   if (s->rxDMAChannel) {
+    if (s->rxDMAChannel) {
         uint32_t rxDMAHead = s->rxDMAChannel->CNDTR;
 #endif
         if (rxDMAHead >= s->rxDMAPos) {
@@ -315,7 +315,7 @@ uint32_t uartTotalRxBytesWaiting(serialPort_t *instance)
     }
 }
 
-uint8_t uartTotalTxBytesFree(serialPort_t *instance)
+uint32_t uartTotalTxBytesFree(serialPort_t *instance)
 {
     uartPort_t *s = (uartPort_t*)instance;
 
@@ -421,13 +421,13 @@ void uartWrite(serialPort_t *instance, uint8_t ch)
 
 const struct serialPortVTable uartVTable[] = {
     {
-        uartWrite,
-        uartTotalRxBytesWaiting,
-        uartTotalTxBytesFree,
-        uartRead,
-        uartSetBaudRate,
-        isUartTransmitBufferEmpty,
-        uartSetMode,
+        .serialWrite = uartWrite,
+        .serialTotalRxWaiting = uartTotalRxBytesWaiting,
+        .serialTotalTxFree = uartTotalTxBytesFree,
+        .serialRead = uartRead,
+        .serialSetBaudRate = uartSetBaudRate,
+        .isSerialTransmitBufferEmpty = isUartTransmitBufferEmpty,
+        .setMode = uartSetMode,
         .writeBuf = NULL,
         .beginWrite = NULL,
         .endWrite = NULL,
diff --git a/src/main/drivers/serial_uart.h b/src/main/drivers/serial_uart.h
index 33dde32167..a8c0d64b2f 100644
--- a/src/main/drivers/serial_uart.h
+++ b/src/main/drivers/serial_uart.h
@@ -66,7 +66,7 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback,
 // serialPort API
 void uartWrite(serialPort_t *instance, uint8_t ch);
 uint32_t uartTotalRxBytesWaiting(serialPort_t *instance);
-uint8_t uartTotalTxBytesFree(serialPort_t *instance);
+uint32_t uartTotalTxBytesFree(serialPort_t *instance);
 uint8_t uartRead(serialPort_t *instance);
 void uartSetBaudRate(serialPort_t *s, uint32_t baudRate);
 bool isUartTransmitBufferEmpty(serialPort_t *s);
diff --git a/src/main/drivers/serial_uart_stm32f30x.c b/src/main/drivers/serial_uart_stm32f30x.c
index 09b6663e86..29bebfb954 100644
--- a/src/main/drivers/serial_uart_stm32f30x.c
+++ b/src/main/drivers/serial_uart_stm32f30x.c
@@ -114,8 +114,8 @@ static void handleUsartTxDma(dmaChannelDescriptor_t* descriptor)
 void serialUARTInit(IO_t tx, IO_t rx, portMode_t mode, portOptions_t options, uint8_t af, uint8_t index)
 {
     if (options & SERIAL_BIDIR) {
-        ioConfig_t ioCfg = IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, 
-            (options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD, 
+        ioConfig_t ioCfg = IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz,
+            (options & SERIAL_INVERTED) ? GPIO_OType_PP : GPIO_OType_OD,
             (options & SERIAL_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP
         );
 
@@ -132,7 +132,7 @@ void serialUARTInit(IO_t tx, IO_t rx, portMode_t mode, portOptions_t options, ui
         }
 
         if (mode & MODE_RX) {
-            IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TX, index);
+            IOInit(rx, OWNER_SERIAL, RESOURCE_UART_RX, index);
             IOConfigGPIOAF(rx, ioCfg, af);
         }
     }
diff --git a/src/main/drivers/serial_uart_stm32f4xx.c b/src/main/drivers/serial_uart_stm32f4xx.c
index 97f087a510..d6bd58024e 100644
--- a/src/main/drivers/serial_uart_stm32f4xx.c
+++ b/src/main/drivers/serial_uart_stm32f4xx.c
@@ -30,8 +30,8 @@
 #include "serial_uart.h"
 #include "serial_uart_impl.h"
 
-#define UART_RX_BUFFER_SIZE UART1_RX_BUFFER_SIZE
-#define UART_TX_BUFFER_SIZE UART1_TX_BUFFER_SIZE
+#define UART_RX_BUFFER_SIZE 512
+#define UART_TX_BUFFER_SIZE 512
 
 typedef enum UARTDevice {
     UARTDEV_1 = 0,
@@ -64,17 +64,17 @@ typedef struct uartDevice_s {
 
 //static uartPort_t uartPort[MAX_UARTS];
 #ifdef USE_UART1
-static uartDevice_t uart1 = 
-{ 
+static uartDevice_t uart1 =
+{
     .DMAChannel = DMA_Channel_4,
     .txDMAStream = DMA2_Stream7,
 #ifdef USE_UART1_RX_DMA
     .rxDMAStream = DMA2_Stream5,
 #endif
-    .dev = USART1, 
-    .rx = IO_TAG(UART1_RX_PIN), 
-    .tx = IO_TAG(UART1_TX_PIN), 
-    .af = GPIO_AF_USART1, 
+    .dev = USART1,
+    .rx = IO_TAG(UART1_RX_PIN),
+    .tx = IO_TAG(UART1_TX_PIN),
+    .af = GPIO_AF_USART1,
 #ifdef UART1_AHB1_PERIPHERALS
     .rcc_ahb1 = UART1_AHB1_PERIPHERALS,
 #endif
@@ -87,17 +87,17 @@ static uartDevice_t uart1 =
 #endif
 
 #ifdef USE_UART2
-static uartDevice_t uart2 = 
-{ 
+static uartDevice_t uart2 =
+{
     .DMAChannel = DMA_Channel_4,
 #ifdef USE_UART2_RX_DMA
     .rxDMAStream = DMA1_Stream5,
 #endif
     .txDMAStream = DMA1_Stream6,
-    .dev = USART2, 
-    .rx = IO_TAG(UART2_RX_PIN), 
-    .tx = IO_TAG(UART2_TX_PIN), 
-    .af = GPIO_AF_USART2, 
+    .dev = USART2,
+    .rx = IO_TAG(UART2_RX_PIN),
+    .tx = IO_TAG(UART2_TX_PIN),
+    .af = GPIO_AF_USART2,
 #ifdef UART2_AHB1_PERIPHERALS
     .rcc_ahb1 = UART2_AHB1_PERIPHERALS,
 #endif
@@ -110,17 +110,17 @@ static uartDevice_t uart2 =
 #endif
 
 #ifdef USE_UART3
-static uartDevice_t uart3 = 
-{ 
+static uartDevice_t uart3 =
+{
     .DMAChannel = DMA_Channel_4,
 #ifdef USE_UART3_RX_DMA
     .rxDMAStream = DMA1_Stream1,
 #endif
     .txDMAStream = DMA1_Stream3,
-    .dev = USART3, 
-    .rx = IO_TAG(UART3_RX_PIN), 
-    .tx = IO_TAG(UART3_TX_PIN), 
-    .af = GPIO_AF_USART3, 
+    .dev = USART3,
+    .rx = IO_TAG(UART3_RX_PIN),
+    .tx = IO_TAG(UART3_TX_PIN),
+    .af = GPIO_AF_USART3,
 #ifdef UART3_AHB1_PERIPHERALS
     .rcc_ahb1 = UART3_AHB1_PERIPHERALS,
 #endif
@@ -133,17 +133,17 @@ static uartDevice_t uart3 =
 #endif
 
 #ifdef USE_UART4
-static uartDevice_t uart4 = 
-{ 
+static uartDevice_t uart4 =
+{
     .DMAChannel = DMA_Channel_4,
 #ifdef USE_UART1_RX_DMA
     .rxDMAStream = DMA1_Stream2,
 #endif
     .txDMAStream = DMA1_Stream4,
-    .dev = UART4, 
-    .rx = IO_TAG(UART4_RX_PIN), 
-    .tx = IO_TAG(UART4_TX_PIN), 
-    .af = GPIO_AF_UART4, 
+    .dev = UART4,
+    .rx = IO_TAG(UART4_RX_PIN),
+    .tx = IO_TAG(UART4_TX_PIN),
+    .af = GPIO_AF_UART4,
 #ifdef UART4_AHB1_PERIPHERALS
     .rcc_ahb1 = UART4_AHB1_PERIPHERALS,
 #endif
@@ -156,17 +156,17 @@ static uartDevice_t uart4 =
 #endif
 
 #ifdef USE_UART5
-static uartDevice_t uart5 = 
-{ 
+static uartDevice_t uart5 =
+{
     .DMAChannel = DMA_Channel_4,
 #ifdef USE_UART1_RX_DMA
     .rxDMAStream = DMA1_Stream0,
 #endif
     .txDMAStream = DMA2_Stream7,
-    .dev = UART5, 
-    .rx = IO_TAG(UART5_RX_PIN), 
-    .tx = IO_TAG(UART5_TX_PIN), 
-    .af = GPIO_AF_UART5, 
+    .dev = UART5,
+    .rx = IO_TAG(UART5_RX_PIN),
+    .tx = IO_TAG(UART5_TX_PIN),
+    .af = GPIO_AF_UART5,
 #ifdef UART5_AHB1_PERIPHERALS
     .rcc_ahb1 = UART5_AHB1_PERIPHERALS,
 #endif
@@ -179,17 +179,17 @@ static uartDevice_t uart5 =
 #endif
 
 #ifdef USE_UART6
-static uartDevice_t uart6 = 
-{ 
+static uartDevice_t uart6 =
+{
     .DMAChannel = DMA_Channel_5,
 #ifdef USE_UART6_RX_DMA
     .rxDMAStream = DMA2_Stream1,
 #endif
     .txDMAStream = DMA2_Stream6,
-    .dev = USART6, 
-    .rx = IO_TAG(UART6_RX_PIN), 
-    .tx = IO_TAG(UART6_TX_PIN), 
-    .af = GPIO_AF_USART6, 
+    .dev = USART6,
+    .rx = IO_TAG(UART6_RX_PIN),
+    .tx = IO_TAG(UART6_TX_PIN),
+    .af = GPIO_AF_USART6,
 #ifdef UART6_AHB1_PERIPHERALS
     .rcc_ahb1 = UART6_AHB1_PERIPHERALS,
 #endif
@@ -344,7 +344,7 @@ uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, po
             IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af);
         }
 
-        if (mode & MODE_RX) { 
+        if (mode & MODE_RX) {
             IOInit(rx, OWNER_SERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(device));
             IOConfigGPIOAF(rx, IOCFG_AF_PP, uart->af);
         }
@@ -376,6 +376,7 @@ void USART1_IRQHandler(void)
     uartPort_t *s = &(uartHardwareMap[UARTDEV_1]->port);
     uartIrqHandler(s);
 }
+
 #endif
 
 #ifdef USE_UART2
diff --git a/src/main/drivers/serial_usb_vcp.c b/src/main/drivers/serial_usb_vcp.c
index f225dd62bb..45e5ad5427 100644
--- a/src/main/drivers/serial_usb_vcp.c
+++ b/src/main/drivers/serial_usb_vcp.c
@@ -20,9 +20,10 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "common/utils.h"
-#include "drivers/io.h"
+#include "io.h"
 
 #include "usb_core.h"
 #ifdef STM32F4
@@ -32,7 +33,7 @@
 #include "hw_config.h"
 #endif
 
-#include "drivers/system.h"
+#include "system.h"
 
 #include "serial.h"
 #include "serial_usb_vcp.h"
@@ -68,7 +69,7 @@ static uint32_t usbVcpAvailable(serialPort_t *instance)
 {
     UNUSED(instance);
 
-    return receiveLength;
+    return CDC_Receive_BytesAvailable();
 }
 
 static uint8_t usbVcpRead(serialPort_t *instance)
@@ -77,27 +78,25 @@ static uint8_t usbVcpRead(serialPort_t *instance)
 
     uint8_t buf[1];
 
-    uint32_t rxed = 0;
-
-    while (rxed < 1) {
-        rxed += CDC_Receive_DATA((uint8_t*)buf + rxed, 1 - rxed);
+    while (true) {
+        if (CDC_Receive_DATA(buf, 1))
+            return buf[0];
     }
-
-    return buf[0];
 }
 
 static void usbVcpWriteBuf(serialPort_t *instance, void *data, int count)
 {
     UNUSED(instance);
 
-
     if (!(usbIsConnected() && usbIsConfigured())) {
         return;
     }
 
     uint32_t start = millis();
-    for (uint8_t *p = data; count > 0; ) {
-        uint32_t txed = CDC_Send_DATA(p, count);
+    uint8_t *p = data;
+    uint32_t txed = 0;
+    while (count > 0) {
+        txed = CDC_Send_DATA(p, count);
         count -= txed;
         p += txed;
 
@@ -120,14 +119,19 @@ static bool usbVcpFlush(vcpPort_t *port)
         return false;
     }
 
-    uint32_t txed;
     uint32_t start = millis();
+    uint8_t *p = port->txBuf;
+    uint32_t txed = 0;
+    while (count > 0) {
+        txed = CDC_Send_DATA(p, count);
+        count -= txed;
+        p += txed;
 
-    do {
-        txed = CDC_Send_DATA(port->txBuf, count);
-    } while (txed != count && (millis() - start < USB_TIMEOUT));
-
-    return txed == count;
+        if (millis() - start > USB_TIMEOUT) {
+            break;
+        }
+    }
+    return count == 0;
 }
 
 static void usbVcpWrite(serialPort_t *instance, uint8_t c)
@@ -146,10 +150,9 @@ static void usbVcpBeginWrite(serialPort_t *instance)
     port->buffering = true;
 }
 
-uint8_t usbTxBytesFree()
+uint32_t usbTxBytesFree()
 {
-    // Because we block upon transmit and don't buffer bytes, our "buffer" capacity is effectively unlimited.
-    return 255;
+    return CDC_Send_FreeBytes();
 }
 
 static void usbVcpEndWrite(serialPort_t *instance)
@@ -168,9 +171,9 @@ static const struct serialPortVTable usbVTable[] = {
         .serialSetBaudRate = usbVcpSetBaudRate,
         .isSerialTransmitBufferEmpty = isUsbVcpTransmitBufferEmpty,
         .setMode = usbVcpSetMode,
+        .writeBuf = usbVcpWriteBuf,
         .beginWrite = usbVcpBeginWrite,
-        .endWrite = usbVcpEndWrite,
-        .writeBuf = usbVcpWriteBuf
+        .endWrite = usbVcpEndWrite
     }
 };
 
diff --git a/src/main/drivers/serial_usb_vcp.h b/src/main/drivers/serial_usb_vcp.h
index 7d1b88be1f..26ef11215f 100644
--- a/src/main/drivers/serial_usb_vcp.h
+++ b/src/main/drivers/serial_usb_vcp.h
@@ -17,8 +17,6 @@
 
 #pragma once
 
-#include "serial.h"
-
 typedef struct {
     serialPort_t port;
 
@@ -30,4 +28,5 @@ typedef struct {
 } vcpPort_t;
 
 serialPort_t *usbVcpOpen(void);
-uint32_t usbVcpGetBaudRate(serialPort_t *instance);
+struct serialPort_s;
+uint32_t usbVcpGetBaudRate(struct serialPort_s *instance);
diff --git a/src/main/drivers/sonar_hcsr04.c b/src/main/drivers/sonar_hcsr04.c
index cbfcf80a1a..dd0e9b6847 100644
--- a/src/main/drivers/sonar_hcsr04.c
+++ b/src/main/drivers/sonar_hcsr04.c
@@ -19,7 +19,8 @@
 #include <stdint.h>
 
 #include "platform.h"
-#include "build_config.h"
+
+#include "build/build_config.h"
 
 #include "system.h"
 #include "nvic.h"
diff --git a/src/main/drivers/sonar_hcsr04.h b/src/main/drivers/sonar_hcsr04.h
index d734f62f4f..cb3f38c989 100644
--- a/src/main/drivers/sonar_hcsr04.h
+++ b/src/main/drivers/sonar_hcsr04.h
@@ -17,8 +17,7 @@
 
 #pragma once
 
-#include "platform.h"
-#include "io.h"
+#include "io_types.h"
 
 typedef struct sonarHardware_s {
     ioTag_t triggerTag;
diff --git a/src/main/drivers/sound_beeper.h b/src/main/drivers/sound_beeper.h
index ab7a7c3dfc..9caad4f554 100644
--- a/src/main/drivers/sound_beeper.h
+++ b/src/main/drivers/sound_beeper.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "drivers/io.h"
+#include "io_types.h"
 
 #ifdef BEEPER
 #define BEEP_TOGGLE              systemBeepToggle()
diff --git a/src/main/drivers/system.c b/src/main/drivers/system.c
index 962b637349..37b870bfd8 100644
--- a/src/main/drivers/system.c
+++ b/src/main/drivers/system.c
@@ -27,25 +27,6 @@
 
 #include "system.h"
 
-#ifndef EXTI_CALLBACK_HANDLER_COUNT
-#define EXTI_CALLBACK_HANDLER_COUNT 1
-#endif
-
-extiCallbackHandlerConfig_t extiHandlerConfigs[EXTI_CALLBACK_HANDLER_COUNT];
-
-void registerExtiCallbackHandler(IRQn_Type irqn, extiCallbackHandlerFunc *fn)
-{
-    for (int index = 0; index < EXTI_CALLBACK_HANDLER_COUNT; index++) {
-        extiCallbackHandlerConfig_t *candidate = &extiHandlerConfigs[index];
-        if (!candidate->fn) {
-            candidate->fn = fn;
-            candidate->irqn = irqn;
-            return;
-        }
-    }
-    failureMode(FAILURE_DEVELOPER); // EXTI_CALLBACK_HANDLER_COUNT is too low for the amount of handlers required.
-}
-
 // cycles per microsecond
 static uint32_t usTicks = 0;
 // current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
diff --git a/src/main/drivers/system.h b/src/main/drivers/system.h
index c6d58aa744..084bab2256 100644
--- a/src/main/drivers/system.h
+++ b/src/main/drivers/system.h
@@ -48,24 +48,9 @@ void enableGPIOPowerUsageAndNoiseReductions(void);
 // current crystal frequency - 8 or 12MHz
 
 extern uint32_t hse_value;
+extern uint32_t cachedRccCsrValue;
 
 typedef void extiCallbackHandlerFunc(void);
 
-typedef struct extiCallbackHandlerConfig_s {
-    IRQn_Type irqn;
-    extiCallbackHandlerFunc* fn;
-} extiCallbackHandlerConfig_t;
-
-#ifndef EXTI_CALLBACK_HANDLER_COUNT
-#define EXTI_CALLBACK_HANDLER_COUNT 1
-#endif
-
-extern extiCallbackHandlerConfig_t extiHandlerConfigs[EXTI_CALLBACK_HANDLER_COUNT];
-
-void registerExtiCallbackHandler(IRQn_Type irqn, extiCallbackHandlerFunc *fn);
-void unregisterExtiCallbackHandler(IRQn_Type irqn, extiCallbackHandlerFunc *fn);
-
-extern uint32_t cachedRccCsrValue;
-
-
+void registerExtiCallbackHandler(IRQn_Type irqn, extiCallbackHandlerFunc *fn);void unregisterExtiCallbackHandler(IRQn_Type irqn, extiCallbackHandlerFunc *fn);
 
diff --git a/src/main/drivers/system_stm32f10x.c b/src/main/drivers/system_stm32f10x.c
index f5eab63fac..d7f0d136e5 100644
--- a/src/main/drivers/system_stm32f10x.c
+++ b/src/main/drivers/system_stm32f10x.c
@@ -17,7 +17,6 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <string.h>
 
 #include "platform.h"
 
@@ -36,7 +35,7 @@ void systemReset(void)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
-void systemResetToBootloader(void) 
+void systemResetToBootloader(void)
 {
     // 1FFFF000 -> 20000200 -> SP
     // 1FFFF004 -> 1FFFF021 -> PC
@@ -107,11 +106,23 @@ void systemInit(void)
     // Init cycle counter
     cycleCounterInit();
 
-    memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs));
     // SysTick
     SysTick_Config(SystemCoreClock / 1000);
 }
 
 void checkForBootLoaderRequest(void)
 {
+    void(*bootJump)(void);
+
+    if (*((uint32_t *)0x20004FF0) == 0xDEADBEEF) {
+
+        *((uint32_t *)0x20004FF0) = 0x0;
+
+        __enable_irq();
+        __set_MSP(*((uint32_t *)0x1FFFF000));
+
+        bootJump = (void(*)(void))(*((uint32_t *) 0x1FFFF004));
+        bootJump();
+        while (1);
+    }
 }
diff --git a/src/main/drivers/system_stm32f30x.c b/src/main/drivers/system_stm32f30x.c
index e0aaad1bb0..b62d8bb3c7 100644
--- a/src/main/drivers/system_stm32f30x.c
+++ b/src/main/drivers/system_stm32f30x.c
@@ -17,7 +17,6 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <string.h>
 
 #include "platform.h"
 
@@ -34,7 +33,7 @@ void systemReset(void)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
-void systemResetToBootloader(void) 
+void systemResetToBootloader(void)
 {
     // 1FFFF000 -> 20000200 -> SP
     // 1FFFF004 -> 1FFFF021 -> PC
@@ -100,11 +99,23 @@ void systemInit(void)
     // Init cycle counter
     cycleCounterInit();
 
-    memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs));
     // SysTick
     SysTick_Config(SystemCoreClock / 1000);
 }
 
 void checkForBootLoaderRequest(void)
 {
+    void(*bootJump)(void);
+
+    if (*((uint32_t *)0x20009FFC) == 0xDEADBEEF) {
+
+        *((uint32_t *)0x20009FFC) = 0x0;
+
+        __enable_irq();
+        __set_MSP(*((uint32_t *)0x1FFFD800));
+
+        bootJump = (void(*)(void))(*((uint32_t *) 0x1FFFD804));
+        bootJump();
+        while (1);
+    }
 }
diff --git a/src/main/drivers/system_stm32f4xx.c b/src/main/drivers/system_stm32f4xx.c
index 8101974377..e9b2c7e241 100644
--- a/src/main/drivers/system_stm32f4xx.c
+++ b/src/main/drivers/system_stm32f4xx.c
@@ -17,12 +17,11 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <string.h>
 
 #include "platform.h"
 
 #include "accgyro_mpu.h"
-#include "gpio.h"
+#include "exti.h"
 #include "nvic.h"
 #include "system.h"
 
@@ -41,7 +40,7 @@ void systemReset(void)
     NVIC_SystemReset();
 }
 
-void systemResetToBootloader(void) 
+void systemResetToBootloader(void)
 {
     if (mpuConfiguration.reset)
         mpuConfiguration.reset();
@@ -183,7 +182,6 @@ void systemInit(void)
     // Init cycle counter
     cycleCounterInit();
 
-    memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs));
     // SysTick
     SysTick_Config(SystemCoreClock / 1000);
 }
@@ -196,9 +194,9 @@ void checkForBootLoaderRequest(void)
         *((uint32_t *)0x2001FFFC) = 0x0;
 
         __enable_irq();
-        __set_MSP(0x20001000);
+        __set_MSP(*((uint32_t *)0x1FFF0000));
 
-        bootJump = (void(*)(void))(*((uint32_t *) 0x1fff0004));
+        bootJump = (void(*)(void))(*((uint32_t *) 0x1FFF0004));
         bootJump();
         while (1);
     }
diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index a3b3624371..da2889ac97 100755
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -20,12 +20,14 @@
 #include <string.h>
 
 #include "platform.h"
+
+#include "build/atomic.h"
+
 #include "common/utils.h"
-#include "common/atomic.h"
 
 #include "nvic.h"
 
-#include "gpio.h"
+#include "io.h"
 #include "rcc.h"
 #include "system.h"
 
@@ -253,7 +255,7 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
     }
 #else
     TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
-#endif 
+#endif
 
     TIM_TimeBaseStructure.TIM_ClockDivision = 0;
     TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index 26078d4517..00410a9c68 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -17,12 +17,11 @@
 
 #pragma once
 
-#include "io.h"
-#include "rcc.h"
+#include <stdbool.h>
+#include <stdint.h>
 
-#if !defined(USABLE_TIMER_CHANNEL_COUNT)
-#define USABLE_TIMER_CHANNEL_COUNT 14
-#endif
+#include "io_types.h"
+#include "rcc_types.h"
 
 typedef uint16_t captureCompare_t;        // 16 bit on both 103 and 303, just register access must be 32bit sometimes (use timCCR_t)
 
@@ -87,8 +86,9 @@ typedef struct timerHardware_s {
 } timerHardware_t;
 
 enum {
-    TIMER_OUTPUT_ENABLED = 0x01, 
-    TIMER_OUTPUT_INVERTED = 0x02
+    TIMER_OUTPUT_ENABLED = 0x01,
+    TIMER_OUTPUT_INVERTED = 0x02,
+    TIMER_OUTPUT_N_CHANNEL= 0x04
 };
 
 #ifdef STM32F1
diff --git a/src/main/drivers/timer_stm32f10x.c b/src/main/drivers/timer_stm32f10x.c
index 09ef0efc8c..d918b07112 100644
--- a/src/main/drivers/timer_stm32f10x.c
+++ b/src/main/drivers/timer_stm32f10x.c
@@ -5,6 +5,13 @@
   http://www.st.com/software_license_agreement_liberty_v2
 */
 
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "common/utils.h"
+
 #include "stm32f10x.h"
 #include "rcc.h"
 #include "timer.h"
@@ -23,10 +30,10 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
     { .TIMx = TIM8,  .rcc = RCC_APB1(TIM8)  },
     { .TIMx = TIM9,  .rcc = RCC_APB2(TIM9)  },
     { .TIMx = TIM10, .rcc = RCC_APB2(TIM10) },
-    { .TIMx = TIM11, .rcc = RCC_APB2(TIM11) }, 
+    { .TIMx = TIM11, .rcc = RCC_APB2(TIM11) },
     { .TIMx = TIM12, .rcc = RCC_APB1(TIM12) },
     { .TIMx = TIM13, .rcc = RCC_APB1(TIM13) },
-    { .TIMx = TIM14, .rcc = RCC_APB1(TIM14) }, 
+    { .TIMx = TIM14, .rcc = RCC_APB1(TIM14) },
 #endif
 };
 
diff --git a/src/main/drivers/timer_stm32f30x.c b/src/main/drivers/timer_stm32f30x.c
index 033aa316c4..871cfb6d78 100644
--- a/src/main/drivers/timer_stm32f30x.c
+++ b/src/main/drivers/timer_stm32f30x.c
@@ -5,6 +5,13 @@
   http://www.st.com/software_license_agreement_liberty_v2
 */
 
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "common/utils.h"
+
 #include "stm32f30x.h"
 #include "rcc.h"
 #include "timer.h"
@@ -54,7 +61,7 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
   */
 #define CCMR_OFFSET        ((uint16_t)0x0018)
 #define CCMR_OC13M_MASK    ((uint32_t)0xFFFEFF8F)
-#define CCMR_OC24M_MASK    ((uint32_t)0xFEFF8FFF) 
+#define CCMR_OC24M_MASK    ((uint32_t)0xFEFF8FFF)
 
 void TIM_SelectOCxM_NoDisable(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint32_t TIM_OCMode)
 {
diff --git a/src/main/drivers/timer_stm32f4xx.c b/src/main/drivers/timer_stm32f4xx.c
index af09f85e1b..750324e94a 100644
--- a/src/main/drivers/timer_stm32f4xx.c
+++ b/src/main/drivers/timer_stm32f4xx.c
@@ -5,9 +5,16 @@
   http://www.st.com/software_license_agreement_liberty_v2
 */
 
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "common/utils.h"
+
 #include "stm32f4xx.h"
-#include "timer.h"
 #include "rcc.h"
+#include "timer.h"
 
 /**
   * @brief  Selects the TIM Output Compare Mode.
diff --git a/src/main/drivers/transponder_ir.c b/src/main/drivers/transponder_ir.c
index 626c60097c..dbc6749af7 100644
--- a/src/main/drivers/transponder_ir.c
+++ b/src/main/drivers/transponder_ir.c
@@ -21,9 +21,9 @@
 
 #include <platform.h>
 
-#include "drivers/dma.h"
-#include "drivers/nvic.h"
-#include "drivers/transponder_ir.h"
+#include "dma.h"
+#include "nvic.h"
+#include "transponder_ir.h"
 
 /*
  * Implementation note:
diff --git a/src/main/drivers/transponder_ir_stm32f30x.c b/src/main/drivers/transponder_ir_stm32f30x.c
index 3962e1c999..0bff2e112c 100644
--- a/src/main/drivers/transponder_ir_stm32f30x.c
+++ b/src/main/drivers/transponder_ir_stm32f30x.c
@@ -20,9 +20,9 @@
 
 #include <platform.h>
 
-#include "drivers/gpio.h"
-#include "drivers/transponder_ir.h"
-#include "drivers/nvic.h"
+#include "gpio.h"
+#include "transponder_ir.h"
+#include "nvic.h"
 
 #ifndef TRANSPONDER_GPIO
 #define USE_TRANSPONDER_ON_DMA1_CHANNEL3
diff --git a/src/main/drivers/usb_io.c b/src/main/drivers/usb_io.c
index d8a7206109..8520ef8e54 100644
--- a/src/main/drivers/usb_io.c
+++ b/src/main/drivers/usb_io.c
@@ -66,7 +66,7 @@ bool usbCableIsInserted(void)
 void usbGenerateDisconnectPulse(void)
 {
     /* Pull down PA12 to create USB disconnect pulse */
-    IO_t usbPin = IOGetByTag(IO_TAG(PA12)); 
+    IO_t usbPin = IOGetByTag(IO_TAG(PA12));
     IOConfigGPIO(usbPin, IOCFG_OUT_OD);
 
     IOHi(usbPin);
diff --git a/src/main/drivers/vtx_rtc6705.c b/src/main/drivers/vtx_rtc6705.c
index ee540da60e..08ec758e8d 100644
--- a/src/main/drivers/vtx_rtc6705.c
+++ b/src/main/drivers/vtx_rtc6705.c
@@ -31,9 +31,9 @@
 
 #include "common/maths.h"
 
-#include "drivers/vtx_rtc6705.h"
-#include "drivers/bus_spi.h"
-#include "drivers/system.h"
+#include "vtx_rtc6705.h"
+#include "bus_spi.h"
+#include "system.h"
 
 #define RTC6705_SET_HEAD 0x3210 //fosc=8mhz r=400
 #define RTC6705_SET_A1 0x8F3031 //5865
@@ -179,7 +179,7 @@ void rtc6705SetFreq(uint16_t freq)
 
     uint32_t val_a = ((((uint64_t)freq*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) % RTC6705_SET_FDIV) / RTC6705_SET_NDIV; //Casts required to make sure correct math (large numbers)
     uint32_t val_n = (((uint64_t)freq*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) / RTC6705_SET_FDIV; //Casts required to make sure correct math (large numbers)
- 
+
     val_hex |= RTC6705_SET_WRITE;
     val_hex |= (val_a << 5);
     val_hex |= (val_n << 12);
diff --git a/src/main/drivers/vtx_soft_spi_rtc6705.c b/src/main/drivers/vtx_soft_spi_rtc6705.c
index 4ceba50df9..e6340680fa 100644
--- a/src/main/drivers/vtx_soft_spi_rtc6705.c
+++ b/src/main/drivers/vtx_soft_spi_rtc6705.c
@@ -22,9 +22,10 @@
 
 #ifdef USE_RTC6705
 
-#include "drivers/bus_spi.h"
-#include "drivers/system.h"
-#include "drivers/light_led.h"
+#include "bus_spi.h"
+#include "io.h"
+#include "system.h"
+#include "light_led.h"
 
 #include "vtx_soft_spi_rtc6705.h"
 
diff --git a/src/main/mw.c b/src/main/fc/mw.c
similarity index 81%
rename from src/main/mw.c
rename to src/main/fc/mw.c
index 5865a5118e..2bb10a9f09 100644
--- a/src/main/mw.c
+++ b/src/main/fc/mw.c
@@ -21,7 +21,8 @@
 #include <math.h>
 
 #include "platform.h"
-#include "debug.h"
+
+#include "build/debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -53,8 +54,8 @@
 #include "io/beeper.h"
 #include "io/display.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -82,10 +83,11 @@
 #include "flight/gtune.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
+#include "config/feature.h"
 
 #include "scheduler/scheduler.h"
 #include "scheduler/scheduler_tasks.h"
@@ -123,7 +125,8 @@ extern uint8_t PIDweight[3];
 uint16_t filteredCycleTime;
 static bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
-float angleRate[3], angleRateSmooth[3];
+float setpointRate[3], ptermSetpointRate[3];
+float rcInput[3];
 
 extern pidControllerFuncPtr pid_controller;
 
@@ -172,62 +175,57 @@ bool isCalibrating()
     return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
 }
 
-float calculateRate(int axis, int16_t rc) {
-    float angleRate;
+#define RC_RATE_INCREMENTAL 14.54f
+#define RC_EXPO_POWER 3
 
-    if (isSuperExpoActive()) {
-        float rcFactor = (axis == YAW) ? (ABS(rc) / (500.0f * (currentControlRateProfile->rcYawRate8 / 100.0f))) : (ABS(rc) / (500.0f * (currentControlRateProfile->rcRate8 / 100.0f)));
-        rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
+void calculateSetpointRate(int axis, int16_t rc) {
+    float angleRate, rcRate, rcSuperfactor, rcCommandf;
+    uint8_t rcExpo;
 
-        angleRate = rcFactor * ((27 * rc) / 16.0f);
+    if (axis != YAW) {
+        rcExpo = currentControlRateProfile->rcExpo8;
+        rcRate = currentControlRateProfile->rcRate8 / 100.0f;
     } else {
-        angleRate = (float)((currentControlRateProfile->rates[axis] + 27) * rc) / 16.0f;
+        rcExpo = currentControlRateProfile->rcYawExpo8;
+        rcRate = currentControlRateProfile->rcYawRate8 / 100.0f;
     }
 
+    if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f));
+    rcCommandf = rc / 500.0f;
+    rcInput[axis] = ABS(rcCommandf);
 
-    return  constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
-}
-
-void processRcCommand(void)
-{
-    static int16_t lastCommand[4] = { 0, 0, 0, 0 };
-    static int16_t deltaRC[4] = { 0, 0, 0, 0 };
-    static int16_t factor, rcInterpolationFactor;
-    uint16_t rxRefreshRate;
-    int axis;
-
-    // Set RC refresh rate for sampling and channels to filter
-    if (masterConfig.rxConfig.rcSmoothInterval) {
-        rxRefreshRate = 1000 * masterConfig.rxConfig.rcSmoothInterval;
-    } else {
-        initRxRefreshRate(&rxRefreshRate);
+    if (rcExpo) {
+        float expof = rcExpo / 100.0f;
+        rcCommandf = rcCommandf * powerf(rcInput[axis], RC_EXPO_POWER) * expof + rcCommandf * (1-expof);
     }
 
-    rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
+    angleRate = 200.0f * rcRate * rcCommandf;
 
-    if (isRXDataNew) {
-        for (axis = 0; axis < 3; axis++) angleRate[axis] = calculateRate(axis, rcCommand[axis]);
-
-        for (int channel=0; channel < 4; channel++) {
-            deltaRC[channel] = rcCommand[channel] -  (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
-            lastCommand[channel] = rcCommand[channel];
+    if (currentControlRateProfile->rates[axis]) {
+        rcSuperfactor = 1.0f / (constrainf(1.0f - (ABS(rcCommandf) * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
+        if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) {
+            ptermSetpointRate[axis] = constrainf(angleRate * rcSuperfactor, -1998.0f, 1998.0f);
+            if (currentProfile->pidProfile.ptermSRateWeight < 100 && axis != YAW && !flightModeFlags) {
+                const float pWeight = currentProfile->pidProfile.ptermSRateWeight / 100.0f;
+                angleRate = angleRate + (pWeight * ptermSetpointRate[axis] - angleRate);
+            } else {
+                angleRate = ptermSetpointRate[axis];
+            }
+        } else {
+            angleRate *= rcSuperfactor;
         }
-
-        isRXDataNew = false;
-        factor = rcInterpolationFactor - 1;
     } else {
-        factor--;
+        if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) ptermSetpointRate[axis] = angleRate;
     }
 
-    // Interpolate steps of rcCommand
-    if (factor > 0) {
-        for (int channel=0; channel < 4; channel++) {
-            rcCommandSmooth[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
-        }
-        for (axis = 0; axis < 2; axis++) angleRateSmooth[axis] = calculateRate(axis, rcCommandSmooth[axis]);
-    } else {
-        factor = 0;
+    if (debugMode == DEBUG_ANGLERATE) {
+        debug[axis] = angleRate;
     }
+
+    if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LEGACY)
+        setpointRate[axis] = constrainf(angleRate * 4.1f, -8190.0f, 8190.0f); // Rate limit protection
+    else
+        setpointRate[axis] = constrainf(angleRate, -1998.0f, 1998.0f); // Rate limit protection (deg/sec)
 }
 
 void scaleRcCommandToFpvCamAngle(void) {
@@ -248,6 +246,70 @@ void scaleRcCommandToFpvCamAngle(void) {
     rcCommand[YAW]  = constrain(yaw  * cosFactor + roll * sinFactor, -500, 500);
 }
 
+void processRcCommand(void)
+{
+    static int16_t lastCommand[4] = { 0, 0, 0, 0 };
+    static int16_t deltaRC[4] = { 0, 0, 0, 0 };
+    static int16_t factor, rcInterpolationFactor;
+    uint16_t rxRefreshRate;
+    bool readyToCalculateRate = false;
+
+    if (masterConfig.rxConfig.rcInterpolation || flightModeFlags) {
+        if (isRXDataNew) {
+            // Set RC refresh rate for sampling and channels to filter
+            switch (masterConfig.rxConfig.rcInterpolation) {
+                case(RC_SMOOTHING_AUTO):
+                    rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
+                    break;
+                case(RC_SMOOTHING_MANUAL):
+                    rxRefreshRate = 1000 * masterConfig.rxConfig.rcInterpolationInterval;
+                    break;
+                case(RC_SMOOTHING_OFF):
+                case(RC_SMOOTHING_DEFAULT):
+                default:
+                    initRxRefreshRate(&rxRefreshRate);
+            }
+
+            rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
+
+            if (debugMode == DEBUG_RC_INTERPOLATION) {
+                for (int axis = 0; axis < 2; axis++) debug[axis] = rcCommand[axis];
+                debug[3] = rxRefreshRate;
+            }
+
+            for (int channel=0; channel < 4; channel++) {
+                deltaRC[channel] = rcCommand[channel] -  (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
+                lastCommand[channel] = rcCommand[channel];
+            }
+
+            factor = rcInterpolationFactor - 1;
+        } else {
+            factor--;
+        }
+
+        // Interpolate steps of rcCommand
+        if (factor > 0) {
+            for (int channel=0; channel < 4; channel++) rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
+        } else {
+            factor = 0;
+        }
+
+        readyToCalculateRate = true;
+    } else {
+        factor = 0; // reset factor in case of level modes flip flopping
+    }
+
+    if (readyToCalculateRate || isRXDataNew) {
+        // Scaling of AngleRate to camera angle (Mixing Roll and Yaw)
+        if (masterConfig.rxConfig.fpvCamAngleDegrees && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && !FLIGHT_MODE(HEADFREE_MODE))
+            scaleRcCommandToFpvCamAngle();
+
+        for (int axis = 0; axis < 3; axis++) calculateSetpointRate(axis, rcCommand[axis]);
+
+        isRXDataNew = false;
+    }
+}
+
 static void updateRcCommands(void)
 {
     // PITCH & ROLL only dynamic PID adjustment,  depending on throttle value
@@ -273,14 +335,14 @@ static void updateRcCommands(void)
             } else {
                 tmp = 0;
             }
-            rcCommand[axis] = rcLookup(tmp, currentControlRateProfile->rcExpo8, currentControlRateProfile->rcRate8);
+            rcCommand[axis] = tmp;
         } else if (axis == YAW) {
             if (tmp > masterConfig.rcControlsConfig.yaw_deadband) {
                 tmp -= masterConfig.rcControlsConfig.yaw_deadband;
             } else {
                 tmp = 0;
             }
-            rcCommand[axis] = rcLookup(tmp, currentControlRateProfile->rcYawExpo8, currentControlRateProfile->rcYawRate8) * -masterConfig.yaw_control_direction;;
+            rcCommand[axis] = tmp * -masterConfig.yaw_control_direction;
         }
         if (rcData[axis] < masterConfig.rxConfig.midrc) {
             rcCommand[axis] = -rcCommand[axis];
@@ -310,11 +372,6 @@ static void updateRcCommands(void)
         rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
         rcCommand[PITCH] = rcCommand_PITCH;
     }
-
-    // experimental scaling of RC command to FPV cam angle
-    if (masterConfig.rxConfig.fpvCamAngleDegrees && !FLIGHT_MODE(HEADFREE_MODE)) {
-        scaleRcCommandToFpvCamAngle();
-    }
 }
 
 static void updateLEDs(void)
@@ -367,7 +424,7 @@ void mwDisarm(void)
 void releaseSharedTelemetryPorts(void) {
     serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
     while (sharedPort) {
-        mspReleasePortIfAllocated(sharedPort);
+        mspSerialReleasePortIfAllocated(sharedPort);
         sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
     }
 }
@@ -400,7 +457,7 @@ void mwArm(void)
             if (feature(FEATURE_BLACKBOX)) {
                 serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
                 if (sharedBlackboxAndMspPort) {
-                    mspReleasePortIfAllocated(sharedBlackboxAndMspPort);
+                    mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
                 }
                 startBlackbox();
             }
@@ -449,7 +506,7 @@ void handleInflightCalibrationStickPosition(void)
     }
 }
 
-void updateInflightCalibrationState(void)
+static void updateInflightCalibrationState(void)
 {
     if (AccInflightCalibrationArmed && ARMING_FLAG(ARMED) && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !IS_RC_MODE_ACTIVE(BOXARM)) {   // Copter is airborne and you are turning it off via boxarm : start measurement
         InflightcalibratingA = 50;
@@ -483,7 +540,7 @@ void updateMagHold(void)
 void processRx(void)
 {
     static bool armedBeeperOn = false;
-    static bool wasAirmodeIsActivated;
+    static bool airmodeIsActivated;
 
     calculateRxChannelsAndUpdateFailsafe(currentTime);
 
@@ -507,15 +564,21 @@ void processRx(void)
     throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
 
     if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
-        if (rcCommand[THROTTLE] >= masterConfig.rxConfig.airModeActivateThreshold) wasAirmodeIsActivated = true; // Prevent Iterm from being reset
+        if (rcCommand[THROTTLE] >= masterConfig.rxConfig.airModeActivateThreshold) airmodeIsActivated = true; // Prevent Iterm from being reset
     } else {
-        wasAirmodeIsActivated = false;
+        airmodeIsActivated = false;
     }
 
     /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
      This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
-    if (throttleStatus == THROTTLE_LOW && !wasAirmodeIsActivated) {
+    if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
         pidResetErrorGyroState();
+        if (currentProfile->pidProfile.pidAtMinThrottle)
+            pidStabilisationState(PID_STABILISATION_ON);
+        else
+            pidStabilisationState(PID_STABILISATION_OFF);
+    } else {
+        pidStabilisationState(PID_STABILISATION_ON);
     }
 
     // When armed and motors aren't spinning, do beeps and then disarm
@@ -524,6 +587,8 @@ void processRx(void)
     if (ARMING_FLAG(ARMED)
         && feature(FEATURE_MOTOR_STOP)
         && !STATE(FIXED_WING)
+		&& !feature(FEATURE_3D)
+		&& !isAirmodeActive()
     ) {
         if (isUsingSticksForArming()) {
             if (throttleStatus == THROTTLE_LOW) {
@@ -653,7 +718,7 @@ void processRx(void)
         } else {
             // the telemetry state must be checked immediately so that shared serial ports are released.
             telemetryCheckState();
-            mspAllocateSerialPorts(&masterConfig.serialConfig);
+            mspSerialAllocatePorts(&masterConfig.serialConfig);
         }
     }
 #endif
@@ -680,8 +745,6 @@ void subTaskMainSubprocesses(void) {
 
     const uint32_t startTime = micros();
 
-    processRcCommand();
-
     // Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
     if (gyro.temperature) {
         gyro.temperature(&telemTemperature1);
@@ -720,14 +783,16 @@ void subTaskMainSubprocesses(void) {
                     && masterConfig.mixerMode != MIXER_FLYING_WING
     #endif
         ) {
-            rcCommand[YAW] = rcCommandSmooth[YAW] = 0;
-            angleRate[YAW] = angleRateSmooth[YAW] = 0;
+            rcCommand[YAW] = 0;
+            setpointRate[YAW] = 0;
         }
 
         if (masterConfig.throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
             rcCommand[THROTTLE] += calculateThrottleAngleCorrection(masterConfig.throttle_correction_value);
         }
 
+        processRcCommand();
+
     #ifdef GPS
         if (sensors(SENSOR_GPS)) {
             if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
@@ -763,7 +828,7 @@ void subTaskMotorUpdate(void)
         previousMotorUpdateTime = startTime;
     }
 
-    mixTable();
+    mixTable(&currentProfile->pidProfile);
 
 #ifdef USE_SERVOS
     filterServos();
@@ -787,43 +852,30 @@ uint8_t setPidUpdateCountDown(void) {
 // Function for loop trigger
 void taskMainPidLoopCheck(void)
 {
-    static uint32_t previousTime;
     static bool runTaskMainSubprocesses;
+    static uint8_t pidUpdateCountdown;
 
-    const uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
-
-    cycleTime = micros() - previousTime;
-    previousTime = micros();
+    cycleTime = getTaskDeltaTime(TASK_SELF);
 
     if (debugMode == DEBUG_CYCLETIME) {
         debug[0] = cycleTime;
         debug[1] = averageSystemLoadPercent;
     }
 
-    const uint32_t startTime = micros();
-    while (true) {
-        if (gyroSyncCheckUpdate(&gyro) || ((currentDeltaTime + (micros() - previousTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) {
-            static uint8_t pidUpdateCountdown;
+    if (runTaskMainSubprocesses) {
+        subTaskMainSubprocesses();
+        runTaskMainSubprocesses = false;
+    }
 
-            if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting
-            if (runTaskMainSubprocesses) {
-                subTaskMainSubprocesses();
-                runTaskMainSubprocesses = false;
-            }
+    gyroUpdate();
 
-            gyroUpdate();
-
-            if (pidUpdateCountdown) {
-                pidUpdateCountdown--;
-            } else {
-                pidUpdateCountdown = setPidUpdateCountDown();
-                subTaskPidController();
-                subTaskMotorUpdate();
-                runTaskMainSubprocesses = true;
-            }
-
-            break;
-        }
+    if (pidUpdateCountdown) {
+        pidUpdateCountdown--;
+    } else {
+        pidUpdateCountdown = setPidUpdateCountDown();
+        subTaskPidController();
+        subTaskMotorUpdate();
+        runTaskMainSubprocesses = true;
     }
 }
 
@@ -848,16 +900,17 @@ void taskUpdateBeeper(void)
 
 void taskUpdateBattery(void)
 {
+#ifdef USE_ADC
     static uint32_t vbatLastServiced = 0;
-    static uint32_t ibatLastServiced = 0;
-
     if (feature(FEATURE_VBAT)) {
         if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
             vbatLastServiced = currentTime;
             updateBattery();
         }
     }
+#endif
 
+    static uint32_t ibatLastServiced = 0;
     if (feature(FEATURE_CURRENT_METER)) {
         int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
 
diff --git a/src/main/mw.h b/src/main/fc/mw.h
similarity index 100%
rename from src/main/mw.h
rename to src/main/fc/mw.h
diff --git a/src/main/io/rc_controls.c b/src/main/fc/rc_controls.c
similarity index 95%
rename from src/main/io/rc_controls.c
rename to src/main/fc/rc_controls.c
index 68896a9a89..dcbeedf8b1 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -23,13 +23,15 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "config/feature.h"
+
+#include "fc/runtime_config.h"
 
 #include "drivers/system.h"
 #include "drivers/sensor.h"
@@ -46,8 +48,8 @@
 #include "io/gps.h"
 #include "io/beeper.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/vtx.h"
 
 #include "io/display.h"
@@ -58,7 +60,7 @@
 
 #include "blackbox/blackbox.h"
 
-#include "mw.h"
+#include "fc/mw.h"
 
 static escAndServoConfig_t *escAndServoConfig;
 static pidProfile_t *pidProfile;
@@ -75,10 +77,6 @@ bool isAirmodeActive(void) {
     return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
 }
 
-bool isSuperExpoActive(void) {
-    return (feature(FEATURE_SUPEREXPO_RATES));
-}
-
 void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
 #ifndef BLACKBOX
     UNUSED(adjustmentFunction);
@@ -470,6 +468,11 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
         .adjustmentFunction = ADJUSTMENT_ROLL_D,
         .mode = ADJUSTMENT_MODE_STEP,
         .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
     }
 };
 
@@ -477,7 +480,7 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
 
 adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
 
-void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
+static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
     adjustmentState_t *adjustmentState = &adjustmentStates[index];
 
     if (adjustmentState->config == adjustmentConfig) {
@@ -491,7 +494,7 @@ void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adj
     MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
 }
 
-void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
+static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
     int newValue;
 
     if (delta > 0) {
@@ -595,12 +598,17 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             pidProfile->D8[PIDYAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
             break;
+        case ADJUSTMENT_RC_RATE_YAW:
+            newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in serial_cli.c
+            controlRateConfig->rcYawRate8 = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
+            break;
         default:
             break;
     };
 }
 
-void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
+static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
 {
     bool applied = false;
 
@@ -672,8 +680,8 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
 
             applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
         } else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
-            uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions); 
-            uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth; 
+            uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
+            uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
 
             applySelectAdjustment(adjustmentFunction, position);
         }
diff --git a/src/main/io/rc_controls.h b/src/main/fc/rc_controls.h
similarity index 93%
rename from src/main/io/rc_controls.h
rename to src/main/fc/rc_controls.h
index 75cbe4c8ef..27d423e67e 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/fc/rc_controls.h
@@ -17,8 +17,6 @@
 
 #pragma once
 
-#include "rx/rx.h"
-
 typedef enum {
     BOXARM = 0,
     BOXANGLE,
@@ -50,6 +48,7 @@ typedef enum {
     BOXFAILSAFE,
     BOXAIRMODE,
     BOX3DDISABLESWITCH,
+    BOXFPVANGLEMIX,
     CHECKBOX_ITEM_COUNT
 } boxId_e;
 
@@ -85,6 +84,13 @@ typedef enum {
     CENTERED
 } rollPitchStatus_e;
 
+typedef enum {
+    RC_SMOOTHING_OFF = 0,
+    RC_SMOOTHING_DEFAULT,
+    RC_SMOOTHING_AUTO,
+    RC_SMOOTHING_MANUAL
+} rcSmoothing_t;
+
 #define ROL_LO (1 << (2 * ROLL))
 #define ROL_CE (3 << (2 * ROLL))
 #define ROL_HI (2 << (2 * ROLL))
@@ -159,8 +165,9 @@ typedef struct rcControlsConfig_s {
 bool areUsingSticksToArm(void);
 
 bool areSticksInApModePosition(uint16_t ap_mode);
-throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
+struct rxConfig_s;
+throttleStatus_e calculateThrottleStatus(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
+void processRcStickPositions(struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
 
 bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
@@ -188,6 +195,7 @@ typedef enum {
     ADJUSTMENT_ROLL_P,
     ADJUSTMENT_ROLL_I,
     ADJUSTMENT_ROLL_D,
+    ADJUSTMENT_RC_RATE_YAW,
     ADJUSTMENT_FUNCTION_COUNT,
 
 } adjustmentFunction_e;
@@ -246,11 +254,9 @@ typedef struct adjustmentState_s {
 #define MAX_ADJUSTMENT_RANGE_COUNT 15
 
 bool isAirmodeActive(void);
-bool isSuperExpoActive(void);
 void resetAdjustmentStates(void);
-void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
-void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
+void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);
 
 bool isUsingSticksForArming(void);
 
diff --git a/src/main/io/rc_curves.c b/src/main/fc/rc_curves.c
similarity index 89%
rename from src/main/io/rc_curves.c
rename to src/main/fc/rc_curves.c
index 89b46522f2..ee69070d46 100644
--- a/src/main/io/rc_curves.c
+++ b/src/main/fc/rc_curves.c
@@ -18,12 +18,18 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "io/rc_controls.h"
-#include "io/escservo.h"
-
-#include "io/rc_curves.h"
+#include "platform.h"
 
 #include "config/config.h"
+#include "config/feature.h"
+
+#include "io/escservo.h"
+
+#include "fc/rc_curves.h"
+#include "fc/rc_controls.h"
+
+#include "rx/rx.h"
+
 
 #define THROTTLE_LOOKUP_LENGTH 12
 static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];    // lookup table for expo & mid THROTTLE
@@ -45,12 +51,6 @@ void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoCo
     }
 }
 
-int16_t rcLookup(int32_t tmp, uint8_t expo, uint8_t rate)
-{
-    float tmpf = tmp / 100.0f;
-    return (int16_t)((2500.0f + (float)expo * (tmpf * tmpf - 25.0f)) * tmpf * (float)(rate) / 2500.0f );
-}
-
 int16_t rcLookupThrottle(int32_t tmp)
 {
     const int32_t tmp2 = tmp / 100;
diff --git a/src/main/io/rc_curves.h b/src/main/fc/rc_curves.h
similarity index 80%
rename from src/main/io/rc_curves.h
rename to src/main/fc/rc_curves.h
index 747a934df3..9c1b361c2e 100644
--- a/src/main/io/rc_curves.h
+++ b/src/main/fc/rc_curves.h
@@ -17,8 +17,9 @@
 
 #pragma once
 
-void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig);
+struct controlRateConfig_s;
+struct escAndServoConfig_s;
+void generateThrottleCurve(struct controlRateConfig_s *controlRateConfig, struct escAndServoConfig_s *escAndServoConfig);
 
-int16_t rcLookup(int32_t tmp, uint8_t expo, uint8_t rate);
 int16_t rcLookupThrottle(int32_t tmp);
 
diff --git a/src/main/config/runtime_config.c b/src/main/fc/runtime_config.c
similarity index 97%
rename from src/main/config/runtime_config.c
rename to src/main/fc/runtime_config.c
index 90304c975c..889f612e15 100644
--- a/src/main/config/runtime_config.c
+++ b/src/main/fc/runtime_config.c
@@ -18,7 +18,9 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "config/runtime_config.h"
+#include "platform.h"
+
+#include "fc/runtime_config.h"
 #include "io/beeper.h"
 
 uint8_t armingFlags = 0;
diff --git a/src/main/config/runtime_config.h b/src/main/fc/runtime_config.h
similarity index 100%
rename from src/main/config/runtime_config.h
rename to src/main/fc/runtime_config.h
diff --git a/src/main/flight/altitudehold.c b/src/main/flight/altitudehold.c
index 1d67ba3d9b..ee2a2322a4 100644
--- a/src/main/flight/altitudehold.c
+++ b/src/main/flight/altitudehold.c
@@ -23,7 +23,7 @@
 
 
 #include "platform.h"
-#include "debug.h"
+#include "build/debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -39,14 +39,15 @@
 
 #include "rx/rx.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/escservo.h"
 
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/imu.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 
 int32_t setVelocity = 0;
 uint8_t velocityControl = 0;
diff --git a/src/main/flight/altitudehold.h b/src/main/flight/altitudehold.h
index 3677fbb287..da16978814 100644
--- a/src/main/flight/altitudehold.h
+++ b/src/main/flight/altitudehold.h
@@ -15,19 +15,21 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "flight/pid.h"
-
-#include "sensors/barometer.h"
+#pragma once
 
 extern int32_t AltHold;
 extern int32_t vario;
 
 void calculateEstimatedAltitude(uint32_t currentTime);
 
-void configureAltitudeHold(pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, rcControlsConfig_t *initialRcControlsConfig, escAndServoConfig_t *initialEscAndServoConfig);
-void applyAltHold(airplaneConfig_t *airplaneConfig);
+struct pidProfile_s;
+struct barometerConfig_s;
+struct rcControlsConfig_s;
+struct escAndServoConfig_s;
+void configureAltitudeHold(struct pidProfile_s *initialPidProfile, struct barometerConfig_s *intialBarometerConfig, struct rcControlsConfig_s *initialRcControlsConfig, struct escAndServoConfig_s *initialEscAndServoConfig);
+
+struct airplaneConfig_t;
+void applyAltHold(struct airplaneConfig_s *airplaneConfig);
 void updateAltHoldState(void);
 void updateSonarAltHoldState(void);
 
diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index a553cb58f9..86c8aef763 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -20,7 +20,7 @@
 
 #include <platform.h>
 
-#include "debug.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 
@@ -28,8 +28,9 @@
 #include "drivers/system.h"
 #include "io/beeper.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "config/runtime_config.h"
+#include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "flight/failsafe.h"
diff --git a/src/main/flight/failsafe.h b/src/main/flight/failsafe.h
index 501c168456..d166e1c360 100644
--- a/src/main/flight/failsafe.h
+++ b/src/main/flight/failsafe.h
@@ -70,6 +70,8 @@ typedef struct failsafeState_s {
     failsafeRxLinkState_e rxLinkState;
 } failsafeState_t;
 
+struct rxConfig_s;
+void failsafeInit(struct rxConfig_s *intialRxConfig, uint16_t deadband3d_throttle);
 void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse);
 
 void failsafeStartMonitoring(void);
diff --git a/src/main/flight/gtune.c b/src/main/flight/gtune.c
index afef499d59..17c5027541 100644
--- a/src/main/flight/gtune.c
+++ b/src/main/flight/gtune.c
@@ -41,9 +41,10 @@
 #include "config/config.h"
 #include "blackbox/blackbox.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
+#include "fc/runtime_config.h"
 
-#include "config/runtime_config.h"
 
 extern uint16_t cycleTime;
 extern uint8_t motorCount;
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 8945e765e6..f07ec47823 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -23,9 +23,10 @@
 
 #include "common/maths.h"
 
-#include "build_config.h"
 #include "platform.h"
-#include "debug.h"
+
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 
@@ -47,7 +48,8 @@
 
 #include "io/gps.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 
 // the limit (in degrees/second) beyond which we stop integrating
 // omega_I. At larger spin rates the DCM PI controller can get 'dizzy'
diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
index 6dc0a1f6b7..e5229a2ead 100644
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@@ -69,9 +69,10 @@ typedef struct accProcessor_s {
     accProcessorState_e state;
 } accProcessor_t;
 
+struct pidProfile_s;
 void imuConfigure(
     imuRuntimeConfig_t *initialImuRuntimeConfig,
-    pidProfile_t *initialPidProfile,
+    struct pidProfile_s *initialPidProfile,
     accDeadband_t *initialAccDeadband,
     uint16_t throttle_correction_angle
 );
@@ -88,3 +89,4 @@ int16_t imuCalculateHeading(t_fp_vector *vec);
 
 void imuResetAccelerationSum(void);
 void imuUpdateAcc(rollAndPitchTrims_t *accelerometerTrims);
+void imuInit(void);
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index b851fd355e..76e5681673 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -22,9 +22,9 @@
 #include <math.h>
 
 #include "platform.h"
-#include "debug.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -41,7 +41,7 @@
 
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 
 #include "sensors/sensors.h"
 #include "sensors/acceleration.h"
@@ -52,8 +52,10 @@
 #include "flight/pid.h"
 #include "flight/imu.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
+#include "config/feature.h"
 
 uint8_t motorCount;
 
@@ -65,13 +67,11 @@ static flight3DConfig_t *flight3DConfig;
 static escAndServoConfig_t *escAndServoConfig;
 static airplaneConfig_t *airplaneConfig;
 static rxConfig_t *rxConfig;
-static bool syncPwm = false;
+static bool syncPwmWithPidLoop = false;
 
 static mixerMode_e currentMixerMode;
 static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
 
-float errorLimiter = 1.0f;
-
 #ifdef USE_SERVOS
 static uint8_t servoRuleCount = 0;
 static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
@@ -336,20 +336,12 @@ static servoMixer_t *customServoMixers;
 static motorMixer_t *customMixers;
 
 void mixerUseConfigs(
-#ifdef USE_SERVOS
-        servoParam_t *servoConfToUse,
-        gimbalConfig_t *gimbalConfigToUse,
-#endif
         flight3DConfig_t *flight3DConfigToUse,
         escAndServoConfig_t *escAndServoConfigToUse,
         mixerConfig_t *mixerConfigToUse,
         airplaneConfig_t *airplaneConfigToUse,
         rxConfig_t *rxConfigToUse)
 {
-#ifdef USE_SERVOS
-    servoConf = servoConfToUse;
-    gimbalConfig = gimbalConfigToUse;
-#endif
     flight3DConfig = flight3DConfigToUse;
     escAndServoConfig = escAndServoConfigToUse;
     mixerConfig = mixerConfigToUse;
@@ -358,6 +350,12 @@ void mixerUseConfigs(
 }
 
 #ifdef USE_SERVOS
+void servoUseConfigs(servoParam_t *servoConfToUse, gimbalConfig_t *gimbalConfigToUse)
+{
+    servoConf = servoConfToUse;
+    gimbalConfig = gimbalConfigToUse;
+}
+
 int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
 {
     uint8_t channelToForwardFrom = servoConf[servoIndex].forwardFromChannel;
@@ -378,8 +376,31 @@ int servoDirection(int servoIndex, int inputSource)
     else
         return 1;
 }
+
+void servoInit(servoMixer_t *initialCustomServoMixers)
+{
+    customServoMixers = initialCustomServoMixers;
+
+    // enable servos for mixes that require them. note, this shifts motor counts.
+    useServo = mixers[currentMixerMode].useServo;
+    // if we want camstab/trig, that also enables servos, even if mixer doesn't
+    if (feature(FEATURE_SERVO_TILT))
+        useServo = 1;
+
+    // give all servos a default command
+    for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
+        servo[i] = DEFAULT_SERVO_MIDDLE;
+    }
+}
 #endif
 
+void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
+{
+    currentMixerMode = mixerMode;
+
+    customMixers = initialCustomMixers;
+}
+
 #ifndef USE_QUAD_MIXER_ONLY
 
 void loadCustomServoMixer(void)
@@ -401,25 +422,6 @@ void loadCustomServoMixer(void)
     }
 }
 
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMotorMixers, servoMixer_t *initialCustomServoMixers)
-{
-    currentMixerMode = mixerMode;
-
-    customMixers = initialCustomMotorMixers;
-    customServoMixers = initialCustomServoMixers;
-
-    // enable servos for mixes that require them. note, this shifts motor counts.
-    useServo = mixers[currentMixerMode].useServo;
-    // if we want camstab/trig, that also enables servos, even if mixer doesn't
-    if (feature(FEATURE_SERVO_TILT))
-        useServo = 1;
-
-    // give all servos a default command
-    for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-        servo[i] = DEFAULT_SERVO_MIDDLE;
-    }
-}
-
 void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
 {
     int i;
@@ -427,7 +429,7 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
     motorCount = 0;
     servoCount = pwmOutputConfiguration->servoCount;
 
-    syncPwm = use_unsyncedPwm;
+    syncPwmWithPidLoop = !use_unsyncedPwm;
 
     if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
         // load custom mixer into currentMixer
@@ -521,16 +523,12 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
 
 #else
 
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
-{
-    currentMixerMode = mixerMode;
-
-    customMixers = initialCustomMixers;
-}
-
-void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
+void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
 {
     UNUSED(pwmOutputConfiguration);
+    
+    syncPwmWithPidLoop = !use_unsyncedPwm;
+    
     motorCount = 4;
 #ifdef USE_SERVOS
     servoCount = 0;
@@ -644,7 +642,7 @@ void writeMotors(void)
     for (i = 0; i < motorCount; i++)
         pwmWriteMotor(i, motor[i]);
 
-    if (syncPwm) {
+    if (syncPwmWithPidLoop) {
         pwmCompleteOneshotMotorUpdate(motorCount);
     }
 }
@@ -752,13 +750,14 @@ STATIC_UNIT_TESTED void servoMixer(void)
 
 #endif
 
-void mixTable(void)
+void mixTable(void *pidProfilePtr)
 {
     uint32_t i = 0;
     fix12_t vbatCompensationFactor = 0;
     static fix12_t mixReduction;
     bool use_vbat_compensation = false;
-    if (batteryConfig && batteryConfig->vbatPidCompensation) {
+    pidProfile_t *pidProfile = (pidProfile_t *) pidProfilePtr;
+    if (batteryConfig && pidProfile->vbatPidCompensation) {
         use_vbat_compensation = true;
         vbatCompensationFactor = calculateVbatPidCompensation();
     }
@@ -800,11 +799,13 @@ void mixTable(void)
         if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
             throttleMax = flight3DConfig->deadband3d_low;
             throttleMin = escAndServoConfig->minthrottle;
-            throttlePrevious = throttle = rcCommand[THROTTLE];
+            throttlePrevious = rcCommand[THROTTLE];
+            throttle = rcCommand[THROTTLE] + flight3DConfig->deadband3d_throttle;
         } else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
             throttleMax = escAndServoConfig->maxthrottle;
             throttleMin = flight3DConfig->deadband3d_high;
-            throttlePrevious = throttle = rcCommand[THROTTLE];
+            throttlePrevious = rcCommand[THROTTLE];
+            throttle = rcCommand[THROTTLE] - flight3DConfig->deadband3d_throttle;
         } else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)))  { // Deadband handling from negative to positive
             throttle = throttleMax = flight3DConfig->deadband3d_low;
             throttleMin = escAndServoConfig->minthrottle;
@@ -827,16 +828,12 @@ void mixTable(void)
             rollPitchYawMix[i] =  qMultiply(mixReduction,rollPitchYawMix[i]);
         }
         // Get the maximum correction by setting offset to center
-        if (!escAndServoConfig->escDesyncProtection) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
+        throttleMin = throttleMax = throttleMin + (throttleRange / 2);
     } else {
         throttleMin = throttleMin + (rollPitchYawMixRange / 2);
         throttleMax = throttleMax - (rollPitchYawMixRange / 2);
     }
 
-    // adjust feedback to scale PID error inputs to our limitations.
-    errorLimiter = constrainf(((float)throttleRange / rollPitchYawMixRange), 0.1f, 1.0f);
-    if (debugMode == DEBUG_AIRMODE) debug[1] = errorLimiter * 100;
-
     // Now add in the desired throttle, but keep in a range that doesn't clip adjusted
     // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
     for (i = 0; i < motorCount; i++) {
@@ -860,18 +857,18 @@ void mixTable(void)
                 motor[i] = escAndServoConfig->mincommand;
             }
         }
+    }
 
-        // Experimental Code. Anti Desync feature for ESC's
-        if (escAndServoConfig->escDesyncProtection) {
-            const int16_t maxThrottleStep = constrain(escAndServoConfig->escDesyncProtection / (1000 / targetPidLooptime), 5, 10000);
+    // Anti Desync feature for ESC's. Limit rapid throttle changes
+    if (escAndServoConfig->maxEscThrottleJumpMs) {
+        const int16_t maxThrottleStep = constrain(escAndServoConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
 
-            // Only makes sense when it's within the range
-            if (maxThrottleStep < throttleRange) {
-                static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
+        // Only makes sense when it's within the range
+        if (maxThrottleStep < throttleRange) {
+            static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
 
-                motor[i] = constrain(motor[i], motorPrevious[i] - maxThrottleStep, motorPrevious[i] + maxThrottleStep);
-                motorPrevious[i] = motor[i];
-            }
+            motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, motorPrevious[i] + maxThrottleStep);  // Only limit accelerating situation
+            motorPrevious[i] = motor[i];
         }
     }
 
@@ -956,7 +953,7 @@ void filterServos(void)
     if (mixerConfig->servo_lowpass_enable) {
         for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
             if (!servoFilterIsSet) {
-                biquadFilterInit(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
+                biquadFilterInitLPF(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
                 servoFilterIsSet = true;
             }
 
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 4f4869b205..980fabd031 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -193,10 +193,6 @@ struct escAndServoConfig_s;
 struct rxConfig_s;
 
 void mixerUseConfigs(
-#ifdef USE_SERVOS
-        servoParam_t *servoConfToUse,
-        struct gimbalConfig_s *gimbalConfigToUse,
-#endif
         flight3DConfig_t *flight3DConfigToUse,
         struct escAndServoConfig_s *escAndServoConfigToUse,
         mixerConfig_t *mixerConfigToUse,
@@ -206,12 +202,19 @@ void mixerUseConfigs(
 void writeAllMotors(int16_t mc);
 void mixerLoadMix(int index, motorMixer_t *customMixers);
 #ifdef USE_SERVOS
+void servoInit(servoMixer_t *customServoMixers);
+struct servoParam_s;
+struct gimbalConfig_s;
+void servoUseConfigs(struct servoParam_s *servoConfToUse, struct gimbalConfig_s *gimbalConfigToUse);
 void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
 void loadCustomServoMixer(void);
 int servoDirection(int servoIndex, int fromChannel);
 #endif
+void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
+struct pwmOutputConfiguration_s;
+void mixerUsePWMOutputConfiguration(struct pwmOutputConfiguration_s *pwmOutputConfiguration, bool use_unsyncedPwm);
 void mixerResetDisarmedMotors(void);
-void mixTable(void);
+void mixTable(void *pidProfilePtr);
 void syncMotors(bool enabled);
 void writeMotors(void);
 void stopMotors(void);
diff --git a/src/main/flight/navigation.c b/src/main/flight/navigation.c
index 057c867a67..6b77ca61fe 100644
--- a/src/main/flight/navigation.c
+++ b/src/main/flight/navigation.c
@@ -23,7 +23,8 @@
 #include <math.h>
 
 #include "platform.h"
-#include "debug.h"
+
+#include "build/debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -43,7 +44,7 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gps.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 
 #include "flight/pid.h"
 #include "flight/navigation.h"
@@ -54,7 +55,8 @@
 
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 
 extern int16_t magHold;
 
diff --git a/src/main/flight/navigation.h b/src/main/flight/navigation.h
index 673cf5cfbf..8adb9918d4 100644
--- a/src/main/flight/navigation.h
+++ b/src/main/flight/navigation.h
@@ -46,6 +46,8 @@ extern int16_t GPS_directionToHome;        // direction to home or hol point in
 
 extern navigationMode_e nav_mode;          // Navigation mode
 
+struct pidProfile_s;
+void navigationInit(gpsProfile_t *initialGpsProfile, struct pidProfile_s *pidProfile);
 void GPS_reset_home_position(void);
 void GPS_reset_nav(void);
 void GPS_set_next_wp(int32_t* lat, int32_t* lon);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index b0dee87496..9cea9bad7a 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -21,8 +21,8 @@
 
 #include <platform.h>
 
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -37,7 +37,7 @@
 
 #include "rx/rx.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/gps.h"
 
 #include "flight/pid.h"
@@ -45,64 +45,52 @@
 #include "flight/navigation.h"
 #include "flight/gtune.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 
-extern uint8_t motorCount;
 uint32_t targetPidLooptime;
-extern float errorLimiter;
-extern float angleRate[3], angleRateSmooth[3];
+
+bool pidStabilisationEnabled;
+
+uint8_t PIDweight[3];
 
 int16_t axisPID[3];
 
+// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
+uint8_t PIDweight[3];
+
 #ifdef BLACKBOX
 int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 #endif
 
-// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
-uint8_t PIDweight[3];
+int32_t errorGyroI[3];
+float errorGyroIf[3];
 
-static int32_t errorGyroI[3];
-#ifndef SKIP_PID_LUXFLOAT
-static float errorGyroIf[3];
+#ifdef SKIP_PID_FLOAT
+pidControllerFuncPtr pid_controller = pidLegacy; // which pid controller are we using
+#else
+pidControllerFuncPtr pid_controller = pidBetaflight; // which pid controller are we using
 #endif
 
-static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
-        const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
-
-pidControllerFuncPtr pid_controller = pidInteger; // which pid controller are we using
-
-void setTargetPidLooptime(uint8_t pidProcessDenom) 
+void setTargetPidLooptime(uint32_t pidLooptime)
 {
-    targetPidLooptime = gyro.targetLooptime * pidProcessDenom;
-}
-
-uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate) 
-{
-    uint16_t dynamicKi;
-    uint16_t resetRate;
-
-    resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
-
-    uint16_t dynamicFactor = (1 << 8) - constrain((ABS(angleRate) << 6) / resetRate, 0, 1 << 8);
-
-    dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
-
-    return dynamicKi;
+    targetPidLooptime = pidLooptime;
 }
 
 void pidResetErrorGyroState(void)
 {
-    int axis;
-
-    for (axis = 0; axis < 3; axis++) {
+    for (int axis = 0; axis < 3; axis++) {
         errorGyroI[axis] = 0;
-#ifndef SKIP_PID_LUXFLOAT
         errorGyroIf[axis] = 0.0f;
-#endif
     }
 }
 
-float getdT (void)
+void pidStabilisationState(pidStabilisationState_e pidControllerState)
+{
+    pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
+}
+
+float getdT(void)
 {
     static float dT;
     if (!dT) dT = (float)targetPidLooptime * 0.000001f;
@@ -112,283 +100,28 @@ float getdT (void)
 
 const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 
-static pt1Filter_t deltaFilter[3];
-static pt1Filter_t yawFilter;
+pt1Filter_t deltaFilter[3];
+pt1Filter_t yawFilter;
+biquadFilter_t dtermFilterLpf[3];
+biquadFilter_t dtermFilterNotch[3];
+bool dtermNotchInitialised;
+bool dtermBiquadLpfInitialised;
 
-#ifndef SKIP_PID_LUXFLOAT
-static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
-         const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
-{
-    float RateError = 0, gyroRate = 0, RateErrorSmooth = 0;
-    float ITerm,PTerm,DTerm;
-    static float lastRateError[2];
-    float delta;
-    int axis;
-    float horizonLevelStrength = 1;
-
-    float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
-
-    // Scaling factors for Pids for better tunable range in configurator
-    static const float luxPTermScale = 1.0f / 128;
-    static const float luxITermScale = 1000000.0f / 0x1000000;
-    static const float luxDTermScale = (0.000001f * (float)0xFFFF) / 508;
-
-    if (FLIGHT_MODE(HORIZON_MODE)) {
-        // Figure out the raw stick positions
-        const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
-        const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
-        const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
-        // Progressively turn off the horizon self level strength as the stick is banged over
-        horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500;  // 1 at centre stick, 0 = max stick deflection
-        if(pidProfile->D8[PIDLEVEL] == 0){
-            horizonLevelStrength = 0;
-        } else {
-            horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
-        }
-    }
-
-    // ----------PID controller----------
-    for (axis = 0; axis < 3; axis++) {
-
-        // Yaw control is GYRO based, direct sticks control is applied to rate PID
-        if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
-            // calculate error angle and limit the angle to the max inclination
-#ifdef GPS
-            const float errorAngle = (constrain(2 * rcCommandSmooth[axis] + GPS_angle[axis], -((int) max_angle_inclination),
-                +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
-#else
-            const float errorAngle = (constrain(2 * rcCommandSmooth[axis], -((int) max_angle_inclination),
-                +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
-#endif
-            if (FLIGHT_MODE(ANGLE_MODE)) {
-                // ANGLE mode - control is angle based, so control loop is needed
-                angleRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 16.0f;
-            } else {
-                // HORIZON mode - direct sticks control is applied to rate PID
-                // mix up angle error to desired AngleRate to add a little auto-level feel
-                angleRate[axis] = angleRateSmooth[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 16.0f);
-            }
-        }
-
-        gyroRate = gyroADCf[axis] / 4.0f; // gyro output scaled for easier int conversion
-
-        // --------low-level gyro-based PID. ----------
-        // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
-        // -----calculate scaled error.AngleRates
-        // multiplication of rcCommand corresponds to changing the sticks scaling here
-        RateError = angleRate[axis] - gyroRate;
-
-        if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
-            // Smoothed Error for Derivative when delta from error selected
-            if (flightModeFlags && axis != YAW)
-                RateErrorSmooth = RateError;
-            else
-                RateErrorSmooth = angleRateSmooth[axis] - gyroRate;
-        }
-
-        // -----calculate P component
-        PTerm = luxPTermScale * RateError * pidProfile->P8[axis] * tpaFactor;
-
-        // Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
-        if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
-            PTerm = constrainf(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
-        }
-
-        // -----calculate I component.
-        uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, (int32_t)angleRate[axis]) : pidProfile->I8[axis];
-
-        errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * errorLimiter * RateError * getdT() * kI, -250.0f, 250.0f);
-
-        // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
-        // I coefficient (I8) moved before integration to make limiting independent from PID settings
-        ITerm = errorGyroIf[axis];
-
-        //-----calculate D-term
-        if (axis == YAW) {
-            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
-
-            axisPID[axis] = lrintf(PTerm + ITerm);
-
-            if (motorCount >= 4) {
-                int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
-
-                // prevent "yaw jump" during yaw correction
-                axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
-            }
-
-            DTerm = 0.0f; // needed for blackbox
-        } else {
-            if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
-                delta = RateErrorSmooth - lastRateError[axis];
-                lastRateError[axis] = RateErrorSmooth;
-            } else {
-                delta = -(gyroRate - lastRateError[axis]);
-                lastRateError[axis] = gyroRate;
-            }
-
-            // Divide delta by targetLooptime to get differential (ie dr/dt)
-            delta *= (1.0f / getdT());
-
-            // Filter delta
-            if (pidProfile->dterm_lpf_hz) delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
-
-            DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f);
-
-            // -----calculate total PID output
-            axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
-        }
-
-#ifdef GTUNE
-        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
-            calculate_Gtune(axis);
-        }
-#endif
-
-#ifdef BLACKBOX
-        axisPID_P[axis] = PTerm;
-        axisPID_I[axis] = ITerm;
-        axisPID_D[axis] = DTerm;
-#endif
-    }
-}
-#endif
-
-static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
-        const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
+void initFilters(const pidProfile_t *pidProfile)
 {
     int axis;
-    int32_t PTerm, ITerm, DTerm, delta;
-    static int32_t lastRateError[3];
-    int32_t AngleRateTmp = 0, AngleRateTmpSmooth = 0, RateError = 0, gyroRate = 0, RateErrorSmooth = 0;
 
-    int8_t horizonLevelStrength = 100;
-
-    if (FLIGHT_MODE(HORIZON_MODE)) {
-        // Figure out the raw stick positions
-        const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
-        const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
-        const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
-        // Progressively turn off the horizon self level strength as the stick is banged over
-        horizonLevelStrength = (500 - mostDeflectedPos) / 5;  // 100 at centre stick, 0 = max stick deflection
-        // Using Level D as a Sensitivity for Horizon. 0 more level to 255 more rate. Default value of 100 seems to work fine.
-        // For more rate mode increase D and slower flips and rolls will be possible
-        horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 80) / 100) + 100, 0, 100);
+    if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
+        float notchQ = filterGetNotchQ(pidProfile->dterm_notch_hz, pidProfile->dterm_notch_cutoff);
+        for (axis = 0; axis < 3; axis++) biquadFilterInit(&dtermFilterNotch[axis], pidProfile->dterm_notch_hz, targetPidLooptime, notchQ, FILTER_NOTCH);
+        dtermNotchInitialised = true;
     }
 
-    // ----------PID controller----------
-    for (axis = 0; axis < 3; axis++) {
-
-        // -----Get the desired angle rate depending on flight mode
-        AngleRateTmp = (int32_t)angleRate[axis];
-        if (axis != YAW) AngleRateTmpSmooth = (int32_t)angleRateSmooth[axis];
-
-        if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
-            // calculate error angle and limit the angle to max configured inclination
-#ifdef GPS
-            const int32_t errorAngle = constrain(2 * rcCommandSmooth[axis] + GPS_angle[axis], -((int) max_angle_inclination),
-                +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
-#else
-            const int32_t errorAngle = constrain(2 * rcCommandSmooth[axis], -((int) max_angle_inclination),
-                +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
-#endif
-            if (FLIGHT_MODE(ANGLE_MODE)) {
-                // ANGLE mode - control is angle based, so control loop is needed
-                AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
-            } else {
-                // HORIZON mode - mix up angle error to desired AngleRateTmp to add a little auto-level feel,
-                // horizonLevelStrength is scaled to the stick input
-                AngleRateTmp =  AngleRateTmpSmooth + ((errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4);
-            }
+    if (pidProfile->dterm_filter_type == FILTER_BIQUAD) {
+        if (pidProfile->dterm_lpf_hz && !dtermBiquadLpfInitialised) {
+            for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime);
+            dtermBiquadLpfInitialised = true;
         }
-
-        // --------low-level gyro-based PID. ----------
-        // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
-        // -----calculate scaled error.AngleRates
-        // multiplication of rcCommand corresponds to changing the sticks scaling here
-        gyroRate = gyroADC[axis] / 4;
-
-        RateError = AngleRateTmp - gyroRate;
-
-        if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
-            // Smoothed Error for Derivative when delta from error selected
-            if (flightModeFlags && axis != YAW)
-                RateErrorSmooth = RateError;
-            else
-                RateErrorSmooth = AngleRateTmpSmooth - gyroRate;
-        }
-
-        // -----calculate P component
-        PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
-
-        // Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
-        if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
-            PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
-        }
-
-        // -----calculate I component
-        // there should be no division before accumulating the error to integrator, because the precision would be reduced.
-        // Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
-        // Time correction (to avoid different I scaling for different builds based on average cycle time)
-        // is normalized to cycle time = 2048.
-        uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, AngleRateTmp) : pidProfile->I8[axis];
-
-        int32_t rateErrorLimited = errorLimiter * RateError;
-
-        errorGyroI[axis] = errorGyroI[axis] + ((rateErrorLimited  * (uint16_t)targetPidLooptime) >> 11) * kI;
-
-        // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
-        // I coefficient (I8) moved before integration to make limiting independent from PID settings
-        errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
-
-        ITerm = errorGyroI[axis] >> 13;
-
-        //-----calculate D-term
-        if (axis == YAW) {
-            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
-
-            axisPID[axis] = PTerm + ITerm;
-
-            if (motorCount >= 4) {
-                int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
-
-                // prevent "yaw jump" during yaw correction
-                axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
-            }
-
-            DTerm = 0; // needed for blackbox
-        } else {
-            if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
-                delta = RateErrorSmooth - lastRateError[axis];
-                lastRateError[axis] = RateErrorSmooth;
-            } else {
-                delta = -(gyroRate - lastRateError[axis]);
-                lastRateError[axis] = gyroRate;
-            }
-
-            // Divide delta by targetLooptime to get differential (ie dr/dt)
-            delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
-
-            // Filter delta
-            if (pidProfile->dterm_lpf_hz) delta = pt1FilterApply4(&deltaFilter[axis], (float)delta, pidProfile->dterm_lpf_hz, getdT());
-
-            DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
-
-            // -----calculate total PID output
-            axisPID[axis] = PTerm + ITerm + DTerm;
-        }
-
-
-#ifdef GTUNE
-        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
-             calculate_Gtune(axis);
-        }
-#endif
-
-#ifdef BLACKBOX
-        axisPID_P[axis] = PTerm;
-        axisPID_I[axis] = ITerm;
-        axisPID_D[axis] = DTerm;
-#endif
     }
 }
 
@@ -396,13 +129,12 @@ void pidSetController(pidControllerType_e type)
 {
     switch (type) {
         default:
-        case PID_CONTROLLER_INTEGER:
-            pid_controller = pidInteger;
+        case PID_CONTROLLER_LEGACY:
+            pid_controller = pidLegacy;
             break;
-#ifndef SKIP_PID_LUXFLOAT
-        case PID_CONTROLLER_FLOAT:
-            pid_controller = pidFloat;
+#ifndef SKIP_PID_FLOAT
+        case PID_CONTROLLER_BETAFLIGHT:
+            pid_controller = pidBetaflight;
 #endif
     }
 }
-
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index a407aeb80a..8bef32e789 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
-#include "rx/rx.h"
 
 #pragma once
 
@@ -26,6 +25,12 @@
 
 #define DYNAMIC_PTERM_STICK_THRESHOLD 400
 
+
+// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
+#define PTERM_SCALE 0.032029f
+#define ITERM_SCALE 0.244381f
+#define DTERM_SCALE 0.000529f
+
 typedef enum {
     PIDROLL,
     PIDPITCH,
@@ -41,8 +46,8 @@ typedef enum {
 } pidIndex_e;
 
 typedef enum {
-    PID_CONTROLLER_INTEGER = 1,           // Integer math to gain some more performance from F1 targets
-    PID_CONTROLLER_FLOAT,
+    PID_CONTROLLER_LEGACY = 0,           // Legacy PID controller. Old INT / Rewrite with 2.9 status. Fastest performance....least math. Will stay same in the future
+    PID_CONTROLLER_BETAFLIGHT,           // Betaflight PID controller. Old luxfloat -> float evolution. More math added and maintained in the future
     PID_COUNT
 } pidControllerType_e;
 
@@ -57,23 +62,37 @@ typedef enum {
     SUPEREXPO_YAW_ALWAYS
 } pidSuperExpoYaw_e;
 
-#define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
+typedef enum {
+    PID_STABILISATION_OFF = 0,
+    PID_STABILISATION_ON
+} pidStabilisationState_e;
 
 typedef struct pidProfile_s {
-    uint8_t pidController;                  // 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Luggi09s new baseflight pid
+    uint8_t pidController;                  // 1 = rewrite betaflight evolved from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Betaflight PIDc (Evolved Luxfloat)
 
     uint8_t P8[PID_ITEM_COUNT];
     uint8_t I8[PID_ITEM_COUNT];
     uint8_t D8[PID_ITEM_COUNT];
 
+    uint8_t dterm_filter_type;              // Filter selection for dterm
     uint16_t dterm_lpf_hz;                  // Delta Filter in hz
     uint16_t yaw_lpf_hz;                    // Additional yaw filter when yaw axis too noisy
+    uint16_t dterm_notch_hz;                // Biquad dterm notch hz
+    uint16_t dterm_notch_cutoff;            // Biquad dterm notch low cutoff
     uint8_t deltaMethod;                    // Alternative delta Calculation
     uint16_t rollPitchItermIgnoreRate;      // Experimental threshold for resetting iterm for pitch and roll on certain rates
     uint16_t yawItermIgnoreRate;            // Experimental threshold for resetting iterm for yaw on certain rates
     uint16_t yaw_p_limit;
     uint8_t dterm_average_count;            // Configurable delta count for dterm
-    uint8_t dynamic_pid;                    // Dynamic PID implementation (currently only P and I)
+    uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
+    uint8_t pidAtMinThrottle;               // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
+
+    // Betaflight PID controller parameters
+    uint8_t itermThrottleGain;              // Throttle coupling to iterm. Quick throttle changes will bump iterm
+    uint8_t ptermSRateWeight;               // Setpoint super expo ratio for Pterm (lower means that pretty much only P has super expo rates)
+    uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
+    uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
+    uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
 
 #ifdef GTUNE
     uint8_t  gtune_lolimP[3];               // [0..200] Lower limit of P during G tune
@@ -90,12 +109,21 @@ struct rxConfig_s;
 typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
         const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig);            // pid controller function prototype
 
+void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
+        const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig);
+void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
+        const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig);
+
 extern int16_t axisPID[XYZ_AXIS_COUNT];
 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 bool airmodeWasActivated;
 extern uint32_t targetPidLooptime;
 
+// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
+extern uint8_t PIDweight[3];
+
 void pidSetController(pidControllerType_e type);
 void pidResetErrorGyroState(void);
-void setTargetPidLooptime(uint8_t pidProcessDenom);
+void pidStabilisationState(pidStabilisationState_e pidControllerState);
+void setTargetPidLooptime(uint32_t pidLooptime);
 
diff --git a/src/main/flight/pid_betaflight.c b/src/main/flight/pid_betaflight.c
new file mode 100644
index 0000000000..2e3a7d4e30
--- /dev/null
+++ b/src/main/flight/pid_betaflight.c
@@ -0,0 +1,244 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
+
+#include <platform.h>
+
+#ifndef SKIP_PID_FLOAT
+
+#include "build/build_config.h"
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+
+#include "drivers/accgyro.h"
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/acceleration.h"
+
+#include "rx/rx.h"
+
+#include "io/gps.h"
+
+#include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
+
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/navigation.h"
+#include "flight/gtune.h"
+
+extern float rcInput[3];
+extern float setpointRate[3], ptermSetpointRate[3];
+
+extern float errorGyroIf[3];
+extern bool pidStabilisationEnabled;
+
+extern pt1Filter_t deltaFilter[3];
+extern pt1Filter_t yawFilter;
+extern biquadFilter_t dtermFilterLpf[3];
+extern biquadFilter_t dtermFilterNotch[3];
+extern bool dtermNotchInitialised;
+extern bool dtermBiquadLpfInitialised;
+
+void initFilters(const pidProfile_t *pidProfile);
+float getdT(void);
+
+// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
+// Based on 2DOF reference design (matlab)
+void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
+         const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
+{
+    float errorRate = 0, rP = 0, rD = 0, PVRate = 0;
+    float ITerm,PTerm,DTerm;
+    static float lastRateError[2];
+    static float Kp[3], Ki[3], Kd[3], c[3], rollPitchMaxVelocity, yawMaxVelocity, previousSetpoint[3];
+    float delta;
+    int axis;
+    float horizonLevelStrength = 1;
+
+    float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
+
+    initFilters(pidProfile);
+
+    if (FLIGHT_MODE(HORIZON_MODE)) {
+        // Figure out the raw stick positions
+        const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
+        const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
+        const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
+        // Progressively turn off the horizon self level strength as the stick is banged over
+        horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500;  // 1 at centre stick, 0 = max stick deflection
+        if(pidProfile->D8[PIDLEVEL] == 0){
+            horizonLevelStrength = 0;
+        } else {
+            horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
+        }
+    }
+
+    // Yet Highly experimental and under test and development
+    // Throttle coupled to Igain like inverted TPA // 50hz calculation (should cover all rx protocols)
+    static float kiThrottleGain = 1.0f;
+    if (pidProfile->itermThrottleGain) {
+        const uint16_t maxLoopCount = 20000 / targetPidLooptime;
+        const float throttleItermGain = (float)pidProfile->itermThrottleGain * 0.001f;
+        static int16_t previousThrottle;
+        static uint16_t loopIncrement;
+
+        if (loopIncrement >= maxLoopCount) {
+            kiThrottleGain = 1.0f + constrainf((float)(ABS(rcCommand[THROTTLE] - previousThrottle)) * throttleItermGain, 0.0f, 5.0f); // Limit to factor 5
+            previousThrottle = rcCommand[THROTTLE];
+            loopIncrement = 0;
+        } else {
+            loopIncrement++;
+        }
+    }
+
+    // ----------PID controller----------
+    for (axis = 0; axis < 3; axis++) {
+
+        static uint8_t configP[3], configI[3], configD[3];
+
+        // Prevent unnecessary computing and check for changed PIDs. No need for individual checks. Only pids is fine for now
+        // Prepare all parameters for PID controller
+        if ((pidProfile->P8[axis] != configP[axis]) || (pidProfile->I8[axis] != configI[axis]) || (pidProfile->D8[axis] != configD[axis])) {
+            Kp[axis] = PTERM_SCALE * pidProfile->P8[axis];
+            Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
+            Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
+            c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
+            yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * getdT();
+            rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * getdT();
+
+            configP[axis] = pidProfile->P8[axis];
+            configI[axis] = pidProfile->I8[axis];
+            configD[axis] = pidProfile->D8[axis];
+        }
+
+        // Limit abrupt yaw inputs / stops
+        float maxVelocity = (axis == YAW) ? yawMaxVelocity : rollPitchMaxVelocity;
+        if (maxVelocity) {
+            float currentVelocity = setpointRate[axis] - previousSetpoint[axis];
+            if (ABS(currentVelocity) > maxVelocity) {
+                setpointRate[axis] = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity : previousSetpoint[axis] - maxVelocity;
+            }
+            previousSetpoint[axis] = setpointRate[axis];
+        }
+
+        // Yaw control is GYRO based, direct sticks control is applied to rate PID
+        if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
+            // calculate error angle and limit the angle to the max inclination
+#ifdef GPS
+                const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+                    +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
+#else
+                const float errorAngle = (constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+                    +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
+#endif
+            if (FLIGHT_MODE(ANGLE_MODE)) {
+                // ANGLE mode - control is angle based, so control loop is needed
+                ptermSetpointRate[axis] = setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
+            } else {
+                // HORIZON mode - direct sticks control is applied to rate PID
+                // mix up angle error to desired AngleRate to add a little auto-level feel
+                ptermSetpointRate[axis] = setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
+            }
+        }
+
+        PVRate = gyroADCf[axis] / 16.4f; // Process variable from gyro output in deg/sec
+
+        // --------low-level gyro-based PID based on 2DOF PID controller. ----------
+        //  ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error).  ----------
+        // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
+        // ----- calculate error / angle rates  ----------
+        errorRate = setpointRate[axis] - PVRate;       // r - y
+        rP = ptermSetpointRate[axis] - PVRate;         // br - y
+
+        // -----calculate P component
+        PTerm = Kp[axis] * rP * tpaFactor;
+
+        // -----calculate I component.
+        // Reduce strong Iterm accumulation during higher stick inputs
+        float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
+        float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
+
+        // Handle All windup Scenarios
+        // limit maximum integrator value to prevent WindUp
+        float itermScaler = setpointRateScaler * kiThrottleGain;
+
+        errorGyroIf[axis] = constrainf(errorGyroIf[axis] + Ki[axis] * errorRate * getdT() * itermScaler, -250.0f, 250.0f);
+
+        // I coefficient (I8) moved before integration to make limiting independent from PID settings
+        ITerm = errorGyroIf[axis];
+
+        //-----calculate D-term (Yaw D not yet supported)
+        if (axis != YAW) {
+            rD = c[axis] * setpointRate[axis] - PVRate;    // cr - y
+            delta = rD - lastRateError[axis];
+            lastRateError[axis] = rD;
+
+            // Divide delta by targetLooptime to get differential (ie dr/dt)
+            delta *= (1.0f / getdT());
+
+            if (debugMode == DEBUG_DTERM_FILTER) debug[axis] = Kd[axis] * delta * tpaFactor;
+
+            // Filter delta
+            if (dtermNotchInitialised) delta = biquadFilterApply(&dtermFilterNotch[axis], delta);
+
+            if (pidProfile->dterm_lpf_hz) {
+                if (dtermBiquadLpfInitialised) {
+                    delta = biquadFilterApply(&dtermFilterLpf[axis], delta);
+                } else {
+                    delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
+                }
+            }
+
+            DTerm = Kd[axis] * delta * tpaFactor;
+
+            // -----calculate total PID output
+            axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -900, 900);
+        } else {
+            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
+
+            axisPID[axis] = lrintf(PTerm + ITerm);
+
+            DTerm = 0.0f; // needed for blackbox
+        }
+
+        // Disable PID control at zero throttle
+        if (!pidStabilisationEnabled) axisPID[axis] = 0;
+
+#ifdef GTUNE
+        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
+            calculate_Gtune(axis);
+        }
+#endif
+
+#ifdef BLACKBOX
+        axisPID_P[axis] = PTerm;
+        axisPID_I[axis] = ITerm;
+        axisPID_D[axis] = DTerm;
+#endif
+    }
+}
+#endif
+
diff --git a/src/main/flight/pid_legacy.c b/src/main/flight/pid_legacy.c
new file mode 100644
index 0000000000..24c3aac56d
--- /dev/null
+++ b/src/main/flight/pid_legacy.c
@@ -0,0 +1,211 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
+
+#include <platform.h>
+
+#include "build/build_config.h"
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+
+#include "drivers/accgyro.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/acceleration.h"
+
+#include "rx/rx.h"
+
+#include "io/gps.h"
+
+#include "fc/runtime_config.h"
+#include "fc/rc_controls.h"
+
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/navigation.h"
+#include "flight/gtune.h"
+
+
+extern uint8_t motorCount;
+extern uint8_t PIDweight[3];
+extern bool pidStabilisationEnabled;
+extern float setpointRate[3];
+extern int32_t errorGyroI[3];
+extern pt1Filter_t deltaFilter[3];
+extern pt1Filter_t yawFilter;
+extern biquadFilter_t dtermFilterLpf[3];
+extern bool dtermBiquadLpfInitialised;
+
+
+void initFilters(const pidProfile_t *pidProfile);
+float getdT(void);
+
+
+// Legacy pid controller betaflight evolved pid rewrite based on 2.9 releae. Good for fastest cycletimes for those who believe in that.
+// Don't expect much development in the future
+void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
+{
+    int axis;
+    int32_t PTerm, ITerm, DTerm, delta;
+    static int32_t lastRateError[3];
+    int32_t AngleRateTmp = 0, RateError = 0, gyroRate = 0;
+
+    int8_t horizonLevelStrength = 100;
+
+    initFilters(pidProfile);
+
+    if (FLIGHT_MODE(HORIZON_MODE)) {
+        // Figure out the raw stick positions
+        const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
+        const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
+        const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
+        // Progressively turn off the horizon self level strength as the stick is banged over
+        horizonLevelStrength = (500 - mostDeflectedPos) / 5;  // 100 at centre stick, 0 = max stick deflection
+        // Using Level D as a Sensitivity for Horizon. 0 more level to 255 more rate. Default value of 100 seems to work fine.
+        // For more rate mode increase D and slower flips and rolls will be possible
+        horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 80) / 100) + 100, 0, 100);
+    }
+
+    // ----------PID controller----------
+    for (axis = 0; axis < 3; axis++) {
+
+        // -----Get the desired angle rate depending on flight mode
+        AngleRateTmp = (int32_t)setpointRate[axis];
+
+        if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
+            // calculate error angle and limit the angle to max configured inclination
+#ifdef GPS
+            const int32_t errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+                +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
+#else
+            const int32_t errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+                +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
+#endif
+            if (FLIGHT_MODE(ANGLE_MODE)) {
+                // ANGLE mode - control is angle based, so control loop is needed
+                AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
+            } else {
+                // HORIZON mode - mix up angle error to desired AngleRateTmp to add a little auto-level feel,
+                // horizonLevelStrength is scaled to the stick input
+                AngleRateTmp =  AngleRateTmp + ((errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4);
+            }
+        }
+
+        // --------low-level gyro-based PID. ----------
+        // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
+        // -----calculate scaled error.AngleRates
+        // multiplication of rcCommand corresponds to changing the sticks scaling here
+        gyroRate = gyroADC[axis] / 4;
+
+        RateError = AngleRateTmp - gyroRate;
+
+        // -----calculate P component
+        PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
+
+        // Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
+        if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
+            PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
+        }
+
+        // -----calculate I component
+        // there should be no division before accumulating the error to integrator, because the precision would be reduced.
+        // Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
+        // Time correction (to avoid different I scaling for different builds based on average cycle time)
+        // is normalized to cycle time = 2048.
+        // Prevent Accumulation
+        uint16_t resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
+        uint16_t dynamicFactor = (1 << 8) - constrain(((ABS(AngleRateTmp) << 6) / resetRate), 0, 1 << 8);
+        uint16_t dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
+
+        errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetPidLooptime) >> 11) * dynamicKi;
+
+        // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
+        // I coefficient (I8) moved before integration to make limiting independent from PID settings
+        errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
+
+        ITerm = errorGyroI[axis] >> 13;
+
+        //-----calculate D-term
+        if (axis == YAW) {
+            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
+
+            axisPID[axis] = PTerm + ITerm;
+
+            if (motorCount >= 4) {
+                int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
+
+                // prevent "yaw jump" during yaw correction
+                axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
+            }
+
+            DTerm = 0; // needed for blackbox
+        } else {
+            if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
+                delta = RateError - lastRateError[axis];
+                lastRateError[axis] = RateError;
+            } else {
+                delta = -(gyroRate - lastRateError[axis]);
+                lastRateError[axis] = gyroRate;
+            }
+
+            // Divide delta by targetLooptime to get differential (ie dr/dt)
+            delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
+
+            if (debugMode == DEBUG_DTERM_FILTER) debug[axis] = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
+
+            // Filter delta
+            if (pidProfile->dterm_lpf_hz) {
+                float deltaf = delta;  // single conversion
+                if (dtermBiquadLpfInitialised) {
+                    delta = biquadFilterApply(&dtermFilterLpf[axis], delta);
+                } else {
+                    delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
+                }
+                delta = lrintf(deltaf);
+            }
+
+            DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
+
+            // -----calculate total PID output
+            axisPID[axis] = PTerm + ITerm + DTerm;
+        }
+
+        if (!pidStabilisationEnabled) axisPID[axis] = 0;
+
+#ifdef GTUNE
+        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
+             calculate_Gtune(axis);
+        }
+#endif
+
+#ifdef BLACKBOX
+        axisPID_P[axis] = PTerm;
+        axisPID_I[axis] = ITerm;
+        axisPID_D[axis] = DTerm;
+#endif
+    }
+}
+
diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c
index 716cf84b36..8ee23cd3b7 100644
--- a/src/main/io/beeper.c
+++ b/src/main/io/beeper.c
@@ -20,9 +20,8 @@
 #include "stdlib.h"
 
 #include <platform.h>
-#include "build_config.h"
 
-#include "io/rc_controls.h"
+#include "build/build_config.h"
 
 #include "drivers/gpio.h"
 #include "drivers/sound_beeper.h"
@@ -30,6 +29,8 @@
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
 
+#include "fc/rc_controls.h"
+
 #include "io/statusindicator.h"
 #include "io/vtx.h"
 
@@ -37,8 +38,10 @@
 #include "io/gps.h"
 #endif
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
+#include "config/feature.h"
 
 #include "io/beeper.h"
 
diff --git a/src/main/io/beeper.h b/src/main/io/beeper.h
index b4ed924130..ed02aee30a 100644
--- a/src/main/io/beeper.h
+++ b/src/main/io/beeper.h
@@ -41,7 +41,7 @@ typedef enum {
     BEEPER_USB,                     // Some boards have beeper powered USB connected
 
     BEEPER_ALL,                     // Turn ON or OFF all beeper conditions
-    BEEPER_PREFERENCE,              // Save prefered beeper configuration
+    BEEPER_PREFERENCE,              // Save preferred beeper configuration
     // BEEPER_ALL and BEEPER_PREFERENCE must remain at the bottom of this enum
 } beeperMode_e;
 
diff --git a/src/main/io/display.c b/src/main/io/display.c
index 1e5eee9746..3002ea7d3f 100644
--- a/src/main/io/display.c
+++ b/src/main/io/display.c
@@ -23,10 +23,10 @@
 
 #ifdef DISPLAY
 
-#include "version.h"
-#include "debug.h"
+#include "build/version.h"
+#include "build/debug.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "drivers/serial.h"
 #include "drivers/system.h"
@@ -46,7 +46,7 @@
 #include "sensors/acceleration.h"
 #include "sensors/gyro.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 
 #include "flight/pid.h"
 #include "flight/imu.h"
@@ -58,11 +58,15 @@
 #endif
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "config/feature.h"
+#include "fc/runtime_config.h"
+
 #include "config/config_profile.h"
 
 #include "io/display.h"
 
+#include "rx/rx.h"
+
 #include "scheduler/scheduler.h"
 
 extern profile_t *currentProfile;
diff --git a/src/main/io/display.h b/src/main/io/display.h
index 8149a35ade..5582dc5126 100644
--- a/src/main/io/display.h
+++ b/src/main/io/display.h
@@ -35,6 +35,8 @@ typedef enum {
 #endif
 } pageId_e;
 
+struct rxConfig_s;
+void displayInit(struct rxConfig_s *intialRxConfig);
 void updateDisplay(void);
 
 void displayShowFixedPage(pageId_e pageId);
diff --git a/src/main/io/escservo.h b/src/main/io/escservo.h
index b73f9920f3..fe37d26445 100644
--- a/src/main/io/escservo.h
+++ b/src/main/io/escservo.h
@@ -24,5 +24,5 @@ typedef struct escAndServoConfig_s {
     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
     uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
-    uint16_t escDesyncProtection;           // Value that a motor is allowed to increase or decrease in a period of 1ms
+    uint16_t maxEscThrottleJumpMs;
 } escAndServoConfig_t;
diff --git a/src/main/io/gps.c b/src/main/io/gps.c
index cf8e141aec..ac3cfefea8 100755
--- a/src/main/io/gps.c
+++ b/src/main/io/gps.c
@@ -26,8 +26,8 @@
 
 #ifdef GPS
 
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -50,7 +50,8 @@
 #include "flight/navigation.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "config/feature.h"
+#include "fc/runtime_config.h"
 
 
 #define LOG_ERROR        '?'
@@ -1069,7 +1070,7 @@ static void gpsHandlePassthrough(uint8_t data)
  #endif
 
  }
- 
+
 
 void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
 {
diff --git a/src/main/io/gps.h b/src/main/io/gps.h
index cdb9f66f6f..efa0ec32c2 100644
--- a/src/main/io/gps.h
+++ b/src/main/io/gps.h
@@ -117,7 +117,8 @@ extern uint8_t GPS_svinfo_cno[16];         // Carrier to Noise Ratio (Signal Str
 #define GPS_DBHZ_MIN 0
 #define GPS_DBHZ_MAX 55
 
-
+struct serialConfig_s;
+void gpsInit(struct serialConfig_s *serialConfig, gpsConfig_t *initialGpsConfig);
 void gpsThread(void);
 bool gpsNewFrame(uint8_t c);
 void updateGpsIndicator(uint32_t currentTime);
diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c
index e74ca001a0..38bbef5ff4 100644
--- a/src/main/io/ledstrip.c
+++ b/src/main/io/ledstrip.c
@@ -23,13 +23,13 @@
 
 #include <platform.h>
 
-#include <build_config.h>
-
 #ifdef LED_STRIP
 
-#include <common/color.h>
-#include <common/maths.h>
-#include <common/typeconversion.h>
+#include "build/build_config.h"
+
+#include "common/color.h"
+#include "common/maths.h"
+#include "common/typeconversion.h"
 
 #include "drivers/light_ws2811strip.h"
 #include "drivers/system.h"
@@ -40,10 +40,11 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 
-#include <common/printf.h>
+#include "common/printf.h"
 #include "common/axis.h"
+#include "common/utils.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
@@ -61,6 +62,8 @@
 #include "io/osd.h"
 #include "io/vtx.h"
 
+#include "rx/rx.h"
+
 #include "flight/failsafe.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
@@ -69,10 +72,19 @@
 
 #include "telemetry/telemetry.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
+#include "config/feature.h"
+
+/*
+PG_REGISTER_ARR_WITH_RESET_FN(ledConfig_t, LED_MAX_STRIP_LENGTH, ledConfigs, PG_LED_STRIP_CONFIG, 0);
+PG_REGISTER_ARR_WITH_RESET_FN(hsvColor_t, LED_CONFIGURABLE_COLOR_COUNT, colors, PG_COLOR_CONFIG, 0);
+PG_REGISTER_ARR_WITH_RESET_FN(modeColorIndexes_t, LED_MODE_COUNT, modeColors, PG_MODE_COLOR_CONFIG, 0);
+PG_REGISTER_WITH_RESET_FN(specialColorIndexes_t, specialColors, PG_SPECIAL_COLOR_CONFIG, 0);
+*/
 
 static bool ledStripInitialised = false;
 static bool ledStripEnabled = true;
@@ -80,75 +92,14 @@ static bool ledStripEnabled = true;
 static void ledStripDisable(void);
 
 //#define USE_LED_ANIMATION
-//#define USE_LED_RING_DEFAULT_CONFIG
 
-// timers
-#ifdef USE_LED_ANIMATION
-static uint32_t nextAnimationUpdateAt = 0;
+#define LED_STRIP_HZ(hz) ((int32_t)((1000 * 1000) / (hz)))
+#define LED_STRIP_MS(ms) ((int32_t)(1000 * (ms)))
+
+#if LED_MAX_STRIP_LENGTH > WS2811_LED_STRIP_LENGTH
+# error "Led strip length must match driver"
 #endif
 
-static uint32_t nextIndicatorFlashAt = 0;
-static uint32_t nextWarningFlashAt = 0;
-static uint32_t nextRotationUpdateAt = 0;
-
-#define LED_STRIP_20HZ ((1000 * 1000) / 20)
-#define LED_STRIP_10HZ ((1000 * 1000) / 10)
-#define LED_STRIP_5HZ ((1000 * 1000) / 5)
-
-#if MAX_LED_STRIP_LENGTH > WS2811_LED_STRIP_LENGTH
-#error "Led strip length must match driver"
-#endif
-
-//                          H    S    V
-#define LED_BLACK        {  0,   0,   0}
-#define LED_WHITE        {  0, 255, 255}
-#define LED_RED          {  0,   0, 255}
-#define LED_ORANGE       { 30,   0, 255}
-#define LED_YELLOW       { 60,   0, 255}
-#define LED_LIME_GREEN   { 90,   0, 255}
-#define LED_GREEN        {120,   0, 255}
-#define LED_MINT_GREEN   {150,   0, 255}
-#define LED_CYAN         {180,   0, 255}
-#define LED_LIGHT_BLUE   {210,   0, 255}
-#define LED_BLUE         {240,   0, 255}
-#define LED_DARK_VIOLET  {270,   0, 255}
-#define LED_MAGENTA      {300,   0, 255}
-#define LED_DEEP_PINK    {330,   0, 255}
-
-const hsvColor_t hsv_black       = LED_BLACK;
-const hsvColor_t hsv_white       = LED_WHITE;
-const hsvColor_t hsv_red         = LED_RED;
-const hsvColor_t hsv_orange      = LED_ORANGE;
-const hsvColor_t hsv_yellow      = LED_YELLOW;
-const hsvColor_t hsv_limeGreen   = LED_LIME_GREEN;
-const hsvColor_t hsv_green       = LED_GREEN;
-const hsvColor_t hsv_mintGreen   = LED_MINT_GREEN;
-const hsvColor_t hsv_cyan        = LED_CYAN;
-const hsvColor_t hsv_lightBlue   = LED_LIGHT_BLUE;
-const hsvColor_t hsv_blue        = LED_BLUE;
-const hsvColor_t hsv_darkViolet  = LED_DARK_VIOLET;
-const hsvColor_t hsv_magenta     = LED_MAGENTA;
-const hsvColor_t hsv_deepPink    = LED_DEEP_PINK;
-
-#define LED_DIRECTION_COUNT 6
-
-const hsvColor_t * const defaultColors[] = {
-        &hsv_black,
-        &hsv_white,
-        &hsv_red,
-        &hsv_orange,
-        &hsv_yellow,
-        &hsv_limeGreen,
-        &hsv_green,
-        &hsv_mintGreen,
-        &hsv_cyan,
-        &hsv_lightBlue,
-        &hsv_blue,
-        &hsv_darkViolet,
-        &hsv_magenta,
-        &hsv_deepPink
-};
-
 typedef enum {
     COLOR_BLACK = 0,
     COLOR_WHITE,
@@ -164,280 +115,109 @@ typedef enum {
     COLOR_DARK_VIOLET,
     COLOR_MAGENTA,
     COLOR_DEEP_PINK,
-} colorIds;
+} colorId_e;
 
-typedef enum {
-    DIRECTION_NORTH = 0,
-    DIRECTION_EAST,
-    DIRECTION_SOUTH,
-    DIRECTION_WEST,
-    DIRECTION_UP,
-    DIRECTION_DOWN
-} directionId_e;
-
-typedef struct modeColorIndexes_s {
-    uint8_t north;
-    uint8_t east;
-    uint8_t south;
-    uint8_t west;
-    uint8_t up;
-    uint8_t down;
-} modeColorIndexes_t;
-
-
-// Note, the color index used for the mode colors below refer to the default colors.
-// if the colors are reconfigured the index is still valid but the displayed color might
-// be different.
-// See colors[] and defaultColors[] and applyDefaultColors[]
-
-static const modeColorIndexes_t orientationModeColors = {
-        COLOR_WHITE,
-        COLOR_DARK_VIOLET,
-        COLOR_RED,
-        COLOR_DEEP_PINK,
-        COLOR_BLUE,
-        COLOR_ORANGE
-};
-
-static const modeColorIndexes_t headfreeModeColors = {
-        COLOR_LIME_GREEN,
-        COLOR_DARK_VIOLET,
-        COLOR_ORANGE,
-        COLOR_DEEP_PINK,
-        COLOR_BLUE,
-        COLOR_ORANGE
-};
-
-static const modeColorIndexes_t horizonModeColors = {
-        COLOR_BLUE,
-        COLOR_DARK_VIOLET,
-        COLOR_YELLOW,
-        COLOR_DEEP_PINK,
-        COLOR_BLUE,
-        COLOR_ORANGE
-};
-
-static const modeColorIndexes_t angleModeColors = {
-        COLOR_CYAN,
-        COLOR_DARK_VIOLET,
-        COLOR_YELLOW,
-        COLOR_DEEP_PINK,
-        COLOR_BLUE,
-        COLOR_ORANGE
-};
-
-#ifdef MAG
-static const modeColorIndexes_t magModeColors = {
-        COLOR_MINT_GREEN,
-        COLOR_DARK_VIOLET,
-        COLOR_ORANGE,
-        COLOR_DEEP_PINK,
-        COLOR_BLUE,
-        COLOR_ORANGE
-};
-#endif
-
-static const modeColorIndexes_t baroModeColors = {
-        COLOR_LIGHT_BLUE,
-        COLOR_DARK_VIOLET,
-        COLOR_RED,
-        COLOR_DEEP_PINK,
-        COLOR_BLUE,
-        COLOR_ORANGE
-};
-
-
-uint8_t ledGridWidth;
-uint8_t ledGridHeight;
-uint8_t ledCount;
-uint8_t ledsInRingCount;
-
-ledConfig_t *ledConfigs;
-hsvColor_t *colors;
-
-
-#ifdef USE_LED_RING_DEFAULT_CONFIG
-const ledConfig_t defaultLedStripConfig[] = {
-    { CALCULATE_LED_XY( 2,  2), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 2,  1), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 2,  0), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 1,  0), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 0,  0), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 0,  1), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 0,  2), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 1,  2), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 1,  1), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 1,  1), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 1,  1), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 1,  1), 3, LED_FUNCTION_THRUST_RING},
-};
-#elif defined(USE_COLIBTI_RACE_LED_DEFAULT_CONFIG)
-const ledConfig_t defaultLedStripConfig[] = {
-    { CALCULATE_LED_XY( 0,  0), 6, LED_DIRECTION_WEST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
-    { CALCULATE_LED_XY( 0,  1), 6, LED_DIRECTION_WEST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
-    { CALCULATE_LED_XY( 0,  8), 6, LED_DIRECTION_WEST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
-    { CALCULATE_LED_XY( 7,  15), 6, LED_FUNCTION_COLOR },
-    { CALCULATE_LED_XY( 8,  15), 6, LED_FUNCTION_COLOR },
-    { CALCULATE_LED_XY( 7,  14), 6, LED_FUNCTION_COLOR },
-    { CALCULATE_LED_XY( 8,  14), 6, LED_FUNCTION_COLOR },
-    { CALCULATE_LED_XY( 15,  8), 6, LED_DIRECTION_EAST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
-    { CALCULATE_LED_XY( 15,  1), 6, LED_DIRECTION_EAST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
-    { CALCULATE_LED_XY( 15,  0), 6, LED_DIRECTION_EAST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
-};
-#else
-const ledConfig_t defaultLedStripConfig[] = {
-    { CALCULATE_LED_XY(15, 15), 0, LED_DIRECTION_SOUTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
-
-    { CALCULATE_LED_XY(15,  8), 0, LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-    { CALCULATE_LED_XY(15,  7), 0, LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-
-    { CALCULATE_LED_XY(15,  0), 0, LED_DIRECTION_NORTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
-
-    { CALCULATE_LED_XY( 8,  0), 0, LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
-    { CALCULATE_LED_XY( 7,  0), 0, LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
-
-    { CALCULATE_LED_XY( 0,  0), 0, LED_DIRECTION_NORTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
-
-    { CALCULATE_LED_XY( 0,  7), 0, LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-    { CALCULATE_LED_XY( 0,  8), 0, LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-
-    { CALCULATE_LED_XY( 0, 15), 0, LED_DIRECTION_SOUTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
-
-    { CALCULATE_LED_XY( 7, 15), 0, LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-    { CALCULATE_LED_XY( 8, 15), 0, LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-
-    { CALCULATE_LED_XY( 7,  7), 0, LED_DIRECTION_UP | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-    { CALCULATE_LED_XY( 8,  7), 0, LED_DIRECTION_UP | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-    { CALCULATE_LED_XY( 7,  8), 0, LED_DIRECTION_DOWN | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-    { CALCULATE_LED_XY( 8,  8), 0, LED_DIRECTION_DOWN | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
-
-    { CALCULATE_LED_XY( 8,  9), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 9, 10), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY(10, 11), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY(10, 12), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 9, 13), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 8, 14), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 7, 14), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 6, 13), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 5, 12), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 5, 11), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 6, 10), 3, LED_FUNCTION_THRUST_RING},
-    { CALCULATE_LED_XY( 7,  9), 3, LED_FUNCTION_THRUST_RING},
-
-};
-#endif
-
-
-
-/*
- * 6 coords @nn,nn
- * 4 direction @##
- * 6 modes @####
- * = 16 bytes per led
- * 16 * 32 leds = 512 bytes storage needed worst case.
- * = not efficient to store led configs as strings in flash.
- * = becomes a problem to send all the data via cli due to serial/cli buffers
- */
-
-typedef enum {
-    X_COORDINATE,
-    Y_COORDINATE,
-    DIRECTIONS,
-    FUNCTIONS,
-    RING_COLORS
-} parseState_e;
-
-#define PARSE_STATE_COUNT 5
-
-static const char chunkSeparators[PARSE_STATE_COUNT] = {',', ':', ':',':', '\0' };
-
-static const char directionCodes[] = { 'N', 'E', 'S', 'W', 'U', 'D' };
-#define DIRECTION_COUNT (sizeof(directionCodes) / sizeof(directionCodes[0]))
-static const uint8_t directionMappings[DIRECTION_COUNT] = {
-    LED_DIRECTION_NORTH,
-    LED_DIRECTION_EAST,
-    LED_DIRECTION_SOUTH,
-    LED_DIRECTION_WEST,
-    LED_DIRECTION_UP,
-    LED_DIRECTION_DOWN
-};
-
-static const char functionCodes[] = { 'I', 'W', 'F', 'A', 'T', 'R', 'C' };
-#define FUNCTION_COUNT (sizeof(functionCodes) / sizeof(functionCodes[0]))
-static const uint16_t functionMappings[FUNCTION_COUNT] = {
-    LED_FUNCTION_INDICATOR,
-    LED_FUNCTION_WARNING,
-    LED_FUNCTION_FLIGHT_MODE,
-    LED_FUNCTION_ARM_STATE,
-    LED_FUNCTION_THROTTLE,
-    LED_FUNCTION_THRUST_RING,
-    LED_FUNCTION_COLOR
+const hsvColor_t hsv[] = {
+    //                        H    S    V
+    [COLOR_BLACK] =        {  0,   0,   0},
+    [COLOR_WHITE] =        {  0, 255, 255},
+    [COLOR_RED] =          {  0,   0, 255},
+    [COLOR_ORANGE] =       { 30,   0, 255},
+    [COLOR_YELLOW] =       { 60,   0, 255},
+    [COLOR_LIME_GREEN] =   { 90,   0, 255},
+    [COLOR_GREEN] =        {120,   0, 255},
+    [COLOR_MINT_GREEN] =   {150,   0, 255},
+    [COLOR_CYAN] =         {180,   0, 255},
+    [COLOR_LIGHT_BLUE] =   {210,   0, 255},
+    [COLOR_BLUE] =         {240,   0, 255},
+    [COLOR_DARK_VIOLET] =  {270,   0, 255},
+    [COLOR_MAGENTA] =      {300,   0, 255},
+    [COLOR_DEEP_PINK] =    {330,   0, 255},
 };
+// macro to save typing on default colors
+#define HSV(color) (hsv[COLOR_ ## color])
 
+STATIC_UNIT_TESTED uint8_t ledGridWidth;
+STATIC_UNIT_TESTED uint8_t ledGridHeight;
 // grid offsets
-uint8_t highestYValueForNorth;
-uint8_t lowestYValueForSouth;
-uint8_t highestXValueForWest;
-uint8_t lowestXValueForEast;
+STATIC_UNIT_TESTED uint8_t highestYValueForNorth;
+STATIC_UNIT_TESTED uint8_t lowestYValueForSouth;
+STATIC_UNIT_TESTED uint8_t highestXValueForWest;
+STATIC_UNIT_TESTED uint8_t lowestXValueForEast;
 
-void determineLedStripDimensions(void)
+STATIC_UNIT_TESTED ledCounts_t ledCounts;
+
+static const modeColorIndexes_t defaultModeColors[] = {
+    //                          NORTH             EAST               SOUTH            WEST             UP          DOWN
+    [LED_MODE_ORIENTATION] = {{ COLOR_WHITE,      COLOR_DARK_VIOLET, COLOR_RED,       COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
+    [LED_MODE_HEADFREE]    = {{ COLOR_LIME_GREEN, COLOR_DARK_VIOLET, COLOR_ORANGE,    COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
+    [LED_MODE_HORIZON]     = {{ COLOR_BLUE,       COLOR_DARK_VIOLET, COLOR_YELLOW,    COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
+    [LED_MODE_ANGLE]       = {{ COLOR_CYAN,       COLOR_DARK_VIOLET, COLOR_YELLOW,    COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
+    [LED_MODE_MAG]         = {{ COLOR_MINT_GREEN, COLOR_DARK_VIOLET, COLOR_ORANGE,    COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
+    [LED_MODE_BARO]        = {{ COLOR_LIGHT_BLUE, COLOR_DARK_VIOLET, COLOR_RED,       COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
+};
+
+static const specialColorIndexes_t defaultSpecialColors[] = {
+    {{ [LED_SCOLOR_DISARMED]        = COLOR_GREEN,
+       [LED_SCOLOR_ARMED]           = COLOR_BLUE,
+       [LED_SCOLOR_ANIMATION]       = COLOR_WHITE,
+       [LED_SCOLOR_BACKGROUND]      = COLOR_BLACK,
+       [LED_SCOLOR_BLINKBACKGROUND] = COLOR_BLACK,
+       [LED_SCOLOR_GPSNOSATS]       = COLOR_RED,
+       [LED_SCOLOR_GPSNOLOCK]       = COLOR_ORANGE,
+       [LED_SCOLOR_GPSLOCKED]       = COLOR_GREEN,
+    }}
+};
+
+static int scaledThrottle;
+
+static void updateLedRingCounts(void);
+
+STATIC_UNIT_TESTED void determineLedStripDimensions(void)
 {
-    ledGridWidth = 0;
-    ledGridHeight = 0;
+    int maxX = 0;
+    int maxY = 0;
 
-    uint8_t ledIndex;
-    const ledConfig_t *ledConfig;
+    for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
+        const ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
 
-    for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
-        ledConfig = &ledConfigs[ledIndex];
-
-        if (GET_LED_X(ledConfig) >= ledGridWidth) {
-            ledGridWidth = GET_LED_X(ledConfig) + 1;
-        }
-        if (GET_LED_Y(ledConfig) >= ledGridHeight) {
-            ledGridHeight = GET_LED_Y(ledConfig) + 1;
-        }
+        maxX = MAX(ledGetX(ledConfig), maxX);
+        maxY = MAX(ledGetY(ledConfig), maxY);
     }
+    ledGridWidth = maxX + 1;
+    ledGridHeight = maxY + 1;
 }
 
-void determineOrientationLimits(void)
+STATIC_UNIT_TESTED void determineOrientationLimits(void)
 {
-    bool isOddHeight = (ledGridHeight & 1);
-    bool isOddWidth = (ledGridWidth & 1);
-    uint8_t heightModifier = isOddHeight ? 1 : 0;
-    uint8_t widthModifier = isOddWidth ? 1 : 0;
-
-    highestYValueForNorth = (ledGridHeight / 2) - 1;
-    lowestYValueForSouth = (ledGridHeight / 2) + heightModifier;
-    highestXValueForWest = (ledGridWidth / 2) - 1;
-    lowestXValueForEast = (ledGridWidth / 2) + widthModifier;
+    highestYValueForNorth = MAX((ledGridHeight / 2) - 1, 0);
+    lowestYValueForSouth = (ledGridHeight + 1) / 2;
+    highestXValueForWest = MAX((ledGridWidth / 2) - 1, 0);
+    lowestXValueForEast = (ledGridWidth + 1) / 2;
 }
 
-void updateLedCount(void)
+STATIC_UNIT_TESTED void updateLedCount(void)
 {
-    const ledConfig_t *ledConfig;
-    uint8_t ledIndex;
-    ledCount = 0;
-    ledsInRingCount = 0;
+    int count = 0, countRing = 0, countScanner= 0;
 
-    if( ledConfigs == 0 ){
-        return;
-    }
+    for (int ledIndex = 0; ledIndex < LED_MAX_STRIP_LENGTH; ledIndex++) {
+        const ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
 
-    for (ledIndex = 0; ledIndex < MAX_LED_STRIP_LENGTH; ledIndex++) {
-
-        ledConfig = &ledConfigs[ledIndex];
-
-        if (ledConfig->flags == 0 && ledConfig->xy == 0) {
+        if (!(*ledConfig))
             break;
-        }
 
-        ledCount++;
+        count++;
 
-        if ((ledConfig->flags & LED_FUNCTION_THRUST_RING)) {
-            ledsInRingCount++;
-        }
+        if (ledGetFunction(ledConfig) == LED_FUNCTION_THRUST_RING)
+            countRing++;
+
+        if (ledGetOverlayBit(ledConfig, LED_OVERLAY_LARSON_SCANNER))
+            countScanner++;
     }
+
+    ledCounts.count = count;
+    ledCounts.ring = countRing;
+    ledCounts.larson = countScanner;
 }
 
 void reevaluateLedConfig(void)
@@ -445,499 +225,708 @@ void reevaluateLedConfig(void)
     updateLedCount();
     determineLedStripDimensions();
     determineOrientationLimits();
+    updateLedRingCounts();
 }
 
-#define CHUNK_BUFFER_SIZE 10
-
-#define NEXT_PARSE_STATE(parseState) ((parseState + 1) % PARSE_STATE_COUNT)
-
-
-bool parseLedStripConfig(uint8_t ledIndex, const char *config)
+// get specialColor by index
+static hsvColor_t* getSC(ledSpecialColorIds_e index)
 {
-    char chunk[CHUNK_BUFFER_SIZE];
-    uint8_t chunkIndex;
-    uint8_t val;
+    return &masterConfig.colors[masterConfig.specialColors.color[index]];
+}
 
-    uint8_t parseState = X_COORDINATE;
-    bool ok = true;
+static const char directionCodes[LED_DIRECTION_COUNT] = { 'N', 'E', 'S', 'W', 'U', 'D' };
+static const char baseFunctionCodes[LED_BASEFUNCTION_COUNT]   = { 'C', 'F', 'A', 'L', 'S', 'G', 'R' };
+static const char overlayCodes[LED_OVERLAY_COUNT]   = { 'T', 'O', 'B', 'N', 'I', 'W' };
 
-    if (ledIndex >= MAX_LED_STRIP_LENGTH) {
-        return !ok;
-    }
+#define CHUNK_BUFFER_SIZE 11
 
-    ledConfig_t *ledConfig = &ledConfigs[ledIndex];
+bool parseLedStripConfig(int ledIndex, const char *config)
+{
+    if (ledIndex >= LED_MAX_STRIP_LENGTH)
+        return false;
+
+    enum parseState_e {
+        X_COORDINATE,
+        Y_COORDINATE,
+        DIRECTIONS,
+        FUNCTIONS,
+        RING_COLORS,
+        PARSE_STATE_COUNT
+    };
+    static const char chunkSeparators[PARSE_STATE_COUNT] = {',', ':', ':',':', '\0'};
+
+    ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
     memset(ledConfig, 0, sizeof(ledConfig_t));
 
-    while (ok) {
+    int x = 0, y = 0, color = 0;   // initialize to prevent warnings
+    int baseFunction = 0;
+    int overlay_flags = 0;
+    int direction_flags = 0;
 
-        char chunkSeparator = chunkSeparators[parseState];
-
-        memset(&chunk, 0, sizeof(chunk));
-        chunkIndex = 0;
-
-        while (*config && chunkIndex < CHUNK_BUFFER_SIZE && *config != chunkSeparator) {
-            chunk[chunkIndex++] = *config++;
+    for (enum parseState_e parseState = 0; parseState < PARSE_STATE_COUNT; parseState++) {
+        char chunk[CHUNK_BUFFER_SIZE];
+        {
+            char chunkSeparator = chunkSeparators[parseState];
+            int chunkIndex = 0;
+            while (*config  && *config != chunkSeparator && chunkIndex < (CHUNK_BUFFER_SIZE - 1)) {
+                chunk[chunkIndex++] = *config++;
+            }
+            chunk[chunkIndex++] = 0; // zero-terminate chunk
+            if (*config != chunkSeparator) {
+                return false;
+            }
+            config++;   // skip separator
         }
-
-        if (*config++ != chunkSeparator) {
-            ok = false;
-            break;
-        }
-
-        switch((parseState_e)parseState) {
+        switch (parseState) {
             case X_COORDINATE:
-                val = atoi(chunk);
-                ledConfig->xy |= CALCULATE_LED_X(val);
+                x = atoi(chunk);
                 break;
             case Y_COORDINATE:
-                val = atoi(chunk);
-                ledConfig->xy |= CALCULATE_LED_Y(val);
+                y = atoi(chunk);
                 break;
             case DIRECTIONS:
-                for (chunkIndex = 0; chunk[chunkIndex] && chunkIndex < CHUNK_BUFFER_SIZE; chunkIndex++) {
-                    for (uint8_t mappingIndex = 0; mappingIndex < DIRECTION_COUNT; mappingIndex++) {
-                        if (directionCodes[mappingIndex] == chunk[chunkIndex]) {
-                            ledConfig->flags |= directionMappings[mappingIndex];
+                for (char *ch = chunk; *ch; ch++) {
+                    for (ledDirectionId_e dir = 0; dir < LED_DIRECTION_COUNT; dir++) {
+                        if (directionCodes[dir] == *ch) {
+                            direction_flags |= LED_FLAG_DIRECTION(dir);
                             break;
                         }
                     }
                 }
                 break;
             case FUNCTIONS:
-                for (chunkIndex = 0; chunk[chunkIndex] && chunkIndex < CHUNK_BUFFER_SIZE; chunkIndex++) {
-                    for (uint8_t mappingIndex = 0; mappingIndex < FUNCTION_COUNT; mappingIndex++) {
-                        if (functionCodes[mappingIndex] == chunk[chunkIndex]) {
-                            ledConfig->flags |= functionMappings[mappingIndex];
+                for (char *ch = chunk; *ch; ch++) {
+                    for (ledBaseFunctionId_e fn = 0; fn < LED_BASEFUNCTION_COUNT; fn++) {
+                        if (baseFunctionCodes[fn] == *ch) {
+                            baseFunction = fn;
+                            break;
+                        }
+                    }
+
+                    for (ledOverlayId_e ol = 0; ol < LED_OVERLAY_COUNT; ol++) {
+                        if (overlayCodes[ol] == *ch) {
+                            overlay_flags |= LED_FLAG_OVERLAY(ol);
                             break;
                         }
                     }
                 }
                 break;
             case RING_COLORS:
-                if (atoi(chunk) < CONFIGURABLE_COLOR_COUNT) {
-                    ledConfig->color = atoi(chunk);
-                } else {
-                    ledConfig->color = 0;
-                }
+                color = atoi(chunk);
+                if (color >= LED_CONFIGURABLE_COLOR_COUNT)
+                    color = 0;
                 break;
-            default :
-                break;
-        }
-
-        parseState++;
-        if (parseState >= PARSE_STATE_COUNT) {
-            break;
+            case PARSE_STATE_COUNT:; // prevent warning
         }
     }
 
-    if (!ok) {
-        memset(ledConfig, 0, sizeof(ledConfig_t));
-    }
+    *ledConfig = DEFINE_LED(x, y, color, direction_flags, baseFunction, overlay_flags, 0);
 
     reevaluateLedConfig();
 
-    return ok;
+    return true;
 }
 
-void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSize)
+void generateLedConfig(ledConfig_t *ledConfig, char *ledConfigBuffer, size_t bufferSize)
 {
-    char functions[FUNCTION_COUNT];
-    char directions[DIRECTION_COUNT];
-    uint8_t index;
-    uint8_t mappingIndex;
-
-    ledConfig_t *ledConfig = &ledConfigs[ledIndex];
+    char directions[LED_DIRECTION_COUNT + 1];
+    char baseFunctionOverlays[LED_OVERLAY_COUNT + 2];
 
     memset(ledConfigBuffer, 0, bufferSize);
-    memset(&functions, 0, sizeof(functions));
-    memset(&directions, 0, sizeof(directions));
 
-    for (mappingIndex = 0, index = 0; mappingIndex < FUNCTION_COUNT; mappingIndex++) {
-        if (ledConfig->flags & functionMappings[mappingIndex]) {
-            functions[index++] = functionCodes[mappingIndex];
+    char *dptr = directions;
+    for (ledDirectionId_e dir = 0; dir < LED_DIRECTION_COUNT; dir++) {
+        if (ledGetDirectionBit(ledConfig, dir)) {
+            *dptr++ = directionCodes[dir];
         }
     }
+    *dptr = 0;
 
-    for (mappingIndex = 0, index = 0; mappingIndex < DIRECTION_COUNT; mappingIndex++) {
-        if (ledConfig->flags & directionMappings[mappingIndex]) {
-            directions[index++] = directionCodes[mappingIndex];
+    char *fptr = baseFunctionOverlays;
+    *fptr++ = baseFunctionCodes[ledGetFunction(ledConfig)];
+
+    for (ledOverlayId_e ol = 0; ol < LED_OVERLAY_COUNT; ol++) {
+        if (ledGetOverlayBit(ledConfig, ol)) {
+            *fptr++ = overlayCodes[ol];
         }
     }
+    *fptr = 0;
 
-    sprintf(ledConfigBuffer, "%u,%u:%s:%s:%u", GET_LED_X(ledConfig), GET_LED_Y(ledConfig), directions, functions, ledConfig->color);
-}
-
-void applyDirectionalModeColor(const uint8_t ledIndex, const ledConfig_t *ledConfig, const modeColorIndexes_t *modeColors)
-{
-    // apply up/down colors regardless of quadrant.
-    if ((ledConfig->flags & LED_DIRECTION_UP)) {
-        setLedHsv(ledIndex, &colors[modeColors->up]);
-    }
-
-    if ((ledConfig->flags & LED_DIRECTION_DOWN)) {
-        setLedHsv(ledIndex, &colors[modeColors->down]);
-    }
-
-    // override with n/e/s/w colors to each n/s e/w half - bail at first match.
-    if ((ledConfig->flags & LED_DIRECTION_WEST) && GET_LED_X(ledConfig) <= highestXValueForWest) {
-        setLedHsv(ledIndex, &colors[modeColors->west]);
-    }
-
-    if ((ledConfig->flags & LED_DIRECTION_EAST) && GET_LED_X(ledConfig) >= lowestXValueForEast) {
-        setLedHsv(ledIndex, &colors[modeColors->east]);
-    }
-
-    if ((ledConfig->flags & LED_DIRECTION_NORTH) && GET_LED_Y(ledConfig) <= highestYValueForNorth) {
-        setLedHsv(ledIndex, &colors[modeColors->north]);
-    }
-
-    if ((ledConfig->flags & LED_DIRECTION_SOUTH) && GET_LED_Y(ledConfig) >= lowestYValueForSouth) {
-        setLedHsv(ledIndex, &colors[modeColors->south]);
-    }
-
+    // TODO - check buffer length
+    sprintf(ledConfigBuffer, "%u,%u:%s:%s:%u", ledGetX(ledConfig), ledGetY(ledConfig), directions, baseFunctionOverlays, ledGetColor(ledConfig));
 }
 
 typedef enum {
-    QUADRANT_NORTH_EAST = 1,
-    QUADRANT_SOUTH_EAST,
-    QUADRANT_SOUTH_WEST,
-    QUADRANT_NORTH_WEST
+    // the ordering is important, see below how NSEW is mapped to  NE/SE/NW/SW
+    QUADRANT_NORTH      = 1 << 0,
+    QUADRANT_SOUTH      = 1 << 1,
+    QUADRANT_EAST       = 1 << 2,
+    QUADRANT_WEST       = 1 << 3,
+    QUADRANT_NORTH_EAST = 1 << 4,
+    QUADRANT_SOUTH_EAST = 1 << 5,
+    QUADRANT_NORTH_WEST = 1 << 6,
+    QUADRANT_SOUTH_WEST = 1 << 7,
+    QUADRANT_NONE       = 1 << 8,
+    QUADRANT_NOTDIAG    = 1 << 9,  // not in NE/SE/NW/SW
+    // values for test
+    QUADRANT_ANY        = QUADRANT_NORTH | QUADRANT_SOUTH | QUADRANT_EAST | QUADRANT_WEST | QUADRANT_NONE,
 } quadrant_e;
 
-void applyQuadrantColor(const uint8_t ledIndex, const ledConfig_t *ledConfig, const quadrant_e quadrant, const hsvColor_t *color)
+static quadrant_e getLedQuadrant(const int ledIndex)
 {
-    switch (quadrant) {
-        case QUADRANT_NORTH_EAST:
-            if (GET_LED_Y(ledConfig) <= highestYValueForNorth && GET_LED_X(ledConfig) >= lowestXValueForEast) {
-                setLedHsv(ledIndex, color);
-            }
-            return;
+    const ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
 
-        case QUADRANT_SOUTH_EAST:
-            if (GET_LED_Y(ledConfig) >= lowestYValueForSouth && GET_LED_X(ledConfig) >= lowestXValueForEast) {
-                setLedHsv(ledIndex, color);
-            }
-            return;
+    int x = ledGetX(ledConfig);
+    int y = ledGetY(ledConfig);
 
-        case QUADRANT_SOUTH_WEST:
-            if (GET_LED_Y(ledConfig) >= lowestYValueForSouth && GET_LED_X(ledConfig) <= highestXValueForWest) {
-                setLedHsv(ledIndex, color);
-            }
-            return;
+    int quad = 0;
+    if (y <= highestYValueForNorth)
+        quad |= QUADRANT_NORTH;
+    else if (y >= lowestYValueForSouth)
+        quad |= QUADRANT_SOUTH;
+    if (x >= lowestXValueForEast)
+        quad |= QUADRANT_EAST;
+    else if (x <= highestXValueForWest)
+        quad |= QUADRANT_WEST;
+
+    if ((quad & (QUADRANT_NORTH | QUADRANT_SOUTH))
+       && (quad & (QUADRANT_EAST | QUADRANT_WEST)) ) { // is led  in one of NE/SE/NW/SW?
+        quad |= 1 << (4 + ((quad & QUADRANT_SOUTH) ? 1 : 0) + ((quad & QUADRANT_WEST) ? 2 : 0));
+    } else {
+        quad |= QUADRANT_NOTDIAG;
+    }
+
+    if ((quad & (QUADRANT_NORTH | QUADRANT_SOUTH | QUADRANT_EAST | QUADRANT_WEST)) == 0)
+        quad |= QUADRANT_NONE;
+
+    return quad;
+}
+
+static const struct {
+    uint8_t dir;             // ledDirectionId_e
+    uint16_t quadrantMask;   // quadrant_e
+} directionQuadrantMap[] = {
+    {LED_DIRECTION_SOUTH, QUADRANT_SOUTH},
+    {LED_DIRECTION_NORTH, QUADRANT_NORTH},
+    {LED_DIRECTION_EAST,  QUADRANT_EAST},
+    {LED_DIRECTION_WEST,  QUADRANT_WEST},
+    {LED_DIRECTION_DOWN,  QUADRANT_ANY},
+    {LED_DIRECTION_UP,    QUADRANT_ANY},
+};
+
+static hsvColor_t* getDirectionalModeColor(const int ledIndex, const modeColorIndexes_t *modeColors)
+{
+    const ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
+
+    quadrant_e quad = getLedQuadrant(ledIndex);
+    for (unsigned i = 0; i < ARRAYLEN(directionQuadrantMap); i++) {
+        ledDirectionId_e dir = directionQuadrantMap[i].dir;
+        quadrant_e quadMask = directionQuadrantMap[i].quadrantMask;
+
+        if (ledGetDirectionBit(ledConfig, dir) && (quad & quadMask))
+            return &masterConfig.colors[modeColors->color[dir]];
+    }
+    return NULL;
+}
+
+// map flight mode to led mode, in order of priority
+// flightMode == 0 is always active
+static const struct {
+    uint16_t flightMode;
+    uint8_t ledMode;
+} flightModeToLed[] = {
+    {HEADFREE_MODE, LED_MODE_HEADFREE},
+#ifdef MAG
+    {MAG_MODE,      LED_MODE_MAG},
+#endif
+#ifdef BARO
+    {BARO_MODE,     LED_MODE_BARO},
+#endif
+    {HORIZON_MODE,  LED_MODE_HORIZON},
+    {ANGLE_MODE,    LED_MODE_ANGLE},
+    {0,             LED_MODE_ORIENTATION},
+};
+
+static void applyLedFixedLayers()
+{
+    for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
+        const ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
+        hsvColor_t color = *getSC(LED_SCOLOR_BACKGROUND);
+
+        int fn = ledGetFunction(ledConfig);
+        int hOffset = HSV_HUE_MAX;
+
+        switch (fn) {
+            case LED_FUNCTION_COLOR:
+                color = masterConfig.colors[ledGetColor(ledConfig)];
+                break;
+
+            case LED_FUNCTION_FLIGHT_MODE:
+                for (unsigned i = 0; i < ARRAYLEN(flightModeToLed); i++)
+                    if (!flightModeToLed[i].flightMode || FLIGHT_MODE(flightModeToLed[i].flightMode)) {
+                        hsvColor_t *directionalColor = getDirectionalModeColor(ledIndex, &masterConfig.modeColors[flightModeToLed[i].ledMode]);
+                        if (directionalColor) {
+                            color = *directionalColor;
+                        }
+
+                        break; // stop on first match
+                    }
+                break;
+
+            case LED_FUNCTION_ARM_STATE:
+                color = ARMING_FLAG(ARMED) ? *getSC(LED_SCOLOR_ARMED) : *getSC(LED_SCOLOR_DISARMED);
+                break;
+
+            case LED_FUNCTION_BATTERY:
+                color = HSV(RED);
+                hOffset += scaleRange(calculateBatteryCapacityRemainingPercentage(), 0, 100, -30, 120);
+                break;
+
+            case LED_FUNCTION_RSSI:
+                color = HSV(RED);
+                hOffset += scaleRange(rssi * 100, 0, 1023, -30, 120);
+                break;
+
+            default:
+                break;
+        }
+
+        if (ledGetOverlayBit(ledConfig, LED_OVERLAY_THROTTLE)) {
+            hOffset += ((scaledThrottle - 10) * 4) / 3;
+        }
+
+        color.h = (color.h + hOffset) % (HSV_HUE_MAX + 1);
+
+        setLedHsv(ledIndex, &color);
 
-        case QUADRANT_NORTH_WEST:
-            if (GET_LED_Y(ledConfig) <= highestYValueForNorth && GET_LED_X(ledConfig) <= highestXValueForWest) {
-                setLedHsv(ledIndex, color);
-            }
-            return;
     }
 }
 
-void applyLedModeLayer(void)
+static void applyLedHsv(uint32_t mask, const hsvColor_t *color)
 {
-    const ledConfig_t *ledConfig;
-
-    uint8_t ledIndex;
-    for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
-
-        ledConfig = &ledConfigs[ledIndex];
-
-        if (!(ledConfig->flags & LED_FUNCTION_THRUST_RING)) {
-            if (ledConfig->flags & LED_FUNCTION_COLOR) {
-                setLedHsv(ledIndex, &colors[ledConfig->color]);
-            } else {
-                setLedHsv(ledIndex, &hsv_black);
-            }
-        }
-
-        if (!(ledConfig->flags & LED_FUNCTION_FLIGHT_MODE)) {
-            if (ledConfig->flags & LED_FUNCTION_ARM_STATE) {
-                if (!ARMING_FLAG(ARMED)) {
-                    setLedHsv(ledIndex, &hsv_green);
-                } else {
-                    setLedHsv(ledIndex, &hsv_blue);
-                }
-            }
-            continue;
-        }
-
-        applyDirectionalModeColor(ledIndex, ledConfig, &orientationModeColors);
-
-        if (FLIGHT_MODE(HEADFREE_MODE)) {
-            applyDirectionalModeColor(ledIndex, ledConfig, &headfreeModeColors);
-#ifdef MAG
-        } else if (FLIGHT_MODE(MAG_MODE)) {
-            applyDirectionalModeColor(ledIndex, ledConfig, &magModeColors);
-#endif
-#ifdef BARO
-        } else if (FLIGHT_MODE(BARO_MODE)) {
-            applyDirectionalModeColor(ledIndex, ledConfig, &baroModeColors);
-#endif
-        } else if (FLIGHT_MODE(HORIZON_MODE)) {
-            applyDirectionalModeColor(ledIndex, ledConfig, &horizonModeColors);
-        } else if (FLIGHT_MODE(ANGLE_MODE)) {
-            applyDirectionalModeColor(ledIndex, ledConfig, &angleModeColors);
-        }
+    for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
+        const ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
+        if ((*ledConfig & mask) == mask)
+            setLedHsv(ledIndex, color);
     }
 }
 
 typedef enum {
-    WARNING_FLAG_NONE = 0,
-    WARNING_FLAG_LOW_BATTERY = (1 << 0),
-    WARNING_FLAG_FAILSAFE = (1 << 1),
-    WARNING_FLAG_ARMING_DISABLED = (1 << 2)
+    WARNING_ARMING_DISABLED,
+    WARNING_LOW_BATTERY,
+    WARNING_FAILSAFE,
 } warningFlags_e;
 
-static uint8_t warningFlags = WARNING_FLAG_NONE;
-
-void applyLedWarningLayer(uint8_t updateNow)
+static void applyLedWarningLayer(bool updateNow, uint32_t *timer)
 {
-    const ledConfig_t *ledConfig;
-    uint8_t ledIndex;
     static uint8_t warningFlashCounter = 0;
+    static uint8_t warningFlags = 0;          // non-zero during blinks
 
-    if (updateNow && warningFlashCounter == 0) {
-        warningFlags = WARNING_FLAG_NONE;
-        if (feature(FEATURE_VBAT) && getBatteryState() != BATTERY_OK) {
-            warningFlags |= WARNING_FLAG_LOW_BATTERY;
-        }
-        if (feature(FEATURE_FAILSAFE) && failsafeIsActive()) {
-            warningFlags |= WARNING_FLAG_FAILSAFE;
-        }
-        if (!ARMING_FLAG(ARMED) && !ARMING_FLAG(OK_TO_ARM)) {
-            warningFlags |= WARNING_FLAG_ARMING_DISABLED;
-        }
-    }
-
-    if (warningFlags || warningFlashCounter > 0) {
-        const hsvColor_t *warningColor = &hsv_black;
-
-        if ((warningFlashCounter & 1) == 0) {
-            if (warningFlashCounter < 4 && (warningFlags & WARNING_FLAG_ARMING_DISABLED)) {
-                warningColor = &hsv_green;
-            }
-            if (warningFlashCounter >= 4 && warningFlashCounter < 12 && (warningFlags & WARNING_FLAG_LOW_BATTERY)) {
-                warningColor = &hsv_red;
-            }
-            if (warningFlashCounter >= 12 && warningFlashCounter < 16 && (warningFlags & WARNING_FLAG_FAILSAFE)) {
-                warningColor = &hsv_yellow;
-            }
-        }  else {
-            if (warningFlashCounter >= 12 && warningFlashCounter < 16 && (warningFlags & WARNING_FLAG_FAILSAFE)) {
-                warningColor = &hsv_blue;
-            }
-        }
-
-        for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
-
-            ledConfig = &ledConfigs[ledIndex];
-
-            if (!(ledConfig->flags & LED_FUNCTION_WARNING)) {
-                continue;
-            }
-            setLedHsv(ledIndex, warningColor);
-        }
-    }
-
-    if (updateNow && (warningFlags || warningFlashCounter)) {
+    if (updateNow) {
+        // keep counter running, so it stays in sync with blink
         warningFlashCounter++;
-        if (warningFlashCounter == 20) {
-            warningFlashCounter = 0;
+        warningFlashCounter &= 0xF;
+
+        if (warningFlashCounter == 0) {      // update when old flags was processed
+            warningFlags = 0;
+            if (feature(FEATURE_VBAT) && getBatteryState() != BATTERY_OK)
+                warningFlags |= 1 << WARNING_LOW_BATTERY;
+            if (feature(FEATURE_FAILSAFE) && failsafeIsActive())
+                warningFlags |= 1 << WARNING_FAILSAFE;
+            if (!ARMING_FLAG(ARMED) && !ARMING_FLAG(OK_TO_ARM))
+                warningFlags |= 1 << WARNING_ARMING_DISABLED;
         }
+        *timer += LED_STRIP_HZ(10);
+    }
+
+    if (warningFlags) {
+        const hsvColor_t *warningColor = NULL;
+
+        bool colorOn = (warningFlashCounter % 2) == 0;   // w_w_
+        warningFlags_e warningId = warningFlashCounter / 4;
+        if (warningFlags & (1 << warningId)) {
+            switch (warningId) {
+                case WARNING_ARMING_DISABLED:
+                    warningColor = colorOn ? &HSV(GREEN)  : &HSV(BLACK);
+                    break;
+                case WARNING_LOW_BATTERY:
+                    warningColor = colorOn ? &HSV(RED)    : &HSV(BLACK);
+                    break;
+                case WARNING_FAILSAFE:
+                    warningColor = colorOn ? &HSV(YELLOW) : &HSV(BLUE);
+                    break;
+                default:;
+            }
+        }
+        if (warningColor)
+            applyLedHsv(LED_MOV_OVERLAY(LED_FLAG_OVERLAY(LED_OVERLAY_WARNING)), warningColor);
     }
 }
 
+static void applyLedBatteryLayer(bool updateNow, uint32_t *timer)
+{
+    static bool flash = false;
+
+    int state;
+    int timeOffset = 1;
+
+    if (updateNow) {
+       state = getBatteryState();
+
+       switch (state) {
+           case BATTERY_OK:
+               flash = false;
+               timeOffset = 1;
+               break;
+           case BATTERY_WARNING:
+               timeOffset = 2;
+               break;
+           default:
+               timeOffset = 8;
+               break;
+       }
+       flash = !flash;
+    }
+
+    *timer += LED_STRIP_HZ(timeOffset);
+
+    if (!flash) {
+       hsvColor_t *bgc = getSC(LED_SCOLOR_BACKGROUND);
+       applyLedHsv(LED_MOV_FUNCTION(LED_FUNCTION_BATTERY), bgc);
+    }
+}
+
+static void applyLedRssiLayer(bool updateNow, uint32_t *timer)
+{
+    static bool flash = false;
+
+    int state;
+    int timeOffset = 0;
+
+    if (updateNow) {
+       state = (rssi * 100) / 1023;
+
+       if (state > 50) {
+           flash = false;
+           timeOffset = 1;
+       } else if (state > 20) {
+           timeOffset = 2;
+       } else {
+           timeOffset = 8;
+       }
+       flash = !flash;
+    }
+
+
+    *timer += LED_STRIP_HZ(timeOffset);
+
+    if (!flash) {
+       hsvColor_t *bgc = getSC(LED_SCOLOR_BACKGROUND);
+       applyLedHsv(LED_MOV_FUNCTION(LED_FUNCTION_RSSI), bgc);
+    }
+}
+
+#ifdef GPS
+static void applyLedGpsLayer(bool updateNow, uint32_t *timer)
+{
+    static uint8_t gpsFlashCounter = 0;
+    static uint8_t gpsPauseCounter = 0;
+    const uint8_t blinkPauseLength = 4;
+
+    if (updateNow) {
+        if (gpsPauseCounter > 0) {
+            gpsPauseCounter--;
+        } else if (gpsFlashCounter >= GPS_numSat) {
+            gpsFlashCounter = 0;
+            gpsPauseCounter = blinkPauseLength;
+        } else {
+            gpsFlashCounter++;
+            gpsPauseCounter = 1;
+        }
+        *timer += LED_STRIP_HZ(2.5);
+    }
+
+    const hsvColor_t *gpsColor;
+
+    if (GPS_numSat == 0 || !sensors(SENSOR_GPS)) {
+        gpsColor = getSC(LED_SCOLOR_GPSNOSATS);
+    } else {
+        bool colorOn = gpsPauseCounter == 0;  // each interval starts with pause
+        if (STATE(GPS_FIX)) {
+            gpsColor = colorOn ? getSC(LED_SCOLOR_GPSLOCKED) : getSC(LED_SCOLOR_BACKGROUND);
+        } else {
+            gpsColor = colorOn ? getSC(LED_SCOLOR_GPSNOLOCK) : getSC(LED_SCOLOR_GPSNOSATS);
+        }
+    }
+
+    applyLedHsv(LED_MOV_FUNCTION(LED_FUNCTION_GPS), gpsColor);
+}
+
+#endif
+
 #define INDICATOR_DEADBAND 25
 
-void applyLedIndicatorLayer(uint8_t indicatorFlashState)
+static void applyLedIndicatorLayer(bool updateNow, uint32_t *timer)
 {
-    const ledConfig_t *ledConfig;
-    static const hsvColor_t *flashColor;
+    static bool flash = 0;
 
-    if (!rxIsReceivingSignal()) {
+    if (updateNow) {
+        if (rxIsReceivingSignal()) {
+            // calculate update frequency
+            int scale = MAX(ABS(rcCommand[ROLL]), ABS(rcCommand[PITCH]));  // 0 - 500
+            scale += (50 - INDICATOR_DEADBAND);  // start increasing frequency right after deadband
+            *timer += LED_STRIP_HZ(5) * 50 / MAX(50, scale);   // 5 - 50Hz update, 2.5 - 25Hz blink
+
+            flash = !flash;
+        } else {
+            *timer += LED_STRIP_HZ(5);  // try again soon
+        }
+    }
+
+    if (!flash)
         return;
+
+    const hsvColor_t *flashColor = &HSV(ORANGE); // TODO - use user color?
+
+    quadrant_e quadrants = 0;
+    if (rcCommand[ROLL] > INDICATOR_DEADBAND) {
+        quadrants |= QUADRANT_NORTH_EAST | QUADRANT_SOUTH_EAST;
+    } else if (rcCommand[ROLL] < -INDICATOR_DEADBAND) {
+        quadrants |= QUADRANT_NORTH_WEST | QUADRANT_SOUTH_WEST;
+    }
+    if (rcCommand[PITCH] > INDICATOR_DEADBAND) {
+        quadrants |= QUADRANT_NORTH_EAST | QUADRANT_NORTH_WEST;
+    } else if (rcCommand[PITCH] < -INDICATOR_DEADBAND) {
+        quadrants |= QUADRANT_SOUTH_EAST | QUADRANT_SOUTH_WEST;
     }
 
-    if (indicatorFlashState == 0) {
-        flashColor = &hsv_orange;
-    } else {
-        flashColor = &hsv_black;
-    }
-
-
-    uint8_t ledIndex;
-    for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
-
-        ledConfig = &ledConfigs[ledIndex];
-
-        if (!(ledConfig->flags & LED_FUNCTION_INDICATOR)) {
-            continue;
+    for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
+        const ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
+        if (ledGetOverlayBit(ledConfig, LED_OVERLAY_INDICATOR)) {
+            if (getLedQuadrant(ledIndex) & quadrants)
+                setLedHsv(ledIndex, flashColor);
         }
-
-        if (rcCommand[ROLL] > INDICATOR_DEADBAND) {
-            applyQuadrantColor(ledIndex, ledConfig, QUADRANT_NORTH_EAST, flashColor);
-            applyQuadrantColor(ledIndex, ledConfig, QUADRANT_SOUTH_EAST, flashColor);
-        }
-
-        if (rcCommand[ROLL] < -INDICATOR_DEADBAND) {
-            applyQuadrantColor(ledIndex, ledConfig, QUADRANT_NORTH_WEST, flashColor);
-            applyQuadrantColor(ledIndex, ledConfig, QUADRANT_SOUTH_WEST, flashColor);
-        }
-
-        if (rcCommand[PITCH] > INDICATOR_DEADBAND) {
-            applyQuadrantColor(ledIndex, ledConfig, QUADRANT_NORTH_EAST, flashColor);
-            applyQuadrantColor(ledIndex, ledConfig, QUADRANT_NORTH_WEST, flashColor);
-        }
-
-        if (rcCommand[PITCH] < -INDICATOR_DEADBAND) {
-            applyQuadrantColor(ledIndex, ledConfig, QUADRANT_SOUTH_EAST, flashColor);
-            applyQuadrantColor(ledIndex, ledConfig, QUADRANT_SOUTH_WEST, flashColor);
-        }
-    }
-}
-
-void applyLedThrottleLayer()
-{
-    const ledConfig_t *ledConfig;
-    hsvColor_t color;
-
-    uint8_t ledIndex;
-    for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
-        ledConfig = &ledConfigs[ledIndex];
-        if (!(ledConfig->flags & LED_FUNCTION_THROTTLE)) {
-            continue;
-        }
-
-        getLedHsv(ledIndex, &color);
-
-        int scaled = scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, -60, +60);
-        scaled += HSV_HUE_MAX;
-        color.h = (color.h + scaled) % HSV_HUE_MAX;
-        setLedHsv(ledIndex, &color);
     }
 }
 
 #define ROTATION_SEQUENCE_LED_COUNT 6 // 2 on, 4 off
-#define ROTATION_SEQUENCE_LED_WIDTH 2
+#define ROTATION_SEQUENCE_LED_WIDTH 2 // 2 on
 
-#define RING_PATTERN_NOT_CALCULATED 255
-
-void applyLedThrustRingLayer(void)
+static void updateLedRingCounts(void)
 {
-    const ledConfig_t *ledConfig;
-    hsvColor_t ringColor;
-    uint8_t ledIndex;
-
-    // initialised to special value instead of using more memory for a flag.
-    static uint8_t rotationSeqLedCount = RING_PATTERN_NOT_CALCULATED;
-    static uint8_t rotationPhase = ROTATION_SEQUENCE_LED_COUNT;
-    bool nextLedOn = false;
-
-    uint8_t ledRingIndex = 0;
-    for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
-
-        ledConfig = &ledConfigs[ledIndex];
-
-        if ((ledConfig->flags & LED_FUNCTION_THRUST_RING) == 0) {
-            continue;
+    int seqLen;
+    // try to split in segments/rings of exactly ROTATION_SEQUENCE_LED_COUNT leds
+    if ((ledCounts.ring % ROTATION_SEQUENCE_LED_COUNT) == 0) {
+        seqLen = ROTATION_SEQUENCE_LED_COUNT;
+    } else {
+        seqLen = ledCounts.ring;
+        // else split up in equal segments/rings of at most ROTATION_SEQUENCE_LED_COUNT leds
+        // TODO - improve partitioning (15 leds -> 3x5)
+        while ((seqLen > ROTATION_SEQUENCE_LED_COUNT) && ((seqLen % 2) == 0)) {
+            seqLen /= 2;
         }
+    }
+    ledCounts.ringSeqLen = seqLen;
+}
 
-        bool applyColor = false;
-        if (ARMING_FLAG(ARMED)) {
-            if ((ledRingIndex + rotationPhase) % rotationSeqLedCount < ROTATION_SEQUENCE_LED_WIDTH) {
-                applyColor = true;
-            }
-        } else {
-            if (nextLedOn == false) {
-                applyColor = true;
-            }
-            nextLedOn = !nextLedOn;
-        }
+static void applyLedThrustRingLayer(bool updateNow, uint32_t *timer)
+{
+    static uint8_t rotationPhase;
+    int ledRingIndex = 0;
 
-        if (applyColor) {
-            ringColor = colors[ledConfig->color];
-        } else {
-            ringColor = hsv_black;
-        }
+    if (updateNow) {
+        rotationPhase = rotationPhase > 0 ? rotationPhase - 1 : ledCounts.ringSeqLen - 1;
 
-        setLedHsv(ledIndex, &ringColor);
-
-        ledRingIndex++;
+        int scale = scaledThrottle; // ARMING_FLAG(ARMED) ? scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 10, 100) : 10;
+        *timer += LED_STRIP_HZ(5) * 10 / scale;  // 5 - 50Hz update rate
     }
 
-    uint8_t ledRingLedCount = ledRingIndex;
-    if (rotationSeqLedCount == RING_PATTERN_NOT_CALCULATED) {
-        // update ring pattern according to total number of ring leds found
+    for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
+        const ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
+        if (ledGetFunction(ledConfig) == LED_FUNCTION_THRUST_RING) {
 
-        rotationSeqLedCount = ledRingLedCount;
-
-        // try to split in segments/rings of exactly ROTATION_SEQUENCE_LED_COUNT leds
-        if ((ledRingLedCount % ROTATION_SEQUENCE_LED_COUNT) == 0) {
-            rotationSeqLedCount = ROTATION_SEQUENCE_LED_COUNT;
-        } else {
-            // else split up in equal segments/rings of at most ROTATION_SEQUENCE_LED_COUNT leds
-            while ((rotationSeqLedCount > ROTATION_SEQUENCE_LED_COUNT) && ((rotationSeqLedCount % 2) == 0)) {
-                rotationSeqLedCount >>= 1;
+            bool applyColor;
+            if (ARMING_FLAG(ARMED)) {
+                applyColor = (ledRingIndex + rotationPhase) % ledCounts.ringSeqLen < ROTATION_SEQUENCE_LED_WIDTH;
+            } else {
+                applyColor = !(ledRingIndex % 2); // alternating pattern
             }
-        }
 
-        // trigger start over
-        rotationPhase = 1;
+            if (applyColor) {
+                const hsvColor_t *ringColor = &masterConfig.colors[ledGetColor(ledConfig)];
+                setLedHsv(ledIndex, ringColor);
+            }
+
+            ledRingIndex++;
+        }
+    }
+}
+
+typedef struct larsonParameters_s {
+    uint8_t currentBrightness;
+    int8_t currentIndex;
+    int8_t direction;
+} larsonParameters_t;
+
+static int brightnessForLarsonIndex(larsonParameters_t *larsonParameters, uint8_t larsonIndex)
+{
+    int offset = larsonIndex - larsonParameters->currentIndex;
+    static const int larsonLowValue = 8;
+
+    if (ABS(offset) > 1)
+        return (larsonLowValue);
+
+    if (offset == 0)
+        return (larsonParameters->currentBrightness);
+
+    if (larsonParameters->direction == offset) {
+        return (larsonParameters->currentBrightness - 127);
     }
 
-    rotationPhase--;
-    if (rotationPhase == 0) {
-        rotationPhase = rotationSeqLedCount;
+    return (255 - larsonParameters->currentBrightness);
+
+}
+
+static void larsonScannerNextStep(larsonParameters_t *larsonParameters, int delta)
+{
+    if (larsonParameters->currentBrightness > (255 - delta)) {
+        larsonParameters->currentBrightness = 127;
+        if (larsonParameters->currentIndex >= ledCounts.larson || larsonParameters->currentIndex < 0) {
+            larsonParameters->direction = -larsonParameters->direction;
+        }
+        larsonParameters->currentIndex += larsonParameters->direction;
+    } else {
+        larsonParameters->currentBrightness += delta;
+    }
+}
+
+static void applyLarsonScannerLayer(bool updateNow, uint32_t *timer)
+{
+    static larsonParameters_t larsonParameters = { 0, 0, 1 };
+
+    if (updateNow) {
+        larsonScannerNextStep(&larsonParameters, 15);
+        *timer += LED_STRIP_HZ(60);
+    }
+
+    int scannerLedIndex = 0;
+    for (unsigned i = 0; i < ledCounts.count; i++) {
+
+        const ledConfig_t *ledConfig = &ledConfigs[i];
+
+        if (ledGetOverlayBit(ledConfig, LED_OVERLAY_LARSON_SCANNER)) {
+            hsvColor_t ledColor;
+            getLedHsv(i, &ledColor);
+            ledColor.v = brightnessForLarsonIndex(&larsonParameters, scannerLedIndex);
+            setLedHsv(i, &ledColor);
+            scannerLedIndex++;
+        }
+    }
+}
+
+// blink twice, then wait ; either always or just when landing
+static void applyLedBlinkLayer(bool updateNow, uint32_t *timer)
+{
+    const uint16_t blinkPattern = 0x8005; // 0b1000000000000101;
+    static uint16_t blinkMask;
+
+    if (updateNow) {
+        blinkMask = blinkMask >> 1;
+        if (blinkMask <= 1)
+            blinkMask = blinkPattern;
+
+        *timer += LED_STRIP_HZ(10);
+    }
+
+    bool ledOn = (blinkMask & 1);  // b_b_____...
+    if (!ledOn) {
+        for (int i = 0; i < ledCounts.count; ++i) {
+            const ledConfig_t *ledConfig = &ledConfigs[i];
+
+            if (ledGetOverlayBit(ledConfig, LED_OVERLAY_BLINK) ||
+                    (ledGetOverlayBit(ledConfig, LED_OVERLAY_LANDING_FLASH) && scaledThrottle < 55 && scaledThrottle > 10)) {
+                setLedHsv(i, getSC(LED_SCOLOR_BLINKBACKGROUND));
+            }
+        }
     }
 }
 
 #ifdef USE_LED_ANIMATION
-static uint8_t previousRow;
-static uint8_t currentRow;
-static uint8_t nextRow;
-
-void updateLedAnimationState(void)
+static void applyLedAnimationLayer(bool updateNow, uint32_t *timer)
 {
     static uint8_t frameCounter = 0;
-
-    uint8_t animationFrames = ledGridHeight;
-
-    previousRow = (frameCounter + animationFrames - 1) % animationFrames;
-    currentRow = frameCounter;
-    nextRow = (frameCounter + 1) % animationFrames;
-
-    frameCounter = (frameCounter + 1) % animationFrames;
-}
-
-static void applyLedAnimationLayer(void)
-{
-    const ledConfig_t *ledConfig;
-
-    if (ARMING_FLAG(ARMED)) {
-        return;
+    const int animationFrames = ledGridHeight;
+    if(updateNow) {
+        frameCounter = (frameCounter + 1 < animationFrames) ? frameCounter + 1 : 0;
+        *timer += LED_STRIP_HZ(20);
     }
 
-    uint8_t ledIndex;
-    for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
+    if (ARMING_FLAG(ARMED))
+        return;
 
-        ledConfig = &ledConfigs[ledIndex];
+    int previousRow = frameCounter > 0 ? frameCounter - 1 : animationFrames - 1;
+    int currentRow = frameCounter;
+    int nextRow = (frameCounter + 1 < animationFrames) ? frameCounter + 1 : 0;
 
-        if (GET_LED_Y(ledConfig) == previousRow) {
-            setLedHsv(ledIndex, &hsv_white);
+    for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
+        const ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
+
+        if (ledGetY(ledConfig) == previousRow) {
+            setLedHsv(ledIndex, getSC(LED_SCOLOR_ANIMATION));
             scaleLedValue(ledIndex, 50);
-
-        } else if (GET_LED_Y(ledConfig) == currentRow) {
-            setLedHsv(ledIndex, &hsv_white);
-        } else if (GET_LED_Y(ledConfig) == nextRow) {
+        } else if (ledGetY(ledConfig) == currentRow) {
+            setLedHsv(ledIndex, getSC(LED_SCOLOR_ANIMATION));
+        } else if (ledGetY(ledConfig) == nextRow) {
             scaleLedValue(ledIndex, 50);
         }
     }
 }
 #endif
 
+typedef enum {
+    timBlink,
+    timLarson,
+    timBattery,
+    timRssi,
+#ifdef GPS
+    timGps,
+#endif
+    timWarning,
+    timIndicator,
+#ifdef USE_LED_ANIMATION
+    timAnimation,
+#endif
+    timRing,
+    timTimerCount
+} timId_e;
+
+static uint32_t timerVal[timTimerCount];
+
+// function to apply layer.
+// function must replan self using timer pointer
+// when updateNow is true (timer triggered), state must be updated first,
+//  before calculating led state. Otherwise update started by different trigger
+//  may modify LED state.
+typedef void applyLayerFn_timed(bool updateNow, uint32_t *timer);
+
+static applyLayerFn_timed* layerTable[] = {
+    [timBlink] = &applyLedBlinkLayer,
+    [timLarson] = &applyLarsonScannerLayer,
+    [timBattery] = &applyLedBatteryLayer,
+    [timRssi] = &applyLedRssiLayer,
+#ifdef GPS
+    [timGps] = &applyLedGpsLayer,
+#endif
+    [timWarning] = &applyLedWarningLayer,
+    [timIndicator] = &applyLedIndicatorLayer,
+#ifdef USE_LED_ANIMATION
+    [timAnimation] = &applyLedAnimationLayer,
+#endif
+    [timRing] = &applyLedThrustRingLayer
+};
+
 void updateLedStrip(void)
 {
-
     if (!(ledStripInitialised && isWS2811LedStripReady())) {
         return;
     }
@@ -947,161 +936,168 @@ void updateLedStrip(void)
             ledStripDisable();
             ledStripEnabled = false;
         }
-    } else {
-        ledStripEnabled = true;
-    }
-
-    if (!ledStripEnabled){
         return;
     }
-
+    ledStripEnabled = true;
 
     uint32_t now = micros();
 
-    bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
-    bool warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
-    bool rotationUpdateNow = (int32_t)(now - nextRotationUpdateAt) >= 0L;
-#ifdef USE_LED_ANIMATION
-    bool animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
-#endif
-    if (!(
-            indicatorFlashNow ||
-            rotationUpdateNow ||
-            warningFlashNow
-#ifdef USE_LED_ANIMATION
-            || animationUpdateNow
-#endif
-    )) {
-        return;
-    }
-
-    static uint8_t indicatorFlashState = 0;
-
-    // LAYER 1
-    applyLedModeLayer();
-    applyLedThrottleLayer();
-
-    // LAYER 2
-
-    if (warningFlashNow) {
-        nextWarningFlashAt = now + LED_STRIP_10HZ;
-    }
-    applyLedWarningLayer(warningFlashNow);
-
-    // LAYER 3
-
-    if (indicatorFlashNow) {
-
-        uint8_t rollScale = ABS(rcCommand[ROLL]) / 50;
-        uint8_t pitchScale = ABS(rcCommand[PITCH]) / 50;
-        uint8_t scale = MAX(rollScale, pitchScale);
-        nextIndicatorFlashAt = now + (LED_STRIP_5HZ / MAX(1, scale));
-
-        if (indicatorFlashState == 0) {
-            indicatorFlashState = 1;
-        } else {
-            indicatorFlashState = 0;
+    // test all led timers, setting corresponding bits
+    uint32_t timActive = 0;
+    for (timId_e timId = 0; timId < timTimerCount; timId++) {
+        // sanitize timer value, so that it can be safely incremented. Handles inital timerVal value.
+        // max delay is limited to 5s
+        int32_t delta = cmp32(now, timerVal[timId]);
+        if (delta < 0 && delta > -LED_STRIP_MS(5000))
+            continue;  // not ready yet
+        timActive |= 1 << timId;
+        if (delta >= LED_STRIP_MS(100) || delta < 0) {
+            timerVal[timId] = now;
         }
     }
 
-    applyLedIndicatorLayer(indicatorFlashState);
+    if (!timActive)
+        return;          // no change this update, keep old state
 
-#ifdef USE_LED_ANIMATION
-    if (animationUpdateNow) {
-        nextAnimationUpdateAt = now + LED_STRIP_20HZ;
-        updateLedAnimationState();
+    // apply all layers; triggered timed functions has to update timers
+
+    scaledThrottle = ARMING_FLAG(ARMED) ? scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 10, 100) : 10;
+
+    applyLedFixedLayers();
+
+    for (timId_e timId = 0; timId < ARRAYLEN(layerTable); timId++) {
+        uint32_t *timer = &timerVal[timId];
+        bool updateNow = timActive & (1 << timId);
+        (*layerTable[timId])(updateNow, timer);
     }
-    applyLedAnimationLayer();
-#endif
-
-    if (rotationUpdateNow) {
-
-        applyLedThrustRingLayer();
-
-        uint8_t animationSpeedScale = 1;
-
-        if (ARMING_FLAG(ARMED)) {
-            animationSpeedScale = scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 1, 10);
-        }
-
-        nextRotationUpdateAt = now + LED_STRIP_5HZ/animationSpeedScale;
-    }
-
     ws2811UpdateStrip();
 }
 
-bool parseColor(uint8_t index, const char *colorConfig)
+bool parseColor(int index, const char *colorConfig)
 {
     const char *remainingCharacters = colorConfig;
 
-    hsvColor_t *color = &colors[index];
+    hsvColor_t *color = &masterConfig.colors[index];
 
-    bool ok = true;
-
-    uint8_t componentIndex;
-    for (componentIndex = 0; ok && componentIndex < HSV_COLOR_COMPONENT_COUNT; componentIndex++) {
-        uint16_t val = atoi(remainingCharacters);
+    bool result = true;
+    static const uint16_t hsv_limit[HSV_COLOR_COMPONENT_COUNT] = {
+        [HSV_HUE] = HSV_HUE_MAX,
+        [HSV_SATURATION] = HSV_SATURATION_MAX,
+        [HSV_VALUE] = HSV_VALUE_MAX,
+    };
+    for (int componentIndex = 0; result && componentIndex < HSV_COLOR_COMPONENT_COUNT; componentIndex++) {
+        int val = atoi(remainingCharacters);
+        if(val > hsv_limit[componentIndex]) {
+            result = false;
+            break;
+        }
         switch (componentIndex) {
             case HSV_HUE:
-                if (val > HSV_HUE_MAX) {
-                    ok = false;
-                    continue;
-
-                }
-                colors[index].h = val;
+                color->h = val;
                 break;
             case HSV_SATURATION:
-                if (val > HSV_SATURATION_MAX) {
-                    ok = false;
-                    continue;
-                }
-                colors[index].s = (uint8_t)val;
+                color->s = val;
                 break;
             case HSV_VALUE:
-                if (val > HSV_VALUE_MAX) {
-                    ok = false;
-                    continue;
-                }
-                colors[index].v = (uint8_t)val;
+                color->v = val;
                 break;
         }
-        remainingCharacters = strstr(remainingCharacters, ",");
+        remainingCharacters = strchr(remainingCharacters, ',');
         if (remainingCharacters) {
-            remainingCharacters++;
+            remainingCharacters++;  // skip separator
         } else {
-            if (componentIndex < 2) {
-                ok = false;
+            if (componentIndex < HSV_COLOR_COMPONENT_COUNT - 1) {
+                result = false;
             }
         }
     }
 
-    if (!ok) {
-        memset(color, 0, sizeof(hsvColor_t));
+    if (!result) {
+        memset(color, 0, sizeof(*color));
     }
 
-    return ok;
+    return result;
 }
 
-void applyDefaultColors(hsvColor_t *colors, uint8_t colorCount)
+/*
+ * Redefine a color in a mode.
+ * */
+bool setModeColor(ledModeIndex_e modeIndex, int modeColorIndex, int colorIndex)
 {
-    memset(colors, 0, colorCount * sizeof(hsvColor_t));
-    for (uint8_t colorIndex = 0; colorIndex < colorCount && colorIndex < (sizeof(defaultColors) / sizeof(defaultColors[0])); colorIndex++) {
-        *colors++ = *defaultColors[colorIndex];
+    // check color
+    if (colorIndex < 0 || colorIndex >= LED_CONFIGURABLE_COLOR_COUNT)
+        return false;
+    if (modeIndex < LED_MODE_COUNT) {  // modeIndex_e is unsigned, so one-sided test is enough
+        if(modeColorIndex < 0 || modeColorIndex >= LED_DIRECTION_COUNT)
+            return false;
+        masterConfig.modeColors[modeIndex].color[modeColorIndex] = colorIndex;
+    } else if (modeIndex == LED_SPECIAL) {
+        if (modeColorIndex < 0 || modeColorIndex >= LED_SPECIAL_COLOR_COUNT)
+            return false;
+        masterConfig.specialColors.color[modeColorIndex] = colorIndex;
+    } else {
+        return false;
+    }
+    return true;
+}
+
+/*
+void pgResetFn_ledConfigs(ledConfig_t *instance)
+{
+    memcpy_fn(instance, &defaultLedStripConfig, sizeof(defaultLedStripConfig));
+}
+
+void pgResetFn_colors(hsvColor_t *instance)
+{
+    // copy hsv colors as default
+    BUILD_BUG_ON(ARRAYLEN(*colors_arr()) < ARRAYLEN(hsv));
+
+    for (unsigned colorIndex = 0; colorIndex < ARRAYLEN(hsv); colorIndex++) {
+        *instance++ = hsv[colorIndex];
     }
 }
 
+void pgResetFn_modeColors(modeColorIndexes_t *instance)
+{
+    memcpy_fn(instance, &defaultModeColors, sizeof(defaultModeColors));
+}
+
+void pgResetFn_specialColors(specialColorIndexes_t *instance)
+{
+    memcpy_fn(instance, &defaultSpecialColors, sizeof(defaultSpecialColors));
+}
+*/
+
 void applyDefaultLedStripConfig(ledConfig_t *ledConfigs)
 {
-    memset(ledConfigs, 0, MAX_LED_STRIP_LENGTH * sizeof(ledConfig_t));
-    memcpy(ledConfigs, &defaultLedStripConfig, sizeof(defaultLedStripConfig));
-
-    reevaluateLedConfig();
+    memset(ledConfigs, 0, LED_MAX_STRIP_LENGTH * sizeof(ledConfig_t));
 }
 
-void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse)
+void applyDefaultColors(hsvColor_t *colors)
+{
+    // copy hsv colors as default
+    memset(colors, 0, ARRAYLEN(hsv) * sizeof(hsvColor_t));
+    for (unsigned colorIndex = 0; colorIndex < ARRAYLEN(hsv); colorIndex++) {
+        *colors++ = hsv[colorIndex];
+    }
+}
+
+void applyDefaultModeColors(modeColorIndexes_t *modeColors)
+{
+    memcpy_fn(modeColors, &defaultModeColors, sizeof(defaultModeColors));
+}
+
+void applyDefaultSpecialColors(specialColorIndexes_t *specialColors)
+{
+    memcpy_fn(specialColors, &defaultSpecialColors, sizeof(defaultSpecialColors));
+}
+
+void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, modeColorIndexes_t *modeColorsToUse, specialColorIndexes_t *specialColorsToUse)
 {
     ledConfigs = ledConfigsToUse;
     colors = colorsToUse;
+    modeColors = modeColorsToUse;
+    specialColors = *specialColorsToUse;
     ledStripInitialised = false;
 }
 
@@ -1115,8 +1111,8 @@ void ledStripEnable(void)
 
 static void ledStripDisable(void)
 {
-    setStripColor(&hsv_black);
-
-    ws2811UpdateStrip();
+    setStripColor(&HSV(BLACK));
+    
+	ws2811UpdateStrip();
 }
 #endif
diff --git a/src/main/io/ledstrip.h b/src/main/io/ledstrip.h
index 18915229b7..30450cf05d 100644
--- a/src/main/io/ledstrip.h
+++ b/src/main/io/ledstrip.h
@@ -17,81 +17,163 @@
 
 #pragma once
 
-#define MAX_LED_STRIP_LENGTH 32
-#define CONFIGURABLE_COLOR_COUNT 16
+#define LED_MAX_STRIP_LENGTH           32
+#define LED_CONFIGURABLE_COLOR_COUNT   16
+#define LED_MODE_COUNT                  6
+#define LED_DIRECTION_COUNT             6
+#define LED_BASEFUNCTION_COUNT          7
+#define LED_OVERLAY_COUNT               6
+#define LED_SPECIAL_COLOR_COUNT        11
+
+#define LED_POS_OFFSET                  0
+#define LED_FUNCTION_OFFSET             8
+#define LED_OVERLAY_OFFSET             12
+#define LED_COLOR_OFFSET               18
+#define LED_DIRECTION_OFFSET           22
+#define LED_PARAMS_OFFSET              28
+
+#define LED_POS_BITCNT                  8
+#define LED_FUNCTION_BITCNT             4
+#define LED_OVERLAY_BITCNT              6
+#define LED_COLOR_BITCNT                4
+#define LED_DIRECTION_BITCNT            6
+#define LED_PARAMS_BITCNT               4
+
+#define LED_FLAG_OVERLAY_MASK ((1 << LED_OVERLAY_BITCNT) - 1)
+#define LED_FLAG_DIRECTION_MASK ((1 << LED_DIRECTION_BITCNT) - 1)
+
+#define LED_MOV_POS(pos) ((pos) << LED_POS_OFFSET)
+#define LED_MOV_FUNCTION(func) ((func) << LED_FUNCTION_OFFSET)
+#define LED_MOV_OVERLAY(overlay) ((overlay) << LED_OVERLAY_OFFSET)
+#define LED_MOV_COLOR(colorId) ((colorId) << LED_COLOR_OFFSET)
+#define LED_MOV_DIRECTION(direction) ((direction) << LED_DIRECTION_OFFSET)
+#define LED_MOV_PARAMS(param) ((param) << LED_PARAMS_OFFSET)
+
+#define LED_BIT_MASK(len) ((1 << (len)) - 1)
+
+#define LED_POS_MASK LED_MOV_POS(((1 << LED_POS_BITCNT) - 1))
+#define LED_FUNCTION_MASK LED_MOV_FUNCTION(((1 << LED_FUNCTION_BITCNT) - 1))
+#define LED_OVERLAY_MASK LED_MOV_OVERLAY(LED_FLAG_OVERLAY_MASK)
+#define LED_COLOR_MASK LED_MOV_COLOR(((1 << LED_COLOR_BITCNT) - 1))
+#define LED_DIRECTION_MASK LED_MOV_DIRECTION(LED_FLAG_DIRECTION_MASK)
+#define LED_PARAMS_MASK LED_MOV_PARAMS(((1 << LED_PARAMS_BITCNT) - 1))
+
+#define LED_FLAG_OVERLAY(id) (1 << (id))
+#define LED_FLAG_DIRECTION(id) (1 << (id))
 
 #define LED_X_BIT_OFFSET 4
 #define LED_Y_BIT_OFFSET 0
-
-#define LED_XY_MASK (0x0F)
-
-#define GET_LED_X(ledConfig) ((ledConfig->xy >> LED_X_BIT_OFFSET) & LED_XY_MASK)
-#define GET_LED_Y(ledConfig) ((ledConfig->xy >> LED_Y_BIT_OFFSET) & LED_XY_MASK)
-
-#define CALCULATE_LED_X(x) ((x & LED_XY_MASK) << LED_X_BIT_OFFSET)
-#define CALCULATE_LED_Y(y) ((y & LED_XY_MASK) << LED_Y_BIT_OFFSET)
-
-
-#define CALCULATE_LED_XY(x,y) (CALCULATE_LED_X(x) | CALCULATE_LED_Y(y))
+#define LED_XY_MASK      0x0F
+#define CALCULATE_LED_XY(x, y) ((((x) & LED_XY_MASK) << LED_X_BIT_OFFSET) | (((y) & LED_XY_MASK) << LED_Y_BIT_OFFSET))
 
 typedef enum {
-    LED_DISABLED = 0,
-    LED_DIRECTION_NORTH      = (1 << 0),
-    LED_DIRECTION_EAST       = (1 << 1),
-    LED_DIRECTION_SOUTH      = (1 << 2),
-    LED_DIRECTION_WEST       = (1 << 3),
-    LED_DIRECTION_UP         = (1 << 4),
-    LED_DIRECTION_DOWN       = (1 << 5),
-    LED_FUNCTION_INDICATOR   = (1 << 6),
-    LED_FUNCTION_WARNING     = (1 << 7),
-    LED_FUNCTION_FLIGHT_MODE = (1 << 8),
-    LED_FUNCTION_ARM_STATE   = (1 << 9),
-    LED_FUNCTION_THROTTLE    = (1 << 10),
-    LED_FUNCTION_THRUST_RING = (1 << 11),
-    LED_FUNCTION_COLOR       = (1 << 12),
-} ledFlag_e;
+    LED_MODE_ORIENTATION = 0,
+    LED_MODE_HEADFREE,
+    LED_MODE_HORIZON,
+    LED_MODE_ANGLE,
+    LED_MODE_MAG,
+    LED_MODE_BARO,
+    LED_SPECIAL
+} ledModeIndex_e;
 
-#define LED_DIRECTION_BIT_OFFSET 0
-#define LED_DIRECTION_MASK ( \
-    LED_DIRECTION_NORTH | \
-    LED_DIRECTION_EAST | \
-    LED_DIRECTION_SOUTH | \
-    LED_DIRECTION_WEST | \
-    LED_DIRECTION_UP | \
-    LED_DIRECTION_DOWN \
-)
-#define LED_FUNCTION_BIT_OFFSET 6
-#define LED_FUNCTION_MASK ( \
-    LED_FUNCTION_INDICATOR | \
-    LED_FUNCTION_WARNING | \
-    LED_FUNCTION_FLIGHT_MODE | \
-    LED_FUNCTION_ARM_STATE | \
-    LED_FUNCTION_THROTTLE | \
-    LED_FUNCTION_THRUST_RING | \
-    LED_FUNCTION_COLOR \
-)
+typedef enum {
+    LED_SCOLOR_DISARMED = 0,
+    LED_SCOLOR_ARMED,
+    LED_SCOLOR_ANIMATION,
+    LED_SCOLOR_BACKGROUND,
+    LED_SCOLOR_BLINKBACKGROUND,
+    LED_SCOLOR_GPSNOSATS,
+    LED_SCOLOR_GPSNOLOCK,
+    LED_SCOLOR_GPSLOCKED
+} ledSpecialColorIds_e;
+
+typedef enum {
+    LED_DIRECTION_NORTH = 0,
+    LED_DIRECTION_EAST,
+    LED_DIRECTION_SOUTH,
+    LED_DIRECTION_WEST,
+    LED_DIRECTION_UP,
+    LED_DIRECTION_DOWN
+} ledDirectionId_e;
+
+typedef enum {
+    LED_FUNCTION_COLOR,
+    LED_FUNCTION_FLIGHT_MODE,
+    LED_FUNCTION_ARM_STATE,
+    LED_FUNCTION_BATTERY,
+    LED_FUNCTION_RSSI,
+    LED_FUNCTION_GPS,
+    LED_FUNCTION_THRUST_RING,
+} ledBaseFunctionId_e;
+
+typedef enum {
+    LED_OVERLAY_THROTTLE,
+    LED_OVERLAY_LARSON_SCANNER,
+    LED_OVERLAY_BLINK,
+    LED_OVERLAY_LANDING_FLASH,
+    LED_OVERLAY_INDICATOR,
+    LED_OVERLAY_WARNING,
+} ledOverlayId_e;
+
+typedef struct modeColorIndexes_s {
+    uint8_t color[LED_DIRECTION_COUNT];
+} modeColorIndexes_t;
+
+typedef struct specialColorIndexes_s {
+    uint8_t color[LED_SPECIAL_COLOR_COUNT];
+} specialColorIndexes_t;
+
+typedef uint32_t ledConfig_t;
+
+typedef struct ledCounts_s {
+    uint8_t count;
+    uint8_t ring;
+    uint8_t larson;
+    uint8_t ringSeqLen;
+} ledCounts_t;
 
 
-typedef struct ledConfig_s {
-    uint8_t xy;     // see LED_X/Y_MASK defines
-    uint8_t color;  // see colors (config_master)
-    uint16_t flags; // see ledFlag_e
-} ledConfig_t;
+ledConfig_t *ledConfigs;
+hsvColor_t *colors;
+modeColorIndexes_t *modeColors;
+specialColorIndexes_t specialColors;
 
-extern uint8_t ledCount;
-extern uint8_t ledsInRingCount;
+#define DEFINE_LED(x, y, col, dir, func, ol, params) (LED_MOV_POS(CALCULATE_LED_XY(x, y)) | LED_MOV_COLOR(col) | LED_MOV_DIRECTION(dir) | LED_MOV_FUNCTION(func) | LED_MOV_OVERLAY(ol) | LED_MOV_PARAMS(params))
 
+static inline uint8_t ledGetXY(const ledConfig_t *lcfg)         { return ((*lcfg >> LED_POS_OFFSET) & LED_BIT_MASK(LED_POS_BITCNT)); }
+static inline uint8_t ledGetX(const ledConfig_t *lcfg)          { return ((*lcfg >> (LED_POS_OFFSET + LED_X_BIT_OFFSET)) & LED_XY_MASK); }
+static inline uint8_t ledGetY(const ledConfig_t *lcfg)          { return ((*lcfg >> (LED_POS_OFFSET + LED_Y_BIT_OFFSET)) & LED_XY_MASK); }
+static inline uint8_t ledGetFunction(const ledConfig_t *lcfg)   { return ((*lcfg >> LED_FUNCTION_OFFSET) & LED_BIT_MASK(LED_FUNCTION_BITCNT)); }
+static inline uint8_t ledGetOverlay(const ledConfig_t *lcfg)    { return ((*lcfg >> LED_OVERLAY_OFFSET) & LED_BIT_MASK(LED_OVERLAY_BITCNT)); }
+static inline uint8_t ledGetColor(const ledConfig_t *lcfg)      { return ((*lcfg >> LED_COLOR_OFFSET) & LED_BIT_MASK(LED_COLOR_BITCNT)); }
+static inline uint8_t ledGetDirection(const ledConfig_t *lcfg)  { return ((*lcfg >> LED_DIRECTION_OFFSET) & LED_BIT_MASK(LED_DIRECTION_BITCNT)); }
+static inline uint8_t ledGetParams(const ledConfig_t *lcfg)     { return ((*lcfg >> LED_PARAMS_OFFSET) & LED_BIT_MASK(LED_PARAMS_BITCNT)); }
 
+static inline bool ledGetOverlayBit(const ledConfig_t *lcfg, int id) { return ((ledGetOverlay(lcfg) >> id) & 1); }
+static inline bool ledGetDirectionBit(const ledConfig_t *lcfg, int id) { return ((ledGetDirection(lcfg) >> id) & 1); }
+/*
+PG_DECLARE_ARR(ledConfig_t, LED_MAX_STRIP_LENGTH, ledConfigs);
+PG_DECLARE_ARR(hsvColor_t, LED_CONFIGURABLE_COLOR_COUNT, colors);
+PG_DECLARE_ARR(modeColorIndexes_t, LED_MODE_COUNT, modeColors);
+PG_DECLARE(specialColorIndexes_t, specialColors);
+*/
+bool parseColor(int index, const char *colorConfig);
 
-bool parseLedStripConfig(uint8_t ledIndex, const char *config);
+bool parseLedStripConfig(int ledIndex, const char *config);
+void generateLedConfig(ledConfig_t *ledConfig, char *ledConfigBuffer, size_t bufferSize);
+void reevaluateLedConfig(void);
+
+void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, modeColorIndexes_t *modeColorsToUse, specialColorIndexes_t *specialColorsToUse);
+void ledStripEnable(void);
 void updateLedStrip(void);
-void updateLedRing(void);
+
+bool setModeColor(ledModeIndex_e modeIndex, int modeColorIndex, int colorIndex);
+
+extern uint16_t rssi; // FIXME dependency on mw.c
+
 
 void applyDefaultLedStripConfig(ledConfig_t *ledConfig);
-void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSize);
+void applyDefaultColors(hsvColor_t *colors);
+void applyDefaultModeColors(modeColorIndexes_t *modeColors);
+void applyDefaultSpecialColors(specialColorIndexes_t *specialColors);
 
-bool parseColor(uint8_t index, const char *colorConfig);
-void applyDefaultColors(hsvColor_t *colors, uint8_t colorCount);
-
-void ledStripEnable(void);
-void reevaluateLedConfig(void);
diff --git a/src/main/io/msp_protocol.h b/src/main/io/msp_protocol.h
new file mode 100644
index 0000000000..25f821d057
--- /dev/null
+++ b/src/main/io/msp_protocol.h
@@ -0,0 +1,294 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * MSP Guidelines, emphasis is used to clarify.
+ *
+ * Each FlightController (FC, Server) MUST change the API version when any MSP command is added, deleted, or changed.
+ *
+ * If you fork the FC source code and release your own version, you MUST change the Flight Controller Identifier.
+ *
+ * NEVER release a modified copy of this code that shares the same Flight controller IDENT and API version
+ * if the API doesn't match EXACTLY.
+ *
+ * Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command.
+ * If no response is obtained then client MAY try the legacy MSP_IDENT command.
+ *
+ * API consumers should ALWAYS handle communication failures gracefully and attempt to continue
+ * without the information if possible.  Clients MAY log/display a suitable message.
+ *
+ * API clients should NOT attempt any communication if they can't handle the returned API MAJOR VERSION.
+ *
+ * API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time
+ * the API client was written and handle command failures gracefully.  Clients MAY disable
+ * functionality that depends on the commands while still leaving other functionality intact.
+ * that the newer API version may cause problems before using API commands that change FC state.
+ *
+ * It is for this reason that each MSP command should be specific as possible, such that changes
+ * to commands break as little functionality as possible.
+ *
+ * API client authors MAY use a compatibility matrix/table when determining if they can support
+ * a given command from a given flight controller at a given api version level.
+ *
+ * Developers MUST NOT create new MSP commands that do more than one thing.
+ *
+ * Failure to follow these guidelines will likely invoke the wrath of developers trying to write tools
+ * that use the API and the users of those tools.
+ */
+
+#pragma once
+
+/* Protocol numbers used both by the wire format, config system, and
+   field setters.
+*/
+
+#define MSP_PROTOCOL_VERSION                0
+
+#define API_VERSION_MAJOR                   1 // increment when major changes are made
+#define API_VERSION_MINOR                   20 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
+
+#define API_VERSION_LENGTH                  2
+
+#define MULTIWII_IDENTIFIER "MWII";
+#define BASEFLIGHT_IDENTIFIER "BAFL";
+#define BETAFLIGHT_IDENTIFIER "BTFL"
+#define CLEANFLIGHT_IDENTIFIER "CLFL"
+#define INAV_IDENTIFIER "INAV"
+#define RACEFLIGHT_IDENTIFIER "RCFL"
+
+#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
+#define FLIGHT_CONTROLLER_VERSION_LENGTH    3
+#define FLIGHT_CONTROLLER_VERSION_MASK      0xFFF
+
+#define BOARD_IDENTIFIER_LENGTH             4 // 4 UPPER CASE alpha numeric characters that identify the board being used.
+#define BOARD_HARDWARE_REVISION_LENGTH      2
+
+// These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version.
+#define CAP_PLATFORM_32BIT          ((uint32_t)1 << 31)
+#define CAP_BASEFLIGHT_CONFIG       ((uint32_t)1 << 30)
+
+// MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask.
+#define CAP_NAVI_VERSION_BIT_4_MSB  ((uint32_t)1 << 31)
+#define CAP_NAVI_VERSION_BIT_3      ((uint32_t)1 << 30)
+#define CAP_NAVI_VERSION_BIT_2      ((uint32_t)1 << 29)
+#define CAP_NAVI_VERSION_BIT_1_LSB  ((uint32_t)1 << 28)
+
+#define CAP_DYNBALANCE              ((uint32_t)1 << 2)
+#define CAP_FLAPS                   ((uint32_t)1 << 3)
+#define CAP_NAVCAP                  ((uint32_t)1 << 4)
+#define CAP_EXTAUX                  ((uint32_t)1 << 5)
+
+#define MSP_API_VERSION                 1    //out message
+#define MSP_FC_VARIANT                  2    //out message
+#define MSP_FC_VERSION                  3    //out message
+#define MSP_BOARD_INFO                  4    //out message
+#define MSP_BUILD_INFO                  5    //out message
+
+#define MSP_NAME                        10   //out message          Returns user set board name - betaflight
+#define MSP_SET_NAME                    11   //in message           Sets board name - betaflight
+
+
+//
+// MSP commands for Cleanflight original features
+//
+#define MSP_MODE_RANGES                 34    //out message         Returns all mode ranges
+#define MSP_SET_MODE_RANGE              35    //in message          Sets a single mode range
+
+#define MSP_FEATURE                     36
+#define MSP_SET_FEATURE                 37
+
+#define MSP_BOARD_ALIGNMENT             38
+#define MSP_SET_BOARD_ALIGNMENT         39
+
+#define MSP_CURRENT_METER_CONFIG        40
+#define MSP_SET_CURRENT_METER_CONFIG    41
+
+#define MSP_MIXER                       42
+#define MSP_SET_MIXER                   43
+
+#define MSP_RX_CONFIG                   44
+#define MSP_SET_RX_CONFIG               45
+
+#define MSP_LED_COLORS                  46
+#define MSP_SET_LED_COLORS              47
+
+#define MSP_LED_STRIP_CONFIG            48
+#define MSP_SET_LED_STRIP_CONFIG        49
+
+#define MSP_RSSI_CONFIG                 50
+#define MSP_SET_RSSI_CONFIG             51
+
+#define MSP_ADJUSTMENT_RANGES           52
+#define MSP_SET_ADJUSTMENT_RANGE        53
+
+// private - only to be used by the configurator, the commands are likely to change
+#define MSP_CF_SERIAL_CONFIG            54
+#define MSP_SET_CF_SERIAL_CONFIG        55
+
+#define MSP_VOLTAGE_METER_CONFIG        56
+#define MSP_SET_VOLTAGE_METER_CONFIG    57
+
+#define MSP_SONAR_ALTITUDE              58 //out message get sonar altitude [cm]
+
+#define MSP_PID_CONTROLLER              59
+#define MSP_SET_PID_CONTROLLER          60
+
+#define MSP_ARMING_CONFIG               61 //out message         Returns auto_disarm_delay and disarm_kill_switch parameters
+#define MSP_SET_ARMING_CONFIG           62 //in message          Sets auto_disarm_delay and disarm_kill_switch parameters
+
+//
+// Baseflight MSP commands (if enabled they exist in Cleanflight)
+//
+#define MSP_RX_MAP                      64 //out message get channel map (also returns number of channels total)
+#define MSP_SET_RX_MAP                  65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
+
+// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
+// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG.  In Cleanflight, isolated commands already exist and should be used instead.
+#define MSP_BF_CONFIG                   66 //out message baseflight-specific settings that aren't covered elsewhere
+#define MSP_SET_BF_CONFIG               67 //in message baseflight-specific settings save
+
+#define MSP_REBOOT                      68 //in message reboot settings
+
+// DEPRECATED - Use MSP_BUILD_INFO instead
+#define MSP_BF_BUILD_INFO               69 //out message build date as well as some space for future expansion
+
+
+#define MSP_DATAFLASH_SUMMARY           70 //out message - get description of dataflash chip
+#define MSP_DATAFLASH_READ              71 //out message - get content of dataflash chip
+#define MSP_DATAFLASH_ERASE             72 //in message - erase dataflash chip
+
+#define MSP_LOOP_TIME                   73 //out message         Returns FC cycle time i.e looptime parameter
+#define MSP_SET_LOOP_TIME               74 //in message          Sets FC cycle time i.e looptime parameter
+
+#define MSP_FAILSAFE_CONFIG             75 //out message         Returns FC Fail-Safe settings
+#define MSP_SET_FAILSAFE_CONFIG         76 //in message          Sets FC Fail-Safe settings
+
+#define MSP_RXFAIL_CONFIG               77 //out message         Returns RXFAIL settings
+#define MSP_SET_RXFAIL_CONFIG           78 //in message          Sets RXFAIL settings
+
+#define MSP_SDCARD_SUMMARY              79 //out message         Get the state of the SD card
+
+#define MSP_BLACKBOX_CONFIG             80 //out message         Get blackbox settings
+#define MSP_SET_BLACKBOX_CONFIG         81 //in message          Set blackbox settings
+
+#define MSP_TRANSPONDER_CONFIG          82 //out message         Get transponder settings
+#define MSP_SET_TRANSPONDER_CONFIG      83 //in message          Set transponder settings
+
+#define MSP_OSD_CONFIG                  84 //out message         Get osd settings - betaflight
+#define MSP_SET_OSD_CONFIG              85 //in message          Set osd settings - betaflight
+
+#define MSP_OSD_CHAR_READ               86 //out message         Get osd settings - betaflight
+#define MSP_OSD_CHAR_WRITE              87 //in message          Set osd settings - betaflight
+
+#define MSP_VTX_CONFIG                  88 //out message         Get vtx settings - betaflight
+#define MSP_SET_VTX_CONFIG              89 //in message          Set vtx settings - betaflight
+
+// Betaflight Additional Commands
+#define MSP_ADVANCED_CONFIG             90
+#define MSP_SET_ADVANCED_CONFIG         91
+
+#define MSP_FILTER_CONFIG               92
+#define MSP_SET_FILTER_CONFIG           93
+
+#define MSP_PID_ADVANCED                94
+#define MSP_SET_PID_ADVANCED            95
+
+#define MSP_SENSOR_CONFIG               96
+#define MSP_SET_SENSOR_CONFIG           97
+
+//
+// OSD specific
+//
+#define MSP_OSD_VIDEO_CONFIG            180
+#define MSP_SET_OSD_VIDEO_CONFIG        181
+
+//
+// Multwii original MSP commands
+//
+
+// DEPRECATED - See MSP_API_VERSION and MSP_MIXER
+#define MSP_IDENT                100    //out message         mixerMode + multiwii version + protocol version + capability variable
+
+
+#define MSP_STATUS               101    //out message         cycletime & errors_count & sensor present & box activation & current setting number
+#define MSP_RAW_IMU              102    //out message         9 DOF
+#define MSP_SERVO                103    //out message         servos
+#define MSP_MOTOR                104    //out message         motors
+#define MSP_RC                   105    //out message         rc channels and more
+#define MSP_RAW_GPS              106    //out message         fix, numsat, lat, lon, alt, speed, ground course
+#define MSP_COMP_GPS             107    //out message         distance home, direction home
+#define MSP_ATTITUDE             108    //out message         2 angles 1 heading
+#define MSP_ALTITUDE             109    //out message         altitude, variometer
+#define MSP_ANALOG               110    //out message         vbat, powermetersum, rssi if available on RX
+#define MSP_RC_TUNING            111    //out message         rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
+#define MSP_PID                  112    //out message         P I D coeff (9 are used currently)
+#define MSP_BOX                  113    //out message         BOX setup (number is dependant of your setup)
+#define MSP_MISC                 114    //out message         powermeter trig
+#define MSP_MOTOR_PINS           115    //out message         which pins are in use for motors & servos, for GUI
+#define MSP_BOXNAMES             116    //out message         the aux switch names
+#define MSP_PIDNAMES             117    //out message         the PID names
+#define MSP_WP                   118    //out message         get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
+#define MSP_BOXIDS               119    //out message         get the permanent IDs associated to BOXes
+#define MSP_SERVO_CONFIGURATIONS 120    //out message         All servo configurations.
+#define MSP_NAV_STATUS           121    //out message         Returns navigation status
+#define MSP_NAV_CONFIG           122    //out message         Returns navigation parameters
+#define MSP_3D                   124    //out message         Settings needed for reversible ESCs
+#define MSP_RC_DEADBAND          125    //out message         deadbands for yaw alt pitch roll
+#define MSP_SENSOR_ALIGNMENT     126    //out message         orientation of acc,gyro,mag
+#define MSP_LED_STRIP_MODECOLOR  127    //out message         Get LED strip mode_color settings
+
+#define MSP_SET_RAW_RC           200    //in message          8 rc chan
+#define MSP_SET_RAW_GPS          201    //in message          fix, numsat, lat, lon, alt, speed
+#define MSP_SET_PID              202    //in message          P I D coeff (9 are used currently)
+#define MSP_SET_BOX              203    //in message          BOX setup (number is dependant of your setup)
+#define MSP_SET_RC_TUNING        204    //in message          rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
+#define MSP_ACC_CALIBRATION      205    //in message          no param
+#define MSP_MAG_CALIBRATION      206    //in message          no param
+#define MSP_SET_MISC             207    //in message          powermeter trig + 8 free for future use
+#define MSP_RESET_CONF           208    //in message          no param
+#define MSP_SET_WP               209    //in message          sets a given WP (WP#,lat, lon, alt, flags)
+#define MSP_SELECT_SETTING       210    //in message          Select Setting Number (0-2)
+#define MSP_SET_HEAD             211    //in message          define a new heading hold direction
+#define MSP_SET_SERVO_CONFIGURATION 212    //in message          Servo settings
+#define MSP_SET_MOTOR            214    //in message          PropBalance function
+#define MSP_SET_NAV_CONFIG       215    //in message          Sets nav config parameters - write to the eeprom
+#define MSP_SET_3D               217    //in message          Settings needed for reversible ESCs
+#define MSP_SET_RC_DEADBAND      218    //in message          deadbands for yaw alt pitch roll
+#define MSP_SET_RESET_CURR_PID   219    //in message          resetting the current pid profile to defaults
+#define MSP_SET_SENSOR_ALIGNMENT 220    //in message          set the orientation of the acc,gyro,mag
+#define MSP_SET_LED_STRIP_MODECOLOR 221 //in  message         Set LED strip mode_color settings
+
+// #define MSP_BIND                 240    //in message          no param
+// #define MSP_ALARMS               242
+
+#define MSP_EEPROM_WRITE         250    //in message          no param
+#define MSP_RESERVE_1            251    //reserved for system usage
+#define MSP_RESERVE_2            252    //reserved for system usage
+#define MSP_DEBUGMSG             253    //out message         debug string buffer
+#define MSP_DEBUG                254    //out message         debug1,debug2,debug3,debug4
+#define MSP_RESERVE_3            255    //reserved for system usage
+
+// Additional commands that are not compatible with MultiWii
+#define MSP_STATUS_EX            150    //out message         cycletime, errors_count, CPU load, sensor present etc
+#define MSP_UID                  160    //out message         Unique device ID
+#define MSP_GPSSVINFO            164    //out message         get Signal Strength (only U-Blox)
+#define MSP_GPSSTATISTICS        166    //out message         get GPS debugging data
+#define MSP_ACC_TRIM             240    //out message         get acc angle trim values
+#define MSP_SET_ACC_TRIM         239    //in message          set acc angle trim values
+#define MSP_SERVO_MIX_RULES      241    //out message         Returns servo mixer configuration
+#define MSP_SET_SERVO_MIX_RULE   242    //in message          Sets servo mixer configuration
+#define MSP_SET_4WAY_IF          245    //in message          Sets 4way interface
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index ea458e66ee..7a8e8db621 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -20,14 +20,21 @@
 #include <stdlib.h>
 #include <string.h>
 #include <math.h>
+#include <ctype.h>
 
 #include "platform.h"
-#include "version.h"
+
+#ifdef OSD
+
+#include "build/atomic.h"
+#include "build/build_config.h"
+#include "build/debug.h"
+#include "build/version.h"
+
 #include "scheduler/scheduler.h"
 
 #include "common/axis.h"
 #include "common/color.h"
-#include "common/atomic.h"
 #include "common/maths.h"
 #include "common/typeconversion.h"
 
@@ -63,7 +70,7 @@
 #include "io/flashfs.h"
 #include "io/gps.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/ledstrip.h"
 #include "io/display.h"
@@ -90,8 +97,10 @@
 #include "flight/failsafe.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
+#include "config/config_eeprom.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
@@ -99,11 +108,6 @@
 #include "hardware_revision.h"
 #endif
 
-#include "build_config.h"
-#include "debug.h"
-
-#ifdef OSD
-
 #include "drivers/max7456.h"
 #include "drivers/max7456_symbols.h"
 
@@ -753,6 +757,28 @@ void updateOsd(void)
             sprintf(line+1, "%d.%1d", vbat / 10, vbat % 10);
             max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE]);
         }
+
+        if (masterConfig.osdProfile.item_pos[OSD_CURRENT_DRAW] != -1) {
+            line[0] = SYM_AMP;
+            sprintf(line+1, "%d.%02d", amperage / 100, amperage % 100);
+            max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_CURRENT_DRAW]);
+        }
+
+        if (masterConfig.osdProfile.item_pos[OSD_MAH_DRAWN] != -1) {
+            line[0] = SYM_MAH;
+            sprintf(line+1, "%d", mAhDrawn);
+            max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_MAH_DRAWN]);
+        }
+
+        if (masterConfig.osdProfile.item_pos[OSD_CRAFT_NAME] != -1) {
+            for (uint8_t i = 0; i < MAX_NAME_LENGTH; i++) {
+                line[i] = toupper((unsigned char)masterConfig.name[i]);
+                if (masterConfig.name[i] == 0)
+                    break;
+            }
+            max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_CRAFT_NAME]);
+        }
+
         if (masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE] != -1) {
             line[0] = SYM_RSSI;
             sprintf(line+1, "%d", rssi / 10);
@@ -808,21 +834,22 @@ void osdInit(void)
     max7456_draw_screen();
 }
 
-void resetOsdConfig(void)
+void resetOsdConfig(osd_profile *osdProfile)
 {
-    featureSet(FEATURE_OSD);
-    masterConfig.osdProfile.video_system = AUTO;
-    masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE]  = -29;
-    masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE]         = -59;
-    masterConfig.osdProfile.item_pos[OSD_TIMER]              = -39;
-    masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS]       = -9;
-    masterConfig.osdProfile.item_pos[OSD_CPU_LOAD]           = 26;
-    masterConfig.osdProfile.item_pos[OSD_VTX_CHANNEL]        = 1;
-    masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING]    = -80;
-    masterConfig.osdProfile.item_pos[OSD_ARMED]              = -107;
-    masterConfig.osdProfile.item_pos[OSD_DISARMED]           = -109;
-    masterConfig.osdProfile.item_pos[OSD_ARTIFICIAL_HORIZON] = -1;
-    masterConfig.osdProfile.item_pos[OSD_HORIZON_SIDEBARS]   = -1;
+    osdProfile->video_system = AUTO;
+    osdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE]  = -29;
+    osdProfile->item_pos[OSD_RSSI_VALUE]         = -59;
+    osdProfile->item_pos[OSD_TIMER]              = -39;
+    osdProfile->item_pos[OSD_THROTTLE_POS]       = -9;
+    osdProfile->item_pos[OSD_CPU_LOAD]           = 26;
+    osdProfile->item_pos[OSD_VTX_CHANNEL]        = 1;
+    osdProfile->item_pos[OSD_VOLTAGE_WARNING]    = -80;
+    osdProfile->item_pos[OSD_ARMED]              = -107;
+    osdProfile->item_pos[OSD_DISARMED]           = -109;
+    osdProfile->item_pos[OSD_ARTIFICIAL_HORIZON] = -1;
+    osdProfile->item_pos[OSD_HORIZON_SIDEBARS]   = -1;
+    osdProfile->item_pos[OSD_CURRENT_DRAW]       = -23;
+    osdProfile->item_pos[OSD_MAH_DRAWN]          = -18;
+    osdProfile->item_pos[OSD_CRAFT_NAME]         = 1;
 }
-
 #endif
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index e348e4573c..0685f9897f 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -50,6 +50,9 @@ typedef enum {
     OSD_DISARMED,
     OSD_ARTIFICIAL_HORIZON,
     OSD_HORIZON_SIDEBARS,
+    OSD_CURRENT_DRAW,
+    OSD_MAH_DRAWN,
+    OSD_CRAFT_NAME,
     OSD_MAX_ITEMS, // MUST BE LAST
 } osd_items_t;
 
@@ -62,4 +65,4 @@ typedef struct {
 
 void updateOsd(void);
 void osdInit(void);
-void resetOsdConfig(void);
+void resetOsdConfig(osd_profile *osdProfile);
diff --git a/src/main/io/serial.c b/src/main/io/serial.c
index 890e218280..8b5fcfc855 100644
--- a/src/main/io/serial.c
+++ b/src/main/io/serial.c
@@ -21,7 +21,7 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "common/utils.h"
 
@@ -85,7 +85,7 @@ const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT] = {
 
 static uint8_t serialPortCount;
 
-const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000}; // see baudRate_e
+const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000, 500000, 1000000}; // see baudRate_e
 
 #define BAUD_RATE_COUNT (sizeof(baudRates) / sizeof(baudRates[0]))
 
@@ -194,7 +194,7 @@ serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction
 #ifdef TELEMETRY
 #define ALL_TELEMETRY_FUNCTIONS_MASK (TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT)
 #else
-#define ALL_TELEMETRY_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM)
+#define ALL_TELEMETRY_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK)
 #endif
 #define ALL_FUNCTIONS_SHARABLE_WITH_MSP (FUNCTION_BLACKBOX | ALL_TELEMETRY_FUNCTIONS_MASK)
 
@@ -270,7 +270,7 @@ serialPort_t *openSerialPort(
     portMode_t mode,
     portOptions_t options)
 {
-#if (!defined(USE_VCP) && !defined(USE_UART1) && !defined(USE_UART2) && !defined(USE_UART3) && !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL1))
+#if (!defined(USE_UART1) && !defined(USE_UART2) && !defined(USE_UART3) && !defined(USE_UART4) && !defined(USE_UART5) && !defined(USE_UART6) && !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2))
     UNUSED(callback);
     UNUSED(baudRate);
     UNUSED(mode);
@@ -364,7 +364,7 @@ void closeSerialPort(serialPort_t *serialPort) {
     serialPortUsage->serialPort = NULL;
 }
 
-void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled)
+void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled, serialPortIdentifier_e serialPortToDisable)
 {
     uint8_t index;
 
@@ -376,6 +376,12 @@ void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled)
     for (index = 0; index < SERIAL_PORT_COUNT; index++) {
         serialPortUsageList[index].identifier = serialPortIdentifiers[index];
 
+        if (serialPortToDisable != SERIAL_PORT_NONE) {
+            if (serialPortUsageList[index].identifier == serialPortToDisable) {
+                serialPortUsageList[index].identifier = SERIAL_PORT_NONE;
+                serialPortCount--;
+            }
+        }
         if (!softserialEnabled) {
             if (0
 #ifdef USE_SOFTSERIAL1
@@ -427,7 +433,7 @@ void handleSerial(void)
     }
 #endif
 
-    mspProcess();
+    mspSerialProcess();
 }
 
 void waitForSerialPortToFinishTransmitting(serialPort_t *serialPort)
@@ -465,7 +471,7 @@ static void nopConsumer(uint8_t data)
  arbitrary serial passthrough "proxy". Optional callbacks can be given to allow
  for specialized data processing.
  */
-void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer 
+void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer
                        *leftC, serialConsumer *rightC)
 {
     waitForSerialPortToFinishTransmitting(left);
diff --git a/src/main/io/serial.h b/src/main/io/serial.h
index ccee8d1501..13845446a1 100644
--- a/src/main/io/serial.h
+++ b/src/main/io/serial.h
@@ -34,6 +34,7 @@ typedef enum {
     FUNCTION_RX_SERIAL           = (1 << 6), // 64
     FUNCTION_BLACKBOX            = (1 << 7), // 128
     FUNCTION_PASSTHROUGH         = (1 << 8), // 256
+    FUNCTION_TELEMETRY_MAVLINK   = (1 << 9), // 512
 } serialPortFunction_e;
 
 typedef enum {
@@ -45,6 +46,8 @@ typedef enum {
     BAUD_115200,
     BAUD_230400,
     BAUD_250000,
+    BAUD_500000,
+    BAUD_1000000,
 } baudRate_e;
 
 extern const uint32_t baudRates[];
@@ -100,6 +103,7 @@ typedef void serialConsumer(uint8_t);
 //
 // configuration
 //
+void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled, serialPortIdentifier_e serialPortToDisable);
 void serialRemovePort(serialPortIdentifier_e identifier);
 uint8_t serialGetAvailablePortCount(void);
 bool serialIsPortAvailable(serialPortIdentifier_e identifier);
diff --git a/src/main/io/serial_4way.c b/src/main/io/serial_4way.c
index 7b783422fa..0065cff899 100644
--- a/src/main/io/serial_4way.c
+++ b/src/main/io/serial_4way.c
@@ -23,171 +23,250 @@
 #include <stdarg.h>
 
 #include "platform.h"
+
 #ifdef  USE_SERIAL_4WAY_BLHELI_INTERFACE
-#include "drivers/serial.h"
-#include "drivers/gpio.h"
+
+#include "drivers/buf_writer.h"
 #include "drivers/io.h"
-#include "drivers/io_impl.h"
+#include "drivers/serial.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_mapping.h"
 #include "drivers/pwm_output.h"
 #include "drivers/light_led.h"
 #include "drivers/system.h"
+
 #include "flight/mixer.h"
+
 #include "io/beeper.h"
 #include "io/serial_msp.h"
 #include "io/serial_4way.h"
-#include "io/serial_4way_impl.h"
+
+#ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 #include "io/serial_4way_avrootloader.h"
+#endif
+#if defined(USE_SERIAL_4WAY_SK_BOOTLOADER)
 #include "io/serial_4way_stk500v2.h"
+#endif
 
 #define USE_TXRX_LED
 
-#if defined(USE_TXRX_LED) && defined(LED0)
-#define RX_LED_OFF      LED0_OFF
-#define RX_LED_ON       LED0_ON
+#ifdef  USE_TXRX_LED
+#define RX_LED_OFF LED0_OFF
+#define RX_LED_ON LED0_ON
 #ifdef  LED1
-#define TX_LED_OFF      LED1_OFF
-#define TX_LED_ON       LED1_ON
+#define TX_LED_OFF LED1_OFF
+#define TX_LED_ON LED1_ON
 #else
-#define TX_LED_OFF  LED0_OFF
-#define TX_LED_ON   LED0_ON
+#define TX_LED_OFF LED0_OFF
+#define TX_LED_ON LED0_ON
 #endif
 #else
-# define RX_LED_OFF   do {} while(0)
-# define RX_LED_ON    do {} while(0)
-# define TX_LED_OFF   do {} while(0)
-# define TX_LED_ON    do {} while(0)
+#define RX_LED_OFF
+#define RX_LED_ON
+#define TX_LED_OFF
+#define TX_LED_ON
 #endif
 
 #define SERIAL_4WAY_INTERFACE_NAME_STR "m4wFCIntf"
-#define SERIAL_4WAY_VER_MAIN  14
-#define SERIAL_4WAY_VER_SUB_1 4
-#define SERIAL_4WAY_VER_SUB_2 4
+// *** change to adapt Revision
+#define SERIAL_4WAY_VER_MAIN 14
+#define SERIAL_4WAY_VER_SUB_1 (uint8_t) 4
+#define SERIAL_4WAY_VER_SUB_2 (uint8_t) 04
+
 #define SERIAL_4WAY_PROTOCOL_VER 106
+// *** end
 
-#if SERIAL_4WAY_VER_MAIN > 24
-# error "SERIAL_4WAY_VER_MAIN * 10 + SERIAL_4WAY_VER_SUB_1 must fit in uint8_t"
-#endif
-#if SERIAL_4WAY_VER_SUB_1 >= 10
-# warning "SERIAL_4WAY_VER_SUB_1 should be 0-9"
+#if (SERIAL_4WAY_VER_MAIN > 24)
+#error "beware of SERIAL_4WAY_VER_SUB_1 is uint8_t"
 #endif
 
-#if SERIAL_4WAY_VER_SUB_2 >= 100
-# warning "SERIAL_4WAY_VER_SUB_2 should be <= 99 (9.9)"
-#endif
+#define SERIAL_4WAY_VERSION (uint16_t) ((SERIAL_4WAY_VER_MAIN * 1000) + (SERIAL_4WAY_VER_SUB_1 * 100) + SERIAL_4WAY_VER_SUB_2)
 
-#define SERIAL_4WAY_VERSION_HI (uint8_t)(SERIAL_4WAY_VER_MAIN * 10 + SERIAL_4WAY_VER_SUB_1)
-#define SERIAL_4WAY_VERSION_LO (uint8_t)(SERIAL_4WAY_VER_SUB_2)
+#define SERIAL_4WAY_VERSION_HI (uint8_t) (SERIAL_4WAY_VERSION / 100)
+#define SERIAL_4WAY_VERSION_LO (uint8_t) (SERIAL_4WAY_VERSION % 100)
 
 static uint8_t escCount;
-uint8_t escSelected;
+
 escHardware_t escHardware[MAX_PWM_MOTORS];
 
-bool esc4wayExitRequested = false;
+uint8_t selected_esc;
 
-static escDeviceInfo_t deviceInfo;
+uint8_32_u DeviceInfo;
 
-static bool isMcuConnected(void)
+#define DeviceInfoSize 4
+
+inline bool isMcuConnected(void)
 {
-    return deviceInfo.signature != 0;
+    return (DeviceInfo.bytes[0] > 0);
 }
 
-static void setDisconnected(void)
-{
-    deviceInfo.signature = 0;
-}
-
-bool isEscHi(uint8_t selEsc)
+inline bool isEscHi(uint8_t selEsc)
 {
     return (IORead(escHardware[selEsc].io) != Bit_RESET);
 }
-
-bool isEscLo(uint8_t selEsc)
+inline bool isEscLo(uint8_t selEsc)
 {
     return (IORead(escHardware[selEsc].io) == Bit_RESET);
 }
 
-void setEscHi(uint8_t selEsc)
+inline void setEscHi(uint8_t selEsc)
 {
     IOHi(escHardware[selEsc].io);
 }
 
-void setEscLo(uint8_t selEsc)
+inline void setEscLo(uint8_t selEsc)
 {
     IOLo(escHardware[selEsc].io);
 }
 
-void setEscInput(uint8_t selEsc)
+inline void setEscInput(uint8_t selEsc)
 {
     IOConfigGPIO(escHardware[selEsc].io, IOCFG_IPU);
 }
 
-void setEscOutput(uint8_t selEsc)
+inline void setEscOutput(uint8_t selEsc)
 {
     IOConfigGPIO(escHardware[selEsc].io, IOCFG_OUT_PP);
 }
 
-// Initialize 4way ESC interface
-// initializes internal structures
-// returns number of ESCs available
-int esc4wayInit(void)
+uint8_t esc4wayInit(void)
 {
     // StopPwmAllMotors();
+    pwmDisableMotors();
+    escCount = 0;
     memset(&escHardware, 0, sizeof(escHardware));
     pwmOutputConfiguration_t *pwmOutputConfiguration = pwmGetOutputConfiguration();
-    int escIdx = 0;
     for (volatile uint8_t i = 0; i < pwmOutputConfiguration->outputCount; i++) {
         if ((pwmOutputConfiguration->portConfigurations[i].flags & PWM_PF_MOTOR) == PWM_PF_MOTOR) {
             if(motor[pwmOutputConfiguration->portConfigurations[i].index] > 0) {
-                escHardware[escIdx].io = IOGetByTag(pwmOutputConfiguration->portConfigurations[i].timerHardware->tag);
-                escIdx++;
+                escHardware[escCount].io = IOGetByTag(pwmOutputConfiguration->portConfigurations[i].timerHardware->tag);
+                setEscInput(escCount);
+                setEscHi(escCount);
+                escCount++;
             }
         }
     }
-    escCount = escIdx;
     return escCount;
 }
 
-// stat BLHeli 4way interface
-// sets all ESC lines as output + hi
-void esc4wayStart(void)
-{
-    pwmDisableMotors();    // prevent updating PWM registers
-    for (int i = 0; i < escCount; i++) {
-        setEscInput(i);
-        setEscHi(i);
-    }
-}
-
-// stops BLHeli 4way interface
-// returns all claimed pins back to PWM drivers, reenables PWM
 void esc4wayRelease(void)
 {
-    for(int i = 0; i < escCount; i++) {
-        IOConfigGPIO(escHardware[i].io, IOCFG_AF_PP); // see pwmOutConfig()
-        setEscOutput(i);
-        setEscLo(i);
+    while (escCount > 0) {
+        escCount--;
+        IOConfigGPIO(escHardware[escCount].io, IOCFG_AF_PP);
+        setEscLo(escCount);
     }
-    escCount = 0;
     pwmEnableMotors();
 }
 
-// BLHeliSuite packet framing
-// for reference, see 'Manuals/BLHeliSuite 4w-if protocol.pdf' from BLHeliSuite
+
+#define SET_DISCONNECTED DeviceInfo.words[0] = 0
+
+#define INTF_MODE_IDX 3  // index for DeviceInfostate
+
+// Interface related only
+// establish and test connection to the Interface
+
 // Send Structure
-// ESC CMD ADDR_H ADDR_L PARAM_LEN PARAM (256B if len == 0) CRC16_Hi CRC16_Lo
+// ESC + CMD PARAM_LEN [PARAM (if len > 0)] CRC16_Hi CRC16_Lo
 // Return
-// ESC CMD ADDR_H ADDR_L PARAM_LEN PARAM (256B if len == 0) + ACK (uint8_t OK or ERR) + CRC16_Hi CRC16_Lo
+// ESC CMD PARAM_LEN [PARAM (if len > 0)] + ACK (uint8_t OK or ERR) + CRC16_Hi CRC16_Lo
 
-// esc4wayCmd_e in public header
+#define cmd_Remote_Escape 0x2E // '.'
+#define cmd_Local_Escape  0x2F // '/'
 
-typedef enum {
-    // not commands, but keep naming consistent with BLHeli suite
-    cmd_Remote_Escape       = 0x2E,  // '.'
-    cmd_Local_Escape        = 0x2F,  // '/'
-} syn_4way_e;
+// Test Interface still present
+#define cmd_InterfaceTestAlive 0x30 // '0' alive
+// RETURN: ACK
 
+// get Protocol Version Number 01..255
+#define cmd_ProtocolGetVersion 0x31  // '1' version
+// RETURN: uint8_t VersionNumber + ACK
+
+// get Version String
+#define cmd_InterfaceGetName 0x32 // '2' name
+// RETURN: String + ACK
+
+//get Version Number 01..255
+#define cmd_InterfaceGetVersion 0x33  // '3' version
+// RETURN: uint8_t AVersionNumber + ACK
+
+
+// Exit / Restart Interface - can be used to switch to Box Mode
+#define cmd_InterfaceExit 0x34       // '4' exit
+// RETURN: ACK
+
+// Reset the Device connected to the Interface
+#define cmd_DeviceReset 0x35        // '5' reset
+// RETURN: ACK
+
+// Get the Device ID connected
+// #define cmd_DeviceGetID 0x36      //'6' device id removed since 06/106
+// RETURN: uint8_t DeviceID + ACK
+
+// Initialize Flash Access for Device connected
+#define cmd_DeviceInitFlash 0x37    // '7' init flash access
+// RETURN: ACK
+
+// Erase the whole Device Memory of connected Device
+#define cmd_DeviceEraseAll 0x38     // '8' erase all
+// RETURN: ACK
+
+// Erase one Page of Device Memory of connected Device
+#define cmd_DevicePageErase 0x39    // '9' page erase
+// PARAM: uint8_t APageNumber
+// RETURN: ACK
+
+// Read to Buffer from Device Memory of connected Device // Buffer Len is Max 256 Bytes
+// BuffLen = 0 means 256 Bytes
+#define cmd_DeviceRead 0x3A  // ':' read Device
+// PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BuffLen[0..255]
+// RETURN: PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BUffLen + Buffer[0..255] ACK
+
+// Write to Buffer for Device Memory of connected Device // Buffer Len is Max 256 Bytes
+// BuffLen = 0 means 256 Bytes
+#define cmd_DeviceWrite 0x3B    // ';' write
+// PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BUffLen + Buffer[0..255]
+// RETURN: ACK
+
+// Set C2CK low infinite ) permanent Reset state
+#define cmd_DeviceC2CK_LOW 0x3C // '<'
+// RETURN: ACK
+
+// Read to Buffer from Device Memory of connected Device //Buffer Len is Max 256 Bytes
+// BuffLen = 0 means 256 Bytes
+#define cmd_DeviceReadEEprom 0x3D  // '=' read Device
+// PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BuffLen[0..255]
+// RETURN: PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BUffLen + Buffer[0..255] ACK
+
+// Write to Buffer for Device Memory of connected Device // Buffer Len is Max 256 Bytes
+// BuffLen = 0 means 256 Bytes
+#define cmd_DeviceWriteEEprom 0x3E  // '>' write
+// PARAM: uint8_t ADRESS_Hi + ADRESS_Lo + BUffLen + Buffer[0..255]
+// RETURN: ACK
+
+// Set Interface Mode
+#define cmd_InterfaceSetMode 0x3F   // '?'
+// #define imC2 0
+// #define imSIL_BLB 1
+// #define imATM_BLB 2
+// #define imSK 3
+// PARAM: uint8_t Mode
+// RETURN: ACK or ACK_I_INVALID_CHANNEL
+
+// responses
+#define ACK_OK                  0x00
+// #define ACK_I_UNKNOWN_ERROR       0x01
+#define ACK_I_INVALID_CMD       0x02
+#define ACK_I_INVALID_CRC       0x03
+#define ACK_I_VERIFY_ERROR      0x04
+// #define ACK_D_INVALID_COMMAND 0x05
+// #define ACK_D_COMMAND_FAILED  0x06
+// #define ACK_D_UNKNOWN_ERROR       0x07
+
+#define ACK_I_INVALID_CHANNEL   0x08
+#define ACK_I_INVALID_PARAM     0x09
+#define ACK_D_GENERAL_ERROR     0x0F
 
 /* Copyright (c) 2002, 2003, 2004  Marek Michalkiewicz
    Copyright (c) 2005, 2007 Joerg Wunsch
@@ -221,12 +300,11 @@ typedef enum {
   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   POSSIBILITY OF SUCH DAMAGE. */
-uint16_t _crc_xmodem_update (uint16_t crc, uint8_t data)
-{
+uint16_t _crc_xmodem_update (uint16_t crc, uint8_t data) {
         int i;
 
         crc = crc ^ ((uint16_t)data << 8);
-        for (i = 0; i < 8; i++){
+        for (i=0; i < 8; i++){
             if (crc & 0x8000)
                 crc = (crc << 1) ^ 0x1021;
             else
@@ -236,388 +314,517 @@ uint16_t _crc_xmodem_update (uint16_t crc, uint8_t data)
 }
 // * End copyright
 
-static uint16_t signaturesAtmel[] =  {0x9307, 0x930A, 0x930F, 0x940B, 0};
-static uint16_t signaturesSilabs[] = {0xF310, 0xF330, 0xF410, 0xF390, 0xF850, 0xE8B1, 0xE8B2, 0};
 
-static bool signatureMatch(uint16_t signature, uint16_t *list)
+#define ATMEL_DEVICE_MATCH ((pDeviceInfo->words[0] == 0x9307) || (pDeviceInfo->words[0] == 0x930A) || \
+        (pDeviceInfo->words[0] == 0x930F) || (pDeviceInfo->words[0] == 0x940B))
+
+#define SILABS_DEVICE_MATCH ((pDeviceInfo->words[0] == 0xF310)||(pDeviceInfo->words[0] ==0xF330) || \
+        (pDeviceInfo->words[0] == 0xF410) || (pDeviceInfo->words[0] == 0xF390) || \
+        (pDeviceInfo->words[0] == 0xF850) || (pDeviceInfo->words[0] == 0xE8B1) || \
+        (pDeviceInfo->words[0] == 0xE8B2))
+
+static uint8_t CurrentInterfaceMode;
+
+static uint8_t Connect(uint8_32_u *pDeviceInfo)
 {
-    for(; *list; list++)
-        if(signature == *list)
-            return true;
-    return false;
-}
-
-static uint8_t currentInterfaceMode;
-
-// Try connecting to device
-// 3 attempts are made, trying both STK and BL protocols.
-static uint8_t connect(escDeviceInfo_t *pDeviceInfo)
-{
-    for (int try = 0; try < 3; try++) {
-#if defined(USE_SERIAL_4WAY_SK_BOOTLOADER)
-        if (Stk_ConnectEx(pDeviceInfo) && signatureMatch(pDeviceInfo->signature, signaturesAtmel)) {
-            currentInterfaceMode = imSK;
+    for (uint8_t I = 0; I < 3; ++I) {
+        #if (defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) && defined(USE_SERIAL_4WAY_SK_BOOTLOADER))
+        if (Stk_ConnectEx(pDeviceInfo) && ATMEL_DEVICE_MATCH) {
+            CurrentInterfaceMode = imSK;
             return 1;
+        } else {
+            if (BL_ConnectEx(pDeviceInfo)) {
+                if  SILABS_DEVICE_MATCH {
+                    CurrentInterfaceMode = imSIL_BLB;
+                    return 1;
+                } else if ATMEL_DEVICE_MATCH {
+                    CurrentInterfaceMode = imATM_BLB;
+                    return 1;
+                }
+            }
         }
-#endif
-#if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER)
+        #elif defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER)
         if (BL_ConnectEx(pDeviceInfo)) {
-            if(signatureMatch(pDeviceInfo->signature, signaturesSilabs)) {
-                currentInterfaceMode = imSIL_BLB;
+            if SILABS_DEVICE_MATCH {
+                CurrentInterfaceMode = imSIL_BLB;
                 return 1;
-            }
-            if(signatureMatch(pDeviceInfo->signature, signaturesAtmel)) {
-                currentInterfaceMode = imATM_BLB;
+            } else if ATMEL_DEVICE_MATCH {
+                CurrentInterfaceMode = imATM_BLB;
                 return 1;
             }
         }
-#endif
+        #elif defined(USE_SERIAL_4WAY_SK_BOOTLOADER)
+        if (Stk_ConnectEx(pDeviceInfo)) {
+            CurrentInterfaceMode = imSK;
+            if ATMEL_DEVICE_MATCH return 1;
+        }
+        #endif
     }
     return 0;
 }
 
 static serialPort_t *port;
-static uint16_t crcIn, crcOut;
 
-static uint8_t readByte(void)
+static uint8_t ReadByte(void) 
 {
     // need timeout?
     while (!serialRxBytesWaiting(port));
     return serialRead(port);
 }
 
-static uint8_t readByteCrc(void)
+static uint8_16_u CRC_in;
+static uint8_t ReadByteCrc(void)
 {
-    uint8_t b = readByte();
-    crcIn = _crc_xmodem_update(crcIn, b);
+    uint8_t b = ReadByte();
+    CRC_in.word = _crc_xmodem_update(CRC_in.word, b);
     return b;
 }
 
-static void writeByte(uint8_t b)
+static void WriteByte(uint8_t b)
 {
     serialWrite(port, b);
 }
 
-static void writeByteCrc(uint8_t b)
+static uint8_16_u CRCout;
+static void WriteByteCrc(uint8_t b)
 {
-    writeByte(b);
-    crcOut = _crc_xmodem_update(crcOut, b);
+    WriteByte(b);
+    CRCout.word = _crc_xmodem_update(CRCout.word, b);
 }
 
-// handle 4way interface on serial port
-// esc4wayStart / esc4wayRelease in called internally
-// 256 bytes buffer is allocated on stack
-void esc4wayProcess(serialPort_t *serial)
+void esc4wayProcess(serialPort_t *mspPort) 
 {
-    uint8_t command;
-    uint16_t addr;
-    int inLen;
-    int outLen;
-    uint8_t paramBuf[256];
-    uint8_t replyAck;
 
-    esc4wayStart();
+    uint8_t ParamBuf[256];
+    uint8_t ESC;
+    uint8_t I_PARAM_LEN;
+    uint8_t CMD;
+    uint8_t ACK_OUT;
+    uint8_16_u CRC_check;
+    uint8_16_u Dummy;
+    uint8_t O_PARAM_LEN;
+    uint8_t *O_PARAM;
+    uint8_t *InBuff;
+    ioMem_t ioMem;
 
-    port = serial;
+    port = mspPort;
 
-#ifdef BEEPER
+    // Start here  with UART Main loop
+    #ifdef BEEPER
     // fix for buzzer often starts beeping continuously when the ESCs are read
     // switch beeper silent here
     beeperSilence();
-#endif
+    #endif
+    bool isExitScheduled = false;
 
-    esc4wayExitRequested = false;
-    while(!esc4wayExitRequested) {
+    while(1) {
         // restart looking for new sequence from host
-        crcIn = 0;
-
-        uint8_t esc = readByteCrc();
-        if(esc != cmd_Local_Escape)
-            continue;                          // wait for sync character
+        do {
+            CRC_in.word = 0;
+            ESC = ReadByteCrc();
+        } while (ESC != cmd_Local_Escape);
 
         RX_LED_ON;
 
-        command = readByteCrc();
-        addr    = readByteCrc() << 8;
-        addr   |= readByteCrc();
+        Dummy.word = 0;
+        O_PARAM = &Dummy.bytes[0];
+        O_PARAM_LEN = 1;
+        CMD = ReadByteCrc();
+        ioMem.D_FLASH_ADDR_H = ReadByteCrc();
+        ioMem.D_FLASH_ADDR_L = ReadByteCrc();
+        I_PARAM_LEN = ReadByteCrc();
 
-        inLen   = readByteCrc();
-        if(inLen == 0)
-            inLen = 0x100;                     // len ==0 -> param is 256B
+        InBuff = ParamBuf;
+        uint8_t i = I_PARAM_LEN;
+        do {
+          *InBuff = ReadByteCrc();
+          InBuff++;
+          i--;
+        } while (i != 0);
 
-        for(int i = 0; i < inLen; i++)
-            paramBuf[i] = readByteCrc();
-
-        readByteCrc(); readByteCrc();         // update input CRC
-
-        outLen = 0;                           // output handling code will send single zero byte if necessary
-        replyAck = esc4wayAck_OK;
-
-        if(crcIn != 0)                        // CRC of correct message == 0
-            replyAck = esc4wayAck_I_INVALID_CRC;
+        CRC_check.bytes[1] = ReadByte();
+        CRC_check.bytes[0] = ReadByte();
 
+        if(CRC_check.word == CRC_in.word) {
+            ACK_OUT = ACK_OK;
+        } else {
+            ACK_OUT = ACK_I_INVALID_CRC;
+        }
+        
         TX_LED_ON;
-        if (replyAck == esc4wayAck_OK)
-            replyAck = esc4wayProcessCmd(command, addr, paramBuf, inLen, &outLen);
+        
+        if (ACK_OUT == ACK_OK)
+        {
+            // wtf.D_FLASH_ADDR_H=Adress_H;
+            // wtf.D_FLASH_ADDR_L=Adress_L;
+            ioMem.D_PTR_I = ParamBuf;
+
+            
+            switch(CMD) {
+                // ******* Interface related stuff *******
+                case cmd_InterfaceTestAlive:
+                {
+                    if (isMcuConnected()){
+                        switch(CurrentInterfaceMode)
+                        {
+                            #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
+                            case imATM_BLB:
+                            case imSIL_BLB:
+                            {
+                                if (!BL_SendCMDKeepAlive()) { // SetStateDisconnected() included
+                                    ACK_OUT = ACK_D_GENERAL_ERROR;
+                                }
+                                break;
+                            }
+                            #endif
+                            #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
+                            case imSK:
+                            {
+                                if (!Stk_SignOn()) { // SetStateDisconnected();
+                                    ACK_OUT = ACK_D_GENERAL_ERROR;
+                                }
+                                break;
+                            }
+                            #endif
+                            default:
+                                ACK_OUT = ACK_D_GENERAL_ERROR;
+                        }
+                        if ( ACK_OUT != ACK_OK) SET_DISCONNECTED;
+                    }
+                    break;
+                }
+                case cmd_ProtocolGetVersion:
+                {
+                    // Only interface itself, no matter what Device
+                    Dummy.bytes[0] = SERIAL_4WAY_PROTOCOL_VER;
+                    break;
+                }
+
+                case cmd_InterfaceGetName:
+                {
+                    // Only interface itself, no matter what Device
+                    // O_PARAM_LEN=16;
+                    O_PARAM_LEN = strlen(SERIAL_4WAY_INTERFACE_NAME_STR);
+                    O_PARAM = (uint8_t *)SERIAL_4WAY_INTERFACE_NAME_STR;
+                    break;
+                }
+
+                case cmd_InterfaceGetVersion:
+                {
+                    // Only interface itself, no matter what Device
+                    // Dummy = iUart_res_InterfVersion;
+                    O_PARAM_LEN = 2;
+                    Dummy.bytes[0] = SERIAL_4WAY_VERSION_HI;
+                    Dummy.bytes[1] = SERIAL_4WAY_VERSION_LO;
+                    break;
+                }
+                case cmd_InterfaceExit:
+                {
+                    isExitScheduled = true;
+                    break;
+                }
+                case cmd_InterfaceSetMode:
+                {
+#if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) && defined(USE_SERIAL_4WAY_SK_BOOTLOADER)
+                    if ((ParamBuf[0] <= imSK) && (ParamBuf[0] >= imSIL_BLB)) {
+#elif defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER)
+                    if ((ParamBuf[0] <= imATM_BLB) && (ParamBuf[0] >= imSIL_BLB)) {
+#elif defined(USE_SERIAL_4WAY_SK_BOOTLOADER)
+                    if (ParamBuf[0] == imSK) {
+#endif
+                        CurrentInterfaceMode = ParamBuf[0];
+                    } else {
+                        ACK_OUT = ACK_I_INVALID_PARAM;
+                    }
+                    break;
+                }
+
+                case cmd_DeviceReset:
+                {
+                    if (ParamBuf[0] < escCount) {
+                        // Channel may change here
+                        selected_esc = ParamBuf[0];
+                    }
+                    else {
+                        ACK_OUT = ACK_I_INVALID_CHANNEL;
+                        break;
+                    }
+                    switch (CurrentInterfaceMode)
+                    {
+                    case imSIL_BLB:
+                        #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
+                        case imATM_BLB:
+                        {
+                            BL_SendCMDRunRestartBootloader(&DeviceInfo);
+                            break;
+                        }
+                        #endif
+                        #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
+                        case imSK:
+                        {
+                            break;
+                        }
+                        #endif
+                    }
+                    SET_DISCONNECTED;
+                    break;
+                }
+                case cmd_DeviceInitFlash:
+                {
+                    SET_DISCONNECTED;
+                    if (ParamBuf[0] < escCount) {
+                        //Channel may change here
+                        //ESC_LO or ESC_HI; Halt state for prev channel
+                        selected_esc = ParamBuf[0];
+                    } else {
+                        ACK_OUT = ACK_I_INVALID_CHANNEL;
+                        break;
+                    }
+                    O_PARAM_LEN = DeviceInfoSize; //4
+                    O_PARAM = (uint8_t *)&DeviceInfo;
+                    if(Connect(&DeviceInfo)) {
+                        DeviceInfo.bytes[INTF_MODE_IDX] = CurrentInterfaceMode;
+                    } else {
+                        SET_DISCONNECTED;
+                        ACK_OUT = ACK_D_GENERAL_ERROR;
+                    }
+                    break;
+                }
+
+                #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
+                case cmd_DeviceEraseAll:
+                {
+                    switch(CurrentInterfaceMode)
+                    {
+                        case imSK:
+                        {
+                            if (!Stk_Chip_Erase()) ACK_OUT=ACK_D_GENERAL_ERROR;
+                            break;
+                        }
+                        default:
+                            ACK_OUT = ACK_I_INVALID_CMD;
+                    }
+                    break;
+                }
+                #endif
+
+                #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
+                case cmd_DevicePageErase:
+                {
+                    switch (CurrentInterfaceMode)
+                    {
+                        case imSIL_BLB:
+                        {
+                            Dummy.bytes[0] = ParamBuf[0];
+                            //Address = Page * 512
+                            ioMem.D_FLASH_ADDR_H = (Dummy.bytes[0] << 1);
+                            ioMem.D_FLASH_ADDR_L = 0;
+                            if (!BL_PageErase(&ioMem)) ACK_OUT = ACK_D_GENERAL_ERROR;
+                            break;
+                        }
+                        default:
+                            ACK_OUT = ACK_I_INVALID_CMD;
+                    }
+                    break;
+                }
+                #endif
+
+                //*** Device Memory Read Ops ***
+                case cmd_DeviceRead:
+                {
+                    ioMem.D_NUM_BYTES = ParamBuf[0];
+                    /*
+                    wtf.D_FLASH_ADDR_H=Adress_H;
+                    wtf.D_FLASH_ADDR_L=Adress_L;
+                    wtf.D_PTR_I = BUF_I;
+                    */
+                    switch(CurrentInterfaceMode)
+                    {
+                        #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
+                        case imSIL_BLB:
+                        case imATM_BLB:
+                        {
+                            if(!BL_ReadFlash(CurrentInterfaceMode, &ioMem))
+                            {
+                                ACK_OUT = ACK_D_GENERAL_ERROR;
+                            }
+                            break;
+                        }
+                        #endif
+                        #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
+                        case imSK:
+                        {
+                            if(!Stk_ReadFlash(&ioMem))
+                            {
+                                ACK_OUT = ACK_D_GENERAL_ERROR;
+                            }
+                            break;
+                        }
+                        #endif
+                        default:
+                            ACK_OUT = ACK_I_INVALID_CMD;
+                    }
+                    if (ACK_OUT == ACK_OK)
+                    {
+                        O_PARAM_LEN = ioMem.D_NUM_BYTES;
+                        O_PARAM = (uint8_t *)&ParamBuf;
+                    }
+                    break;
+                }
+
+                case cmd_DeviceReadEEprom:
+                {
+                    ioMem.D_NUM_BYTES = ParamBuf[0];
+                    /*
+                    wtf.D_FLASH_ADDR_H = Adress_H;
+                    wtf.D_FLASH_ADDR_L = Adress_L;
+                    wtf.D_PTR_I = BUF_I;
+                    */
+                    switch (CurrentInterfaceMode)
+                    {
+                        #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
+                        case imATM_BLB:
+                        {
+                            if (!BL_ReadEEprom(&ioMem))
+                            {
+                                ACK_OUT = ACK_D_GENERAL_ERROR;
+                            }
+                            break;
+                        }
+                        #endif
+                        #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
+                        case imSK:
+                        {
+                            if (!Stk_ReadEEprom(&ioMem))
+                            {
+                                ACK_OUT = ACK_D_GENERAL_ERROR;
+                            }
+                            break;
+                        }
+                        #endif
+                        default:
+                            ACK_OUT = ACK_I_INVALID_CMD;
+                    }
+                    if(ACK_OUT == ACK_OK)
+                    {
+                        O_PARAM_LEN = ioMem.D_NUM_BYTES;
+                        O_PARAM = (uint8_t *)&ParamBuf;
+                    }
+                    break;
+                }
+
+                //*** Device Memory Write Ops ***
+                case cmd_DeviceWrite:
+                {
+                    ioMem.D_NUM_BYTES = I_PARAM_LEN;
+                    /*
+                    wtf.D_FLASH_ADDR_H=Adress_H;
+                    wtf.D_FLASH_ADDR_L=Adress_L;
+                    wtf.D_PTR_I = BUF_I;
+                    */
+                    switch (CurrentInterfaceMode)
+                    {
+                        #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
+                        case imSIL_BLB:
+                        case imATM_BLB:
+                        {
+                            if (!BL_WriteFlash(&ioMem)) {
+                                ACK_OUT = ACK_D_GENERAL_ERROR;
+                            }
+                            break;
+                        }
+                        #endif
+                        #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
+                        case imSK:
+                        {
+                            if (!Stk_WriteFlash(&ioMem))
+                            {
+                                ACK_OUT = ACK_D_GENERAL_ERROR;
+                            }
+                            break;
+                        }
+                        #endif
+                    }
+                    break;
+                }
+
+                case cmd_DeviceWriteEEprom:
+                {
+                    ioMem.D_NUM_BYTES = I_PARAM_LEN;
+                    ACK_OUT = ACK_D_GENERAL_ERROR;
+                    /*
+                    wtf.D_FLASH_ADDR_H=Adress_H;
+                    wtf.D_FLASH_ADDR_L=Adress_L;
+                    wtf.D_PTR_I = BUF_I;
+                    */
+                    switch (CurrentInterfaceMode)
+                    {
+                        #ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
+                        case imSIL_BLB:
+                        {
+                            ACK_OUT = ACK_I_INVALID_CMD;
+                            break;
+                        }
+                        case imATM_BLB:
+                        {
+                            if (BL_WriteEEprom(&ioMem))
+                            {
+                                ACK_OUT = ACK_OK;
+                            }
+                            break;
+                        }
+                        #endif
+                        #ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
+                        case imSK:
+                        {
+                            if (Stk_WriteEEprom(&ioMem))
+                            {
+                                ACK_OUT = ACK_OK;
+                            }
+                            break;
+                        }
+                        #endif
+                    }
+                    break;
+                }
+                default:
+                {
+                    ACK_OUT = ACK_I_INVALID_CMD;
+                }
+            }
+        }
+
+        CRCout.word = 0;
+
         RX_LED_OFF;
 
-        // send single '\0' byte is output when length is zero (len ==0 -> 256 bytes)
-        if(!outLen) {
-            paramBuf[0] = 0;
-            outLen = 1;
-        }
-
-        crcOut = 0;
         serialBeginWrite(port);
-        writeByteCrc(cmd_Remote_Escape);
-        writeByteCrc(command);
-        writeByteCrc(addr >> 8);
-        writeByteCrc(addr & 0xff);
-        writeByteCrc(outLen & 0xff);          // only low byte is send, 0x00 -> 256B
-        for(int i = 0; i < outLen % 0x100; i++)
-            writeByteCrc(paramBuf[i]);
-        writeByteCrc(replyAck);
-        writeByte(crcOut >> 8);
-        writeByte(crcOut & 0xff);
+        WriteByteCrc(cmd_Remote_Escape);
+        WriteByteCrc(CMD);
+        WriteByteCrc(ioMem.D_FLASH_ADDR_H);
+        WriteByteCrc(ioMem.D_FLASH_ADDR_L);
+        WriteByteCrc(O_PARAM_LEN);
+
+        i=O_PARAM_LEN;
+        do {
+            WriteByteCrc(*O_PARAM);
+            O_PARAM++;
+            i--;
+        } while (i > 0);
+
+        WriteByteCrc(ACK_OUT);
+        WriteByte(CRCout.bytes[1]);
+        WriteByte(CRCout.bytes[0]);
         serialEndWrite(port);
-
-#ifdef STM32F4
-        delay(50);
-#endif
+                    
         TX_LED_OFF;
-    }
-
-    esc4wayRelease();
+        if (isExitScheduled) {
+            esc4wayRelease();
+            return;
+        }
+    };
 }
 
-// handle 4Way interface command
-// command - received command, will be sent back in reply
-// addr - from received header
-// data - buffer used both for received parameters and returned data.
-//   Should be 256B long ; TODO - implement limited buffer size
-// inLen - received input length
-// outLen - size of data to return, max 256, initialized to zero
-//          single '\0' byte will be send if outLen is zero (protocol limitation)
-esc4wayAck_e esc4wayProcessCmd(esc4wayCmd_e command, uint16_t addr, uint8_t *data, int inLen, int *outLen)
-{
-    ioMem_t ioMem;
-    ioMem.addr = addr;                     // default flash operation address
-    ioMem.data = data;                     // command data buffer is used for read and write commands
 
-    switch(command) {
-// ******* Interface related stuff *******
-        case cmd_InterfaceTestAlive:
-            if (!isMcuConnected())
-                return esc4wayAck_OK;
-
-            switch(currentInterfaceMode) {
-#ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
-                case imATM_BLB:
-                case imSIL_BLB:
-                    if (BL_SendCMDKeepAlive())
-                        return esc4wayAck_OK;
-                    break;
-#endif
-#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
-                case imSK:
-                    if (Stk_SignOn())
-                        return esc4wayAck_OK;
-                    break;
-#endif
-            }
-            setDisconnected();
-            return esc4wayAck_D_GENERAL_ERROR;
-
-        case cmd_ProtocolGetVersion:
-            // Only interface itself, no matter what Device
-            data[0] = SERIAL_4WAY_PROTOCOL_VER;
-            *outLen = 1;
-            return esc4wayAck_OK;
-
-        case cmd_InterfaceGetName:
-            // Only interface itself, no matter what Device
-            // outLen=16;
-            memcpy(data, SERIAL_4WAY_INTERFACE_NAME_STR, strlen(SERIAL_4WAY_INTERFACE_NAME_STR));
-            *outLen = strlen(SERIAL_4WAY_INTERFACE_NAME_STR);
-            return esc4wayAck_OK;
-
-        case cmd_InterfaceGetVersion:
-            // Only interface itself, no matter what Device
-            data[0] = SERIAL_4WAY_VERSION_HI;
-            data[1] = SERIAL_4WAY_VERSION_LO;
-            *outLen = 2;
-            return esc4wayAck_OK;
-
-        case cmd_InterfaceExit:
-            esc4wayExitRequested = true;
-            return esc4wayAck_OK;
-
-        case cmd_InterfaceSetMode:
-            switch(data[0]) {
-#if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER)
-                case imSIL_BLB:
-                case imATM_BLB:
-#endif
-#if defined(USE_SERIAL_4WAY_SK_BOOTLOADER)
-                case imSK:
-#endif
-                    currentInterfaceMode = data[0];
-                    break;
-                default:
-                    return esc4wayAck_I_INVALID_PARAM;
-            }
-            return esc4wayAck_OK;
-
-        case cmd_DeviceReset:
-            if(data[0] >= escCount)
-                return esc4wayAck_I_INVALID_CHANNEL;
-            // Channel may change here
-            escSelected = data[0];
-            switch (currentInterfaceMode) {
-#ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
-                case imSIL_BLB:
-                case imATM_BLB:
-                    BL_SendCMDRunRestartBootloader();
-                    break;
-#endif
-#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
-                case imSK:
-                    break;
-#endif
-            }
-            setDisconnected();
-            return esc4wayAck_OK;
-
-        case cmd_DeviceInitFlash: {
-            setDisconnected();
-            if (data[0] >= escCount)
-                return  esc4wayAck_I_INVALID_CHANNEL;
-            //Channel may change here
-            //ESC_LO or ESC_HI; Halt state for prev channel
-            int replyAck = esc4wayAck_OK;
-            escSelected = data[0];
-            if(!connect(&deviceInfo)) {
-                setDisconnected();
-                replyAck = esc4wayAck_D_GENERAL_ERROR;
-            }
-            deviceInfo.interfaceMode = currentInterfaceMode;
-            memcpy(data, &deviceInfo, sizeof(deviceInfo));
-            *outLen = sizeof(deviceInfo);
-            return replyAck;
-        }
-
-#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
-        case cmd_DeviceEraseAll:
-            switch(currentInterfaceMode) {
-                case imSK:
-                    if (!Stk_Chip_Erase())
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-                default:
-                    return esc4wayAck_I_INVALID_CMD;
-            }
-            return esc4wayAck_OK;
-#endif
-
-#ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
-        case cmd_DevicePageErase:
-            switch (currentInterfaceMode) {
-                case imSIL_BLB:
-                    *outLen = 1;  // return block number (from incoming packet)
-                    // Address = Page * 512
-                    ioMem.addr = data[0] << 9;
-                    if (!BL_PageErase(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-                default:
-                    return esc4wayAck_I_INVALID_CMD;
-            }
-            return esc4wayAck_OK;
-#endif
-
-//*** Device Memory Read Ops ***
-
-// macros to mix interface with (single bit) memory type for switch statement
-#define M_FLASH 0
-#define M_EEPROM 1
-#define INTFMEM(interface, memory) (((interface) << 1) | (memory))
-
-        case cmd_DeviceReadEEprom:
-        case cmd_DeviceRead: {
-            int len = data[0];
-            if(len == 0)
-                len = 0x100;
-            ioMem.len = len;
-            switch(INTFMEM(currentInterfaceMode, (command == cmd_DeviceRead) ? M_FLASH : M_EEPROM)) {
-#ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
-                case INTFMEM(imSIL_BLB, M_FLASH):
-                    if(!BL_ReadFlashSIL(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-                case INTFMEM(imATM_BLB, M_FLASH):
-                    if(!BL_ReadFlashATM(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-                case INTFMEM(imATM_BLB, M_EEPROM):
-                    if(!BL_ReadEEprom(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-                // INTFMEM(imSIL_BLB, M_EEPROM): no eeprom on Silabs
-#endif
-#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
-                case INTFMEM(imSK, M_FLASH):
-                    if(!Stk_ReadFlash(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-                case INTFMEM(imSK, M_EEPROM):
-                    if (!Stk_ReadEEprom(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-#endif
-                default:
-                    return esc4wayAck_I_INVALID_CMD;
-            }
-            *outLen = ioMem.len;
-            return esc4wayAck_OK;
-        }
-
-//*** Device Memory Write Ops ***
-        case cmd_DeviceWrite:
-        case cmd_DeviceWriteEEprom:
-            ioMem.len = inLen;
-            switch (INTFMEM(currentInterfaceMode, (command == cmd_DeviceWrite) ? M_FLASH : M_EEPROM)) {
-#ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
-                case INTFMEM(imSIL_BLB, M_FLASH):
-                case INTFMEM(imATM_BLB, M_FLASH):
-                    if (!BL_WriteFlash(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-                case INTFMEM(imATM_BLB, M_EEPROM):
-                    if (!BL_WriteEEprom(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-#endif
-#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
-                case INTFMEM(imSK, M_FLASH):
-                    if (!Stk_WriteFlash(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-                case INTFMEM(imSK, M_EEPROM):
-                    if (!Stk_WriteEEprom(&ioMem))
-                        return esc4wayAck_D_GENERAL_ERROR;
-                    break;
-#endif
-                default:
-                    return esc4wayAck_I_INVALID_CMD;
-            }
-            return esc4wayAck_OK;
-#undef M_FLASH
-#undef M_EEPROM
-#undef INTFMEM
-        default:
-            return esc4wayAck_I_INVALID_CMD;
-    }
-    // should not get here
-}
 
 #endif
diff --git a/src/main/io/serial_4way.h b/src/main/io/serial_4way.h
index 6c86b44c84..8e0c934a97 100644
--- a/src/main/io/serial_4way.h
+++ b/src/main/io/serial_4way.h
@@ -15,127 +15,38 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  * Author: 4712
 */
-
 #pragma once
 
-#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
+#include "drivers/io_types.h"
+#include "io/serial_4way_impl.h"
 
 #define USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 #define USE_SERIAL_4WAY_SK_BOOTLOADER
 
-typedef enum {
-    imC2      = 0,
-    imSIL_BLB = 1,
-    imATM_BLB = 2,
-    imSK      = 3,
-} esc4wayInterfaceMode_e;
+#define imC2 0
+#define imSIL_BLB 1
+#define imATM_BLB 2
+#define imSK 3
 
-typedef enum {
-// Test Interface still present
-    cmd_InterfaceTestAlive  = 0x30,  // '0' alive
-// RETURN: ACK
+extern uint8_t selected_esc;
 
-// get Protocol Version Number 01..255
-    cmd_ProtocolGetVersion  = 0x31,  // '1' version
-// RETURN: uint8_t VersionNumber + ACK
+extern ioMem_t ioMem;
 
-// get Version String
-    cmd_InterfaceGetName    = 0x32,  // '2' name
-// RETURN: String + ACK
+typedef union __attribute__ ((packed)) {
+    uint8_t bytes[2];
+    uint16_t word;
+} uint8_16_u;
 
-//get Version Number 01..255
-    cmd_InterfaceGetVersion = 0x33,  // '3' version
-// RETURN: uint16_t VersionNumber + ACK
+typedef union __attribute__ ((packed)) {
+    uint8_t bytes[4];
+    uint16_t words[2];
+    uint32_t dword;
+} uint8_32_u;
 
-// Exit / Restart Interface - can be used to switch to Box Mode
-    cmd_InterfaceExit       = 0x34,  // '4' exit
-// RETURN: ACK
+//extern uint8_32_u DeviceInfo;
 
-// Reset the Device connected to the Interface
-    cmd_DeviceReset         = 0x35,  // '5' reset
-// PARAM: uint8_t escId
-// RETURN: ACK
-
-// Get the Device ID connected
-//     cmd_DeviceGetID      = 0x36,  // '6' device id; removed since 06/106
-// RETURN: uint8_t DeviceID + ACK
-
-// Initialize Flash Access for Device connected
-// Autodetects interface protocol; retruns device signature and protocol
-    cmd_DeviceInitFlash     = 0x37,  // '7' init flash access
-// PARAM: uint8_t escId
-// RETURN: uint8_t deviceInfo[4] + ACK
-
-// Erase the whole Device Memory of connected Device
-    cmd_DeviceEraseAll      = 0x38,  // '8' erase all
-// RETURN: ACK
-
-// Erase one Page of Device Memory of connected Device
-    cmd_DevicePageErase     = 0x39,  // '9' page erase
-// PARAM: uint8_t PageNumber (512B pages)
-// RETURN: APageNumber ACK
-
-// Read to Buffer from FLASH Memory of connected Device
-// Buffer Len is Max 256 Bytes, 0 means 256 Bytes
-    cmd_DeviceRead          = 0x3A,  // ':' read Device
-// PARAM: [ADRESS] uint8_t BuffLen
-// RETURN: [ADRESS, len] Buffer[0..256] ACK
-
-// Write Buffer to FLASH Memory of connected Device
-// Buffer Len is Max 256 Bytes, 0 means 256 Bytes
-    cmd_DeviceWrite         = 0x3B,  // ';' write
-// PARAM: [ADRESS + BuffLen] Buffer[1..256]
-// RETURN: ACK
-
-// Set C2CK low infinite - permanent Reset state (unimplemented)
-    cmd_DeviceC2CK_LOW      = 0x3C,  // '<'
-// RETURN: ACK
-
-// Read to Buffer from EEPROM Memory of connected Device
-// Buffer Len is Max 256 Bytes, 0 means 256 Bytes
-    cmd_DeviceReadEEprom    = 0x3D,  // '=' read Device
-// PARAM: [ADRESS] uint8_t BuffLen
-// RETURN: [ADRESS + BuffLen] + Buffer[1..256] ACK
-
-// Write Buffer to EEPROM Memory of connected Device
-// Buffer Len is Max 256 Bytes, 0 means 256 Bytes
-    cmd_DeviceWriteEEprom   = 0x3E,  // '>' write
-// PARAM: [ADRESS + BuffLen] Buffer[1..256]
-// RETURN: ACK
-
-// Set Interface Mode
-    cmd_InterfaceSetMode   = 0x3F,   // '?'
-// PARAM: uint8_t Mode (interfaceMode_e)
-// RETURN: ACK
-} esc4wayCmd_e;
-
-// responses
-typedef enum {
-    esc4wayAck_OK =                 0x00,
-//  esc4wayAck_I_UNKNOWN_ERROR =    0x01,
-    esc4wayAck_I_INVALID_CMD =      0x02,
-    esc4wayAck_I_INVALID_CRC =      0x03,
-    esc4wayAck_I_VERIFY_ERROR =     0x04,
-//  esc4wayAck_D_INVALID_COMMAND =  0x05,
-//  esc4wayAck_D_COMMAND_FAILED =   0x06,
-//  esc4wayAck_D_UNKNOWN_ERROR =    0x07,
-    esc4wayAck_I_INVALID_CHANNEL =  0x08,
-    esc4wayAck_I_INVALID_PARAM =    0x09,
-    esc4wayAck_D_GENERAL_ERROR =    0x0f,
-} esc4wayAck_e;
-
-typedef struct escDeviceInfo_s {
-    uint16_t signature;        // lower 16 bit of signature
-    uint8_t  signature2;       // top 8 bit of signature for SK / BootMsg last char from BL
-    uint8_t interfaceMode;
-} escDeviceInfo_t;
-
-extern bool esc4wayExitRequested;     // flag that exit was requested. Set by esc4wayProcessCmd, used internally by esc4wayProcess
-
-int esc4wayInit(void);
-void esc4wayStart(void);
+bool isMcuConnected(void);
+uint8_t esc4wayInit(void);
+struct serialPort_s;
+void esc4wayProcess(struct serialPort_s *mspPort);
 void esc4wayRelease(void);
-void esc4wayProcess(serialPort_t *serial);
-esc4wayAck_e esc4wayProcessCmd(esc4wayCmd_e command, uint16_t addr, uint8_t *data, int inLen, int *outLen);
-
-#endif
diff --git a/src/main/io/serial_4way_avrootloader.c b/src/main/io/serial_4way_avrootloader.c
index 01a598e8b2..f3eeba5320 100644
--- a/src/main/io/serial_4way_avrootloader.c
+++ b/src/main/io/serial_4way_avrootloader.c
@@ -24,271 +24,290 @@
 #include <stdlib.h>
 #include "platform.h"
 
-#include "common/utils.h"
+#ifdef  USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#include "drivers/io.h"
 #include "drivers/system.h"
 #include "drivers/serial.h"
-#include "drivers/buf_writer.h"
+#include "drivers/timer.h"
 #include "drivers/pwm_mapping.h"
-#include "drivers/gpio.h"
 #include "io/serial.h"
 #include "io/serial_msp.h"
 #include "io/serial_4way.h"
 #include "io/serial_4way_impl.h"
 #include "io/serial_4way_avrootloader.h"
+#if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) && !defined(USE_FAKE_ESC)
 
-#if defined(USE_SERIAL_4WAY_BLHELI_INTERFACE) && defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER)
 
 // Bootloader commands
 // RunCmd
-#define RestartBootloader 0
-#define ExitBootloader    1
+#define RestartBootloader   0
+#define ExitBootloader      1
 
-#define CMD_RUN            0x00
-#define CMD_PROG_FLASH     0x01
-#define CMD_ERASE_FLASH    0x02
-#define CMD_READ_FLASH_SIL 0x03
-#define CMD_VERIFY_FLASH   0x03
-#define CMD_READ_EEPROM    0x04
-#define CMD_PROG_EEPROM    0x05
-#define CMD_READ_SRAM      0x06
-#define CMD_READ_FLASH_ATM 0x07
-#define CMD_KEEP_ALIVE     0xFD
-#define CMD_SET_ADDRESS    0xFF
-#define CMD_SET_BUFFER     0xFE
+#define CMD_RUN             0x00
+#define CMD_PROG_FLASH      0x01
+#define CMD_ERASE_FLASH     0x02
+#define CMD_READ_FLASH_SIL  0x03
+#define CMD_VERIFY_FLASH    0x03
+#define CMD_READ_EEPROM     0x04
+#define CMD_PROG_EEPROM     0x05
+#define CMD_READ_SRAM       0x06
+#define CMD_READ_FLASH_ATM  0x07
+#define CMD_KEEP_ALIVE      0xFD
+#define CMD_SET_ADDRESS     0xFF
+#define CMD_SET_BUFFER      0xFE
 
-#define CMD_BOOTINIT       0x07
-#define CMD_BOOTSIGN       0x08
+#define CMD_BOOTINIT        0x07
+#define CMD_BOOTSIGN        0x08
 
 // Bootloader result codes
 
-#define BR_SUCCESS          0x30
-#define BR_ERRORCOMMAND     0xC1
-#define BR_ERRORCRC         0xC2
-#define BR_NONE             0xFF
+#define brSUCCESS           0x30
+#define brERRORCOMMAND      0xC1
+#define brERRORCRC          0xC2
+#define brNONE              0xFF
 
-#define START_BIT_TIMEOUT 2000                     // 2ms
 
-#define BIT_TIME          52                       // 52uS
-#define BIT_TIME_HALVE    (BIT_TIME >> 1)          // 26uS
-#define BIT_TIME_3_4      (BIT_TIME_HALVE + (BIT_TIME_HALVE >> 1))   // 39uS
-#define START_BIT_TIME    (BIT_TIME_3_4)
+#define START_BIT_TIMEOUT_MS 2
 
-static int suart_getc(void)
+#define BIT_TIME (52)  //52uS
+#define BIT_TIME_HALVE (BIT_TIME >> 1) //26uS
+#define START_BIT_TIME (BIT_TIME_HALVE + 1)
+//#define STOP_BIT_TIME ((BIT_TIME * 9) + BIT_TIME_HALVE)
+
+static uint8_t suart_getc_(uint8_t *bt)
 {
     uint32_t btime;
     uint32_t start_time;
 
-    uint32_t wait_time = micros() + START_BIT_TIMEOUT;
+    uint32_t wait_time = millis() + START_BIT_TIMEOUT_MS;
     while (ESC_IS_HI) {
         // check for startbit begin
-        if (micros() >= wait_time) {
-            return -1;
+        if (millis() >= wait_time) {
+            return 0;
         }
     }
     // start bit
     start_time = micros();
     btime = start_time + START_BIT_TIME;
     uint16_t bitmask = 0;
-    for(int bit = 0; bit < 10; bit++) {
-        while (cmp32(micros(), btime) < 0);
+    uint8_t bit = 0;
+    while (micros() < btime);
+    while(1) {
         if (ESC_IS_HI)
+        {
             bitmask |= (1 << bit);
+        }
         btime = btime + BIT_TIME;
+        bit++;
+        if (bit == 10) break;
+        while (micros() < btime);
     }
     // check start bit and stop bit
-    if ((bitmask & (1 << 0)) || (!(bitmask & (1 << 9)))) {
-        return -1;
+    if ((bitmask & 1) || (!(bitmask & (1 << 9)))) {
+        return 0;
     }
-    return bitmask >> 1;
+    *bt = bitmask >> 1;
+    return 1;
 }
 
-static void suart_putc(uint8_t byte)
+static void suart_putc_(uint8_t *tx_b)
 {
-    // send one idle bit first (stopbit from previous byte)
-    uint16_t bitmask = (byte << 2) | (1  << 0) | (1 << 10);
+    // shift out stopbit first
+    uint16_t bitmask = (*tx_b << 2) | 1 | (1 << 10);
     uint32_t btime = micros();
     while(1) {
-        if(bitmask & 1)
+        if(bitmask & 1) {
             ESC_SET_HI; // 1
-        else
+        }
+        else {
             ESC_SET_LO; // 0
+        }
         btime = btime + BIT_TIME;
-        bitmask >>= 1;
-        if (bitmask == 0)
-            break; // stopbit shifted out - but don't wait
-        while (cmp32(micros(), btime) < 0);
+        bitmask = (bitmask >> 1);
+        if (bitmask == 0) break; // stopbit shifted out - but don't wait
+        while (micros() < btime);
     }
 }
 
-static uint16_t crc16Byte(uint16_t from, uint8_t byte)
+static uint8_16_u CRC_16;
+static uint8_16_u LastCRC_16;
+
+static void ByteCrc(uint8_t *bt)
 {
-    uint16_t crc16 = from;
-    for (int i = 0; i < 8; i++) {
-        if (((byte & 0x01) ^ (crc16 & 0x0001)) != 0) {
-            crc16 >>= 1;
-            crc16 ^= 0xA001;
+    uint8_t xb = *bt;
+    for (uint8_t i = 0; i < 8; i++)
+    {
+        if (((xb & 0x01) ^ (CRC_16.word & 0x0001)) !=0 ) {
+            CRC_16.word = CRC_16.word >> 1;
+            CRC_16.word = CRC_16.word ^ 0xA001;
         } else {
-            crc16 >>= 1;
+            CRC_16.word = CRC_16.word >> 1;
         }
-        byte >>= 1;
+        xb = xb >> 1;
     }
-    return crc16;
 }
 
-static uint8_t BL_ReadBuf(uint8_t *pstring, int len, bool checkCrc)
+static uint8_t BL_ReadBuf(uint8_t *pstring, uint8_t len)
 {
-    int crc = 0;
-    int c;
+    // len 0 means 256
+    CRC_16.word = 0;
+    LastCRC_16.word = 0;
+    uint8_t  LastACK = brNONE;
+    do {
+        if(!suart_getc_(pstring)) goto timeout;
+        ByteCrc(pstring);
+        pstring++;
+        len--;
+    } while(len > 0);
 
-    uint8_t  lastACK = BR_NONE;
-    for(int i = 0; i < len; i++) {
-        int c;
-        if ((c = suart_getc()) < 0) goto timeout;
-        crc = crc16Byte(crc, c);
-        pstring[i] = c;
-    }
-
-    if(checkCrc) {
-        // With CRC read 3 more
-        for(int i = 0; i < 2; i++) {  // checksum 2 CRC bytes
-            if ((c = suart_getc()) < 0) goto timeout;
-            crc = crc16Byte(crc, c);
+    if(isMcuConnected()) {
+        //With CRC read 3 more
+        if(!suart_getc_(&LastCRC_16.bytes[0])) goto timeout;
+        if(!suart_getc_(&LastCRC_16.bytes[1])) goto timeout;
+        if(!suart_getc_(&LastACK)) goto timeout;
+        if (CRC_16.word != LastCRC_16.word) {
+            LastACK = brERRORCRC;
         }
-        if((c = suart_getc()) < 0) goto timeout;
-        lastACK = c;
-        if (crc != 0)   // CRC of correct message is 0
-            lastACK = BR_ERRORCRC;
     } else {
-        if((c = suart_getc()) < 0) goto timeout;
-        lastACK = c;
+        if(!suart_getc_(&LastACK)) goto timeout;
     }
 timeout:
-    return (lastACK == BR_SUCCESS);
+    return (LastACK == brSUCCESS);
 }
 
-static void BL_SendBuf(uint8_t *pstring, int len, bool appendCrc)
+static void BL_SendBuf(uint8_t *pstring, uint8_t len)
 {
     ESC_OUTPUT;
-    uint16_t crc = 0;
-    for(int i = 0; i < len; i++) {
-        suart_putc(pstring[i]);
-        crc = crc16Byte(crc, pstring[i]);
-    }
-    if (appendCrc) {
-        suart_putc(crc & 0xff);
-        suart_putc(crc >> 8);
+    CRC_16.word=0;
+    do {
+        suart_putc_(pstring);
+        ByteCrc(pstring);
+        pstring++;
+        len--;
+    } while (len > 0);
+    
+    if (isMcuConnected()) {
+        suart_putc_(&CRC_16.bytes[0]);
+        suart_putc_(&CRC_16.bytes[1]);
     }
     ESC_INPUT;
 }
 
-uint8_t BL_ConnectEx(escDeviceInfo_t *pDeviceInfo)
+uint8_t BL_ConnectEx(uint8_32_u *pDeviceInfo)
 {
-#define BOOT_MSG_LEN 4
-#define DevSignHi (BOOT_MSG_LEN)
-#define DevSignLo (BOOT_MSG_LEN + 1)
+    #define BootMsgLen 4
+    #define DevSignHi (BootMsgLen)
+    #define DevSignLo (BootMsgLen+1)
 
-    memset(pDeviceInfo, 0, sizeof(*pDeviceInfo));
-    uint8_t bootInfo[BOOT_MSG_LEN + 4];
-    static const uint8_t bootMsgCheck[BOOT_MSG_LEN - 1] = "471";
+    //DeviceInfo.dword=0; is set before
+    uint8_t BootInfo[9];
+    uint8_t BootMsg[BootMsgLen-1] = "471";
     // x * 0 + 9
 #if defined(USE_SERIAL_4WAY_SK_BOOTLOADER)
-    // SK message was sent during autodetection, use longer preamble
-    uint8_t bootInit[] = {0,0,0,0,0,0,0,0,0,0,0,0,0x0D,'B','L','H','e','l','i',0xF4,0x7D};
+    uint8_t BootInit[] = {0,0,0,0,0,0,0,0,0,0,0,0,0x0D,'B','L','H','e','l','i',0xF4,0x7D};
+    BL_SendBuf(BootInit, 21);
 #else
-    uint8_t bootInit[] = {        0,0,0,0,0,0,0,0,0x0D,'B','L','H','e','l','i',0xF4,0x7D};
+    uint8_t BootInit[] = {0,0,0,0,0,0,0,0,0x0D,'B','L','H','e','l','i',0xF4,0x7D};
+    BL_SendBuf(BootInit, 17);
 #endif
-    BL_SendBuf(bootInit, sizeof(bootInit), false);
-    if (!BL_ReadBuf(bootInfo, sizeof(bootInfo), false))
+    if (!BL_ReadBuf(BootInfo, BootMsgLen + 4)) {
         return 0;
+    }
     // BootInfo has no CRC  (ACK byte already analyzed... )
     // Format = BootMsg("471c") SIGNATURE_001, SIGNATURE_002, BootVersion (always 6), BootPages (,ACK)
-    if(memcmp(bootInfo, bootMsgCheck, sizeof(bootMsgCheck)) != 0) // Check only the first 3 letters -> 471x OK
-        return 0;
+    for (uint8_t i = 0; i < (BootMsgLen - 1); i++) { // Check only the first 3 letters -> 471x OK
+        if (BootInfo[i] != BootMsg[i]) {
+            return (0);
+        }
+    }
 
-    pDeviceInfo->signature2 = bootInfo[BOOT_MSG_LEN - 1]; // taken from bootloaderMsg part, ascii 'c' now
-    pDeviceInfo->signature = (bootInfo[DevSignHi] << 8) | bootInfo[DevSignLo]; // SIGNATURE_001, SIGNATURE_002
-    return 1;
+    //only 2 bytes used $1E9307 -> 0x9307
+    pDeviceInfo->bytes[2] = BootInfo[BootMsgLen - 1];
+    pDeviceInfo->bytes[1] = BootInfo[DevSignHi];
+    pDeviceInfo->bytes[0] = BootInfo[DevSignLo];
+    return (1);
 }
 
-static uint8_t BL_GetACK(int timeout)
+static uint8_t BL_GetACK(uint32_t Timeout)
 {
-    int c;
-    while ((c = suart_getc()) < 0)
-        if(--timeout < 0)    // timeout=1 -> 1 retry
-            return BR_NONE;
-    return c;
+    uint8_t LastACK = brNONE;
+    while (!(suart_getc_(&LastACK)) && (Timeout)) {
+        Timeout--;
+    } ;
+    return (LastACK);
 }
 
-uint8_t BL_SendCMDKeepAlive(void)
+uint8_t BL_SendCMDKeepAlive(void) 
 {
     uint8_t sCMD[] = {CMD_KEEP_ALIVE, 0};
-    BL_SendBuf(sCMD, sizeof(sCMD), true);
-    if (BL_GetACK(1) != BR_ERRORCOMMAND)
+    BL_SendBuf(sCMD, 2);
+    if (BL_GetACK(1) != brERRORCOMMAND) {
         return 0;
+    }
     return 1;
 }
 
-void BL_SendCMDRunRestartBootloader(void)
+void BL_SendCMDRunRestartBootloader(uint8_32_u *pDeviceInfo)
 {
     uint8_t sCMD[] = {RestartBootloader, 0};
-    BL_SendBuf(sCMD, sizeof(sCMD), true); // sends simply 4 x 0x00 (CRC = 00)
+    pDeviceInfo->bytes[0] = 1;
+    BL_SendBuf(sCMD, 2); //sends simply 4 x 0x00 (CRC =00)
     return;
 }
 
 static uint8_t BL_SendCMDSetAddress(ioMem_t *pMem) //supports only 16 bit Adr
 {
     // skip if adr == 0xFFFF
-    if(pMem->addr == 0xffff)
-        return 1;
-    uint8_t sCMD[] = {CMD_SET_ADDRESS, 0, pMem->addr >> 8, pMem->addr & 0xff };
-    BL_SendBuf(sCMD, sizeof(sCMD), true);
-    return BL_GetACK(2) == BR_SUCCESS;
+    if((pMem->D_FLASH_ADDR_H == 0xFF) && (pMem->D_FLASH_ADDR_L == 0xFF)) return 1;
+    uint8_t sCMD[] = {CMD_SET_ADDRESS, 0, pMem->D_FLASH_ADDR_H, pMem->D_FLASH_ADDR_L };
+    BL_SendBuf(sCMD, 4);
+    return (BL_GetACK(2) == brSUCCESS);
 }
 
 static uint8_t BL_SendCMDSetBuffer(ioMem_t *pMem)
 {
-    uint16_t len = pMem->len;
-    uint8_t sCMD[] = {CMD_SET_BUFFER, 0, len >> 8, len & 0xff};
-    BL_SendBuf(sCMD, sizeof(sCMD), true);
-    if (BL_GetACK(2) != BR_NONE)
-        return 0;
-    BL_SendBuf(pMem->data, len, true);
-    return BL_GetACK(40) == BR_SUCCESS;
+    uint8_t sCMD[] = {CMD_SET_BUFFER, 0, 0, pMem->D_NUM_BYTES};
+    if (pMem->D_NUM_BYTES == 0) {
+        // set high byte
+        sCMD[2] = 1;
+    }
+    BL_SendBuf(sCMD, 4);
+    if (BL_GetACK(2) != brNONE) return 0;
+    BL_SendBuf(pMem->D_PTR_I, pMem->D_NUM_BYTES);
+    return (BL_GetACK(40) == brSUCCESS);
 }
 
 static uint8_t BL_ReadA(uint8_t cmd, ioMem_t *pMem)
 {
-    if(!BL_SendCMDSetAddress(pMem))
-        return 0;
-    unsigned len = pMem->len;
-    uint8_t sCMD[] = {cmd, len & 0xff};    // 0x100 is sent a 0x00 here
-    BL_SendBuf(sCMD, sizeof(sCMD), true);
-    return BL_ReadBuf(pMem->data, len, true);
+    if (BL_SendCMDSetAddress(pMem)) {
+        uint8_t sCMD[] = {cmd, pMem->D_NUM_BYTES};
+        BL_SendBuf(sCMD, 2);
+        return (BL_ReadBuf(pMem->D_PTR_I, pMem->D_NUM_BYTES ));
+    }
+    return 0;
 }
 
 static uint8_t BL_WriteA(uint8_t cmd, ioMem_t *pMem, uint32_t timeout)
 {
-    if(!BL_SendCMDSetAddress(pMem))
-        return 0;
-    if (!BL_SendCMDSetBuffer(pMem))
-        return 0;
-    uint8_t sCMD[] = {cmd, 0x01};
-    BL_SendBuf(sCMD, sizeof(sCMD), true);
-    return BL_GetACK(timeout) == BR_SUCCESS;
+    if (BL_SendCMDSetAddress(pMem)) {
+        if (!BL_SendCMDSetBuffer(pMem)) return 0;
+        uint8_t sCMD[] = {cmd, 0x01};
+        BL_SendBuf(sCMD, 2);
+        return (BL_GetACK(timeout) == brSUCCESS);
+    }
+    return 0;
 }
 
-
-uint8_t BL_ReadFlashATM(ioMem_t *pMem)
+uint8_t BL_ReadFlash(uint8_t interface_mode, ioMem_t *pMem)
 {
-    return BL_ReadA(CMD_READ_FLASH_ATM, pMem);
-}
-
-uint8_t BL_ReadFlashSIL(ioMem_t *pMem)
-{
-    return BL_ReadA(CMD_READ_FLASH_SIL, pMem);
-}
-
-
+    if(interface_mode == imATM_BLB) {
+        return BL_ReadA(CMD_READ_FLASH_ATM, pMem);
+    } else {
+        return BL_ReadA(CMD_READ_FLASH_SIL, pMem);
+    }
+} 
+ 
 uint8_t BL_ReadEEprom(ioMem_t *pMem)
 {
     return BL_ReadA(CMD_READ_EEPROM, pMem);
@@ -296,22 +315,584 @@ uint8_t BL_ReadEEprom(ioMem_t *pMem)
 
 uint8_t BL_PageErase(ioMem_t *pMem)
 {
-    if(!BL_SendCMDSetAddress(pMem))
-        return 0;
-
-    uint8_t sCMD[] = {CMD_ERASE_FLASH, 0x01};
-    BL_SendBuf(sCMD, sizeof(sCMD), true);
-    return BL_GetACK(40 * 1000 / START_BIT_TIMEOUT) == BR_SUCCESS;
+    if (BL_SendCMDSetAddress(pMem)) {
+        uint8_t sCMD[] = {CMD_ERASE_FLASH, 0x01};
+        BL_SendBuf(sCMD, 2);
+        return (BL_GetACK((40 / START_BIT_TIMEOUT_MS)) == brSUCCESS);
+    }
+    return 0;
 }
 
 uint8_t BL_WriteEEprom(ioMem_t *pMem)
 {
-    return BL_WriteA(CMD_PROG_EEPROM, pMem, 3000 * 1000 / START_BIT_TIMEOUT);
+    return BL_WriteA(CMD_PROG_EEPROM, pMem, (3000 / START_BIT_TIMEOUT_MS));
 }
 
 uint8_t BL_WriteFlash(ioMem_t *pMem)
 {
-    return BL_WriteA(CMD_PROG_FLASH, pMem, 40 * 1000 / START_BIT_TIMEOUT);
+    return BL_WriteA(CMD_PROG_FLASH, pMem, (40 / START_BIT_TIMEOUT_MS));
 }
 
 #endif
+#if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) && defined(USE_FAKE_ESC)
+
+#define FAKE_PAGE_SIZE 512
+#define FAKE_FLASH_SIZE 16385
+
+static uint8_t fakeFlash[FAKE_FLASH_SIZE] =
+{
+    0x02, 0x19, 0xFD, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x02, 0x00, 0xAA, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x02, 0x01, 0x87, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x02, 0x03, 0x44, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0x02, 0x03, 0x31, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0x02, 0x03, 0x04, 0x06, 0x08, 0x0C, 0x10, 0x18, 0x20, 0x30, 0x40, 0x60, 0x80, 0x04, 0x06, 0x08,
+    0x0C, 0x10, 0x18, 0x20, 0x30, 0x40, 0x60, 0x80, 0xA0, 0xC0, 0x00, 0x03, 0x07, 0x0F, 0x1F, 0x0D,
+    0x0D, 0x04, 0x05, 0x0D, 0x05, 0x03, 0x05, 0x03, 0x03, 0x02, 0xC2, 0xAF, 0x30, 0x63, 0x08, 0xC2,
+    0x63, 0x85, 0x79, 0x8A, 0xD2, 0xAF, 0x32, 0xC0, 0xD0, 0xC0, 0xE0, 0x20, 0x62, 0x21, 0xE5, 0x25,
+    0x60, 0x16, 0xE4, 0x73, 0xE5, 0x25, 0xF4, 0xC3, 0x33, 0x40, 0x09, 0x75, 0x8A, 0x00, 0xD2, 0x63,
+    0xF5, 0x79, 0x01, 0xD6, 0xF5, 0x8A, 0xD2, 0x62, 0xD0, 0xE0, 0xD0, 0xD0, 0xD2, 0xAF, 0x32, 0xC3,
+    0xE5, 0x26, 0x33, 0x40, 0x09, 0x75, 0x8A, 0x00, 0xD2, 0x63, 0xF5, 0x79, 0x01, 0xF0, 0xF5, 0x8A,
+    0xC2, 0x62, 0xE5, 0x26, 0xF4, 0x60, 0x2F, 0x30, 0x68, 0x25, 0x20, 0x72, 0x0D, 0xD0, 0xE0, 0xD0,
+    0xD0, 0xC2, 0x93, 0xC2, 0x97, 0xC2, 0x94, 0xD2, 0xAF, 0x32, 0xC2, 0x93, 0xC2, 0x97, 0xC2, 0x94,
+    0x20, 0x6F, 0x0C, 0x20, 0x66, 0x09, 0x74, 0x06, 0xD5, 0xE0, 0xFD, 0xE5, 0x7B, 0x42, 0x90, 0xD0,
+    0xE0, 0xD0, 0xD0, 0xD2, 0xAF, 0x32, 0x75, 0x8A, 0x00, 0xD2, 0x63, 0x75, 0x79, 0x00, 0xC2, 0x8D,
+    0xD2, 0x62, 0x21, 0x1F, 0x01, 0xC4, 0x30, 0x68, 0x05, 0x20, 0x66, 0x02, 0xD2, 0x93, 0x01, 0xC4,
+    0x30, 0x68, 0x05, 0x20, 0x66, 0x02, 0xD2, 0x94, 0x01, 0xC4, 0x30, 0x68, 0x05, 0x20, 0x66, 0x02,
+    0xD2, 0x97, 0x01, 0xC4, 0xC2, 0x92, 0x30, 0x68, 0x0A, 0x20, 0x66, 0x07, 0x74, 0x06, 0xD5, 0xE0,
+    0xFD, 0xD2, 0x93, 0x01, 0xC4, 0xC2, 0x95, 0x30, 0x68, 0x0A, 0x20, 0x66, 0x07, 0x74, 0x06, 0xD5,
+    0xE0, 0xFD, 0xD2, 0x94, 0x01, 0xC4, 0xC2, 0x96, 0x30, 0x68, 0x0A, 0x20, 0x66, 0x07, 0x74, 0x06,
+    0xD5, 0xE0, 0xFD, 0xD2, 0x97, 0x01, 0xC4, 0xC2, 0xAF, 0xC2, 0xAD, 0x53, 0xE6, 0xEF, 0xC0, 0xD0,
+    0xC0, 0xE0, 0xD2, 0xD3, 0xD2, 0xAF, 0xE5, 0x7A, 0x60, 0x09, 0xE5, 0x77, 0x60, 0x05, 0x75, 0x77,
+    0x00, 0x41, 0xDE, 0x75, 0x77, 0x01, 0xC2, 0xCE, 0xE5, 0x2A, 0x60, 0x07, 0x20, 0x74, 0x49, 0x15,
+    0x2A, 0x21, 0xF8, 0x78, 0x00, 0x79, 0x00, 0x20, 0x74, 0x2E, 0xE5, 0x80, 0x30, 0x7E, 0x01, 0xF4,
+    0x30, 0xE5, 0x02, 0x78, 0xFF, 0x53, 0xDA, 0xCF, 0x20, 0x7E, 0x03, 0x43, 0xDA, 0x20, 0x30, 0x7E,
+    0x03, 0x43, 0xDA, 0x10, 0xC2, 0xD8, 0xC2, 0x71, 0xE5, 0x80, 0x30, 0x7E, 0x01, 0xF4, 0x30, 0xE5,
+    0x02, 0x79, 0xFF, 0xC3, 0xE8, 0x99, 0x70, 0xCB, 0x30, 0x61, 0x03, 0x75, 0x2A, 0x18, 0x20, 0x74,
+    0x03, 0x75, 0x2A, 0x18, 0x88, 0x5C, 0xD2, 0x70, 0x20, 0x74, 0x0D, 0xE5, 0x2B, 0x60, 0x04, 0x15,
+    0x2B, 0x41, 0x08, 0x43, 0xDA, 0x01, 0xC2, 0xD8, 0x20, 0x70, 0x02, 0x41, 0x77, 0xA8, 0x5C, 0x20,
+    0x61, 0x02, 0xC2, 0x70, 0x20, 0x74, 0x36, 0x79, 0x82, 0xB7, 0x04, 0x31, 0xC3, 0xE8, 0x94, 0xF0,
+    0x40, 0x03, 0x74, 0xF0, 0xF8, 0xE8, 0xC4, 0x54, 0x0F, 0x28, 0xF8, 0x79, 0x84, 0xB7, 0x03, 0x02,
+    0x41, 0x4D, 0xC3, 0x13, 0xC3, 0x13, 0x87, 0x21, 0x20, 0x08, 0x02, 0xC3, 0x13, 0x20, 0x0A, 0x06,
+    0xC3, 0xC8, 0x98, 0xF8, 0x41, 0x4D, 0x28, 0xF8, 0x50, 0x03, 0x74, 0xFF, 0xF8, 0x88, 0x22, 0xE5,
+    0x2D, 0x54, 0x06, 0x60, 0x22, 0x20, 0x6B, 0x1F, 0xE5, 0x36, 0xC3, 0x33, 0xC3, 0x33, 0xF8, 0xE5,
+    0x64, 0xC3, 0x13, 0xC3, 0x13, 0xF9, 0xC3, 0x95, 0x22, 0x40, 0x02, 0x89, 0x22, 0xE8, 0x25, 0x22,
+    0xF5, 0x22, 0x50, 0x03, 0x75, 0x22, 0xFF, 0x78, 0x82, 0xB6, 0x04, 0x59, 0x85, 0x22, 0x24, 0xA8,
+    0x24, 0xC3, 0xE5, 0x24, 0x95, 0x61, 0x40, 0x02, 0xA8, 0x61, 0xC3, 0xE8, 0x95, 0x63, 0x40, 0x02,
+    0xA8, 0x63, 0x88, 0x25, 0xE5, 0x66, 0x70, 0x02, 0x41, 0xC8, 0xC3, 0xE8, 0xAA, 0x66, 0x9A, 0x50,
+    0x03, 0xE8, 0xFA, 0xE4, 0xF9, 0xEA, 0xC3, 0x33, 0xFB, 0xE5, 0x68, 0xF4, 0x5B, 0x29, 0x40, 0x0D,
+    0x25, 0x67, 0xF8, 0xE5, 0x67, 0x60, 0x02, 0x15, 0x67, 0x40, 0x0B, 0x41, 0xC8, 0x0A, 0xC3, 0xE5,
+    0x67, 0x9A, 0x50, 0x02, 0x05, 0x67, 0x78, 0xFF, 0x88, 0x26, 0xC2, 0x6F, 0xC3, 0xE5, 0x26, 0x94,
+    0xF8, 0x40, 0x02, 0xD2, 0x6F, 0xC3, 0xE5, 0x25, 0x94, 0x40, 0x40, 0x02, 0xD2, 0x64, 0x20, 0xCF,
+    0x0A, 0xD0, 0xE0, 0xD0, 0xD0, 0x43, 0xE6, 0x10, 0xD2, 0xAD, 0x32, 0xC2, 0xCF, 0x05, 0x3A, 0xE5,
+    0x7A, 0x60, 0x09, 0xE5, 0x78, 0x60, 0x05, 0x75, 0x78, 0x00, 0x61, 0x27, 0x75, 0x78, 0x01, 0x78,
+    0x01, 0xE5, 0x2A, 0x60, 0x05, 0x30, 0x74, 0x02, 0x15, 0x2A, 0xC3, 0xE5, 0x5C, 0x94, 0x01, 0x40,
+    0x05, 0x75, 0x5F, 0x00, 0x61, 0x27, 0x75, 0x60, 0x00, 0x75, 0x69, 0x00, 0xE5, 0x5F, 0x24, 0x01,
+    0xF5, 0x5F, 0x50, 0x03, 0x75, 0x5F, 0xFF, 0xD0, 0xE0, 0xD0, 0xD0, 0x43, 0xE6, 0x10, 0xD2, 0xAD,
+    0x32, 0xC2, 0xAF, 0x53, 0xE6, 0x7F, 0x75, 0x92, 0xFA, 0x75, 0x93, 0xFF, 0xC2, 0x60, 0x75, 0x91,
+    0x04, 0xD2, 0xAF, 0x32, 0xC2, 0xAF, 0x53, 0xE6, 0xEF, 0xC2, 0xAD, 0xC0, 0xD0, 0xC0, 0xE0, 0xC0,
+    0xF0, 0xD2, 0xD3, 0xD2, 0xAF, 0xA8, 0xFB, 0xA9, 0xFC, 0xE5, 0x7A, 0x60, 0x07, 0xC3, 0xE9, 0x13,
+    0xF9, 0xE8, 0x13, 0xF8, 0xC2, 0xD8, 0x30, 0x71, 0x02, 0x61, 0xB6, 0x53, 0xDA, 0xCF, 0x20, 0x7E,
+    0x03, 0x43, 0xDA, 0x10, 0x30, 0x7E, 0x03, 0x43, 0xDA, 0x20, 0xD2, 0x71, 0xE5, 0x80, 0x30, 0x7E,
+    0x01, 0xF4, 0x20, 0xE5, 0x02, 0x61, 0x8D, 0x88, 0x27, 0x89, 0x28, 0xA1, 0xE3, 0x53, 0xDA, 0xCF,
+    0x20, 0x7E, 0x03, 0x43, 0xDA, 0x20, 0x30, 0x7E, 0x03, 0x43, 0xDA, 0x10, 0xC2, 0xD8, 0xC2, 0x71,
+    0x30, 0x74, 0x02, 0xA1, 0xCF, 0x78, 0x00, 0xE5, 0x80, 0x30, 0x7E, 0x01, 0xF4, 0x30, 0xE5, 0x02,
+    0xA1, 0xCF, 0x88, 0x5C, 0xA1, 0xB7, 0x53, 0xDA, 0xCF, 0x20, 0x7E, 0x03, 0x43, 0xDA, 0x20, 0x30,
+    0x7E, 0x03, 0x43, 0xDA, 0x10, 0xC2, 0x71, 0x20, 0x61, 0x02, 0x81, 0x8F, 0x53, 0xDA, 0xCF, 0x20,
+    0x7E, 0x03, 0x43, 0xDA, 0x10, 0x30, 0x7E, 0x03, 0x43, 0xDA, 0x20, 0xC2, 0xD8, 0xD2, 0x71, 0x88,
+    0x57, 0x89, 0x58, 0xC3, 0xE8, 0x95, 0x55, 0xF8, 0xE9, 0x95, 0x56, 0xF9, 0x7B, 0x00, 0x7E, 0x08,
+    0x7A, 0x00, 0xC3, 0xE8, 0x94, 0x8C, 0xE9, 0x94, 0x00, 0x50, 0x05, 0x75, 0x5B, 0x00, 0x81, 0x81,
+    0x88, 0x21, 0x78, 0xA2, 0xE6, 0xA8, 0x21, 0x60, 0x55, 0xC3, 0xE8, 0x94, 0xC8, 0xE9, 0x94, 0x00,
+    0x50, 0x08, 0xE4, 0xD2, 0xE4, 0xFB, 0x7A, 0x0A, 0x81, 0x5C, 0xC3, 0xE8, 0x94, 0x68, 0xE9, 0x94,
+    0x01, 0x50, 0x08, 0xE4, 0xD2, 0xE3, 0xFB, 0x7A, 0x0F, 0x81, 0x5C, 0xC3, 0xE8, 0x94, 0xD0, 0xE9,
+    0x94, 0x02, 0x50, 0x08, 0xE4, 0xD2, 0xE2, 0xFB, 0x7A, 0x1E, 0x81, 0x5C, 0xC3, 0xE8, 0x94, 0xA0,
+    0xE9, 0x94, 0x05, 0x50, 0x08, 0xE4, 0xD2, 0xE1, 0xFB, 0x7A, 0x3C, 0x81, 0x5C, 0xC3, 0xE8, 0x94,
+    0x98, 0xE9, 0x94, 0x08, 0x50, 0x08, 0xE4, 0xD2, 0xE0, 0xFB, 0x7A, 0x78, 0x7E, 0x00, 0xC3, 0xE8,
+    0x95, 0x59, 0xFC, 0xE9, 0x95, 0x5A, 0xFD, 0x30, 0xE7, 0x0A, 0xEC, 0xF4, 0x24, 0x01, 0xFC, 0xED,
+    0xF4, 0x34, 0x00, 0xFD, 0x75, 0x5B, 0x00, 0xC3, 0xEC, 0x9A, 0xED, 0x9E, 0x50, 0x03, 0x75, 0x5B,
+    0x01, 0x88, 0x59, 0x89, 0x5A, 0x85, 0x57, 0x55, 0x85, 0x58, 0x56, 0x78, 0x02, 0xA1, 0xB7, 0xC3,
+    0xE8, 0x95, 0x27, 0xF8, 0xE9, 0x95, 0x28, 0xF9, 0x30, 0x7C, 0x02, 0xA1, 0x9B, 0x30, 0x7B, 0x02,
+    0xA1, 0x9B, 0x30, 0x7A, 0x02, 0xA1, 0x94, 0x20, 0x75, 0x02, 0x81, 0xB2, 0xE9, 0xFD, 0xE8, 0xFC,
+    0x81, 0xD1, 0xE9, 0xC3, 0x13, 0xF9, 0xE8, 0x13, 0xF8, 0x30, 0x79, 0x02, 0xA1, 0x94, 0xE9, 0xC3,
+    0x13, 0xF9, 0xE8, 0x13, 0xF8, 0x30, 0x78, 0x02, 0xA1, 0x94, 0xE9, 0xC3, 0x13, 0xFD, 0xE8, 0x13,
+    0xFC, 0x20, 0x61, 0x2C, 0xC3, 0xEC, 0x94, 0x1C, 0xED, 0x94, 0x02, 0x40, 0x02, 0x81, 0xE8, 0xED,
+    0x70, 0x1E, 0xC3, 0xEC, 0x94, 0xC8, 0x50, 0x18, 0x05, 0x29, 0xE5, 0x29, 0x70, 0x02, 0x15, 0x29,
+    0xC3, 0xE5, 0x29, 0x94, 0x0A, 0x50, 0x02, 0xA1, 0xCF, 0x75, 0x5C, 0x00, 0xD2, 0x70, 0xA1, 0xCF,
+    0xE5, 0x29, 0x60, 0x02, 0x15, 0x29, 0x78, 0x88, 0xE6, 0xF9, 0x74, 0x00, 0x20, 0x7F, 0x08, 0x78,
+    0x96, 0xB9, 0x03, 0x02, 0x78, 0x9E, 0xE6, 0x24, 0xFA, 0xFE, 0xE4, 0x34, 0x00, 0xFF, 0xC3, 0xEC,
+    0x9E, 0xFC, 0xED, 0x9F, 0xFD, 0x92, 0x08, 0xB9, 0x03, 0x10, 0xA2, 0x08, 0x50, 0x07, 0x20, 0x76,
+    0x09, 0xD2, 0x76, 0xA1, 0x3A, 0x30, 0x76, 0x02, 0xC2, 0x76, 0xA2, 0x08, 0x50, 0x16, 0xB9, 0x03,
+    0x0D, 0xEC, 0xF4, 0x24, 0x01, 0xFC, 0xED, 0xF4, 0x34, 0x00, 0xFD, 0x02, 0x05, 0x54, 0x78, 0x00,
+    0x79, 0x00, 0xA1, 0x9B, 0xB9, 0x03, 0x15, 0xEC, 0x33, 0xFC, 0xED, 0x33, 0xFD, 0xC3, 0xEC, 0x94,
+    0x0A, 0xFC, 0xED, 0x94, 0x00, 0xFD, 0x50, 0x04, 0x7C, 0x00, 0x7D, 0x00, 0xC3, 0xEC, 0x94, 0xFF,
+    0xED, 0x94, 0x00, 0x40, 0x06, 0x78, 0xFF, 0x79, 0x00, 0xA1, 0x9B, 0xEC, 0x85, 0x72, 0xF0, 0xA4,
+    0xC5, 0xF0, 0xA2, 0xF7, 0x33, 0xF8, 0x79, 0x00, 0x40, 0x03, 0x02, 0x05, 0xB7, 0x78, 0xFF, 0x79,
+    0x00, 0x02, 0x05, 0xB7, 0xE9, 0xC3, 0x13, 0xF9, 0xE8, 0x13, 0xF8, 0x30, 0x7C, 0x0E, 0xE9, 0x60,
+    0x02, 0x78, 0xFF, 0xC3, 0xE8, 0x13, 0x38, 0xF8, 0xE4, 0x34, 0x00, 0xF9, 0xC3, 0xE8, 0x94, 0xFF,
+    0xE9, 0x94, 0x00, 0x40, 0x02, 0x78, 0xFF, 0x88, 0x5C, 0xD2, 0x70, 0x20, 0x61, 0x02, 0xA1, 0xCF,
+    0x74, 0x1F, 0xF4, 0x55, 0x2F, 0x4B, 0xF5, 0x2F, 0xC2, 0x74, 0xEB, 0x70, 0x02, 0xD2, 0x74, 0x75,
+    0x2A, 0x18, 0x30, 0x74, 0x03, 0x75, 0x2A, 0x0A, 0x30, 0x61, 0x02, 0xA1, 0xE3, 0x20, 0x74, 0x03,
+    0x53, 0xDA, 0xFE, 0x20, 0x74, 0x03, 0x75, 0x2B, 0x06, 0xD0, 0xF0, 0xD0, 0xE0, 0xD0, 0xD0, 0xD2,
+    0xAD, 0x43, 0xE6, 0x10, 0x32, 0x79, 0x01, 0x02, 0x06, 0x13, 0x79, 0x03, 0x02, 0x06, 0x13, 0x79,
+    0x0A, 0x02, 0x06, 0x13, 0x79, 0x1E, 0x02, 0x06, 0x13, 0x79, 0x64, 0x02, 0x06, 0x13, 0x79, 0xC8,
+    0x02, 0x06, 0x13, 0x78, 0x17, 0xE4, 0xD5, 0xE0, 0xFD, 0xD8, 0xFA, 0xD9, 0xF6, 0x22, 0x7A, 0x14,
+    0x7B, 0x78, 0x02, 0x06, 0x3A, 0x7A, 0x10, 0x7B, 0x8C, 0x02, 0x06, 0x3A, 0x7A, 0x0D, 0x7B, 0xB4,
+    0x02, 0x06, 0x3A, 0x7A, 0x0B, 0x7B, 0xC8, 0x02, 0x06, 0x3A, 0x79, 0x02, 0xE4, 0xC2, 0x95, 0xD5,
+    0xE0, 0xFD, 0xD2, 0x94, 0xD5, 0xE0, 0xFD, 0xC2, 0x94, 0xD5, 0xE0, 0xFD, 0xD2, 0x95, 0xD5, 0xE0,
+    0xFD, 0xE9, 0x20, 0xE0, 0x02, 0xD2, 0x93, 0x30, 0xE0, 0x02, 0xD2, 0x97, 0xE5, 0x73, 0xD5, 0xE0,
+    0xFD, 0xE9, 0x20, 0xE0, 0x02, 0xC2, 0x93, 0x30, 0xE0, 0x02, 0xC2, 0x97, 0x74, 0x96, 0xD5, 0xE0,
+    0xFD, 0xD9, 0xC9, 0xEA, 0xF8, 0xD5, 0xE0, 0xFD, 0xD8, 0xFB, 0xDB, 0xBE, 0xC2, 0x95, 0x22, 0xC3,
+    0x7C, 0x00, 0x7D, 0x00, 0x75, 0xF0, 0x00, 0x05, 0xF0, 0xEA, 0x33, 0xFA, 0xEB, 0x33, 0xFB, 0x50,
+    0xF6, 0xEB, 0x13, 0xFB, 0xEA, 0x13, 0xFA, 0xC3, 0xE9, 0xFF, 0xE8, 0xFE, 0xE8, 0x9A, 0xF8, 0xE9,
+    0x9B, 0xF9, 0x50, 0x04, 0xEF, 0xF9, 0xEE, 0xF8, 0xB3, 0xEC, 0x33, 0xFC, 0xED, 0x33, 0xFD, 0xD5,
+    0xF0, 0xDF, 0xED, 0xF9, 0xEC, 0xF8, 0x22, 0xE8, 0x89, 0xF0, 0x8A, 0x20, 0xD2, 0xD4, 0xF8, 0xA9,
+    0xF0, 0x7B, 0x00, 0x30, 0xF7, 0x0B, 0x7B, 0xFF, 0xF4, 0x24, 0x01, 0xF8, 0xE9, 0xF4, 0x34, 0x00,
+    0xF9, 0xE8, 0x85, 0x20, 0xF0, 0xA4, 0xAD, 0xF0, 0xF8, 0xE9, 0x85, 0x20, 0xF0, 0xA4, 0xAF, 0xF0,
+    0xFE, 0xED, 0x2E, 0xF9, 0x74, 0x00, 0x3F, 0xFA, 0x7C, 0x04, 0xC3, 0xEA, 0x13, 0xFA, 0xE9, 0x13,
+    0xF9, 0xE8, 0x13, 0xF8, 0xDC, 0xF4, 0x8B, 0xF0, 0x30, 0xF7, 0x0A, 0xE8, 0xF4, 0x24, 0x01, 0xF8,
+    0xE9, 0xF4, 0x34, 0x00, 0xF9, 0xE8, 0x89, 0xF0, 0xC2, 0xD4, 0xF8, 0xA9, 0xF0, 0x22, 0x78, 0x82,
+    0xB6, 0x04, 0x03, 0x02, 0x07, 0x69, 0xC3, 0xE5, 0x5C, 0x94, 0x01, 0x40, 0x03, 0x02, 0x07, 0x33,
+    0x85, 0x22, 0x24, 0xE4, 0xF5, 0x44, 0xF5, 0x45, 0xF5, 0x46, 0xF5, 0x47, 0xF5, 0x48, 0xC2, 0x6E,
+    0x02, 0x07, 0x69, 0x78, 0x82, 0xE6, 0xFC, 0xD2, 0x6E, 0xE5, 0x22, 0xF5, 0x23, 0x78, 0x38, 0x79,
+    0xC7, 0xAA, 0x40, 0xAB, 0x41, 0xC3, 0xEB, 0x13, 0xFB, 0xEA, 0x13, 0xFA, 0xEC, 0x14, 0x60, 0x13,
+    0xC3, 0xEB, 0x13, 0xFB, 0xEA, 0x13, 0xFA, 0xEC, 0x14, 0x14, 0x60, 0x07, 0xC3, 0xEB, 0x13, 0xFB,
+    0xEA, 0x13, 0xFA, 0xD1, 0x7F, 0x88, 0x44, 0x89, 0x45, 0x22, 0xC3, 0xE5, 0x44, 0x95, 0x23, 0xF8,
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+    0x85, 0x64, 0x61, 0x78, 0x20, 0xC3, 0xE5, 0x41, 0x98, 0x50, 0x02, 0x81, 0xDB, 0x30, 0x6C, 0x1B,
+    0xC2, 0x6C, 0xC2, 0x7D, 0x30, 0x76, 0x02, 0xD2, 0x7D, 0xD2, 0x6A, 0x75, 0x35, 0x12, 0x85, 0x64,
+    0x61, 0x81, 0xDB, 0x05, 0x36, 0xE5, 0x5C, 0x60, 0x02, 0xC1, 0x0E, 0x75, 0x36, 0x00, 0xC2, 0xAF,
+    0x12, 0x0F, 0xA3, 0x78, 0x87, 0xE6, 0xFE, 0x76, 0x02, 0x11, 0x24, 0x78, 0x87, 0xEE, 0xF6, 0xE4,
+    0xF5, 0x22, 0xF5, 0x23, 0xF5, 0x24, 0xF5, 0x25, 0xF5, 0x26, 0xF5, 0x65, 0x75, 0x2C, 0x00, 0x75,
+    0x2D, 0x00, 0x75, 0xA9, 0x00, 0x75, 0xB6, 0x80, 0x75, 0x7A, 0x00, 0xD2, 0xAF, 0x12, 0x06, 0x09,
+    0x12, 0x0F, 0xA3, 0x78, 0xA4, 0xE6, 0x60, 0x06, 0xD2, 0x92, 0xD2, 0x95, 0xD2, 0x96, 0x30, 0x74,
+    0x09, 0xC3, 0xE5, 0x36, 0x94, 0x04, 0x40, 0x02, 0x21, 0xA9, 0x61, 0xBA, 0x90, 0x1A, 0x0D, 0x78,
+    0x20, 0x12, 0x16, 0xE0, 0xE5, 0x20, 0xB4, 0x55, 0x0C, 0xA3, 0x12, 0x16, 0xE0, 0xE5, 0x20, 0xB4,
+    0xAA, 0x03, 0x02, 0x16, 0x7E, 0x12, 0x0F, 0xB8, 0x12, 0x16, 0x9E, 0x02, 0x16, 0x9D, 0x90, 0x1A,
+    0x03, 0x78, 0x80, 0x7B, 0x0A, 0x12, 0x16, 0xE0, 0xA3, 0x08, 0xDB, 0xF9, 0x90, 0x1A, 0x0F, 0x78,
+    0x8C, 0x7B, 0x19, 0x12, 0x16, 0xE0, 0xA3, 0x08, 0xDB, 0xF9, 0x90, 0x1A, 0x28, 0x22, 0xC2, 0xAF,
+    0x12, 0x17, 0x1F, 0x12, 0x16, 0xF9, 0x90, 0x1A, 0x00, 0x74, 0x0E, 0x12, 0x16, 0xE5, 0xA3, 0x74,
+    0x06, 0x12, 0x16, 0xE5, 0xA3, 0x74, 0x15, 0x12, 0x16, 0xE5, 0x90, 0x1A, 0x03, 0x78, 0x80, 0x7B,
+    0x0A, 0x12, 0x16, 0xE4, 0xA3, 0x08, 0xDB, 0xF9, 0x90, 0x1A, 0x0F, 0x78, 0x8C, 0x7B, 0x19, 0x12,
+    0x16, 0xE4, 0xA3, 0x08, 0xDB, 0xF9, 0x12, 0x17, 0x32, 0x12, 0x17, 0x10, 0x90, 0x1A, 0x28, 0x22,
+    0xE4, 0x93, 0xF6, 0x22, 0xE6, 0x43, 0x8F, 0x01, 0x53, 0x8F, 0xFD, 0x75, 0xEF, 0x02, 0x75, 0xB7,
+    0xA5, 0x75, 0xB7, 0xF1, 0xF0, 0x53, 0x8F, 0xFE, 0x22, 0x43, 0x8F, 0x02, 0x43, 0x8F, 0x01, 0x75,
+    0xEF, 0x02, 0x75, 0xB7, 0xA5, 0x75, 0xB7, 0xF1, 0x90, 0x1A, 0x0D, 0xF0, 0x53, 0x8F, 0xFC, 0x22,
+    0x90, 0x1A, 0x0D, 0x74, 0x55, 0xD1, 0xE5, 0x90, 0x1A, 0x0E, 0x74, 0xAA, 0xD1, 0xE5, 0x22, 0x7A,
+    0x30, 0x79, 0xD0, 0x78, 0x20, 0x90, 0x1A, 0x40, 0xD1, 0xE0, 0xE5, 0x20, 0xF7, 0x09, 0xA3, 0xDA,
+    0xF7, 0x22, 0x7A, 0x30, 0x79, 0xD0, 0x90, 0x1A, 0x40, 0xE7, 0xD1, 0xE5, 0x09, 0xA3, 0xDA, 0xF9,
+    0x22, 0xAB, 0x74, 0xA8, 0x75, 0xBB, 0x01, 0x02, 0x79, 0x80, 0xBB, 0x02, 0x02, 0x79, 0x81, 0xBB,
+    0x03, 0x02, 0x79, 0x82, 0xBB, 0x04, 0x02, 0x79, 0x84, 0xBB, 0x05, 0x02, 0x79, 0x86, 0xBB, 0x06,
+    0x02, 0x79, 0x92, 0xBB, 0x07, 0x02, 0x79, 0x87, 0xBB, 0x08, 0x02, 0x79, 0xA3, 0xBB, 0x09, 0x02,
+    0x79, 0x9C, 0xBB, 0x0A, 0x02, 0x79, 0x88, 0xBB, 0x0B, 0x02, 0x79, 0x89, 0xE8, 0xF7, 0x22, 0x7C,
+    0x05, 0x12, 0x06, 0x0E, 0xDC, 0xFB, 0x22, 0xC2, 0xAF, 0x12, 0x06, 0x1E, 0x12, 0x06, 0x25, 0x12,
+    0x06, 0x2C, 0x12, 0x06, 0x33, 0x12, 0x05, 0xFF, 0x12, 0x06, 0x1E, 0x12, 0x06, 0x25, 0x12, 0x06,
+    0x2C, 0x12, 0x06, 0x33, 0x12, 0x05, 0xFF, 0x12, 0x06, 0x1E, 0x12, 0x06, 0x25, 0x12, 0x06, 0x2C,
+    0x12, 0x06, 0x33, 0xD2, 0xAF, 0x22, 0xC2, 0xAF, 0x12, 0x06, 0x33, 0x12, 0x06, 0x2C, 0x12, 0x06,
+    0x25, 0x12, 0x06, 0x1E, 0x12, 0x05, 0xFF, 0x12, 0x06, 0x33, 0x12, 0x06, 0x2C, 0x12, 0x06, 0x25,
+    0x12, 0x06, 0x1E, 0x12, 0x05, 0xFF, 0x12, 0x06, 0x33, 0x12, 0x06, 0x2C, 0x12, 0x06, 0x25, 0x12,
+    0x06, 0x1E, 0xD2, 0xAF, 0x22, 0xAE, 0x74, 0xAF, 0x75, 0xC2, 0xAF, 0x12, 0x06, 0x1E, 0x12, 0x06,
+    0x1E, 0x12, 0x06, 0x1E, 0x12, 0x05, 0xFF, 0xDE, 0xF2, 0x12, 0x06, 0x33, 0x12, 0x05, 0xFF, 0xDF,
+    0xF8, 0xD2, 0xAF, 0x22, 0x12, 0x17, 0x87, 0x12, 0x17, 0x7F, 0x12, 0x17, 0x7F, 0x75, 0x74, 0x01,
+    0x75, 0x75, 0x01, 0x75, 0x76, 0x00, 0x12, 0x17, 0xE5, 0x7C, 0x05, 0xAD, 0x5C, 0x12, 0x06, 0x0E,
+    0xC3, 0xED, 0x95, 0x5C, 0x70, 0xF5, 0xC3, 0xE5, 0x5C, 0x94, 0x01, 0x40, 0x0A, 0xC3, 0xE5, 0x5C,
+    0x94, 0xFF, 0x40, 0x37, 0x02, 0x18, 0x48, 0x12, 0x17, 0x41, 0x12, 0x16, 0x9E, 0x12, 0x17, 0x87,
+    0xC2, 0xAF, 0x75, 0xEF, 0x12, 0x12, 0x17, 0x7F, 0xDC, 0xD1, 0x05, 0x76, 0xC3, 0xE5, 0x76, 0x94,
+    0x03, 0x50, 0x02, 0x80, 0xC1, 0x12, 0x17, 0x7F, 0x05, 0x75, 0xE5, 0x74, 0x14, 0x90, 0x00, 0x9F,
+    0x93, 0xF8, 0x08, 0xC3, 0xE5, 0x75, 0x98, 0x50, 0x02, 0x80, 0xA8, 0x12, 0x17, 0x7F, 0x12, 0x17,
+    0x7F, 0x05, 0x74, 0xC3, 0xE5, 0x74, 0x94, 0x0C, 0x50, 0x02, 0x80, 0x94, 0x12, 0x0F, 0xB8, 0x12,
+    0x16, 0x9E, 0xC2, 0xAF, 0x75, 0xEF, 0x12, 0x12, 0x17, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x02, 0x11, 0x0E,
+    0x0E, 0x06, 0x15, 0x09, 0x09, 0x04, 0xFF, 0x03, 0xFF, 0x09, 0x03, 0x01, 0x01, 0x55, 0xAA, 0x01,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0x25, 0xD0, 0x28, 0x50, 0x04, 0xFF, 0x02,
+    0x00, 0x7A, 0xFF, 0x01, 0x01, 0x00, 0x03, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0x23, 0x46, 0x56, 0x54, 0x4C, 0x69, 0x62, 0x65, 0x65, 0x33, 0x30, 0x41, 0x23, 0x20, 0x20, 0x20,
+    0x23, 0x42, 0x4C, 0x48, 0x45, 0x4C, 0x49, 0x23, 0x46, 0x33, 0x39, 0x30, 0x23, 0x20, 0x20, 0x20,
+    0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+    0xC2, 0xAF, 0xC2, 0xD3, 0x53, 0xD9, 0xBF, 0x75, 0x81, 0xC0, 0x43, 0xB2, 0x03, 0x43, 0xFF, 0x80,
+    0x75, 0x24, 0x38, 0x75, 0x25, 0x03, 0xB1, 0xC9, 0x75, 0xEF, 0x02, 0x75, 0xE2, 0x40, 0x43, 0xF1,
+    0x20, 0x53, 0xA4, 0xDF, 0x75, 0xD4, 0xFF, 0xD2, 0x85, 0x7D, 0xFA, 0x78, 0x03, 0x79, 0xE6, 0x7C,
+    0x10, 0x75, 0x22, 0x00, 0x75, 0x23, 0x00, 0x90, 0x1D, 0xD6, 0x7B, 0x06, 0x75, 0x24, 0x98, 0x75,
+    0x25, 0x01, 0x30, 0x85, 0x02, 0x81, 0x42, 0x20, 0x85, 0x08, 0xD8, 0xFB, 0xD9, 0xF9, 0xDC, 0xF7,
+    0x81, 0xB4, 0x30, 0x85, 0x08, 0xD8, 0xFB, 0xD9, 0xF9, 0xDC, 0xF7, 0x81, 0xB4, 0xB1, 0x89, 0xE4,
+    0x93, 0xA3, 0xC3, 0x9A, 0x60, 0x04, 0xDD, 0xC3, 0x81, 0xB4, 0xDB, 0xDB, 0xB1, 0x7B, 0x60, 0x02,
+    0x81, 0x2B, 0x7B, 0x08, 0xE4, 0x93, 0xFA, 0xA3, 0xB1, 0x5C, 0xDB, 0xF8, 0x7A, 0x30, 0xB1, 0x5C,
+    0x75, 0x22, 0x00, 0x75, 0x23, 0x00, 0xB1, 0x7B, 0xEA, 0xFC, 0xEB, 0xFD, 0xC3, 0xED, 0x94, 0xFE,
+    0x40, 0x0E, 0xB1, 0x7B, 0x8A, 0x27, 0x8B, 0x28, 0xED, 0x30, 0xE0, 0x04, 0x8A, 0x82, 0x8B, 0x83,
+    0xB1, 0x7B, 0x7A, 0xC2, 0x70, 0xD8, 0xC3, 0xED, 0x94, 0xFE, 0x60, 0x13, 0x50, 0xCE, 0xBD, 0x00,
+    0x25, 0xEC, 0x60, 0x09, 0x75, 0x20, 0x00, 0x75, 0x21, 0xFF, 0x02, 0x00, 0x00, 0x81, 0x00, 0xA8,
+    0x27, 0xA9, 0x28, 0x08, 0x09, 0xD8, 0x04, 0xD9, 0x02, 0x81, 0xD3, 0xB1, 0x7F, 0xEA, 0x89, 0xAA,
+    0xF2, 0x81, 0xC5, 0x0D, 0x81, 0xA0, 0xC3, 0xED, 0x94, 0x03, 0x50, 0x49, 0xED, 0xA2, 0xE0, 0x92,
+    0x00, 0x7A, 0xC5, 0xC3, 0xE5, 0x82, 0x94, 0x00, 0xE5, 0x83, 0x94, 0x1C, 0x50, 0x90, 0x20, 0x00,
+    0x10, 0x43, 0x8F, 0x02, 0x43, 0x8F, 0x01, 0x75, 0xB7, 0xA5, 0x75, 0xB7, 0xF1, 0xF0, 0x30, 0x00,
+    0x1F, 0xA8, 0x27, 0xA9, 0x28, 0x08, 0x09, 0x43, 0x8F, 0x01, 0x53, 0x8F, 0xFD, 0xD8, 0x04, 0xD9,
+    0x02, 0xA1, 0x20, 0x89, 0xAA, 0xE2, 0x75, 0xB7, 0xA5, 0x75, 0xB7, 0xF1, 0xF0, 0xA3, 0xA1, 0x0D,
+    0x53, 0x8F, 0xFC, 0x81, 0x7C, 0x7A, 0xC1, 0xBD, 0x03, 0x0C, 0xE4, 0x93, 0xA3, 0xFA, 0xB1, 0x40,
+    0xDC, 0xF8, 0xB1, 0x38, 0x81, 0x7C, 0x81, 0x7E, 0xAA, 0x22, 0xAB, 0x23, 0xB1, 0x5C, 0xEB, 0xFA,
+    0xEA, 0x62, 0x22, 0x75, 0x26, 0x08, 0xC3, 0xE5, 0x23, 0x13, 0xF5, 0x23, 0xE5, 0x22, 0x13, 0xF5,
+    0x22, 0x50, 0x06, 0x63, 0x23, 0xA0, 0x63, 0x22, 0x01, 0xD5, 0x26, 0xEA, 0xB1, 0xC9, 0xB1, 0xC9,
+    0x75, 0x26, 0x0A, 0xEA, 0xF4, 0x20, 0x01, 0x02, 0xD2, 0x85, 0x30, 0x01, 0x02, 0xC2, 0x85, 0xB1,
+    0xC9, 0xC3, 0x13, 0x40, 0x02, 0xC2, 0x01, 0xD5, 0x26, 0xEB, 0x22, 0xB1, 0x7F, 0xEA, 0xFB, 0x20,
+    0x85, 0x02, 0xA1, 0x7F, 0x30, 0x85, 0x02, 0xA1, 0x84, 0x75, 0x26, 0x08, 0xAE, 0x24, 0xAF, 0x25,
+    0xC3, 0xEF, 0x13, 0xFF, 0xEE, 0x13, 0xFE, 0xB1, 0xCD, 0xB1, 0xC9, 0xC3, 0xEA, 0x13, 0x30, 0x85,
+    0x02, 0x44, 0x80, 0xFA, 0x30, 0xE7, 0x03, 0x63, 0x22, 0x01, 0xC3, 0xE5, 0x23, 0x13, 0xF5, 0x23,
+    0xE5, 0x22, 0x13, 0xF5, 0x22, 0x50, 0x06, 0x63, 0x23, 0xA0, 0x63, 0x22, 0x01, 0xD5, 0x26, 0xD9,
+    0xE5, 0x22, 0x65, 0x23, 0x65, 0x23, 0xF5, 0x22, 0x22, 0xAE, 0x24, 0xAF, 0x25, 0x0E, 0x0F, 0xDE,
+    0xFE, 0xDF, 0xFC, 0xD2, 0x01, 0x22, 0x42, 0x4C, 0x48, 0x65, 0x6C, 0x69, 0x34, 0x37, 0x31, 0x63,
+    0xF3, 0x90, 0x06, 0x01
+    };
+
+uint8_t BL_ConnectEx(uint8_32_u *pDeviceInfo)
+{
+    //only 2 bytes used $1E9307 -> 0x9307
+    pDeviceInfo->dword = 0x163F390;
+    return true;
+}
+
+uint8_t BL_SendCMDKeepAlive(void) 
+{
+    return true;
+}
+
+void BL_SendCMDRunRestartBootloader(uint8_32_u *pDeviceInfo)
+{
+    pDeviceInfo->bytes[0] = 1;
+    return;
+}
+
+static uint8_t BL_ReadA(uint8_t cmd, ioMem_t *pMem)
+{
+    UNUSED(cmd);
+    uint16_t address = pMem->D_FLASH_ADDR_H << 8 | pMem->D_FLASH_ADDR_L;
+    
+    uint16_t bytes = pMem->D_NUM_BYTES;
+    if (bytes == 0) bytes = 256;
+
+    memcpy(pMem->D_PTR_I, &fakeFlash[address], bytes);
+    return true;
+}
+
+static uint8_t BL_WriteA(uint8_t cmd, ioMem_t *pMem, uint32_t timeout)
+{
+    UNUSED(cmd);
+    UNUSED(timeout);
+    uint16_t address = pMem->D_FLASH_ADDR_H << 8 | pMem->D_FLASH_ADDR_L;
+    
+    uint16_t bytes = pMem->D_NUM_BYTES;
+    if (bytes == 0) bytes = 256;
+    memcpy(&fakeFlash[address], pMem->D_PTR_I, bytes);
+    return true;
+}
+
+uint8_t BL_ReadFlash(uint8_t interface_mode, ioMem_t *pMem)
+{
+    UNUSED(interface_mode);
+    return BL_ReadA(0, pMem);
+}
+ 
+uint8_t BL_ReadEEprom(ioMem_t *pMem)
+{
+    return BL_ReadA(0, pMem);
+}
+
+uint8_t BL_PageErase(ioMem_t *pMem)
+{
+    uint16_t address = pMem->D_FLASH_ADDR_H << 8 | pMem->D_FLASH_ADDR_L;
+    if (address + FAKE_PAGE_SIZE > FAKE_FLASH_SIZE)
+        return false;
+    memset(&fakeFlash[address], 0xFF, FAKE_PAGE_SIZE);
+    return true;
+}
+
+uint8_t BL_WriteEEprom(ioMem_t *pMem)
+{
+    return BL_WriteA(0, pMem, 0);
+}
+
+uint8_t BL_WriteFlash(ioMem_t *pMem)
+{
+    return BL_WriteA(0, pMem, 0);
+}
+
+#endif
+#endif
diff --git a/src/main/io/serial_4way_avrootloader.h b/src/main/io/serial_4way_avrootloader.h
index 9ed08db61c..39cfaaa3d9 100644
--- a/src/main/io/serial_4way_avrootloader.h
+++ b/src/main/io/serial_4way_avrootloader.h
@@ -20,17 +20,12 @@
 
 #pragma once
 
-#ifdef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
-
 void BL_SendBootInit(void);
-uint8_t BL_ConnectEx(escDeviceInfo_t *pDeviceInfo);
+uint8_t BL_ConnectEx(uint8_32_u *pDeviceInfo);
 uint8_t BL_SendCMDKeepAlive(void);
-uint8_t BL_WriteEEprom(ioMem_t *pMem);
-uint8_t BL_ReadEEprom(ioMem_t *pMem);
 uint8_t BL_PageErase(ioMem_t *pMem);
+uint8_t BL_ReadEEprom(ioMem_t *pMem);
+uint8_t BL_WriteEEprom(ioMem_t *pMem);
 uint8_t BL_WriteFlash(ioMem_t *pMem);
-uint8_t BL_ReadFlashATM(ioMem_t *pMem);
-uint8_t BL_ReadFlashSIL(ioMem_t *pMem);
-void BL_SendCMDRunRestartBootloader(void);
-
-#endif
+uint8_t BL_ReadFlash(uint8_t interface_mode, ioMem_t *pMem);
+void BL_SendCMDRunRestartBootloader(uint8_32_u *pDeviceInfo);
diff --git a/src/main/io/serial_4way_impl.h b/src/main/io/serial_4way_impl.h
index ca1012b284..351aba0b62 100644
--- a/src/main/io/serial_4way_impl.h
+++ b/src/main/io/serial_4way_impl.h
@@ -15,12 +15,15 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  * Author: 4712
 */
+#pragma once
+
+#include "drivers/io_types.h"
 
 typedef struct {
     IO_t io;
 } escHardware_t;
 
-extern uint8_t escSelected;
+extern uint8_t selected_esc; 
 
 bool isEscHi(uint8_t selEsc);
 bool isEscLo(uint8_t selEsc);
@@ -29,15 +32,17 @@ void setEscLo(uint8_t selEsc);
 void setEscInput(uint8_t selEsc);
 void setEscOutput(uint8_t selEsc);
 
-#define ESC_IS_HI isEscHi(escSelected)
-#define ESC_IS_LO isEscLo(escSelected)
-#define ESC_SET_HI setEscHi(escSelected)
-#define ESC_SET_LO setEscLo(escSelected)
-#define ESC_INPUT setEscInput(escSelected)
-#define ESC_OUTPUT setEscOutput(escSelected)
+#define ESC_IS_HI  isEscHi(selected_esc)
+#define ESC_IS_LO  isEscLo(selected_esc)
+#define ESC_SET_HI setEscHi(selected_esc)
+#define ESC_SET_LO setEscLo(selected_esc)
+#define ESC_INPUT  setEscInput(selected_esc)
+#define ESC_OUTPUT setEscOutput(selected_esc)
 
 typedef struct ioMem_s {
-    uint16_t len;
-    uint16_t addr;
-    uint8_t *data;
+    uint8_t D_NUM_BYTES;
+    uint8_t D_FLASH_ADDR_H;
+    uint8_t D_FLASH_ADDR_L;
+    uint8_t *D_PTR_I;
 } ioMem_t;
+
diff --git a/src/main/io/serial_4way_stk500v2.c b/src/main/io/serial_4way_stk500v2.c
index 9c81c89317..0b406531f0 100644
--- a/src/main/io/serial_4way_stk500v2.c
+++ b/src/main/io/serial_4way_stk500v2.c
@@ -16,45 +16,43 @@
  * Author: 4712
  * have a look at https://github.com/sim-/tgy/blob/master/boot.inc
  * for info about the stk500v2 implementation
- */ 
+ */
 #include <stdbool.h>
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
 
 #include "platform.h"
-#include "common/utils.h"
-#include "drivers/gpio.h"
-#include "drivers/buf_writer.h"
-#include "drivers/pwm_mapping.h"
+
+#ifdef  USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#include "drivers/io.h"
 #include "drivers/serial.h"
-#include "drivers/system.h"
 #include "config/config.h"
 #include "io/serial.h"
 #include "io/serial_msp.h"
 #include "io/serial_4way.h"
 #include "io/serial_4way_impl.h"
 #include "io/serial_4way_stk500v2.h"
+#include "drivers/system.h"
+#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
 
-#if defined(USE_SERIAL_4WAY_BLHELI_INTERFACE) && defined(USE_SERIAL_4WAY_SK_BOOTLOADER)
+#define BIT_LO_US (32) //32uS
+#define BIT_HI_US (2*BIT_LO_US)
 
+static uint8_t StkInBuf[16];
 
-#define BIT_LO_US 32                               //32uS
-#define BIT_HI_US (2 * BIT_LO_US)
-
-static uint8_t stkInBuf[16];
-
-#define STK_BIT_TIMEOUT 250                        // micro seconds
+#define STK_BIT_TIMEOUT 250 // micro seconds
 #define STK_WAIT_TICKS (1000 / STK_BIT_TIMEOUT)    // per ms
 #define STK_WAITCYLCES (STK_WAIT_TICKS * 35)       // 35ms
-#define STK_WAITCYLCES_START (STK_WAIT_TICKS / 2)  // 0.5ms
-#define STK_WAITCYLCES_EXT (STK_WAIT_TICKS * 5000) // 5s
+#define STK_WAITCYLCES_START (STK_WAIT_TICKS / 2)  // 0.5 ms
+#define STK_WAITCYLCES_EXT (STK_WAIT_TICKS * 5000) //5 s
 
-#define  WaitPinLo  while (ESC_IS_HI) { if (cmp32(micros(), timeout_timer) > 0) goto timeout; }
-#define  WaitPinHi  while (ESC_IS_LO) { if (cmp32(micros(), timeout_timer) > 0) goto timeout; }
+#define  WaitPinLo  while (ESC_IS_HI) {if (micros() > timeout_timer) goto timeout;}
+#define  WaitPinHi  while (ESC_IS_LO) {if (micros() > timeout_timer) goto timeout;}
 
-static uint32_t lastBitTime;
-static uint32_t hiLoTsh;
+static uint32_t LastBitTime;
+static uint32_t HiLoTsh;
 
 static uint8_t SeqNumber;
 static uint8_t StkCmd;
@@ -77,10 +75,10 @@ static uint8_t ckSumOut;
 
 #define STATUS_CMD_OK           0x00
 
-#define CmdFlashEepromRead      0xA0
-#define EnterIspCmd1            0xAC
-#define EnterIspCmd2            0x53
-#define SPI_SIGNATURE_READ      0x30
+#define CmdFlashEepromRead 0xA0
+#define EnterIspCmd1 0xAC
+#define EnterIspCmd2 0x53
+#define signature_r  0x30
 
 #define delay_us(x) delayMicroseconds(x)
 #define IRQ_OFF // dummy
@@ -89,7 +87,7 @@ static uint8_t ckSumOut;
 static void StkSendByte(uint8_t dat)
 {
     ckSumOut ^= dat;
-    for (uint8_t i = 0; i < 8; i++) {
+    for (uint8_t i = 0; i < 8; i++)    {
         if (dat & 0x01) {
             // 1-bits are encoded as 64.0us high, 72.8us low (135.8us total).
             ESC_SET_HI;
@@ -111,7 +109,7 @@ static void StkSendByte(uint8_t dat)
     }
 }
 
-static void StkSendPacketHeader(uint16_t len)
+static void StkSendPacketHeader(void)
 {
     IRQ_OFF;
     ESC_OUTPUT;
@@ -121,9 +119,6 @@ static void StkSendPacketHeader(uint16_t len)
     ckSumOut = 0;
     StkSendByte(MESSAGE_START);
     StkSendByte(++SeqNumber);
-    StkSendByte(len >> 8);
-    StkSendByte(len & 0xff);
-    StkSendByte(TOKEN);
 }
 
 static void StkSendPacketFooter(void)
@@ -135,14 +130,16 @@ static void StkSendPacketFooter(void)
     IRQ_ON;
 }
 
+
+
 static int8_t ReadBit(void)
 {
     uint32_t btimer = micros();
     uint32_t timeout_timer = btimer + STK_BIT_TIMEOUT;
     WaitPinLo;
     WaitPinHi;
-    lastBitTime = micros() - btimer;
-    if (lastBitTime <= hiLoTsh) {
+    LastBitTime = micros() - btimer;
+    if (LastBitTime <= HiLoTsh) {
         timeout_timer = timeout_timer + STK_BIT_TIMEOUT;
         WaitPinLo;
         WaitPinHi;
@@ -155,27 +152,30 @@ timeout:
     return -1;
 }
 
-static int ReadByte(void)
+static uint8_t ReadByte(uint8_t *bt)
 {
-    uint8_t byte = 0;
-    for (int i = 0; i < 8; i++) {
+    *bt = 0;
+    for (uint8_t i = 0; i < 8; i++) {
         int8_t bit = ReadBit();
-        if (bit < 0)
-            return -1;  // timeout
-        byte |= bit << i;
+        if (bit == -1) goto timeout;
+        if (bit == 1) {
+            *bt |= (1 << i);
+        }
     }
-    ckSumIn ^= byte;
-    return byte;
+    ckSumIn ^=*bt;
+    return 1;
+timeout:
+    return 0;
 }
 
 static uint8_t StkReadLeader(void)
 {
 
     // Reset learned timing
-    hiLoTsh = BIT_HI_US + BIT_LO_US;
+    HiLoTsh = BIT_HI_US + BIT_LO_US;
 
     // Wait for the first bit
-    int waitcycl; //250uS each
+    uint32_t waitcycl; //250uS each
 
     if((StkCmd == CMD_PROGRAM_EEPROM_ISP) || (StkCmd == CMD_CHIP_ERASE_ISP)) {
          waitcycl = STK_WAITCYLCES_EXT;
@@ -184,54 +184,57 @@ static uint8_t StkReadLeader(void)
     } else {
         waitcycl= STK_WAITCYLCES;
     }
-    while(ReadBit() < 0 && --waitcycl > 0);
-    if (waitcycl <= 0)
-        goto timeout;
-
-    // Skip the first bits
-    for (int i = 0; i < 10; i++) {
-        if (ReadBit() < 0)
-            goto timeout;
+    for ( ; waitcycl >0 ; waitcycl--) {
+        //check is not timeout
+        if (ReadBit() >- 1) break;
     }
 
-    // learn timing (0.75 * lastBitTime)
-    hiLoTsh = (lastBitTime >> 1) + (lastBitTime >> 2);
+    //Skip the first bits
+    if (waitcycl == 0){
+        goto timeout;
+    }
+
+    for (uint8_t i = 0; i < 10; i++) {
+        if (ReadBit() == -1) goto timeout;
+    }
+
+    // learn timing
+    HiLoTsh = (LastBitTime >> 1) + (LastBitTime >> 2);
 
     // Read until we get a 0 bit
-    int bit;
+    int8_t bit;
     do {
         bit = ReadBit();
-        if (bit < 0)
-            goto timeout;
+        if (bit == -1) goto timeout;
     } while (bit > 0);
     return 1;
 timeout:
     return 0;
 }
 
-static uint8_t StkRcvPacket(uint8_t *pstring, int maxLen)
+static uint8_t StkRcvPacket(uint8_t *pstring)
 {
-    int byte;
-    int len;
+    uint8_t bt = 0;
+    uint8_16_u Len;
 
     IRQ_OFF;
     if (!StkReadLeader()) goto Err;
     ckSumIn=0;
-    if ((byte = ReadByte()) < 0 || (byte != MESSAGE_START)) goto Err;
-    if ((byte = ReadByte()) < 0 || (byte != SeqNumber)) goto Err;
-    len = ReadByte() << 8;
-    len |= ReadByte();
-    if(len < 1 || len >= 256 + 4)  // will catch timeout too; limit length to max expected size
-        goto Err;
-    if ((byte = ReadByte()) < 0 || (byte != TOKEN)) goto Err;
-    if ((byte = ReadByte()) < 0 || (byte != StkCmd)) goto Err;
-    if ((byte = ReadByte()) < 0 || (byte != STATUS_CMD_OK)) goto Err;
-    for (int i = 0; i < len - 2; i++) {
-        if ((byte = ReadByte()) < 0) goto Err;
-        if(i < maxLen)           // limit saved length (buffer is only 256B, but memory read reply contains additional status + 1 unknown byte)
-        pstring[i] = byte;
+    if (!ReadByte(&bt) || (bt != MESSAGE_START)) goto Err;
+    if (!ReadByte(&bt) || (bt != SeqNumber)) goto Err;
+    ReadByte(&Len.bytes[1]);
+    if (Len.bytes[1] > 1) goto Err;
+    ReadByte(&Len.bytes[0]);
+    if (Len.bytes[0] < 1) goto Err;
+    if (!ReadByte(&bt) || (bt != TOKEN)) goto Err;
+    if (!ReadByte(&bt) || (bt != StkCmd)) goto Err;
+    if (!ReadByte(&bt) || (bt != STATUS_CMD_OK)) goto Err;
+    for (uint16_t i = 0; i < (Len.word - 2); i++)
+    {
+         if (!ReadByte(pstring)) goto Err;
+         pstring++;
     }
-    ReadByte();                  // read checksum
+    ReadByte(&bt);
     if (ckSumIn != 0) goto Err;
     IRQ_ON;
     return 1;
@@ -240,26 +243,27 @@ Err:
     return 0;
 }
 
-static uint8_t _CMD_SPI_MULTI_EX(uint8_t * resByte, uint8_t subcmd, uint16_t addr)
+static uint8_t _CMD_SPI_MULTI_EX(volatile uint8_t * ResByte,uint8_t Cmd,uint8_t AdrHi,uint8_t AdrLo)
 {
-    StkCmd = CMD_SPI_MULTI;
-    StkSendPacketHeader(8);
+    StkCmd= CMD_SPI_MULTI;
+    StkSendPacketHeader();
+    StkSendByte(0); // hi byte Msg len
+    StkSendByte(8); // lo byte Msg len
+    StkSendByte(TOKEN);
     StkSendByte(CMD_SPI_MULTI);
-    StkSendByte(4);             // NumTX
-    StkSendByte(4);             // NumRX
-    StkSendByte(0);             // RxStartAdr
-    StkSendByte(subcmd);        // {TxData} Cmd
-    StkSendByte(addr >> 8);     // {TxData} AdrHi
-    StkSendByte(addr & 0xff);   // {TxData} AdrLow
-    StkSendByte(0);             // {TxData} 0
+    StkSendByte(4); // NumTX
+    StkSendByte(4); // NumRX
+    StkSendByte(0); // RxStartAdr
+    StkSendByte(Cmd);    // {TxData} Cmd
+    StkSendByte(AdrHi); // {TxData} AdrHi
+    StkSendByte(AdrLo);    // {TxData} AdrLoch
+    StkSendByte(0); // {TxData} 0
     StkSendPacketFooter();
-    if (StkRcvPacket(stkInBuf, sizeof(stkInBuf))) { // NumRX + 3
-        if ((stkInBuf[0] == 0x00)
-            && ((stkInBuf[1] == subcmd) || (stkInBuf[1] == 0x00 /* ignore  zero returns */))
-            && (stkInBuf[2] == 0x00)) {
-            *resByte = stkInBuf[3];
-        }
-        return 1;
+    if (StkRcvPacket((void *)StkInBuf)) { // NumRX + 3
+         if ((StkInBuf[0] == 0x00) && ((StkInBuf[1] == Cmd)||(StkInBuf[1] == 0x00)/* ignore  zero returns */) &&(StkInBuf[2] == 0x00)) {
+            *ResByte = StkInBuf[3];
+         }
+         return 1;
     }
     return 0;
 }
@@ -267,37 +271,61 @@ static uint8_t _CMD_SPI_MULTI_EX(uint8_t * resByte, uint8_t subcmd, uint16_t add
 static uint8_t _CMD_LOAD_ADDRESS(ioMem_t *pMem)
 {
     // ignore 0xFFFF
-    // assume address is set before and we read or write the immediately following memory
-    if((pMem->addr == 0xffff))
-        return 1;
+    // assume address is set before and we read or write the immediately following package
+    if((pMem->D_FLASH_ADDR_H == 0xFF) && (pMem->D_FLASH_ADDR_L == 0xFF)) return 1;
     StkCmd = CMD_LOAD_ADDRESS;
-    StkSendPacketHeader(5);
+    StkSendPacketHeader();
+    StkSendByte(0); // hi byte Msg len
+    StkSendByte(5); // lo byte Msg len
+    StkSendByte(TOKEN);
     StkSendByte(CMD_LOAD_ADDRESS);
     StkSendByte(0);
     StkSendByte(0);
-    StkSendByte(pMem->addr >> 8);
-    StkSendByte(pMem->addr & 0xff);
+    StkSendByte(pMem->D_FLASH_ADDR_H);
+    StkSendByte(pMem->D_FLASH_ADDR_L);
     StkSendPacketFooter();
-    return StkRcvPacket(stkInBuf, sizeof(stkInBuf));
+    return (StkRcvPacket((void *)StkInBuf));
 }
 
 static uint8_t _CMD_READ_MEM_ISP(ioMem_t *pMem)
 {
-    StkSendPacketHeader(4);
+    uint8_t LenHi;
+    if (pMem->D_NUM_BYTES>0) {
+        LenHi=0;
+    } else {
+        LenHi=1;
+    }
+    StkSendPacketHeader();
+    StkSendByte(0); // hi byte Msg len
+    StkSendByte(4); // lo byte Msg len
+    StkSendByte(TOKEN);
     StkSendByte(StkCmd);
-    StkSendByte(pMem->len >> 8);
-    StkSendByte(pMem->len & 0xff);
+    StkSendByte(LenHi);
+    StkSendByte(pMem->D_NUM_BYTES);
     StkSendByte(CmdFlashEepromRead);
     StkSendPacketFooter();
-    return StkRcvPacket(pMem->data, pMem->len);
+    return (StkRcvPacket(pMem->D_PTR_I));
 }
 
 static uint8_t _CMD_PROGRAM_MEM_ISP(ioMem_t *pMem)
 {
-    StkSendPacketHeader(pMem->len + 10);
+    uint8_16_u Len;
+    uint8_t LenLo = pMem->D_NUM_BYTES;
+    uint8_t LenHi;
+    if (LenLo) {
+        LenHi = 0;
+        Len.word = LenLo + 10;
+    } else {
+        LenHi = 1;
+        Len.word = 256 + 10;
+    }
+    StkSendPacketHeader();
+    StkSendByte(Len.bytes[1]); // high byte Msg len
+    StkSendByte(Len.bytes[0]); // low byte Msg len
+    StkSendByte(TOKEN);
     StkSendByte(StkCmd);
-    StkSendByte(pMem->len >> 8);
-    StkSendByte(pMem->len & 0xff);
+    StkSendByte(LenHi);
+    StkSendByte(LenLo);
     StkSendByte(0); // mode
     StkSendByte(0); // delay
     StkSendByte(0); // cmd1
@@ -305,82 +333,92 @@ static uint8_t _CMD_PROGRAM_MEM_ISP(ioMem_t *pMem)
     StkSendByte(0); // cmd3
     StkSendByte(0); // poll1
     StkSendByte(0); // poll2
-    for(int i = 0; i < pMem->len; i++)
-        StkSendByte(pMem->data[i]);
+    do {
+        StkSendByte(*pMem->D_PTR_I);
+        pMem->D_PTR_I++;
+        LenLo--;
+    } while (LenLo);
     StkSendPacketFooter();
-    return StkRcvPacket(stkInBuf, sizeof(stkInBuf));
+    return StkRcvPacket((void *)StkInBuf);
 }
 
 uint8_t Stk_SignOn(void)
 {
-    StkCmd = CMD_SIGN_ON;
-    StkSendPacketHeader(1);
+    StkCmd=CMD_SIGN_ON;
+    StkSendPacketHeader();
+    StkSendByte(0); // hi byte Msg len
+    StkSendByte(1); // lo byte Msg len
+    StkSendByte(TOKEN);
     StkSendByte(CMD_SIGN_ON);
     StkSendPacketFooter();
-    return StkRcvPacket(stkInBuf, sizeof(stkInBuf));
+    return (StkRcvPacket((void *) StkInBuf));
 }
 
-uint8_t Stk_ConnectEx(escDeviceInfo_t *pDeviceInfo)
+uint8_t Stk_ConnectEx(uint8_32_u *pDeviceInfo)
 {
-    if (!Stk_SignOn())
-        return 0;
-    uint8_t signature[3];    // device signature, MSB first
-    for(unsigned i = 0; i < sizeof(signature); i++) {
-        if (!_CMD_SPI_MULTI_EX(&signature[i], SPI_SIGNATURE_READ, i))
-            return 0;
+    if (Stk_SignOn()) {
+        if (_CMD_SPI_MULTI_EX(&pDeviceInfo->bytes[1], signature_r,0,1)) {
+            if (_CMD_SPI_MULTI_EX(&pDeviceInfo->bytes[0], signature_r,0,2)) {
+                return 1;
+            }
+        }
     }
-    // convert signature to little endian
-    pDeviceInfo->signature = (signature[1] << 8) | signature[2];
-    pDeviceInfo->signature2 = signature[0];
-    return 1;
+    return 0;
 }
 
 uint8_t Stk_Chip_Erase(void)
 {
     StkCmd = CMD_CHIP_ERASE_ISP;
-    StkSendPacketHeader(7);
-    StkSendByte(StkCmd);
+    StkSendPacketHeader();
+    StkSendByte(0); // high byte Msg len
+    StkSendByte(7); // low byte Msg len
+    StkSendByte(TOKEN);
+    StkSendByte(CMD_CHIP_ERASE_ISP);
     StkSendByte(20); // ChipErase_eraseDelay atmega8
-    StkSendByte(0);  // ChipErase_pollMethod atmega8
+    StkSendByte(0); // ChipErase_pollMethod atmega8
     StkSendByte(0xAC);
     StkSendByte(0x88);
     StkSendByte(0x13);
     StkSendByte(0x76);
     StkSendPacketFooter();
-    return StkRcvPacket(stkInBuf, sizeof(stkInBuf));
+    return (StkRcvPacket(StkInBuf));
 }
 
 uint8_t Stk_ReadFlash(ioMem_t *pMem)
 {
-    if (!_CMD_LOAD_ADDRESS(pMem))
-        return 0;
-    StkCmd = CMD_READ_FLASH_ISP;
-    return _CMD_READ_MEM_ISP(pMem);
+    if (_CMD_LOAD_ADDRESS(pMem)) {
+        StkCmd = CMD_READ_FLASH_ISP;
+        return (_CMD_READ_MEM_ISP(pMem));
+    }
+    return 0;
 }
 
 
 uint8_t Stk_ReadEEprom(ioMem_t *pMem)
 {
-    if (!_CMD_LOAD_ADDRESS(pMem))
-        return 0;
-    StkCmd = CMD_READ_EEPROM_ISP;
-    return _CMD_READ_MEM_ISP(pMem);
+    if (_CMD_LOAD_ADDRESS(pMem)) {
+        StkCmd = CMD_READ_EEPROM_ISP;
+        return (_CMD_READ_MEM_ISP(pMem));
+    }
+    return 0;
 }
 
 uint8_t Stk_WriteFlash(ioMem_t *pMem)
 {
-    if (!_CMD_LOAD_ADDRESS(pMem))
-        return 0;
-    StkCmd = CMD_PROGRAM_FLASH_ISP;
-    return _CMD_PROGRAM_MEM_ISP(pMem);
+    if (_CMD_LOAD_ADDRESS(pMem)) {
+        StkCmd = CMD_PROGRAM_FLASH_ISP;
+        return (_CMD_PROGRAM_MEM_ISP(pMem));
+    }
+    return 0;
 }
 
 uint8_t Stk_WriteEEprom(ioMem_t *pMem)
 {
-    if (!_CMD_LOAD_ADDRESS(pMem))
-        return 0;
-    StkCmd = CMD_PROGRAM_EEPROM_ISP;
-    return _CMD_PROGRAM_MEM_ISP(pMem);
+    if (_CMD_LOAD_ADDRESS(pMem)) {
+        StkCmd = CMD_PROGRAM_EEPROM_ISP;
+        return (_CMD_PROGRAM_MEM_ISP(pMem));
+    }
+    return 0;
 }
-
+#endif
 #endif
diff --git a/src/main/io/serial_4way_stk500v2.h b/src/main/io/serial_4way_stk500v2.h
index 8f2fddcf40..80ca89826d 100644
--- a/src/main/io/serial_4way_stk500v2.h
+++ b/src/main/io/serial_4way_stk500v2.h
@@ -17,14 +17,11 @@
 */
 #pragma once
 
-#ifdef USE_SERIAL_4WAY_SK_BOOTLOADER
-
 uint8_t Stk_SignOn(void);
-uint8_t Stk_ConnectEx(escDeviceInfo_t *pDeviceInfo);
+uint8_t Stk_ConnectEx(uint8_32_u *pDeviceInfo);
 uint8_t Stk_ReadEEprom(ioMem_t *pMem);
 uint8_t Stk_WriteEEprom(ioMem_t *pMem);
 uint8_t Stk_ReadFlash(ioMem_t *pMem);
 uint8_t Stk_WriteFlash(ioMem_t *pMem);
 uint8_t Stk_Chip_Erase(void);
 
-#endif
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index c0f3a8c417..e4efae4f67 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -24,10 +24,10 @@
 #include <ctype.h>
 
 #include "platform.h"
-#include "version.h"
-#include "debug.h"
 
-#include "build_config.h"
+#include "build/version.h"
+#include "build/debug.h"
+#include "build/build_config.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -54,7 +54,7 @@
 #include "io/escservo.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/serial.h"
 #include "io/ledstrip.h"
 #include "io/flashfs.h"
@@ -83,10 +83,13 @@
 #include "telemetry/telemetry.h"
 #include "telemetry/frsky.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
+#include "config/config_eeprom.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
+#include "config/feature.h"
 
 #include "common/printf.h"
 
@@ -112,13 +115,16 @@ static void cliRxFail(char *cmdline);
 static void cliAdjustmentRange(char *cmdline);
 static void cliMotorMix(char *cmdline);
 static void cliDefaults(char *cmdline);
-void cliDfu(char *cmdLine); 
+void cliDfu(char *cmdLine);
 static void cliDump(char *cmdLine);
-void cliDumpProfile(uint8_t profileIndex);
-void cliDumpRateProfile(uint8_t rateProfileIndex) ;
+static void cliDiff(char *cmdLine);
+static void printConfig(char *cmdLine, bool doDiff);
+static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, master_t *defaultProfile);
+static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, master_t *defaultProfile) ;
 static void cliExit(char *cmdline);
 static void cliFeature(char *cmdline);
 static void cliMotor(char *cmdline);
+static void cliName(char *cmdline);
 static void cliPlaySound(char *cmdline);
 static void cliProfile(char *cmdline);
 static void cliRateProfile(char *cmdline);
@@ -143,8 +149,9 @@ static void cliTasks(char *cmdline);
 #endif
 static void cliVersion(char *cmdline);
 static void cliRxRange(char *cmdline);
+#if (FLASH_SIZE > 64) && !defined(CLI_MINIMAL_VERBOSITY)
 static void cliResource(char *cmdline);
-
+#endif
 #ifdef GPS
 static void cliGpsPassthrough(char *cmdline);
 #endif
@@ -155,6 +162,7 @@ static void cliMap(char *cmdline);
 #ifdef LED_STRIP
 static void cliLed(char *cmdline);
 static void cliColor(char *cmdline);
+static void cliModeColor(char *cmdline);
 #endif
 
 #ifndef USE_QUAD_MIXER_ONLY
@@ -186,6 +194,17 @@ static void cliBeeper(char *cmdline);
 static char cliBuffer[48];
 static uint32_t bufferIndex = 0;
 
+typedef enum {
+    DUMP_MASTER = (1 << 0),
+    DUMP_PROFILE = (1 << 1),
+    DUMP_RATES = (1 << 2),
+    DUMP_ALL = (1 << 3),
+    DO_DIFF = (1 << 4),
+    SHOW_DEFAULTS = (1 << 5),
+} dumpFlags_e;
+
+static const char* const emptyName = "-";
+
 #ifndef USE_QUAD_MIXER_ONLY
 // sync this with mixerMode_e
 static const char * const mixerNames[] = {
@@ -203,9 +222,8 @@ static const char * const featureNames[] = {
     "RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
     "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
     "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
-    "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
-    "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", "SUPEREXPO_RATES",
-    "OSD", NULL
+    "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
+    "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", NULL
 };
 
 // sync this with rxFailsafeChannelMode_e
@@ -216,7 +234,7 @@ static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT
     { RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
 };
 
-#ifndef CJMCU
+#if (FLASH_SIZE > 64) && !defined(CLI_MINIMAL_VERBOSITY)
 // sync this with sensors_e
 static const char * const sensorTypeNames[] = {
     "GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL
@@ -224,7 +242,7 @@ static const char * const sensorTypeNames[] = {
 
 #define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
 
-static const char * const sensorHardwareNames[4][11] = {
+static const char * const sensorHardwareNames[4][12] = {
     { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE", NULL },
     { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
     { "", "None", "BMP085", "MS5611", "BMP280", NULL },
@@ -263,10 +281,14 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
 #ifdef LED_STRIP
     CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
+    CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
 #endif
     CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
     CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
-    CLI_COMMAND_DEF("dump", "dump configuration", "[master|profile]", cliDump),
+    CLI_COMMAND_DEF("diff", "list configuration changes from default",
+        "[master|profile|rates|all] {showdefaults}", cliDiff),
+    CLI_COMMAND_DEF("dump", "dump configuration",
+        "[master|profile|rates|all] {showdefaults}", cliDump),
     CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
     CLI_COMMAND_DEF("feature", "configure features",
         "list\r\n"
@@ -303,7 +325,9 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("profile", "change profile",
         "[<index>]", cliProfile),
     CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
+#if (FLASH_SIZE > 64) && !defined(CLI_MINIMAL_VERBOSITY)
     CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
+#endif
     CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
     CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
     CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
@@ -340,6 +364,7 @@ const clicmd_t cmdTable[] = {
 #ifdef VTX
     CLI_COMMAND_DEF("vtx", "vtx channels on switch", NULL, cliVtx),
 #endif
+    CLI_COMMAND_DEF("name", "Name of craft", NULL, cliName),
 };
 #define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
 
@@ -377,19 +402,23 @@ static const char * const lookupTableCurrentSensor[] = {
     "NONE", "ADC", "VIRTUAL"
 };
 
+#ifdef USE_SERVOS
 static const char * const lookupTableGimbalMode[] = {
     "NORMAL", "MIXTILT"
 };
+#endif
 
+#ifdef BLACKBOX
 static const char * const lookupTableBlackboxDevice[] = {
     "SERIAL", "SPIFLASH", "SDCARD"
 };
-
+#endif
 
 static const char * const lookupTablePidController[] = {
-    "UNUSED", "INT", "FLOAT"
+    "LEGACY", "BETAFLIGHT"
 };
 
+#ifdef SERIAL_RX
 static const char * const lookupTableSerialRX[] = {
     "SPEK1024",
     "SPEK2048",
@@ -401,6 +430,7 @@ static const char * const lookupTableSerialRX[] = {
     "IBUS",
     "JETIEXBUS"
 };
+#endif
 
 static const char * const lookupTableGyroLpf[] = {
     "OFF",
@@ -423,9 +453,11 @@ static const char * const lookupTableAccHardware[] = {
     "LSM303DLHC",
     "MPU6000",
     "MPU6500",
+    "MPU9250",
     "FAKE"
 };
 
+#ifdef BARO
 static const char * const lookupTableBaroHardware[] = {
     "AUTO",
     "NONE",
@@ -433,7 +465,9 @@ static const char * const lookupTableBaroHardware[] = {
     "MS5611",
     "BMP280"
 };
+#endif
 
+#ifdef MAG
 static const char * const lookupTableMagHardware[] = {
     "AUTO",
     "NONE",
@@ -441,6 +475,7 @@ static const char * const lookupTableMagHardware[] = {
     "AK8975",
     "AK8963"
 };
+#endif
 
 static const char * const lookupTableDebug[DEBUG_COUNT] = {
     "NONE",
@@ -451,7 +486,13 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
     "MIXER",
     "AIRMODE",
     "PIDLOOP",
+    "NOTCH",
+    "RC_INTERPOLATION",
+    "VELOCITY",
+    "DFILTER",
+    "ANGLERATE",
 };
+
 #ifdef OSD
 static const char * const lookupTableOsdType[] = {
     "AUTO",
@@ -468,10 +509,22 @@ static const char * const lookupTablePwmProtocol[] = {
     "OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED"
 };
 
-static const char * const lookupDeltaMethod[] = {
+static const char * const lookupTableDeltaMethod[] = {
     "ERROR", "MEASUREMENT"
 };
 
+static const char * const lookupTableRcInterpolation[] = {
+    "OFF", "PRESET", "AUTO", "MANUAL"
+};
+
+static const char * const lookupTableLowpassType[] = {
+    "NORMAL", "HIGH"
+};
+
+static const char * const lookupTableFailsafe[] = {
+    "AUTO-LAND", "DROP"
+};
+
 typedef struct lookupTableEntry_s {
     const char * const *values;
     const uint8_t valueCount;
@@ -486,20 +539,31 @@ typedef enum {
     TABLE_GPS_SBAS_MODE,
 #endif
 #ifdef BLACKBOX
-    TABLE_BLACKBOX_DEVICE,  
+    TABLE_BLACKBOX_DEVICE,
 #endif
     TABLE_CURRENT_SENSOR,
+#ifdef USE_SERVOS
     TABLE_GIMBAL_MODE,
+#endif
     TABLE_PID_CONTROLLER,
+#ifdef SERIAL_RX
     TABLE_SERIAL_RX,
+#endif
     TABLE_GYRO_LPF,
     TABLE_ACC_HARDWARE,
+#ifdef BARO
     TABLE_BARO_HARDWARE,
+#endif
+#ifdef MAG
     TABLE_MAG_HARDWARE,
+#endif
     TABLE_DEBUG,
     TABLE_SUPEREXPO_YAW,
     TABLE_MOTOR_PWM_PROTOCOL,
     TABLE_DELTA_METHOD,
+    TABLE_RC_INTERPOLATION,
+    TABLE_LOWPASS_TYPE,
+    TABLE_FAILSAFE,
 #ifdef OSD
     TABLE_OSD,
 #endif
@@ -517,17 +581,28 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableBlackboxDevice, sizeof(lookupTableBlackboxDevice) / sizeof(char *) },
 #endif
     { lookupTableCurrentSensor, sizeof(lookupTableCurrentSensor) / sizeof(char *) },
+#ifdef USE_SERVOS
     { lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
+#endif
     { lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
+#ifdef SERIAL_RX
     { lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
+#endif
     { lookupTableGyroLpf, sizeof(lookupTableGyroLpf) / sizeof(char *) },
     { lookupTableAccHardware, sizeof(lookupTableAccHardware) / sizeof(char *) },
+#ifdef BARO
     { lookupTableBaroHardware, sizeof(lookupTableBaroHardware) / sizeof(char *) },
+#endif
+#ifdef MAG
     { lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
+#endif
     { lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
     { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
     { lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
-    { lookupDeltaMethod, sizeof(lookupDeltaMethod) / sizeof(char *) },
+    { lookupTableDeltaMethod, sizeof(lookupTableDeltaMethod) / sizeof(char *) },
+    { lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
+    { lookupTableLowpassType, sizeof(lookupTableLowpassType) / sizeof(char *) },
+    { lookupTableFailsafe, sizeof(lookupTableFailsafe) / sizeof(char *) },
 #ifdef OSD
     { lookupTableOsdType, sizeof(lookupTableOsdType) / sizeof(char *) },
 #endif
@@ -571,7 +646,6 @@ typedef struct cliLookupTableConfig_s {
 typedef union {
     cliLookupTableConfig_t lookup;
     cliMinMaxConfig_t minmax;
-
 } cliValueConfig_t;
 
 typedef struct {
@@ -582,13 +656,13 @@ typedef struct {
 } clivalue_t;
 
 const clivalue_t valueTable[] = {
-//    { "emf_avoidance",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.emf_avoidance, .config.lookup = { TABLE_OFF_ON } },
     { "mid_rc",                     VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.midrc, .config.minmax = { 1200,  1700 } },
     { "min_check",                  VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.mincheck, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "max_check",                  VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "rssi_channel",               VAR_INT8   | MASTER_VALUE,  &masterConfig.rxConfig.rssi_channel, .config.minmax = { 0,  MAX_SUPPORTED_RC_CHANNEL_COUNT } },
     { "rssi_scale",                 VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.rssi_scale, .config.minmax = { RSSI_SCALE_MIN,  RSSI_SCALE_MAX } },
-    { "rc_smooth_interval_ms",      VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.rcSmoothInterval, .config.minmax = { 0,  255 } },
+    { "rc_interpolation",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcInterpolation, .config.lookup = { TABLE_RC_INTERPOLATION } },
+    { "rc_interpolation_interval",  VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.rcInterpolationInterval, .config.minmax = { 1,  50 } },
     { "rssi_ppm_invert",            VAR_INT8   | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
     { "input_filtering_mode",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
     { "roll_yaw_cam_mix_degrees",   VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.fpvCamAngleDegrees, .config.minmax = { 0,  50 } },
@@ -598,8 +672,8 @@ const clivalue_t valueTable[] = {
     { "min_throttle",               VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.minthrottle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "max_throttle",               VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "min_command",                VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
-    { "anti_desync_power_step",     VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.escDesyncProtection, .config.minmax = { 0,  10000 } },
     { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
+    { "max_esc_throttle_jump",      VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.maxEscThrottleJumpMs, .config.minmax = { 0,  1000 } },
 
     { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.deadband3d_low, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
     { "3d_deadband_high",           VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.deadband3d_high, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
@@ -656,11 +730,16 @@ const clivalue_t valueTable[] = {
     { "gtune_average_cycles",       VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8,  128 } },
 #endif
 
+#ifdef SERIAL_RX
     { "serialrx_provider",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
+#endif
     { "sbus_inversion",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.sbus_inversion, .config.lookup = { TABLE_OFF_ON } },
+#ifdef SPEKTRUM_BIND
     { "spektrum_sat_bind",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED,  SPEKTRUM_SAT_BIND_MAX} },
     { "spektrum_sat_bind_autoreset",VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.spektrum_sat_bind_autoreset, .config.minmax = { 0,  1} },
+#endif
 
+#ifdef TELEMETRY
     { "telemetry_switch",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.telemetryConfig.telemetry_switch, .config.lookup = { TABLE_OFF_ON } },
     { "telemetry_inversion",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.telemetryConfig.telemetry_inversion, .config.lookup = { TABLE_OFF_ON } },
     { "frsky_default_lattitude",    VAR_FLOAT  | MASTER_VALUE,  &masterConfig.telemetryConfig.gpsNoFixLatitude, .config.minmax = { -90.0,  90.0 } },
@@ -670,6 +749,8 @@ const clivalue_t valueTable[] = {
     { "frsky_vfas_precision",       VAR_UINT8  | MASTER_VALUE,  &masterConfig.telemetryConfig.frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW,  FRSKY_VFAS_PRECISION_HIGH } },
     { "frsky_vfas_cell_voltage",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.telemetryConfig.frsky_vfas_cell_voltage, .config.lookup = { TABLE_OFF_ON } },
     { "hott_alarm_sound_interval",  VAR_UINT8  | MASTER_VALUE,  &masterConfig.telemetryConfig.hottAlarmSoundInterval, .config.minmax = { 0,  120 } },
+    { "pid_values_as_telemetry",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.telemetryConfig.pidValuesAsTelemetry, .config.lookup = {TABLE_OFF_ON } },
+#endif
 
     { "battery_capacity",           VAR_UINT16 | MASTER_VALUE,  &masterConfig.batteryConfig.batteryCapacity, .config.minmax = { 0,  20000 } },
     { "vbat_scale",                 VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatscale, .config.minmax = { VBAT_SCALE_MIN,  VBAT_SCALE_MAX } },
@@ -677,12 +758,11 @@ const clivalue_t valueTable[] = {
     { "vbat_min_cell_voltage",      VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatmincellvoltage, .config.minmax = { 10,  50 } },
     { "vbat_warning_cell_voltage",  VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatwarningcellvoltage, .config.minmax = { 10,  50 } },
     { "vbat_hysteresis",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbathysteresis, .config.minmax = { 0,  250 } },
-    { "vbat_pid_compensation",      VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.batteryConfig.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
     { "current_meter_scale",        VAR_INT16  | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterScale, .config.minmax = { -10000,  10000 } },
     { "current_meter_offset",       VAR_UINT16 | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterOffset, .config.minmax = { 0,  3300 } },
     { "multiwii_current_meter_output", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
     { "current_meter_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.batteryConfig.currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
-
+    { "battery_notpresent_level",   VAR_UINT8  | MASTER_VALUE, &masterConfig.batteryConfig.batterynotpresentlevel, .config.minmax = { 0, 200 } },
     { "align_gyro",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.sensorAlignmentConfig.gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
     { "align_acc",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.sensorAlignmentConfig.acc_align, .config.lookup = { TABLE_ALIGNMENT } },
     { "align_mag",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.sensorAlignmentConfig.mag_align, .config.lookup = { TABLE_ALIGNMENT } },
@@ -695,7 +775,10 @@ const clivalue_t valueTable[] = {
     { "pid_delta_method",           VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
     { "gyro_lpf",                   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
     { "gyro_sync_denom",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyro_sync_denom, .config.minmax = { 1,  8 } },
+    { "gyro_lowpass_level",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gyro_soft_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
     { "gyro_lowpass",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0,  255 } },
+    { "gyro_notch_hz",              VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_soft_notch_hz, .config.minmax = { 0,  500 } },
+    { "gyro_notch_cutoff",          VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_soft_notch_cutoff, .config.minmax = { 1,  500 } },
     { "moron_threshold",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0,  128 } },
     { "imu_dcm_kp",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.dcm_kp, .config.minmax = { 0,  50000 } },
     { "imu_dcm_ki",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.dcm_ki, .config.minmax = { 0,  50000 } },
@@ -718,15 +801,15 @@ const clivalue_t valueTable[] = {
     { "servo_lowpass_enable",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
 #endif
 
-    { "rc_rate",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0,  250 } },
-    { "rc_rate_yaw",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0,  250 } },
+    { "rc_rate",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0,  255 } },
+    { "rc_rate_yaw",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0,  255 } },
     { "rc_expo",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0,  100 } },
     { "rc_yaw_expo",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0,  100 } },
     { "thr_mid",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0,  100 } },
     { "thr_expo",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrExpo8, .config.minmax = { 0,  100 } },
-    { "roll_rate",                  VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_ROLL], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
-    { "pitch_rate",                 VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_PITCH], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
-    { "yaw_rate",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_YAW], .config.minmax = { 0,  CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
+    { "roll_srate",                 VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_ROLL], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
+    { "pitch_srate",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_PITCH], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
+    { "yaw_srate",                  VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_YAW], .config.minmax = { 0,  CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
     { "tpa_rate",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].dynThrPID, .config.minmax = { 0,  CONTROL_RATE_CONFIG_TPA_MAX} },
     { "tpa_breakpoint",             VAR_UINT16 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN,  PWM_RANGE_MAX} },
     { "airmode_activate_throttle",  VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.airModeActivateThreshold, .config.minmax = {1000, 2000 } },
@@ -736,7 +819,7 @@ const clivalue_t valueTable[] = {
     { "failsafe_throttle",          VAR_UINT16 | MASTER_VALUE,  &masterConfig.failsafeConfig.failsafe_throttle, .config.minmax = { PWM_RANGE_MIN,  PWM_RANGE_MAX } },
     { "failsafe_kill_switch",       VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.failsafeConfig.failsafe_kill_switch, .config.lookup = { TABLE_OFF_ON } },
     { "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE,  &masterConfig.failsafeConfig.failsafe_throttle_low_delay, .config.minmax = { 0,  300 } },
-    { "failsafe_procedure",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.failsafeConfig.failsafe_procedure, .config.lookup = { TABLE_OFF_ON } },
+    { "failsafe_procedure",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.failsafeConfig.failsafe_procedure, .config.lookup = { TABLE_FAILSAFE } },
 
     { "rx_min_usec",                VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.rx_min_usec, .config.minmax = { PWM_PULSE_MIN,  PWM_PULSE_MAX } },
     { "rx_max_usec",                VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN,  PWM_PULSE_MAX } },
@@ -746,29 +829,45 @@ const clivalue_t valueTable[] = {
 #endif
 
     { "acc_hardware",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
-    { "acc_lpf_hz",                 VAR_FLOAT  | MASTER_VALUE, &masterConfig.acc_lpf_hz, .config.minmax = { 0,  400 } },
+    { "acc_lpf_hz",                 VAR_UINT16 | MASTER_VALUE, &masterConfig.acc_lpf_hz, .config.minmax = { 0,  400 } },
     { "accxy_deadband",             VAR_UINT8  | MASTER_VALUE, &masterConfig.accDeadband.xy, .config.minmax = { 0,  100 } },
     { "accz_deadband",              VAR_UINT8  | MASTER_VALUE, &masterConfig.accDeadband.z, .config.minmax = { 0,  100 } },
     { "acc_unarmedcal",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.acc_unarmedcal, .config.lookup = { TABLE_OFF_ON } },
     { "acc_trim_pitch",             VAR_INT16  | MASTER_VALUE, &masterConfig.accelerometerTrims.values.pitch, .config.minmax = { -300,  300 } },
     { "acc_trim_roll",              VAR_INT16  | MASTER_VALUE, &masterConfig.accelerometerTrims.values.roll, .config.minmax = { -300,  300 } },
 
+#ifdef BARO
     { "baro_tab_size",              VAR_UINT8  | MASTER_VALUE, &masterConfig.barometerConfig.baro_sample_count, .config.minmax = { 0,  BARO_SAMPLE_COUNT_MAX } },
     { "baro_noise_lpf",             VAR_FLOAT  | MASTER_VALUE, &masterConfig.barometerConfig.baro_noise_lpf, .config.minmax = { 0 , 1 } },
     { "baro_cf_vel",                VAR_FLOAT  | MASTER_VALUE, &masterConfig.barometerConfig.baro_cf_vel, .config.minmax = { 0 , 1 } },
     { "baro_cf_alt",                VAR_FLOAT  | MASTER_VALUE, &masterConfig.barometerConfig.baro_cf_alt, .config.minmax = { 0 , 1 } },
     { "baro_hardware",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.baro_hardware, .config.lookup = { TABLE_BARO_HARDWARE } },
+#endif
 
+#ifdef MAG
     { "mag_hardware",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
     { "mag_declination",            VAR_INT16  | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000,  18000 } },
+#endif
+    { "dterm_lowpass_level",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
     { "dterm_lowpass",              VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
-    { "dynamic_iterm",              VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dynamic_pid, .config.lookup = { TABLE_OFF_ON } },
-    { "iterm_ignore_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
-    { "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
+    { "dterm_notch_hz",             VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0,  500 } },
+    { "dterm_notch_cutoff",         VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1,  500 } },
+    { "vbat_pid_compensation",      VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
+    { "pid_at_min_throttle",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
+    { "iterm_throttle_gain",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
+    { "pterm_srate_ratio",          VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSRateWeight, .config.minmax = {0, 100 } },
+    { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
+    { "yaw_rate_accel_limit",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
+    { "rate_accel_limit",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
+
+    { "accum_threshold",            VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
+    { "yaw_accum_threshold",        VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
     { "pid_process_denom",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.pid_process_denom, .config.minmax = { 1,  8 } },
 
+#ifndef SKIP_PID_FLOAT
     { "pid_controller",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
+#endif
 
     { "p_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0,  200 } },
     { "i_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0,  200 } },
@@ -796,6 +895,7 @@ const clivalue_t valueTable[] = {
     { "blackbox_rate_num",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_num, .config.minmax = { 1,  32 } },
     { "blackbox_rate_denom",        VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_denom, .config.minmax = { 1,  32 } },
     { "blackbox_device",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.blackbox_device, .config.lookup = { TABLE_BLACKBOX_DEVICE } },
+    { "blackbox_on_motor_test",     VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.blackbox_on_motor_test, .config.lookup = { TABLE_OFF_ON } },
 #endif
 
 #ifdef VTX
@@ -805,14 +905,16 @@ const clivalue_t valueTable[] = {
     { "vtx_mhz",                    VAR_UINT16 | MASTER_VALUE,  &masterConfig.vtx_mhz, .config.minmax = { 5600, 5950 } },
 #endif
 
+#ifdef MAG
     { "magzero_x",                  VAR_INT16  | MASTER_VALUE, &masterConfig.magZero.raw[X], .config.minmax = { -32768,  32767 } },
     { "magzero_y",                  VAR_INT16  | MASTER_VALUE, &masterConfig.magZero.raw[Y], .config.minmax = { -32768,  32767 } },
     { "magzero_z",                  VAR_INT16  | MASTER_VALUE, &masterConfig.magZero.raw[Z], .config.minmax = { -32768,  32767 } },
+#endif
 #ifdef LED_STRIP
     { "ledstrip_visual_beeper",      VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },
 #endif
 #ifdef USE_RTC6705
-    { "vtx_channel",                VAR_INT16  | MASTER_VALUE, &masterConfig.vtx_channel, .config.minmax = { 0,  39 } },
+    { "vtx_channel",                VAR_UINT8  | MASTER_VALUE, &masterConfig.vtx_channel, .config.minmax = { 0,  39 } },
     { "vtx_power",                  VAR_UINT8  | MASTER_VALUE, &masterConfig.vtx_power,   .config.minmax = { 0,  1 } },
 #endif
 #ifdef OSD
@@ -828,12 +930,14 @@ const clivalue_t valueTable[] = {
     { "osd_disarmed_pos",           VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_DISARMED], .config.minmax = { -480, 480 } },
     { "osd_artificial_horizon",     VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_ARTIFICIAL_HORIZON], .config.minmax = { -1, 0 } },
     { "osd_horizon_sidebars",       VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_HORIZON_SIDEBARS], .config.minmax = { -1, 0 } },
+    { "osd_current_draw_pos",       VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_CURRENT_DRAW], .config.minmax = { -480, 480 } },
+    { "osd_mah_drawn_pos",          VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_MAH_DRAWN], .config.minmax = { -480, 480 } },
+    { "osd_craft_name_pos",         VAR_INT16  | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_CRAFT_NAME], .config.minmax = { -480, 480 } },
 #endif
 };
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
 
-
 typedef union {
     int32_t int_value;
     float float_value;
@@ -841,11 +945,15 @@ typedef union {
 
 static void cliSetVar(const clivalue_t *var, const int_float_value_t value);
 static void cliPrintVar(const clivalue_t *var, uint32_t full);
+static void cliPrintVarDefault(const clivalue_t *var, uint32_t full, master_t *defaultConfig);
 static void cliPrintVarRange(const clivalue_t *var);
 static void cliPrint(const char *str);
 static void cliPrintf(const char *fmt, ...);
 static void cliWrite(uint8_t ch);
 
+static bool cliDumpPrintf(uint8_t dumpMask, bool equalsDefault, const char *format, ...);
+static bool cliDefaultPrintf(uint8_t dumpMask, bool equalsDefault, const char *format, ...);
+
 static void cliPrompt(void)
 {
     cliPrint("\r\n# ");
@@ -862,14 +970,24 @@ static void cliShowArgumentRangeError(char *name, int min, int max)
     cliPrintf("%s must be between %d and %d\r\n", name, min, max);
 }
 
+static char *nextArg(char *currentArg)
+{
+    char *ptr = strchr(currentArg, ' ');
+    while (ptr && *ptr == ' ') {
+        ptr++;
+    }
+
+    return ptr;
+}
+
 static char *processChannelRangeArgs(char *ptr, channelRange_t *range, uint8_t *validArgumentCount)
 {
     int val;
 
-    for (int argIndex = 0; argIndex < 2; argIndex++) {
-        ptr = strchr(ptr, ' ');
+    for (uint32_t argIndex = 0; argIndex < 2; argIndex++) {
+        ptr = nextArg(ptr);
         if (ptr) {
-            val = atoi(++ptr);
+            val = atoi(ptr);
             val = CHANNEL_VALUE_TO_STEP(val);
             if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
                 if (argIndex == 0) {
@@ -891,6 +1009,45 @@ static bool isEmpty(const char *string)
     return *string == '\0';
 }
 
+static void printRxFail(uint8_t dumpMask, master_t *defaultConfig)
+{
+    // print out rxConfig failsafe settings
+    rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration;
+    rxFailsafeChannelConfiguration_t *channelFailsafeConfigurationDefault;
+    bool equalsDefault;
+    bool requireValue;
+    for (uint32_t channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) {
+        channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[channel];
+        channelFailsafeConfigurationDefault = &defaultConfig->rxConfig.failsafe_channel_configurations[channel];
+        equalsDefault = channelFailsafeConfiguration->mode == channelFailsafeConfigurationDefault->mode
+            && channelFailsafeConfiguration->step == channelFailsafeConfigurationDefault->step;
+        requireValue = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET;
+        if (requireValue) {
+            const char *format = "rxfail %u %c %d\r\n";
+            cliDefaultPrintf(dumpMask, equalsDefault, format,
+                channel,
+                rxFailsafeModeCharacters[channelFailsafeConfigurationDefault->mode],
+                RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfigurationDefault->step)
+            );
+            cliDumpPrintf(dumpMask, equalsDefault, format,
+                channel,
+                rxFailsafeModeCharacters[channelFailsafeConfiguration->mode],
+                RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step)
+            );
+        } else {
+            const char *format = "rxfail %u %c\r\n";
+            cliDefaultPrintf(dumpMask, equalsDefault, format,
+                channel,
+                rxFailsafeModeCharacters[channelFailsafeConfigurationDefault->mode]
+            );
+            cliDumpPrintf(dumpMask, equalsDefault, format,
+                channel,
+                rxFailsafeModeCharacters[channelFailsafeConfiguration->mode]
+            );
+        }
+    }
+}
+
 static void cliRxFail(char *cmdline)
 {
     uint8_t channel;
@@ -913,9 +1070,9 @@ static void cliRxFail(char *cmdline)
             rxFailsafeChannelMode_e mode = channelFailsafeConfiguration->mode;
             bool requireValue = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET;
 
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                char *p = strchr(rxFailsafeModeCharacters, *(++ptr));
+                char *p = strchr(rxFailsafeModeCharacters, *(ptr));
                 if (p) {
                     uint8_t requestedMode = p - rxFailsafeModeCharacters;
                     mode = rxFailsafeModesTable[type][requestedMode];
@@ -929,13 +1086,13 @@ static void cliRxFail(char *cmdline)
 
                 requireValue = mode == RX_FAILSAFE_MODE_SET;
 
-                ptr = strchr(ptr, ' ');
+                ptr = nextArg(ptr);
                 if (ptr) {
                     if (!requireValue) {
                         cliShowParseError();
                         return;
                     }
-                    value = atoi(++ptr);
+                    value = atoi(ptr);
                     value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
                     if (value > MAX_RXFAIL_RANGE_STEP) {
                         cliPrint("Value out of range\r\n");
@@ -953,10 +1110,9 @@ static void cliRxFail(char *cmdline)
 
             char modeCharacter = rxFailsafeModeCharacters[channelFailsafeConfiguration->mode];
 
-            // triple use of cliPrintf below
+            // double use of cliPrintf below
             // 1. acknowledge interpretation on command,
             // 2. query current setting on single item,
-            // 3. recursive use for full list.
 
             if (requireValue) {
                 cliPrintf("rxfail %u %c %d\r\n",
@@ -976,40 +1132,61 @@ static void cliRxFail(char *cmdline)
     }
 }
 
+static void printAux(uint8_t dumpMask, master_t *defaultConfig)
+{
+    // print out aux channel settings
+    modeActivationCondition_t *mac;
+    modeActivationCondition_t *macDefault;
+    bool equalsDefault;
+    for (uint32_t i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
+        mac = &masterConfig.modeActivationConditions[i];
+        macDefault = &defaultConfig->modeActivationConditions[i];
+        equalsDefault = mac->modeId == macDefault->modeId
+            && mac->auxChannelIndex == macDefault->auxChannelIndex
+            && mac->range.startStep == macDefault->range.startStep
+            && mac->range.endStep == macDefault->range.endStep;
+        const char *format = "aux %u %u %u %u %u\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format,
+            i,
+            macDefault->modeId,
+            macDefault->auxChannelIndex,
+            MODE_STEP_TO_CHANNEL_VALUE(macDefault->range.startStep),
+            MODE_STEP_TO_CHANNEL_VALUE(macDefault->range.endStep)
+        );
+        cliDumpPrintf(dumpMask, equalsDefault, format,
+            i,
+            mac->modeId,
+            mac->auxChannelIndex,
+            MODE_STEP_TO_CHANNEL_VALUE(mac->range.startStep),
+            MODE_STEP_TO_CHANNEL_VALUE(mac->range.endStep)
+        );
+    }
+}
+
 static void cliAux(char *cmdline)
 {
     int i, val = 0;
     char *ptr;
 
     if (isEmpty(cmdline)) {
-        // print out aux channel settings
-        for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
-            modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
-            cliPrintf("aux %u %u %u %u %u\r\n",
-                i,
-                mac->modeId,
-                mac->auxChannelIndex,
-                MODE_STEP_TO_CHANNEL_VALUE(mac->range.startStep),
-                MODE_STEP_TO_CHANNEL_VALUE(mac->range.endStep)
-            );
-        }
+        printAux(DUMP_MASTER, NULL);
     } else {
         ptr = cmdline;
         i = atoi(ptr++);
         if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
             modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
             uint8_t validArgumentCount = 0;
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                val = atoi(++ptr);
+                val = atoi(ptr);
                 if (val >= 0 && val < CHECKBOX_ITEM_COUNT) {
                     mac->modeId = val;
                     validArgumentCount++;
                 }
             }
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                val = atoi(++ptr);
+                val = atoi(ptr);
                 if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
                     mac->auxChannelIndex = val;
                     validArgumentCount++;
@@ -1026,28 +1203,53 @@ static void cliAux(char *cmdline)
     }
 }
 
+static void printSerial(uint8_t dumpMask, master_t *defaultConfig)
+{
+    serialConfig_t *serialConfig;
+    serialConfig_t *serialConfigDefault;
+    bool equalsDefault;
+    for (uint32_t i = 0; i < SERIAL_PORT_COUNT; i++) {
+	serialConfig = &masterConfig.serialConfig;
+        if (!serialIsPortAvailable(serialConfig->portConfigs[i].identifier)) {
+            continue;
+        };
+	serialConfigDefault = &defaultConfig->serialConfig;
+	equalsDefault = serialConfig->portConfigs[i].identifier == serialConfigDefault->portConfigs[i].identifier
+            && serialConfig->portConfigs[i].functionMask == serialConfigDefault->portConfigs[i].functionMask
+            && serialConfig->portConfigs[i].msp_baudrateIndex == serialConfigDefault->portConfigs[i].msp_baudrateIndex
+            && serialConfig->portConfigs[i].gps_baudrateIndex == serialConfigDefault->portConfigs[i].gps_baudrateIndex
+            && serialConfig->portConfigs[i].telemetry_baudrateIndex == serialConfigDefault->portConfigs[i].telemetry_baudrateIndex
+            && serialConfig->portConfigs[i].blackbox_baudrateIndex == serialConfigDefault->portConfigs[i].blackbox_baudrateIndex;
+        const char *format = "serial %d %d %ld %ld %ld %ld\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format,
+            serialConfigDefault->portConfigs[i].identifier,
+            serialConfigDefault->portConfigs[i].functionMask,
+            baudRates[serialConfigDefault->portConfigs[i].msp_baudrateIndex],
+            baudRates[serialConfigDefault->portConfigs[i].gps_baudrateIndex],
+            baudRates[serialConfigDefault->portConfigs[i].telemetry_baudrateIndex],
+            baudRates[serialConfigDefault->portConfigs[i].blackbox_baudrateIndex]
+        );
+        cliDumpPrintf(dumpMask, equalsDefault, format,
+            serialConfig->portConfigs[i].identifier,
+            serialConfig->portConfigs[i].functionMask,
+            baudRates[serialConfig->portConfigs[i].msp_baudrateIndex],
+            baudRates[serialConfig->portConfigs[i].gps_baudrateIndex],
+            baudRates[serialConfig->portConfigs[i].telemetry_baudrateIndex],
+            baudRates[serialConfig->portConfigs[i].blackbox_baudrateIndex]
+            );
+    }
+}
+
 static void cliSerial(char *cmdline)
 {
     int i, val;
     char *ptr;
 
     if (isEmpty(cmdline)) {
-        for (i = 0; i < SERIAL_PORT_COUNT; i++) {
-            if (!serialIsPortAvailable(masterConfig.serialConfig.portConfigs[i].identifier)) {
-                continue;
-            };
-            cliPrintf("serial %d %d %ld %ld %ld %ld\r\n" ,
-                masterConfig.serialConfig.portConfigs[i].identifier,
-                masterConfig.serialConfig.portConfigs[i].functionMask,
-                baudRates[masterConfig.serialConfig.portConfigs[i].msp_baudrateIndex],
-                baudRates[masterConfig.serialConfig.portConfigs[i].gps_baudrateIndex],
-                baudRates[masterConfig.serialConfig.portConfigs[i].telemetry_baudrateIndex],
-                baudRates[masterConfig.serialConfig.portConfigs[i].blackbox_baudrateIndex]
-            );
-        }
-        return;
-    }
+        printSerial(DUMP_MASTER, NULL);
 
+    return;
+    }
     serialPortConfig_t portConfig;
     memset(&portConfig, 0 , sizeof(portConfig));
 
@@ -1064,20 +1266,20 @@ static void cliSerial(char *cmdline)
         validArgumentCount++;
     }
 
-    ptr = strchr(ptr, ' ');
+    ptr = nextArg(ptr);
     if (ptr) {
-        val = atoi(++ptr);
+        val = atoi(ptr);
         portConfig.functionMask = val & 0xFFFF;
         validArgumentCount++;
     }
 
     for (i = 0; i < 4; i ++) {
-        ptr = strchr(ptr, ' ');
+        ptr = nextArg(ptr);
         if (!ptr) {
             break;
         }
 
-        val = atoi(++ptr);
+        val = atoi(ptr);
 
         uint8_t baudRateIndex = lookupBaudRateIndex(val);
         if (baudRates[baudRateIndex] != (uint32_t) val) {
@@ -1193,25 +1395,50 @@ static void cliSerialPassthrough(char *cmdline)
 }
 #endif
 
+static void printAdjustmentRange(uint8_t dumpMask, master_t *defaultConfig)
+{
+    // print out adjustment ranges channel settings
+    adjustmentRange_t *ar;
+    adjustmentRange_t *arDefault;
+    bool equalsDefault;
+    for (uint32_t i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
+        ar = &masterConfig.adjustmentRanges[i];
+        arDefault = &defaultConfig->adjustmentRanges[i];
+        equalsDefault = ar->auxChannelIndex == arDefault->auxChannelIndex
+            && ar->range.startStep == arDefault->range.startStep
+            && ar->range.endStep == arDefault->range.endStep
+            && ar->adjustmentFunction == arDefault->adjustmentFunction
+            && ar->auxSwitchChannelIndex == arDefault->auxSwitchChannelIndex
+            && ar->adjustmentIndex == arDefault->adjustmentIndex;
+        const char *format = "adjrange %u %u %u %u %u %u %u\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format,
+            i,
+            arDefault->adjustmentIndex,
+            arDefault->auxChannelIndex,
+            MODE_STEP_TO_CHANNEL_VALUE(arDefault->range.startStep),
+            MODE_STEP_TO_CHANNEL_VALUE(arDefault->range.endStep),
+            arDefault->adjustmentFunction,
+            arDefault->auxSwitchChannelIndex
+        );
+        cliDumpPrintf(dumpMask, equalsDefault, format,
+            i,
+            ar->adjustmentIndex,
+            ar->auxChannelIndex,
+            MODE_STEP_TO_CHANNEL_VALUE(ar->range.startStep),
+            MODE_STEP_TO_CHANNEL_VALUE(ar->range.endStep),
+            ar->adjustmentFunction,
+            ar->auxSwitchChannelIndex
+        );
+    }
+}
+
 static void cliAdjustmentRange(char *cmdline)
 {
     int i, val = 0;
     char *ptr;
 
     if (isEmpty(cmdline)) {
-        // print out adjustment ranges channel settings
-        for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
-            adjustmentRange_t *ar = &masterConfig.adjustmentRanges[i];
-            cliPrintf("adjrange %u %u %u %u %u %u %u\r\n",
-                i,
-                ar->adjustmentIndex,
-                ar->auxChannelIndex,
-                MODE_STEP_TO_CHANNEL_VALUE(ar->range.startStep),
-                MODE_STEP_TO_CHANNEL_VALUE(ar->range.endStep),
-                ar->adjustmentFunction,
-                ar->auxSwitchChannelIndex
-            );
-        }
+        printAdjustmentRange(DUMP_MASTER, NULL);
     } else {
         ptr = cmdline;
         i = atoi(ptr++);
@@ -1219,17 +1446,17 @@ static void cliAdjustmentRange(char *cmdline)
             adjustmentRange_t *ar = &masterConfig.adjustmentRanges[i];
             uint8_t validArgumentCount = 0;
 
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                val = atoi(++ptr);
+                val = atoi(ptr);
                 if (val >= 0 && val < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
                     ar->adjustmentIndex = val;
                     validArgumentCount++;
                 }
             }
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                val = atoi(++ptr);
+                val = atoi(ptr);
                 if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
                     ar->auxChannelIndex = val;
                     validArgumentCount++;
@@ -1238,17 +1465,17 @@ static void cliAdjustmentRange(char *cmdline)
 
             ptr = processChannelRangeArgs(ptr, &ar->range, &validArgumentCount);
 
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                val = atoi(++ptr);
+                val = atoi(ptr);
                 if (val >= 0 && val < ADJUSTMENT_FUNCTION_COUNT) {
                     ar->adjustmentFunction = val;
                     validArgumentCount++;
                 }
             }
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                val = atoi(++ptr);
+                val = atoi(ptr);
                 if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
                     ar->auxSwitchChannelIndex = val;
                     validArgumentCount++;
@@ -1265,39 +1492,61 @@ static void cliAdjustmentRange(char *cmdline)
     }
 }
 
+static void printMotorMix(uint8_t dumpMask, master_t *defaultConfig)
+{
+	char buf0[8];
+	char buf1[8];
+	char buf2[8];
+	char buf3[8];
+    for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+        if (masterConfig.customMotorMixer[i].throttle == 0.0f)
+            break;
+        float thr = masterConfig.customMotorMixer[i].throttle;
+        float roll = masterConfig.customMotorMixer[i].roll;
+        float pitch = masterConfig.customMotorMixer[i].pitch;
+        float yaw = masterConfig.customMotorMixer[i].yaw;
+        float thrDefault = defaultConfig->customMotorMixer[i].throttle;
+        float rollDefault = defaultConfig->customMotorMixer[i].roll;
+        float pitchDefault = defaultConfig->customMotorMixer[i].pitch;
+        float yawDefault = defaultConfig->customMotorMixer[i].yaw;
+        bool equalsDefault = thr == thrDefault && roll == rollDefault && pitch == pitchDefault && yaw == yawDefault;
+
+        const char *format = "mmix %d %s %s %s %s\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format,
+            i,
+            ftoa(thrDefault, buf0),
+            ftoa(rollDefault, buf1),
+            ftoa(pitchDefault, buf2),
+            ftoa(yawDefault, buf3));
+        cliDumpPrintf(dumpMask, equalsDefault, format,
+            i,
+            ftoa(thr, buf0),
+            ftoa(roll, buf1),
+            ftoa(pitch, buf2),
+            ftoa(yaw, buf3));
+    }
+}
+
 static void cliMotorMix(char *cmdline)
 {
 #ifdef USE_QUAD_MIXER_ONLY
     UNUSED(cmdline);
 #else
-    int i, check = 0;
-    int num_motors = 0;
+    int check = 0;
     uint8_t len;
-    char buf[16];
     char *ptr;
 
     if (isEmpty(cmdline)) {
-        cliPrint("Motor\tThr\tRoll\tPitch\tYaw\r\n");
-        for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-            if (masterConfig.customMotorMixer[i].throttle == 0.0f)
-                break;
-            num_motors++;
-            cliPrintf("#%d:\t", i);
-            cliPrintf("%s\t", ftoa(masterConfig.customMotorMixer[i].throttle, buf));
-            cliPrintf("%s\t", ftoa(masterConfig.customMotorMixer[i].roll, buf));
-            cliPrintf("%s\t", ftoa(masterConfig.customMotorMixer[i].pitch, buf));
-            cliPrintf("%s\r\n", ftoa(masterConfig.customMotorMixer[i].yaw, buf));
-        }
-        return;
+		printMotorMix(DUMP_MASTER, NULL);
     } else if (strncasecmp(cmdline, "reset", 5) == 0) {
         // erase custom mixer
-        for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
+        for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++)
             masterConfig.customMotorMixer[i].throttle = 0.0f;
     } else if (strncasecmp(cmdline, "load", 4) == 0) {
-        ptr = strchr(cmdline, ' ');
+        ptr = nextArg(cmdline);
         if (ptr) {
-            len = strlen(++ptr);
-            for (i = 0; ; i++) {
+            len = strlen(ptr);
+            for (uint32_t i = 0; ; i++) {
                 if (mixerNames[i] == NULL) {
                     cliPrint("Invalid name\r\n");
                     break;
@@ -1312,32 +1561,32 @@ static void cliMotorMix(char *cmdline)
         }
     } else {
         ptr = cmdline;
-        i = atoi(ptr); // get motor number
+        uint32_t i = atoi(ptr); // get motor number
         if (i < MAX_SUPPORTED_MOTORS) {
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                masterConfig.customMotorMixer[i].throttle = fastA2F(++ptr);
+                masterConfig.customMotorMixer[i].throttle = fastA2F(ptr);
                 check++;
             }
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                masterConfig.customMotorMixer[i].roll = fastA2F(++ptr);
+                masterConfig.customMotorMixer[i].roll = fastA2F(ptr);
                 check++;
             }
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                masterConfig.customMotorMixer[i].pitch = fastA2F(++ptr);
+                masterConfig.customMotorMixer[i].pitch = fastA2F(ptr);
                 check++;
             }
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                masterConfig.customMotorMixer[i].yaw = fastA2F(++ptr);
+                masterConfig.customMotorMixer[i].yaw = fastA2F(ptr);
                 check++;
             }
             if (check != 4) {
                 cliShowParseError();
             } else {
-                cliMotorMix("");
+		        printMotorMix(DUMP_MASTER, NULL);
             }
         } else {
             cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS - 1);
@@ -1346,16 +1595,37 @@ static void cliMotorMix(char *cmdline)
 #endif
 }
 
+static void printRxRange(uint8_t dumpMask, master_t *defaultConfig)
+{
+    rxChannelRangeConfiguration_t *channelRangeConfiguration;
+    rxChannelRangeConfiguration_t *channelRangeConfigurationDefault;
+    bool equalsDefault;
+    for (uint32_t i = 0; i < NON_AUX_CHANNEL_COUNT; i++) {
+        channelRangeConfiguration = &masterConfig.rxConfig.channelRanges[i];
+        channelRangeConfigurationDefault = &defaultConfig->rxConfig.channelRanges[i];
+        equalsDefault = channelRangeConfiguration->min == channelRangeConfigurationDefault->min
+            && channelRangeConfiguration->max == channelRangeConfigurationDefault->max;
+        const char *format = "rxrange %u %u %u\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format,
+            i,
+            channelRangeConfigurationDefault->min,
+            channelRangeConfigurationDefault->max
+        );
+        cliDumpPrintf(dumpMask, equalsDefault, format,
+            i,
+            channelRangeConfiguration->min,
+            channelRangeConfiguration->max
+        );
+    }
+}
+
 static void cliRxRange(char *cmdline)
 {
     int i, validArgumentCount = 0;
     char *ptr;
 
     if (isEmpty(cmdline)) {
-        for (i = 0; i < NON_AUX_CHANNEL_COUNT; i++) {
-            rxChannelRangeConfiguration_t *channelRangeConfiguration = &masterConfig.rxConfig.channelRanges[i];
-            cliPrintf("rxrange %u %u %u\r\n", i, channelRangeConfiguration->min, channelRangeConfiguration->max);
-        }
+        printRxRange(DUMP_MASTER, NULL);
     } else if (strcasecmp(cmdline, "reset") == 0) {
         resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
     } else {
@@ -1364,15 +1634,15 @@ static void cliRxRange(char *cmdline)
         if (i >= 0 && i < NON_AUX_CHANNEL_COUNT) {
             int rangeMin, rangeMax;
 
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                rangeMin = atoi(++ptr);
+                rangeMin = atoi(ptr);
                 validArgumentCount++;
             }
 
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                rangeMax = atoi(++ptr);
+                rangeMax = atoi(ptr);
                 validArgumentCount++;
             }
 
@@ -1392,61 +1662,184 @@ static void cliRxRange(char *cmdline)
 }
 
 #ifdef LED_STRIP
+static void printLed(uint8_t dumpMask, master_t *defaultConfig)
+{
+    bool equalsDefault;
+    ledConfig_t ledConfig;
+    ledConfig_t ledConfigDefault;
+    char ledConfigBuffer[20];
+    char ledConfigDefaultBuffer[20];
+    for (uint32_t i = 0; i < LED_MAX_STRIP_LENGTH; i++) {
+        ledConfig = masterConfig.ledConfigs[i];
+        ledConfigDefault = defaultConfig->ledConfigs[i];
+        equalsDefault = ledConfig == ledConfigDefault;
+        generateLedConfig(&ledConfig, ledConfigBuffer, sizeof(ledConfigBuffer));
+        generateLedConfig(&ledConfigDefault, ledConfigDefaultBuffer, sizeof(ledConfigDefaultBuffer));
+        const char *format = "led %u %s\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format, i, ledConfigDefaultBuffer);
+        cliDumpPrintf(dumpMask, equalsDefault, format, i, ledConfigBuffer);
+    }
+}
+
 static void cliLed(char *cmdline)
 {
     int i;
     char *ptr;
-    char ledConfigBuffer[20];
 
     if (isEmpty(cmdline)) {
-        for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
-            generateLedConfig(i, ledConfigBuffer, sizeof(ledConfigBuffer));
-            cliPrintf("led %u %s\r\n", i, ledConfigBuffer);
-        }
+        printLed(DUMP_MASTER, NULL);
     } else {
         ptr = cmdline;
         i = atoi(ptr);
-        if (i < MAX_LED_STRIP_LENGTH) {
-            ptr = strchr(cmdline, ' ');
-            if (!parseLedStripConfig(i, ++ptr)) {
+        if (i < LED_MAX_STRIP_LENGTH) {
+            ptr = nextArg(cmdline);
+            if (!parseLedStripConfig(i, ptr)) {
                 cliShowParseError();
             }
         } else {
-            cliShowArgumentRangeError("index", 0, MAX_LED_STRIP_LENGTH - 1);
+            cliShowArgumentRangeError("index", 0, LED_MAX_STRIP_LENGTH - 1);
         }
     }
 }
 
+static void printColor(uint8_t dumpMask, master_t *defaultConfig)
+{
+    hsvColor_t *color;
+    hsvColor_t *colorDefault;
+    bool equalsDefault;
+    for (uint32_t i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
+        color = &masterConfig.colors[i];
+        colorDefault = &defaultConfig->colors[i];
+        equalsDefault = color->h == colorDefault->h
+            && color->s == colorDefault->s
+            && color->v == colorDefault->v;
+        const char *format = "color %u %d,%u,%u\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format,
+            i,
+            colorDefault->h,
+            colorDefault->s,
+            colorDefault->v
+        );
+        cliDumpPrintf(dumpMask, equalsDefault, format,
+            i,
+            color->h,
+            color->s,
+            color->v
+        );
+    }
+}
+
 static void cliColor(char *cmdline)
 {
     int i;
     char *ptr;
 
     if (isEmpty(cmdline)) {
-        for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
-            cliPrintf("color %u %d,%u,%u\r\n",
-                i,
-                masterConfig.colors[i].h,
-                masterConfig.colors[i].s,
-                masterConfig.colors[i].v
-            );
-        }
+        printColor(DUMP_MASTER, NULL);
     } else {
         ptr = cmdline;
         i = atoi(ptr);
-        if (i < CONFIGURABLE_COLOR_COUNT) {
-            ptr = strchr(cmdline, ' ');
-            if (!parseColor(i, ++ptr)) {
+        if (i < LED_CONFIGURABLE_COLOR_COUNT) {
+            ptr = nextArg(cmdline);
+            if (!parseColor(i, ptr)) {
                 cliShowParseError();
             }
         } else {
-            cliShowArgumentRangeError("index", 0, CONFIGURABLE_COLOR_COUNT - 1);
+            cliShowArgumentRangeError("index", 0, LED_CONFIGURABLE_COLOR_COUNT - 1);
         }
     }
 }
+
+static void printModeColor(uint8_t dumpMask, master_t *defaultConfig)
+{
+    for (uint32_t i = 0; i < LED_MODE_COUNT; i++) {
+        for (uint32_t j = 0; j < LED_DIRECTION_COUNT; j++) {
+            int colorIndex = masterConfig.modeColors[i].color[j];
+            int colorIndexDefault = defaultConfig->modeColors[i].color[j];
+            const char *format = "mode_color %u %u %u\r\n";
+            cliDefaultPrintf(dumpMask, colorIndex == colorIndexDefault, format, i, j, colorIndexDefault);
+            cliDumpPrintf(dumpMask, colorIndex == colorIndexDefault, format, i, j, colorIndex);
+        }
+    }
+
+    for (uint32_t j = 0; j < LED_SPECIAL_COLOR_COUNT; j++) {
+        int colorIndex = masterConfig.specialColors.color[j];
+        int colorIndexDefault = defaultConfig->specialColors.color[j];
+        const char *format = "mode_color %u %u %u\r\n";
+        cliDefaultPrintf(dumpMask, colorIndex == colorIndexDefault, format, LED_SPECIAL, j, colorIndexDefault);
+        cliDumpPrintf(dumpMask, colorIndex == colorIndexDefault, format, LED_SPECIAL, j, colorIndex);
+    }
+}
+
+static void cliModeColor(char *cmdline)
+{
+    if (isEmpty(cmdline)) {
+        printModeColor(DUMP_MASTER, NULL);
+    } else {
+        enum {MODE = 0, FUNCTION, COLOR, ARGS_COUNT};
+        int args[ARGS_COUNT];
+        int argNo = 0;
+        char* ptr = strtok(cmdline, " ");
+        while (ptr && argNo < ARGS_COUNT) {
+            args[argNo++] = atoi(ptr);
+            ptr = strtok(NULL, " ");
+        }
+
+        if (ptr != NULL || argNo != ARGS_COUNT) {
+            cliShowParseError();
+            return;
+        }
+
+        int modeIdx  = args[MODE];
+        int funIdx = args[FUNCTION];
+        int color = args[COLOR];
+        if(!setModeColor(modeIdx, funIdx, color)) {
+            cliShowParseError();
+            return;
+        }
+        // values are validated
+        cliPrintf("mode_color %u %u %u\r\n", modeIdx, funIdx, color);
+    }
+}
 #endif
 
 #ifdef USE_SERVOS
+static void printServo(uint8_t dumpMask, master_t *defaultConfig)
+{
+    // print out servo settings
+    for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
+        servoParam_t *servoConf = &masterConfig.servoConf[i];
+        servoParam_t *servoConfDefault = &defaultConfig->servoConf[i];
+        bool equalsDefault = servoConf->min == servoConfDefault->min
+            && servoConf->max == servoConfDefault->max
+            && servoConf->middle == servoConfDefault->middle
+            && servoConf->angleAtMin == servoConfDefault->angleAtMax
+            && servoConf->rate == servoConfDefault->rate
+            && servoConf->forwardFromChannel == servoConfDefault->forwardFromChannel;
+        const char *format = "servo %u %d %d %d %d %d %d %d\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format,
+            i,
+            servoConfDefault->min,
+            servoConfDefault->max,
+            servoConfDefault->middle,
+            servoConfDefault->angleAtMin,
+            servoConfDefault->angleAtMax,
+            servoConfDefault->rate,
+            servoConfDefault->forwardFromChannel
+        );
+        cliDumpPrintf(dumpMask, equalsDefault, format,
+            i,
+            servoConf->min,
+            servoConf->max,
+            servoConf->middle,
+            servoConf->angleAtMin,
+            servoConf->angleAtMax,
+            servoConf->rate,
+            servoConf->forwardFromChannel
+        );
+    }
+}
+
 static void cliServo(char *cmdline)
 {
     enum { SERVO_ARGUMENT_COUNT = 8 };
@@ -1458,21 +1851,7 @@ static void cliServo(char *cmdline)
     char *ptr;
 
     if (isEmpty(cmdline)) {
-        // print out servo settings
-        for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-            servo = &masterConfig.servoConf[i];
-
-            cliPrintf("servo %u %d %d %d %d %d %d %d\r\n",
-                i,
-                servo->min,
-                servo->max,
-                servo->middle,
-                servo->angleAtMin,
-                servo->angleAtMax,
-                servo->rate,
-                servo->forwardFromChannel
-            );
-        }
+        printServo(DUMP_MASTER, NULL);
     } else {
         int validArgumentCount = 0;
 
@@ -1539,46 +1918,86 @@ static void cliServo(char *cmdline)
 #endif
 
 #ifdef USE_SERVOS
+static void printServoMix(uint8_t dumpMask, master_t *defaultConfig)
+{
+    for (uint32_t i = 0; i < MAX_SERVO_RULES; i++) {
+		servoMixer_t customServoMixer = masterConfig.customServoMixer[i];
+		servoMixer_t customServoMixerDefault = defaultConfig->customServoMixer[i];
+        if (customServoMixer.rate == 0) {
+            break;
+		}
+
+        bool equalsDefault = customServoMixer.targetChannel == customServoMixerDefault.targetChannel
+            && customServoMixer.inputSource == customServoMixerDefault.inputSource
+            && customServoMixer.rate == customServoMixerDefault.rate
+            && customServoMixer.speed == customServoMixerDefault.speed
+            && customServoMixer.min == customServoMixerDefault.min
+            && customServoMixer.max == customServoMixerDefault.max
+            && customServoMixer.box == customServoMixerDefault.box;
+
+		const char *format = "smix %d %d %d %d %d %d %d %d\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format,
+            i,
+            customServoMixerDefault.targetChannel,
+            customServoMixerDefault.inputSource,
+            customServoMixerDefault.rate,
+            customServoMixerDefault.speed,
+            customServoMixerDefault.min,
+            customServoMixerDefault.max,
+            customServoMixerDefault.box
+        );
+        cliDumpPrintf(dumpMask, equalsDefault, format,
+            i,
+            customServoMixer.targetChannel,
+            customServoMixer.inputSource,
+            customServoMixer.rate,
+            customServoMixer.speed,
+            customServoMixer.min,
+            customServoMixer.max,
+            customServoMixer.box
+        );
+    }
+
+	cliPrint("\r\n");
+
+    // print servo directions
+    for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
+        servoParam_t *servoConf = &masterConfig.servoConf[i];
+        servoParam_t *servoConfDefault = &defaultConfig->servoConf[i];
+        bool equalsDefault = servoConf->reversedSources == servoConfDefault->reversedSources;
+        for (uint32_t channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
+            equalsDefault = ~(servoConf->reversedSources ^ servoConfDefault->reversedSources) & (1 << channel);
+            const char *format = "smix reverse %d %d r\r\n";
+            if (servoConfDefault->reversedSources & (1 << channel)) {
+                cliDefaultPrintf(dumpMask, equalsDefault, format, i , channel);
+            }
+            if (servoConf->reversedSources & (1 << channel)) {
+                cliDumpPrintf(dumpMask, equalsDefault, format, i , channel);
+            }
+        }
+    }
+}
+
 static void cliServoMix(char *cmdline)
 {
-    int i;
     uint8_t len;
     char *ptr;
     int args[8], check = 0;
     len = strlen(cmdline);
 
     if (len == 0) {
-
-        cliPrint("Rule\tServo\tSource\tRate\tSpeed\tMin\tMax\tBox\r\n");
-
-        for (i = 0; i < MAX_SERVO_RULES; i++) {
-            if (masterConfig.customServoMixer[i].rate == 0)
-                break;
-
-            cliPrintf("#%d:\t%d\t%d\t%d\t%d\t%d\t%d\t%d\r\n",
-                i,
-                masterConfig.customServoMixer[i].targetChannel,
-                masterConfig.customServoMixer[i].inputSource,
-                masterConfig.customServoMixer[i].rate,
-                masterConfig.customServoMixer[i].speed,
-                masterConfig.customServoMixer[i].min,
-                masterConfig.customServoMixer[i].max,
-                masterConfig.customServoMixer[i].box
-            );
-        }
-        cliPrintf("\r\n");
-        return;
+		printServoMix(DUMP_MASTER, NULL);
     } else if (strncasecmp(cmdline, "reset", 5) == 0) {
         // erase custom mixer
         memset(masterConfig.customServoMixer, 0, sizeof(masterConfig.customServoMixer));
-        for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
+        for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
             masterConfig.servoConf[i].reversedSources = 0;
         }
     } else if (strncasecmp(cmdline, "load", 4) == 0) {
-        ptr = strchr(cmdline, ' ');
+        ptr = nextArg(cmdline);
         if (ptr) {
-            len = strlen(++ptr);
-            for (i = 0; ; i++) {
+            len = strlen(ptr);
+            for (uint32_t i = 0; ; i++) {
                 if (mixerNames[i] == NULL) {
                     cliPrintf("Invalid name\r\n");
                     break;
@@ -1593,19 +2012,18 @@ static void cliServoMix(char *cmdline)
         }
     } else if (strncasecmp(cmdline, "reverse", 7) == 0) {
         enum {SERVO = 0, INPUT, REVERSE, ARGS_COUNT};
-        int servoIndex, inputSource;
         ptr = strchr(cmdline, ' ');
 
         len = strlen(ptr);
         if (len == 0) {
             cliPrintf("s");
-            for (inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
+            for (uint32_t inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
                 cliPrintf("\ti%d", inputSource);
             cliPrintf("\r\n");
 
-            for (servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
+            for (uint32_t servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
                 cliPrintf("%d", servoIndex);
-                for (inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
+                for (uint32_t inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
                     cliPrintf("\t%s  ", (masterConfig.servoConf[servoIndex].reversedSources & (1 << inputSource)) ? "r" : "n");
                 cliPrintf("\r\n");
             }
@@ -1647,7 +2065,7 @@ static void cliServoMix(char *cmdline)
             return;
         }
 
-        i = args[RULE];
+        int32_t i = args[RULE];
         if (i >= 0 && i < MAX_SERVO_RULES &&
             args[TARGET] >= 0 && args[TARGET] < MAX_SUPPORTED_SERVOS &&
             args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT &&
@@ -1735,10 +2153,9 @@ static void cliSdInfo(char *cmdline) {
                     ; // Nothing more detailed to print
                 break;
             }
-
-            cliPrint("\r\n");
         break;
     }
+    cliPrint("\r\n");
 }
 
 #endif
@@ -1791,7 +2208,6 @@ static void cliFlashRead(char *cmdline)
 {
     uint32_t address = atoi(cmdline);
     uint32_t length;
-    int i;
 
     uint8_t buffer[32];
 
@@ -1809,7 +2225,7 @@ static void cliFlashRead(char *cmdline)
 
             bytesRead = flashfsReadAbs(address, buffer, length < sizeof(buffer) ? length : sizeof(buffer));
 
-            for (i = 0; i < bytesRead; i++) {
+            for (uint32_t i = 0; i < bytesRead; i++) {
                 cliWrite(buffer[i]);
             }
 
@@ -1829,49 +2245,72 @@ static void cliFlashRead(char *cmdline)
 #endif
 
 #ifdef VTX
+static void printVtx(uint8_t dumpMask, master_t *defaultConfig)
+{
+    // print out vtx channel settings
+    vtxChannelActivationCondition_t *cac;
+    vtxChannelActivationCondition_t *cacDefault;
+    bool equalsDefault;
+    for (uint32_t i = 0; i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; i++) {
+        cac = &masterConfig.vtxChannelActivationConditions[i];
+        cacDefault = &defaultConfig->vtxChannelActivationConditions[i];
+        equalsDefault = cac->auxChannelIndex == cacDefault->auxChannelIndex
+            && cac->band == cacDefault->band
+            && cac->channel == cacDefault->channel
+            && cac->range.startStep == cacDefault->range.startStep
+            && cac->range.endStep == cacDefault->range.endStep;
+        const char *format = "vtx %u %u %u %u %u %u\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, format,
+            i,
+            cacDefault->auxChannelIndex,
+            cacDefault->band,
+            cacDefault->channel,
+            MODE_STEP_TO_CHANNEL_VALUE(cacDefault->range.startStep),
+            MODE_STEP_TO_CHANNEL_VALUE(cacDefault->range.endStep)
+        );
+        cliDumpPrintf(dumpMask, equalsDefault, format,
+            i,
+            cac->auxChannelIndex,
+            cac->band,
+            cac->channel,
+            MODE_STEP_TO_CHANNEL_VALUE(cac->range.startStep),
+            MODE_STEP_TO_CHANNEL_VALUE(cac->range.endStep)
+        );
+    }
+}
+
 static void cliVtx(char *cmdline)
 {
     int i, val = 0;
     char *ptr;
 
     if (isEmpty(cmdline)) {
-        // print out vtx channel settings
-        for (i = 0; i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; i++) {
-            vtxChannelActivationCondition_t *cac = &masterConfig.vtxChannelActivationConditions[i];
-            printf("vtx %u %u %u %u %u %u\r\n",
-                i,
-                cac->auxChannelIndex,
-                cac->band,
-                cac->channel,
-                MODE_STEP_TO_CHANNEL_VALUE(cac->range.startStep),
-                MODE_STEP_TO_CHANNEL_VALUE(cac->range.endStep)
-            );
-        }
+        printVtx(DUMP_MASTER, NULL);
     } else {
         ptr = cmdline;
         i = atoi(ptr++);
         if (i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT) {
             vtxChannelActivationCondition_t *cac = &masterConfig.vtxChannelActivationConditions[i];
             uint8_t validArgumentCount = 0;
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                val = atoi(++ptr);
+                val = atoi(ptr);
                 if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
                     cac->auxChannelIndex = val;
                     validArgumentCount++;
                 }
             }
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                val = atoi(++ptr);
+                val = atoi(ptr);
                 if (val >= VTX_BAND_MIN && val <= VTX_BAND_MAX) {
                     cac->band = val;
                     validArgumentCount++;
                 }
             }
-            ptr = strchr(ptr, ' ');
+            ptr = nextArg(ptr);
             if (ptr) {
-                val = atoi(++ptr);
+                val = atoi(ptr);
                 if (val >= VTX_CHANNEL_MIN && val <= VTX_CHANNEL_MAX) {
                     cac->channel = val;
                     validArgumentCount++;
@@ -1889,342 +2328,56 @@ static void cliVtx(char *cmdline)
 }
 #endif
 
-static void dumpValues(uint16_t valueSection)
+static void printName(uint8_t dumpMask)
 {
-    uint32_t i;
-    const clivalue_t *value;
-    for (i = 0; i < VALUE_COUNT; i++) {
-        value = &valueTable[i];
-
-        if ((value->type & VALUE_SECTION_MASK) != valueSection) {
-            continue;
-        }
-
-        cliPrintf("set %s = ", valueTable[i].name);
-        cliPrintVar(value, 0);
-        cliPrint("\r\n");
-
-#ifdef USE_SLOW_SERIAL_CLI
-        delay(2);
-#endif
-
-    }
+    bool equalsDefault = strlen(masterConfig.name) == 0;
+	cliDumpPrintf(dumpMask, equalsDefault, "name %s\r\n", equalsDefault ? emptyName : masterConfig.name);
 }
 
-typedef enum {
-    DUMP_MASTER = (1 << 0),
-    DUMP_PROFILE = (1 << 1),
-    DUMP_RATES = (1 << 2),
-    DUMP_ALL = (1 << 3),
-} dumpFlags_e;
-
-
-static const char* const sectionBreak = "\r\n";
-
-#define printSectionBreak() cliPrintf((char *)sectionBreak)
-
-static void cliDump(char *cmdline)
+static void cliName(char *cmdline)
 {
-    unsigned int i;
-    char buf[16];
-    uint32_t mask;
-
-#ifndef USE_QUAD_MIXER_ONLY
-    float thr, roll, pitch, yaw;
-#endif
-
-    uint8_t dumpMask = DUMP_MASTER;
-    if (strcasecmp(cmdline, "master") == 0) {
-        dumpMask = DUMP_MASTER; // only
-    }
-    if (strcasecmp(cmdline, "profile") == 0) {
-        dumpMask = DUMP_PROFILE; // only
-    }
-    if (strcasecmp(cmdline, "rates") == 0) {
-        dumpMask = DUMP_RATES; 
-    }
-
-    if (strcasecmp(cmdline, "all") == 0) {
-        dumpMask = DUMP_ALL;   // All profiles and rates
-    }
-
-    if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
-
-        cliPrint("\r\n# version\r\n");
-        cliVersion(NULL);
-
-        cliPrint("\r\n# dump master\r\n");
-        cliPrint("\r\n# mixer\r\n");
-
-#ifndef USE_QUAD_MIXER_ONLY
-        cliPrintf("mixer %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
-
-        cliPrintf("mmix reset\r\n");
-
-        for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-            if (masterConfig.customMotorMixer[i].throttle == 0.0f)
-                break;
-            thr = masterConfig.customMotorMixer[i].throttle;
-            roll = masterConfig.customMotorMixer[i].roll;
-            pitch = masterConfig.customMotorMixer[i].pitch;
-            yaw = masterConfig.customMotorMixer[i].yaw;
-            cliPrintf("mmix %d", i);
-            if (thr < 0)
-                cliWrite(' ');
-            cliPrintf("%s", ftoa(thr, buf));
-            if (roll < 0)
-                cliWrite(' ');
-            cliPrintf("%s", ftoa(roll, buf));
-            if (pitch < 0)
-                cliWrite(' ');
-            cliPrintf("%s", ftoa(pitch, buf));
-            if (yaw < 0)
-                cliWrite(' ');
-            cliPrintf("%s\r\n", ftoa(yaw, buf));
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
-        }
-
-#ifdef USE_SERVOS
-        // print custom servo mixer if exists
-        cliPrintf("smix reset\r\n");
-
-        for (i = 0; i < MAX_SERVO_RULES; i++) {
-
-            if (masterConfig.customServoMixer[i].rate == 0)
-                break;
-
-            cliPrintf("smix %d %d %d %d %d %d %d %d\r\n",
-                i,
-                masterConfig.customServoMixer[i].targetChannel,
-                masterConfig.customServoMixer[i].inputSource,
-                masterConfig.customServoMixer[i].rate,
-                masterConfig.customServoMixer[i].speed,
-                masterConfig.customServoMixer[i].min,
-                masterConfig.customServoMixer[i].max,
-                masterConfig.customServoMixer[i].box
-            );
-
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
-        }
-
-#endif
-#endif
-
-        cliPrint("\r\n\r\n# feature\r\n");
-
-        mask = featureMask();
-        for (i = 0; ; i++) { // disable all feature first
-            if (featureNames[i] == NULL)
-                break;
-            cliPrintf("feature -%s\r\n", featureNames[i]);
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
-        }
-        for (i = 0; ; i++) {  // reenable what we want.
-            if (featureNames[i] == NULL)
-                break;
-            if (mask & (1 << i))
-                cliPrintf("feature %s\r\n", featureNames[i]);
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
-        }
-
-
-#ifdef BEEPER
-        cliPrint("\r\n\r\n# beeper\r\n");
-
-        uint8_t beeperCount = beeperTableEntryCount();
-        mask = getBeeperOffMask();
-        for (int i = 0; i < (beeperCount-2); i++) {
-            if (mask & (1 << i))
-                cliPrintf("beeper -%s\r\n", beeperNameForTableIndex(i));
-            else
-                cliPrintf("beeper %s\r\n", beeperNameForTableIndex(i));
-        }
-#endif
-
-
-        cliPrint("\r\n\r\n# map\r\n");
-
-        for (i = 0; i < 8; i++)
-            buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
-        buf[i] = '\0';
-        cliPrintf("map %s\r\n", buf);
-
-        cliPrint("\r\n\r\n# serial\r\n");
-        cliSerial("");
-
-#ifdef LED_STRIP
-        cliPrint("\r\n\r\n# led\r\n");
-        cliLed("");
-
-        cliPrint("\r\n\r\n# color\r\n");
-        cliColor("");
-#endif
-
-        cliPrint("\r\n# aux\r\n");
-
-        cliAux("");
-
-        cliPrint("\r\n# adjrange\r\n");
-
-        cliAdjustmentRange("");
-
-        cliPrintf("\r\n# rxrange\r\n");
-
-        cliRxRange("");
-
-#ifdef USE_SERVOS
-        cliPrint("\r\n# servo\r\n");
-
-        cliServo("");
-
-        // print servo directions
-        unsigned int channel;
-
-        for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-            for (channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
-                if (servoDirection(i, channel) < 0) {
-                    cliPrintf("smix reverse %d %d r\r\n", i , channel);
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
-                }
-            }
-        }
-#endif
-
-#ifdef VTX
-        cliPrint("\r\n# vtx\r\n");
-
-        cliVtx("");
-#endif
-
-        printSectionBreak();
-        dumpValues(MASTER_VALUE);
-
-        cliPrint("\r\n# rxfail\r\n");
-        cliRxFail("");
-
-        if (dumpMask & DUMP_ALL) {
-            uint8_t activeProfile = masterConfig.current_profile_index;
-            uint8_t profileCount;
-            for (profileCount=0; profileCount<MAX_PROFILE_COUNT;profileCount++) {
-                cliDumpProfile(profileCount);
-
-                uint8_t currentRateIndex = currentProfile->activeRateProfile;
-                uint8_t rateCount;
-                for (rateCount=0; rateCount<MAX_RATEPROFILES; rateCount++)
-                    cliDumpRateProfile(rateCount);
-
-                cliPrint("\r\n# restore original rateprofile selection\r\n");
-
-                changeControlRateProfile(currentRateIndex);
-                cliRateProfile("");
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
-            }
-
-            cliPrint("\r\n# restore original profile selection\r\n");
-
-            changeProfile(activeProfile);
-            cliProfile("");
-            printSectionBreak();
-
-            cliPrint("\r\n# save configuration\r\nsave\r\n");
-        } else {
-            cliDumpProfile(masterConfig.current_profile_index);
-            cliDumpRateProfile(currentProfile->activeRateProfile);
+    uint32_t len = strlen(cmdline);
+    if (len > 0) {
+        memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name));
+        if (strncmp(cmdline, emptyName, len)) {
+            strncpy(masterConfig.name, cmdline, MIN(len, MAX_NAME_LENGTH));
         }
     }
-
-    if (dumpMask & DUMP_PROFILE) {
-        cliDumpProfile(masterConfig.current_profile_index);
-    }
-
-    if (dumpMask & DUMP_RATES) {
-        cliDumpRateProfile(currentProfile->activeRateProfile);
-    }
+    printName(DUMP_MASTER);
 }
 
-void cliDumpProfile(uint8_t profileIndex)
+static void printFeature(uint8_t dumpMask, master_t *defaultConfig)
 {
-        if (profileIndex >= MAX_PROFILE_COUNT) // Faulty values
-            return;
-
-        changeProfile(profileIndex);
-        cliPrint("\r\n# profile\r\n");
-        cliProfile("");
-        cliPrintf("############################# PROFILE VALUES ####################################\r\n");
-
-        printSectionBreak();
-        dumpValues(PROFILE_VALUE);
-
-        cliRateProfile("");
-}
-
-void cliDumpRateProfile(uint8_t rateProfileIndex)
-{
-    if (rateProfileIndex >= MAX_RATEPROFILES) // Faulty values
-            return;
-
-    changeControlRateProfile(rateProfileIndex);
-    cliPrint("\r\n# rateprofile\r\n");
-    cliRateProfile("");
-    printSectionBreak();
-
-    dumpValues(PROFILE_RATE_VALUE);
-}
-
-void cliEnter(serialPort_t *serialPort)
-{
-    cliMode = 1;
-    cliPort = serialPort;
-    setPrintfSerialPort(cliPort);
-    cliWriter = bufWriterInit(cliWriteBuffer, sizeof(cliWriteBuffer),
-                              (bufWrite_t)serialWriteBufShim, serialPort);
-
-    cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
-    cliPrompt();
-    ENABLE_ARMING_FLAG(PREVENT_ARMING);
-}
-
-static void cliExit(char *cmdline)
-{
-    UNUSED(cmdline);
-
-    cliPrint("\r\nLeaving CLI mode, unsaved changes lost.\r\n");
-    bufWriterFlush(cliWriter);
-
-    *cliBuffer = '\0';
-    bufferIndex = 0;
-    cliMode = 0;
-    // incase a motor was left running during motortest, clear it here
-    mixerResetDisarmedMotors();
-    cliReboot();
-
-    cliWriter = NULL;
+    uint32_t mask = featureMask();
+    uint32_t defaultMask = defaultConfig->enabledFeatures;
+    for (uint32_t i = 0; ; i++) { // disable all feature first
+        if (featureNames[i] == NULL)
+            break;
+        const char *format = "feature -%s\r\n";
+        cliDefaultPrintf(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
+        cliDumpPrintf(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
+    }
+    for (uint32_t i = 0; ; i++) {  // reenable what we want.
+        if (featureNames[i] == NULL)
+            break;
+        const char *format = "feature %s\r\n";
+        if (defaultMask & (1 << i)) {
+            cliDefaultPrintf(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
+        }
+        if (mask & (1 << i)) {
+            cliDumpPrintf(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
+        }
+    }
 }
 
 static void cliFeature(char *cmdline)
 {
-    uint32_t i;
-    uint32_t len;
-    uint32_t mask;
-
-    len = strlen(cmdline);
-    mask = featureMask();
+    uint32_t len = strlen(cmdline);
+    uint32_t mask = featureMask();
 
     if (len == 0) {
         cliPrint("Enabled: ");
-        for (i = 0; ; i++) {
+        for (uint32_t i = 0; ; i++) {
             if (featureNames[i] == NULL)
                 break;
             if (mask & (1 << i))
@@ -2233,7 +2386,7 @@ static void cliFeature(char *cmdline)
         cliPrint("\r\n");
     } else if (strncasecmp(cmdline, "list", len) == 0) {
         cliPrint("Available: ");
-        for (i = 0; ; i++) {
+        for (uint32_t i = 0; ; i++) {
             if (featureNames[i] == NULL)
                 break;
             cliPrintf("%s ", featureNames[i]);
@@ -2249,7 +2402,7 @@ static void cliFeature(char *cmdline)
             len--;
         }
 
-        for (i = 0; ; i++) {
+        for (uint32_t i = 0; ; i++) {
             if (featureNames[i] == NULL) {
                 cliPrint("Invalid name\r\n");
                 break;
@@ -2285,17 +2438,29 @@ static void cliFeature(char *cmdline)
 }
 
 #ifdef BEEPER
+static void printBeeper(uint8_t dumpMask, master_t *defaultConfig)
+{
+    uint8_t beeperCount = beeperTableEntryCount();
+    uint32_t mask = getBeeperOffMask();
+    uint32_t defaultMask = defaultConfig->beeper_off_flags;
+    for (int32_t i = 0; i < beeperCount - 2; i++) {
+        const char *formatOff = "beeper -%s\r\n";
+        const char *formatOn = "beeper %s\r\n";
+        cliDefaultPrintf(dumpMask, ~(mask ^ defaultMask) & (1 << i), mask & (1 << i) ? formatOn : formatOff, beeperNameForTableIndex(i));
+        cliDumpPrintf(dumpMask, ~(mask ^ defaultMask) & (1 << i), mask & (1 << i) ? formatOff : formatOn, beeperNameForTableIndex(i));
+    }
+}
+
 static void cliBeeper(char *cmdline)
 {
-    uint32_t i;
-    uint32_t len = strlen(cmdline);;
+    uint32_t len = strlen(cmdline);
     uint8_t beeperCount = beeperTableEntryCount();
     uint32_t mask = getBeeperOffMask();
 
     if (len == 0) {
         cliPrintf("Disabled:");
-        for (int i = 0; ; i++) {
-            if (i == beeperCount-2){
+        for (int32_t i = 0; ; i++) {
+            if (i == beeperCount - 2){
                 if (mask == 0)
                     cliPrint("  none");
                 break;
@@ -2306,7 +2471,7 @@ static void cliBeeper(char *cmdline)
         cliPrint("\r\n");
     } else if (strncasecmp(cmdline, "list", len) == 0) {
         cliPrint("Available:");
-        for (i = 0; i < beeperCount; i++)
+        for (uint32_t i = 0; i < beeperCount; i++)
             cliPrintf("  %s", beeperNameForTableIndex(i));
         cliPrint("\r\n");
         return;
@@ -2318,7 +2483,7 @@ static void cliBeeper(char *cmdline)
             len--;
         }
 
-        for (i = 0; ; i++) {
+        for (uint32_t i = 0; ; i++) {
             if (i == beeperCount) {
                 cliPrint("Invalid name\r\n");
                 break;
@@ -2356,6 +2521,392 @@ static void cliBeeper(char *cmdline)
 }
 #endif
 
+static void printMap(uint8_t dumpMask, master_t *defaultConfig)
+{
+    bool equalsDefault = true;
+    char buf[16];
+    char bufDefault[16];
+    uint32_t i;
+    for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
+        buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
+        bufDefault[defaultConfig->rxConfig.rcmap[i]] = rcChannelLetters[i];
+        equalsDefault = equalsDefault && (masterConfig.rxConfig.rcmap[i] == defaultConfig->rxConfig.rcmap[i]);
+    }
+    buf[i] = '\0';
+
+    const char *formatMap = "map %s\r\n";
+    cliDefaultPrintf(dumpMask, equalsDefault, formatMap, bufDefault);
+    cliDumpPrintf(dumpMask, equalsDefault, formatMap, buf);
+}
+
+static void cliMap(char *cmdline)
+{
+    uint32_t len;
+    char out[9];
+
+    len = strlen(cmdline);
+
+    if (len == 8) {
+        // uppercase it
+        for (uint32_t i = 0; i < 8; i++)
+            cmdline[i] = toupper((unsigned char)cmdline[i]);
+        for (uint32_t i = 0; i < 8; i++) {
+            if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
+                continue;
+            cliShowParseError();
+            return;
+        }
+        parseRcChannels(cmdline, &masterConfig.rxConfig);
+    }
+    cliPrint("Map: ");
+	uint32_t i;
+    for (i = 0; i < 8; i++)
+        out[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
+    out[i] = '\0';
+    cliPrintf("%s\r\n", out);
+}
+
+void *getValuePointer(const clivalue_t *value)
+{
+    void *ptr = value->ptr;
+
+    if ((value->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
+        ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
+    }
+
+    if ((value->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
+        ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
+    }
+
+    return ptr;
+}
+
+static void *getDefaultPointer(void *valuePointer, master_t *defaultConfig)
+{
+    return ((uint8_t *)valuePointer) - (uint32_t)&masterConfig + (uint32_t)defaultConfig;
+}
+
+static bool valueEqualsDefault(const clivalue_t *value, master_t *defaultConfig)
+{
+    void *ptr = getValuePointer(value);
+
+    void *ptrDefault = getDefaultPointer(ptr, defaultConfig);
+
+    bool result = false;
+    switch (value->type & VALUE_TYPE_MASK) {
+        case VAR_UINT8:
+            result = *(uint8_t *)ptr == *(uint8_t *)ptrDefault;
+            break;
+
+        case VAR_INT8:
+            result = *(int8_t *)ptr == *(int8_t *)ptrDefault;
+            break;
+
+        case VAR_UINT16:
+            result = *(uint16_t *)ptr == *(uint16_t *)ptrDefault;
+            break;
+
+        case VAR_INT16:
+            result = *(int16_t *)ptr == *(int16_t *)ptrDefault;
+            break;
+
+        case VAR_UINT32:
+            result = *(uint32_t *)ptr == *(uint32_t *)ptrDefault;
+            break;
+
+        case VAR_FLOAT:
+            result = *(float *)ptr == *(float *)ptrDefault;
+            break;
+    }
+    return result;
+}
+
+static void dumpValues(uint16_t valueSection, uint8_t dumpMask, master_t *defaultConfig)
+{
+    const clivalue_t *value;
+    for (uint32_t i = 0; i < VALUE_COUNT; i++) {
+        value = &valueTable[i];
+
+        if ((value->type & VALUE_SECTION_MASK) != valueSection) {
+            continue;
+        }
+
+        const char *format = "set %s = ";
+        if (cliDefaultPrintf(dumpMask, valueEqualsDefault(value, defaultConfig), format, valueTable[i].name)) {
+            cliPrintVarDefault(value, 0, defaultConfig);
+            cliPrint("\r\n");
+        }
+        if (cliDumpPrintf(dumpMask, valueEqualsDefault(value, defaultConfig), format, valueTable[i].name)) {
+            cliPrintVar(value, 0);
+            cliPrint("\r\n");
+        }
+    }
+}
+
+static void cliDump(char *cmdline)
+{
+    printConfig(cmdline, false);
+}
+
+static void cliDiff(char *cmdline)
+{
+    printConfig(cmdline, true);
+}
+
+char *checkCommand(char *cmdLine, const char *command)
+{
+    if(!strncasecmp(cmdLine, command, strlen(command))   // command names match
+        && !isalnum((unsigned)cmdLine[strlen(command)])) {   // next characted in bufffer is not alphanumeric (command is correctly terminated)
+        return cmdLine + strlen(command) + 1;
+    } else {
+        return 0;
+    }
+}
+
+static void printConfig(char *cmdline, bool doDiff)
+{
+    uint8_t dumpMask = DUMP_MASTER;
+    char *options;
+    if ((options = checkCommand(cmdline, "master"))) {
+        dumpMask = DUMP_MASTER; // only
+    } else if ((options = checkCommand(cmdline, "profile"))) {
+        dumpMask = DUMP_PROFILE; // only
+    } else if ((options = checkCommand(cmdline, "rates"))) {
+        dumpMask = DUMP_RATES; // only
+    } else if ((options = checkCommand(cmdline, "all"))) {
+        dumpMask = DUMP_ALL;   // all profiles and rates
+    } else {
+        options = cmdline;
+    }
+
+    static master_t defaultConfig;
+    if (doDiff) {
+        dumpMask = dumpMask | DO_DIFF;
+    }
+
+    createDefaultConfig(&defaultConfig);
+
+    if (checkCommand(options, "showdefaults")) {
+        dumpMask = dumpMask | SHOW_DEFAULTS;   // add default values as comments for changed values
+    }
+
+    if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# version\r\n");
+#endif
+        cliVersion(NULL);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        if ((dumpMask & (DUMP_ALL | DO_DIFF)) == (DUMP_ALL | DO_DIFF)) {
+            cliPrint("\r\n# reset configuration to default settings\r\ndefaults\r\n");
+        }
+
+        cliPrint("\r\n# name\r\n");
+#endif
+        printName(dumpMask);
+
+#ifndef USE_QUAD_MIXER_ONLY
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# mixer\r\n");
+#endif
+		bool equalsDefault = masterConfig.mixerMode == defaultConfig.mixerMode;
+        const char *formatMixer = "mixer %s\r\n";
+        cliDefaultPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[defaultConfig.mixerMode - 1]);
+        cliDumpPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[masterConfig.mixerMode - 1]);
+
+        cliDumpPrintf(dumpMask, masterConfig.customMotorMixer[0].throttle == 0.0f, "\r\nmmix reset\r\n\r\n");
+
+        printMotorMix(dumpMask, &defaultConfig);
+
+#ifdef USE_SERVOS
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# servo\r\n");
+#endif
+		printServo(dumpMask, &defaultConfig);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# servo mix\r\n");
+#endif
+        // print custom servo mixer if exists
+        cliDumpPrintf(dumpMask, masterConfig.customServoMixer[0].rate == 0, "smix reset\r\n\r\n");
+		printServoMix(dumpMask, &defaultConfig);
+#endif
+#endif
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# feature\r\n");
+#endif
+		printFeature(dumpMask, &defaultConfig);
+
+#ifdef BEEPER
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# beeper\r\n");
+#endif
+		printBeeper(dumpMask, &defaultConfig);
+#endif
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# map\r\n");
+#endif
+		printMap(dumpMask, &defaultConfig);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# serial\r\n");
+#endif
+        printSerial(dumpMask, &defaultConfig);
+
+#ifdef LED_STRIP
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# led\r\n");
+#endif
+        printLed(dumpMask, &defaultConfig);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# color\r\n");
+#endif
+        printColor(dumpMask, &defaultConfig);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# mode_color\r\n");
+#endif
+        printModeColor(dumpMask, &defaultConfig);
+#endif
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# aux\r\n");
+#endif
+        printAux(dumpMask, &defaultConfig);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# adjrange\r\n");
+#endif
+        printAdjustmentRange(dumpMask, &defaultConfig);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# rxrange\r\n");
+#endif
+        printRxRange(dumpMask, &defaultConfig);
+
+#ifdef VTX
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# vtx\r\n");
+#endif
+        printVtx(dumpMask, &defaultConfig);
+#endif
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# rxfail\r\n");
+#endif
+        printRxFail(dumpMask, &defaultConfig);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+        cliPrint("\r\n# master\r\n");
+#endif
+        dumpValues(MASTER_VALUE, dumpMask, &defaultConfig);
+
+        if (dumpMask & DUMP_ALL) {
+            uint8_t activeProfile = masterConfig.current_profile_index;
+            for (uint32_t profileCount=0; profileCount<MAX_PROFILE_COUNT;profileCount++) {
+                cliDumpProfile(profileCount, dumpMask, &defaultConfig);
+
+                uint8_t currentRateIndex = currentProfile->activeRateProfile;
+                for (uint32_t rateCount = 0; rateCount<MAX_RATEPROFILES; rateCount++) {
+                    cliDumpRateProfile(rateCount, dumpMask, &defaultConfig);
+                }
+
+                changeControlRateProfile(currentRateIndex);
+#ifndef CLI_MINIMAL_VERBOSITY
+                cliPrint("\r\n# restore original rateprofile selection\r\n");
+                cliRateProfile("");
+#endif
+            }
+
+            changeProfile(activeProfile);
+#ifndef CLI_MINIMAL_VERBOSITY
+            cliPrint("\r\n# restore original profile selection\r\n");
+            cliProfile("");
+
+            cliPrint("\r\n# save configuration\r\nsave\r\n");
+#endif
+        } else {
+            cliDumpProfile(masterConfig.current_profile_index, dumpMask, &defaultConfig);
+            cliDumpRateProfile(currentProfile->activeRateProfile, dumpMask, &defaultConfig);
+        }
+    }
+
+    if (dumpMask & DUMP_PROFILE) {
+        cliDumpProfile(masterConfig.current_profile_index, dumpMask, &defaultConfig);
+    }
+
+    if (dumpMask & DUMP_RATES) {
+        cliDumpRateProfile(currentProfile->activeRateProfile, dumpMask, &defaultConfig);
+    }
+}
+
+static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, master_t *defaultConfig)
+{
+    if (profileIndex >= MAX_PROFILE_COUNT) {
+        // Faulty values
+        return;
+    }
+    changeProfile(profileIndex);
+#ifndef CLI_MINIMAL_VERBOSITY
+    cliPrint("\r\n# profile\r\n");
+#endif
+    cliProfile("");
+    cliPrint("\r\n");
+    dumpValues(PROFILE_VALUE, dumpMask, defaultConfig);
+    cliRateProfile("");
+}
+
+static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, master_t *defaultConfig)
+{
+    if (rateProfileIndex >= MAX_RATEPROFILES) {
+        // Faulty values
+        return;
+    }
+    changeControlRateProfile(rateProfileIndex);
+#ifndef CLI_MINIMAL_VERBOSITY
+    cliPrint("\r\n# rateprofile\r\n");
+#endif
+    cliRateProfile("");
+    cliPrint("\r\n");
+    dumpValues(PROFILE_RATE_VALUE, dumpMask, defaultConfig);
+}
+
+void cliEnter(serialPort_t *serialPort)
+{
+    cliMode = 1;
+    cliPort = serialPort;
+    setPrintfSerialPort(cliPort);
+    cliWriter = bufWriterInit(cliWriteBuffer, sizeof(cliWriteBuffer),
+                              (bufWrite_t)serialWriteBufShim, serialPort);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+    cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
+#endif
+    cliPrompt();
+    ENABLE_ARMING_FLAG(PREVENT_ARMING);
+}
+
+static void cliExit(char *cmdline)
+{
+    UNUSED(cmdline);
+
+#ifndef CLI_MINIMAL_VERBOSITY
+    cliPrint("\r\nLeaving CLI mode, unsaved changes lost.\r\n");
+#endif
+    bufWriterFlush(cliWriter);
+
+    *cliBuffer = '\0';
+    bufferIndex = 0;
+    cliMode = 0;
+    // incase a motor was left running during motortest, clear it here
+    mixerResetDisarmedMotors();
+    cliReboot();
+
+    cliWriter = NULL;
+}
 
 #ifdef GPS
 static void cliGpsPassthrough(char *cmdline)
@@ -2368,11 +2919,9 @@ static void cliGpsPassthrough(char *cmdline)
 
 static void cliHelp(char *cmdline)
 {
-    uint32_t i = 0;
-
     UNUSED(cmdline);
 
-    for (i = 0; i < CMD_COUNT; i++) {
+    for (uint32_t i = 0; i < CMD_COUNT; i++) {
         cliPrint(cmdTable[i].name);
 #ifndef SKIP_CLI_COMMAND_HELP
         if (cmdTable[i].description) {
@@ -2386,37 +2935,9 @@ static void cliHelp(char *cmdline)
     }
 }
 
-static void cliMap(char *cmdline)
-{
-    uint32_t len;
-    uint32_t i;
-    char out[9];
-
-    len = strlen(cmdline);
-
-    if (len == 8) {
-        // uppercase it
-        for (i = 0; i < 8; i++)
-            cmdline[i] = toupper((unsigned char)cmdline[i]);
-        for (i = 0; i < 8; i++) {
-            if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
-                continue;
-            cliShowParseError();
-            return;
-        }
-        parseRcChannels(cmdline, &masterConfig.rxConfig);
-    }
-    cliPrint("Map: ");
-    for (i = 0; i < 8; i++)
-        out[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
-    out[i] = '\0';
-    cliPrintf("%s\r\n", out);
-}
-
 #ifndef USE_QUAD_MIXER_ONLY
 static void cliMixer(char *cmdline)
 {
-    int i;
     int len;
 
     len = strlen(cmdline);
@@ -2426,7 +2947,7 @@ static void cliMixer(char *cmdline)
         return;
     } else if (strncasecmp(cmdline, "list", len) == 0) {
         cliPrint("Available mixers: ");
-        for (i = 0; ; i++) {
+        for (uint32_t i = 0; ; i++) {
             if (mixerNames[i] == NULL)
                 break;
             cliPrintf("%s ", mixerNames[i]);
@@ -2435,7 +2956,7 @@ static void cliMixer(char *cmdline)
         return;
     }
 
-    for (i = 0; ; i++) {
+    for (uint32_t i = 0; ; i++) {
         if (mixerNames[i] == NULL) {
             cliPrint("Invalid name\r\n");
             return;
@@ -2496,7 +3017,7 @@ static void cliMotor(char *cmdline)
 
 static void cliPlaySound(char *cmdline)
 {
-#if FLASH_SIZE <= 64
+#if (FLASH_SIZE <= 64) && !defined(CLI_MINIMAL_VERBOSITY)
     UNUSED(cmdline);
 #else
     int i;
@@ -2549,7 +3070,8 @@ static void cliProfile(char *cmdline)
     }
 }
 
-static void cliRateProfile(char *cmdline) {
+static void cliRateProfile(char *cmdline)
+{
     int i;
 
     if (isEmpty(cmdline)) {
@@ -2587,7 +3109,6 @@ static void cliSave(char *cmdline)
     UNUSED(cmdline);
 
     cliPrint("Saving");
-    //copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
     writeEEPROM();
     cliReboot();
 }
@@ -2603,8 +3124,9 @@ static void cliDefaults(char *cmdline)
 
 static void cliPrint(const char *str)
 {
-    while (*str)
+    while (*str) {
         bufWriterAppend(cliWriter, *str++);
+    }
 }
 
 static void cliPutp(void *p, char ch)
@@ -2612,6 +3134,36 @@ static void cliPutp(void *p, char ch)
     bufWriterAppend(p, ch);
 }
 
+static bool cliDumpPrintf(uint8_t dumpMask, bool equalsDefault, const char *format, ...)
+{
+    if (!((dumpMask & DO_DIFF) && equalsDefault)) {
+        va_list va;
+        va_start(va, format);
+        tfp_format(cliWriter, cliPutp, format, va);
+        va_end(va);
+
+        return true;
+    } else {
+        return false;
+    }
+}
+
+static bool cliDefaultPrintf(uint8_t dumpMask, bool equalsDefault, const char *format, ...)
+{
+    if ((dumpMask & SHOW_DEFAULTS) && !equalsDefault) {
+        cliWrite('#');
+
+        va_list va;
+        va_start(va, format);
+        tfp_format(cliWriter, cliPutp, format, va);
+        va_end(va);
+
+        return true;
+    } else {
+        return false;
+    }
+}
+
 static void cliPrintf(const char *fmt, ...)
 {
     va_list va;
@@ -2625,43 +3177,34 @@ static void cliWrite(uint8_t ch)
     bufWriterAppend(cliWriter, ch);
 }
 
-static void cliPrintVar(const clivalue_t *var, uint32_t full)
+static void printValuePointer(const clivalue_t *var, void *valuePointer, uint32_t full)
 {
     int32_t value = 0;
     char buf[8];
 
-    void *ptr = var->ptr;
-    if ((var->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
-        ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
-    }
-
-    if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
-        ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
-    }
-
     switch (var->type & VALUE_TYPE_MASK) {
         case VAR_UINT8:
-            value = *(uint8_t *)ptr;
+            value = *(uint8_t *)valuePointer;
             break;
 
         case VAR_INT8:
-            value = *(int8_t *)ptr;
+            value = *(int8_t *)valuePointer;
             break;
 
         case VAR_UINT16:
-            value = *(uint16_t *)ptr;
+            value = *(uint16_t *)valuePointer;
             break;
 
         case VAR_INT16:
-            value = *(int16_t *)ptr;
+            value = *(int16_t *)valuePointer;
             break;
 
         case VAR_UINT32:
-            value = *(uint32_t *)ptr;
+            value = *(uint32_t *)valuePointer;
             break;
 
         case VAR_FLOAT:
-            cliPrintf("%s", ftoa(*(float *)ptr, buf));
+            cliPrintf("%s", ftoa(*(float *)valuePointer, buf));
             if (full && (var->type & VALUE_MODE_MASK) == MODE_DIRECT) {
                 cliPrintf(" %s", ftoa((float)var->config.minmax.min, buf));
                 cliPrintf(" %s", ftoa((float)var->config.minmax.max, buf));
@@ -2681,7 +3224,24 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
             break;
     }
 }
-static void cliPrintVarRange(const clivalue_t *var) 
+
+static void cliPrintVar(const clivalue_t *var, uint32_t full)
+{
+    void *ptr = getValuePointer(var);
+
+    printValuePointer(var, ptr, full);
+}
+
+static void cliPrintVarDefault(const clivalue_t *var, uint32_t full, master_t *defaultConfig)
+{
+    void *ptr = getValuePointer(var);
+
+    void *defaultPtr = getDefaultPointer(ptr, defaultConfig);
+
+    printValuePointer(var, defaultPtr, full);
+}
+
+static void cliPrintVarRange(const clivalue_t *var)
 {
     switch (var->type & VALUE_MODE_MASK) {
         case (MODE_DIRECT): {
@@ -2691,9 +3251,8 @@ static void cliPrintVarRange(const clivalue_t *var)
         case (MODE_LOOKUP): {
             const lookupTableEntry_t *tableEntry = &lookupTables[var->config.lookup.tableIndex];
             cliPrint("Allowed values:");
-            uint8_t i;
-            for (i = 0; i < tableEntry->valueCount ; i++) {
-                if (i > 0) 
+            for (uint32_t i = 0; i < tableEntry->valueCount ; i++) {
+                if (i > 0)
                     cliPrint(",");
                 cliPrintf(" %s", tableEntry->values[i]);
             }
@@ -2702,6 +3261,7 @@ static void cliPrintVarRange(const clivalue_t *var)
         break;
     }
 }
+
 static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
 {
     void *ptr = var->ptr;
@@ -2735,7 +3295,6 @@ static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
 
 static void cliSet(char *cmdline)
 {
-    uint32_t i;
     uint32_t len;
     const clivalue_t *val;
     char *eqptr = NULL;
@@ -2744,15 +3303,11 @@ static void cliSet(char *cmdline)
 
     if (len == 0 || (len == 1 && cmdline[0] == '*')) {
         cliPrint("Current settings: \r\n");
-        for (i = 0; i < VALUE_COUNT; i++) {
+        for (uint32_t i = 0; i < VALUE_COUNT; i++) {
             val = &valueTable[i];
             cliPrintf("%s = ", valueTable[i].name);
             cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
             cliPrint("\r\n");
-
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
     } else if ((eqptr = strstr(cmdline, "=")) != NULL) {
         // has equals
@@ -2769,7 +3324,7 @@ static void cliSet(char *cmdline)
             eqptr++;
         }
 
-        for (i = 0; i < VALUE_COUNT; i++) {
+        for (uint32_t i = 0; i < VALUE_COUNT; i++) {
             val = &valueTable[i];
             // ensure exact match when setting to prevent setting variables with shorter names
             if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
@@ -2798,7 +3353,7 @@ static void cliSet(char *cmdline)
                     case MODE_LOOKUP: {
                             const lookupTableEntry_t *tableEntry = &lookupTables[valueTable[i].config.lookup.tableIndex];
                             bool matched = false;
-                            for (uint8_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
+                            for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
                                 matched = strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
 
                                 if (matched) {
@@ -2832,16 +3387,15 @@ static void cliSet(char *cmdline)
 
 static void cliGet(char *cmdline)
 {
-    uint32_t i;
     const clivalue_t *val;
     int matchedCommands = 0;
 
-    for (i = 0; i < VALUE_COUNT; i++) {
+    for (uint32_t i = 0; i < VALUE_COUNT; i++) {
         if (strstr(valueTable[i].name, cmdline)) {
             val = &valueTable[i];
             cliPrintf("%s = ", valueTable[i].name);
             cliPrintVar(val, 0);
-            cliPrint("\n");
+            cliPrint("\r\n");
             cliPrintVarRange(val);
             cliPrint("\r\n");
 
@@ -2871,12 +3425,11 @@ static void cliStatus(char *cmdline)
 
     cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
 
-#ifndef CJMCU
-    uint8_t i;
+#if (FLASH_SIZE > 64) && !defined(CLI_MINIMAL_VERBOSITY)
     uint32_t mask;
     uint32_t detectedSensorsMask = sensorsMask();
 
-    for (i = 0; ; i++) {
+    for (uint32_t i = 0; ; i++) {
 
         if (sensorTypeNames[i] == NULL)
             break;
@@ -2904,51 +3457,56 @@ static void cliStatus(char *cmdline)
 #endif
 
     cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
+
+#ifdef USE_SDCARD
+    cliSdInfo(NULL);
+#endif   
 }
 
 #ifndef SKIP_TASK_STATISTICS
 static void cliTasks(char *cmdline)
 {
     UNUSED(cmdline);
+    int maxLoadSum = 0;
+    int averageLoadSum = 0;
 
-    cfTaskId_e taskId;
-    cfTaskInfo_t taskInfo;
-
-    cliPrintf("Task list:\r\n");
-    for (taskId = 0; taskId < TASK_COUNT; taskId++) {
+#ifndef CLI_MINIMAL_VERBOSITY
+    cliPrintf("Task list          rate/hz  max/us  avg/us maxload avgload     total/ms\r\n");
+#endif
+    for (cfTaskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
+        cfTaskInfo_t taskInfo;
         getTaskInfo(taskId, &taskInfo);
         if (taskInfo.isEnabled) {
-            uint16_t taskFrequency;
-            uint16_t subTaskFrequency;
-
-            uint32_t taskTotalTime = taskInfo.totalExecutionTime / 1000;
-
+            int taskFrequency;
+            int subTaskFrequency;
             if (taskId == TASK_GYROPID) {
-                subTaskFrequency = (uint16_t)(1.0f / ((float)cycleTime * 0.000001f));
+                subTaskFrequency = (int)(1000000.0f / ((float)cycleTime));
+                taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
                 if (masterConfig.pid_process_denom > 1) {
-                    taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
-                    cliPrintf("%02d - (%s) ", taskId, taskInfo.taskName);
+                    cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
                 } else {
                     taskFrequency = subTaskFrequency;
-                    cliPrintf("%02d - (%s/%s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
+                    cliPrintf("%02d - (%8s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
                 }
             } else {
-                taskFrequency = (uint16_t)(1.0f / ((float)taskInfo.latestDeltaTime * 0.000001f));
-                cliPrintf("%02d - (%s) ", taskId, taskInfo.taskName);
+                taskFrequency = (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
+                cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
             }
-
-            cliPrintf("max: %dus, avg: %dus, rate: %dhz, total: ", taskInfo.maxExecutionTime, taskInfo.averageExecutionTime, taskFrequency);
-
-            if (taskTotalTime >= 1000) {
-                cliPrintf("%dsec", taskTotalTime / 1000);
-            } else {
-                cliPrintf("%dms", taskTotalTime);
+            const int maxLoad = (taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
+            const int averageLoad = (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
+            if (taskId != TASK_SERIAL) {
+                maxLoadSum += maxLoad;
+                averageLoadSum += averageLoad;
+            }
+            cliPrintf("%6d %7d %7d %4d.%1d%% %4d.%1d%% %9d\r\n",
+                    taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
+                    maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
+            if (taskId == TASK_GYROPID && masterConfig.pid_process_denom > 1) {
+                cliPrintf("   - (%12s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
             }
-
-            if (taskId == TASK_GYROPID && masterConfig.pid_process_denom > 1) cliPrintf("\r\n - - (%s)  rate: %dhz", taskInfo.subTaskName, subTaskFrequency);
-            cliPrintf("\r\n", taskTotalTime);
         }
     }
+    cliPrintf("Total (excluding SERIAL) %22d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
 }
 #endif
 
@@ -2956,7 +3514,7 @@ static void cliVersion(char *cmdline)
 {
     UNUSED(cmdline);
 
-    cliPrintf("# BetaFlight/%s %s %s / %s (%s)",
+    cliPrintf("# BetaFlight/%s %s %s / %s (%s)\r\n",
         targetName,
         FC_VERSION_STRING,
         buildDate,
@@ -3040,13 +3598,14 @@ void cliProcess(void)
                 cliBuffer[bufferIndex] = 0; // null terminate
 
                 const clicmd_t *cmd;
+                char *options;
                 for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
-                    if(!strncasecmp(cliBuffer, cmd->name, strlen(cmd->name))   // command names match
-                       && !isalnum((unsigned)cliBuffer[strlen(cmd->name)]))    // next characted in bufffer is not alphanumeric (command is correctly terminated)
+                    if ((options = checkCommand(cliBuffer, cmd->name))) {
                         break;
+            }
                 }
                 if(cmd < cmdTable + CMD_COUNT)
-                    cmd->func(cliBuffer + strlen(cmd->name) + 1);
+                    cmd->func(options);
                 else
                     cliPrint("Unknown command, try 'help'");
                 bufferIndex = 0;
@@ -3074,11 +3633,12 @@ void cliProcess(void)
     }
 }
 
+#if (FLASH_SIZE > 64) && !defined(CLI_MINIMAL_VERBOSITY)
 static void cliResource(char *cmdline)
 {
     UNUSED(cmdline);
     cliPrintf("IO:\r\n----------------------\r\n");
-    for (unsigned i = 0; i < DEFIO_IO_USED_COUNT; i++) {
+    for (uint32_t i = 0; i < DEFIO_IO_USED_COUNT; i++) {
         const char* owner;
         owner = ownerNames[ioRecs[i].owner];
 
@@ -3092,6 +3652,7 @@ static void cliResource(char *cmdline)
         }
     }
 }
+#endif
 
 void cliDfu(char *cmdLine)
 {
diff --git a/src/main/io/serial_cli.h b/src/main/io/serial_cli.h
index d54b04cecf..f2ec866a6c 100644
--- a/src/main/io/serial_cli.h
+++ b/src/main/io/serial_cli.h
@@ -20,6 +20,8 @@
 
 extern uint8_t cliMode;
 
+struct serialConfig_s;
+void cliInit(struct serialConfig_s *serialConfig);
 void cliProcess(void);
 bool cliIsActiveOnPort(serialPort_t *serialPort);
 
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 80e4717fde..84cec6466e 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -21,10 +21,12 @@
 #include <string.h>
 #include <math.h>
 
-#include "build_config.h"
-#include "debug.h"
 #include "platform.h"
 
+#include "build/build_config.h"
+#include "build/debug.h"
+#include "build/version.h"
+
 #include "common/axis.h"
 #include "common/color.h"
 #include "common/maths.h"
@@ -37,6 +39,7 @@
 
 #include "drivers/serial.h"
 #include "drivers/bus_i2c.h"
+#include "drivers/io.h"
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
@@ -49,7 +52,7 @@
 
 #include "io/beeper.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
 #include "io/serial.h"
@@ -59,6 +62,7 @@
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/osd.h"
 #include "io/vtx.h"
+#include "io/msp_protocol.h"
 
 #include "telemetry/telemetry.h"
 
@@ -82,14 +86,16 @@
 
 #include "blackbox/blackbox.h"
 
-#include "mw.h"
+#include "fc/mw.h"
+
+#include "fc/runtime_config.h"
 
-#include "config/runtime_config.h"
 #include "config/config.h"
+#include "config/config_eeprom.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
+#include "config/feature.h"
 
-#include "version.h"
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
@@ -102,79 +108,12 @@ static serialPort_t *mspSerialPort;
 
 extern uint16_t cycleTime; // FIXME dependency on mw.c
 extern uint16_t rssi; // FIXME dependency on mw.c
-extern void resetPidProfile(pidProfile_t *pidProfile);
-
-void setGyroSamplingSpeed(uint16_t looptime) {
-    uint16_t gyroSampleRate = 1000;
-    uint8_t maxDivider = 1;
-
-    if (looptime != gyro.targetLooptime || looptime == 0) {
-        if (looptime == 0) looptime = gyro.targetLooptime; // needed for pid controller changes
-#ifdef STM32F303xC
-        if (looptime < 1000) {
-            masterConfig.gyro_lpf = 0;
-            gyroSampleRate = 125;
-            maxDivider = 8;
-            masterConfig.pid_process_denom = 1;
-            masterConfig.acc_hardware = ACC_DEFAULT;
-            masterConfig.baro_hardware = BARO_DEFAULT;
-            masterConfig.mag_hardware = MAG_DEFAULT;
-            if (looptime < 250) {
-                masterConfig.acc_hardware = ACC_NONE;
-                masterConfig.baro_hardware = BARO_NONE;
-                masterConfig.mag_hardware = MAG_NONE;
-                masterConfig.pid_process_denom = 2;
-            } else if (looptime < 375) {
-                masterConfig.acc_hardware = CONFIG_FASTLOOP_PREFERRED_ACC;
-                masterConfig.baro_hardware = BARO_NONE;
-                masterConfig.mag_hardware = MAG_NONE;
-                masterConfig.pid_process_denom = 2;
-            }
-            masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
-        } else {
-            masterConfig.gyro_lpf = 0;
-            masterConfig.gyro_sync_denom = 8;
-            masterConfig.acc_hardware = ACC_DEFAULT;
-            masterConfig.baro_hardware = BARO_DEFAULT;
-            masterConfig.mag_hardware = MAG_DEFAULT;
-        }
-#else
-        if (looptime < 1000) {
-            masterConfig.gyro_lpf = 0;
-            masterConfig.acc_hardware = ACC_NONE;
-            masterConfig.baro_hardware = BARO_NONE;
-            masterConfig.mag_hardware = MAG_NONE;
-            gyroSampleRate = 125;
-            maxDivider = 8;
-            masterConfig.pid_process_denom = 1;
-            if (currentProfile->pidProfile.pidController == PID_CONTROLLER_FLOAT) {
-                masterConfig.pid_process_denom = 2;
-            }
-            if (looptime < 250) {
-                masterConfig.pid_process_denom = 4;
-            } else if (looptime < 375) {
-                if (currentProfile->pidProfile.pidController == PID_CONTROLLER_FLOAT) {
-                    masterConfig.pid_process_denom = 3;
-                } else {
-                    masterConfig.pid_process_denom = 2;
-                }
-            }
-            masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
-        } else {
-            masterConfig.gyro_lpf = 0;
-            masterConfig.gyro_sync_denom = 8;
-            masterConfig.acc_hardware = ACC_DEFAULT;
-            masterConfig.baro_hardware = BARO_DEFAULT;
-            masterConfig.mag_hardware = MAG_DEFAULT;
-            masterConfig.pid_process_denom = 1;
-        }
-#endif
-    }
-}
+extern void resetProfile(profile_t *profile);
 
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
 
 const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
+static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 
 typedef struct box_e {
     const uint8_t boxId;         // see boxId_e
@@ -214,6 +153,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { BOXFAILSAFE, "FAILSAFE;", 27 },
     { BOXAIRMODE, "AIR MODE;", 28 },
     { BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 29},
+    { BOXFPVANGLEMIX, "FPV ANGLE MIX;", 30},
     { CHECKBOX_ITEM_COUNT, NULL, 0xFF }
 };
 
@@ -253,6 +193,12 @@ STATIC_UNIT_TESTED mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
 STATIC_UNIT_TESTED mspPort_t *currentPort;
 STATIC_UNIT_TESTED bufWriter_t *writer;
 
+#define RATEPROFILE_MASK (1 << 7)
+
+#define JUMBO_FRAME_SIZE_LIMIT 255
+
+#define DATAFLASH_BUFFER_SIZE 4096
+
 static void serialize8(uint8_t a)
 {
     bufWriterAppend(writer, a);
@@ -290,7 +236,7 @@ static uint32_t read32(void)
     return t;
 }
 
-static void headSerialResponse(uint8_t err, uint8_t responseBodySize)
+static void headSerialResponse(uint8_t err, uint16_t responseBodySize)
 {
     serialBeginWrite(mspSerialPort);
 
@@ -298,11 +244,18 @@ static void headSerialResponse(uint8_t err, uint8_t responseBodySize)
     serialize8('M');
     serialize8(err ? '!' : '>');
     currentPort->checksum = 0;               // start calculating a new checksum
-    serialize8(responseBodySize);
+    if (responseBodySize < JUMBO_FRAME_SIZE_LIMIT) {
+        serialize8(responseBodySize);
+    } else {
+        serialize8(JUMBO_FRAME_SIZE_LIMIT);
+    }
     serialize8(currentPort->cmdMSP);
+    if (responseBodySize >= JUMBO_FRAME_SIZE_LIMIT) {
+        serialize16(responseBodySize);
+    }
 }
 
-static void headSerialReply(uint8_t responseBodySize)
+static void headSerialReply(uint16_t responseBodySize)
 {
     headSerialResponse(0, responseBodySize);
 }
@@ -458,25 +411,38 @@ static void serializeDataflashSummaryReply(void)
 }
 
 #ifdef USE_FLASHFS
-static void serializeDataflashReadReply(uint32_t address, uint8_t size)
+static void serializeDataflashReadReply(uint32_t address, uint16_t size, bool useLegacyFormat)
 {
-    uint8_t buffer[128];
-    int bytesRead;
+    static uint8_t buffer[DATAFLASH_BUFFER_SIZE];
 
     if (size > sizeof(buffer)) {
         size = sizeof(buffer);
     }
 
-    headSerialReply(4 + size);
-
-    serialize32(address);
-
     // bytesRead will be lower than that requested if we reach end of volume
-    bytesRead = flashfsReadAbs(address, buffer, size);
+    int bytesRead = flashfsReadAbs(address, buffer, size);
 
-    for (int i = 0; i < bytesRead; i++) {
+    if (useLegacyFormat) {
+        headSerialReply(sizeof(uint32_t) + size);
+
+        serialize32(address);
+    } else {
+        headSerialReply(sizeof(uint32_t) + sizeof(uint16_t) + bytesRead);
+
+        serialize32(address);
+        serialize16(bytesRead);
+    }
+
+    int i;
+    for (i = 0; i < bytesRead; i++) {
         serialize8(buffer[i]);
     }
+
+    if (useLegacyFormat) {
+        for (; i < size; i++) {
+            serialize8(0);
+        }
+    }
 }
 #endif
 
@@ -487,7 +453,7 @@ static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort)
     mspPortToReset->port = serialPort;
 }
 
-void mspAllocateSerialPorts(serialConfig_t *serialConfig)
+void mspSerialAllocatePorts(serialConfig_t *serialConfig)
 {
     UNUSED(serialConfig);
 
@@ -514,7 +480,7 @@ void mspAllocateSerialPorts(serialConfig_t *serialConfig)
     }
 }
 
-void mspReleasePortIfAllocated(serialPort_t *serialPort)
+void mspSerialReleasePortIfAllocated(serialPort_t *serialPort)
 {
     uint8_t portIndex;
     for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
@@ -526,7 +492,7 @@ void mspReleasePortIfAllocated(serialPort_t *serialPort)
     }
 }
 
-void mspInit(serialConfig_t *serialConfig)
+void mspSerialInit(serialConfig_t *serialConfig)
 {
     // calculate used boxes based on features and fill availableBoxes[] array
     memset(activeBoxIds, 0xFF, sizeof(activeBoxIds));
@@ -534,14 +500,15 @@ void mspInit(serialConfig_t *serialConfig)
     activeBoxIdCount = 0;
     activeBoxIds[activeBoxIdCount++] = BOXARM;
 
+    if (!feature(FEATURE_AIRMODE)) {
+	activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
+    }
+
     if (sensors(SENSOR_ACC)) {
         activeBoxIds[activeBoxIdCount++] = BOXANGLE;
         activeBoxIds[activeBoxIdCount++] = BOXHORIZON;
     }
 
-    if (!feature(FEATURE_AIRMODE)) activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
-    activeBoxIds[activeBoxIdCount++] = BOX3DDISABLESWITCH;
-
     if (sensors(SENSOR_BARO)) {
         activeBoxIds[activeBoxIdCount++] = BOXBARO;
     }
@@ -552,9 +519,6 @@ void mspInit(serialConfig_t *serialConfig)
         activeBoxIds[activeBoxIdCount++] = BOXHEADADJ;
     }
 
-    if (feature(FEATURE_SERVO_TILT))
-        activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
-
 #ifdef GPS
     if (feature(FEATURE_GPS)) {
         activeBoxIds[activeBoxIdCount++] = BOXGPSHOME;
@@ -562,8 +526,19 @@ void mspInit(serialConfig_t *serialConfig)
     }
 #endif
 
-    if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE)
+#ifdef SONAR
+    if (feature(FEATURE_SONAR)) {
+        activeBoxIds[activeBoxIdCount++] = BOXSONAR;
+    }
+#endif
+
+    if (feature(FEATURE_FAILSAFE)) {
+        activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
+    }
+
+    if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
         activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU;
+    }
 
     activeBoxIds[activeBoxIdCount++] = BOXBEEPERON;
 
@@ -573,17 +548,39 @@ void mspInit(serialConfig_t *serialConfig)
     }
 #endif
 
-    if (feature(FEATURE_INFLIGHT_ACC_CAL))
-        activeBoxIds[activeBoxIdCount++] = BOXCALIB;
-
-    activeBoxIds[activeBoxIdCount++] = BOXOSD;
-
-    if (feature(FEATURE_TELEMETRY) && masterConfig.telemetryConfig.telemetry_switch)
-        activeBoxIds[activeBoxIdCount++] = BOXTELEMETRY;
-
-    if (feature(FEATURE_SONAR)){
-        activeBoxIds[activeBoxIdCount++] = BOXSONAR;
+#ifdef BLACKBOX
+    if (feature(FEATURE_BLACKBOX)) {
+        activeBoxIds[activeBoxIdCount++] = BOXBLACKBOX;
     }
+#endif
+
+    activeBoxIds[activeBoxIdCount++] = BOXFPVANGLEMIX;
+    
+    if (feature(FEATURE_3D)) {
+    	activeBoxIds[activeBoxIdCount++] = BOX3DDISABLESWITCH;
+    }
+
+    if (feature(FEATURE_SERVO_TILT)) {
+        activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
+    }
+
+    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
+        activeBoxIds[activeBoxIdCount++] = BOXCALIB;
+    }
+	
+    if (feature(FEATURE_OSD)) {
+	activeBoxIds[activeBoxIdCount++] = BOXOSD;
+    }
+	
+#ifdef TELEMETRY
+    if (feature(FEATURE_TELEMETRY) && masterConfig.telemetryConfig.telemetry_switch) {
+        activeBoxIds[activeBoxIdCount++] = BOXTELEMETRY;
+    }
+#endif
+
+#ifdef GTUNE
+    activeBoxIds[activeBoxIdCount++] = BOXGTUNE;
+#endif
 
 #ifdef USE_SERVOS
     if (masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) {
@@ -593,22 +590,8 @@ void mspInit(serialConfig_t *serialConfig)
     }
 #endif
 
-#ifdef BLACKBOX
-    if (feature(FEATURE_BLACKBOX)){
-        activeBoxIds[activeBoxIdCount++] = BOXBLACKBOX;
-    }
-#endif
-
-    if (feature(FEATURE_FAILSAFE)){
-        activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
-    }
-
-#ifdef GTUNE
-    activeBoxIds[activeBoxIdCount++] = BOXGTUNE;
-#endif
-
     memset(mspPorts, 0x00, sizeof(mspPorts));
-    mspAllocateSerialPorts(serialConfig);
+    mspSerialAllocatePorts(serialConfig);
 }
 
 #define IS_ENABLED(mask) (mask == 0 ? 0 : 1)
@@ -645,7 +628,8 @@ static uint32_t packFlightModeFlags(void)
         IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
         IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
         IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE |
-        IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE;
+        IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
+        IS_ENABLED(IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX)) << BOXFPVANGLEMIX;
 
     for (i = 0; i < activeBoxIdCount; i++) {
         int flag = (tmp & (1 << activeBoxIds[i]));
@@ -659,7 +643,7 @@ static uint32_t packFlightModeFlags(void)
 static bool processOutCommand(uint8_t cmdMSP)
 {
     uint32_t i;
-
+    uint8_t len;
 #ifdef GPS
     uint8_t wp_no;
     int32_t lat = 0, lon = 0;
@@ -737,7 +721,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         break;
 
     case MSP_STATUS_EX:
-        headSerialReply(12);
+        headSerialReply(15);
         serialize16(cycleTime);
 #ifdef USE_I2C
         serialize16(i2cGetErrorCounter());
@@ -746,8 +730,18 @@ static bool processOutCommand(uint8_t cmdMSP)
 #endif
         serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
         serialize32(packFlightModeFlags());
-        serialize8(masterConfig.current_profile_index);
+        serialize8(getCurrentProfile());
         serialize16(constrain(averageSystemLoadPercent, 0, 100));
+        serialize8(MAX_PROFILE_COUNT);
+        serialize8(getCurrentControlRateProfile());
+        break;
+
+    case MSP_NAME:
+        len = strlen(masterConfig.name);
+        headSerialReply(len);
+        for (uint8_t i=0; i<len; i++) {
+            serialize8(masterConfig.name[i]);
+        }
         break;
 
     case MSP_STATUS:
@@ -856,7 +850,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize16((uint16_t)gyro.targetLooptime);
         break;
     case MSP_RC_TUNING:
-        headSerialReply(11);
+        headSerialReply(12);
         serialize8(currentControlRateProfile->rcRate8);
         serialize8(currentControlRateProfile->rcExpo8);
         for (i = 0 ; i < 3; i++) {
@@ -867,6 +861,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize8(currentControlRateProfile->thrExpo8);
         serialize16(currentControlRateProfile->tpa_breakpoint);
         serialize8(currentControlRateProfile->rcYawExpo8);
+        serialize8(currentControlRateProfile->rcYawRate8);
         break;
     case MSP_PID:
         headSerialReply(3 * PID_ITEM_COUNT);
@@ -1068,7 +1063,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         break;
 
     case MSP_RX_CONFIG:
-        headSerialReply(12);
+        headSerialReply(22);
         serialize8(masterConfig.rxConfig.serialrx_provider);
         serialize16(masterConfig.rxConfig.maxcheck);
         serialize16(masterConfig.rxConfig.midrc);
@@ -1076,6 +1071,12 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize8(masterConfig.rxConfig.spektrum_sat_bind);
         serialize16(masterConfig.rxConfig.rx_min_usec);
         serialize16(masterConfig.rxConfig.rx_max_usec);
+        serialize8(masterConfig.rxConfig.rcInterpolation);
+        serialize8(masterConfig.rxConfig.rcInterpolationInterval);
+        serialize16(masterConfig.rxConfig.airModeActivateThreshold);
+        serialize8(masterConfig.rxConfig.nrf24rx_protocol);
+        serialize32(masterConfig.rxConfig.nrf24rx_id);
+        serialize8(masterConfig.rxConfig.nrf24rx_channel_count);
         break;
 
     case MSP_FAILSAFE_CONFIG:
@@ -1142,8 +1143,8 @@ static bool processOutCommand(uint8_t cmdMSP)
 
 #ifdef LED_STRIP
     case MSP_LED_COLORS:
-        headSerialReply(CONFIGURABLE_COLOR_COUNT * 4);
-        for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
+        headSerialReply(LED_CONFIGURABLE_COLOR_COUNT * 4);
+        for (i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
             hsvColor_t *color = &masterConfig.colors[i];
             serialize16(color->h);
             serialize8(color->s);
@@ -1152,14 +1153,27 @@ static bool processOutCommand(uint8_t cmdMSP)
         break;
 
     case MSP_LED_STRIP_CONFIG:
-        headSerialReply(MAX_LED_STRIP_LENGTH * 7);
-        for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
+        headSerialReply(LED_MAX_STRIP_LENGTH * 4);
+        for (i = 0; i < LED_MAX_STRIP_LENGTH; i++) {
             ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
-            serialize16((ledConfig->flags & LED_DIRECTION_MASK) >> LED_DIRECTION_BIT_OFFSET);
-            serialize16((ledConfig->flags & LED_FUNCTION_MASK) >> LED_FUNCTION_BIT_OFFSET);
-            serialize8(GET_LED_X(ledConfig));
-            serialize8(GET_LED_Y(ledConfig));
-            serialize8(ledConfig->color);
+            serialize32(*ledConfig);
+        }
+        break;
+
+    case MSP_LED_STRIP_MODECOLOR:
+        headSerialReply(((LED_MODE_COUNT * LED_DIRECTION_COUNT) + LED_SPECIAL_COLOR_COUNT) * 3);
+        for (int i = 0; i < LED_MODE_COUNT; i++) {
+            for (int j = 0; j < LED_DIRECTION_COUNT; j++) {
+                serialize8(i);
+                serialize8(j);
+                serialize8(masterConfig.modeColors[i].color[j]);
+            }
+        }
+
+        for (int j = 0; j < LED_SPECIAL_COLOR_COUNT; j++) {
+            serialize8(LED_MODE_COUNT);
+            serialize8(j);
+            serialize8(masterConfig.specialColors.color[j]);
         }
         break;
 #endif
@@ -1172,8 +1186,17 @@ static bool processOutCommand(uint8_t cmdMSP)
     case MSP_DATAFLASH_READ:
         {
             uint32_t readAddress = read32();
+            uint16_t readLength;
+            bool useLegacyFormat;
+            if (currentPort->dataSize >= sizeof(uint32_t) + sizeof(uint16_t)) {
+                readLength = read16();
+                useLegacyFormat = false;
+            } else {
+                readLength = 128; 
+                useLegacyFormat = true;
+            }
 
-            serializeDataflashReadReply(readAddress, 128);
+            serializeDataflashReadReply(readAddress, readLength, useLegacyFormat);
         }
         break;
 #endif
@@ -1237,18 +1260,18 @@ static bool processOutCommand(uint8_t cmdMSP)
         break;
 
     case MSP_3D:
-        headSerialReply(2 * 4);
+        headSerialReply(2 * 3);
         serialize16(masterConfig.flight3DConfig.deadband3d_low);
         serialize16(masterConfig.flight3DConfig.deadband3d_high);
         serialize16(masterConfig.flight3DConfig.neutral3d);
-        serialize16(masterConfig.flight3DConfig.deadband3d_throttle);
         break;
 
     case MSP_RC_DEADBAND:
-        headSerialReply(3);
+        headSerialReply(5);
         serialize8(masterConfig.rcControlsConfig.deadband);
         serialize8(masterConfig.rcControlsConfig.yaw_deadband);
         serialize8(masterConfig.rcControlsConfig.alt_hold_deadband);
+        serialize16(masterConfig.flight3DConfig.deadband3d_throttle);
         break;
     case MSP_SENSOR_ALIGNMENT:
         headSerialReply(3);
@@ -1256,34 +1279,43 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize8(masterConfig.sensorAlignmentConfig.acc_align);
         serialize8(masterConfig.sensorAlignmentConfig.mag_align);
         break;
-    case MSP_PID_ADVANCED_CONFIG :
+    case MSP_ADVANCED_CONFIG :
         headSerialReply(6);
-        serialize8(masterConfig.gyro_sync_denom);
-        serialize8(masterConfig.pid_process_denom);
+        if (masterConfig.gyro_lpf) {
+            serialize8(8); // If gyro_lpf != OFF then looptime is set to 1000
+            serialize8(1);
+        } else {
+            serialize8(masterConfig.gyro_sync_denom);
+            serialize8(masterConfig.pid_process_denom);
+        }
         serialize8(masterConfig.use_unsyncedPwm);
         serialize8(masterConfig.motor_pwm_protocol);
         serialize16(masterConfig.motor_pwm_rate);
         break;
     case MSP_FILTER_CONFIG :
-        headSerialReply(5);
+        headSerialReply(13);
         serialize8(masterConfig.gyro_soft_lpf_hz);
         serialize16(currentProfile->pidProfile.dterm_lpf_hz);
         serialize16(currentProfile->pidProfile.yaw_lpf_hz);
+        serialize16(masterConfig.gyro_soft_notch_hz);
+        serialize16(masterConfig.gyro_soft_notch_cutoff);
+        serialize16(currentProfile->pidProfile.dterm_notch_hz);
+        serialize16(currentProfile->pidProfile.dterm_notch_cutoff);
         break;
-    case MSP_ADVANCED_TUNING:
-        headSerialReply(3 * 2 + 2);
+    case MSP_PID_ADVANCED:
+        headSerialReply(17);
         serialize16(currentProfile->pidProfile.rollPitchItermIgnoreRate);
         serialize16(currentProfile->pidProfile.yawItermIgnoreRate);
         serialize16(currentProfile->pidProfile.yaw_p_limit);
         serialize8(currentProfile->pidProfile.deltaMethod);
-        serialize8(masterConfig.batteryConfig.vbatPidCompensation);
-        break;
-    case MSP_SPECIAL_PARAMETERS:
-        headSerialReply(1 + 2 + 1 + 2);
-        serialize8(currentControlRateProfile->rcYawRate8);
-        serialize16(masterConfig.rxConfig.airModeActivateThreshold);
-        serialize8(masterConfig.rxConfig.rcSmoothInterval);
-        serialize16(masterConfig.escAndServoConfig.escDesyncProtection);
+        serialize8(currentProfile->pidProfile.vbatPidCompensation);
+        serialize8(currentProfile->pidProfile.ptermSRateWeight);
+        serialize8(currentProfile->pidProfile.dtermSetpointWeight);
+        serialize8(0); // reserved
+        serialize8(0); // reserved
+        serialize8(currentProfile->pidProfile.itermThrottleGain);
+        serialize16(currentProfile->pidProfile.rateAccelLimit);
+        serialize16(currentProfile->pidProfile.yawRateAccelLimit);
         break;
     case MSP_SENSOR_CONFIG:
         headSerialReply(3);
@@ -1302,8 +1334,7 @@ static bool processInCommand(void)
 {
     uint32_t i;
     uint16_t tmp;
-    uint8_t rate;
-    uint8_t oldPid;
+    uint8_t value;
 #ifdef GPS
     uint8_t wp_no;
     int32_t lat = 0, lon = 0, alt = 0;
@@ -1313,19 +1344,29 @@ static bool processInCommand(void)
 #endif
     switch (currentPort->cmdMSP) {
     case MSP_SELECT_SETTING:
-        if (!ARMING_FLAG(ARMED)) {
-            masterConfig.current_profile_index = read8();
-            if (masterConfig.current_profile_index > 1) {
-                masterConfig.current_profile_index = 0;
+        value = read8();
+        if ((value & RATEPROFILE_MASK) == 0) {
+            if (!ARMING_FLAG(ARMED)) {
+                if (value >= MAX_PROFILE_COUNT) {
+                    value = 0;
+                }
+                changeProfile(value);
             }
-            writeEEPROM();
-            readEEPROM();
+        } else {
+            value = value & ~RATEPROFILE_MASK;
+
+            if (value >= MAX_RATEPROFILES) {
+                value = 0;
+            }
+            changeControlRateProfile(value);
         }
+
         break;
     case MSP_SET_HEAD:
         magHold = read16();
         break;
     case MSP_SET_RAW_RC:
+#ifndef SKIP_RX_MSP
         {
             uint8_t channelCount = currentPort->dataSize / sizeof(uint16_t);
             if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT) {
@@ -1340,6 +1381,7 @@ static bool processInCommand(void)
                 rxMspFrameReceive(frame, channelCount);
             }
         }
+#endif
         break;
     case MSP_SET_ACC_TRIM:
         masterConfig.accelerometerTrims.values.pitch = read16();
@@ -1350,13 +1392,13 @@ static bool processInCommand(void)
         masterConfig.disarm_kill_switch = read8();
         break;
     case MSP_SET_LOOP_TIME:
-        setGyroSamplingSpeed(read16());
+        read16();
         break;
     case MSP_SET_PID_CONTROLLER:
-        oldPid = currentProfile->pidProfile.pidController;
-        currentProfile->pidProfile.pidController = constrain(read8(), 1, 2);
+#ifndef SKIP_PID_FLOAT
+        currentProfile->pidProfile.pidController = constrain(read8(), 0, 1);
         pidSetController(currentProfile->pidProfile.pidController);
-        if (oldPid != currentProfile->pidProfile.pidController) setGyroSamplingSpeed(0); // recalculate looptimes for new PID
+#endif
         break;
     case MSP_SET_PID:
         for (i = 0; i < PID_ITEM_COUNT; i++) {
@@ -1410,17 +1452,20 @@ static bool processInCommand(void)
             currentControlRateProfile->rcRate8 = read8();
             currentControlRateProfile->rcExpo8 = read8();
             for (i = 0; i < 3; i++) {
-                rate = read8();
-                currentControlRateProfile->rates[i] = MIN(rate, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
+                value = read8();
+                currentControlRateProfile->rates[i] = MIN(value, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
             }
-            rate = read8();
-            currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
+            value = read8();
+            currentControlRateProfile->dynThrPID = MIN(value, CONTROL_RATE_CONFIG_TPA_MAX);
             currentControlRateProfile->thrMid8 = read8();
             currentControlRateProfile->thrExpo8 = read8();
             currentControlRateProfile->tpa_breakpoint = read16();
             if (currentPort->dataSize >= 11) {
                 currentControlRateProfile->rcYawExpo8 = read8();
             }
+            if (currentPort->dataSize >= 12) {
+                currentControlRateProfile->rcYawRate8 = read8();
+            }
         } else {
             headSerialError(0);
         }
@@ -1514,7 +1559,7 @@ static bool processInCommand(void)
         break;
 
     case MSP_SET_RESET_CURR_PID:
-        resetPidProfile(&currentProfile->pidProfile);
+        resetProfile(currentProfile);
         break;
 
     case MSP_SET_SENSOR_ALIGNMENT:
@@ -1690,8 +1735,17 @@ static bool processInCommand(void)
             masterConfig.rxConfig.rx_min_usec = read16();
             masterConfig.rxConfig.rx_max_usec = read16();
         }
+        if (currentPort->dataSize > 12) {
+            masterConfig.rxConfig.rcInterpolation = read8();
+            masterConfig.rxConfig.rcInterpolationInterval = read8();
+            masterConfig.rxConfig.airModeActivateThreshold = read16();
+        }
+        if (currentPort->dataSize > 16) {
+            masterConfig.rxConfig.nrf24rx_protocol = read8();
+            masterConfig.rxConfig.nrf24rx_id = read32();
+            masterConfig.rxConfig.nrf24rx_channel_count = read8();
+        }
         break;
-
     case MSP_SET_FAILSAFE_CONFIG:
         masterConfig.failsafeConfig.failsafe_delay = read8();
         masterConfig.failsafeConfig.failsafe_off_delay = read8();
@@ -1774,7 +1828,7 @@ static bool processInCommand(void)
 
 #ifdef LED_STRIP
     case MSP_SET_LED_COLORS:
-        for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
+        for (i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
             hsvColor_t *color = &masterConfig.colors[i];
             color->h = read16();
             color->s = read8();
@@ -1785,31 +1839,26 @@ static bool processInCommand(void)
     case MSP_SET_LED_STRIP_CONFIG:
         {
             i = read8();
-            if (i >= MAX_LED_STRIP_LENGTH || currentPort->dataSize != (1 + 7)) {
+            if (i >= LED_MAX_STRIP_LENGTH || currentPort->dataSize != (1 + 4)) {
                 headSerialError(0);
                 break;
             }
             ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
-            uint16_t mask;
-            // currently we're storing directions and functions in a uint16 (flags)
-            // the msp uses 2 x uint16_t to cater for future expansion
-            mask = read16();
-            ledConfig->flags = (mask << LED_DIRECTION_BIT_OFFSET) & LED_DIRECTION_MASK;
-
-            mask = read16();
-            ledConfig->flags |= (mask << LED_FUNCTION_BIT_OFFSET) & LED_FUNCTION_MASK;
-
-            mask = read8();
-            ledConfig->xy = CALCULATE_LED_X(mask);
-
-            mask = read8();
-            ledConfig->xy |= CALCULATE_LED_Y(mask);
-
-            ledConfig->color = read8();
-
+            *ledConfig = read32();
             reevaluateLedConfig();
         }
         break;
+
+    case MSP_SET_LED_STRIP_MODECOLOR:
+        {
+            ledModeIndex_e modeIdx = read8();
+            int funIdx = read8();
+            int color = read8();
+
+            if (!setModeColor(modeIdx, funIdx, color))
+                return false;
+        }
+        break;
 #endif
     case MSP_REBOOT:
         isRebootScheduled = true;
@@ -1838,7 +1887,7 @@ static bool processInCommand(void)
         break;
 #endif
 
-    case MSP_SET_PID_ADVANCED_CONFIG :
+    case MSP_SET_ADVANCED_CONFIG :
         masterConfig.gyro_sync_denom = read8();
         masterConfig.pid_process_denom = read8();
         masterConfig.use_unsyncedPwm = read8();
@@ -1849,25 +1898,39 @@ static bool processInCommand(void)
         masterConfig.gyro_soft_lpf_hz = read8();
         currentProfile->pidProfile.dterm_lpf_hz = read16();
         currentProfile->pidProfile.yaw_lpf_hz = read16();
+        if (currentPort->dataSize > 5) {
+            masterConfig.gyro_soft_notch_hz = read16();
+            masterConfig.gyro_soft_notch_cutoff = read16();
+            currentProfile->pidProfile.dterm_notch_hz = read16();
+            currentProfile->pidProfile.dterm_notch_cutoff = read16();
+        }
         break;
-    case MSP_SET_ADVANCED_TUNING:
+    case MSP_SET_PID_ADVANCED:
         currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();
         currentProfile->pidProfile.yawItermIgnoreRate = read16();
         currentProfile->pidProfile.yaw_p_limit = read16();
         currentProfile->pidProfile.deltaMethod = read8();
-        masterConfig.batteryConfig.vbatPidCompensation = read8();
-        break;
-    case MSP_SET_SPECIAL_PARAMETERS:
-        currentControlRateProfile->rcYawRate8 = read8();
-        masterConfig.rxConfig.airModeActivateThreshold = read16();
-        masterConfig.rxConfig.rcSmoothInterval = read8();
-        masterConfig.escAndServoConfig.escDesyncProtection = read16();
+        currentProfile->pidProfile.vbatPidCompensation = read8();
+        currentProfile->pidProfile.ptermSRateWeight = read8();
+        currentProfile->pidProfile.dtermSetpointWeight = read8();
+        read8(); // reserved
+        read8(); // reserved
+        currentProfile->pidProfile.itermThrottleGain = read8();
+        currentProfile->pidProfile.rateAccelLimit = read16();
+        currentProfile->pidProfile.yawRateAccelLimit = read16();
         break;
     case MSP_SET_SENSOR_CONFIG:
         masterConfig.acc_hardware = read8();
         masterConfig.baro_hardware = read8();
         masterConfig.mag_hardware = read8();
         break;
+       
+    case MSP_SET_NAME:
+        memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name));
+        for (i = 0; i < MIN(MAX_NAME_LENGTH, currentPort->dataSize); i++) {
+            masterConfig.name[i] = read8();
+        }
+        break;
     default:
         // we do not know how to handle the (valid) message, indicate error MSP $M!
         return false;
@@ -1931,7 +1994,7 @@ STATIC_UNIT_TESTED void setCurrentPort(mspPort_t *port)
     mspSerialPort = currentPort->port;
 }
 
-void mspProcess(void)
+void mspSerialProcess(void)
 {
     uint8_t portIndex;
     mspPort_t *candidatePort;
diff --git a/src/main/io/serial_msp.h b/src/main/io/serial_msp.h
index 1a63b2b20d..a1c7cdbdf9 100644
--- a/src/main/io/serial_msp.h
+++ b/src/main/io/serial_msp.h
@@ -17,270 +17,6 @@
 
 #pragma once
 
-#include "io/serial.h"
-#include "drivers/serial.h"
-
-/**
- * MSP Guidelines, emphasis is used to clarify.
- *
- * Each FlightController (FC, Server) MUST change the API version when any MSP command is added, deleted, or changed.
- *
- * If you fork the FC source code and release your own version, you MUST change the Flight Controller Identifier.
- *
- * NEVER release a modified copy of this code that shares the same Flight controller IDENT and API version
- * if the API doesn't match EXACTLY.
- *
- * Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command.
- * If no response is obtained then client MAY try the legacy MSP_IDENT command.
- *
- * API consumers should ALWAYS handle communication failures gracefully and attempt to continue
- * without the information if possible.  Clients MAY log/display a suitable message.
- *
- * API clients should NOT attempt any communication if they can't handle the returned API MAJOR VERSION.
- *
- * API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time
- * the API client was written and handle command failures gracefully.  Clients MAY disable
- * functionality that depends on the commands while still leaving other functionality intact.
- * Clients SHOULD operate in READ-ONLY mode and SHOULD present a warning to the user to state
- * that the newer API version may cause problems before using API commands that change FC state.
- *
- * It is for this reason that each MSP command should be specific as possible, such that changes
- * to commands break as little client functionality as possible.
- *
- * API client authors MAY use a compatibility matrix/table when determining if they can support
- * a given command from a given flight controller at a given api version level.
- *
- * Developers MUST NOT create new MSP commands that do more than one thing.
- *
- * Failure to follow these guidelines will likely invoke the wrath of developers trying to write tools
- * that use the API and the users of those tools.
- */
-
-#define MSP_PROTOCOL_VERSION                0
-
-#define API_VERSION_MAJOR                   1 // increment when major changes are made
-#define API_VERSION_MINOR                   17 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
-
-#define API_VERSION_LENGTH                  2
-
-#define MULTIWII_IDENTIFIER "MWII";
-#define CLEANFLIGHT_IDENTIFIER "CLFL"
-#define BETAFLIGHT_IDENTIFIER "BTFL"
-#define BASEFLIGHT_IDENTIFIER "BAFL";
-
-#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
-extern const char * const flightControllerIdentifier;
-
-#define FLIGHT_CONTROLLER_VERSION_LENGTH    3
-#define FLIGHT_CONTROLLER_VERSION_MASK      0xFFF
-
-static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
-#define BOARD_IDENTIFIER_LENGTH             4 // 4 UPPER CASE alpha numeric characters that identify the board being used.
-#define BOARD_HARDWARE_REVISION_LENGTH      2
-
-// These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version.
-#define CAP_PLATFORM_32BIT          ((uint32_t)1 << 31)
-#define CAP_BASEFLIGHT_CONFIG       ((uint32_t)1 << 30)
-
-// MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask.
-#define CAP_NAVI_VERSION_BIT_4_MSB  ((uint32_t)1 << 31)
-#define CAP_NAVI_VERSION_BIT_3      ((uint32_t)1 << 30)
-#define CAP_NAVI_VERSION_BIT_2      ((uint32_t)1 << 29)
-#define CAP_NAVI_VERSION_BIT_1_LSB  ((uint32_t)1 << 28)
-
-#define CAP_DYNBALANCE              ((uint32_t)1 << 2)
-#define CAP_FLAPS                   ((uint32_t)1 << 3)
-#define CAP_NAVCAP                  ((uint32_t)1 << 4)
-#define CAP_EXTAUX                  ((uint32_t)1 << 5)
-
-#define MSP_API_VERSION                 1    //out message
-#define MSP_FC_VARIANT                  2    //out message
-#define MSP_FC_VERSION                  3    //out message
-#define MSP_BOARD_INFO                  4    //out message
-#define MSP_BUILD_INFO                  5    //out message
-
-//
-// MSP commands for Cleanflight original features
-//
-#define MSP_MODE_RANGES                 34    //out message         Returns all mode ranges
-#define MSP_SET_MODE_RANGE              35    //in message          Sets a single mode range
-
-#define MSP_FEATURE                     36
-#define MSP_SET_FEATURE                 37
-
-#define MSP_BOARD_ALIGNMENT             38
-#define MSP_SET_BOARD_ALIGNMENT         39
-
-#define MSP_CURRENT_METER_CONFIG        40
-#define MSP_SET_CURRENT_METER_CONFIG    41
-
-#define MSP_MIXER                       42
-#define MSP_SET_MIXER                   43
-
-#define MSP_RX_CONFIG                   44
-#define MSP_SET_RX_CONFIG               45
-
-#define MSP_LED_COLORS                  46
-#define MSP_SET_LED_COLORS              47
-
-#define MSP_LED_STRIP_CONFIG            48
-#define MSP_SET_LED_STRIP_CONFIG        49
-
-#define MSP_RSSI_CONFIG                 50
-#define MSP_SET_RSSI_CONFIG             51
-
-#define MSP_ADJUSTMENT_RANGES           52
-#define MSP_SET_ADJUSTMENT_RANGE        53
-
-// private - only to be used by the configurator, the commands are likely to change
-#define MSP_CF_SERIAL_CONFIG            54
-#define MSP_SET_CF_SERIAL_CONFIG        55
-
-#define MSP_VOLTAGE_METER_CONFIG        56
-#define MSP_SET_VOLTAGE_METER_CONFIG    57
-
-#define MSP_SONAR_ALTITUDE              58 //out message get sonar altitude [cm]
-
-#define MSP_PID_CONTROLLER              59
-#define MSP_SET_PID_CONTROLLER          60
-
-#define MSP_ARMING_CONFIG               61 //out message         Returns auto_disarm_delay and disarm_kill_switch parameters
-#define MSP_SET_ARMING_CONFIG           62 //in message          Sets auto_disarm_delay and disarm_kill_switch parameters
-
-#define MSP_DATAFLASH_SUMMARY           70 //out message - get description of dataflash chip
-#define MSP_DATAFLASH_READ              71 //out message - get content of dataflash chip
-#define MSP_DATAFLASH_ERASE             72 //in message - erase dataflash chip
-
-#define MSP_LOOP_TIME                   73 //out message         Returns FC cycle time i.e looptime parameter
-#define MSP_SET_LOOP_TIME               74 //in message          Sets FC cycle time i.e looptime parameter
-
-#define MSP_FAILSAFE_CONFIG             75 //out message         Returns FC Fail-Safe settings
-#define MSP_SET_FAILSAFE_CONFIG         76 //in message          Sets FC Fail-Safe settings
-
-#define MSP_RXFAIL_CONFIG               77 //out message         Returns RXFAIL settings
-#define MSP_SET_RXFAIL_CONFIG           78 //in message          Sets RXFAIL settings
-
-#define MSP_SDCARD_SUMMARY              79 //out message         Get the state of the SD card
-
-#define MSP_BLACKBOX_CONFIG             80 //out message         Get blackbox settings
-#define MSP_SET_BLACKBOX_CONFIG         81 //in message          Set blackbox settings
-
-#define MSP_TRANSPONDER_CONFIG          82 //in message          Get transponder settings
-#define MSP_SET_TRANSPONDER_CONFIG      83 //out message         Set transponder settings
-
-#define MSP_OSD_CONFIG                  84 //in message          Get osd settings
-#define MSP_SET_OSD_CONFIG              85 //out message         Set osd settings
-
-#define MSP_OSD_CHAR_READ               86 //in message          Get osd settings
-#define MSP_OSD_CHAR_WRITE              87 //out message         Set osd settings
-
-#define MSP_VTX_CONFIG                  88 //in message          Get vtx settings
-#define MSP_SET_VTX_CONFIG              89 //out message         Set vtx settings
-
-//
-// Baseflight MSP commands (if enabled they exist in Cleanflight)
-//
-#define MSP_RX_MAP                      64 //out message get channel map (also returns number of channels total)
-#define MSP_SET_RX_MAP                  65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
-
-// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
-// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG.  In Cleanflight, isolated commands already exist and should be used instead.
-#define MSP_BF_CONFIG                   66 //out message baseflight-specific settings that aren't covered elsewhere
-#define MSP_SET_BF_CONFIG               67 //in message baseflight-specific settings save
-
-#define MSP_REBOOT                      68 //in message reboot settings
-
-// DEPRECATED - Use MSP_BUILD_INFO instead
-#define MSP_BF_BUILD_INFO               69 //out message build date as well as some space for future expansion
-
-// Betaflight Additional Commands
-#define MSP_PID_ADVANCED_CONFIG         90
-#define MSP_SET_PID_ADVANCED_CONFIG     91
-
-#define MSP_FILTER_CONFIG               92
-#define MSP_SET_FILTER_CONFIG           93
-
-#define MSP_ADVANCED_TUNING             94
-#define MSP_SET_ADVANCED_TUNING         95
-
-#define MSP_SENSOR_CONFIG               96
-#define MSP_SET_SENSOR_CONFIG           97
-
-#define MSP_SPECIAL_PARAMETERS          98 // Temporary betaflight parameters before cleanup and keep CF compatibility
-#define MSP_SET_SPECIAL_PARAMETERS      99 // Temporary betaflight parameters before cleanup and keep CF compatibility
-
-//
-// Multwii original MSP commands
-//
-
-// DEPRECATED - See MSP_API_VERSION and MSP_MIXER
-#define MSP_IDENT                100    //out message         mixerMode + multiwii version + protocol version + capability variable
-
-
-#define MSP_STATUS               101    //out message         cycletime & errors_count & sensor present & box activation & current setting number
-#define MSP_RAW_IMU              102    //out message         9 DOF
-#define MSP_SERVO                103    //out message         servos
-#define MSP_MOTOR                104    //out message         motors
-#define MSP_RC                   105    //out message         rc channels and more
-#define MSP_RAW_GPS              106    //out message         fix, numsat, lat, lon, alt, speed, ground course
-#define MSP_COMP_GPS             107    //out message         distance home, direction home
-#define MSP_ATTITUDE             108    //out message         2 angles 1 heading
-#define MSP_ALTITUDE             109    //out message         altitude, variometer
-#define MSP_ANALOG               110    //out message         vbat, powermetersum, rssi if available on RX
-#define MSP_RC_TUNING            111    //out message         rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
-#define MSP_PID                  112    //out message         P I D coeff (9 are used currently)
-#define MSP_BOX                  113    //out message         BOX setup (number is dependant of your setup)
-#define MSP_MISC                 114    //out message         powermeter trig
-#define MSP_MOTOR_PINS           115    //out message         which pins are in use for motors & servos, for GUI
-#define MSP_BOXNAMES             116    //out message         the aux switch names
-#define MSP_PIDNAMES             117    //out message         the PID names
-#define MSP_WP                   118    //out message         get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
-#define MSP_BOXIDS               119    //out message         get the permanent IDs associated to BOXes
-#define MSP_SERVO_CONFIGURATIONS 120    //out message         All servo configurations.
-#define MSP_NAV_STATUS           121    //out message         Returns navigation status
-#define MSP_NAV_CONFIG           122    //out message         Returns navigation parameters
-#define MSP_3D                   124    //out message         Settings needed for reversible ESCs
-#define MSP_RC_DEADBAND          125    //out message         deadbands for yaw alt pitch roll
-#define MSP_SENSOR_ALIGNMENT     126    //out message         orientation of acc,gyro,mag
-
-#define MSP_SET_RAW_RC           200    //in message          8 rc chan
-#define MSP_SET_RAW_GPS          201    //in message          fix, numsat, lat, lon, alt, speed
-#define MSP_SET_PID              202    //in message          P I D coeff (9 are used currently)
-#define MSP_SET_BOX              203    //in message          BOX setup (number is dependant of your setup)
-#define MSP_SET_RC_TUNING        204    //in message          rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
-#define MSP_ACC_CALIBRATION      205    //in message          no param
-#define MSP_MAG_CALIBRATION      206    //in message          no param
-#define MSP_SET_MISC             207    //in message          powermeter trig + 8 free for future use
-#define MSP_RESET_CONF           208    //in message          no param
-#define MSP_SET_WP               209    //in message          sets a given WP (WP#,lat, lon, alt, flags)
-#define MSP_SELECT_SETTING       210    //in message          Select Setting Number (0-2)
-#define MSP_SET_HEAD             211    //in message          define a new heading hold direction
-#define MSP_SET_SERVO_CONFIGURATION 212    //in message          Servo settings
-#define MSP_SET_MOTOR            214    //in message          PropBalance function
-#define MSP_SET_NAV_CONFIG       215    //in message          Sets nav config parameters - write to the eeprom
-#define MSP_SET_3D               217    //in message          Settings needed for reversible ESCs
-#define MSP_SET_RC_DEADBAND      218    //in message          deadbands for yaw alt pitch roll
-#define MSP_SET_RESET_CURR_PID   219    //in message          resetting the current pid profile to defaults
-#define MSP_SET_SENSOR_ALIGNMENT 220    //in message          set the orientation of the acc,gyro,mag
-
-// #define MSP_BIND                 240    //in message          no param
-// #define MSP_ALARMS               242
-
-#define MSP_EEPROM_WRITE         250    //in message          no param
-
-#define MSP_DEBUGMSG             253    //out message         debug string buffer
-#define MSP_DEBUG                254    //out message         debug1,debug2,debug3,debug4
-
-// Additional commands that are not compatible with MultiWii
-#define MSP_STATUS_EX            150    //out message         cycletime, errors_count, CPU load, sensor present etc
-#define MSP_UID                  160    //out message         Unique device ID
-#define MSP_GPSSVINFO            164    //out message         get Signal Strength (only U-Blox)
-#define MSP_ACC_TRIM             240    //out message         get acc angle trim values
-#define MSP_SET_ACC_TRIM         239    //in message          set acc angle trim values
-#define MSP_SERVO_MIX_RULES      241    //out message         Returns servo mixer configuration
-#define MSP_SET_SERVO_MIX_RULE   242    //in message          Sets servo mixer configuration
-#define MSP_SET_4WAY_IF          245    //in message          Sets 4way interface
-
 // Each MSP port requires state and a receive buffer, revisit this default if someone needs more than 2 MSP ports.
 #define MAX_MSP_PORT_COUNT 2
 
@@ -307,7 +43,9 @@ typedef struct mspPort_s {
     uint8_t cmdMSP;
 } mspPort_t;
 
-void mspInit(serialConfig_t *serialConfig);
-void mspProcess(void);
-void mspAllocateSerialPorts(serialConfig_t *serialConfig);
-void mspReleasePortIfAllocated(serialPort_t *serialPort);
+struct serialConfig_s;
+void mspSerialInit(struct serialConfig_s *serialConfig);
+void mspSerialProcess(void);
+void mspSerialAllocatePorts(struct serialConfig_s *serialConfig);
+struct serialPort_s;
+void mspSerialReleasePortIfAllocated(struct serialPort_s *serialPort);
diff --git a/src/main/io/transponder_ir.c b/src/main/io/transponder_ir.c
index fa4f66118a..633e56e068 100644
--- a/src/main/io/transponder_ir.c
+++ b/src/main/io/transponder_ir.c
@@ -23,7 +23,7 @@
 
 #include <platform.h>
 
-#include <build_config.h>
+#include <build/build_config.h>
 
 #include "drivers/transponder_ir.h"
 #include "drivers/system.h"
diff --git a/src/main/io/vtx.c b/src/main/io/vtx.c
index 15a3de3347..6c6f6ab94e 100644
--- a/src/main/io/vtx.c
+++ b/src/main/io/vtx.c
@@ -50,8 +50,8 @@
 #include "io/serial.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 #include "io/vtx.h"
@@ -70,7 +70,8 @@
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 
 static uint8_t locked = 0;
 
diff --git a/src/main/io/vtx.h b/src/main/io/vtx.h
index 942a770547..fdd5e506f9 100644
--- a/src/main/io/vtx.h
+++ b/src/main/io/vtx.h
@@ -14,7 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
- 
+
 #pragma once
 
 #define VTX_BAND_MIN                            1
diff --git a/src/main/main.c b/src/main/main.c
index 8cf45ac7bb..4f2167480b 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -25,6 +25,7 @@
 #include "common/axis.h"
 #include "common/color.h"
 #include "common/maths.h"
+#include "common/printf.h"
 
 #include "drivers/nvic.h"
 
@@ -32,6 +33,7 @@
 #include "drivers/system.h"
 #include "drivers/dma.h"
 #include "drivers/gpio.h"
+#include "drivers/io.h"
 #include "drivers/light_led.h"
 #include "drivers/sound_beeper.h"
 #include "drivers/timer.h"
@@ -61,17 +63,20 @@
 #endif
 
 #include "rx/rx.h"
+#include "rx/spektrum.h"
 
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/ledstrip.h"
 #include "io/display.h"
 #include "io/asyncfatfs/asyncfatfs.h"
+#include "io/serial_cli.h"
+#include "io/serial_msp.h"
 #include "io/transponder_ir.h"
 #include "io/osd.h"
 #include "io/vtx.h"
@@ -97,17 +102,22 @@
 #include "flight/failsafe.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
+#include "config/config_eeprom.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
+#include "config/feature.h"
+
+#define LOOPTIME_SUSPEND_TIME 3  // Prevent too long busy wait times
 
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
 
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 extern uint8_t motorControlEnable;
 
@@ -115,29 +125,6 @@ extern uint8_t motorControlEnable;
 serialPort_t *loopbackPort;
 #endif
 
-void printfSupportInit(void);
-void timerInit(void);
-void telemetryInit(void);
-void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled);
-void mspInit(serialConfig_t *serialConfig);
-void cliInit(serialConfig_t *serialConfig);
-void failsafeInit(rxConfig_t *intialRxConfig, uint16_t deadband3d_throttle);
-pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
-#ifdef USE_SERVOS
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixer_t *customServoMixers);
-#else
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
-#endif
-void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm);
-void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions);
-void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
-void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
-void imuInit(void);
-void displayInit(rxConfig_t *intialRxConfig);
-void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
-void spektrumBind(rxConfig_t *rxConfig);
-const sonarHardware_t *sonarGetHardwareConfiguration(currentSensor_e currentSensor);
-void osdInit(void);
 
 typedef enum {
     SYSTEM_STATE_INITIALISING   = 0,
@@ -178,12 +165,7 @@ void init(void)
     latchActiveFeatures();
 
 #ifdef ALIENFLIGHTF3
-    if (hardwareRevision == AFF3_REV_1) {
-        ledInit(false);
-    }
-    else {
-        ledInit(true);
-    }
+    ledInit(hardwareRevision == AFF3_REV_1 ? false : true);
 #else
     ledInit(false);
 #endif
@@ -248,12 +230,19 @@ void init(void)
 
     dmaInit();
 
-    serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
-
-#ifdef USE_SERVOS
-    mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer);
+#if defined(AVOID_UART2_FOR_PWM_PPM)
+    serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
+            feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
+#elif defined(AVOID_UART3_FOR_PWM_PPM)
+    serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
+            feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
 #else
+    serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
+#endif
+
     mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
+#ifdef USE_SERVOS
+    servoInit(masterConfig.customServoMixer);
 #endif
 
     drv_pwm_config_t pwm_params;
@@ -264,8 +253,8 @@ void init(void)
         const sonarHardware_t *sonarHardware = sonarGetHardwareConfiguration(masterConfig.batteryConfig.currentMeterType);
         if (sonarHardware) {
             pwm_params.useSonar = true;
-            pwm_params.sonarConfig.triggerTag = sonarHardware->triggerTag;
-            pwm_params.sonarConfig.echoTag = sonarHardware->echoTag;
+            pwm_params.sonarIOConfig.triggerTag = sonarHardware->triggerTag;
+            pwm_params.sonarIOConfig.echoTag = sonarHardware->echoTag;
         }
     }
 #endif
@@ -304,18 +293,12 @@ void init(void)
     pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
 #endif
 
-    if (masterConfig.motor_pwm_protocol == PWM_TYPE_ONESHOT125) {
-        featureSet(FEATURE_ONESHOT125);
-    } else {
-        featureClear(FEATURE_ONESHOT125);
-    }
-
-    bool use_unsyncedPwm = masterConfig.use_unsyncedPwm;
+    bool use_unsyncedPwm = masterConfig.use_unsyncedPwm || masterConfig.motor_pwm_protocol == PWM_TYPE_CONVENTIONAL || masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED;
 
     // Configurator feature abused for enabling Fast PWM
-    pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);  
+    pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
     pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
-    pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
+    pwm_params.motorPwmRate = use_unsyncedPwm ? masterConfig.motor_pwm_rate : 0;
     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
@@ -323,12 +306,13 @@ void init(void)
     if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED) {
         featureClear(FEATURE_3D);
         pwm_params.idlePulse = 0; // brushed motors
-        use_unsyncedPwm = false;
     }
 #ifdef CC3D
     pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
 #endif
+#ifndef SKIP_RX_PWM_PPM
     pwmRxInit(masterConfig.inputFilteringMode);
+#endif
 
     // pwmInit() needs to be called as soon as possible for ESC compatibility reasons
     pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
@@ -355,6 +339,12 @@ void init(void)
         beeperConfig.isInverted = true;
     }
 #endif
+/* temp until PGs are implemented. */
+#ifdef BLUEJAYF4
+    if (hardwareRevision <= BJF4_REV2) {
+        beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
+    }
+#endif
 #ifdef CC3D
     if (masterConfig.use_buzzer_p6 == 1)
         beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
@@ -514,7 +504,7 @@ void init(void)
 
     imuInit();
 
-    mspInit(&masterConfig.serialConfig);
+    mspSerialInit(&masterConfig.serialConfig);
 
 #ifdef USE_CLI
     cliInit(&masterConfig.serialConfig);
@@ -544,7 +534,7 @@ void init(void)
 #endif
 
 #ifdef LED_STRIP
-    ledStripInit(masterConfig.ledConfigs, masterConfig.colors);
+    ledStripInit(masterConfig.ledConfigs, masterConfig.colors, masterConfig.modeColors, &masterConfig.specialColors);
 
     if (feature(FEATURE_LED_STRIP)) {
         ledStripEnable();
@@ -573,10 +563,10 @@ void init(void)
 #ifdef USE_FLASHFS
 #ifdef NAZE
     if (hardwareRevision == NAZE32_REV5) {
-        m25p16_init();
+        m25p16_init(IOTAG_NONE);
     }
 #elif defined(USE_FLASH_M25P16)
-    m25p16_init();
+    m25p16_init(IOTAG_NONE);
 #endif
 
     flashfsInit();
@@ -591,7 +581,11 @@ void init(void)
 
 #if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL)
     // Ensure the SPI Tx DMA doesn't overlap with the led strip
+#ifdef STM32F4
+    sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_STREAM;
+#else
     sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL;
+#endif
 #else
     sdcardUseDMA = true;
 #endif
@@ -608,8 +602,7 @@ void init(void)
         masterConfig.gyro_sync_denom = 1;
     }
 
-    setTargetPidLooptime(masterConfig.pid_process_denom); // Initialize pid looptime
-
+    setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
 
 #ifdef BLACKBOX
     initBlackbox();
@@ -686,29 +679,14 @@ void main_init(void)
 
     /* Setup scheduler */
     schedulerInit();
-    rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
+    rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
     setTaskEnabled(TASK_GYROPID, true);
 
-    if(sensors(SENSOR_ACC)) {
+    if (sensors(SENSOR_ACC)) {
         setTaskEnabled(TASK_ACCEL, true);
-        switch(gyro.targetLooptime) {  // Switch statement kept in place to change acc rates in the future
-             case(500):
-             case(375):
-             case(250):
-             case(125):
-                 accTargetLooptime = 1000;
-                 break;
-             default:
-                 case(1000):
-#ifdef STM32F10X
-                accTargetLooptime = 3000;
-#else
-                accTargetLooptime = 1000;
-#endif
-        }
-        rescheduleTask(TASK_ACCEL, accTargetLooptime);
+        rescheduleTask(TASK_ACCEL, accSamplingInterval);
     }
-    setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
+
     setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
     setTaskEnabled(TASK_SERIAL, true);
 #ifdef BEEPER
diff --git a/src/main/rx/ibus.c b/src/main/rx/ibus.c
index 507df1eff3..562999ccf1 100755
--- a/src/main/rx/ibus.c
+++ b/src/main/rx/ibus.c
@@ -16,7 +16,7 @@
  *
  *
  * Driver for IBUS (Flysky) receiver
- *   - initial implementation for MultiWii by Cesco/Plüschi
+ *   - initial implementation for MultiWii by Cesco/Pl¸schi
  *   - implementation for BaseFlight by Andreas (fiendie) Tacke
  *   - ported to CleanFlight by Konstantin (digitalentity) Sharlaimov
  */
@@ -27,7 +27,7 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "drivers/system.h"
 
diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c
index d3ac730016..2c8d2a72ab 100644
--- a/src/main/rx/jetiexbus.c
+++ b/src/main/rx/jetiexbus.c
@@ -35,16 +35,22 @@
  */
 
 #include <stdbool.h>
-#include <stdlib.h>
 #include <stdint.h>
 
-#include "common/utils.h"
 #include "platform.h"
-#include "build_config.h"
+
+#include "build/build_config.h"
+#include "build/debug.h"
+
+#include "common/utils.h"
+
 #include "drivers/system.h"
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
+
 #include "io/serial.h"
+
+#include "rx/rx.h"
 #include "rx/jetiexbus.h"
 
 
@@ -55,13 +61,11 @@
 #include "sensors/battery.h"
 #include "sensors/barometer.h"
 #include "telemetry/telemetry.h"
+#include "telemetry/jetiexbus.h"
 
 #endif //TELEMETRY
 
 
-#include "debug.h"
-#include "rx/rx.h"
-
 //
 // Serial driver for Jeti EX Bus receiver
 //
diff --git a/src/main/rx/jetiexbus.h b/src/main/rx/jetiexbus.h
index a975e5c643..52b0bb45c4 100644
--- a/src/main/rx/jetiexbus.h
+++ b/src/main/rx/jetiexbus.h
@@ -17,19 +17,6 @@
 
 #pragma once
 
-
-#include "rx/rx.h"
-
 bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
 uint8_t jetiExBusFrameStatus(void);
 
-
-#ifdef TELEMETRY
-
-#include "telemetry/telemetry.h"
-
-void initJetiExBusTelemetry(telemetryConfig_t *initialTelemetryConfig);
-void checkJetiExBusTelemetryState(void);
-void handleJetiExBusTelemetry(void);
-
-#endif //TELEMETRY
diff --git a/src/main/rx/msp.c b/src/main/rx/msp.c
index 86399a9094..b850b9cab6 100644
--- a/src/main/rx/msp.c
+++ b/src/main/rx/msp.c
@@ -20,7 +20,9 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#ifndef SKIP_RX_MSP
+
+#include "build/build_config.h"
 
 #include "drivers/system.h"
 
@@ -71,3 +73,4 @@ void rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadR
     if (callback)
         *callback = rxMspReadRawRC;
 }
+#endif
diff --git a/src/main/rx/pwm.c b/src/main/rx/pwm.c
index 894eb27a42..e01653e2f5 100644
--- a/src/main/rx/pwm.c
+++ b/src/main/rx/pwm.c
@@ -21,15 +21,18 @@
 
 #include <string.h>
 
-#include "build_config.h"
-
 #include "platform.h"
 
+#ifndef SKIP_RX_PWM_PPM
+
+#include "build/build_config.h"
+
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 
 #include "config/config.h"
+#include "config/feature.h"
 
 #include "rx/rx.h"
 #include "rx/pwm.h"
@@ -59,4 +62,5 @@ void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfigPtr, rcReadRawDataPtr *callback
         *callback = ppmReadRawRC;
     }
 }
+#endif // SKIP_RX_PWM_PPM
 
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index 50fe4f4578..8667f38f92 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -22,25 +22,29 @@
 #include <string.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
 
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/maths.h"
 
 #include "config/config.h"
+#include "config/feature.h"
 
 #include "drivers/serial.h"
 #include "drivers/adc.h"
-#include "io/serial.h"
-#include "io/rc_controls.h"
-
-#include "flight/failsafe.h"
-
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/system.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+
+#include "io/serial.h"
+
+#include "rx/rx.h"
 #include "rx/pwm.h"
 #include "rx/sbus.h"
 #include "rx/spektrum.h"
@@ -51,8 +55,6 @@
 #include "rx/ibus.h"
 #include "rx/jetiexbus.h"
 
-#include "rx/rx.h"
-
 
 //#define DEBUG_RX_SIGNAL_LOSS
 
@@ -189,14 +191,18 @@ void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationCondi
     }
 #endif
 
+#ifndef SKIP_RX_MSP
     if (feature(FEATURE_RX_MSP)) {
         rxMspInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
     }
+#endif
 
+#ifndef SKIP_RX_PWM_PPM
     if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
         rxRefreshRate = 20000;
         rxPwmInit(&rxRuntimeConfig, &rcReadRawFunc);
     }
+#endif
 
     rxRuntimeConfig.auxChannelCount = rxRuntimeConfig.channelCount - STICK_CHANNEL_COUNT;
 }
@@ -349,16 +355,18 @@ void updateRx(uint32_t currentTime)
     }
 #endif
 
+#ifndef SKIP_RX_MSP
     if (feature(FEATURE_RX_MSP)) {
         rxDataReceived = rxMspFrameComplete();
-
         if (rxDataReceived) {
             rxSignalReceived = true;
             rxIsInFailsafeMode = false;
             needRxSignalBefore = currentTime + DELAY_5_HZ;
         }
     }
+#endif
 
+#ifndef SKIP_RX_PWM_PPM
     if (feature(FEATURE_RX_PPM)) {
         if (isPPMDataBeingReceived()) {
             rxSignalReceivedNotDataDriven = true;
@@ -375,7 +383,7 @@ void updateRx(uint32_t currentTime)
             needRxSignalBefore = currentTime + DELAY_10_HZ;
         }
     }
-
+#endif
 }
 
 bool shouldProcessRx(uint32_t currentTime)
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 1cec24053a..e3087ce3ae 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -113,6 +113,9 @@ typedef struct rxConfig_s {
     uint8_t rcmap[MAX_MAPPABLE_RX_INPUTS];  // mapping of radio channels to internal RPYTA+ order
     uint8_t serialrx_provider;              // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
     uint8_t sbus_inversion;                 // default sbus (Futaba, FrSKY) is inverted. Support for uninverted OpenLRS (and modified FrSKY) receivers.
+    uint8_t nrf24rx_protocol;               // type of nrf24 protocol (0 = v202 250kbps). Must be enabled by FEATURE_RX_NRF24 first.
+    uint32_t nrf24rx_id;
+    uint8_t nrf24rx_channel_count;
     uint8_t spektrum_sat_bind;              // number of bind pulses for Spektrum satellite receivers
     uint8_t spektrum_sat_bind_autoreset;    // whenever we will reset (exit) binding mode after hard reboot
     uint8_t rssi_channel;
@@ -121,7 +124,8 @@ typedef struct rxConfig_s {
     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end
-    uint8_t rcSmoothInterval;
+    uint8_t rcInterpolation;
+    uint8_t rcInterpolationInterval;
     uint8_t fpvCamAngleDegrees;             // Camera angle to be scaled into rc commands
     uint8_t max_aux_channel;
     uint16_t airModeActivateThreshold;      // Throttle setpoint where airmode gets activated
@@ -142,10 +146,11 @@ typedef struct rxRuntimeConfig_s {
 
 extern rxRuntimeConfig_t rxRuntimeConfig;
 
-void useRxConfig(rxConfig_t *rxConfigToUse);
-
 typedef uint16_t (*rcReadRawDataPtr)(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);        // used by receiver driver to return channel data
 
+struct modeActivationCondition_s;
+void rxInit(rxConfig_t *rxConfig, struct modeActivationCondition_s *modeActivationConditions);
+void useRxConfig(rxConfig_t *rxConfigToUse);
 void updateRx(uint32_t currentTime);
 bool rxIsReceivingSignal(void);
 bool rxAreFlightChannelsValid(void);
diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c
index 8613a28fdd..742f783406 100644
--- a/src/main/rx/sbus.c
+++ b/src/main/rx/sbus.c
@@ -21,7 +21,7 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "drivers/system.h"
 
diff --git a/src/main/rx/spektrum.c b/src/main/rx/spektrum.c
index fb211bfcf7..16fc166e71 100644
--- a/src/main/rx/spektrum.c
+++ b/src/main/rx/spektrum.c
@@ -20,7 +20,8 @@
 #include <stdlib.h>
 
 #include "platform.h"
-#include "debug.h"
+
+#include "build/debug.h"
 
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
diff --git a/src/main/rx/spektrum.h b/src/main/rx/spektrum.h
index 82989ea55a..5481bdebc0 100644
--- a/src/main/rx/spektrum.h
+++ b/src/main/rx/spektrum.h
@@ -21,3 +21,6 @@
 #define SPEKTRUM_SAT_BIND_MAX 10
 
 uint8_t spektrumFrameStatus(void);
+struct rxConfig_s;
+void spektrumBind(struct rxConfig_s *rxConfig);
+
diff --git a/src/main/rx/sumd.c b/src/main/rx/sumd.c
index 8391b8fa0d..70457d1110 100644
--- a/src/main/rx/sumd.c
+++ b/src/main/rx/sumd.c
@@ -21,7 +21,7 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "drivers/system.h"
 
diff --git a/src/main/rx/sumh.c b/src/main/rx/sumh.c
index 87a49fbb72..3b608a5d39 100644
--- a/src/main/rx/sumh.c
+++ b/src/main/rx/sumh.c
@@ -27,7 +27,7 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "drivers/system.h"
 
diff --git a/src/main/rx/xbus.c b/src/main/rx/xbus.c
index 0e68854897..bbf4848bb7 100644
--- a/src/main/rx/xbus.c
+++ b/src/main/rx/xbus.c
@@ -226,7 +226,7 @@ static void xBusUnpackRJ01Frame(void)
     uint8_t outerCrc = 0;
     uint8_t i = 0;
 
-    // When using the Align RJ01 receiver with 
+    // When using the Align RJ01 receiver with
     // a MODE B setting in the radio (XG14 tested)
     // the MODE_B -frame is packed within some
     // at the moment unknown bytes before and after:
@@ -234,7 +234,7 @@ static void xBusUnpackRJ01Frame(void)
     // Compared to a standard MODE B frame that only
     // contains the "middle" package.
     // Hence, at the moment, the unknown header and footer
-    // of the RJ01 MODEB packages are discarded. 
+    // of the RJ01 MODEB packages are discarded.
     // However, the LAST byte (CRC_OUTER) is infact an 8-bit
     // CRC for the whole package, using the Dallas-One-Wire CRC
     // method.
diff --git a/src/main/rx/xbus.h b/src/main/rx/xbus.h
index bc76f56786..cfaa920ffd 100644
--- a/src/main/rx/xbus.h
+++ b/src/main/rx/xbus.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "rx/rx.h"
-
-bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
+struct rxConfig_s;
+struct rxRuntimeConfig_s;
+bool xBusInit(struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig, rcReadRawDataPtr *callback);
 uint8_t xBusFrameStatus(void);
diff --git a/src/main/scheduler/scheduler.c b/src/main/scheduler/scheduler.c
index cff97d77e4..aa374072b9 100755
--- a/src/main/scheduler/scheduler.c
+++ b/src/main/scheduler/scheduler.c
@@ -23,8 +23,8 @@
 
 #include "platform.h"
 
-#include "debug.h"
-#include "build_config.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "scheduler/scheduler.h"
 #include "scheduler/scheduler_tasks.h"
diff --git a/src/main/scheduler/scheduler_tasks.c b/src/main/scheduler/scheduler_tasks.c
index 18299e4904..30920724a8 100644
--- a/src/main/scheduler/scheduler_tasks.c
+++ b/src/main/scheduler/scheduler_tasks.c
@@ -43,7 +43,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
     [TASK_ACCEL] = {
         .taskName = "ACCEL",
         .taskFunc = taskUpdateAccelerometer,
-        .desiredPeriod = 1000000 / 100,     // every 10ms
+        .desiredPeriod = 1000000 / 1000,    // every 1ms
         .staticPriority = TASK_PRIORITY_MEDIUM,
     },
 
@@ -73,7 +73,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .taskName = "BATTERY",
         .taskFunc = taskUpdateBattery,
         .desiredPeriod = 1000000 / 50,      // 50 Hz
-        .staticPriority = TASK_PRIORITY_LOW,
+        .staticPriority = TASK_PRIORITY_MEDIUM,
     },
 
 #ifdef BEEPER
@@ -160,7 +160,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .taskName = "TELEMETRY",
         .taskFunc = taskTelemetry,
         .desiredPeriod = 1000000 / 250,         // 250 Hz
-        .staticPriority = TASK_PRIORITY_IDLE,
+        .staticPriority = TASK_PRIORITY_LOW,
     },
 #endif
 
@@ -168,7 +168,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
     [TASK_LEDSTRIP] = {
         .taskName = "LEDSTRIP",
         .taskFunc = taskLedStrip,
-        .desiredPeriod = 1000000 / 10,         // 10 Hz
+        .desiredPeriod = 1000000 / 100,         // 100 Hz
         .staticPriority = TASK_PRIORITY_LOW,
     },
 #endif
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 5de9c3fce9..97b75326c1 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -20,7 +20,8 @@
 #include <math.h>
 
 #include "platform.h"
-#include "debug.h"
+
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/filter.h"
@@ -33,6 +34,7 @@
 #include "io/beeper.h"
 #include "sensors/boardalignment.h"
 #include "config/config.h"
+#include "config/feature.h"
 
 #include "sensors/acceleration.h"
 
@@ -40,7 +42,7 @@ int32_t accSmooth[XYZ_AXIS_COUNT];
 
 acc_t acc;                       // acc access functions
 sensor_align_e accAlign = 0;
-uint32_t accTargetLooptime;
+uint32_t accSamplingInterval;
 
 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.
 
@@ -51,9 +53,33 @@ extern bool AccInflightCalibrationActive;
 
 static flightDynamicsTrims_t *accelerationTrims;
 
-static float accLpfCutHz = 0;
+static uint16_t accLpfCutHz = 0;
 static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
-static bool accFilterInitialised = false;
+
+void accInit(uint32_t gyroSamplingInverval)
+{
+    // set the acc sampling interval according to the gyro sampling interval
+    switch (gyroSamplingInverval) {  // Switch statement kept in place to change acc sampling interval in the future
+    case 500:
+    case 375:
+    case 250:
+    case 125:
+        accSamplingInterval = 1000;
+        break;
+    case 1000:
+    default:
+#ifdef STM32F10X
+        accSamplingInterval = 1000;
+#else
+        accSamplingInterval = 1000;
+#endif
+    }
+    if (accLpfCutHz) {
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accSamplingInterval);
+        }
+    }
+}
 
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired)
 {
@@ -166,7 +192,7 @@ static void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndP
     }
 }
 
-static void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
+static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrims)
 {
     accSmooth[X] -= accelerationTrims->raw[X];
     accSmooth[Y] -= accelerationTrims->raw[Y];
@@ -187,19 +213,8 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
     }
 
     if (accLpfCutHz) {
-        if (!accFilterInitialised) {
-            if (accTargetLooptime) {  /* Initialisation needs to happen once sample rate is known */
-                for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-                    biquadFilterInit(&accFilter[axis], accLpfCutHz, accTargetLooptime);
-                }
-                accFilterInitialised = true;
-            }
-        }
-
-        if (accFilterInitialised) {
-            for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-                accSmooth[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)accSmooth[axis]));
-            }
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            accSmooth[axis] = lrintf(biquadFilterApply(&accFilter[axis], (float)accSmooth[axis]));
         }
     }
 
@@ -221,7 +236,12 @@ void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse)
     accelerationTrims = accelerationTrimsToUse;
 }
 
-void setAccelerationFilter(float initialAccLpfCutHz)
+void setAccelerationFilter(uint16_t initialAccLpfCutHz)
 {
     accLpfCutHz = initialAccLpfCutHz;
+    if (accSamplingInterval) {
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accSamplingInterval);
+        }
+    }
 }
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index dc98ae78ef..4630faa3b5 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -34,7 +34,7 @@ typedef enum {
 
 extern sensor_align_e accAlign;
 extern acc_t acc;
-extern uint32_t accTargetLooptime;
+extern uint32_t accSamplingInterval;
 
 extern int32_t accSmooth[XYZ_AXIS_COUNT];
 
@@ -48,9 +48,12 @@ typedef union rollAndPitchTrims_u {
     rollAndPitchTrims_t_def values;
 } rollAndPitchTrims_t;
 
+void accInit(uint32_t gyroTargetLooptime);
 bool isAccelerationCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
 void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims);
-void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse);
-void setAccelerationFilter(float initialAccLpfCutHz);
+union flightDynamicsTrims_u;
+void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
+void setAccelerationFilter(uint16_t initialAccLpfCutHz);
+
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 59fa7ef9ae..fab68e1c13 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -19,7 +19,8 @@
 #include "stdint.h"
 
 #include "platform.h"
-#include "debug.h"
+
+#include "build/debug.h"
 
 #include "common/maths.h"
 #include "common/filter.h"
@@ -27,15 +28,18 @@
 #include "drivers/adc.h"
 #include "drivers/system.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
+#include "config/feature.h"
 
 #include "sensors/battery.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/beeper.h"
 
-#define VBATT_PRESENT_THRESHOLD_MV    10
+#include "rx/rx.h"
+
 #define VBATT_LPF_FREQ  0.4f
 
 // Battery monitoring stuff
@@ -52,7 +56,7 @@ int32_t mAhDrawn = 0;               // milliampere hours drawn from the battery
 
 static batteryState_e batteryState;
 
-uint16_t batteryAdcToVoltage(uint16_t src)
+static uint16_t batteryAdcToVoltage(uint16_t src)
 {
     // calculate battery voltage based on ADC reading
     // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 0xFFF = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
@@ -70,7 +74,7 @@ static void updateBatteryVoltage(void)
     if (debugMode == DEBUG_BATTERY) debug[0] = vbatSample;
 
     if (!vbatFilterIsInitialised) {
-        biquadFilterInit(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
+        biquadFilterInitLPF(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
         vbatFilterIsInitialised = true;
     }
     vbatSample = biquadFilterApply(&vbatFilter, vbatSample);
@@ -86,12 +90,12 @@ void updateBattery(void)
     updateBatteryVoltage();
 
     /* battery has just been connected*/
-    if (batteryState == BATTERY_NOT_PRESENT && vbat > VBATT_PRESENT_THRESHOLD_MV)
+    if (batteryState == BATTERY_NOT_PRESENT && vbat > batteryConfig->batterynotpresentlevel )
     {
         /* Actual battery state is calculated below, this is really BATTERY_PRESENT */
         batteryState = BATTERY_OK;
         /* wait for VBatt to stabilise then we can calc number of cells
-        (using the filtered value takes a long time to ramp up) 
+        (using the filtered value takes a long time to ramp up)
         We only do this on the ground so don't care if we do block, not
         worse than original code anyway*/
         delay(VBATTERY_STABLE_DELAY);
@@ -106,8 +110,8 @@ void updateBattery(void)
         batteryWarningVoltage = batteryCellCount * batteryConfig->vbatwarningcellvoltage;
         batteryCriticalVoltage = batteryCellCount * batteryConfig->vbatmincellvoltage;
     }
-    /* battery has been disconnected - can take a while for filter cap to disharge so we use a threshold of VBATT_PRESENT_THRESHOLD_MV */
-    else if (batteryState != BATTERY_NOT_PRESENT && vbat <= VBATT_PRESENT_THRESHOLD_MV)
+    /* battery has been disconnected - can take a while for filter cap to disharge so we use a threshold of VBATT_PRESENT_THRESHOLD */
+    else if (batteryState != BATTERY_NOT_PRESENT && vbat <= batteryConfig->batterynotpresentlevel && !ARMING_FLAG(ARMED))
     {
         batteryState = BATTERY_NOT_PRESENT;
         batteryCellCount = 0;
@@ -127,14 +131,14 @@ void updateBattery(void)
             if (vbat <= (batteryCriticalVoltage - batteryConfig->vbathysteresis)) {
                 batteryState = BATTERY_CRITICAL;
                 beeper(BEEPER_BAT_CRIT_LOW);
-            } else if (vbat > (batteryWarningVoltage + batteryConfig->vbathysteresis)){
+            } else if (vbat > batteryWarningVoltage) {
                 batteryState = BATTERY_OK;
             } else {
                 beeper(BEEPER_BAT_LOW);
             }
             break;
         case BATTERY_CRITICAL:
-            if (vbat > (batteryCriticalVoltage + batteryConfig->vbathysteresis)){
+            if (vbat > batteryCriticalVoltage) {
                 batteryState = BATTERY_WARNING;
                 beeper(BEEPER_BAT_LOW);
             } else {
@@ -212,7 +216,7 @@ void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t dea
 
 fix12_t calculateVbatPidCompensation(void) {
     fix12_t batteryScaler;
-    if (batteryConfig->vbatPidCompensation && feature(FEATURE_VBAT) && batteryCellCount > 1) {
+    if (feature(FEATURE_VBAT) && batteryCellCount > 1) {
         uint16_t maxCalculatedVoltage = batteryConfig->vbatmaxcellvoltage * batteryCellCount;
         batteryScaler = qConstruct(maxCalculatedVoltage, constrain(vbat, maxCalculatedVoltage - batteryConfig->vbatmaxcellvoltage, maxCalculatedVoltage));
     } else {
@@ -224,7 +228,7 @@ fix12_t calculateVbatPidCompensation(void) {
 
 uint8_t calculateBatteryPercentage(void)
 {
-    return (((uint32_t)vbat - (batteryConfig->vbatmincellvoltage * batteryCellCount)) * 100) / ((batteryConfig->vbatmaxcellvoltage - batteryConfig->vbatmincellvoltage) * batteryCellCount);
+    return constrain((((uint32_t)vbat - (batteryConfig->vbatmincellvoltage * batteryCellCount)) * 100) / ((batteryConfig->vbatmaxcellvoltage - batteryConfig->vbatmincellvoltage) * batteryCellCount), 0, 100);
 }
 
 uint8_t calculateBatteryCapacityRemainingPercentage(void)
diff --git a/src/main/sensors/battery.h b/src/main/sensors/battery.h
index 21197e07fc..72ff54aa2e 100644
--- a/src/main/sensors/battery.h
+++ b/src/main/sensors/battery.h
@@ -17,8 +17,7 @@
 
 #pragma once
 
-#include "rx/rx.h"
-#include "common/maths.h"
+#include "common/maths.h" // for fix12_t
 
 #ifndef VBAT_SCALE_DEFAULT
 #define VBAT_SCALE_DEFAULT 110
@@ -43,7 +42,6 @@ typedef struct batteryConfig_s {
     uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery critical alarm, in 0.1V units, default is 33 (3.3V)
     uint8_t vbatwarningcellvoltage;         // warning voltage per cell, this triggers battery warning alarm, in 0.1V units, default is 35 (3.5V)
     uint8_t vbathysteresis;                 // hysteresis for alarm, default 1 = 0.1V
-    uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
 
     int16_t currentMeterScale;             // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
     uint16_t currentMeterOffset;            // offset of the current sensor in millivolt steps
@@ -52,6 +50,7 @@ typedef struct batteryConfig_s {
     // FIXME this doesn't belong in here since it's a concern of MSP, not of the battery code.
     uint8_t multiwiiCurrentMeterOutput;     // if set to 1 output the amperage in milliamp steps instead of 0.01A steps via msp
     uint16_t batteryCapacity;               // mAh
+    uint8_t batterynotpresentlevel;         // Below this level battery is considered as not present
 } batteryConfig_t;
 
 typedef enum {
@@ -70,14 +69,14 @@ extern uint16_t amperageLatestADC;
 extern int32_t amperage;
 extern int32_t mAhDrawn;
 
-uint16_t batteryAdcToVoltage(uint16_t src);
 batteryState_e getBatteryState(void);
 const  char * getBatteryStateString(void);
 void updateBattery(void);
 void batteryInit(batteryConfig_t *initialBatteryConfig);
 batteryConfig_t *batteryConfig;
 
-void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
+struct rxConfig_s;
+void updateCurrentMeter(int32_t lastUpdateAt, struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
 int32_t currentMeterToCentiamps(uint16_t src);
 
 fix12_t calculateVbatPidCompensation(void);
diff --git a/src/main/sensors/boardalignment.c b/src/main/sensors/boardalignment.c
index d7a6784c80..42ede9155d 100644
--- a/src/main/sensors/boardalignment.c
+++ b/src/main/sensors/boardalignment.c
@@ -30,12 +30,12 @@
 static bool standardBoardAlignment = true;     // board orientation correction
 static float boardRotation[3][3];              // matrix
 
-static bool isBoardAlignmentStandard(boardAlignment_t *boardAlignment)
+static bool isBoardAlignmentStandard(const boardAlignment_t *boardAlignment)
 {
     return !boardAlignment->rollDegrees && !boardAlignment->pitchDegrees && !boardAlignment->yawDegrees;
 }
 
-void initBoardAlignment(boardAlignment_t *boardAlignment)
+void initBoardAlignment(const boardAlignment_t *boardAlignment)
 {
     if (isBoardAlignmentStandard(boardAlignment)) {
         return;
@@ -62,7 +62,7 @@ static void alignBoard(int32_t *vec)
     vec[Z] = lrintf(boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z);
 }
 
-void alignSensors(int32_t *src, int32_t *dest, uint8_t rotation)
+void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation)
 {
     static uint32_t swap[3];
     memcpy(swap, src, sizeof(swap));
diff --git a/src/main/sensors/boardalignment.h b/src/main/sensors/boardalignment.h
index eea1f23c87..e1e704be03 100644
--- a/src/main/sensors/boardalignment.h
+++ b/src/main/sensors/boardalignment.h
@@ -23,5 +23,5 @@ typedef struct boardAlignment_s {
     int32_t yawDegrees;
 } boardAlignment_t;
 
-void alignSensors(int32_t *src, int32_t *dest, uint8_t rotation);
-void initBoardAlignment(boardAlignment_t *boardAlignment);
+void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation);
+void initBoardAlignment(const boardAlignment_t *boardAlignment);
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 6f6735d0fe..355508e95c 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -28,7 +28,8 @@
 #include "drivers/light_led.h"
 
 #include "sensors/boardalignment.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "sensors/sensors.h"
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 4f425dc1d2..625c822148 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -20,19 +20,22 @@
 #include <math.h>
 
 #include "platform.h"
-#include "debug.h"
+
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
 #include "common/filter.h"
 
 #include "drivers/sensor.h"
+#include "drivers/system.h"
 #include "drivers/accgyro.h"
-#include "sensors/sensors.h"
+
 #include "io/beeper.h"
 #include "io/statusindicator.h"
-#include "sensors/boardalignment.h"
 
+#include "sensors/sensors.h"
+#include "sensors/boardalignment.h"
 #include "sensors/gyro.h"
 
 gyro_t gyro;                      // gyro access functions
@@ -43,21 +46,34 @@ float gyroADCf[XYZ_AXIS_COUNT];
 
 static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
 static const gyroConfig_t *gyroConfig;
-static biquadFilter_t gyroFilter[XYZ_AXIS_COUNT];
+static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
+static biquadFilter_t gyroFilterNotch[XYZ_AXIS_COUNT];
+static pt1Filter_t gyroFilterPt1[XYZ_AXIS_COUNT];
+static uint8_t gyroSoftLpfType;
+static uint16_t gyroSoftNotchHz;
+static float gyroSoftNotchQ;
 static uint8_t gyroSoftLpfHz;
 static uint16_t calibratingG = 0;
+static float gyroDt;
 
-void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz)
+void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint16_t gyro_soft_notch_cutoff, uint8_t gyro_soft_lpf_type)
 {
     gyroConfig = gyroConfigToUse;
     gyroSoftLpfHz = gyro_soft_lpf_hz;
+    gyroSoftNotchHz = gyro_soft_notch_hz;
+    gyroSoftLpfType = gyro_soft_lpf_type;
+    gyroSoftNotchQ = filterGetNotchQ(gyro_soft_notch_hz, gyro_soft_notch_cutoff);
 }
 
 void gyroInit(void)
 {
     if (gyroSoftLpfHz && gyro.targetLooptime) {  // Initialisation needs to happen once samplingrate is known
         for (int axis = 0; axis < 3; axis++) {
-            biquadFilterInit(&gyroFilter[axis], gyroSoftLpfHz, gyro.targetLooptime);
+            biquadFilterInit(&gyroFilterNotch[axis], gyroSoftNotchHz, gyro.targetLooptime, gyroSoftNotchQ, FILTER_NOTCH);
+            if (gyroSoftLpfType == FILTER_BIQUAD)
+                biquadFilterInitLPF(&gyroFilterLPF[axis], gyroSoftLpfHz, gyro.targetLooptime);
+            else
+                gyroDt = (float) gyro.targetLooptime * 0.000001f;
         }
     }
 }
@@ -87,7 +103,7 @@ void gyroSetCalibrationCycles(void)
     calibratingG = gyroCalculateCalibratingCycles();
 }
 
-static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
+static void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
 {
     static int32_t g[3];
     static stdev_t var[3];
@@ -143,21 +159,34 @@ void gyroUpdate(void)
     }
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        if (debugMode == DEBUG_GYRO) debug[axis] = gyroADC[axis];
         gyroADC[axis] = gyroADCRaw[axis];
     }
 
     alignSensors(gyroADC, gyroADC, gyroAlign);
 
     if (!isGyroCalibrationComplete()) {
-        performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
+        performGyroCalibration(gyroConfig->gyroMovementCalibrationThreshold);
     }
 
     applyGyroZero();
 
     if (gyroSoftLpfHz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            gyroADCf[axis] = biquadFilterApply(&gyroFilter[axis], (float)gyroADC[axis]);
+
+            if (debugMode == DEBUG_GYRO)
+                debug[axis] = gyroADC[axis];
+
+            if (gyroSoftLpfType == FILTER_BIQUAD)
+                gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], (float) gyroADC[axis]);
+            else
+                gyroADCf[axis] = pt1FilterApply4(&gyroFilterPt1[axis], (float) gyroADC[axis], gyroSoftLpfHz, gyroDt);
+
+            if (debugMode == DEBUG_NOTCH)
+                debug[axis] = lrintf(gyroADCf[axis]);
+
+            if (gyroSoftNotchHz)
+                gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch[axis], gyroADCf[axis]);
+
             gyroADC[axis] = lrintf(gyroADCf[axis]);
         }
     } else {
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 2239eb6816..bae1805e50 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -40,7 +40,7 @@ typedef struct gyroConfig_s {
     uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
 } gyroConfig_t;
 
-void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz);
+void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint16_t gyro_soft_notch_cutoff, uint8_t gyro_soft_lpf_type);
 void gyroSetCalibrationCycles(void);
 void gyroInit(void);
 void gyroUpdate(void);
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index eb206627b4..3775824d6f 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -20,11 +20,11 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "common/axis.h"
 
-#include "drivers/gpio.h"
+#include "drivers/io.h"
 #include "drivers/system.h"
 #include "drivers/exti.h"
 
@@ -60,7 +60,7 @@
 
 #include "drivers/sonar_hcsr04.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 
 #include "sensors/sensors.h"
 #include "sensors/acceleration.h"
@@ -89,7 +89,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
 #if defined(MPU_INT_EXTI)
     static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
     return &mpuIntExtiConfig;
-#elif defined(USE_HARDWARE_REVISION_DETECTION) 
+#elif defined(USE_HARDWARE_REVISION_DETECTION)
     return selectMPUIntExtiConfigByHardwareRevision();
 #else
     return NULL;
@@ -118,9 +118,15 @@ static bool fakeGyroReadTemp(int16_t *tempData)
     return true;
 }
 
+
+static bool fakeGyroInitStatus(void) {
+    return true;
+}
+
 bool fakeGyroDetect(gyro_t *gyro)
 {
     gyro->init = fakeGyroInit;
+    gyro->intStatus = fakeGyroInitStatus;
     gyro->read = fakeGyroRead;
     gyro->temperature = fakeGyroReadTemp;
     gyro->scale = 1.0f / 16.4f;
@@ -143,6 +149,7 @@ bool fakeAccDetect(acc_t *acc)
 {
     acc->init = fakeAccInit;
     acc->read = fakeAccRead;
+    acc->acc_1G = 512*8;
     acc->revisionCode = 0;
     return true;
 }
@@ -160,8 +167,8 @@ bool detectGyro(void)
         case GYRO_MPU6050:
 #ifdef USE_GYRO_MPU6050
             if (mpu6050GyroDetect(&gyro)) {
-#ifdef GYRO_MPU6050_ALIGN
                 gyroHardware = GYRO_MPU6050;
+#ifdef GYRO_MPU6050_ALIGN
                 gyroAlign = GYRO_MPU6050_ALIGN;
 #endif
                 break;
@@ -171,8 +178,8 @@ bool detectGyro(void)
         case GYRO_L3G4200D:
 #ifdef USE_GYRO_L3G4200D
             if (l3g4200dDetect(&gyro)) {
-#ifdef GYRO_L3G4200D_ALIGN
                 gyroHardware = GYRO_L3G4200D;
+#ifdef GYRO_L3G4200D_ALIGN
                 gyroAlign = GYRO_L3G4200D_ALIGN;
 #endif
                 break;
@@ -183,8 +190,8 @@ bool detectGyro(void)
         case GYRO_MPU3050:
 #ifdef USE_GYRO_MPU3050
             if (mpu3050Detect(&gyro)) {
-#ifdef GYRO_MPU3050_ALIGN
                 gyroHardware = GYRO_MPU3050;
+#ifdef GYRO_MPU3050_ALIGN
                 gyroAlign = GYRO_MPU3050_ALIGN;
 #endif
                 break;
@@ -195,8 +202,8 @@ bool detectGyro(void)
         case GYRO_L3GD20:
 #ifdef USE_GYRO_L3GD20
             if (l3gd20Detect(&gyro)) {
-#ifdef GYRO_L3GD20_ALIGN
                 gyroHardware = GYRO_L3GD20;
+#ifdef GYRO_L3GD20_ALIGN
                 gyroAlign = GYRO_L3GD20_ALIGN;
 #endif
                 break;
@@ -207,8 +214,8 @@ bool detectGyro(void)
         case GYRO_MPU6000:
 #ifdef USE_GYRO_SPI_MPU6000
             if (mpu6000SpiGyroDetect(&gyro)) {
-#ifdef GYRO_MPU6000_ALIGN
                 gyroHardware = GYRO_MPU6000;
+#ifdef GYRO_MPU6000_ALIGN
                 gyroAlign = GYRO_MPU6000_ALIGN;
 #endif
                 break;
@@ -270,7 +277,7 @@ bool detectGyro(void)
     return true;
 }
 
-static void detectAcc(accelerationSensor_e accHardwareToUse)
+static bool detectAcc(accelerationSensor_e accHardwareToUse)
 {
     accelerationSensor_e accHardware;
 
@@ -400,24 +407,22 @@ retry:
 
 
     if (accHardware == ACC_NONE) {
-        return;
+        return false;
     }
 
     detectedSensors[SENSOR_INDEX_ACC] = accHardware;
     sensorsSet(SENSOR_ACC);
+    return true;
 }
 
-static void detectBaro(baroSensor_e baroHardwareToUse)
+#ifdef BARO
+static bool detectBaro(baroSensor_e baroHardwareToUse)
 {
-#ifndef BARO
-    UNUSED(baroHardwareToUse);
-#else
     // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
 
     baroSensor_e baroHardware = baroHardwareToUse;
 
 #ifdef USE_BARO_BMP085
-
     const bmp085Config_t *bmp085Config = NULL;
 
 #if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
@@ -439,7 +444,14 @@ static void detectBaro(baroSensor_e baroHardwareToUse)
     switch (baroHardware) {
         case BARO_DEFAULT:
             ; // fallthough
-
+        case BARO_BMP085:
+#ifdef USE_BARO_BMP085
+            if (bmp085Detect(bmp085Config, &baro)) {
+                baroHardware = BARO_BMP085;
+                break;
+            }
+#endif
+            ; // fallthough
         case BARO_MS5611:
 #ifdef USE_BARO_MS5611
             if (ms5611Detect(&baro)) {
@@ -448,14 +460,6 @@ static void detectBaro(baroSensor_e baroHardwareToUse)
             }
 #endif
             ; // fallthough
-        case BARO_BMP085:
-#ifdef USE_BARO_BMP085
-            if (bmp085Detect(bmp085Config, &baro)) {
-                baroHardware = BARO_BMP085;
-                break;
-            }
-#endif
-        ; // fallthough
         case BARO_BMP280:
 #ifdef USE_BARO_BMP280
             if (bmp280Detect(&baro)) {
@@ -463,21 +467,24 @@ static void detectBaro(baroSensor_e baroHardwareToUse)
                 break;
             }
 #endif
+            ; // fallthough
         case BARO_NONE:
             baroHardware = BARO_NONE;
             break;
     }
 
     if (baroHardware == BARO_NONE) {
-        return;
+        return false;
     }
 
     detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
     sensorsSet(SENSOR_BARO);
-#endif
+    return true;
 }
+#endif
 
-static void detectMag(magSensor_e magHardwareToUse)
+#ifdef MAG
+static bool detectMag(magSensor_e magHardwareToUse)
 {
     magSensor_e magHardware;
 
@@ -530,7 +537,7 @@ retry:
 
         case MAG_AK8975:
 #ifdef USE_MAG_AK8975
-            if (ak8975detect(&mag)) {
+            if (ak8975Detect(&mag)) {
 #ifdef MAG_AK8975_ALIGN
                 magAlign = MAG_AK8975_ALIGN;
 #endif
@@ -564,12 +571,14 @@ retry:
     }
 
     if (magHardware == MAG_NONE) {
-        return;
+        return false;
     }
 
     detectedSensors[SENSOR_INDEX_MAG] = magHardware;
     sensorsSet(SENSOR_MAG);
+    return true;
 }
+#endif
 
 void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
 {
@@ -584,10 +593,14 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
     }
 }
 
-bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint8_t gyroLpf, uint8_t gyroSyncDenominator)
+bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
+        uint8_t accHardwareToUse,
+        uint8_t magHardwareToUse,
+        uint8_t baroHardwareToUse,
+        int16_t magDeclinationFromConfig,
+        uint8_t gyroLpf,
+        uint8_t gyroSyncDenominator)
 {
-    int16_t deg, min;
-
     memset(&acc, 0, sizeof(acc));
     memset(&gyro, 0, sizeof(gyro));
 
@@ -602,34 +615,41 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
     if (!detectGyro()) {
         return false;
     }
-    detectAcc(accHardwareToUse);
-    detectBaro(baroHardwareToUse);
 
-
-    // Now time to init things, acc first
-    if (sensors(SENSOR_ACC)) {
-        acc.acc_1G = 256; // set default
-        acc.init(&acc);
-    }
+    // Now time to init things
     // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
     gyro.targetLooptime = gyroSetSampleRate(gyroLpf, gyroSyncDenominator);    // Set gyro sample rate before initialisation
-    gyro.init(gyroLpf);
-    gyroInit();
+    gyro.init(gyroLpf); // driver initialisation
+    gyroInit(); // sensor initialisation
 
-    detectMag(magHardwareToUse);
+    if (detectAcc(accHardwareToUse)) {
+        acc.acc_1G = 256; // set default
+        acc.init(&acc); // driver initialisation
+        accInit(gyro.targetLooptime); // sensor initialisation
+    }
+
+
+    magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
+#ifdef MAG
+    // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
+    if (detectMag(magHardwareToUse)) {
+        // calculate magnetic declination
+        const int16_t deg = magDeclinationFromConfig / 100;
+        const int16_t min = magDeclinationFromConfig % 100;
+        magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
+    }
+#else
+    UNUSED(magHardwareToUse);
+    UNUSED(magDeclinationFromConfig);
+#endif
+
+#ifdef BARO
+    detectBaro(baroHardwareToUse);
+#else
+    UNUSED(baroHardwareToUse);
+#endif
 
     reconfigureAlignment(sensorAlignmentConfig);
 
-    // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
-    if (sensors(SENSOR_MAG)) {
-        // calculate magnetic declination
-        deg = magDeclinationFromConfig / 100;
-        min = magDeclinationFromConfig % 100;
-
-        magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
-    } else {
-        magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
-    }
-
     return true;
 }
diff --git a/src/main/sensors/sonar.c b/src/main/sensors/sonar.c
index 89be0464ea..2e11e64d97 100644
--- a/src/main/sensors/sonar.c
+++ b/src/main/sensors/sonar.c
@@ -20,17 +20,20 @@
 #include <math.h>
 
 #include "platform.h"
-#include "build_config.h"
 
 #ifdef SONAR
 
+#include "build/build_config.h"
+
 #include "common/maths.h"
 #include "common/axis.h"
 
 #include "drivers/sonar_hcsr04.h"
 #include "drivers/io.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
+#include "config/feature.h"
 
 #include "sensors/sensors.h"
 #include "sensors/battery.h"
diff --git a/src/main/sensors/sonar.h b/src/main/sensors/sonar.h
index be49afb7b8..0c0849e32b 100644
--- a/src/main/sensors/sonar.h
+++ b/src/main/sensors/sonar.h
@@ -17,12 +17,16 @@
 
 #pragma once
 
+#include "sensors/battery.h"
+
 #define SONAR_OUT_OF_RANGE (-1)
 
 extern int16_t sonarMaxRangeCm;
 extern int16_t sonarCfAltCm;
 extern int16_t sonarMaxAltWithTiltCm;
 
+struct sonarHardware_s;
+const struct sonarHardware_s *sonarGetHardwareConfiguration(currentSensor_e currentSensor);
 void sonarInit(void);
 void sonarUpdate(void);
 int32_t sonarRead(void);
diff --git a/src/main/startup/startup_stm32f40xx.s b/src/main/startup/startup_stm32f40xx.s
index fa98fff962..b19a8ef54f 100644
--- a/src/main/startup/startup_stm32f40xx.s
+++ b/src/main/startup/startup_stm32f40xx.s
@@ -44,7 +44,6 @@
 
 .global  g_pfnVectors
 .global  Default_Handler
-.global	 irq_stack
 
 /* start address for the initialization values of the .data section. 
 defined in linker script */
@@ -68,7 +67,7 @@ defined in linker script */
  * @retval : None
 */
 
-    .section  .text.Reset_Handler
+  .section  .text.Reset_Handler
   .weak  Reset_Handler
   .type  Reset_Handler, %function
 Reset_Handler:  
@@ -147,22 +146,18 @@ Infinite_Loop:
   .size  Default_Handler, .-Default_Handler
 /******************************************************************************
 *
-* The minimal vector table for a Cortex M3. Note that the proper constructs
+* The minimal vector table for a Cortex M4. Note that the proper constructs
 * must be placed on this to ensure that it ends up at physical address
 * 0x0000.0000.
 * 
 *******************************************************************************/
-  .section  .irqstack,"aw",%progbits
-  irq_stack:
-  .space  1024
-
   .section  .isr_vector,"a",%progbits
   .type  g_pfnVectors, %object
   .size  g_pfnVectors, .-g_pfnVectors
     
     
 g_pfnVectors:
-  .word  irq_stack+1024
+  .word  _estack
   .word  Reset_Handler
   .word  NMI_Handler
   .word  HardFault_Handler
diff --git a/src/main/startup/startup_stm32f411xe.s b/src/main/startup/startup_stm32f411xe.s
index f8c460a546..f3003a67eb 100644
--- a/src/main/startup/startup_stm32f411xe.s
+++ b/src/main/startup/startup_stm32f411xe.s
@@ -44,7 +44,6 @@
 
 .global  g_pfnVectors
 .global  Default_Handler
-.global	 irq_stack
 
 /* start address for the initialization values of the .data section. 
 defined in linker script */
@@ -68,7 +67,7 @@ defined in linker script */
  * @retval : None
 */
 
-    .section  .text.Reset_Handler
+  .section  .text.Reset_Handler
   .weak  Reset_Handler
   .type  Reset_Handler, %function
 Reset_Handler:  
@@ -146,22 +145,18 @@ Infinite_Loop:
   .size  Default_Handler, .-Default_Handler
 /******************************************************************************
 *
-* The minimal vector table for a Cortex M3. Note that the proper constructs
+* The minimal vector table for a Cortex M4. Note that the proper constructs
 * must be placed on this to ensure that it ends up at physical address
 * 0x0000.0000.
 * 
 *******************************************************************************/
-  .section  .irqstack,"aw",%progbits
-  irq_stack:
-  .space  1024
-
   .section  .isr_vector,"a",%progbits
   .type  g_pfnVectors, %object
   .size  g_pfnVectors, .-g_pfnVectors
     
 
 g_pfnVectors:
-  .word  irq_stack+1024
+  .word  _estack
   .word  Reset_Handler
   .word  NMI_Handler
   .word  HardFault_Handler
diff --git a/src/main/target/AIORACERF3/target.c b/src/main/target/AIORACERF3/target.c
new file mode 100644
index 0000000000..f950c67844
--- /dev/null
+++ b/src/main/target/AIORACERF3/target.c
@@ -0,0 +1,97 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM3  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM2  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM3  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    // PPM / UART2 RX
+    { TIM8,  IO_TAG(PA15), TIM_Channel_1, TIM8_CC_IRQn,            0, IOCFG_AF_PP_PD, GPIO_AF_2 },  // PPM
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 },  // PWM1
+    { TIM3,  IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 },  // PWM2
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9 },  // PWM3
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 },  // PWM4
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 },  // PWM5
+    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_2 },  // PWM6
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP,    GPIO_AF_9 },  // PWM7
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 },  // PWM8
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // UART3_TX (AF7)
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP,    GPIO_AF_1 }, // UART3_RX (AF7)
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP,    GPIO_AF_6 },  //LED_STRIP
+};
diff --git a/src/main/target/AIORACERF3/target.h b/src/main/target/AIORACERF3/target.h
new file mode 100644
index 0000000000..1bf8886220
--- /dev/null
+++ b/src/main/target/AIORACERF3/target.h
@@ -0,0 +1,164 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "ARF3"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
+
+#define LED0                    PB8
+
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+#define USABLE_TIMER_CHANNEL_COUNT 12 // PPM, 8 PWM, UART3 RX/TX, LED Strip
+
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
+
+#define USE_EXTI
+#define MPU_INT_EXTI            PC13
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6500
+
+#define ACC
+#define USE_ACC_SPI_MPU6500
+
+#define ACC_MPU6500_ALIGN       CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW180_DEG
+
+#define BARO
+#define USE_BARO_BMP280
+
+#define MAG
+#define USE_MAG_AK8963
+//#define USE_MAG_HMC5883 // External
+
+#define MAG_AK8963_ALIGN CW90_DEG_FLIP
+
+//#define SONAR
+
+#define USB_IO
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define SERIAL_PORT_COUNT       4
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1 // PB9,3,4,5 on AF5 SPI1 (MPU)
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5 SPI2 (SDCard)
+
+#define SPI1_NSS_PIN            PB9
+#define SPI1_SCK_PIN            PB3
+#define SPI1_MISO_PIN           PB4
+#define SPI1_MOSI_PIN           PB5
+
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SDCARD
+#define USE_SDCARD_SPI2
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PC14
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_PIN                   SPI2_NSS_PIN
+
+// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     2
+
+// Note, this is the same DMA channel as UART1_RX. Luckily we don't use DMA for USART Rx.
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Channel5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
+
+#define MPU6500_CS_PIN                   PB9
+#define MPU6500_SPI_INSTANCE             SPI1
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA5
+#define CURRENT_METER_ADC_PIN   PA4
+#define RSSI_ADC_PIN            PB2
+
+#define LED_STRIP
+#define USE_LED_STRIP_ON_DMA1_CHANNEL2
+#define WS2811_PIN                      PA8
+#define WS2811_TIMER                    TIM1
+#define WS2811_DMA_CHANNEL              DMA1_Channel2
+#define WS2811_IRQ                      DMA1_Channel2_IRQn
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
+
+#define TRANSPONDER
+#define TRANSPONDER_GPIO                     GPIOA
+#define TRANSPONDER_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
+#define TRANSPONDER_GPIO_AF                  GPIO_AF_6
+#define TRANSPONDER_PIN                      GPIO_Pin_8
+#define TRANSPONDER_PIN_SOURCE               GPIO_PinSource8
+#define TRANSPONDER_TIMER                    TIM1
+#define TRANSPONDER_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
+#define TRANSPONDER_DMA_CHANNEL              DMA1_Channel2
+#define TRANSPONDER_IRQ                      DMA1_Channel2_IRQn
+#define TRANSPONDER_DMA_TC_FLAG              DMA1_FLAG_TC2
+#define TRANSPONDER_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_TELEMETRY)
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN                PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
+
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15))
+
diff --git a/src/main/target/AIORACERF3/target.mk b/src/main/target/AIORACERF3/target.mk
new file mode 100644
index 0000000000..9b179afe4b
--- /dev/null
+++ b/src/main/target/AIORACERF3/target.mk
@@ -0,0 +1,16 @@
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP SDCARD
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8963.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_usb_vcp.c \
+            drivers/transponder_ir.c \
+            drivers/transponder_ir_stm32f30x.c \
+            io/transponder_ir.c
+
diff --git a/src/main/target/AIR32/target.c b/src/main/target/AIR32/target.c
index 378627daaf..b5b9889379 100644
--- a/src/main/target/AIR32/target.c
+++ b/src/main/target/AIR32/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM9  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/AIR32/target.h b/src/main/target/AIR32/target.h
index 3e60de5031..e4c97dfc55 100644
--- a/src/main/target/AIR32/target.h
+++ b/src/main/target/AIR32/target.h
@@ -21,18 +21,14 @@
 #define USE_CLI
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
-#define LED0    PB5 // Blue LED - PB5
 
+#define LED0                    PB5 // Blue LED - PB5
 
-#define BEEPER      PA0
-
-
-#define USABLE_TIMER_CHANNEL_COUNT 9
+#define BEEPER                  PA0
 
 // MPU6050 interrupts
 #define USE_EXTI
-#define MPU_INT_EXTI PA15
+#define MPU_INT_EXTI            PA15
 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 #define USE_MPU_DATA_READY_SIGNAL
 //#define ENSURE_MPU_DATA_READY_IS_LOW
@@ -41,20 +37,18 @@
 #define ACC
 
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW180_DEG
+#define GYRO_MPU6050_ALIGN      CW180_DEG
 
 #define USE_ACC_MPU6050
-
-#define ACC_MPU6050_ALIGN CW180_DEG
+#define ACC_MPU6050_ALIGN       CW180_DEG
 
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
 
-#define MPU6000_CS_GPIO GPIOB
-#define MPU6000_CS_PIN PB12
-#define MPU6000_SPI_INSTANCE SPI2
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_INSTANCE    SPI2
 
 //#define BARO
 //#define USE_BARO_MS5611
@@ -66,31 +60,30 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PB6
-#define UART1_RX_PIN        PB7
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PB3
-#define UART2_RX_PIN        PB4
+#define UART2_TX_PIN            PB3
+#define UART2_RX_PIN            PB4
 
-
-#define UART3_TX_PIN        PB10 //(AF7)
-#define UART3_RX_PIN        PB11 //(AF7)
+#define UART3_TX_PIN            PB10 //(AF7)
+#define UART3_RX_PIN            PB11 //(AF7)
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
-#define I2C2_SCL        	PA9
-#define I2C2_SDA 			PA10
+#define I2C2_SCL                PA9
+#define I2C2_SDA                PA10
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define M25P16_CS_PIN         PB12
-#define M25P16_SPI_INSTANCE   SPI2
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
 
 //#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
-#define SENSORS_SET (SENSOR_ACC)
+#define SENSORS_SET             (SENSOR_ACC)
 
 #undef GPS
 #define DISPLAY
@@ -99,10 +92,10 @@
 
 #define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA5
-//#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA5
+//#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 #if 1
@@ -135,17 +128,18 @@
 
 #define SPEKTRUM_BIND
 // USART2, PB4
-#define BIND_PIN PB4
+#define BIND_PIN                PB4
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
 // #define TARGET_IO_PORTF (BIT(0)|BIT(1))
 // !!TODO - check the following line is correct
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
 
diff --git a/src/main/target/AIRHEROF3/target.c b/src/main/target/AIRHEROF3/target.c
new file mode 100755
index 0000000000..4b516689ab
--- /dev/null
+++ b/src/main/target/AIRHEROF3/target.c
@@ -0,0 +1,107 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM4  | (MAP_TO_PPM_INPUT << 8),        // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),        // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),        // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #1 or servo #1 (swap to servo if needed)
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #2 or servo #2 (swap to servo if needed)
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #1 or #3
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM4  | (MAP_TO_PPM_INPUT << 8),            // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),        // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),        // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),        // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),        // servo #4
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),        // servo #5
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8),        // servo #8
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),        // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),        // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),    // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),    // servo #4
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,    0, IOCFG_AF_PP, GPIO_AF_1},  // PWM1 - RC1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,    0, IOCFG_AF_PP, GPIO_AF_1},  // PWM2 - RC2
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,    0, IOCFG_AF_PP, GPIO_AF_1},  // PWM3 - RC3
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,    0, IOCFG_AF_PP, GPIO_AF_1},  // PWM4 - RC4
+    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_2},  // PWM5 - RC5
+    { TIM3,  IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_2},  // PWM6 - RC6
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_2},  // PWM7 - RC7
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_2},  // PWM8 - RC8
+
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6},  // PWM9 - OUT1
+    { TIM1,  IO_TAG(PA11), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_11},  // PWM10 - OUT2
+    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,    1, IOCFG_AF_PP, GPIO_AF_2},  // PWM11 - OUT3
+    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,    1, IOCFG_AF_PP, GPIO_AF_2},  // PWM12 - OUT4
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,    1, IOCFG_AF_PP, GPIO_AF_2},  // PWM13 - OUT5
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,    1, IOCFG_AF_PP, GPIO_AF_2}   // PWM14 - OUT6
+};
diff --git a/src/main/target/AIRHEROF3/target.h b/src/main/target/AIRHEROF3/target.h
new file mode 100755
index 0000000000..27c3ea7f6d
--- /dev/null
+++ b/src/main/target/AIRHEROF3/target.h
@@ -0,0 +1,113 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "AIR3"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
+#define CONFIG_PREFER_ACC_ON
+
+#define LED0                    PB3
+#define LED1                    PB4
+
+#define BEEPER                  PA12
+#define BEEPER_INVERTED
+
+#define USE_EXTI
+#define MPU_INT_EXTI            PC13
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2
+
+#define MPU6500_CS_PIN          PB12
+#define MPU6500_SPI_INSTANCE    SPI2
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW0_DEG
+
+#define ACC
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW0_DEG
+
+#define BARO
+#define USE_BARO_SPI_BMP280
+
+#define BMP280_SPI_INSTANCE     SPI2
+#define BMP280_CS_PIN           PB5
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+#define SERIAL_PORT_COUNT       5
+
+#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
+#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
+#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define CURRENT_METER_ADC_PIN   PB1
+#define VBAT_ADC_PIN            PA4
+#define RSSI_ADC_PIN            PA1
+
+#define LED_STRIP
+#define WS2811_TIMER                    TIM3
+#define WS2811_PIN                      PA6
+#define WS2811_DMA_CHANNEL              DMA1_Channel6
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC6
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH6_HANDLER
+
+#define GPS
+
+#define DEFAULT_FEATURES        FEATURE_VBAT
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+#define RX_CHANNELS_TAER
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN                PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTF         (BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 14
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/AIRHEROF3/target.mk b/src/main/target/AIRHEROF3/target.mk
new file mode 100755
index 0000000000..372f7bf799
--- /dev/null
+++ b/src/main/target/AIRHEROF3/target.mk
@@ -0,0 +1,12 @@
+F3_TARGETS  += $(TARGET)
+HSE_VALUE = 12000000
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_spi_bmp280.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/sonar_hcsr04.c \
+            drivers/serial_softserial.c
diff --git a/src/main/target/ALIENFLIGHTF1/AlienFlight.md b/src/main/target/ALIENFLIGHTF1/AlienFlight.md
new file mode 100644
index 0000000000..cb6e154bdb
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF1/AlienFlight.md
@@ -0,0 +1,52 @@
+# AlienFlight (ALIENFLIGHTF1, ALIENFLIGHTF3 and ALIENFLIGHTF4 target)
+
+AlienWii is now AlienFlight. This targets supports various variants of brushed and brushless flight controllers. The designs for them are released partially for public use at:
+
+http://www.alienflight.com
+
+All published designs are flight tested by various people. The intention here is to make these flight controllers available and enable skilled users or RC vendors to build this designs.
+
+Some variants of the AlienFlight controllers will be available for purchase from:
+
+http://www.microfpv.eu
+
+Here are the general hardware specifications for this boards:
+
+- STM32F103CBT6 MCU (ALIENFLIGHTF1)
+- STM32F303CCT6 MCU (ALIENFLIGHTF3)
+- STM32F405RGT6 MCU (ALIENFLIGHTF4)
+- MPU6050/6500/9250/ICM-20608-G accelerometer/gyro(/mag) sensor unit
+- The MPU sensor interrupt is connected to the MCU for all new F3 and F4 designs and enabled in the firmware
+- 4-8 x 4.2A to 9.5A brushed ESCs, integrated, to run the strongest micro motors (brushed variants)
+- extra-wide traces on the PCB, for maximum power throughput (brushed variants)
+- some new F4 boards using a 4-layer PCB for better power distribution
+- USB port, integrated
+- (*) serial connection for external DSM2/DSMX sat receiver (e.g. Spektrum SAT, OrangeRx R100, Lemon RX or Deltang Rx31) and SBUS
+- CPPM input
+- ground and 3.3V for the receiver, some boards have also the option to power an 5V receiver
+- hardware bind plug for easy binding
+- motor connections are at the corners for a clean look with reduced wiring
+- small footprint
+- direct operation from a single cell Lipoly battery for brushed versions
+- 3.3V LDO power regulator (older prototypes)
+- 3.3V buck-boost power converter (all new versions)
+- 5V buck-boost power converter for FPV (some versions)
+- brushless versions are designed for 3S operation and also have an 5V power output
+- battery monitoring with an LED for buzzer functionality (for some ALIENFLIGHTF3 and F4 variants only)
+
+(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the Cleanflight Configurator.
+
+    set serialrx_provider = 1   (0 for 1024bit, 1 for 2048bit) 
+    set spektrum_sat_bind = 5
+    
+For more detail of the different bind modes please refer the CleanFlight Spektrum Bind document.
+
+Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different. 
+
+The pin layout for the ALIENFLIGHTF1 is very similar to NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The pin layout for the ALIENFLIGHTF3 is similar to Sparky. The hardware bind pin is connected to pin 25 (PB12). The new AlienFlightF3 V2 design have the sensor connected via SPI and some slightly different pin layout. All AlienFlight/AlienWii F3 layouts running the same firmware which takes care on the differences with a hardware detection.
+
+The AlienFlight firmware will be built as target ALIENFLIGHTF1, ALIENFLIGHTF3 or ALIENFLIGHTF4. The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with a small Quadcopter. A preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienFlight. The mixer can be activated with "mixer custom" in the CLI. To use the AlienFlight controller in a Hexa- or Octocopter or to do some more tuning additional configuration changes can be done as usual in the CLI or the BetaFlight configurator. 
+
+## Flashing the firmware
+
+The firmware can be updated with the BetaFlight configurator as for any other target. All AlienFlight boards have a boot jumper which need to be closed for initial flashing or for recovery from a broken firmware.
diff --git a/src/main/target/ALIENFLIGHTF1/config.c b/src/main/target/ALIENFLIGHTF1/config.c
new file mode 100644
index 0000000000..4a6b684b98
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF1/config.c
@@ -0,0 +1,96 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build/build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "io/ledstrip.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "fc/runtime_config.h"
+
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// alternative defaults settings for AlienFlight targets
+void targetConfiguration(master_t *config)
+{
+    config->rxConfig.spektrum_sat_bind = 5;
+    config->rxConfig.spektrum_sat_bind_autoreset = 1;
+    config->motor_pwm_rate = 32000;
+    config->failsafeConfig.failsafe_delay = 2;
+    config->failsafeConfig.failsafe_off_delay = 0;
+    config->profile[0].pidProfile.P8[ROLL] = 90;
+    config->profile[0].pidProfile.I8[ROLL] = 44;
+    config->profile[0].pidProfile.D8[ROLL] = 60;
+    config->profile[0].pidProfile.P8[PITCH] = 90;
+    config->profile[0].pidProfile.I8[PITCH] = 44;
+    config->profile[0].pidProfile.D8[PITCH] = 60;
+
+    config->customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    config->customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    config->customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    config->customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    config->customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    config->customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    config->customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    config->customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+}
diff --git a/src/main/target/ALIENFLIGHTF1/target.c b/src/main/target/ALIENFLIGHTF1/target.c
new file mode 100644
index 0000000000..dec8739ba0
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF1/target.c
@@ -0,0 +1,107 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #5
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #8
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM2, IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,    0, IOCFG_IPD }, // PWM1 - RC1
+    { TIM2, IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,    0, IOCFG_IPD }, // PWM2 - RC2
+    { TIM2, IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,    0, IOCFG_IPD }, // PWM3 - RC3
+    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,    0, IOCFG_IPD }, // PWM4 - RC4
+    { TIM3, IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,    0, IOCFG_IPD }, // PWM5 - RC5
+    { TIM3, IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,    0, IOCFG_IPD }, // PWM6 - RC6
+    { TIM3, IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,    0, IOCFG_IPD }, // PWM7 - RC7
+    { TIM3, IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,    0, IOCFG_IPD }, // PWM8 - RC8
+    { TIM1, IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD }, // PWM9 - OUT1
+    { TIM1, IO_TAG(PA11), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD }, // PWM10 - OUT2
+    { TIM4, IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,    0, IOCFG_IPD }, // PWM11 - OUT3
+    { TIM4, IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,    0, IOCFG_IPD }, // PWM12 - OUT4
+    { TIM4, IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,    0, IOCFG_IPD }, // PWM13 - OUT5
+    { TIM4, IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,    0, IOCFG_IPD }  // PWM14 - OUT6
+};
+
diff --git a/src/main/target/ALIENFLIGHTF1/target.h b/src/main/target/ALIENFLIGHTF1/target.h
new file mode 100644
index 0000000000..69ac283e52
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF1/target.h
@@ -0,0 +1,92 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "AFF1" // AlienFlight F1.
+#define TARGET_CONFIG
+
+#define LED0                    PB3
+#define LED1                    PB4
+
+#define BEEPER                  PA12
+
+#define USE_EXTI
+#define MAG_INT_EXTI            PC14
+#define USE_MPU_DATA_READY_SIGNAL
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+
+#define GYRO
+#define USE_GYRO_MPU6050
+
+#define GYRO_MPU6050_ALIGN      CW0_DEG
+
+#define ACC
+#define USE_ACC_MPU6050
+
+#define ACC_MPU6050_ALIGN       CW0_DEG
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define SERIAL_PORT_COUNT       3
+
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_2)
+
+#define USE_ADC
+#define CURRENT_METER_ADC_PIN   PB1
+#define VBAT_ADC_PIN            PA4
+#define RSSI_ADC_PIN            PA1
+#define EXTERNAL1_ADC_PIN       PA5
+
+
+#define LED_STRIP
+#define WS2811_TIMER                    TIM3
+#define WS2811_PIN                      PA6
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC6
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH6_HANDLER
+
+#undef GPS
+
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PIN                PA3
+
+#define HARDWARE_BIND_PLUG
+// Hardware bind plug at PB5 (Pin 41)
+#define BINDPLUG_PIN            PB5
+
+#define BRUSHED_MOTORS
+#define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
+#define SERIALRX_UART           SERIAL_PORT_USART2
+#define RX_CHANNELS_TAER
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - assuming all IOs on 48pin package
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         ( BIT(13) | BIT(14) | BIT(15) )
+
+#define USABLE_TIMER_CHANNEL_COUNT 14
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/ALIENFLIGHTF1/target.mk b/src/main/target/ALIENFLIGHTF1/target.mk
new file mode 100644
index 0000000000..c3a0ba80e5
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF1/target.mk
@@ -0,0 +1,8 @@
+F1_TARGETS  += $(TARGET)
+FEATURES    = HIGHEND 
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c
diff --git a/src/main/target/ALIENFLIGHTF3/AlienFlight.md b/src/main/target/ALIENFLIGHTF3/AlienFlight.md
new file mode 100644
index 0000000000..cb6e154bdb
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF3/AlienFlight.md
@@ -0,0 +1,52 @@
+# AlienFlight (ALIENFLIGHTF1, ALIENFLIGHTF3 and ALIENFLIGHTF4 target)
+
+AlienWii is now AlienFlight. This targets supports various variants of brushed and brushless flight controllers. The designs for them are released partially for public use at:
+
+http://www.alienflight.com
+
+All published designs are flight tested by various people. The intention here is to make these flight controllers available and enable skilled users or RC vendors to build this designs.
+
+Some variants of the AlienFlight controllers will be available for purchase from:
+
+http://www.microfpv.eu
+
+Here are the general hardware specifications for this boards:
+
+- STM32F103CBT6 MCU (ALIENFLIGHTF1)
+- STM32F303CCT6 MCU (ALIENFLIGHTF3)
+- STM32F405RGT6 MCU (ALIENFLIGHTF4)
+- MPU6050/6500/9250/ICM-20608-G accelerometer/gyro(/mag) sensor unit
+- The MPU sensor interrupt is connected to the MCU for all new F3 and F4 designs and enabled in the firmware
+- 4-8 x 4.2A to 9.5A brushed ESCs, integrated, to run the strongest micro motors (brushed variants)
+- extra-wide traces on the PCB, for maximum power throughput (brushed variants)
+- some new F4 boards using a 4-layer PCB for better power distribution
+- USB port, integrated
+- (*) serial connection for external DSM2/DSMX sat receiver (e.g. Spektrum SAT, OrangeRx R100, Lemon RX or Deltang Rx31) and SBUS
+- CPPM input
+- ground and 3.3V for the receiver, some boards have also the option to power an 5V receiver
+- hardware bind plug for easy binding
+- motor connections are at the corners for a clean look with reduced wiring
+- small footprint
+- direct operation from a single cell Lipoly battery for brushed versions
+- 3.3V LDO power regulator (older prototypes)
+- 3.3V buck-boost power converter (all new versions)
+- 5V buck-boost power converter for FPV (some versions)
+- brushless versions are designed for 3S operation and also have an 5V power output
+- battery monitoring with an LED for buzzer functionality (for some ALIENFLIGHTF3 and F4 variants only)
+
+(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the Cleanflight Configurator.
+
+    set serialrx_provider = 1   (0 for 1024bit, 1 for 2048bit) 
+    set spektrum_sat_bind = 5
+    
+For more detail of the different bind modes please refer the CleanFlight Spektrum Bind document.
+
+Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different. 
+
+The pin layout for the ALIENFLIGHTF1 is very similar to NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The pin layout for the ALIENFLIGHTF3 is similar to Sparky. The hardware bind pin is connected to pin 25 (PB12). The new AlienFlightF3 V2 design have the sensor connected via SPI and some slightly different pin layout. All AlienFlight/AlienWii F3 layouts running the same firmware which takes care on the differences with a hardware detection.
+
+The AlienFlight firmware will be built as target ALIENFLIGHTF1, ALIENFLIGHTF3 or ALIENFLIGHTF4. The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with a small Quadcopter. A preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienFlight. The mixer can be activated with "mixer custom" in the CLI. To use the AlienFlight controller in a Hexa- or Octocopter or to do some more tuning additional configuration changes can be done as usual in the CLI or the BetaFlight configurator. 
+
+## Flashing the firmware
+
+The firmware can be updated with the BetaFlight configurator as for any other target. All AlienFlight boards have a boot jumper which need to be closed for initial flashing or for recovery from a broken firmware.
diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c
index 8c693a98cf..4ffee53046 100644
--- a/src/main/target/ALIENFLIGHTF3/config.c
+++ b/src/main/target/ALIENFLIGHTF3/config.c
@@ -19,7 +19,7 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "blackbox/blackbox_io.h"
 
@@ -51,8 +51,8 @@
 #include "io/serial.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 #include "io/osd.h"
@@ -69,32 +69,36 @@
 #include "flight/altitudehold.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
 // alternative defaults settings for AlienFlight targets
-void targetConfiguration(void) {
-    featureClear(FEATURE_ONESHOT125);
-    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
-    masterConfig.rxConfig.spektrum_sat_bind = 5;
-    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
-    masterConfig.motor_pwm_rate = 32000;
-    masterConfig.failsafeConfig.failsafe_delay = 2;
-    masterConfig.failsafeConfig.failsafe_off_delay = 0;
-    currentControlRateProfile->rates[FD_PITCH] = 40;
-    currentControlRateProfile->rates[FD_ROLL] = 40;
-    currentControlRateProfile->rates[FD_YAW] = 40;
-    parseRcChannels("TAER1234", &masterConfig.rxConfig);
+void targetConfiguration(master_t *config) {
+    config->mag_hardware = MAG_NONE;            // disabled by default
+    config->rxConfig.spektrum_sat_bind = 5;
+    config->rxConfig.spektrum_sat_bind_autoreset = 1;
+    config->motor_pwm_rate = 32000;
+    config->failsafeConfig.failsafe_delay = 2;
+    config->failsafeConfig.failsafe_off_delay = 0;
+    config->gyro_sync_denom = 2;
+    config->pid_process_denom = 1;
+    config->profile[0].pidProfile.P8[ROLL] = 90;
+    config->profile[0].pidProfile.I8[ROLL] = 44;
+    config->profile[0].pidProfile.D8[ROLL] = 60;
+    config->profile[0].pidProfile.P8[PITCH] = 90;
+    config->profile[0].pidProfile.I8[PITCH] = 44;
+    config->profile[0].pidProfile.D8[PITCH] = 60;
 
-    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
-    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
-    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
-    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
-    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
-    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
-    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+    config->customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    config->customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    config->customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    config->customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    config->customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    config->customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    config->customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    config->customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
 }
diff --git a/src/main/target/ALIENFLIGHTF3/hardware_revision.c b/src/main/target/ALIENFLIGHTF3/hardware_revision.c
index a8f1ebdb7e..c535c7d9a2 100644
--- a/src/main/target/ALIENFLIGHTF3/hardware_revision.c
+++ b/src/main/target/ALIENFLIGHTF3/hardware_revision.c
@@ -20,7 +20,8 @@
 #include <stdlib.h>
 
 #include "platform.h"
-#include "build_config.h"
+
+#include "build/build_config.h"
 
 #include "drivers/system.h"
 #include "drivers/io.h"
diff --git a/src/main/target/ALIENFLIGHTF3/hardware_revision.h b/src/main/target/ALIENFLIGHTF3/hardware_revision.h
index 7e60ddc55f..48d56a86a3 100644
--- a/src/main/target/ALIENFLIGHTF3/hardware_revision.h
+++ b/src/main/target/ALIENFLIGHTF3/hardware_revision.h
@@ -15,7 +15,7 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 #pragma once
- 
+
 #include "drivers/exti.h"
 
 typedef enum awf3HardwareRevision_t {
@@ -29,4 +29,4 @@ extern uint8_t hardwareRevision;
 void updateHardwareRevision(void);
 void detectHardwareRevision(void);
 
-const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void);
\ No newline at end of file
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void);
diff --git a/src/main/target/ALIENFLIGHTF3/target.c b/src/main/target/ALIENFLIGHTF3/target.c
index 2ced9687ac..8169e9e912 100644
--- a/src/main/target/ALIENFLIGHTF3/target.c
+++ b/src/main/target/ALIENFLIGHTF3/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM11 | (MAP_TO_PPM_INPUT << 8), // PPM input
@@ -63,28 +64,19 @@ const uint16_t airPWM[] = {
 
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    // 6 x 3 pin headers
+    // up to 10 Motor Outputs
     { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
     { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
     { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
     { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
     { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
     { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
-
-    // 6 pin header
-    // PWM7-10
     { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
     { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
     { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM9  - PA4  - *TIM3_CH2
     { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PA1  - *TIM2_CH2, TIM15_CH1N
 
     // PPM PORT - Also USART2 RX (AF5)
-    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,                0, IOCFG_IPD, GPIO_AF_1 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
-    //{ TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, IOCFG_IPD, GPIO_PinSource3, GPIO_AF_9 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
-
-    // USART3 RX/TX
-    // RX conflicts with PPM port
-    //{ TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_PinSource11,  GPIO_AF_1 } // RX    - PB11 - *TIM2_CH4, UART3_RX (AF7) - PWM11
-    //{ TIM2,  GPIOB, Pin_10, TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_PinSource10,  GPIO_AF_1 } // TX    - PB10 - *TIM2_CH3, UART3_TX (AF7) - PWM12
+    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,                0, IOCFG_AF_PP_PD, GPIO_AF_1 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
 };
 
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index b05cdb33a4..590e0b7ee5 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -23,21 +23,17 @@
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
 #define USE_HARDWARE_REVISION_DETECTION
-#define HW_PIN      PB2
+#define HW_PIN                  PB2
 
 // LED's V1
-#define LED0        PB4  // LED - PB4
-#define LED1        PB5  // LED - PB5
+#define LED0                    PB4
+#define LED1                    PB5
 
 // LED's V2
-#define LED0_A      PB8  // LED - PB8
-#define LED1_A      PB9  // LED - PB9
+#define LED0_A                  PB8
+#define LED1_A                  PB9
 
-#define BEEPER      PA5  // LED - PA5
-
-#define USABLE_TIMER_CHANNEL_COUNT 11
-
-#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
+#define BEEPER                  PA5
 
 #define USE_EXTI
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
@@ -48,15 +44,15 @@
 #define USE_GYRO_MPU6050
 #define USE_GYRO_SPI_MPU6500
 
-#define GYRO_MPU6050_ALIGN CW270_DEG
-#define GYRO_MPU6500_ALIGN CW270_DEG
+#define GYRO_MPU6050_ALIGN      CW270_DEG
+#define GYRO_MPU6500_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_MPU6050
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_MPU6050_ALIGN CW270_DEG
-#define ACC_MPU6500_ALIGN CW270_DEG
+#define ACC_MPU6050_ALIGN       CW270_DEG
+#define ACC_MPU6500_ALIGN       CW270_DEG
 
 // No baro support.
 //#define BARO
@@ -65,29 +61,29 @@
 // option to use MPU9150 or MPU9250 integrated AK89xx Mag
 #define MAG
 #define USE_MAG_AK8963
-
-#define MAG_AK8963_ALIGN CW0_DEG_FLIP
+#define MAG_AK8963_ALIGN        CW0_DEG_FLIP
 
 #define USE_VCP
 #define USE_UART1 // Not connected - TX (PB6) RX PB7 (AF7)
 #define USE_UART2 // Receiver - RX (PA3)
 #define USE_UART3 // Not connected - 10/RX (PB11) 11/TX (PB10)
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
+#define AVOID_UART2_FOR_PWM_PPM
 
-#define UART1_TX_PIN        PB6 // PB6
-#define UART1_RX_PIN        PB7 // PB7
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PA2 // PA2
-#define UART2_RX_PIN        PA3 // PA3
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
 
-#define I2C2_SCL            PA9
-#define I2C2_SDA            PA10
+#define I2C2_SCL                PA9
+#define I2C2_SDA                PA10
 
 // SPI3
 // PA15 38 SPI3_NSS
@@ -98,38 +94,38 @@
 #define USE_SPI
 #define USE_SPI_DEVICE_3
 
-#define MPU6500_CS_PIN                   PA15
-#define MPU6500_SPI_INSTANCE             SPI3
+#define MPU6500_CS_PIN          PA15
+#define MPU6500_SPI_INSTANCE    SPI3
 
 #define USE_ADC
 
-#define ADC_INSTANCE         ADC2
-#define VBAT_ADC_PIN         PA4
-#define VBAT_SCALE_DEFAULT   20
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define VBAT_SCALE_DEFAULT      20
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN   PA3
+#define BIND_PIN                PA3
 
 #define HARDWARE_BIND_PLUG
 // Hardware bind plug at PB12 (Pin 25)
-#define BINDPLUG_PIN   PB12
+#define BINDPLUG_PIN            PB12
 
 #define BRUSHED_MOTORS
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
 #define SERIALRX_UART           SERIAL_PORT_USART3
+#define RX_CHANNELS_TAER
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-// IO - assuming 303 in 64pin package, TODO
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(2))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
-
-#define USED_TIMERS  ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17) )
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17) )
 
diff --git a/src/main/target/ALIENFLIGHTF3/target.mk b/src/main/target/ALIENFLIGHTF3/target.mk
index f1449b704c..90e0b83f10 100644
--- a/src/main/target/ALIENFLIGHTF3/target.mk
+++ b/src/main/target/ALIENFLIGHTF3/target.mk
@@ -1,11 +1,11 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/compass_ak8963.c \
-            drivers/sonar_hcsr04.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/compass_ak8963.c \
+            drivers/sonar_hcsr04.c
+
diff --git a/src/main/target/ALIENFLIGHTF4/AlienFlight.md b/src/main/target/ALIENFLIGHTF4/AlienFlight.md
new file mode 100644
index 0000000000..cb6e154bdb
--- /dev/null
+++ b/src/main/target/ALIENFLIGHTF4/AlienFlight.md
@@ -0,0 +1,52 @@
+# AlienFlight (ALIENFLIGHTF1, ALIENFLIGHTF3 and ALIENFLIGHTF4 target)
+
+AlienWii is now AlienFlight. This targets supports various variants of brushed and brushless flight controllers. The designs for them are released partially for public use at:
+
+http://www.alienflight.com
+
+All published designs are flight tested by various people. The intention here is to make these flight controllers available and enable skilled users or RC vendors to build this designs.
+
+Some variants of the AlienFlight controllers will be available for purchase from:
+
+http://www.microfpv.eu
+
+Here are the general hardware specifications for this boards:
+
+- STM32F103CBT6 MCU (ALIENFLIGHTF1)
+- STM32F303CCT6 MCU (ALIENFLIGHTF3)
+- STM32F405RGT6 MCU (ALIENFLIGHTF4)
+- MPU6050/6500/9250/ICM-20608-G accelerometer/gyro(/mag) sensor unit
+- The MPU sensor interrupt is connected to the MCU for all new F3 and F4 designs and enabled in the firmware
+- 4-8 x 4.2A to 9.5A brushed ESCs, integrated, to run the strongest micro motors (brushed variants)
+- extra-wide traces on the PCB, for maximum power throughput (brushed variants)
+- some new F4 boards using a 4-layer PCB for better power distribution
+- USB port, integrated
+- (*) serial connection for external DSM2/DSMX sat receiver (e.g. Spektrum SAT, OrangeRx R100, Lemon RX or Deltang Rx31) and SBUS
+- CPPM input
+- ground and 3.3V for the receiver, some boards have also the option to power an 5V receiver
+- hardware bind plug for easy binding
+- motor connections are at the corners for a clean look with reduced wiring
+- small footprint
+- direct operation from a single cell Lipoly battery for brushed versions
+- 3.3V LDO power regulator (older prototypes)
+- 3.3V buck-boost power converter (all new versions)
+- 5V buck-boost power converter for FPV (some versions)
+- brushless versions are designed for 3S operation and also have an 5V power output
+- battery monitoring with an LED for buzzer functionality (for some ALIENFLIGHTF3 and F4 variants only)
+
+(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the Cleanflight Configurator.
+
+    set serialrx_provider = 1   (0 for 1024bit, 1 for 2048bit) 
+    set spektrum_sat_bind = 5
+    
+For more detail of the different bind modes please refer the CleanFlight Spektrum Bind document.
+
+Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different. 
+
+The pin layout for the ALIENFLIGHTF1 is very similar to NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The pin layout for the ALIENFLIGHTF3 is similar to Sparky. The hardware bind pin is connected to pin 25 (PB12). The new AlienFlightF3 V2 design have the sensor connected via SPI and some slightly different pin layout. All AlienFlight/AlienWii F3 layouts running the same firmware which takes care on the differences with a hardware detection.
+
+The AlienFlight firmware will be built as target ALIENFLIGHTF1, ALIENFLIGHTF3 or ALIENFLIGHTF4. The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with a small Quadcopter. A preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienFlight. The mixer can be activated with "mixer custom" in the CLI. To use the AlienFlight controller in a Hexa- or Octocopter or to do some more tuning additional configuration changes can be done as usual in the CLI or the BetaFlight configurator. 
+
+## Flashing the firmware
+
+The firmware can be updated with the BetaFlight configurator as for any other target. All AlienFlight boards have a boot jumper which need to be closed for initial flashing or for recovery from a broken firmware.
diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c
index 8c693a98cf..4a2d100f3d 100644
--- a/src/main/target/ALIENFLIGHTF4/config.c
+++ b/src/main/target/ALIENFLIGHTF4/config.c
@@ -19,7 +19,7 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "blackbox/blackbox_io.h"
 
@@ -51,8 +51,8 @@
 #include "io/serial.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 #include "io/osd.h"
@@ -69,32 +69,36 @@
 #include "flight/altitudehold.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
 // alternative defaults settings for AlienFlight targets
-void targetConfiguration(void) {
-    featureClear(FEATURE_ONESHOT125);
-    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
-    masterConfig.rxConfig.spektrum_sat_bind = 5;
-    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
-    masterConfig.motor_pwm_rate = 32000;
-    masterConfig.failsafeConfig.failsafe_delay = 2;
-    masterConfig.failsafeConfig.failsafe_off_delay = 0;
-    currentControlRateProfile->rates[FD_PITCH] = 40;
-    currentControlRateProfile->rates[FD_ROLL] = 40;
-    currentControlRateProfile->rates[FD_YAW] = 40;
-    parseRcChannels("TAER1234", &masterConfig.rxConfig);
+void targetConfiguration(master_t *config) {
+    config->mag_hardware = MAG_NONE;            // disabled by default
+    config->rxConfig.spektrum_sat_bind = 5;
+    config->rxConfig.spektrum_sat_bind_autoreset = 1;
+    config->motor_pwm_rate = 32000;
+    config->failsafeConfig.failsafe_delay = 2;
+    config->failsafeConfig.failsafe_off_delay = 0;
+    config->gyro_sync_denom = 1;
+    config->pid_process_denom = 1;
+    config->profile[0].pidProfile.P8[ROLL] = 90;
+    config->profile[0].pidProfile.I8[ROLL] = 44;
+    config->profile[0].pidProfile.D8[ROLL] = 60;
+    config->profile[0].pidProfile.P8[PITCH] = 90;
+    config->profile[0].pidProfile.I8[PITCH] = 44;
+    config->profile[0].pidProfile.D8[PITCH] = 60;
 
-    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
-    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
-    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
-    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
-    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
-    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
-    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+    config->customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    config->customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    config->customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    config->customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    config->customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    config->customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    config->customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    config->customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
 }
diff --git a/src/main/target/ALIENFLIGHTF4/target.c b/src/main/target/ALIENFLIGHTF4/target.c
index efedb56689..dafcdf86da 100644
--- a/src/main/target/ALIENFLIGHTF4/target.c
+++ b/src/main/target/ALIENFLIGHTF4/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index 909026c021..a8b0638f19 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -23,39 +23,39 @@
 
 #define USBD_PRODUCT_STRING "AlienFlight F4"
 
-#define LED0                 PC12
-#define LED1                 PD2
+#define LED0                    PC12
+#define LED1                    PD2
 
-#define BEEPER               PC13
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
 
-#define INVERTER             PC15
-#define INVERTER_USART       USART2
+#define INVERTER                PC15
+#define INVERTER_USART          USART2
 
 // MPU interrupt
+#define USE_EXTI
+#define MPU_INT_EXTI            PC14
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
-#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
-#define MPU_INT_EXTI         PC14
-#define USE_EXTI
 
-#define MPU6500_CS_PIN       PA4
-#define MPU6500_SPI_INSTANCE SPI1
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
 
 #define ACC
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN    CW270_DEG
+#define ACC_MPU6500_ALIGN       CW270_DEG
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN   CW270_DEG
+#define GYRO_MPU6500_ALIGN      CW270_DEG
 
 #define MAG
 #define USE_MAG_HMC5883
 #define USE_MAG_AK8963
 
-#define MAG_HMC5883_ALIGN    CW180_DEG
-#define MAG_AK8963_ALIGN     CW270_DEG
+#define MAG_HMC5883_ALIGN       CW180_DEG
+#define MAG_AK8963_ALIGN        CW270_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -65,14 +65,14 @@
 
 //#define SDCARD_DETECT_INVERTED
 
-#define SDCARD_DETECT_PIN                   PB10
-#define SDCARD_DETECT_EXTI_LINE             EXTI_Line10
-#define SDCARD_DETECT_EXTI_PIN_SOURCE       EXTI_PinSource10
-#define SDCARD_DETECT_EXTI_PORT_SOURCE      EXTI_PortSourceGPIOB
-#define SDCARD_DETECT_EXTI_IRQn             EXTI15_10_IRQn
+#define SDCARD_DETECT_PIN               PB10
+#define SDCARD_DETECT_EXTI_LINE         EXTI_Line10
+#define SDCARD_DETECT_EXTI_PIN_SOURCE   EXTI_PinSource10
+#define SDCARD_DETECT_EXTI_PORT_SOURCE  EXTI_PortSourceGPIOB
+#define SDCARD_DETECT_EXTI_IRQn         EXTI15_10_IRQn
 
-#define SDCARD_SPI_INSTANCE                 SPI2
-#define SDCARD_SPI_CS_PIN                   SPI2_NSS_PIN
+#define SDCARD_SPI_INSTANCE             SPI2
+#define SDCARD_SPI_CS_PIN               SPI2_NSS_PIN
 
 // SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
 #define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
@@ -93,57 +93,53 @@
 //#define USE_FLASHFS
 //#define USE_FLASH_M25P16
 
-#define USABLE_TIMER_CHANNEL_COUNT 13
-
 #define USE_VCP
 
 #define USE_UART1
-#define UART1_RX_PIN        PA10
-#define UART1_TX_PIN        PA9
-#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
 
 #define USE_UART2
-#define UART2_RX_PIN        PA3
-#define UART2_TX_PIN        PA2 //inverter
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2 //inverter
 
 //#define USE_UART3
-//#define UART3_RX_PIN        PB11
-//#define UART3_TX_PIN        PB10
+//#define UART3_RX_PIN            PB11
+//#define UART3_TX_PIN            PB10
 
 #define USE_UART4
-#define UART4_RX_PIN        PC10
-#define UART4_TX_PIN        PC11
+#define UART4_RX_PIN            PC10
+#define UART4_TX_PIN            PC11
 
 //#define USE_UART5
-//#define UART5_RX_PIN        PD2
-//#define UART5_TX_PIN        PC12
+//#define UART5_RX_PIN            PD2
+//#define UART5_TX_PIN            PC12
 
-#define SERIAL_PORT_COUNT    4
+#define SERIAL_PORT_COUNT       4
 
 #define USE_SPI
-
 #define USE_SPI_DEVICE_1
-
 #define USE_SPI_DEVICE_2
-#define SPI2_NSS_PIN         PB12
-#define SPI2_SCK_PIN         PB13
-#define SPI2_MISO_PIN        PC2
-#define SPI2_MOSI_PIN        PC3
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PC2
+#define SPI2_MOSI_PIN           PC3
 
 #define USE_SPI_DEVICE_3
 
 #define USE_I2C
-#define I2C_DEVICE           (I2CDEV_1)
-//#define I2C_DEVICE_EXT       (I2CDEV_2)
-#define I2C1_SCL             PB6
-#define I2C1_SDA             PB7
+#define I2C_DEVICE              (I2CDEV_1)
+//#define I2C_DEVICE_EXT          (I2CDEV_2)
+#define I2C1_SCL                PB6
+#define I2C1_SDA                PB7
 
 #define USE_ADC
 //#define BOARD_HAS_VOLTAGE_DIVIDER
-#define VBAT_ADC_PIN               PC0
-#define CURRENT_METER_ADC_PIN      PC1
-#define RSSI_ADC_PIN               PC4
-#define EXTERNAL1_ADC_GPIO_PIN     PC5
+#define VBAT_ADC_PIN            PC0
+#define CURRENT_METER_ADC_PIN   PC1
+#define RSSI_ADC_PIN            PC4
+#define EXTERNAL1_ADC_GPIO_PIN  PC5
 
 // LED strip configuration using RC5 pin.
 //#define LED_STRIP
@@ -156,11 +152,11 @@
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN             PA3
+#define BIND_PIN                PA3
 
 #define HARDWARE_BIND_PLUG
 // Hardware bind plug at PB2 (Pin 28)
-#define BINDPLUG_PIN         PB2
+#define BINDPLUG_PIN            PB2
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
@@ -169,13 +165,15 @@
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
 #define SERIALRX_UART           SERIAL_PORT_USART3
+#define RX_CHANNELS_TAER
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA      0xffff
-#define TARGET_IO_PORTB      0xffff
-#define TARGET_IO_PORTC      0xffff
-#define TARGET_IO_PORTD      (BIT(2))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
 
-#define USED_TIMERS  ( TIM_N(1) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) )
+#define USABLE_TIMER_CHANNEL_COUNT      13
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) )
 
diff --git a/src/main/target/ALIENFLIGHTF4/target.mk b/src/main/target/ALIENFLIGHTF4/target.mk
index 910023aa0e..edd75eefb3 100644
--- a/src/main/target/ALIENFLIGHTF4/target.mk
+++ b/src/main/target/ALIENFLIGHTF4/target.mk
@@ -1,13 +1,13 @@
-F405_TARGETS    += $(TARGET)
-FEATURES        += SDCARD VCP
-
-TARGET_SRC = \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_ak8963.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f4xx.c
-
+F405_TARGETS    += $(TARGET)
+FEATURES        += SDCARD VCP
+
+TARGET_SRC = \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8963.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c
+
diff --git a/src/main/target/BETAFLIGHTF3/readme.txt b/src/main/target/BETAFLIGHTF3/readme.txt
new file mode 100755
index 0000000000..b6c5f279b0
--- /dev/null
+++ b/src/main/target/BETAFLIGHTF3/readme.txt
@@ -0,0 +1,13 @@
+==BETAFLIGHTF3==
+
+Owner: BorisB
+
+Board information:
+
+- CPU - STM32F303CCT6
+- MPU-6000
+- SD Card Slot 
+- Build in 5V BEC + LC filter - board can be powered from main battery
+- Built in current meter, PDB
+
+More info to come
\ No newline at end of file
diff --git a/src/main/target/BETAFLIGHTF3/target.c b/src/main/target/BETAFLIGHTF3/target.c
new file mode 100755
index 0000000000..b96615c6a6
--- /dev/null
+++ b/src/main/target/BETAFLIGHTF3/target.c
@@ -0,0 +1,85 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+ //Target code By Hector "Hectech FPV" Hind
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),      // PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    0xFFFF
+};
+
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM3,  IO_TAG(PB7),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH1 - PA0  - *TIM2_CH1
+
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM3 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4 - PB9
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM5 - PA1
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6 - PA0
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM8 - PA3
+
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO_TIMER / LED_STRIP
+};
+
diff --git a/src/main/target/BETAFLIGHTF3/target.h b/src/main/target/BETAFLIGHTF3/target.h
new file mode 100755
index 0000000000..05b0807b6d
--- /dev/null
+++ b/src/main/target/BETAFLIGHTF3/target.h
@@ -0,0 +1,151 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+ //Target code By Hector "Hectech FPV" Hind
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "BETAFC"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+
+//#define LED0                    PC14
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+#define USABLE_TIMER_CHANNEL_COUNT 17
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+#define MPU6000_CS_PIN          PA15
+#define MPU6000_SPI_INSTANCE    SPI1
+
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW180_DEG
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW180_DEG
+
+// MPU6000 interrupts
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+#define MPU_INT_EXTI                PC13
+#define USE_EXTI
+
+#define USB_IO
+
+//#define USE_FLASHFS
+//#define USE_FLASH_M25P16
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_SOFTSERIAL2
+#define SERIAL_PORT_COUNT       5
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA2 // PA14 / SWCLK
+#define UART2_RX_PIN            PA3
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#define SOFTSERIAL_2_TIMER      TIM3
+#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 5
+#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 6
+
+
+#undef USE_I2C
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+//GPIO_AF_1
+
+#define SPI1_NSS_PIN            PA15
+#define SPI1_SCK_PIN            PB3
+#define SPI1_MISO_PIN           PB4
+#define SPI1_MOSI_PIN           PB5
+
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+
+
+
+#define USE_SDCARD
+#define USE_SDCARD_SPI2
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PC14
+#define SDCARD_SPI_INSTANCE                 SPI2
+//#define SDCARD_SPI_CS_GPIO                  SPI2_GPIO
+#define SDCARD_SPI_CS_PIN                   SPI2_NSS_PIN
+
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     2
+
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Channel5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
+//#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+//#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
+
+#define LED_STRIP
+
+#define USE_LED_STRIP_ON_DMA1_CHANNEL2
+#define WS2811_PIN                      PA8
+#define WS2811_TIMER                    TIM1
+#define WS2811_DMA_CHANNEL              DMA1_Channel2
+#define WS2811_IRQ                      DMA1_Channel2_IRQn
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_BLACKBOX |  FEATURE_CURRENT_METER)
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN                PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
\ No newline at end of file
diff --git a/src/main/target/BETAFLIGHTF3/target.mk b/src/main/target/BETAFLIGHTF3/target.mk
new file mode 100755
index 0000000000..022c21a259
--- /dev/null
+++ b/src/main/target/BETAFLIGHTF3/target.mk
@@ -0,0 +1,17 @@
+
+F3_TARGETS   += $(TARGET)
+FEATURES     = VCP SDCARD
+TARGET_FLAGS = -DSPRACINGF3
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/display_ug2864hsweg01.h \
+            drivers/flash_m25p16.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/sonar_hcsr04.c
+
diff --git a/src/main/target/NAZE/config.c b/src/main/target/BLUEJAYF4/config.c
similarity index 54%
rename from src/main/target/NAZE/config.c
rename to src/main/target/BLUEJAYF4/config.c
index f9fde08608..b0b4dfca85 100644
--- a/src/main/target/NAZE/config.c
+++ b/src/main/target/BLUEJAYF4/config.c
@@ -19,7 +19,7 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "blackbox/blackbox_io.h"
 
@@ -51,8 +51,8 @@
 #include "io/serial.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 #include "io/osd.h"
@@ -69,31 +69,20 @@
 #include "flight/altitudehold.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
-// alternative defaults settings for AlienFlight targets
-void targetConfiguration(void) {
-    featureClear(FEATURE_ONESHOT125);
-    masterConfig.rxConfig.spektrum_sat_bind = 5;
-    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
-    masterConfig.motor_pwm_rate = 32000;
-    masterConfig.failsafeConfig.failsafe_delay = 2;
-    masterConfig.failsafeConfig.failsafe_off_delay = 0;
-    currentControlRateProfile->rates[FD_PITCH] = 40;
-    currentControlRateProfile->rates[FD_ROLL] = 40;
-    currentControlRateProfile->rates[FD_YAW] = 40;
-    parseRcChannels("TAER1234", &masterConfig.rxConfig);
+#include "hardware_revision.h"
 
-    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
-    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
-    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
-    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
-    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
-    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
-    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+// alternative defaults settings for BlueJayF4 targets
+void targetConfiguration(master_t *config)
+{
+    if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
+        config->sensorAlignmentConfig.gyro_align = CW180_DEG;
+        config->sensorAlignmentConfig.acc_align  = CW180_DEG;
+    }
 }
diff --git a/src/main/target/BLUEJAYF4/hardware_revision.c b/src/main/target/BLUEJAYF4/hardware_revision.c
new file mode 100644
index 0000000000..aa5f311326
--- /dev/null
+++ b/src/main/target/BLUEJAYF4/hardware_revision.c
@@ -0,0 +1,100 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "drivers/system.h"
+#include "drivers/bus_spi.h"
+#include "drivers/io.h"
+#include "drivers/flash_m25p16.h"
+#include "hardware_revision.h"
+
+static const char * const hardwareRevisionNames[] = {
+    "Unknown",
+    "BlueJay rev1",
+    "BlueJay rev2",
+    "BlueJay rev3",
+    "BlueJay rev3a"
+};
+
+uint8_t hardwareRevision = UNKNOWN;
+
+void detectHardwareRevision(void)
+{
+    IO_t pin1 = IOGetByTag(IO_TAG(PB12));
+    IOInit(pin1, OWNER_SYSTEM, RESOURCE_INPUT, 1);
+    IOConfigGPIO(pin1, IOCFG_IPU);
+
+    IO_t pin2 = IOGetByTag(IO_TAG(PB13));
+    IOInit(pin2, OWNER_SYSTEM, RESOURCE_INPUT, 2);
+    IOConfigGPIO(pin2, IOCFG_IPU);
+
+    // Check hardware revision
+    delayMicroseconds(10);  // allow configuration to settle
+
+    /* 
+        if both PB12 and 13 are tied to GND then it is Rev3A (mini)
+        if only PB12 is tied to GND then it is a Rev3 (full size) 
+    */
+    if (!IORead(pin1)) {
+        if (!IORead(pin2)) {
+            hardwareRevision = BJF4_REV3A;
+        }
+        hardwareRevision = BJF4_REV3;
+    }
+
+    if (hardwareRevision == UNKNOWN) {
+        hardwareRevision = BJF4_REV2;
+        return;
+    }
+    
+    /* 
+        enable the UART1 inversion PC9
+        
+        TODO: once param groups are in place, inverter outputs
+        can be moved to be simple IO outputs, and merely set them
+        HI or LO in configuration.
+    */
+    IO_t uart1invert = IOGetByTag(IO_TAG(PC9));
+    IOInit(uart1invert, OWNER_INVERTER, RESOURCE_OUTPUT, 2);
+    IOConfigGPIO(uart1invert, IOCFG_AF_PP);
+    IOLo(uart1invert);    
+}
+
+void updateHardwareRevision(void)
+{
+    if (hardwareRevision != BJF4_REV2) {
+        return;
+    }
+    
+    /* 
+        if flash exists on PB3 then Rev1
+    */
+    if (m25p16_init(IO_TAG(PB3))) {
+        hardwareRevision = BJF4_REV1;
+    } else {
+        IOInit(IOGetByTag(IO_TAG(PB3)), OWNER_FREE, RESOURCE_NONE, 0);
+    }
+}
+
+
diff --git a/src/main/target/BLUEJAYF4/hardware_revision.h b/src/main/target/BLUEJAYF4/hardware_revision.h
new file mode 100644
index 0000000000..3333d86aa0
--- /dev/null
+++ b/src/main/target/BLUEJAYF4/hardware_revision.h
@@ -0,0 +1,30 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+typedef enum bjf4HardwareRevision_t {
+    UNKNOWN = 0,
+    BJF4_REV1,  // Flash
+    BJF4_REV2,  // SDCard
+    BJF4_REV3,  // SDCard + Flash
+    BJF4_REV3A, // Flash (20x20 mini format)
+} bjf4HardwareRevision_e;
+
+extern uint8_t hardwareRevision;
+
+void updateHardwareRevision(void);
+void detectHardwareRevision(void);
\ No newline at end of file
diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
index f005e5d1a0..72a5b5ba7b 100644
--- a/src/main/target/BLUEJAYF4/target.c
+++ b/src/main/target/BLUEJAYF4/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
@@ -33,7 +34,7 @@ const uint16_t multiPPM[] = {
 };
 
 const uint16_t multiPWM[] = {
-    PWM1  | (MAP_TO_PWM_INPUT << 8), 
+    PWM1  | (MAP_TO_PWM_INPUT << 8),
     PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
@@ -66,12 +67,12 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn,       0, IOCFG_IPD,    GPIO_AF_TIM8 }, // PPM IN
-    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM5 }, // S1_OUT
-    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM5 }, // S2_OUT
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM2 }, // S3_OUT
-    { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP,  GPIO_AF_TIM9 }, // S4_OUT
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM3 }, // S5_OUT
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP,  GPIO_AF_TIM3 }, // S6_OUT
+    { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn,       0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // PPM IN
+    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S1_OUT
+    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S2_OUT
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT
+    { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S4_OUT
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,          1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT
 };
 
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index e83499615a..4ab4f96334 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -17,43 +17,53 @@
 
 #pragma once
 #define TARGET_BOARD_IDENTIFIER "BJF4"
+#define TARGET_CONFIG
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
-#define USBD_PRODUCT_STRING "BlueJayF4"
+#define USBD_PRODUCT_STRING     "BlueJayF4"
+
+#define USE_HARDWARE_REVISION_DETECTION
+#define HW_PIN                  PB2
 
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define USE_EXTI
 
-#define INVERTER        PB15
-#define INVERTER_USART  USART6
+#define LED0                    PB6
+#define LED1                    PB5
+#define LED2                    PB4
 
-#define BEEPER PB7
+#define BEEPER                  PC1
+#define BEEPER_OPT              PB7
 #define BEEPER_INVERTED
 
-#define LED0 PB6
-#define LED1 PB5
-#define LED2 PB4
+#define INVERTER                PB15
+#define INVERTER_USART          USART6
 
-#define MPU6500_CS_PIN        PC4
-#define MPU6500_SPI_INSTANCE  SPI1
+// MPU6500 interrupt
+#define USE_EXTI
+#define MPU_INT_EXTI            PC5
+#define USE_MPU_DATA_READY_SIGNAL
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+
+#define MPU6500_CS_PIN          PC4
+#define MPU6500_SPI_INSTANCE    SPI1
 
 #define ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW180_DEG
+#define ACC_MPU6500_ALIGN       CW0_DEG
 
 #define GYRO
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW0_DEG
 
 //#define MAG
 //#define USE_MAG_AK8963
 
 #define BARO
 #define USE_BARO_MS5611
-#define MS5611_I2C_INSTANCE I2CDEV_1
+#define MS5611_I2C_INSTANCE     I2CDEV_1
 
 #define USE_SDCARD
 
@@ -76,42 +86,32 @@
 // Performance logging for SD card operations:
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
 
-//#define M25P16_CS_PIN         PB3
-//#define M25P16_SPI_INSTANCE   SPI3
+#define M25P16_CS_PIN           PB7
+#define M25P16_SPI_INSTANCE     SPI3
 
-//#define USE_FLASHFS
-//#define USE_FLASH_M25P16
-
-#define USABLE_TIMER_CHANNEL_COUNT 7
-
-// MPU6500 interrupt
-//#define DEBUG_MPU_DATA_READY_INTERRUPT
-#define USE_MPU_DATA_READY_SIGNAL
-#define ENSURE_MPU_DATA_READY_IS_LOW
-//#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
-#define MPU_INT_EXTI PC5
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
 
 #define USE_VCP
 //#define VBUS_SENSING_PIN PA8
 //#define VBUS_SENSING_ENABLED
 
 #define USE_UART1
-#define UART1_RX_PIN PA10
-#define UART1_TX_PIN PA9
-#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
 
 #define USE_UART3
-#define UART3_RX_PIN PB11
-#define UART3_TX_PIN PB10
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
 
 #define USE_UART6
-#define UART6_RX_PIN PC7
-#define UART6_TX_PIN PC6 
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
 
 #define USE_SOFTSERIAL1
-#define SERIAL_PORT_COUNT 5
+#define SERIAL_PORT_COUNT       5
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
 
@@ -134,15 +134,15 @@
 #define SPI3_MOSI_PIN           PC12
 
 #define USE_I2C
-#define I2C_DEVICE             (I2CDEV_1)
+#define I2C_DEVICE              (I2CDEV_1)
 #define USE_I2C_PULLUP
 
 #define USE_ADC
-#define VBAT_ADC_PIN           PC3
+#define VBAT_ADC_PIN            PC3
 
 #define LED_STRIP
 // LED Strip can run off Pin 6 (PB1) of the ESC outputs.
-#define WS2811_PIN                      PB1 
+#define WS2811_PIN                      PB1
 #define WS2811_TIMER                    TIM3
 #define WS2811_TIMER_CHANNEL            TIM_Channel_4
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
@@ -155,15 +155,19 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES FEATURE_BLACKBOX
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define SPEKTRUM_BIND
+#define BIND_PIN                PB11
 
-#define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9))
 
diff --git a/src/main/target/BLUEJAYF4/target.mk b/src/main/target/BLUEJAYF4/target.mk
index f523965621..d0a982faad 100644
--- a/src/main/target/BLUEJAYF4/target.mk
+++ b/src/main/target/BLUEJAYF4/target.mk
@@ -1,10 +1,10 @@
-F405_TARGETS    += $(TARGET)
-FEATURES        += SDCARD VCP
-
-TARGET_SRC = \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/barometer_ms5611.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f4xx.c
-
+F405_TARGETS    += $(TARGET)
+FEATURES        += SDCARD VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/barometer_ms5611.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c
+
diff --git a/src/main/target/CC3D/target.c b/src/main/target/CC3D/target.c
index a870de9e24..589c6af30d 100644
--- a/src/main/target/CC3D/target.c
+++ b/src/main/target/CC3D/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h
index a1425bc538..cdf8ceab16 100644
--- a/src/main/target/CC3D/target.h
+++ b/src/main/target/CC3D/target.h
@@ -17,42 +17,43 @@
 
 #define TARGET_BOARD_IDENTIFIER "CC3D" // CopterControl 3D
 
-#define LED0    PB3 // PB3 (LED)
+#define LED0                    PB3
 
-#define INVERTER    PB2 // PB2 (BOOT1) used as inverter select GPIO
-#define INVERTER_USART USART1
+#define INVERTER                PB2 // PB2 (BOOT1) used as inverter select GPIO
+#define INVERTER_USART          USART1
 
-#define BEEPER      PB15 // PB15 (Beeper)
-#define BEEPER_OPT  PB2  // PB15 (Beeper)
+#define BEEPER                  PA15
+#define BEEPER_OPT              PA2
 
 #define USE_EXTI
+#define MPU_INT_EXTI            PA3
 #define USE_MPU_DATA_READY_SIGNAL
-#define MPU_INT_EXTI PA3
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
 
-#define MPU6000_CS_GPIO       GPIOA
-#define MPU6000_CS_PIN        PA4
-#define MPU6000_SPI_INSTANCE  SPI1
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_2
 
-#define M25P16_CS_GPIO        GPIOB
-#define M25P16_CS_PIN         PB12
-#define M25P16_SPI_INSTANCE   SPI2
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_2) // Flex port - SCL/PB10, SDA/PB11
+
+#define MPU6000_CS_GPIO         GPIOA
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define M25P16_CS_GPIO          GPIOB
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
 
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 
-#define USABLE_TIMER_CHANNEL_COUNT 12
-
-#define DEBUG_MPU_DATA_READY_INTERRUPT
-#define USE_MPU_DATA_READY_SIGNAL
-
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
-
 #define GYRO_MPU6000_ALIGN CW270_DEG
 
 #define ACC
 #define USE_ACC_SPI_MPU6000
-
 #define ACC_MPU6000_ALIGN CW270_DEG
 
 // MPU6000 interrupts
@@ -72,36 +73,29 @@
 #define USE_UART1
 #define USE_UART3
 #define USE_SOFTSERIAL1
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
 #ifdef USE_UART1_RX_DMA
 #undef USE_UART1_RX_DMA
 #endif
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 1 // PWM 2
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 2 // PWM 3
 
-#define UART3_RX_PIN       PB11
-#define UART3_TX_PIN       PB10
-
-#define USE_SPI
-#define USE_SPI_DEVICE_1
-#define USE_SPI_DEVICE_2
-
-#define USE_I2C
-#define I2C_DEVICE (I2CDEV_2) // Flex port - SCL/PB10, SDA/PB11
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN        PB1
-#define VBAT_ADC_PIN                 PA0
-#define RSSI_ADC_PIN                 PB0
+#define CURRENT_METER_ADC_PIN   PB1
+#define VBAT_ADC_PIN            PA0
+#define RSSI_ADC_PIN            PB0
 
 #define LED_STRIP
-#define WS2811_PIN                   PB4
-#define WS2811_TIMER                 TIM3
-#define WS2811_DMA_TC_FLAG           DMA1_FLAG_TC6
-#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
+#define WS2811_PIN                      PB4
+#define WS2811_TIMER                    TIM3
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC6
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH6_HANDLER
 
 #define SPEKTRUM_BIND
 // USART3, PB11 (Flexport)
@@ -109,27 +103,30 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define DISPLAY
-#define SONAR
-#define SONAR_ECHO_PIN      PB0
-#define SONAR_TRIGGER_PIN   PB5
+//#define SONAR
+//#define SONAR_ECHO_PIN          PB0
+//#define SONAR_TRIGGER_PIN       PB5
 
 #undef GPS
-
-#undef BARO
+#define CLI_MINIMAL_VERBOSITY
+#undef MAG
 
 #ifdef CC3D_OPBL
 #define SKIP_CLI_COMMAND_HELP
-//#define SKIP_PID_LUXFLOAT
-#undef DISPLAY
+#define SKIP_PID_FLOAT
+#undef BARO
 #undef SONAR
+#undef USE_SOFTSERIAL1
+#undef LED_STRIP
+#define SKIP_PID_FLOAT
 #endif
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
 // IO - from schematics
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC ( BIT(14) )
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         ( BIT(14) )
 
-#define USED_TIMERS     ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/CC3D/target.mk b/src/main/target/CC3D/target.mk
index 2718c0302d..7bf5bc80b3 100644
--- a/src/main/target/CC3D/target.mk
+++ b/src/main/target/CC3D/target.mk
@@ -1,14 +1,14 @@
-F1_TARGETS  += $(TARGET)
-FEATURES    = ONBOARDFLASH HIGHEND VCP
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c
-
+F1_TARGETS  += $(TARGET)
+FEATURES    = ONBOARDFLASH HIGHEND VCP
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c
+
diff --git a/src/main/target/CHEBUZZF3/target.c b/src/main/target/CHEBUZZF3/target.c
index 631d83e6aa..c2aca46716 100644
--- a/src/main/target/CHEBUZZF3/target.c
+++ b/src/main/target/CHEBUZZF3/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/CHEBUZZF3/target.h b/src/main/target/CHEBUZZF3/target.h
index 52bea95ba2..5623a8a87f 100644
--- a/src/main/target/CHEBUZZF3/target.h
+++ b/src/main/target/CHEBUZZF3/target.h
@@ -22,18 +22,16 @@
 
 #ifndef STM32F3DISCOVERY
 #define STM32F3DISCOVERY
-#endif 
- 
-#define LED0    PE8 // Blue LEDs - PE8/PE12
+#endif
+
+#define LED0                    PE8 // Blue LEDs - PE8/PE12
 #define LED0_INVERTED
-#define LED1    PE10  // Orange LEDs - PE10/PE14
+#define LED1                    PE10  // Orange LEDs - PE10/PE14
 #define LED1_INVERTED
 
-#define BEEPER      PE9 // Red LEDs - PE9/PE13
+#define BEEPER                  PE9 // Red LEDs - PE9/PE13
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 18
-
 #define USE_SPI
 #define USE_SPI_DEVICE_1
 #define USE_SPI_DEVICE_2
@@ -81,16 +79,14 @@
 #define ACC
 #define USE_ACC_MPU6050
 #define USE_ACC_LSM303DLHC
-
-#define ACC_MPU6050_ALIGN CW0_DEG
+#define ACC_MPU6050_ALIGN       CW0_DEG
 
 #define BARO
 #define USE_BARO_MS5611
 
 #define MAG
 #define USE_MAG_AK8975
-
-#define MAG_AK8975_ALIGN CW90_DEG_FLIP
+#define MAG_AK8975_ALIGN        CW90_DEG_FLIP
 
 #define USE_VCP
 #define USE_UART1
@@ -101,20 +97,20 @@
 #define I2C_DEVICE (I2CDEV_1)
 
 #define USE_ADC
-#define ADC_INSTANCE                ADC1
-#define VBAT_ADC_PIN                PC0
-#define CURRENT_METER_ADC_PIN       PC1
-#define RSSI_ADC_PIN                PC2
-#define EXTERNAL1_ADC_PIN           PC3
+#define ADC_INSTANCE            ADC1
+#define VBAT_ADC_PIN            PC0
+#define CURRENT_METER_ADC_PIN   PC1
+#define RSSI_ADC_PIN            PC2
+#define EXTERNAL1_ADC_PIN       PC3
 
 // IO - assuming 303 in 64pin package, TODO
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(2)|BIT(5)|BIT(6)|BIT(10)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTE 0xffff
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4)|BIT(9)|BIT(10))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2)|BIT(5)|BIT(6)|BIT(10)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTE         0xffff
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4)|BIT(9)|BIT(10))
 
-
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
+#define USABLE_TIMER_CHANNEL_COUNT 18
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
 
diff --git a/src/main/target/CHEBUZZF3/target.mk b/src/main/target/CHEBUZZF3/target.mk
index e90db6d09f..63e6409e3a 100644
--- a/src/main/target/CHEBUZZF3/target.mk
+++ b/src/main/target/CHEBUZZF3/target.mk
@@ -1,19 +1,19 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP SDCARD
-
-TARGET_SRC = \
-            drivers/light_ws2811strip.c \
-            drivers/accgyro_l3gd20.c \
-            drivers/accgyro_lsm303dlhc.c \
-            drivers/compass_hmc5883l.c \
-            drivers/accgyro_adxl345.c \
-            drivers/accgyro_bma280.c \
-            drivers/accgyro_mma845x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu3050.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_l3g4200d.c \
-            drivers/barometer_ms5611.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP SDCARD
+
+TARGET_SRC = \
+            drivers/light_ws2811strip.c \
+            drivers/accgyro_l3gd20.c \
+            drivers/accgyro_lsm303dlhc.c \
+            drivers/compass_hmc5883l.c \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/barometer_ms5611.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c
+
diff --git a/src/main/target/CJMCU/hardware_revision.c b/src/main/target/CJMCU/hardware_revision.c
index 558e19a760..eacb851ec7 100755
--- a/src/main/target/CJMCU/hardware_revision.c
+++ b/src/main/target/CJMCU/hardware_revision.c
@@ -21,7 +21,7 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "drivers/system.h"
 #include "drivers/bus_spi.h"
diff --git a/src/main/target/CJMCU/hardware_revision.h b/src/main/target/CJMCU/hardware_revision.h
index 4b3c13d674..89e3478c13 100755
--- a/src/main/target/CJMCU/hardware_revision.h
+++ b/src/main/target/CJMCU/hardware_revision.h
@@ -17,7 +17,7 @@
 #pragma once
 
  #include "drivers/exti.h"
- 
+
 typedef enum cjmcuHardwareRevision_t {
     UNKNOWN = 0,
     REV_1, // Blue LED3
diff --git a/src/main/target/CJMCU/target.c b/src/main/target/CJMCU/target.c
index 0f8228559e..3562e3234d 100644
--- a/src/main/target/CJMCU/target.c
+++ b/src/main/target/CJMCU/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8), // PPM input
diff --git a/src/main/target/CJMCU/target.h b/src/main/target/CJMCU/target.h
index d84e98eae1..beb4be9657 100644
--- a/src/main/target/CJMCU/target.h
+++ b/src/main/target/CJMCU/target.h
@@ -20,9 +20,9 @@
 #define TARGET_BOARD_IDENTIFIER "CJM1" // CJMCU
 #define USE_HARDWARE_REVISION_DETECTION
 
-#define LED0 PC14 // PC14 (LED)
-#define LED1 PC13 // PC13 (LED)
-#define LED2 PC15 // PC15 (LED)
+#define LED0                    PC14
+#define LED1                    PC13
+#define LED2                    PC15
 
 #define ACC
 #define USE_ACC_MPU6050
@@ -38,7 +38,7 @@
 #define USE_UART1
 #define USE_UART2
 
-#define SERIAL_PORT_COUNT 2
+#define SERIAL_PORT_COUNT       2
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_1)
@@ -47,25 +47,29 @@
 // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
 // #define SOFT_I2C_PB67
 
-#define SPEKTRUM_BIND
-// USART2, PA3
-#define BIND_PIN   PA3
-
 
 #if (FLASH_SIZE > 64)
 #define BLACKBOX
 #define USE_SERVOS
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PIN                PA3
 #else
-// Since the CJMCU PCB has holes for 4 motors in each corner we can save same flash space by disabling support for other mixers.
 #undef USE_CLI
-#define USE_QUAD_MIXER_ONLY
+#undef SERIAL_RX
 #define SKIP_TASK_STATISTICS
 #define SKIP_CLI_COMMAND_HELP
+#define SKIP_PID_FLOAT
 #endif
 
-// IO - assuming all IOs on 48pin package TODO
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+// Since the CJMCU PCB has holes for 4 motors in each corner we can save same flash space by disabling support for other mixers.
+#define USE_QUAD_MIXER_ONLY
+#define SKIP_SERIAL_PASSTHROUGH
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
+// IO - assuming all IOs on 48pin package TODO
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+
+#define USABLE_TIMER_CHANNEL_COUNT 14
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
diff --git a/src/main/target/CJMCU/target.mk b/src/main/target/CJMCU/target.mk
index 69a1ecc9f4..72f2c64b03 100644
--- a/src/main/target/CJMCU/target.mk
+++ b/src/main/target/CJMCU/target.mk
@@ -1,11 +1,11 @@
-F1_TARGETS  += $(TARGET)
-FLASH_SIZE  = 64
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/compass_hmc5883l.c \
-            flight/gtune.c \
-            blackbox/blackbox.c \
-            blackbox/blackbox_io.c
-
+F1_TARGETS  += $(TARGET)
+FLASH_SIZE  = 64
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/compass_hmc5883l.c \
+            flight/gtune.c \
+            blackbox/blackbox.c \
+            blackbox/blackbox_io.c
+
diff --git a/src/main/target/NAZE/ALIENFLIGHTF1.mk b/src/main/target/COLIBRI/COLIBRI_OPBL.mk
similarity index 100%
rename from src/main/target/NAZE/ALIENFLIGHTF1.mk
rename to src/main/target/COLIBRI/COLIBRI_OPBL.mk
diff --git a/src/main/target/COLIBRI/config.c b/src/main/target/COLIBRI/config.c
new file mode 100644
index 0000000000..eca3b79046
--- /dev/null
+++ b/src/main/target/COLIBRI/config.c
@@ -0,0 +1,98 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+#include "build/debug.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/gpio.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "fc/runtime_config.h"
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// alternative defaults settings for Colibri/Gemini targets
+void targetConfiguration(master_t *config)
+{
+    config->mixerMode = MIXER_HEX6X;
+    config->rxConfig.serialrx_provider = 2;
+
+    config->escAndServoConfig.minthrottle = 1070;
+    config->escAndServoConfig.maxthrottle = 2000;
+
+    config->boardAlignment.pitchDegrees = 10;
+    //config->rcControlsConfig.deadband = 10;
+    //config->rcControlsConfig.yaw_deadband = 10;
+    config->mag_hardware = 1;
+
+    config->profile[0].controlRateProfile[0].dynThrPID = 45;
+    config->profile[0].controlRateProfile[0].tpa_breakpoint = 1700;
+    config->serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
+}
diff --git a/src/main/target/COLIBRI/target.c b/src/main/target/COLIBRI/target.c
new file mode 100644
index 0000000000..7392620ff0
--- /dev/null
+++ b/src/main/target/COLIBRI/target.c
@@ -0,0 +1,124 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),    // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),    // input #8
+    PWM9  | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+    PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
+    PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
+    PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM15 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM1, IO_TAG(PA10),  TIM_Channel_3, TIM1_CC_IRQn,            0, IOCFG_AF_PP, GPIO_AF_TIM1  }, // S1_IN
+    { TIM8, IO_TAG(PC6),   TIM_Channel_1, TIM8_CC_IRQn,            0, IOCFG_AF_PP, GPIO_AF_TIM8  }, // S2_IN
+    { TIM8, IO_TAG(PC7),   TIM_Channel_2, TIM8_CC_IRQn,            0, IOCFG_AF_PP, GPIO_AF_TIM8  }, // S3_IN
+    { TIM8, IO_TAG(PC8),   TIM_Channel_3, TIM8_CC_IRQn,            0, IOCFG_AF_PP, GPIO_AF_TIM8  }, // S4_IN
+    { TIM2, IO_TAG(PA15),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_TIM2  }, // S5_IN
+    { TIM2, IO_TAG(PB3),   TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_TIM2  }, // S6_IN
+    { TIM5, IO_TAG(PA0),   TIM_Channel_1, TIM5_IRQn,               0, IOCFG_AF_PP, GPIO_AF_TIM5  }, // S7_IN
+    { TIM5, IO_TAG(PA1),   TIM_Channel_2, TIM5_IRQn,               0, IOCFG_AF_PP, GPIO_AF_TIM5  }, // S8_IN
+
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_TIM3  }, // S1_OUT
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_TIM3  }, // S2_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_TIM3  }, // S3_OUT
+    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn,     1, IOCFG_AF_PP, GPIO_AF_TIM12 }, // S4_OUT
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_TIM3  }, // S5_OUT
+    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn,     1, IOCFG_AF_PP, GPIO_AF_TIM12 }, // S6_OUT
+    { TIM10, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM10_IRQn,      1, IOCFG_AF_PP, GPIO_AF_TIM10 }, // S7_OUT
+    { TIM11, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM11_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM11 }, // S8_OUT
+};
diff --git a/src/main/target/COLIBRI/target.h b/src/main/target/COLIBRI/target.h
new file mode 100644
index 0000000000..4aa6b2046c
--- /dev/null
+++ b/src/main/target/COLIBRI/target.h
@@ -0,0 +1,148 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "COLI"
+
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "Colibri"
+#ifdef OPBL
+#define USBD_SERIALNUMBER_STRING "0x8020000"
+#endif
+
+#define PLL_M                   16
+#define PLL_N                   336
+
+#define LED0                    PC14
+#define LED1                    PC13
+
+#define BEEPER                  PC5
+
+#define INVERTER                PB2 // PB2 used as inverter select GPIO
+#define INVERTER_USART          USART2
+
+#define MPU6000_CS_PIN          PC4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW270_DEG_FLIP
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW270_DEG_FLIP
+
+// MPU6000 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI            PC0
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW270_DEG_FLIP
+
+#define MAG_INT_EXTI            PC1
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+#define BARO
+#define USE_BARO_MS5611
+
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+
+#define USE_VCP
+#define VBUS_SENSING_PIN        PA9
+
+#define USE_UART1
+#define UART1_RX_PIN            PB7
+#define UART1_TX_PIN            PB6
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+//#define USE_UART4
+#define UART4_RX_PIN PC11
+#define UART4_TX_PIN PC10
+
+//#define USE_UART5
+#define UART5_RX_PIN            PD2
+#define UART5_TX_PIN            PC12
+
+#define SERIAL_PORT_COUNT       4 //VCP, UART1, UART2, UART3
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN            PC4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PC2
+#define SPI2_MOSI_PIN           PC3
+
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_3)
+#define I2C3_SCL                PA8
+#define I2C3_SDA                PC9
+
+#define SENSORS_SET             (SENSOR_ACC)
+
+#define LED_STRIP
+#define WS2811_PIN                      PB7 // Shared UART1
+#define WS2811_TIMER                    TIM4
+#define WS2811_TIMER_CHANNEL            TIM_Channel_2
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST3_HANDLER
+#define WS2811_DMA_STREAM               DMA1_Stream3
+#define WS2811_DMA_FLAG                 DMA_FLAG_TCIF3
+#define WS2811_DMA_IT                   DMA_IT_TCIF3
+#define WS2811_DMA_CHANNEL              DMA_Channel_2
+#define WS2811_DMA_IRQ                  DMA1_Stream3_IRQn
+
+// alternative defaults for Colibri/Gemini target
+#define TARGET_CONFIG
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 16
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(10) | TIM_N(11))
diff --git a/src/main/target/COLIBRI/target.mk b/src/main/target/COLIBRI/target.mk
new file mode 100644
index 0000000000..a3d0a413d8
--- /dev/null
+++ b/src/main/target/COLIBRI/target.mk
@@ -0,0 +1,11 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+HSE_VALUE       = 16000000
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c \
+
diff --git a/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c b/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c
index 655f19cfe6..725e9076d0 100644
--- a/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c
+++ b/src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c
@@ -10,7 +10,7 @@
 
 #include <platform.h>
 
-#include <build_config.h>
+#include "build/build_config.h"
 
 #include "drivers/nvic.h"
 #include "bus_bst.h"
diff --git a/src/main/target/COLIBRI_RACE/config.c b/src/main/target/COLIBRI_RACE/config.c
index bbd5a49c9c..63d4cd2a95 100644
--- a/src/main/target/COLIBRI_RACE/config.c
+++ b/src/main/target/COLIBRI_RACE/config.c
@@ -19,7 +19,7 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "blackbox/blackbox_io.h"
 
@@ -51,8 +51,8 @@
 #include "io/serial.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 #include "io/osd.h"
@@ -69,16 +69,17 @@
 #include "flight/altitudehold.h"
 #include "flight/navigation.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
 // alternative defaults settings for COLIBRI RACE targets
-void targetConfiguration(void) {
-    masterConfig.escAndServoConfig.minthrottle = 1025;
-    masterConfig.escAndServoConfig.maxthrottle = 1980;
-    masterConfig.batteryConfig.vbatmaxcellvoltage = 45;
-    masterConfig.batteryConfig.vbatmincellvoltage = 30;
+void targetConfiguration(master_t *config) {
+    config->escAndServoConfig.minthrottle = 1025;
+    config->escAndServoConfig.maxthrottle = 1980;
+    config->batteryConfig.vbatmaxcellvoltage = 45;
+    config->batteryConfig.vbatmincellvoltage = 30;
 }
diff --git a/src/main/target/COLIBRI_RACE/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c
index be0764a03b..7c706f7ff0 100644
--- a/src/main/target/COLIBRI_RACE/i2c_bst.c
+++ b/src/main/target/COLIBRI_RACE/i2c_bst.c
@@ -6,8 +6,9 @@
 #include <string.h>
 #include <math.h>
 
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
+#include "build/version.h"
 
 #include "platform.h"
 
@@ -31,7 +32,7 @@
 #include "rx/msp.h"
 
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
 #include "io/serial.h"
@@ -57,14 +58,13 @@
 #include "flight/navigation.h"
 #include "flight/altitudehold.h"
 
-#include "mw.h"
+#include "fc/mw.h"
+#include "fc/runtime_config.h"
 
-#include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
-#include "version.h"
 #ifdef NAZE
 #include "hardware_revision.h"
 #endif
@@ -933,7 +933,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
 
 #ifdef LED_STRIP
         case BST_LED_COLORS:
-            for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
+            for (i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
                 hsvColor_t *color = &masterConfig.colors[i];
                 bstWrite16(color->h);
                 bstWrite8(color->s);
@@ -942,13 +942,9 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
             break;
 
         case BST_LED_STRIP_CONFIG:
-            for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
+            for (i = 0; i < LED_MAX_STRIP_LENGTH; i++) {
                 ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
-                bstWrite16((ledConfig->flags & LED_DIRECTION_MASK) >> LED_DIRECTION_BIT_OFFSET);
-                bstWrite16((ledConfig->flags & LED_FUNCTION_MASK) >> LED_FUNCTION_BIT_OFFSET);
-                bstWrite8(GET_LED_X(ledConfig));
-                bstWrite8(GET_LED_Y(ledConfig));
-                bstWrite8(ledConfig->color);
+                bstWrite32(*ledConfig);
             }
             break;
 #endif
@@ -1381,28 +1377,12 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
         case BST_SET_LED_STRIP_CONFIG:
            {
                i = bstRead8();
-               if (i >= MAX_LED_STRIP_LENGTH || bstReadDataSize() != (1 + 7)) {
+               if (i >= LED_MAX_STRIP_LENGTH || bstReadDataSize() != (1 + 4)) {
                    ret = BST_FAILED;
                    break;
                }
                ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
-               uint16_t mask;
-               // currently we're storing directions and functions in a uint16 (flags)
-               // the msp uses 2 x uint16_t to cater for future expansion
-               mask = bstRead16();
-               ledConfig->flags = (mask << LED_DIRECTION_BIT_OFFSET) & LED_DIRECTION_MASK;
-
-               mask = bstRead16();
-               ledConfig->flags |= (mask << LED_FUNCTION_BIT_OFFSET) & LED_FUNCTION_MASK;
-
-               mask = bstRead8();
-               ledConfig->xy = CALCULATE_LED_X(mask);
-
-               mask = bstRead8();
-               ledConfig->xy |= CALCULATE_LED_Y(mask);
-
-               ledConfig->color = bstRead8();
-
+               *ledConfig = bstRead32();
                reevaluateLedConfig();
            }
            break;
diff --git a/src/main/target/COLIBRI_RACE/target.c b/src/main/target/COLIBRI_RACE/target.c
index 91b21c8b36..099f9b62e7 100644
--- a/src/main/target/COLIBRI_RACE/target.c
+++ b/src/main/target/COLIBRI_RACE/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h
index 65ab62d5d6..5e8ac5d79e 100755
--- a/src/main/target/COLIBRI_RACE/target.h
+++ b/src/main/target/COLIBRI_RACE/target.h
@@ -18,20 +18,26 @@
 #pragma once
 
 #define TARGET_BOARD_IDENTIFIER "CLBR"
-#define BST_DEVICE_NAME "COLIBRI RACE"
-#define BST_DEVICE_NAME_LENGTH 12
+#define BST_DEVICE_NAME         "COLIBRI RACE"
+#define BST_DEVICE_NAME_LENGTH  12
 #define TARGET_CONFIG
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
-#define LED0    PC15
-#define LED1    PC14
-#define LED2    PC13
 
-#define BEEPER      PB13
+#define LED0                    PC15
+#define LED1                    PC14
+#define LED2                    PC13
+
+#define BEEPER                  PB13
 #define BEEPER_INVERTED
 
+// MPU6500 interrupt
 #define USE_EXTI
+#define MPU_INT_EXTI            PA5
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1
@@ -47,23 +53,19 @@
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
 #define MPU6000_SPI_INSTANCE    SPI1
 
-#define USABLE_TIMER_CHANNEL_COUNT 11
-
-#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
-
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW270_DEG
+#define GYRO_MPU6000_ALIGN      CW270_DEG
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW270_DEG
+#define GYRO_MPU6500_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW270_DEG
+#define ACC_MPU6000_ALIGN       CW270_DEG
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW270_DEG
+#define ACC_MPU6500_ALIGN       CW270_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -80,37 +82,36 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PC4
-#define UART1_RX_PIN        PC5
+#define UART1_TX_PIN            PC4
+#define UART1_RX_PIN            PC5
 
-#define UART2_TX_PIN        PA14
-#define UART2_RX_PIN        PA15
+#define UART2_TX_PIN            PA14
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10
-#define UART3_RX_PIN        PB11
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2)
 
-#define I2C2_SCL_PIN         PA9
-#define I2C2_SDA_PIN         PA10
+#define I2C2_SCL_PIN            PA9
+#define I2C2_SDA_PIN            PA10
 
 #define USE_BST
 #define BST_DEVICE (BSTDEV_1)
 /* Configure the CRC peripheral to use the polynomial x8 + x7 + x6 + x4 + x2 + 1 */
-#define BST_CRC_POLYNOM                         0xD5
+#define BST_CRC_POLYNOM         0xD5
 
 #define USE_ADC
-#define ADC_INSTANCE                ADC1
-#define VBAT_ADC_PIN                PC0
-#define CURRENT_METER_ADC_PIN       PC1
-#define RSSI_ADC_PIN                PC2
-#define EXTERNAL1_ADC_PIN           PC3
+#define ADC_INSTANCE            ADC1
+#define VBAT_ADC_PIN            PC0
+#define CURRENT_METER_ADC_PIN   PC1
+#define RSSI_ADC_PIN            PC2
+#define EXTERNAL1_ADC_PIN       PC3
 
 #define LED_STRIP
-#define USE_COLIBTI_RACE_LED_DEFAULT_CONFIG
 
 #define WS2811_PIN                      PA6 // TIM16_CH1
 #define WS2811_TIMER                    TIM16
@@ -119,14 +120,6 @@
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH3_HANDLER
 
-
-// MPU6500 interrupt
-#define USE_EXTI
-#define MPU_INT_EXTI PA5
-//#define DEBUG_MPU_DATA_READY_INTERRUPT
-#define USE_MPU_DATA_READY_SIGNAL
-#define ENSURE_MPU_DATA_READY_IS_LOW
-
 #define DEFAULT_FEATURES        FEATURE_VBAT
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
@@ -135,11 +128,12 @@
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - assuming 303 in 64pin package, TODO
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(2))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
 
diff --git a/src/main/target/COLIBRI_RACE/target.mk b/src/main/target/COLIBRI_RACE/target.mk
index b59d32d0e1..1632ce30b9 100644
--- a/src/main/target/COLIBRI_RACE/target.mk
+++ b/src/main/target/COLIBRI_RACE/target.mk
@@ -1,18 +1,18 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP 
-
-TARGET_SRC = \
-            i2c_bst.c \
-            bus_bst_stm32f30x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_ak8963.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP 
+
+TARGET_SRC = \
+            i2c_bst.c \
+            bus_bst_stm32f30x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8963.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c
+
diff --git a/src/main/target/DOGE/target.c b/src/main/target/DOGE/target.c
index c813ceecba..ca13ef7d0b 100644
--- a/src/main/target/DOGE/target.c
+++ b/src/main/target/DOGE/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
@@ -43,7 +44,7 @@ const uint16_t multiPWM[] = {
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8), 
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
     0xFFFF
 };
 
diff --git a/src/main/target/DOGE/target.h b/src/main/target/DOGE/target.h
index e4c2f76ba0..bc4226a6fb 100644
--- a/src/main/target/DOGE/target.h
+++ b/src/main/target/DOGE/target.h
@@ -20,17 +20,15 @@
 #define TARGET_BOARD_IDENTIFIER "DOGE"
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
+
 // tqfp48 pin 34
-#define LED0    PA13
-
+#define LED0                    PA13
 // tqfp48 pin 37
-#define LED1    PA14
-
+#define LED1                    PA14
 // tqfp48 pin 38
-#define LED2    PA15
+#define LED2                    PA15
 
-#define BEEPER      PB2
+#define BEEPER                  PB2
 #define BEEPER_INVERTED
 
 #define USE_SPI
@@ -58,6 +56,8 @@
 // tqfp48 pin 3
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
 #define MPU6500_SPI_INSTANCE    SPI1
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_SPI_INSTANCE    SPI1
 
 // tqfp48 pin 25
 #define BMP280_CS_PIN           SPI2_NSS_PIN
@@ -69,25 +69,23 @@
 #define M25P16_CS_PIN           PC15
 #define M25P16_SPI_INSTANCE     SPI2
 
-// timer definitions in drivers/timer.c
-// channel mapping in drivers/pwm_mapping.c
-// only 6 outputs available on hardware
-#define USABLE_TIMER_CHANNEL_COUNT 9
-
 #define USE_ESCSERIAL
 #define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
 
 #define GYRO
-// #define USE_FAKE_GYRO
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW270_DEG // ??
+#define GYRO_MPU6500_ALIGN      CW270_DEG
+
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN CW270_DEG
 
 #define ACC
-// #define USE_FAKE_ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW270_DEG // ??
+#define ACC_MPU6500_ALIGN       CW270_DEG
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN CW270_DEG
 
 #define BARO
 #define USE_BARO_BMP280
@@ -100,30 +98,28 @@
 #define USE_UART3
 #define SERIAL_PORT_COUNT 4
 
-#define UART1_TX_PIN        PB6
-#define UART1_RX_PIN        PB7
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PA2
-#define UART2_RX_PIN        PA3
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
 
-#define UART3_TX_PIN        PB10
-#define UART3_RX_PIN        PB11
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
 
 // mpu_int definition in sensors/initialisation.c
 #define USE_EXTI
-#define MPU_INT_EXTI PC13
+#define MPU_INT_EXTI            PC13
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
-
 #define LED_STRIP
 
 // tqfp48 pin 16
@@ -135,19 +131,23 @@
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH3_HANDLER
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
 #define SPEKTRUM_BIND
 // Use UART3 for speksat
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // !!TODO - check the TARGET_IO_PORTs are correct
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
+// timer definitions in drivers/timer.c
+// channel mapping in drivers/pwm_mapping.c
+// only 6 outputs available on hardware
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
 
diff --git a/src/main/target/DOGE/target.mk b/src/main/target/DOGE/target.mk
index f44e26c5bf..392c55b3f5 100644
--- a/src/main/target/DOGE/target.mk
+++ b/src/main/target/DOGE/target.mk
@@ -1,12 +1,13 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP ONBOARDFLASH
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_spi_bmp280.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_spi_bmp280.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c
+
diff --git a/src/main/target/EUSTM32F103RC/target.c b/src/main/target/EUSTM32F103RC/target.c
index b2a0db9a16..0dc2d66044 100644
--- a/src/main/target/EUSTM32F103RC/target.c
+++ b/src/main/target/EUSTM32F103RC/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/EUSTM32F103RC/target.h b/src/main/target/EUSTM32F103RC/target.h
index ee893670dd..d883641d4f 100644
--- a/src/main/target/EUSTM32F103RC/target.h
+++ b/src/main/target/EUSTM32F103RC/target.h
@@ -19,21 +19,22 @@
 
 #define TARGET_BOARD_IDENTIFIER "EUF1"
 
-#define LED0    PB3 // PB3 (LED)
-#define LED1    PB4 // PB4 (LED)
+#define LED0                    PB3
+#define LED1                    PB4
 
-#define INVERTER    PB2 // PB2 (BOOT1) abused as inverter select GPIO
-#define INVERTER_USART USART2
+#define INVERTER                PB2 // PB2 (BOOT1) abused as inverter select GPIO
+#define INVERTER_USART          USART2
 
 #define USE_EXTI
-#define MPU6000_CS_GPIO       GPIOB
-#define MPU6000_CS_PIN        PB12
-#define MPU6000_SPI_INSTANCE  SPI2
+
+#define MPU6000_CS_GPIO         GPIOB
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_INSTANCE    SPI2
 
 #define MPU6500_CS_GPIO_CLK_PERIPHERAL   RCC_APB2Periph_GPIOB
-#define MPU6500_CS_GPIO       GPIOB
-#define MPU6500_CS_PIN        PB12
-#define MPU6500_SPI_INSTANCE  SPI2
+#define MPU6500_CS_GPIO         GPIOB
+#define MPU6500_CS_PIN          PB12
+#define MPU6500_SPI_INSTANCE    SPI2
 
 #define GYRO
 #define USE_FAKE_GYRO
@@ -44,7 +45,7 @@
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_MPU6500
 
-#define GYRO_MPU6050_ALIGN CW0_DEG
+#define GYRO_MPU6050_ALIGN      CW0_DEG
 
 #define ACC
 #define USE_FAKE_ACC
@@ -55,7 +56,7 @@
 //#define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_MPU6050_ALIGN CW0_DEG
+#define ACC_MPU6050_ALIGN       CW0_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -66,7 +67,7 @@
 #define USE_MAG_HMC5883
 #define USE_MAG_AK8975
 
-#define MAG_AK8975_ALIGN CW180_DEG_FLIP
+#define MAG_AK8975_ALIGN        CW180_DEG_FLIP
 
 #define SONAR
 #define SONAR_TRIGGER_PIN       PB0
@@ -80,12 +81,12 @@
 #define USE_UART2
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
-#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER      TIM3
 #define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
 
@@ -97,21 +98,21 @@
 // #define SOFT_I2C_PB67
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PB1
-#define VBAT_ADC_PIN                PA4
-#define RSSI_ADC_PIN                PA1
-#define EXTERNAL1_ADC_PIN           PA5
+#define CURRENT_METER_ADC_PIN   PB1
+#define VBAT_ADC_PIN            PA4
+#define RSSI_ADC_PIN            PA1
+#define EXTERNAL1_ADC_PIN       PA5
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN   PA3
+#define BIND_PIN                PA3
 
 // IO - stm32f103RCT6 in 64pin package (TODO)
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(0)|BIT(1)|BIT(2))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(0)|BIT(1)|BIT(2))
 
-
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
+#define USABLE_TIMER_CHANNEL_COUNT 14
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
 
diff --git a/src/main/target/EUSTM32F103RC/target.mk b/src/main/target/EUSTM32F103RC/target.mk
index b315c0aacb..aa9ccbf8ef 100644
--- a/src/main/target/EUSTM32F103RC/target.mk
+++ b/src/main/target/EUSTM32F103RC/target.mk
@@ -1,25 +1,25 @@
-F1_TARGETS  += $(TARGET)
-FEATURES    = ONBOARDFLASH HIGHEND 
-
-DEVICE_FLAGS    = -DSTM32F10X_HD
-
-TARGET_SRC = \
-            drivers/accgyro_adxl345.c \
-            drivers/accgyro_bma280.c \
-            drivers/accgyro_l3g4200d.c \
-            drivers/accgyro_mma845x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu3050.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c
-
+F1_TARGETS  += $(TARGET)
+FEATURES    = ONBOARDFLASH HIGHEND 
+
+DEVICE_FLAGS    = -DSTM32F10X_HD
+
+TARGET_SRC = \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c
+
diff --git a/src/main/target/F4BY/target.c b/src/main/target/F4BY/target.c
index e023d7e960..e9befde0ab 100644
--- a/src/main/target/F4BY/target.c
+++ b/src/main/target/F4BY/target.c
@@ -3,17 +3,18 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
     PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM11  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM15  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM16  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
     PWM8  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
     PWM7  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
     PWM6  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
@@ -30,11 +31,11 @@ const uint16_t multiPWM[] = {
     PWM3  | (MAP_TO_PWM_INPUT << 8),
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
-    PWM6  | (MAP_TO_PWM_INPUT << 8),     
-    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),      
+    PWM6  | (MAP_TO_PWM_INPUT << 8),    
+    PWM7  | (MAP_TO_SERVO_OUTPUT << 8),     
     PWM8  | (MAP_TO_SERVO_OUTPUT << 8),         // input #8
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 
-    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
     PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
     PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
@@ -47,13 +48,13 @@ const uint16_t multiPWM[] = {
 const uint16_t airPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
     PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM10  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM11  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
     PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
     PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
     PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
-    PWM15  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
-    PWM16  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM15 | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM16 | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
     PWM7  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
     PWM6  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
     PWM5  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
@@ -69,11 +70,11 @@ const uint16_t airPWM[] = {
     PWM3  | (MAP_TO_PWM_INPUT << 8),
     PWM4  | (MAP_TO_PWM_INPUT << 8),
     PWM5  | (MAP_TO_PWM_INPUT << 8),
-    PWM6  | (MAP_TO_PWM_INPUT << 8),     
-    PWM7  | (MAP_TO_PWM_INPUT << 8),      
+    PWM6  | (MAP_TO_PWM_INPUT << 8),    
+    PWM7  | (MAP_TO_PWM_INPUT << 8),     
     PWM8  | (MAP_TO_PWM_INPUT << 8),         // input #8
-    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 
-    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
     PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #1
     PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #2
     PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #3
@@ -84,24 +85,24 @@ const uint16_t airPWM[] = {
 };
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM3, IO_TAG(PC9), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP,  GPIO_AF_TIM3},       // S1_IN
-    { TIM3, IO_TAG(PC8), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP,  GPIO_AF_TIM3},      // S2_IN
-    { TIM3, IO_TAG(PC6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP,  GPIO_AF_TIM3},      // S3_IN
-    { TIM3, IO_TAG(PC7), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP,  GPIO_AF_TIM3},      // S4_IN
-    { TIM4, IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S5_IN
-    { TIM4, IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S6_IN
-    { TIM4, IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S7_IN
-    { TIM4, IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S8_IN
+    { TIM3, IO_TAG(PC9),  TIM_Channel_4, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3}, // S1_IN
+    { TIM3, IO_TAG(PC8),  TIM_Channel_3, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3}, // S2_IN
+    { TIM3, IO_TAG(PC6),  TIM_Channel_1, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3}, // S3_IN
+    { TIM3, IO_TAG(PC7),  TIM_Channel_2, TIM3_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM3}, // S4_IN
+    { TIM4, IO_TAG(PD15), TIM_Channel_4, TIM4_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S5_IN
+    { TIM4, IO_TAG(PD14), TIM_Channel_3, TIM4_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S6_IN
+    { TIM4, IO_TAG(PD13), TIM_Channel_2, TIM4_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S7_IN
+    { TIM4, IO_TAG(PD12), TIM_Channel_1, TIM4_IRQn,    0, IOCFG_AF_PP, GPIO_AF_TIM4}, // S8_IN
 
-    { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2},    // S1_OUT
-    { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2},    // S2_OUT
-    { TIM5, IO_TAG(PA2), TIM_Channel_3, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5},    // S3_OUT
-    { TIM5, IO_TAG(PA3), TIM_Channel_4, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5},    // S4_OUT
-    { TIM1, IO_TAG(PE9), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S5_OUT
-    { TIM1, IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S6_OUT
-    { TIM1, IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S7_OUT
-    { TIM1, IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1},    // S8_OUT
-    
+    { TIM2, IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM2}, // S1_OUT
+    { TIM2, IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM2}, // S2_OUT
+    { TIM5, IO_TAG(PA2),  TIM_Channel_3, TIM5_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM5}, // S3_OUT
+    { TIM5, IO_TAG(PA3),  TIM_Channel_4, TIM5_IRQn,    1, IOCFG_AF_PP, GPIO_AF_TIM5}, // S4_OUT
+    { TIM1, IO_TAG(PE9),  TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1}, // S5_OUT
+    { TIM1, IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1}, // S6_OUT
+    { TIM1, IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1}, // S7_OUT
+    { TIM1, IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1}, // S8_OUT
+   
     { TIM9, IO_TAG(PE6), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 },          // sonar echo if needed
 };
 
diff --git a/src/main/target/F4BY/target.h b/src/main/target/F4BY/target.h
index 127a33d4bb..c366b5f23d 100644
--- a/src/main/target/F4BY/target.h
+++ b/src/main/target/F4BY/target.h
@@ -20,46 +20,46 @@
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
-#define USBD_PRODUCT_STRING "Swift-Flyer F4BY"
+#define USBD_PRODUCT_STRING     "Swift-Flyer F4BY"
 
-#define LED0 PE3 // Blue LED
-#define LED1 PE2 // Red LED
-#define LED2 PE1 // Blue LED
-#define BEEPER PE5
+#define LED0                    PE3 // Blue LED
+#define LED1                    PE2 // Red LED
+#define LED2                    PE1 // Blue LED
 
-#define INVERTER PD3
-#define INVERTER_USART USART6
+#define BEEPER                  PE5
+
+#define INVERTER                PD3
+#define INVERTER_USART          USART6
 
 
 
 // MPU6000 interrupts
-#define USE_MPU_DATA_READY_SIGNAL
-#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
-#define MPU_INT_EXTI PB0
 #define USE_EXTI
+#define MPU_INT_EXTI            PB0
+#define USE_MPU_DATA_READY_SIGNAL
 
-#define MPU6000_CS_PIN       PA4
-#define MPU6000_SPI_INSTANCE SPI1
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
 
 #define ACC
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN    CW90_DEG
+#define ACC_MPU6000_ALIGN       CW90_DEG
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN   CW90_DEG
+#define GYRO_MPU6000_ALIGN      CW90_DEG
 
 #define MAG
 #define USE_MAG_HMC5883
-#define MAG_HMC5883_ALIGN    CW90_DEG
+#define MAG_HMC5883_ALIGN       CW90_DEG
 
 #define BARO
 #define USE_BARO_MS5611
 
 #define USE_SDCARD
 
-#define SDCARD_SPI_INSTANCE                 SPI2
-#define SDCARD_SPI_CS_PIN                   PE15
+#define SDCARD_SPI_INSTANCE     SPI2
+#define SDCARD_SPI_CS_PIN       PE15
 
 // SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
 #define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
@@ -73,46 +73,42 @@
 #define SDCARD_DMA_CHANNEL                  DMA_Channel_0
 
 
-#define USABLE_TIMER_CHANNEL_COUNT 17
-
 #define USE_VCP
-#define VBUS_SENSING_PIN PA9
+#define VBUS_SENSING_PIN        PA9
 
 #define USE_UART1
-#define UART1_RX_PIN PB7
-#define UART1_TX_PIN PB6
-#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+#define UART1_RX_PIN            PB7
+#define UART1_TX_PIN            PB6
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
 
 #define USE_UART2
-#define UART2_RX_PIN PD6
-#define UART2_TX_PIN PD5
+#define UART2_RX_PIN            PD6
+#define UART2_TX_PIN            PD5
 
 #define USE_UART3
-#define UART3_RX_PIN PD9
-#define UART3_TX_PIN PD8
+#define UART3_RX_PIN            PD9
+#define UART3_TX_PIN            PD8
 
 #define USE_UART4
-#define UART4_RX_PIN PC11
-#define UART4_TX_PIN PC10
+#define UART4_RX_PIN            PC11
+#define UART4_TX_PIN            PC10
 
 //#define USE_UART5  - error in DMA!!!
-//#define UART5_RX_PIN PD2
-//#define UART5_TX_PIN PC12
+//#define UART5_RX_PIN            PD2
+//#define UART5_TX_PIN            PC12
 
 #define USE_UART6
-#define UART6_RX_PIN PC7
-#define UART6_TX_PIN PC6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
 
-
-#define SERIAL_PORT_COUNT    6 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
+#define SERIAL_PORT_COUNT       6 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
 
 #define USE_SPI
-
 #define USE_SPI_DEVICE_1
-#define SPI1_SCK_PIN    PA5
-#define SPI1_MISO_PIN   PA6
-#define SPI1_MOSI_PIN   PA7
-#define SPI1_NSS_PIN NONE
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+#define SPI1_NSS_PIN            NONE
 
 #define USE_SPI_DEVICE_2
 #define SPI2_NSS_PIN            NONE
@@ -121,26 +117,25 @@
 #define SPI2_MOSI_PIN           PB15
 
 #define USE_SPI_DEVICE_3
-#define SPI3_NSS_PIN         PA15
-#define SPI3_SCK_PIN         PB3
-#define SPI3_MISO_PIN        PB4
-#define SPI3_MOSI_PIN        PB5
-
+#define SPI3_NSS_PIN            PA15
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
 
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2)
+#define I2C_DEVICE              (I2CDEV_2)
 #define USE_I2C_PULLUP
-#define I2C2_SCL PB10 
-#define I2C2_SDA PB11
+#define I2C2_SCL                PB10
+#define I2C2_SDA                PB11
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define VBAT_ADC_PIN               PC3
-#define CURRENT_METER_ADC_PIN      PC2
-#define RSSI_ADC_PIN               PC1
+#define USE_ADC
+#define VBAT_ADC_PIN            PC3
+#define CURRENT_METER_ADC_PIN   PC2
+#define RSSI_ADC_PIN            PC1
 
-#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX)
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 
@@ -148,15 +143,16 @@
 
 #define SPEKTRUM_BIND
 // UART6, PC7
-#define BIND_PIN             PC7
+#define BIND_PIN                PC7
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA      0xffff
-#define TARGET_IO_PORTB      0xffff
-#define TARGET_IO_PORTC      0xffff
-#define TARGET_IO_PORTD      0xffff
-#define TARGET_IO_PORTE	     0xffff
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTE         0xffff
 
-#define USED_TIMERS  ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9))
+#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USED_TIMERS             ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9))
 
diff --git a/src/main/target/F4BY/target.mk b/src/main/target/F4BY/target.mk
index 5093a8df72..12edbbb716 100644
--- a/src/main/target/F4BY/target.mk
+++ b/src/main/target/F4BY/target.mk
@@ -1,8 +1,8 @@
-F405_TARGETS    += $(TARGET)
-FEATURES        += SDCARD VCP
-
-TARGET_SRC = \
-             drivers/accgyro_spi_mpu6000.c \
-             drivers/barometer_ms5611.c \
-             drivers/compass_hmc5883l.c
-
+F405_TARGETS    += $(TARGET)
+FEATURES        += SDCARD VCP
+
+TARGET_SRC = \
+             drivers/accgyro_spi_mpu6000.c \
+             drivers/barometer_ms5611.c \
+             drivers/compass_hmc5883l.c
+
diff --git a/src/main/target/FURYF3/target.c b/src/main/target/FURYF3/target.c
index 21b05ab5d4..db28609d97 100644
--- a/src/main/target/FURYF3/target.c
+++ b/src/main/target/FURYF3/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
@@ -76,7 +77,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - S2
     { TIM17, IO_TAG(PB5),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10}, // PWM6 - S3
     { TIM16, IO_TAG(PB4),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM7 - S4
- 
+
     { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO TIMER - LED_STRIP
 };
 
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index e67a920cc6..4ae2ceacaa 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -20,42 +20,37 @@
 #define TARGET_BOARD_IDENTIFIER "FYF3"
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
-
-#define MPU_INT_EXTI PC4
-#define USE_EXTI
 #define CONFIG_PREFER_ACC_ON
- 
-#define LED0        PC14
 
-#define BEEPER      PC15
+#define LED0                    PC14
+
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
-#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU INT, SDCardDetect
-
+#define USE_EXTI
+#define MPU_INT_EXTI            PA3
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
+
 #define GYRO
-#define ACC
-
-#define MPU6000_CS_PIN                   PA4
-#define MPU6000_SPI_INSTANCE             SPI1
-
-#define MPU6500_CS_PIN                   PA4
-#define MPU6500_SPI_INSTANCE             SPI1
-
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
 
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW90_DEG
+#define GYRO_MPU6500_ALIGN      CW90_DEG
 
+#define ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW90_DEG
+#define ACC_MPU6500_ALIGN       CW90_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -102,8 +97,6 @@
 // Performance logging for SD card operations:
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
 
-#define USABLE_TIMER_CHANNEL_COUNT 8
-
 #define USB_IO
 
 #define USE_VCP
@@ -113,31 +106,31 @@
 #define USE_SOFTSERIAL1
 #define SERIAL_PORT_COUNT 5
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_TX_PIN            PA14
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 1
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 2
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4)
+#define I2C_DEVICE              (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4)
 
-#define I2C1_SCL_PIN         PB8
-#define I2C1_SDA_PIN         PB9
+#define I2C1_SCL_PIN            PB8
+#define I2C1_SDA_PIN            PB9
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC1
-#define VBAT_ADC_PIN                PA0
-#define RSSI_ADC_PIN                PA1
-#define CURRENT_METER_ADC_PIN       PA2
+#define USE_ADC
+#define ADC_INSTANCE            ADC1
+#define VBAT_ADC_PIN            PA0
+#define RSSI_ADC_PIN            PA1
+#define CURRENT_METER_ADC_PIN   PA2
 
 #define LED_STRIP
 
@@ -150,23 +143,24 @@
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
 
 #define SONAR
-#define SONAR_ECHO_PIN      PB1
-#define SONAR_TRIGGER_PIN   PB0
+#define SONAR_ECHO_PIN          PB1
+#define SONAR_TRIGGER_PIN       PB0
 
 #define DEFAULT_FEATURES        FEATURE_BLACKBOX
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
-#define TARGET_IO_PORTF (BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTF         (BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(16) |TIM_N(17))
+#define USABLE_TIMER_CHANNEL_COUNT 8
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(16) |TIM_N(17))
 
diff --git a/src/main/target/FURYF3/target.mk b/src/main/target/FURYF3/target.mk
index c68651f01d..2f1639e86a 100644
--- a/src/main/target/FURYF3/target.mk
+++ b/src/main/target/FURYF3/target.mk
@@ -1,15 +1,15 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP SDCARD ONBOARDFLASH
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/barometer_ms5611.c \
-            drivers/barometer_bmp280.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/sonar_hcsr04.c \
-            drivers/serial_softserial.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP SDCARD ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/barometer_ms5611.c \
+            drivers/barometer_bmp280.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/sonar_hcsr04.c \
+            drivers/serial_softserial.c
+
diff --git a/src/main/target/FURYF4/target.c b/src/main/target/FURYF4/target.c
index ac600ea439..a53aa4d447 100644
--- a/src/main/target/FURYF4/target.c
+++ b/src/main/target/FURYF4/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/FURYF4/target.h b/src/main/target/FURYF4/target.h
index b9631d6124..74de219de1 100644
--- a/src/main/target/FURYF4/target.h
+++ b/src/main/target/FURYF4/target.h
@@ -20,44 +20,44 @@
 #define TARGET_BOARD_IDENTIFIER "FYF4"
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
-#define USBD_PRODUCT_STRING "FuryF4"
+#define USBD_PRODUCT_STRING     "FuryF4"
 
-#define LED0 PB5
-#define LED1 PB4
-#define BEEPER PA8
+#define LED0                    PB5
+#define LED1                    PB4
+
+#define BEEPER                  PA8
 #define BEEPER_INVERTED
 
 #define INVERTER PC0 // PC0 used as inverter select GPIO
 #define INVERTER_USART USART1
 
-#define MPU6000_CS_PIN                   PA4
-#define MPU6000_SPI_INSTANCE             SPI1
+// MPU6000 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI            PC4
+#define USE_MPU_DATA_READY_SIGNAL
 
-#define MPU6500_CS_PIN                   PA4
-#define MPU6500_SPI_INSTANCE             SPI1
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
 
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
 
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW180_DEG
 
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW180_DEG
-
-// MPU6000 interrupts
-#define USE_MPU_DATA_READY_SIGNAL
-#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready (mag disabled)
-#define MPU_INT_EXTI PC4
-#define USE_EXTI
+#define ACC_MPU6500_ALIGN       CW180_DEG
 
 #define BARO
 #define USE_BARO_MS5611
-#define MS5611_I2C_INSTANCE I2CDEV_1
+#define MS5611_I2C_INSTANCE     I2CDEV_1
 
 #define USE_SDCARD
 
@@ -97,29 +97,27 @@
 
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
-#define M25P16_CS_PIN         PB3
-#define M25P16_SPI_INSTANCE   SPI3
-
-#define USABLE_TIMER_CHANNEL_COUNT 5
+#define M25P16_CS_PIN           PB3
+#define M25P16_SPI_INSTANCE     SPI3
 
 #define USE_VCP
-#define VBUS_SENSING_PIN PC5
+#define VBUS_SENSING_PIN        PC5
 #define VBUS_SENSING_ENABLED
 
 #define USE_UART1
-#define UART1_RX_PIN PA10
-#define UART1_TX_PIN PA9
-#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
 
 #define USE_UART3
-#define UART3_RX_PIN PB11
-#define UART3_TX_PIN PB10
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
 
 #define USE_UART6
-#define UART6_RX_PIN PC7
-#define UART6_TX_PIN PC6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
 
-#define SERIAL_PORT_COUNT 4 //VCP, USART1, USART3, USART6
+#define SERIAL_PORT_COUNT       4 //VCP, USART1, USART3, USART6
 
 #define USE_SPI
 
@@ -138,33 +136,43 @@
 #define SPI3_MOSI_PIN           PC12
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1)  // PB6-SCL, PB7-SDA
+#define I2C_DEVICE              (I2CDEV_1)  // PB6-SCL, PB7-SDA
 #define USE_I2C_PULLUP
-#define I2C1_SCL             PB6
-#define I2C1_SDA             PB7
+#define I2C1_SCL                PB6
+#define I2C1_SDA                PB7
 
 #define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define VBAT_ADC_PIN                PC1
-#define RSSI_ADC_GPIO_PIN           PC2
-#define CURRENT_METER_ADC_PIN       PC3
+#define VBAT_ADC_PIN            PC1
+#define RSSI_ADC_GPIO_PIN       PC2
+#define CURRENT_METER_ADC_PIN   PC3
 
-#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_ONESHOT125)
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX)
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 
+#define LED_STRIP
+#define WS2811_PIN                      PA0
+#define WS2811_TIMER                    TIM5
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_ST2_HANDLER
+#define WS2811_DMA_STREAM               DMA1_Stream2
+#define WS2811_DMA_IT                   DMA_IT_TCIF2
+#define WS2811_DMA_CHANNEL              DMA_Channel_6
+#define WS2811_TIMER_CHANNEL            TIM_Channel_1
+
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
 #define SPEKTRUM_BIND
 // USART3 Rx, PB11
-#define BIND_PIN             PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
 
-#define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
+#define USABLE_TIMER_CHANNEL_COUNT 5
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
 
diff --git a/src/main/target/FURYF4/target.mk b/src/main/target/FURYF4/target.mk
index e22fad504b..80793c7217 100644
--- a/src/main/target/FURYF4/target.mk
+++ b/src/main/target/FURYF4/target.mk
@@ -1,9 +1,11 @@
-F405_TARGETS    += $(TARGET)
-FEATURES        += SDCARD VCP ONBOARDFLASH
-
-TARGET_SRC = \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/barometer_ms5611.c
-
+F405_TARGETS    += $(TARGET)
+FEATURES        += SDCARD VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/barometer_ms5611.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c
+
diff --git a/src/main/target/IMPULSERCF3/target.c b/src/main/target/IMPULSERCF3/target.c
new file mode 100644
index 0000000000..d3b68be89c
--- /dev/null
+++ b/src/main/target/IMPULSERCF3/target.c
@@ -0,0 +1,78 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_mapping.h"
+
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM2,  IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1}, // PPM/SERIAL RX
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2}, // PWM1
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2}, // PWM2
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2}, // PWM3
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2}, // PWM4
+    { TIM16, IO_TAG(PB8),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1}, // PWM5
+    { TIM17, IO_TAG(PB9),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1}, // PWM6
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,           1, IOCFG_AF_PP, GPIO_AF_6}, // LED_STRIP
+};
+
diff --git a/src/main/target/IMPULSERCF3/target.h b/src/main/target/IMPULSERCF3/target.h
new file mode 100644
index 0000000000..f293c070b3
--- /dev/null
+++ b/src/main/target/IMPULSERCF3/target.h
@@ -0,0 +1,113 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "IMF3"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+#define LED0                    PB7
+
+#define BEEPER                  PC15
+
+#define USABLE_TIMER_CHANNEL_COUNT 8
+
+#define USB_IO
+
+#define USE_EXTI
+#define MPU_INT_EXTI            PC13
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 1
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW0_DEG
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW0_DEG
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define SERIAL_PORT_COUNT 4
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA14
+#define UART2_RX_PIN            PA15
+
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1 // PA4, 5, 6, 7
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+
+#define M25P16_CS_GPIO          GPIOB
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define ADC_INSTANCE            ADC1
+#define CURRENT_METER_ADC_PIN   PA0
+#define RSSI_ADC_PIN            PA1
+#define VBAT_ADC_PIN            PA2
+
+#define LED_STRIP
+
+#define USE_LED_STRIP_ON_DMA1_CHANNEL2
+#define WS2811_PIN                      PA8
+#define WS2811_TIMER                    TIM1
+#define WS2811_DMA_CHANNEL              DMA1_Channel2
+#define WS2811_IRQ                      DMA1_Channel2_IRQn
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_BLACKBOX)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_UART           SERIAL_PORT_USART3
+
+#define SPEKTRUM_BIND
+// USART2, PA15
+#define BIND_PIN                PA15
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+//#define TARGET_IO_PORTF (BIT(0)|BIT(1))
+// !!TODO - check the following line is correct
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(16) |TIM_N(17))
+
diff --git a/src/main/target/IMPULSERCF3/target.mk b/src/main/target/IMPULSERCF3/target.mk
new file mode 100644
index 0000000000..ec4b5802f2
--- /dev/null
+++ b/src/main/target/IMPULSERCF3/target.mk
@@ -0,0 +1,10 @@
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/flash_m25p16.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c 
+
diff --git a/src/main/target/IRCFUSIONF3/target.c b/src/main/target/IRCFUSIONF3/target.c
index dd87a86410..2e4e12fb0a 100644
--- a/src/main/target/IRCFUSIONF3/target.c
+++ b/src/main/target/IRCFUSIONF3/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
diff --git a/src/main/target/IRCFUSIONF3/target.h b/src/main/target/IRCFUSIONF3/target.h
index 8e41030edf..f3f2ee8119 100644
--- a/src/main/target/IRCFUSIONF3/target.h
+++ b/src/main/target/IRCFUSIONF3/target.h
@@ -21,22 +21,20 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0    PB3
-
-#define USABLE_TIMER_CHANNEL_COUNT 17
-
-#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready, no MAG
+#define LED0                    PB3
 
+#define USE_EXTI
+#define MPU_INT_EXTI            PC13
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW270_DEG
+#define GYRO_MPU6050_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_MPU6050
-#define ACC_MPU6050_ALIGN CW270_DEG
+#define ACC_MPU6050_ALIGN       CW270_DEG
 
 #define BARO
 #define USE_BARO_BMP085
@@ -49,17 +47,17 @@
 #define USE_UART3
 #define SERIAL_PORT_COUNT 3
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14 / SWCLK
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_TX_PIN            PA14
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
@@ -67,16 +65,16 @@
 #define M25P16_CS_PIN           PB12
 #define M25P16_SPI_INSTANCE     SPI2
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN                    PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 /*
@@ -100,11 +98,11 @@
 */
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTA     0xffff
+#define TARGET_IO_PORTB     0xffff
+#define TARGET_IO_PORTC     (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF     (BIT(0)|BIT(1)|BIT(4))
 
-
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
+#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USED_TIMERS         (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
 
diff --git a/src/main/target/IRCFUSIONF3/target.mk b/src/main/target/IRCFUSIONF3/target.mk
index 5c10e856b6..1e7b96a538 100644
--- a/src/main/target/IRCFUSIONF3/target.mk
+++ b/src/main/target/IRCFUSIONF3/target.mk
@@ -1,9 +1,9 @@
-F3_TARGETS   += $(TARGET)
-FEATURES     = VCP ONBOARDFLASH
-TARGET_FLAGS = -DSPRACINGF3
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_bmp085.c
-
+F3_TARGETS   += $(TARGET)
+FEATURES     = VCP ONBOARDFLASH
+TARGET_FLAGS = -DSPRACINGF3
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_bmp085.c
+
diff --git a/src/main/target/ISHAPEDF3/target.c b/src/main/target/ISHAPEDF3/target.c
new file mode 100644
index 0000000000..99f79ec9b7
--- /dev/null
+++ b/src/main/target/ISHAPEDF3/target.c
@@ -0,0 +1,122 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
+
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM15 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM16 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM16 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #10
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM15 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM16 | (MAP_TO_SERVO_OUTPUT  << 8), // server #6
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH1 - PA0  - *TIM2_CH1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // 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 }, // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
+    { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4  - *TIM3_CH1
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5  - *TIM3_CH2
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+
+    { TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+    { TIM4,  IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM3 - PA11
+    { TIM4,  IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_10 },// PWM4 - PA12
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM6 - PB9
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM7 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM8 - PA3
+
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO_TIMER / LED_STRIP
+};
+
diff --git a/src/main/target/ISHAPEDF3/target.h b/src/main/target/ISHAPEDF3/target.h
new file mode 100644
index 0000000000..5efad550fd
--- /dev/null
+++ b/src/main/target/ISHAPEDF3/target.h
@@ -0,0 +1,122 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "ISF3"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+#define LED0        PB3
+
+#define BEEPER      PC15
+#define BEEPER_INVERTED
+
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 1
+
+#define USE_EXTI
+#define MPU_INT_EXTI            PC13
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+#define GYRO
+#define USE_GYRO_MPU6500
+//#define USE_GYRO_SPI_MPU6500
+
+#define ACC
+#define USE_ACC_MPU6500
+//#define USE_ACC_SPI_MPU6500
+
+#define BARO
+#define USE_BARO_BMP280
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define SONAR
+#define SONAR_TRIGGER_PIN       PB0
+#define SONAR_ECHO_PIN          PB1
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+#define SERIAL_PORT_COUNT       5
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#define SOFTSERIAL_1_TIMER      TIM3
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
+#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
+#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define ADC_INSTANCE                ADC2
+#define VBAT_ADC_PIN                PA4
+#define CURRENT_METER_ADC_PIN       PA5
+#define RSSI_ADC_PIN                PB2
+
+#define LED_STRIP
+#define WS2811_PIN                      PA8
+#define WS2811_TIMER                    TIM1
+#define WS2811_DMA_CHANNEL              DMA1_Channel2
+#define WS2811_IRQ                      DMA1_Channel2_IRQn
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN   PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USED_TIMERS  ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
+
+
diff --git a/src/main/target/ISHAPEDF3/target.mk b/src/main/target/ISHAPEDF3/target.mk
new file mode 100644
index 0000000000..94676e07dc
--- /dev/null
+++ b/src/main/target/ISHAPEDF3/target.mk
@@ -0,0 +1,11 @@
+F3_TARGETS  += $(TARGET)
+FEATURES    = ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/sonar_hcsr04.c
diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index e270422ad6..a443fe862f 100644
--- a/src/main/target/KISSFC/target.c
+++ b/src/main/target/KISSFC/target.c
@@ -20,19 +20,16 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
-    PWM9  | (MAP_TO_PPM_INPUT << 8),
+    PWM7  | (MAP_TO_PPM_INPUT << 8),
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
     0xFFFF
 };
 
@@ -43,7 +40,7 @@ const uint16_t multiPWM[] = {
     PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
-
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
     PWM8  | (MAP_TO_PWM_INPUT << 8),
     PWM9  | (MAP_TO_PWM_INPUT << 8),
     PWM10 | (MAP_TO_PWM_INPUT << 8),
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index de059f7b46..e532b9d782 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -17,70 +17,70 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "KISSFC"
+#define TARGET_BOARD_IDENTIFIER "KISS"
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 #define SBUS_PORT_OPTIONS (SERIAL_STOPBITS_2 | SERIAL_PARITY_EVEN | SERIAL_INVERTED | SERIAL_BIDIR)
 
-#define LED0      PB1
-#define BEEPER    PB13
+#define LED0                    PB1
+
+#define BEEPER                  PB13
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 12
-
 #define USE_EXTI
-#define MPU_INT_EXTI PB2
+#define MPU_INT_EXTI            PB2
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW180_DEG
+#define GYRO_MPU6050_ALIGN      CW180_DEG
 
 #define ACC
 #define USE_ACC_MPU6050
-#define ACC_MPU6050_ALIGN CW180_DEG
-
+#define ACC_MPU6050_ALIGN       CW180_DEG
 
 #define USE_VCP
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART2_TX_PIN            PB3
+#define UART2_RX_PIN            PB4
 
-#define UART2_TX_PIN        PB3 
-#define UART2_RX_PIN        PB4
-
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_ADC
-#define VBAT_SCALE_DEFAULT          160
-#define ADC_INSTANCE                ADC1
-#define VBAT_ADC_PIN                PA0
-//#define CURRENT_METER_ADC_PIN       PA5
-//#define RSSI_ADC_PIN                PB2
+#define VBAT_SCALE_DEFAULT      160
+#define ADC_INSTANCE            ADC1
+#define VBAT_ADC_PIN            PA0
+//#define CURRENT_METER_ADC_PIN   PA5
+//#define RSSI_ADC_PIN            PB2
 
 #define DEFAULT_FEATURES        FEATURE_VBAT
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART2
 
+#define AVOID_UART2_FOR_PWM_PPM
+
 #define SPEKTRUM_BIND
-#define BIND_PIN   PB4
+#define BIND_PIN                PB4
 
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
-#define TARGET_IO_PORTF (BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTF         (BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(15) | TIM_N(16) | TIM_N(17))
diff --git a/src/main/target/KISSFC/target.mk b/src/main/target/KISSFC/target.mk
index 6ed94fd46d..c59af03e59 100644
--- a/src/main/target/KISSFC/target.mk
+++ b/src/main/target/KISSFC/target.mk
@@ -1,8 +1,8 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/display_ug2864hsweg01.c \
-            drivers/accgyro_mpu6050.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/display_ug2864hsweg01.c \
+            drivers/accgyro_mpu6050.c
+
diff --git a/src/main/target/LUX_RACE/target.c b/src/main/target/LUX_RACE/target.c
index 91b21c8b36..099f9b62e7 100644
--- a/src/main/target/LUX_RACE/target.c
+++ b/src/main/target/LUX_RACE/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/LUX_RACE/target.h b/src/main/target/LUX_RACE/target.h
index ac7d2c06dd..c92c3e97e3 100644
--- a/src/main/target/LUX_RACE/target.h
+++ b/src/main/target/LUX_RACE/target.h
@@ -21,14 +21,21 @@
 #define BOARD_HAS_VOLTAGE_DIVIDER
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
-#define LED0    PC15
-#define LED1    PC14
-#define LED2    PC13
 
-#define BEEPER      PB13
+#define LED0                    PC15
+#define LED1                    PC14
+#define LED2                    PC13
+
+#define BEEPER                  PB13
 #define BEEPER_INVERTED
 
+// MPU6500 interrupt
+#define USE_EXTI
+#define MPU_INT_EXTI            PA5
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
 #define USE_SPI
 #define USE_SPI_DEVICE_1
 
@@ -40,19 +47,15 @@
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
 #define MPU6500_SPI_INSTANCE    SPI1
 
-#define USABLE_TIMER_CHANNEL_COUNT 11
-
-#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
-
 #define GYRO
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN CW270_DEG
+#define GYRO_MPU6500_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW270_DEG
+#define ACC_MPU6500_ALIGN       CW270_DEG
 
 #define USB_IO
 
@@ -60,26 +63,26 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PC4
-#define UART1_RX_PIN        PC5
+#define UART1_TX_PIN            PC4
+#define UART1_RX_PIN            PC5
 
-#define UART2_TX_PIN        PA14
-#define UART2_RX_PIN        PA15
+#define UART2_TX_PIN            PA14
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10
-#define UART3_RX_PIN        PB11
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2)
 
 #define USE_ADC
-#define ADC_INSTANCE                ADC1
-#define VBAT_ADC_PIN                PC0
-#define CURRENT_METER_ADC_PIN       PC1
-#define RSSI_ADC_PIN                PC2
-#define EXTERNAL1_ADC_PIN           PC3
+#define ADC_INSTANCE            ADC1
+#define VBAT_ADC_PIN            PC0
+#define CURRENT_METER_ADC_PIN   PC1
+#define RSSI_ADC_PIN            PC2
+#define EXTERNAL1_ADC_PIN       PC3
 
 #define LED_STRIP
 #define WS2811_PIN                      PA6 // TIM16_CH1
@@ -90,27 +93,21 @@
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH3_HANDLER
 
 
-// MPU6500 interrupt
-#define USE_EXTI
-#define MPU_INT_EXTI PA5
-//#define DEBUG_MPU_DATA_READY_INTERRUPT
-#define USE_MPU_DATA_READY_SIGNAL
-#define ENSURE_MPU_DATA_READY_IS_LOW
-
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
 #define SPEKTRUM_BIND
 // USART1, PC5
-#define BIND_PIN   PC5
+#define BIND_PIN                PC5
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - assuming 303 in 64pin package, TODO
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(2))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15))
 
diff --git a/src/main/target/LUX_RACE/target.mk b/src/main/target/LUX_RACE/target.mk
index 1a77b54eae..2f6ba2d537 100644
--- a/src/main/target/LUX_RACE/target.mk
+++ b/src/main/target/LUX_RACE/target.mk
@@ -1,11 +1,11 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP 
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP 
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c
+
diff --git a/src/main/target/MICROSCISKY/target.c b/src/main/target/MICROSCISKY/target.c
new file mode 100644
index 0000000000..dec8739ba0
--- /dev/null
+++ b/src/main/target/MICROSCISKY/target.c
@@ -0,0 +1,107 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM13 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM14 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #5
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM7  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #8
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),
+    PWM7  | (MAP_TO_PWM_INPUT << 8),
+    PWM8  | (MAP_TO_PWM_INPUT << 8),     // input #8
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM13 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM14 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM2, IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,    0, IOCFG_IPD }, // PWM1 - RC1
+    { TIM2, IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,    0, IOCFG_IPD }, // PWM2 - RC2
+    { TIM2, IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,    0, IOCFG_IPD }, // PWM3 - RC3
+    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,    0, IOCFG_IPD }, // PWM4 - RC4
+    { TIM3, IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,    0, IOCFG_IPD }, // PWM5 - RC5
+    { TIM3, IO_TAG(PA7),  TIM_Channel_2, TIM3_IRQn,    0, IOCFG_IPD }, // PWM6 - RC6
+    { TIM3, IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,    0, IOCFG_IPD }, // PWM7 - RC7
+    { TIM3, IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,    0, IOCFG_IPD }, // PWM8 - RC8
+    { TIM1, IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_IPD }, // PWM9 - OUT1
+    { TIM1, IO_TAG(PA11), TIM_Channel_4, TIM1_CC_IRQn, 1, IOCFG_IPD }, // PWM10 - OUT2
+    { TIM4, IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,    0, IOCFG_IPD }, // PWM11 - OUT3
+    { TIM4, IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,    0, IOCFG_IPD }, // PWM12 - OUT4
+    { TIM4, IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,    0, IOCFG_IPD }, // PWM13 - OUT5
+    { TIM4, IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,    0, IOCFG_IPD }  // PWM14 - OUT6
+};
+
diff --git a/src/main/target/MICROSCISKY/target.h b/src/main/target/MICROSCISKY/target.h
new file mode 100644
index 0000000000..740fb2fd32
--- /dev/null
+++ b/src/main/target/MICROSCISKY/target.h
@@ -0,0 +1,102 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "MSKY" // Micro sciSKY
+
+#define LED0                    PB3
+#define LED1                    PB4
+
+#define BEEPER                  PA12
+
+#define BARO_XCLR_PIN           PC13
+#define BARO_EOC_PIN            PC14
+
+#define INVERTER                PB2 // PB2 (BOOT1) abused as inverter select GPIO
+#define INVERTER_USART          USART2
+
+#define USE_EXTI
+#define MAG_INT_EXTI            PC14
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+#define USE_MPU_DATA_READY_SIGNAL
+//#define DEBUG_MAG_DATA_READY_INTERRUPT
+#define USE_MAG_DATA_READY_SIGNAL
+
+// SPI2
+// PB15 28 SPI2_MOSI
+// PB14 27 SPI2_MISO
+// PB13 26 SPI2_SCK
+// PB12 25 SPI2_NSS
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2
+
+#define GYRO
+#define USE_GYRO_MPU6050
+#define GYRO_MPU6050_ALIGN      CW0_DEG
+
+#define ACC
+#define USE_ACC_MPU6050
+#define ACC_MPU6050_ALIGN       CW0_DEG
+
+#define BARO
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define USE_BARO_BMP280
+
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW180_DEG
+
+#define USE_UART1
+#define USE_UART2
+#define SERIAL_PORT_COUNT       2
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_2)
+
+#define LED_STRIP
+#define WS2811_TIMER                    TIM3
+#define WS2811_PIN                      PA6
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC6
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH6_HANDLER
+
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PIN                PA3
+
+#define BRUSHED_MOTORS
+#define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM1024
+#define SERIALRX_UART           SERIAL_PORT_USART2
+#define RX_CHANNELS_TAER
+
+#undef GPS
+#undef USE_SERVOS
+#define USE_QUAD_MIXER_ONLY
+#define DISPLAY
+
+
+// IO - assuming all IOs on 48pin package
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         ( BIT(13) | BIT(14) | BIT(15) )
+
+#define USABLE_TIMER_CHANNEL_COUNT 14
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/MICROSCISKY/target.mk b/src/main/target/MICROSCISKY/target.mk
new file mode 100644
index 0000000000..02299eedd0
--- /dev/null
+++ b/src/main/target/MICROSCISKY/target.mk
@@ -0,0 +1,12 @@
+F1_TARGETS  += $(TARGET)
+FEATURES    = HIGHEND
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c
diff --git a/src/main/target/MOTOLAB/config.c b/src/main/target/MOTOLAB/config.c
new file mode 100755
index 0000000000..5a38264fd6
--- /dev/null
+++ b/src/main/target/MOTOLAB/config.c
@@ -0,0 +1,83 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build/build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "fc/runtime_config.h"
+
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// Motolab target supports 2 different type of boards Tornado / Cyclone.
+void targetConfiguration(master_t *config) {
+    config->gyro_sync_denom = 4;
+    config->pid_process_denom = 1;
+}
diff --git a/src/main/target/MOTOLAB/target.c b/src/main/target/MOTOLAB/target.c
index a89063cc9a..cc898ba834 100644
--- a/src/main/target/MOTOLAB/target.c
+++ b/src/main/target/MOTOLAB/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM9  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/MOTOLAB/target.h b/src/main/target/MOTOLAB/target.h
index 958924fabe..beb5431c7a 100644
--- a/src/main/target/MOTOLAB/target.h
+++ b/src/main/target/MOTOLAB/target.h
@@ -21,18 +21,17 @@
 #define USE_CLI
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
-#define LED0    PB5 // Blue LEDs - PB5
-//#define LED1    PB9 // Green LEDs - PB9
+#define TARGET_CONFIG
 
-#define BEEPER      PA0
+#define LED0                    PB5 // Blue LEDs - PB5
+//#define LED1                    PB9 // Green LEDs - PB9
+
+#define BEEPER                  PA0
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 9
-
 // MPU6050 interrupts
 #define USE_EXTI
-#define MPU_INT_EXTI PA15
+#define MPU_INT_EXTI            PA15
 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 #define USE_MPU_DATA_READY_SIGNAL
 //#define ENSURE_MPU_DATA_READY_IS_LOW
@@ -41,20 +40,20 @@
 #define ACC
 
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW180_DEG
+#define GYRO_MPU6050_ALIGN      CW180_DEG
 
 #define USE_ACC_MPU6050
 
-#define ACC_MPU6050_ALIGN CW180_DEG
+#define ACC_MPU6050_ALIGN       CW180_DEG
 
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
 
-#define MPU6000_CS_GPIO GPIOB
-#define MPU6000_CS_PIN PB12
-#define MPU6000_SPI_INSTANCE SPI2
+#define MPU6000_CS_GPIO         GPIOB
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_INSTANCE    SPI2
 
 //#define BARO
 //#define USE_BARO_MS5611
@@ -66,42 +65,42 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PB6 // PB6
-#define UART1_RX_PIN        PB7 // PB7
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PB3 // PB3
-#define UART2_RX_PIN        PB4 // PB4
+#define UART2_TX_PIN            PB3
+#define UART2_RX_PIN            PB4
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_I2C
-#define I2C_DEVICE      (I2CDEV_2)
-#define I2C2_SCL        PA9
-#define I2C2_SDA        PA10
+#define I2C_DEVICE              (I2CDEV_2)
+#define I2C2_SCL                PA9
+#define I2C2_SDA                PA10
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define M25P16_CS_PIN         PB12
-#define M25P16_SPI_INSTANCE   SPI2
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
 
-//#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
-#define SENSORS_SET (SENSOR_ACC)
+//#define SENSORS_SET             (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
+#define SENSORS_SET             (SENSOR_ACC)
 
 #undef GPS
 #define DISPLAY
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA5
-//#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA5
+//#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 #if 1
@@ -135,17 +134,18 @@
 
 #define SPEKTRUM_BIND
 // USART2, PB4
-#define BIND_PIN PB4
+#define BIND_PIN                PB4
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
 // #define TARGET_IO_PORTF (BIT(0)|BIT(1))
 // !!TODO - check the following line is correct
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
 
diff --git a/src/main/target/MOTOLAB/target.mk b/src/main/target/MOTOLAB/target.mk
index 9dfcb8bb80..596dedfbc3 100644
--- a/src/main/target/MOTOLAB/target.mk
+++ b/src/main/target/MOTOLAB/target.mk
@@ -1,13 +1,13 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP ONBOARDFLASH
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c
+
diff --git a/src/main/target/NAZE/hardware_revision.c b/src/main/target/NAZE/hardware_revision.c
index 3f87237dbb..68df4d37cc 100755
--- a/src/main/target/NAZE/hardware_revision.c
+++ b/src/main/target/NAZE/hardware_revision.c
@@ -21,7 +21,7 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "drivers/system.h"
 #include "drivers/bus_spi.h"
@@ -53,8 +53,8 @@ void detectHardwareRevision(void)
 
 #ifdef USE_SPI
 
-#define DISABLE_SPI_CS       IOLo(nazeSpiCsPin)
-#define ENABLE_SPI_CS        IOHi(nazeSpiCsPin)
+#define DISABLE_SPI_CS       IOHi(nazeSpiCsPin)
+#define ENABLE_SPI_CS        IOLo(nazeSpiCsPin)
 
 #define SPI_DEVICE_NONE (0)
 #define SPI_DEVICE_FLASH (1)
diff --git a/src/main/target/NAZE/target.c b/src/main/target/NAZE/target.c
index 7116b53551..dec8739ba0 100644
--- a/src/main/target/NAZE/target.c
+++ b/src/main/target/NAZE/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index adca1659a7..4caeaf33f4 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -22,21 +22,26 @@
 
 #define BOARD_HAS_VOLTAGE_DIVIDER
 
-#define LED0    PB3 // PB3 (LED)
-#define LED1    PB4 // PB4 (LED)
+#define LED0                    PB3
+#define LED1                    PB4
 
-#define BEEPER      PA12 // PA12 (Beeper)
+#define BEEPER                  PA12
 #ifdef AFROMINI
 #define BEEPER_INVERTED
 #endif
 
-#define BARO_XCLR_PIN    PC13
-#define BARO_EOC_PIN     PC14
+#define BARO_XCLR_PIN           PC13
+#define BARO_EOC_PIN            PC14
 
-#define INVERTER         PB2 // PB2 (BOOT1) abused as inverter select GPIO
-#define INVERTER_USART   USART2
+#define INVERTER                PB2 // PB2 (BOOT1) abused as inverter select GPIO
+#define INVERTER_USART          USART2
 
 #define USE_EXTI
+#define MAG_INT_EXTI            PC14
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+#define USE_MPU_DATA_READY_SIGNAL
+//#define DEBUG_MAG_DATA_READY_INTERRUPT
+#define USE_MAG_DATA_READY_SIGNAL
 
 // SPI2
 // PB15 28 SPI2_MOSI
@@ -47,45 +52,33 @@
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define NAZE_SPI_INSTANCE     SPI2
-#define NAZE_SPI_CS_GPIO      GPIOB
-#define NAZE_SPI_CS_PIN       PB12
+#define NAZE_SPI_INSTANCE       SPI2
+#define NAZE_SPI_CS_GPIO        GPIOB
+#define NAZE_SPI_CS_PIN         PB12
 #define NAZE_CS_GPIO_CLK_PERIPHERAL RCC_APB2Periph_GPIOB
 
 // We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
-#define M25P16_CS_GPIO        NAZE_SPI_CS_GPIO
-#define M25P16_CS_PIN         NAZE_SPI_CS_PIN
-#define M25P16_SPI_INSTANCE   NAZE_SPI_INSTANCE
-
-#define MPU6500_CS_GPIO_CLK_PERIPHERAL   NAZE_CS_GPIO_CLK_PERIPHERAL
-#define MPU6500_CS_GPIO                  NAZE_SPI_CS_GPIO
-#define MPU6500_CS_PIN                   NAZE_SPI_CS_PIN
-#define MPU6500_SPI_INSTANCE             NAZE_SPI_INSTANCE
+#define M25P16_CS_GPIO          NAZE_SPI_CS_GPIO
+#define M25P16_CS_PIN           NAZE_SPI_CS_PIN
+#define M25P16_SPI_INSTANCE     NAZE_SPI_INSTANCE
 
+#define MPU6500_CS_GPIO_CLK_PERIPHERAL  NAZE_CS_GPIO_CLK_PERIPHERAL
+#define MPU6500_CS_GPIO                 NAZE_SPI_CS_GPIO
+#define MPU6500_CS_PIN                  NAZE_SPI_CS_PIN
+#define MPU6500_SPI_INSTANCE            NAZE_SPI_INSTANCE
 
 #define USE_FLASHFS
-
 #define USE_FLASH_M25P16
 
-#define EXTI_CALLBACK_HANDLER_COUNT 3 // MPU data ready, MAG data ready, BMP085 EOC
-
-//#define DEBUG_MPU_DATA_READY_INTERRUPT
-#define USE_MPU_DATA_READY_SIGNAL
-
-//#define DEBUG_MAG_DATA_READY_INTERRUPT
-#define USE_MAG_DATA_READY_SIGNAL
-#define MAG_INT_EXTI PC14
- 
 #define GYRO
 #define USE_GYRO_MPU3050
 #define USE_GYRO_MPU6050
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
 
-
-#define GYRO_MPU3050_ALIGN CW0_DEG
-#define GYRO_MPU6050_ALIGN CW0_DEG
-#define GYRO_MPU6500_ALIGN CW0_DEG
+#define GYRO_MPU3050_ALIGN      CW0_DEG
+#define GYRO_MPU6050_ALIGN      CW0_DEG
+#define GYRO_MPU6500_ALIGN      CW0_DEG
 
 #define ACC
 #define USE_ACC_ADXL345
@@ -95,11 +88,11 @@
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_ADXL345_ALIGN CW270_DEG
-#define ACC_MPU6050_ALIGN CW0_DEG
-#define ACC_MMA8452_ALIGN CW90_DEG
-#define ACC_BMA280_ALIGN CW0_DEG
-#define ACC_MPU6500_ALIGN CW0_DEG
+#define ACC_ADXL345_ALIGN       CW270_DEG
+#define ACC_MPU6050_ALIGN       CW0_DEG
+#define ACC_MMA8452_ALIGN       CW90_DEG
+#define ACC_BMA280_ALIGN        CW0_DEG
+#define ACC_MPU6500_ALIGN       CW0_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -108,23 +101,22 @@
 
 #define MAG
 #define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW180_DEG
 
-#define MAG_HMC5883_ALIGN CW180_DEG
+//#define SONAR
+//#define SONAR_TRIGGER_PIN       PB0
+//#define SONAR_ECHO_PIN          PB1
+//#define SONAR_TRIGGER_PIN_PWM   PB8
+//#define SONAR_ECHO_PIN_PWM      PB9
 
-#define SONAR
-#define SONAR_TRIGGER_PIN       PB0
-#define SONAR_ECHO_PIN          PB1
-#define SONAR_TRIGGER_PIN_PWM   PB8
-#define SONAR_ECHO_PIN_PWM      PB9
-
-#define DISPLAY
+//#define DISPLAY
 
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 5
+#define SERIAL_PORT_COUNT       5
 
 #define SOFTSERIAL_1_TIMER TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
@@ -134,8 +126,8 @@
 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
 
 // USART3 only on NAZE32_SP - Flex Port
-#define UART3_RX_PIN PB11
-#define UART3_TX_PIN PB10
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2)
@@ -145,49 +137,29 @@
 // #define SOFT_I2C_PB67
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PB1
-#define VBAT_ADC_PIN                PA4
-#define RSSI_ADC_PIN                PA1
-#define EXTERNAL1_ADC_PIN           PA5
-
+#define CURRENT_METER_ADC_PIN   PB1
+#define VBAT_ADC_PIN            PA4
+#define RSSI_ADC_PIN            PA1
+#define EXTERNAL1_ADC_PIN       PA5
 
 #define LED_STRIP
-#define WS2811_TIMER                 TIM3
-#define WS2811_PIN                   PA6 
-#define WS2811_DMA_TC_FLAG           DMA1_FLAG_TC6
-#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
+#define WS2811_TIMER                    TIM3
+#define WS2811_PIN                      PA6
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC6
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH6_HANDLER
 
 #undef GPS
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN   PA3
+#define BIND_PIN                PA3
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#ifdef ALIENFLIGHTF1
-// alternative defaults for AlienFlight F1 target
-#undef TARGET_BOARD_IDENTIFIER
-#define TARGET_BOARD_IDENTIFIER "AFF1" // AlienFlight F1.
-#define TARGET_CONFIG
-
-#undef BOARD_HAS_VOLTAGE_DIVIDER
-#undef USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-#define BRUSHED_MOTORS
-#define DEFAULT_FEATURES        FEATURE_MOTOR_STOP
-#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
-#define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM2048
-#define SERIALRX_UART           SERIAL_PORT_USART2
-
-#define HARDWARE_BIND_PLUG
-// Hardware bind plug at PB5 (Pin 41)
-#define BINDPLUG_PIN            PB5
-#endif // ALIENFLIGHTF1
-
 // IO - assuming all IOs on 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC ( BIT(13) | BIT(14) | BIT(15) )
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         ( BIT(13) | BIT(14) | BIT(15) )
 
-#define USED_TIMERS     ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
+#define USABLE_TIMER_CHANNEL_COUNT 14
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/NAZE/target.mk b/src/main/target/NAZE/target.mk
index 07d81cf447..e5fbfe8c95 100644
--- a/src/main/target/NAZE/target.mk
+++ b/src/main/target/NAZE/target.mk
@@ -1,20 +1,20 @@
-F1_TARGETS  += $(TARGET)
-FEATURES    = ONBOARDFLASH HIGHEND 
-
-TARGET_SRC = \
-            drivers/accgyro_adxl345.c \
-            drivers/accgyro_bma280.c \
-            drivers/accgyro_l3g4200d.c \
-            drivers/accgyro_mma845x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu3050.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c
+F1_TARGETS  += $(TARGET)
+FEATURES    = ONBOARDFLASH HIGHEND 
+
+TARGET_SRC = \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c
diff --git a/src/main/target/OLIMEXINO/target.c b/src/main/target/OLIMEXINO/target.c
index ea20267b3c..5d0a271c5b 100644
--- a/src/main/target/OLIMEXINO/target.c
+++ b/src/main/target/OLIMEXINO/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/OLIMEXINO/target.h b/src/main/target/OLIMEXINO/target.h
index c526310333..ae8ac3b38e 100644
--- a/src/main/target/OLIMEXINO/target.h
+++ b/src/main/target/OLIMEXINO/target.h
@@ -23,12 +23,12 @@
 //#define OLIMEXINO_UNCUT_LED2_E_JUMPER
 
 #ifdef OLIMEXINO_UNCUT_LED1_E_JUMPER
-#define LED0    PA5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
+#define LED0                    PA5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
 #endif
 
 #ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
 // "LED2" is using one of the PWM pins (CH2/PWM2), so we must not use PWM2 unless the jumper is cut.  @See pwmInit()
-#define LED1    PA1 // D3, PA1/UART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
+#define LED1                    PA1 // D3, PA1/UART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
 #endif
 
 #define GYRO
@@ -59,14 +59,14 @@
 #define USE_MAG_HMC5883
 
 #define SONAR
-#define SONAR_ECHO_PIN      PB1
-#define SONAR_TRIGGER_PIN   PB0
+#define SONAR_ECHO_PIN          PB1
+#define SONAR_TRIGGER_PIN       PB0
 
 #define USE_UART1
 #define USE_UART2
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
 #define SOFTSERIAL_1_TIMER TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
@@ -79,17 +79,17 @@
 #define I2C_DEVICE (I2CDEV_2)
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PB1
-#define VBAT_ADC_PIN                PA4
-#define RSSI_ADC_PIN                PA1
-#define EXTERNAL1_ADC_PIN           PA5
+#define CURRENT_METER_ADC_PIN   PB1
+#define VBAT_ADC_PIN            PA4
+#define RSSI_ADC_PIN            PA1
+#define EXTERNAL1_ADC_PIN       PA5
 
 
 // IO - assuming all IOs on smt32f103rb LQFP64 package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(2))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
 
-
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
+#define USABLE_TIMER_CHANNEL_COUNT 14
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
diff --git a/src/main/target/OLIMEXINO/target.mk b/src/main/target/OLIMEXINO/target.mk
index b299c9ffd4..6834b6126a 100644
--- a/src/main/target/OLIMEXINO/target.mk
+++ b/src/main/target/OLIMEXINO/target.mk
@@ -1,13 +1,13 @@
-F1_TARGETS  += $(TARGET)
-FEATURES    = HIGHEND 
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c
-
+F1_TARGETS  += $(TARGET)
+FEATURES    = HIGHEND 
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c
+
diff --git a/src/main/target/OMNIBUS/target.c b/src/main/target/OMNIBUS/target.c
index a41891d696..163dda015d 100644
--- a/src/main/target/OMNIBUS/target.c
+++ b/src/main/target/OMNIBUS/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT    << 8), // PPM input
@@ -85,20 +86,18 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM3,  IO_TAG(PB4),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PPM - PB4
     // PB5 / TIM3 CH2 is connected to USBPresent
 
-    // Used by SPI1, MAX7456
-    //{ TIM16, IO_TAG(PA6),  TIM_Channel_1, TIM1_UP_TIM16_IRQn,      1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM1 - PA6
-    //{ TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM2 - PA7
-
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM3 - PB8
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM4 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM5 - PA2
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM6 - PA3
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM7 - PA0
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 },  // PWM8 - PA1
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM1 - PB8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM2 - PB9
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM3 - PA3
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM4 - PA2
 
     // UART3 RX/TX
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM9  - PB10 - TIM2_CH3 / UART3_TX (AF7)
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PB11 - TIM2_CH4 / UART3_RX (AF7)
+    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM5  - PB10 - TIM2_CH3 / UART3_TX (AF7)
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6 - PB11 - TIM2_CH4 / UART3_RX (AF7)
+
+    // SDA / SCL
+    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM7 - PB7
+    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM8 - PB6
 
     // LED Strip Pad
     { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 },  // GPIO_TIMER / LED_STRIP
diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h
index bab30522f7..2550b27fb4 100644
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@@ -21,77 +21,65 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0    PB3
+#define LED0                    PB3
 
-#define BEEPER    PC15
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 10 // 6 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
-
-#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
-
 #define USE_EXTI
 #define MPU_INT_EXTI PC13
 #define USE_MPU_DATA_READY_SIGNAL
-#define ENSURE_MPU_DATA_READY_IS_LOW
-
-#define USE_MAG_DATA_READY_SIGNAL
-#define ENSURE_MAG_DATA_READY_IS_HIGH
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
 
+#define MPU6000_SPI_INSTANCE    SPI1
+#define MPU6000_CS_PIN          PA4
 
 #define GYRO
-//#define USE_FAKE_GYRO
-#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW90_DEG
 
 #define ACC
-//#define USE_FAKE_ACC
-#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW90_DEG
 
-#define ACC_MPU6500_ALIGN CW180_DEG
-#define GYRO_MPU6500_ALIGN CW180_DEG
+#define BMP280_SPI_INSTANCE     SPI1
+#define BMP280_CS_PIN           PA13
 
 #define BARO
 #define USE_BARO_BMP280
+#define USE_BARO_SPI_BMP280
 
-#define MAG
-#define USE_MPU9250_MAG // Enables bypass configuration
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883 // External
+//#define MAG
+//#define USE_MAG_AK8975
+//#define USE_MAG_HMC5883 // External
+//
+//#define MAG_AK8975_ALIGN CW90_DEG_FLIP
 
-#define MAG_AK8975_ALIGN CW90_DEG_FLIP
-
-#define SONAR
-#define SONAR_ECHO_PIN      PB1
-#define SONAR_TRIGGER_PIN   PB0
+//#define SONAR
+//#define SONAR_ECHO_PIN          PB1
+//#define SONAR_TRIGGER_PIN       PB0
 
 #define USB_IO
 #define USB_CABLE_DETECTION
-
-#define USB_DETECT_PIN                   PB5
+#define USB_DETECT_PIN          PB5
 
 #define USE_VCP
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define USE_SOFTSERIAL1
-#define SERIAL_PORT_COUNT 5
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14 / SWCLK
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
-
-#define SOFTSERIAL_1_TIMER TIM2
-#define SOFTSERIAL_1_TIMER_RX_HARDWARE 9 // PA0 / PAD3
-#define SOFTSERIAL_1_TIMER_TX_HARDWARE 10 // PA1 / PAD4
-
-#define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
+//#define USE_I2C
+//#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1
@@ -107,15 +95,14 @@
 #define OSD
 // include the max7456 driver
 #define USE_MAX7456
-#define MAX7456_SPI_INSTANCE              SPI1
-#define MAX7456_SPI_CS_PIN                SPI1_NSS_PIN
-#define MAX7456_DMA_CHANNEL_TX            DMA1_Channel3
-//#define MAX7456_DMA_CHANNEL_RX            DMA1_Channel2  // <- Conflicts with WS2811 DMA
-#define MAX7456_DMA_IRQ_HANDLER_ID        DMA1_CH3_HANDLER
+#define MAX7456_SPI_INSTANCE    SPI1
+#define MAX7456_SPI_CS_PIN      PB1
+//#define MAX7456_DMA_CHANNEL_TX            DMA1_Channel3
+//#define MAX7456_DMA_CHANNEL_RX            DMA1_Channel2
+//#define MAX7456_DMA_IRQ_HANDLER_ID        DMA1_CH3_HANDLER
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define SPI2_NSS_PIN            PB12
 #define SPI2_SCK_PIN            PB13
@@ -144,15 +131,16 @@
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
 
 #define USE_ADC
-#define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+//#define BOARD_HAS_VOLTAGE_DIVIDER
+#define VBAT_ADC_PIN                PA0
+#define CURRENT_METER_ADC_PIN       PA1
+#define ADC_INSTANCE                ADC1
+
+//#define RSSI_ADC_PIN                PB1
+//#define ADC_INSTANCE                ADC3
 
 
 #define LED_STRIP
-
 #define WS2811_PIN                      PA8
 #define WS2811_TIMER                    TIM1
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
@@ -160,48 +148,47 @@
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
 
+#define TRANSPONDER
+#define TRANSPONDER_GPIO                     GPIOA
+#define TRANSPONDER_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
+#define TRANSPONDER_GPIO_AF                  GPIO_AF_6
+#define TRANSPONDER_PIN                      GPIO_Pin_8
+#define TRANSPONDER_PIN_SOURCE               GPIO_PinSource8
+#define TRANSPONDER_TIMER                    TIM1
+#define TRANSPONDER_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
+#define TRANSPONDER_DMA_CHANNEL              DMA1_Channel2
+#define TRANSPONDER_IRQ                      DMA1_Channel2_IRQn
+#define TRANSPONDER_DMA_TC_FLAG              DMA1_FLAG_TC2
+#define TRANSPONDER_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
 
-//#define TRANSPONDER
-//#define TRANSPONDER_GPIO                     GPIOA
-//#define TRANSPONDER_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-//#define TRANSPONDER_GPIO_AF                  GPIO_AF_6
-//#define TRANSPONDER_PIN                      GPIO_Pin_8
-//#define TRANSPONDER_PIN_SOURCE               GPIO_PinSource8
-//#define TRANSPONDER_TIMER                    TIM1
-//#define TRANSPONDER_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
-//#define TRANSPONDER_DMA_CHANNEL              DMA1_Channel2
-//#define TRANSPONDER_IRQ                      DMA1_Channel2_IRQn
-//#define TRANSPONDER_DMA_TC_FLAG              DMA1_FLAG_TC2
-//#define TRANSPONDER_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
-
-//#define REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
+#define REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES FEATURE_BLACKBOX
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX)
 
 #define BUTTONS
-#define BUTTON_A_PORT  GPIOB
-#define BUTTON_A_PIN   Pin_1
-#define BUTTON_B_PORT  GPIOB
-#define BUTTON_B_PIN   Pin_0
+#define BUTTON_A_PORT           GPIOB
+#define BUTTON_A_PIN            Pin_1
+#define BUTTON_B_PORT           GPIOB
+#define BUTTON_B_PIN            Pin_0
+
+#define AVOID_UART3_FOR_PWM_PPM
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define HARDWARE_BIND_PLUG
-#define BINDPLUG_PIN   PB0
+#define BINDPLUG_PIN            PB0
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
-
-#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
-#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15)
-#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB)
+#define USABLE_TIMER_CHANNEL_COUNT 10 // 6 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
diff --git a/src/main/target/OMNIBUS/target.mk b/src/main/target/OMNIBUS/target.mk
index 1cb198e263..82cde62266 100644
--- a/src/main/target/OMNIBUS/target.mk
+++ b/src/main/target/OMNIBUS/target.mk
@@ -3,15 +3,14 @@ FEATURES    = VCP SDCARD
 
 TARGET_SRC = \
             drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6000.c \
             drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/flash_m25p16.c \
+            drivers/barometer_spi_bmp280.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
             drivers/serial_usb_vcp.c \
-            drivers/sonar_hcsr04.c \
+            drivers/transponder_ir.c \
+            drivers/transponder_ir_stm32f30x.c \
+            io/transponder_ir.c \
             drivers/max7456.c \
             io/osd.c
diff --git a/src/main/target/OMNIBUSF4/target.c b/src/main/target/OMNIBUSF4/target.c
new file mode 100644
index 0000000000..96daa89f8f
--- /dev/null
+++ b/src/main/target/OMNIBUSF4/target.c
@@ -0,0 +1,94 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #3
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8), // servo #4
+    0xFFFF
+};
+
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM12 },// PPM (5th pin on FlexiIO port)
+    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM12 },// S2_IN - GPIO_PartialRemap_TIM3
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        0, IOCFG_IPD, GPIO_AF_TIM8 }, // S3_IN
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        0, IOCFG_IPD, GPIO_AF_TIM8 }, // S4_IN
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        0, IOCFG_IPD, GPIO_AF_TIM8 }, // S5_IN
+    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        0, IOCFG_IPD, GPIO_AF_TIM8 }, // S6_IN
+
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT
+    { TIM9,  IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // S4_OUT
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S4_OUT
+    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
+    { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S6_OUT
+};
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
new file mode 100644
index 0000000000..376a683c77
--- /dev/null
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -0,0 +1,133 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "OBF4"
+
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "OmnibusF4"
+#ifdef OPBL
+#define USBD_SERIALNUMBER_STRING "0x8020000"
+#endif
+
+#define LED0                    PB5
+#define LED1                    PB4
+
+#define BEEPER                  PB4
+
+#define INVERTER                PC0 // PC0 used as inverter select GPIO
+#define INVERTER_USART          USART1
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW270_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW270_DEG
+
+// MPU6000 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI            PC4
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN       CW90_DEG
+
+//#define USE_MAG_NAZA
+//#define MAG_NAZA_ALIGN CW180_DEG_FLIP
+
+#define BARO
+#define USE_BARO_MS5611
+
+#define OSD
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI3
+#define MAX7456_SPI_CS_PIN      PA15
+
+#define MAX7456_DMA_CHANNEL_TX              DMA1_Stream5
+#define MAX7456_DMA_CHANNEL_RX              DMA1_Stream0
+#define MAX7456_DMA_IRQ_HANDLER_ID          DMA1_ST0_HANDLER
+
+//#define PITOT
+//#define USE_PITOT_MS4525
+//#define MS4525_BUS I2C_DEVICE_EXT
+
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define M25P16_SPI_INSTANCE     SPI3
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_VCP
+#define VBUS_SENSING_PIN PC5
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       4 //VCP, USART1, USART3, USART6
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1)
+
+#define USE_ADC
+#define CURRENT_METER_ADC_PIN   PC1
+#define VBAT_ADC_PIN            PC2
+#define RSSI_ADC_GPIO_PIN       PA0
+
+
+#define SENSORS_SET (SENSOR_ACC)
+
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_BLACKBOX | FEATURE_RX_SERIAL)
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9))
diff --git a/src/main/target/OMNIBUSF4/target.mk b/src/main/target/OMNIBUSF4/target.mk
new file mode 100644
index 0000000000..18034c1332
--- /dev/null
+++ b/src/main/target/OMNIBUSF4/target.mk
@@ -0,0 +1,10 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c \
+            drivers/max7456.c \
+            io/osd.c
+
diff --git a/src/main/target/PIKOBLX/target.c b/src/main/target/PIKOBLX/target.c
index a89063cc9a..cc898ba834 100644
--- a/src/main/target/PIKOBLX/target.c
+++ b/src/main/target/PIKOBLX/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM9  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/PIKOBLX/target.h b/src/main/target/PIKOBLX/target.h
index 938af8f98b..6a77f7d29e 100644
--- a/src/main/target/PIKOBLX/target.h
+++ b/src/main/target/PIKOBLX/target.h
@@ -22,63 +22,60 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0 PB9
-#define LED1 PB5
+#define LED0                    PB9
+#define LED1                    PB5
 
-#define BEEPER      PA0
+#define BEEPER                  PA0
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 9
-
 // MPU6000 interrupts
 #define USE_EXTI
-#define MPU_INT_EXTI PA15
+#define MPU_INT_EXTI            PA15
 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 #define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO
-#define ACC
-
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW180_DEG
-#define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 
-#define MPU6000_CS_GPIO GPIOB
-#define MPU6000_CS_PIN PB12
-#define MPU6000_SPI_INSTANCE SPI2
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN       CW180_DEG
+
+#define MPU6000_CS_GPIO         GPIOB
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_INSTANCE    SPI2
 
 #define USE_VCP
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PB6 // PB6
-#define UART1_RX_PIN        PB7 // PB7
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PB3 // PB3
-#define UART2_RX_PIN        PB4 // PB4
+#define UART2_TX_PIN            PB3
+#define UART2_RX_PIN            PB4
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define SENSORS_SET (SENSOR_ACC)
+#define SENSORS_SET             (SENSOR_ACC)
 
 #define TELEMETRY
 #define BLACKBOX
 #define SERIAL_RX
 #define USE_SERVOS
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define CURRENT_METER_ADC_PIN       PA2
-#define VBAT_ADC_PIN                PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define CURRENT_METER_ADC_PIN   PB2
+#define VBAT_ADC_PIN            PA5
 
 #define LED_STRIP
 #if 1
@@ -124,16 +121,18 @@
 
 #define SPEKTRUM_BIND
 // USART3, PB11
-#define BIND_PIN PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-// #define TARGET_IO_PORTF (BIT(0)|BIT(1))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+// #define TARGET_IO_PORTF        (BIT(0)|BIT(1))
 // !!TODO - check the following line is correct
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
diff --git a/src/main/target/PIKOBLX/target.mk b/src/main/target/PIKOBLX/target.mk
index 3662ea997a..3192c18c4e 100644
--- a/src/main/target/PIKOBLX/target.mk
+++ b/src/main/target/PIKOBLX/target.mk
@@ -1,13 +1,13 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/transponder_ir.c \
-            drivers/transponder_ir_stm32f30x.c \
-            io/transponder_ir.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/transponder_ir.c \
+            drivers/transponder_ir_stm32f30x.c \
+            io/transponder_ir.c
+
diff --git a/src/main/target/PORT103R/target.c b/src/main/target/PORT103R/target.c
index 8f21b7cbb7..093fa6ee27 100644
--- a/src/main/target/PORT103R/target.c
+++ b/src/main/target/PORT103R/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/PORT103R/target.h b/src/main/target/PORT103R/target.h
index 417f889c9f..545674aa14 100644
--- a/src/main/target/PORT103R/target.h
+++ b/src/main/target/PORT103R/target.h
@@ -19,36 +19,36 @@
 
 #define TARGET_BOARD_IDENTIFIER "103R"
 
-#define LED0    PB3 // PB3 (LED)
-#define LED1    PB4 // PB4 (LED)
-#define LED2    PD2 // PD2 (LED) - Labelled LED4
+#define LED0                    PB3
+#define LED1                    PB4
+#define LED2                    PD2 // PD2 (LED) - Labelled LED4
 
-#define BEEPER      PA12 // PA12 (Beeper)
+#define BEEPER                  PA12 // PA12 (Beeper)
 
-#define BARO_XCLR_GPIO   GPIOC
-#define BARO_XCLR_PIN    PC13
-#define BARO_EOC_GPIO    GPIOC
-#define BARO_EOC_PIN     PC14
-#define BARO_APB2_PERIPHERALS RCC_APB2Periph_GPIOC
+#define BARO_XCLR_GPIO          GPIOC
+#define BARO_XCLR_PIN           PC13
+#define BARO_EOC_GPIO           GPIOC
+#define BARO_EOC_PIN            PC14
+#define BARO_APB2_PERIPHERALS   RCC_APB2Periph_GPIOC
 
-#define INVERTER    PB2 // PB2 (BOOT1) abused as inverter select GPIO
-#define INVERTER_USART USART2
+#define INVERTER                PB2 // PB2 (BOOT1) abused as inverter select GPIO
+#define INVERTER_USART          USART2
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2
 
-#define PORT103R_SPI_INSTANCE     SPI2
-#define PORT103R_SPI_CS_PIN       PB12
+#define PORT103R_SPI_INSTANCE   SPI2
+#define PORT103R_SPI_CS_PIN     PB12
 
 // We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
-#define M25P16_CS_PIN         PORT103R_SPI_CS_PIN
-#define M25P16_SPI_INSTANCE   PORT103R_SPI_INSTANCE
+#define M25P16_CS_PIN           PORT103R_SPI_CS_PIN
+#define M25P16_SPI_INSTANCE     PORT103R_SPI_INSTANCE
 
-#define MPU6000_CS_PIN        PORT103R_SPI_CS_PIN
-#define MPU6000_SPI_INSTANCE  PORT103R_SPI_INSTANCE
+#define MPU6000_CS_PIN          PORT103R_SPI_CS_PIN
+#define MPU6000_SPI_INSTANCE    PORT103R_SPI_INSTANCE
 
-#define MPU6500_CS_PIN        PORT103R_SPI_CS_PIN
-#define MPU6500_SPI_INSTANCE  PORT103R_SPI_INSTANCE
+#define MPU6500_CS_PIN          PORT103R_SPI_CS_PIN
+#define MPU6500_SPI_INSTANCE    PORT103R_SPI_INSTANCE
 
 #define GYRO
 #define USE_FAKE_GYRO
@@ -81,49 +81,54 @@
 #define USE_FLASHTOOLS
 #define USE_FLASH_M25P16
 
-#define SONAR
+//#define SONAR
 #define SONAR_TRIGGER_PIN       PB0
 #define SONAR_ECHO_PIN          PB1
 #define SONAR_TRIGGER_PIN_PWM   PB8
 #define SONAR_ECHO_PIN_PWM      PB9
 
-#define DISPLAY
+//#define DISPLAY
 
 #define USE_UART1
 #define USE_UART2
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
-#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER      TIM3
 #define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_2)
+#define I2C_DEVICE              (I2CDEV_2)
 
 // #define SOFT_I2C // enable to test software i2c
 // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
 // #define SOFT_I2C_PB67
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PB1
-#define VBAT_ADC_PIN                PA4
-#define RSSI_ADC_PIN                PA1
-#define EXTERNAL1_ADC_PIN           PA5
+#define CURRENT_METER_ADC_PIN   PB1
+#define VBAT_ADC_PIN            PA4
+#define RSSI_ADC_PIN            PA1
+#define EXTERNAL1_ADC_PIN       PA5
+
+//#define LED_STRIP
+//#define LED_STRIP_TIMER TIM3
+
+#define SKIP_CLI_COMMAND_HELP
+#define SKIP_PID_LUXFLOAT
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f103RCT6 in 64pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD (BIT(0)|BIT(1)|BIT(2))
-
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(0)|BIT(1)|BIT(2))
 
+#define USABLE_TIMER_CHANNEL_COUNT 14
 #define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4))
 
-
diff --git a/src/main/target/PORT103R/target.mk b/src/main/target/PORT103R/target.mk
index 2246dc6051..86cf70fb5e 100644
--- a/src/main/target/PORT103R/target.mk
+++ b/src/main/target/PORT103R/target.mk
@@ -1,28 +1,28 @@
-F1_TARGETS  += $(TARGET)
-256K_TARGETS += $(TARGET)
-FLASH_SIZE = 256
-
-FEATURES     = ONBOARDFLASH HIGHEND 
-
-DEVICE_FLAGS    = -DSTM32F10X_HD
-
-TARGET_SRC = \
-            drivers/accgyro_adxl345.c \
-            drivers/accgyro_bma280.c \
-            drivers/accgyro_l3g4200d.c \
-            drivers/accgyro_mma845x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu3050.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c
-
+F1_TARGETS  += $(TARGET)
+256K_TARGETS += $(TARGET)
+FLASH_SIZE = 256
+
+FEATURES     = ONBOARDFLASH HIGHEND 
+
+DEVICE_FLAGS    = -DSTM32F10X_HD
+
+TARGET_SRC = \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f10x.c \
+            drivers/sonar_hcsr04.c
+
diff --git a/src/main/target/RACEBASE/README.md b/src/main/target/RACEBASE/README.md
new file mode 100755
index 0000000000..1a06de5f27
--- /dev/null
+++ b/src/main/target/RACEBASE/README.md
@@ -0,0 +1,25 @@
+##RACABASE FC
+
+Owner: Marcin Baliniak (marcin <at> baliniak.pl)
+
+Available at: shop.rotoracer.com
+
+###Board information:
+
+- CPU - STM32F303CCT6
+- MPU-6000 - connected to SPI2
+- SPI Flash - connected to SPI2
+- MAX7456 - connected to SPI2 (NO DMA)
+- Build in 5V BEC + LC filter - board can be powered from main battery
+- Input voltage: 5V - 17.4V
+- RC input: PPM, S.BUS (build in inverter) - Uart2, Spectrum-Uart3
+- Other connectors: RSSI, Current sensor, LED strip, Buzzer, Video IN/Out + LC filter
+- Weight: 6 g
+- Size: 36 mm x 36 mm x 5 mm
+
+###Photo
+![Board photo](https://cdn.shoplo.com/0639/products/th1024/aaaw/838-rr_flight_controller_rotoracer_fc_rotoracer_racebase.jpg)
+
+
+###Port description
+![Port description](https://cdn.shoplo.com/0639/products/th1024/aaaw/844-racebase-render-en.png)
diff --git a/src/main/target/RACEBASE/config.c b/src/main/target/RACEBASE/config.c
new file mode 100755
index 0000000000..65147d3db2
--- /dev/null
+++ b/src/main/target/RACEBASE/config.c
@@ -0,0 +1,84 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build/build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "fc/runtime_config.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// alternative defaults settings for COLIBRI RACE targets
+void targetConfiguration(master_t *config) {
+    config->rxConfig.sbus_inversion = 0;
+    config->rxConfig.rssi_scale = 19;
+    config->rxConfig.serialrx_provider = SERIALRX_SBUS;
+}
diff --git a/src/main/target/RACEBASE/readme.txt b/src/main/target/RACEBASE/readme.txt
new file mode 100755
index 0000000000..a2507bcd3e
--- /dev/null
+++ b/src/main/target/RACEBASE/readme.txt
@@ -0,0 +1,24 @@
+==RACABASE FC==
+
+Owner: Marcin Baliniak (marcin <at> baliniak.pl)
+
+Available at: shop.rotoracer.com
+
+Board information:
+
+- CPU - STM32F303CCT6
+- MPU-6000 - connected to SPI2
+- SPI Flash - connected to SPI2
+- MAX7456 - connected to SPI2 (NO DMA)
+- Build in 5V BEC + LC filter - board can be powered from main battery
+- Input voltage: 5V - 17.4V
+- RC input: PPM, S.BUS (build in inverter) - Uart2, Spectrum-Uart3
+- Other connectors: RSSI, Current sensor, LED strip, Buzzer, Video IN/Out + LC filter
+- Weight: 6 g
+- Size: 36 mm x 36 mm x 5 mm
+
+Photo:
+https://cdn.shoplo.com/0639/products/th1024/aaaw/838-rr_flight_controller_rotoracer_fc_rotoracer_racebase.jpg
+
+Port description:
+https://cdn.shoplo.com/0639/products/th1024/aaaw/844-racebase-render-en.png
\ No newline at end of file
diff --git a/src/main/target/RACEBASE/target.c b/src/main/target/RACEBASE/target.c
new file mode 100755
index 0000000000..e1386f9617
--- /dev/null
+++ b/src/main/target/RACEBASE/target.c
@@ -0,0 +1,60 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),			// PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),			// PPM input
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM2_IRQn,               1, IOCFG_AF_PP,      GPIO_AF_1},
+
+    { TIM4,  IO_TAG(PB6),  TIM_Channel_1, TIM4_IRQn,               1, IOCFG_AF_PP,      GPIO_AF_2}, // PWM2 - PC6
+    { TIM4,  IO_TAG(PB7),  TIM_Channel_2, TIM4_IRQn,               1, IOCFG_AF_PP,      GPIO_AF_2}, // PWM3 - PC7
+    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP,      GPIO_AF_2}, // PMW4 - PC8
+    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP,      GPIO_AF_2}, // PWM5 - PC9
+};
+
+
diff --git a/src/main/target/RACEBASE/target.h b/src/main/target/RACEBASE/target.h
new file mode 100755
index 0000000000..8e892151d4
--- /dev/null
+++ b/src/main/target/RACEBASE/target.h
@@ -0,0 +1,124 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "RBFC"
+#define TARGET_CONFIG
+
+#define LED0                    PB3
+#define LED0_INVERTED
+
+#define LED1                    PB4
+#define LED1_INVERTED
+
+#define BEEPER                  PA12
+#define BEEPER_INVERTED
+
+#define USE_EXTI
+#define MPU_INT_EXTI            PC5
+#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+
+#define MPU6000_CS_PIN          PB5
+#define MPU6000_SPI_INSTANCE    SPI2
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+
+#define ACC_MPU6000_ALIGN CW90_DEG
+#define GYRO_MPU6000_ALIGN CW90_DEG
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define SERIAL_PORT_COUNT       3
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI2
+#define MAX7456_SPI_CS_PIN      PA7
+
+#define M25P16_CS_PIN           PB12
+#define M25P16_SPI_INSTANCE     SPI2
+#define M25P16_SPI_SHARED
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PA6
+
+#define LED_STRIP
+#define USE_LED_STRIP_ON_DMA1_CHANNEL2
+#define WS2811_PIN                      PA8
+#define WS2811_TIMER                    TIM1
+#define WS2811_DMA_CHANNEL              DMA1_Channel2
+#define WS2811_IRQ                      DMA1_Channel2_IRQn
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
+
+#define OSD
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
+
+#define USE_SERVOS
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_VBAT | FEATURE_RSSI_ADC)
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(5))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 5
+#define USED_TIMERS  (TIM_N(2) | TIM_N(4))
+#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM4)
+#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB)
+
+
diff --git a/src/main/target/RACEBASE/target.mk b/src/main/target/RACEBASE/target.mk
new file mode 100755
index 0000000000..6e4711c5da
--- /dev/null
+++ b/src/main/target/RACEBASE/target.mk
@@ -0,0 +1,12 @@
+F3_TARGETS  += $(TARGET)
+
+FEATURES    = ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/flash_m25p16.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/max7456.c \
+            io/osd.c
diff --git a/src/main/target/RCEXPLORERF3/target.c b/src/main/target/RCEXPLORERF3/target.c
new file mode 100644
index 0000000000..758cf0ad33
--- /dev/null
+++ b/src/main/target/RCEXPLORERF3/target.c
@@ -0,0 +1,71 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM6  | (MAP_TO_PPM_INPUT << 8),    // PPM input
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+        PWM3  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+        PWM2  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
+        PWM4  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+        PWM1  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
+        PWM5  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM6  | (MAP_TO_PPM_INPUT << 8),    // PPM input
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2}, // PWM1 - PA4
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1}, // PWM2 - PA7
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6}, // PWM3 - PA8
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2}, // PWM4 - PB0
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2}, // PWM5 - PB1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1}, // PWM6 - PPM
+};
diff --git a/src/main/target/RCEXPLORERF3/target.h b/src/main/target/RCEXPLORERF3/target.h
new file mode 100644
index 0000000000..46e8830b11
--- /dev/null
+++ b/src/main/target/RCEXPLORERF3/target.h
@@ -0,0 +1,145 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "REF3"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+#define LED0        PB4
+#define LED1        PB5
+
+#define BEEPER      PA0
+#define BEEPER_INVERTED
+
+#define USABLE_TIMER_CHANNEL_COUNT 6
+
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+#define MPU_INT_EXTI PA15
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6000
+
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_INSTANCE    SPI2
+
+#define ACC
+
+#define ACC_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN CW180_DEG
+
+#define BARO
+#define USE_BARO_MS5611
+
+#define MAG
+#define USE_MPU9250_MAG // Enables bypass configuration
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883 // External
+
+#define MAG_AK8975_ALIGN CW180_DEG
+
+#define SONAR
+#define SONAR_TRIGGER_PIN           PA6   // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
+#define SONAR_ECHO_PIN              PB1   // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
+
+#define USB_IO
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define SERIAL_PORT_COUNT 4
+
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
+
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
+
+#define I2C2_SCL                PA9
+#define I2C2_SDA                PA10
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+
+#define ADC_INSTANCE                ADC2
+#define VBAT_ADC_PIN                PA5
+#define CURRENT_METER_ADC_PIN       PB2
+#define RSSI_ADC_PIN                PA6
+
+#define LED_STRIP // LED strip configuration using PWM motor output pin 5.
+
+#define USE_LED_STRIP_ON_DMA1_CHANNEL3
+#define WS2811_PIN                      PB8 // TIM16_CH1
+#define WS2811_TIMER                    TIM16
+#define WS2811_DMA_CHANNEL              DMA1_Channel3
+#define WS2811_IRQ                      DMA1_Channel3_IRQn
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH3_HANDLER
+
+#define DEFAULT_FEATURES        FEATURE_VBAT
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+#define NAV
+#define NAV_AUTO_MAG_DECLINATION
+#define NAV_GPS_GLITCH_DETECTION
+#define NAV_MAX_WAYPOINTS               60
+#define GPS
+#define BLACKBOX
+#define TELEMETRY
+#define SERIAL_RX
+#define AUTOTUNE
+#define DISPLAY
+#define USE_SERVOS
+#define USE_CLI
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN   PA3
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 6
+#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(17))
diff --git a/src/main/target/RCEXPLORERF3/target.mk b/src/main/target/RCEXPLORERF3/target.mk
new file mode 100644
index 0000000000..2a702724c3
--- /dev/null
+++ b/src/main/target/RCEXPLORERF3/target.mk
@@ -0,0 +1,15 @@
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP
+
+TARGET_SRC = \
+		   drivers/accgyro_mpu.c \
+		   drivers/accgyro_spi_mpu6000.c \
+		   drivers/barometer_ms5611.c \
+		   drivers/compass_hmc5883l.c \
+		   drivers/compass_ak8975.c \
+		   drivers/display_ug2864hsweg01.c \
+		   drivers/serial_usb_vcp.c \
+		   drivers/flash_m25p16.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f30x.c \
+		   drivers/sonar_hcsr04.c
diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c
index 03f60516d4..065e0d0f71 100644
--- a/src/main/target/REVO/target.c
+++ b/src/main/target/REVO/target.c
@@ -20,30 +20,31 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
-    PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
-    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
-    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
-    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
-    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
-    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),  // Swap to servo if needed
+    PWM1  | (MAP_TO_PPM_INPUT     << 8),  // PPM input
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),  // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),  // Swap to servo if needed
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
+    PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),  // Swap to servo if needed
     0xFFFF
 };
 
 const uint16_t multiPWM[] = {
-    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
-    PWM2  | (MAP_TO_PWM_INPUT << 8),
-    PWM3  | (MAP_TO_PWM_INPUT << 8),
-    PWM4  | (MAP_TO_PWM_INPUT << 8),
-    PWM5  | (MAP_TO_PWM_INPUT << 8),
-    PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
+    PWM1  | (MAP_TO_PWM_INPUT     << 8), // input #1
+    PWM2  | (MAP_TO_PWM_INPUT     << 8),
+    PWM3  | (MAP_TO_PWM_INPUT     << 8),
+    PWM4  | (MAP_TO_PWM_INPUT     << 8),
+    PWM5  | (MAP_TO_PWM_INPUT     << 8),
+    PWM6  | (MAP_TO_PWM_INPUT     << 8), // input #6
     PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or servo #1 (swap to servo if needed)
     PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2 or servo #2 (swap to servo if needed)
     PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1 or #3
@@ -54,7 +55,7 @@ const uint16_t multiPWM[] = {
 };
 
 const uint16_t airPPM[] = {
-    PWM6  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM1  | (MAP_TO_PPM_INPUT     << 8), // PPM input
     PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),
     PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
@@ -65,17 +66,17 @@ const uint16_t airPPM[] = {
     PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),
     PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
-    PWM1  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
     0xFFFF
 };
 
 const uint16_t airPWM[] = {
-    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
-    PWM2  | (MAP_TO_PWM_INPUT << 8),
-    PWM3  | (MAP_TO_PWM_INPUT << 8),
-    PWM4  | (MAP_TO_PWM_INPUT << 8),
-    PWM5  | (MAP_TO_PWM_INPUT << 8),
-    PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
+    PWM1  | (MAP_TO_PWM_INPUT     << 8), // input #1
+    PWM2  | (MAP_TO_PWM_INPUT     << 8),
+    PWM3  | (MAP_TO_PWM_INPUT     << 8),
+    PWM4  | (MAP_TO_PWM_INPUT     << 8),
+    PWM5  | (MAP_TO_PWM_INPUT     << 8),
+    PWM6  | (MAP_TO_PWM_INPUT     << 8), // input #6
     PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #1
     PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8), // motor #2
     PWM9  | (MAP_TO_SERVO_OUTPUT  << 8), // servo #1
@@ -85,21 +86,17 @@ const uint16_t airPWM[] = {
     0xFFFF
 };
 
-
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM12 }, // PPM (5th pin on FlexiIO port)
-    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM12 }, // S2_IN - GPIO_PartialRemap_TIM3
-    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S3_IN
-    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S4_IN
-    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S5_IN
-    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        IOCFG_IPD,      GPIO_Mode_AF, GPIO_AF_TIM8 }, // S6_IN
- 
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3 }, // S1_OUT
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM3 }, // S2_OUT
-    { TIM9,  IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM9 }, // S3_OUT
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM2 }, // S4_OUT
-    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
-    { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           IOCFG_AF_PP_PD, GPIO_Mode_AF, GPIO_AF_TIM5 }, // S6_OUT
+    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },  // PPM (5th pin on FlexiIO port)
+    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },  // S2_IN - GPIO_PartialRemap_TIM3
+    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S3_IN
+    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S4_IN
+    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S5_IN
+    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM8_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM8  },  // S6_IN
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3  },  // S1_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3  },  // S2_OUT
+    { TIM9,  IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  1, IOCFG_AF_PP, GPIO_AF_TIM9  },  // S3_OUT
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2  },  // S4_OUT
+    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5  },  // S5_OUT - GPIO_PartialRemap_TIM3
+    { TIM5,  IO_TAG(PA0),  TIM_Channel_1, TIM5_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM5  },  // S6_OUT
 };
-
-
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index 05c58aa979..57ad576597 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -21,40 +21,39 @@
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
-#define USBD_PRODUCT_STRING "Revolution"
+#define USBD_PRODUCT_STRING     "Revolution"
 #ifdef OPBL
 #define USBD_SERIALNUMBER_STRING "0x8020000"
 #endif
 
-#define LED0            PB5
-#define LED1            PB4
-#define BEEPER          PB4
-#define INVERTER        PC0 // PC0 used as inverter select GPIO
-#define INVERTER_USART  USART1
+#define LED0                    PB5
+#define LED1                    PB4
+#define BEEPER                  PB4
+#define INVERTER                PC0 // PC0 used as inverter select GPIO
+#define INVERTER_USART          USART1
 
-#define MPU6000_CS_PIN        PA4
-#define MPU6000_SPI_INSTANCE  SPI1
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
 
 #define ACC
 #define USE_ACC_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW270_DEG
+#define GYRO_MPU6000_ALIGN      CW270_DEG
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW270_DEG
+#define ACC_MPU6000_ALIGN       CW270_DEG
 
 // MPU6000 interrupts
-#define USE_MPU_DATA_READY_SIGNAL
-#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
-#define MPU_INT_EXTI PC4
 #define USE_EXTI
+#define MPU_INT_EXTI            PC4
+#define USE_MPU_DATA_READY_SIGNAL
 
 #define MAG
 #define USE_MAG_HMC5883
-#define MAG_HMC5883_ALIGN CW90_DEG
+#define MAG_HMC5883_ALIGN       CW90_DEG
 
 //#define USE_MAG_NAZA
-//#define MAG_NAZA_ALIGN CW180_DEG_FLIP
+//#define MAG_NAZA_ALIGN          CW180_DEG_FLIP
 
 #define BARO
 #define USE_BARO_MS5611
@@ -63,31 +62,29 @@
 //#define USE_PITOT_MS4525
 //#define MS4525_BUS I2C_DEVICE_EXT
 
-#define M25P16_CS_PIN         PB3
-#define M25P16_SPI_INSTANCE   SPI3
+#define M25P16_CS_PIN           PB3
+#define M25P16_SPI_INSTANCE     SPI3
 
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 
-#define USABLE_TIMER_CHANNEL_COUNT 12
-
 #define USE_VCP
-#define VBUS_SENSING_PIN PC5
+#define VBUS_SENSING_PIN        PC5
 
 #define USE_UART1
 #define UART1_RX_PIN PA10
 #define UART1_TX_PIN PA9
-#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
 
 #define USE_UART3
-#define UART3_RX_PIN PB11
-#define UART3_TX_PIN PB10
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
 
 #define USE_UART6
-#define UART6_RX_PIN PC7
-#define UART6_TX_PIN PC6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
 
-#define SERIAL_PORT_COUNT 4 //VCP, USART1, USART3, USART6
+#define SERIAL_PORT_COUNT       4 //VCP, USART1, USART3, USART6
 
 #define USE_SPI
 
@@ -103,22 +100,27 @@
 #define I2C_DEVICE (I2CDEV_1)
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PC1
-#define VBAT_ADC_PIN                PC2
-#define RSSI_ADC_GPIO_PIN           PA0
+#define CURRENT_METER_ADC_PIN   PC1
+#define VBAT_ADC_PIN            PC2
+#define RSSI_ADC_GPIO_PIN       PA0
+
 
- 
 #define SENSORS_SET (SENSOR_ACC)
 
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_ONESHOT125)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES        (FEATURE_BLACKBOX)
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
 
-#define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9))
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/REVO/target.mk b/src/main/target/REVO/target.mk
index 21c242fe4b..7347dd10f2 100644
--- a/src/main/target/REVO/target.mk
+++ b/src/main/target/REVO/target.mk
@@ -1,8 +1,8 @@
-F405_TARGETS   += $(TARGET)
-FEATURES       += VCP ONBOARDFLASH
-
-TARGET_SRC = \
-            drivers/accgyro_spi_mpu6000.c \
-            drivers/barometer_ms5611.c \
-            drivers/compass_hmc5883l.c
-
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_hmc5883l.c
+
diff --git a/src/main/target/REVONANO/target.c b/src/main/target/REVONANO/target.c
index 9a579f2bc9..bf5023fc24 100644
--- a/src/main/target/REVONANO/target.c
+++ b/src/main/target/REVONANO/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT     << 8), // PPM input
diff --git a/src/main/target/REVONANO/target.h b/src/main/target/REVONANO/target.h
index 6e461c5eb2..fa38860682 100644
--- a/src/main/target/REVONANO/target.h
+++ b/src/main/target/REVONANO/target.h
@@ -25,24 +25,26 @@
 #define USBD_SERIALNUMBER_STRING "0x8010000"
 #endif
 
-#define LED0 PC14
-#define LED1 PC13
-#define BEEPER PC13
-#define INVERTER PC15
-#define INVERTER_USART USART2 //Sbus on USART 2 of nano.
+#define LED0                    PC14
+#define LED1                    PC13
 
-#define MPU9250_CS_PIN        PB12
-#define MPU9250_SPI_INSTANCE  SPI2
+#define BEEPER                  PC13
+
+#define INVERTER                PC15
+#define INVERTER_USART          USART2 //Sbus on USART 2 of nano.
+
+#define MPU9250_CS_PIN          PB12
+#define MPU9250_SPI_INSTANCE    SPI2
 
 #define ACC
 #define USE_ACC_MPU9250
 #define USE_ACC_SPI_MPU9250
-#define ACC_MPU9250_ALIGN CW270_DEG
+#define ACC_MPU9250_ALIGN       CW270_DEG
 
 #define GYRO
 #define USE_GYRO_MPU9250
 #define USE_GYRO_SPI_MPU9250
-#define GYRO_MPU9250_ALIGN CW270_DEG
+#define GYRO_MPU9250_ALIGN      CW270_DEG
 
 //#define MAG
 //#define USE_MAG_HMC5883
@@ -51,26 +53,23 @@
 #define USE_BARO_MS5611
 
 // MPU9250 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI            PA15
 #define USE_MPU_DATA_READY_SIGNAL
 //#define ENSURE_MPU_DATA_READY_IS_LOW
-#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready (mag disabled)
-#define MPU_INT_EXTI    PA15
-#define USE_EXTI
-
-#define USABLE_TIMER_CHANNEL_COUNT 12
 
 #define USE_VCP
-#define VBUS_SENSING_PIN PA9
+#define VBUS_SENSING_PIN        PA9
 
 #define USE_UART1
-#define UART1_RX_PIN PB7
-#define UART1_TX_PIN PB6
+#define UART1_RX_PIN            PB7
+#define UART1_TX_PIN            PB6
 
 #define USE_UART2
-#define UART2_RX_PIN PA3
-#define UART2_TX_PIN PA2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
 
-#define SERIAL_PORT_COUNT 3 //VCP, USART1, USART2
+#define SERIAL_PORT_COUNT       3 //VCP, USART1, USART2
 
 #define USE_SPI
 //#define USE_SPI_DEVICE_1
@@ -81,9 +80,9 @@
 #define I2C_DEVICE (I2CDEV_3)
 
 #define USE_ADC
-#define CURRENT_METER_ADC_PIN       PA7
-#define VBAT_ADC_PIN                PA6
-#define RSSI_ADC_PIN                PA5
+#define CURRENT_METER_ADC_PIN   PA7
+#define VBAT_ADC_PIN            PA6
+#define RSSI_ADC_PIN            PA5
 
 #define GPS
 #define BLACKBOX
@@ -92,10 +91,14 @@
 #define USE_SERVOS
 #define USE_CLI
 
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PIN                PA3
 
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
 
-#define USED_TIMERS  ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) )
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) )
 
diff --git a/src/main/target/REVONANO/target.mk b/src/main/target/REVONANO/target.mk
index 42cce14ffd..af9876e351 100644
--- a/src/main/target/REVONANO/target.mk
+++ b/src/main/target/REVONANO/target.mk
@@ -1,6 +1,6 @@
-F411_TARGETS   += $(TARGET)
-FEATURES       += VCP ONBOARDFLASH
-
-TARGET_SRC = \
-		   drivers/accgyro_spi_mpu9250.c \
+F411_TARGETS   += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+		   drivers/accgyro_spi_mpu9250.c \
 		   drivers/barometer_ms5611.c
\ No newline at end of file
diff --git a/src/main/target/RMDO/target.c b/src/main/target/RMDO/target.c
index ee96272c11..d344cda357 100644
--- a/src/main/target/RMDO/target.c
+++ b/src/main/target/RMDO/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
diff --git a/src/main/target/RMDO/target.h b/src/main/target/RMDO/target.h
index 14fd760c8e..1b94d82f24 100644
--- a/src/main/target/RMDO/target.h
+++ b/src/main/target/RMDO/target.h
@@ -21,29 +21,25 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0    PB3
+#define LED0                    PB3
 
-#define BEEPER      PC15
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 17
-
-#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready and MAG data ready
-
+#define USE_EXTI
+#define MPU_INT_EXTI PC13
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
-
-#define USE_MAG_DATA_READY_SIGNAL
-#define ENSURE_MAG_DATA_READY_IS_HIGH
-
+//#define USE_MAG_DATA_READY_SIGNAL       // XXX Do RMDO has onboard mag???
+//#define ENSURE_MAG_DATA_READY_IS_HIGH
 
 #define GYRO
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW270_DEG
+#define GYRO_MPU6050_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_MPU6050
-#define ACC_MPU6050_ALIGN CW270_DEG
+#define ACC_MPU6050_ALIGN       CW270_DEG
 
 #define BARO
 #define USE_BARO_BMP280
@@ -52,34 +48,34 @@
 #define USE_FLASH_M25P16
 
 #define SONAR
-#define SONAR_ECHO_PIN      PB1
-#define SONAR_TRIGGER_PIN   PB0
+#define SONAR_ECHO_PIN          PB1
+#define SONAR_TRIGGER_PIN       PB0
 
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 5
+#define SERIAL_PORT_COUNT       5
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14 / SWCLK
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15 // PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
-#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER      TIM3
 #define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
@@ -88,12 +84,12 @@
 #define M25P16_CS_PIN           PB12
 #define M25P16_SPI_INSTANCE     SPI2
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 
@@ -109,15 +105,16 @@
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
+#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
 
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
diff --git a/src/main/target/RMDO/target.mk b/src/main/target/RMDO/target.mk
index ccbbd5a8e5..ec0fc084df 100644
--- a/src/main/target/RMDO/target.mk
+++ b/src/main/target/RMDO/target.mk
@@ -1,13 +1,13 @@
-F3_TARGETS   += $(TARGET)
-FEATURES     = VCP ONBOARDFLASH
-TARGET_FLAGS = -DSPRACINGF3
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_bmp280.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/sonar_hcsr04.c
-
+F3_TARGETS   += $(TARGET)
+FEATURES     = VCP ONBOARDFLASH
+TARGET_FLAGS = -DSPRACINGF3
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_bmp280.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/sonar_hcsr04.c
+
diff --git a/src/main/target/SINGULARITY/target.c b/src/main/target/SINGULARITY/target.c
index 8131579519..e48d0c33b4 100644
--- a/src/main/target/SINGULARITY/target.c
+++ b/src/main/target/SINGULARITY/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),
diff --git a/src/main/target/SINGULARITY/target.h b/src/main/target/SINGULARITY/target.h
index 06e9f3cfee..ed23489a3a 100644
--- a/src/main/target/SINGULARITY/target.h
+++ b/src/main/target/SINGULARITY/target.h
@@ -21,23 +21,21 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0    PB3
+#define LED0                    PB3
 
-#define BEEPER      PC15
-
-#define USABLE_TIMER_CHANNEL_COUNT 10
+#define BEEPER                  PC15
 
 #define USE_EXTI
-#define MPU_INT_EXTI PC13
+#define MPU_INT_EXTI            PC13
 #define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW0_DEG_FLIP
+#define GYRO_MPU6050_ALIGN      CW0_DEG_FLIP
 
 #define ACC
 #define USE_ACC_MPU6050
-#define ACC_MPU6050_ALIGN CW0_DEG_FLIP
+#define ACC_MPU6050_ALIGN       CW0_DEG_FLIP
 
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
@@ -49,22 +47,22 @@
 #define USE_SOFTSERIAL1     // Telemetry
 #define SERIAL_PORT_COUNT 5
 
-#define UART1_TX_PIN        PA9
-#define UART1_RX_PIN        PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 //Not connected
-#define UART2_RX_PIN        PA15
+#define UART2_TX_PIN            PA14 //Not connected
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10
-#define UART3_RX_PIN        PB11
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
 
 
-#define SOFTSERIAL_1_TIMER TIM15
+#define SOFTSERIAL_1_TIMER      TIM15
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 7 //Not connected
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 8
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1 // PA4, 5, 6, 7
@@ -81,9 +79,9 @@
 
 #define USE_ADC
 
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PB2
-#define VBAT_SCALE_DEFAULT          77
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PB2
+#define VBAT_SCALE_DEFAULT      77
 
 #define LED_STRIP
 
@@ -103,17 +101,18 @@
 
 #define SPEKTRUM_BIND
 // USART2, PA15
-#define BIND_PIN PA15
+#define BIND_PIN                PA15
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
 //#define TARGET_IO_PORTF (BIT(0)|BIT(1))
 // !!TODO - check the following line is correct
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(16) |TIM_N(17))
+#define USABLE_TIMER_CHANNEL_COUNT 10
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(16) |TIM_N(17))
 
diff --git a/src/main/target/SINGULARITY/target.mk b/src/main/target/SINGULARITY/target.mk
index 1cd4fcd942..bdae168d91 100644
--- a/src/main/target/SINGULARITY/target.mk
+++ b/src/main/target/SINGULARITY/target.mk
@@ -1,12 +1,12 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP ONBOARDFLASH
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/vtx_rtc6705.c \
-            io/vtx.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/vtx_rtc6705.c \
+            io/vtx.c
+
diff --git a/src/main/target/SIRINFPV/target.c b/src/main/target/SIRINFPV/target.c
index 0630b527db..7d602c74b1 100644
--- a/src/main/target/SIRINFPV/target.c
+++ b/src/main/target/SIRINFPV/target.c
@@ -20,9 +20,10 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
-    // No PPM
+    PWM7  | (MAP_TO_PPM_INPUT << 8),
     PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
@@ -43,21 +44,21 @@ const uint16_t multiPWM[] = {
 };
 
 const uint16_t airPPM[] = {
-    // No PPM
-    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM7  | (MAP_TO_PPM_INPUT << 8),
+    PWM1  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
     0xFFFF
 };
 
 const uint16_t airPWM[] = {
-    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM1  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
     0xFFFF
@@ -73,6 +74,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM3,  IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PB0  - *TIM3_CH3
     { TIM3,  IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM6 - PB1  - *TIM3_CH4
 
+    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn,              0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)y
 };
 
 
diff --git a/src/main/target/SIRINFPV/target.h b/src/main/target/SIRINFPV/target.h
index 42f2378c66..cab5ad2edd 100644
--- a/src/main/target/SIRINFPV/target.h
+++ b/src/main/target/SIRINFPV/target.h
@@ -19,14 +19,14 @@
 
 #define TARGET_BOARD_IDENTIFIER "SIRF"
 
-#define LED0                            PB2
-#define BEEPER                          PA1
+#define LED0                    PB2
+#define BEEPER                  PA1
 
 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU_INT
 
 #define USE_EXTI
 #define USE_MPU_DATA_READY_SIGNAL
-#define MPU_INT_EXTI                    PA8
+#define MPU_INT_EXTI            PA8
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO
@@ -40,18 +40,18 @@
 #define USE_ACC_SPI_MPU6500
 
 // MPU6000
-#define ACC_MPU6000_ALIGN CW180_DEG
-#define GYRO_MPU6000_ALIGN CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
 
-#define MPU6000_CS_PIN                  PA4
-#define MPU6000_SPI_INSTANCE            SPI1
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
 
 // MPU6500
-#define ACC_MPU6500_ALIGN               CW90_DEG
-#define GYRO_MPU6500_ALIGN              CW90_DEG
+#define ACC_MPU6500_ALIGN       CW90_DEG
+#define GYRO_MPU6500_ALIGN      CW90_DEG
 
-#define MPU6500_CS_PIN                  PA4
-#define MPU6500_SPI_INSTANCE            SPI1
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
 
 #define USB_IO
 
@@ -59,16 +59,16 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA2 // PA14 / SWCLK
-#define UART2_RX_PIN        PA3 // PA15
+#define UART2_TX_PIN            PA2 // PA14 / SWCLK
+#define UART2_RX_PIN            PA3 // PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #undef  USE_I2C
 
@@ -93,17 +93,17 @@
 #define SPI3_MOSI_PIN           PB5
 
 #define USE_MAX7456
-#define MAX7456_SPI_INSTANCE              SPI3
-#define MAX7456_SPI_CS_PIN                PA15
+#define MAX7456_SPI_INSTANCE    SPI3
+#define MAX7456_SPI_CS_PIN      PA15
 
 #define MAX7456_DMA_CHANNEL_TX              DMA2_Channel2
 #define MAX7456_DMA_CHANNEL_RX              DMA2_Channel1
 #define MAX7456_DMA_IRQ_HANDLER_ID          DMA2_CH1_HANDLER
 
 #define USE_RTC6705
-#define RTC6705_SPIDATA_PIN         PC15
-#define RTC6705_SPILE_PIN           PC14
-#define RTC6705_SPICLK_PIN          PC13
+#define RTC6705_SPIDATA_PIN     PC15
+#define RTC6705_SPILE_PIN       PC14
+#define RTC6705_SPICLK_PIN      PC13
 
 #define USE_SDCARD
 #define USE_SDCARD_SPI2
@@ -124,32 +124,35 @@
 // Performance logging for SD card operations:
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-
-#define ADC_INSTANCE                ADC1
-#define VBAT_ADC_PIN                PA0
+#define USE_ADC
+#define ADC_INSTANCE            ADC1
+#define VBAT_ADC_PIN            PA0
+#define CURRENT_METER_ADC_PIN   PA3
+#define RSSI_ADC_PIN            PA2
 
 //#define USE_QUAD_MIXER_ONLY
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
 #define OSD
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
 #define USE_SERVOS
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_RX_SERIAL | FEATURE_OSD | FEATURE_VTX)
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_BLACKBOX | FEATURE_RX_SERIAL | FEATURE_OSD | FEATURE_VTX)
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
-#define USABLE_TIMER_CHANNEL_COUNT 6
-#define USED_TIMERS  (TIM_N(3) | TIM_N(4))
-#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
-#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOB)
+#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USED_TIMERS             (TIM_N(2) | TIM_N(3) | TIM_N(4))
+#define TIMER_APB1_PERIPHERALS  (RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
+#define TIMER_AHB_PERIPHERALS   (RCC_AHBPeriph_GPIOB)
 
diff --git a/src/main/target/SIRINFPV/target.mk b/src/main/target/SIRINFPV/target.mk
index 945fb1fe9d..19cc56e950 100644
--- a/src/main/target/SIRINFPV/target.mk
+++ b/src/main/target/SIRINFPV/target.mk
@@ -15,4 +15,3 @@ TARGET_SRC = \
             drivers/vtx_soft_spi_rtc6705.c \
             drivers/max7456.c \
             io/osd.c
-
diff --git a/src/main/target/SPARKY/target.c b/src/main/target/SPARKY/target.c
index 389617278b..20b1f185d3 100644
--- a/src/main/target/SPARKY/target.c
+++ b/src/main/target/SPARKY/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM11 | (MAP_TO_PPM_INPUT << 8), // PPM input
diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h
index f82be07689..6e056b7269 100644
--- a/src/main/target/SPARKY/target.h
+++ b/src/main/target/SPARKY/target.h
@@ -21,30 +21,26 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0    PB4  // Blue (Rev 1 & 2) - PB4
-#define LED1    PB5  // Green (Rev 1) / Red (Rev 2) - PB5
+#define LED0                    PB4  // Blue (Rev 1 & 2) - PB4
+#define LED1                    PB5  // Green (Rev 1) / Red (Rev 2) - PB5
 
-#define BEEPER      PA1
+#define BEEPER                  PA1
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 11
-
 // MPU6050 interrupts
 #define USE_EXTI
-#define MPU_INT_EXTI PA15
+#define MPU_INT_EXTI            PA15
 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 #define USE_MPU_DATA_READY_SIGNAL
 
 // MPU 9150 INT connected to PA15, pulled up to VCC by 10K Resistor, contains MPU6050 and AK8975 in single component.
 #define GYRO
 #define USE_GYRO_MPU6050
-
-#define GYRO_MPU6050_ALIGN CW270_DEG
+#define GYRO_MPU6050_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_MPU6050
-
-#define ACC_MPU6050_ALIGN CW270_DEG
+#define ACC_MPU6050_ALIGN       CW270_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -53,34 +49,38 @@
 #define MAG
 #define USE_MAG_AK8975
 
-#define MAG_AK8975_ALIGN CW180_DEG_FLIP
+#define MAG_AK8975_ALIGN        CW180_DEG_FLIP
 
 #define USE_VCP
 #define USE_UART1 // Conn 1 - TX (PB6) RX PB7 (AF7)
 #define USE_UART2 // Input - RX (PA3)
 #define USE_UART3 // Servo out - 10/RX (PB11) 11/TX (PB10)
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
+#define AVOID_UART2_FOR_PWM_PPM
 
-#define UART1_TX_PIN        PB6 // PB6
-#define UART1_RX_PIN        PB7 // PB7
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
 
-#define UART2_TX_PIN        PA2 // PA2 - Clashes with PWM6 input.
-#define UART2_RX_PIN        PA3 // PA3
+#define UART2_TX_PIN            PA2 // PA2 - Clashes with PWM6 input.
+#define UART2_RX_PIN            PA3
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 // Note: PA5 and PA0 are N/C on the sparky - potentially use for ADC or LED STRIP?
 
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
 
-#define USE_ADC
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA7
+#define I2C2_SCL                PA9
+#define I2C2_SDA                PA10
 
-#define DEFAULT_RX_FEATURE          FEATURE_RX_PPM
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA7
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
 #define LED_STRIP
 #if 1
@@ -115,21 +115,20 @@
 
 #define SPEKTRUM_BIND
 // USART2, PA3
-#define BIND_PIN PA3
+#define BIND_PIN                PA3
 
 //#define SONAR
-//#define SONAR_ECHO_PIN      PB1
-//#define SONAR_TRIGGER_PIN   PA2
+//#define SONAR_ECHO_PIN          PB1
+//#define SONAR_TRIGGER_PIN       PA2
 
 // available IO pins (from schematics)
 //#define TARGET_IO_PORTA (BIT(1)|BIT(2)|BIT(3)|BIT(4)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(10)|BIT(11)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
 //#define TARGET_IO_PORTB (BIT(0)|BIT(1)|BIT(10)|BIT(11)|BIT(14)|BIT(15)|BIT(3)|BIT(4)|BIT(5)|BIT(6)|BIT(7)|BIT(8)|BIT(9))
 // !!TODO - check following lines are correct
-#define TARGET_IO_PORTA (BIT(1)|BIT(2)|BIT(3)|BIT(4)|BIT(5)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(10)|BIT(11)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTB (BIT(0)|BIT(1)|BIT(6)|BIT(10)|BIT(11)|BIT(14)|BIT(15)|BIT(3)|BIT(4)|BIT(5)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(12)|BIT(13))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
-
-
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
+#define TARGET_IO_PORTA         (BIT(1)|BIT(2)|BIT(3)|BIT(4)|BIT(5)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(10)|BIT(11)|BIT(12)|BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTB         (BIT(0)|BIT(1)|BIT(6)|BIT(10)|BIT(11)|BIT(14)|BIT(15)|BIT(3)|BIT(4)|BIT(5)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(12)|BIT(13))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(15) | TIM_N(17))
 
diff --git a/src/main/target/SPARKY/target.mk b/src/main/target/SPARKY/target.mk
index 76ea72b120..f4de2539f2 100644
--- a/src/main/target/SPARKY/target.mk
+++ b/src/main/target/SPARKY/target.mk
@@ -1,12 +1,12 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP 
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_ms5611.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP 
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_ms5611.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c
+
diff --git a/src/main/target/SPARKY2/SPARKY_OPBL.mk b/src/main/target/SPARKY2/SPARKY_OPBL.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/SPARKY2/target.c b/src/main/target/SPARKY2/target.c
new file mode 100644
index 0000000000..a4e95ecee4
--- /dev/null
+++ b/src/main/target/SPARKY2/target.c
@@ -0,0 +1,99 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),        // PPM input
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),        // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #1 or servo #1 (swap to servo if needed)
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #2 or servo #2 (swap to servo if needed)
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #1 or #3
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),        // PPM input
+    PWM6  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),        // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #1
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),    // motor #2
+    PWM8  | (MAP_TO_SERVO_OUTPUT  << 8),    // servo #1
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),    // servo #2
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),    // servo #3
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),    // servo #4
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 },           // PPM IN
+    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 }, // S2_IN
+    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 }, // S3_IN - GPIO_PartialRemap_TIM3
+    { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 },           // S4_IN
+    { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 },           // S5_IN
+
+    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 },              // S1_OUT
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 },              // S2_OUT
+    { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 },     // S3_OUT
+    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 },              // S4_OUT
+    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 },              // S5_OUT - GPIO_PartialRemap_TIM3
+    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 },              // S6_OUT
+};
+
diff --git a/src/main/target/SPARKY2/target.h b/src/main/target/SPARKY2/target.h
new file mode 100644
index 0000000000..9ef673ff5c
--- /dev/null
+++ b/src/main/target/SPARKY2/target.h
@@ -0,0 +1,132 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#define TARGET_BOARD_IDENTIFIER "SPK2"
+
+#define CONFIG_START_FLASH_ADDRESS 0x08080000 //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "Sparky 2.0"
+#ifdef OPBL
+	#define USBD_SERIALNUMBER_STRING "0x8020000"
+#endif
+
+#define LED0                    PB5
+#define LED1                    PB4
+#define LED2                    PB6
+
+#define BEEPER                  PC9
+#define BEEPER_INVERTED
+
+
+#define INVERTER                PC6
+#define INVERTER_USART          USART6
+
+// MPU9250 interrupt
+#define USE_EXTI
+#define MPU_INT_EXTI            PC5
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define MPU9250_CS_PIN          PC4
+#define MPU9250_SPI_INSTANCE    SPI1
+
+#define ACC
+#define USE_ACC_SPI_MPU9250
+#define ACC_MPU9250_ALIGN       CW270_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU9250
+#define GYRO_MPU9250_ALIGN      CW270_DEG
+
+#define MAG
+//#define USE_MAG_HMC5883
+#define USE_MAG_AK8963
+
+//#define MAG_HMC5883_ALIGN       CW180_DEG
+#define MAG_AK8963_ALIGN        CW270_DEG
+
+#define BARO
+#define USE_BARO_MS5611
+//#define USE_BARO_BMP280
+
+#define M25P16_CS_PIN           PB3
+#define M25P16_SPI_INSTANCE     SPI3
+
+//#define RFM22B_CS_PIN           PA15
+//#define RFM22B_SPI_INSTANCE     SPI3
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define USE_FLASH_TOOLS
+
+#define USE_VCP
+#define VBUS_SENSING_PIN        PA8
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6 //inverter
+
+#define SERIAL_PORT_COUNT 4
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1 //MPU9250
+#define SPI1_NSS_PIN            PC4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_3 //dataflash
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_I2C
+#define I2C_DEVICE              (I2CDEV_1)
+//#define I2C_DEVICE_EXT          (I2CDEV_2)
+
+#define USE_ADC
+
+#define LED_STRIP
+#define LED_STRIP_TIMER         TIM5
+
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART3
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9))
+
diff --git a/src/main/target/SPARKY2/target.mk b/src/main/target/SPARKY2/target.mk
new file mode 100644
index 0000000000..56f2b2f444
--- /dev/null
+++ b/src/main/target/SPARKY2/target.mk
@@ -0,0 +1,12 @@
+F405_TARGETS    += $(TARGET)
+FEATURES        += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu9250.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8963.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f4xx.c
+
diff --git a/src/main/target/SPRACINGF3/target.c b/src/main/target/SPRACINGF3/target.c
index ec9176a27f..99f79ec9b7 100644
--- a/src/main/target/SPRACINGF3/target.c
+++ b/src/main/target/SPRACINGF3/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index 2380fd1008..543a91d20b 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -21,27 +21,23 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0    PB3
+#define LED0                    PB3
 
-#define BEEPER      PC15
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 17
-
-#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready and MAG data ready
-
 #define USE_EXTI
-#define MPU_INT_EXTI PC13
+#define MPU_INT_EXTI            PC13
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO
 #define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN CW270_DEG
+#define GYRO_MPU6050_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_MPU6050
-#define ACC_MPU6050_ALIGN CW270_DEG
+#define ACC_MPU6050_ALIGN       CW270_DEG
 
 #define BARO
 #define USE_BARO_MS5611
@@ -51,37 +47,36 @@
 #define MAG
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883
-#define MAG_HMC5883_ALIGN CW270_DEG
+#define MAG_HMC5883_ALIGN       CW270_DEG
 
 #define USE_MAG_DATA_READY_SIGNAL
 #define ENSURE_MAG_DATA_READY_IS_HIGH
-#define MAG_INT_EXTI PC14
-
+#define MAG_INT_EXTI            PC14
 
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 
 #define SONAR
-#define SONAR_ECHO_PIN      PB1
-#define SONAR_TRIGGER_PIN   PB0
+#define SONAR_TRIGGER_PIN       PB0
+#define SONAR_ECHO_PIN          PB1
 
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 5
+#define SERIAL_PORT_COUNT       5
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14 / SWCLK
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
-#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER      TIM3
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
 #define SOFTSERIAL_2_TIMER TIM3
@@ -97,12 +92,12 @@
 #define M25P16_CS_PIN           PB12
 #define M25P16_SPI_INSTANCE     SPI2
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 
@@ -121,16 +116,16 @@
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
-
-#define USED_TIMERS  ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
+#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
 
diff --git a/src/main/target/SPRACINGF3/target.mk b/src/main/target/SPRACINGF3/target.mk
index ed7391c7a8..2d8711dfb6 100644
--- a/src/main/target/SPRACINGF3/target.mk
+++ b/src/main/target/SPRACINGF3/target.mk
@@ -1,16 +1,16 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = ONBOARDFLASH
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_ms5611.c \
-            drivers/barometer_bmp085.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/sonar_hcsr04.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/barometer_ms5611.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/sonar_hcsr04.c
+
diff --git a/src/main/target/SPRACINGF3EVO/target.c b/src/main/target/SPRACINGF3EVO/target.c
index 843ad3d9aa..87eb5db35f 100644
--- a/src/main/target/SPRACINGF3EVO/target.c
+++ b/src/main/target/SPRACINGF3EVO/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
index 0bae984252..9ba3c4a989 100755
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -20,18 +20,15 @@
 #define TARGET_BOARD_IDENTIFIER "SPEV"
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
- 
-#define LED0    PB8
 
-#define BEEPER      PC15
+#define LED0                    PB8
+
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 12 // PPM, 8 PWM, UART3 RX/TX, LED Strip
-
-#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
-
 #define USE_EXTI
-#define MPU_INT_EXTI PC13
+#define MPU_INT_EXTI            PC13
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
@@ -40,25 +37,22 @@
 
 
 #define GYRO
-#define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
 
 #define ACC
-#define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_MPU6500_ALIGN CW180_DEG
-#define GYRO_MPU6500_ALIGN CW180_DEG
+#define ACC_MPU6500_ALIGN       CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW180_DEG
 
 #define BARO
 #define USE_BARO_BMP280
 
-//#define MAG
-//#define USE_MPU9250_MAG // Enables bypass configuration
-//#define USE_MAG_AK8963
+#define MAG
+#define USE_MAG_AK8963
 //#define USE_MAG_HMC5883 // External
 
-//#define MAG_AK8963_ALIGN CW90_DEG_FLIP
+#define MAG_AK8963_ALIGN CW90_DEG_FLIP
 
 //#define SONAR
 
@@ -68,19 +62,19 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 4
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14 / SWCLK
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1 // PB9,3,4,5 on AF5 SPI1 (MPU)
@@ -117,13 +111,12 @@
 #define MPU6500_CS_PIN                   PB9
 #define MPU6500_SPI_INSTANCE             SPI1
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 #define USE_LED_STRIP_ON_DMA1_CHANNEL2
@@ -149,21 +142,21 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_TELEMETRY)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_TELEMETRY)
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
-
-#define USED_TIMERS     (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15))
+#define USABLE_TIMER_CHANNEL_COUNT 12 // PPM, 8 PWM, UART3 RX/TX, LED Strip
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15))
 
diff --git a/src/main/target/SPRACINGF3EVO/target.mk b/src/main/target/SPRACINGF3EVO/target.mk
index 9b179afe4b..086683412d 100644
--- a/src/main/target/SPRACINGF3EVO/target.mk
+++ b/src/main/target/SPRACINGF3EVO/target.mk
@@ -1,16 +1,16 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP SDCARD
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8963.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_usb_vcp.c \
-            drivers/transponder_ir.c \
-            drivers/transponder_ir_stm32f30x.c \
-            io/transponder_ir.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP SDCARD
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8963.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_usb_vcp.c \
+            drivers/transponder_ir.c \
+            drivers/transponder_ir_stm32f30x.c \
+            io/transponder_ir.c
+
diff --git a/src/main/target/SPRACINGF3MINI/target.c b/src/main/target/SPRACINGF3MINI/target.c
index d1e3a0d8b2..bf8776aa92 100644
--- a/src/main/target/SPRACINGF3MINI/target.c
+++ b/src/main/target/SPRACINGF3MINI/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h
index d76558a9c2..b5ee87abf3 100644
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@@ -24,34 +24,29 @@
 // early prototype had slightly different pin mappings.
 //#define SPRACINGF3MINI_MKII_REVA
 
-#define LED0            PB3
+#define LED0                    PB3
 
-#define BEEPER          PC15
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 12 // 8 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
-
-#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
-
 #define USE_EXTI
-#define MPU_INT_EXTI PC13
+#define MPU_INT_EXTI            PC13
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_MAG_DATA_READY_SIGNAL
 #define ENSURE_MAG_DATA_READY_IS_HIGH
 
-
 #define GYRO
 //#define USE_FAKE_GYRO
 #define USE_GYRO_MPU6500
+#define GYRO_MPU6500_ALIGN      CW180_DEG
 
 #define ACC
 //#define USE_FAKE_ACC
 #define USE_ACC_MPU6500
-
-#define ACC_MPU6500_ALIGN  CW180_DEG
-#define GYRO_MPU6500_ALIGN CW180_DEG
+#define ACC_MPU6500_ALIGN       CW180_DEG
 
 #define BARO
 #define USE_BARO_BMP280
@@ -60,40 +55,39 @@
 #define USE_MPU9250_MAG // Enables bypass configuration
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883 // External
-
-#define MAG_AK8975_ALIGN CW90_DEG_FLIP
+#define MAG_AK8975_ALIGN        CW90_DEG_FLIP
 
 #define SONAR
-#define SONAR_ECHO_PIN      PB1
-#define SONAR_TRIGGER_PIN   PB0
+#define SONAR_ECHO_PIN          PB1
+#define SONAR_TRIGGER_PIN       PB0
 
 #define USB_IO
 #define USB_CABLE_DETECTION
 
-#define USB_DETECT_PIN      PB5
+#define USB_DETECT_PIN          PB5
 
 #define USE_VCP
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
 #define USE_SOFTSERIAL1
-#define SERIAL_PORT_COUNT 5
+#define SERIAL_PORT_COUNT       5
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA14 // PA14 / SWCLK
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define SOFTSERIAL_1_TIMER TIM2
 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 9 // PA0 / PAD3
 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 10 // PA1 / PAD4
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_SPI
 #define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
@@ -124,10 +118,8 @@
 // Performance logging for SD card operations:
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-
-
+#define USE_ADC
 #define ADC_INSTANCE                ADC2
 #define VBAT_ADC_PIN                PA4
 #define CURRENT_METER_ADC_PIN       PA5
@@ -141,7 +133,6 @@
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
 
-
 #define TRANSPONDER
 #define TRANSPONDER_GPIO                     GPIOA
 #define TRANSPONDER_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
@@ -158,27 +149,30 @@
 #define REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES FEATURE_BLACKBOX
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
 
 #define BUTTONS
-#define BUTTON_A_PORT  GPIOB
-#define BUTTON_A_PIN   Pin_1
-#define BUTTON_B_PORT  GPIOB
-#define BUTTON_B_PIN   Pin_0
+#define BUTTON_A_PORT           GPIOB
+#define BUTTON_A_PIN            Pin_1
+#define BUTTON_B_PORT           GPIOB
+#define BUTTON_B_PIN            Pin_0
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define HARDWARE_BIND_PLUG
-#define BINDPLUG_PIN   PB0
+#define BINDPLUG_PIN            PB0
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 12 // 8 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
 
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
diff --git a/src/main/target/SPRACINGF3MINI/target.mk b/src/main/target/SPRACINGF3MINI/target.mk
index 1c1e3b9a52..5c16c88a7d 100644
--- a/src/main/target/SPRACINGF3MINI/target.mk
+++ b/src/main/target/SPRACINGF3MINI/target.mk
@@ -1,19 +1,19 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP SDCARD 
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c \
-            drivers/compass_hmc5883l.c \
-            drivers/flash_m25p16.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c \
-            drivers/serial_softserial.c \
-            drivers/serial_usb_vcp.c \
-            drivers/sonar_hcsr04.c \
-            drivers/transponder_ir.c \
-            drivers/transponder_ir_stm32f30x.c \
-            io/transponder_ir.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP SDCARD 
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/flash_m25p16.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c \
+            drivers/serial_softserial.c \
+            drivers/serial_usb_vcp.c \
+            drivers/sonar_hcsr04.c \
+            drivers/transponder_ir.c \
+            drivers/transponder_ir_stm32f30x.c \
+            io/transponder_ir.c
+
diff --git a/src/main/target/STM32F3DISCOVERY/target.c b/src/main/target/STM32F3DISCOVERY/target.c
index 1712bebae2..d2c17db5a2 100644
--- a/src/main/target/STM32F3DISCOVERY/target.c
+++ b/src/main/target/STM32F3DISCOVERY/target.c
@@ -20,6 +20,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h
index 8ac7eca05f..78e47bf26f 100644
--- a/src/main/target/STM32F3DISCOVERY/target.h
+++ b/src/main/target/STM32F3DISCOVERY/target.h
@@ -31,12 +31,12 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
-#define LED0    PE8 // Blue LEDs - PE8/PE12
+#define LED0                    PE8  // Blue LEDs - PE8/PE12
 #define LED0_INVERTED
-#define LED1    PE10  // Orange LEDs - PE10/PE14
+#define LED1                    PE10 // Orange LEDs - PE10/PE14
 #define LED1_INVERTED
 
-#define BEEPER      PE9 // Red LEDs - PE9/PE13
+#define BEEPER                  PE9  // Red LEDs - PE9/PE13
 #define BEEPER_INVERTED
 
 #define USE_SPI
@@ -50,9 +50,9 @@
 
 //#define USE_SD_CARD
 //
-//#define SD_DETECT_PIN       PC14
-//#define SD_CS_PIN           PB12
-//#define SD_SPI_INSTANCE     SPI2
+//#define SD_DETECT_PIN           PC14
+//#define SD_CS_PIN               PB12
+//#define SD_SPI_INSTANCE         SPI2
 
 //#define USE_FLASHFS
 //#define USE_FLASH_M25P16
@@ -73,40 +73,58 @@
 // PB12 SPI2_NSS
 
 #define GYRO
+#define USE_FAKE_GYRO
 #define USE_GYRO_L3GD20
-#define L3GD20_SPI                      SPI1
-#define L3GD20_CS_PIN                   PE3
-#define GYRO_L3GD20_ALIGN CW270_DEG
-
+#define L3GD20_SPI              SPI1
+#define L3GD20_CS_PIN           PE3
+#define GYRO_L3GD20_ALIGN       CW270_DEG
+#define USE_GYRO_L3G4200D
+#define USE_GYRO_MPU3050
+#define USE_GYRO_MPU6050
+#define USE_GYRO_SPI_MPU6000
+#define MPU6000_CS_PIN          SPI2_NSS_PIN
+#define MPU6000_SPI_INSTANCE    SPI2
 // Support the GY-91 MPU9250 dev board
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define MPU6500_CS_PIN                  PC14
-#define MPU6500_SPI_INSTANCE            SPI2
-#define GYRO_MPU6500_ALIGN CW270_DEG_FLIP
+#define MPU6500_CS_PIN          PC14
+#define MPU6500_SPI_INSTANCE    SPI2
+#define GYRO_MPU6500_ALIGN      CW270_DEG_FLIP
+#define USE_GYRO_SPI_MPU9250
+#define MPU9250_CS_PIN          SPI2_NSS_PIN
+#define MPU9250_SPI_INSTANCE    SPI2
 
 #define ACC
+#define USE_FAKE_ACC
+#define USE_ACC_ADXL345
+#define USE_ACC_BMA280
+#define USE_ACC_MMA8452
+#define USE_ACC_MPU6050
 #define USE_ACC_LSM303DLHC
+#define USE_ACC_MPU6000
+#define USE_ACC_SPI_MPU6000
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN CW270_DEG_FLIP
+#define USE_ACC_MPU9250
+#define USE_ACC_SPI_MPU9250
+#define ACC_MPU6500_ALIGN       CW270_DEG_FLIP
 
-//#define BARO
-//#define BMP280_CS_PIN                    PB12
-//#define BMP280_SPI_INSTANCE              SPI2
-//#define USE_BARO_BMP280
-//#define USE_BARO_SPI_BMP280
+#define BARO
+#define USE_FAKE_BARO
+#define USE_BARO_BMP085
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
 
 #define OSD
 #define USE_MAX7456
-#define MAX7456_SPI_INSTANCE              SPI2
-#define MAX7456_SPI_CS_PIN                SPI2_NSS_PIN
+#define MAX7456_SPI_INSTANCE    SPI2
+#define MAX7456_SPI_CS_PIN      SPI2_NSS_PIN
 
 //#define USE_SDCARD
 //#define USE_SDCARD_SPI2
 //
-//#define SDCARD_SPI_INSTANCE               SPI2
-//#define SDCARD_SPI_CS_PIN                 PB12
+//#define SDCARD_SPI_INSTANCE     SPI2
+//#define SDCARD_SPI_CS_PIN       PB12
 //// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
 //#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
 //// Divide to under 25MHz for normal operation:
@@ -120,30 +138,31 @@
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
 
 #define MAG
+#define USE_FAKE_MAG
+#define USE_MAG_AK8963
+#define USE_MAG_AK8975
 #define USE_MAG_HMC5883
 
 #define USE_VCP
 #define USE_UART1
 #define USE_UART2
-#define SERIAL_PORT_COUNT 3
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define SERIAL_PORT_COUNT       6
 
-// uart2 gpio for shared serial rx/ppm
-//#define UART2_TX_PIN        GPIO_Pin_5 // PD5
-//#define UART2_RX_PIN        GPIO_Pin_6 // PD6
-//#define UART2_GPIO          GPIOD
-//#define UART2_GPIO_AF       GPIO_AF_7
-//#define UART2_TX_PINSOURCE  GPIO_PinSource5
-//#define UART2_RX_PINSOURCE  GPIO_PinSource6
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1)
+#define I2C_DEVICE              (I2CDEV_1)
 
 #define USE_ADC
-#define ADC_INSTANCE                ADC1
-#define VBAT_ADC_PIN                PC0
-#define CURRENT_METER_ADC_PIN       PC1
-#define RSSI_ADC_PIN                PC2
-#define EXTERNAL1_ADC_PIN           PC3
+#define ADC_INSTANCE            ADC1
+#define VBAT_ADC_PIN            PC0
+#define CURRENT_METER_ADC_PIN   PC1
+#define RSSI_ADC_PIN            PC2
+#define EXTERNAL1_ADC_PIN       PC3
 
 #define LED_STRIP
 #define WS2811_PIN                      PB8 // TIM16_CH1
@@ -152,20 +171,25 @@
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH3_HANDLER
+#define LED_STRIP_TIMER                 TIM16
 
-#define LED_STRIP
-#define LED_STRIP_TIMER TIM16
+#define SPEKTRUM_BIND
+#define BIND_PIN                PA3 // USART2, PA3
+
+#define SONAR
+#define SONAR_TRIGGER_PIN       PB0
+#define SONAR_ECHO_PIN          PB1
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - 303 in 100pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
-#define TARGET_IO_PORTE 0xffff
-#define TARGET_IO_PORTF 0x00ff
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTE         0xffff
+#define TARGET_IO_PORTF         0x00ff
 
-
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(16) | TIM_N(17))
+#define USABLE_TIMER_CHANNEL_COUNT 14
+#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(16) | TIM_N(17))
 
diff --git a/src/main/target/STM32F3DISCOVERY/target.mk b/src/main/target/STM32F3DISCOVERY/target.mk
index 9f3645c97c..db3fa135ce 100644
--- a/src/main/target/STM32F3DISCOVERY/target.mk
+++ b/src/main/target/STM32F3DISCOVERY/target.mk
@@ -1,22 +1,31 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = VCP SDCARD
-
-TARGET_SRC = \
-            drivers/light_ws2811strip.c \
-            drivers/accgyro_l3gd20.c \
-            drivers/accgyro_lsm303dlhc.c \
-            drivers/compass_hmc5883l.c \
-            drivers/accgyro_adxl345.c \
-            drivers/accgyro_bma280.c \
-            drivers/accgyro_mma845x.c \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu3050.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_l3g4200d.c \
-            drivers/barometer_ms5611.c \
-            drivers/barometer_bmp280.c \
-            drivers/compass_ak8975.c \
-            drivers/max7456.c \
-            io/osd.c
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP SDCARD HIGHEND
+
+TARGET_SRC = \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_l3gd20.c \
+            drivers/accgyro_l3g4200d.c \
+            drivers/accgyro_lsm303dlhc.c \
+            drivers/compass_hmc5883l.c \
+            drivers/accgyro_adxl345.c \
+            drivers/accgyro_bma280.c \
+            drivers/accgyro_mma845x.c \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu3050.c \
+            drivers/accgyro_mpu6050.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_spi_mpu9250.c \
+            drivers/barometer_bmp085.c \
+            drivers/barometer_bmp280.c \
+            drivers/barometer_ms5611.c \
+            drivers/compass_ak8963.c \
+            drivers/compass_ak8975.c \
+            drivers/compass_hmc5883l.c \
+            drivers/flash_m25p16.c \
+            drivers/light_ws2811strip.c \
+            drivers/max7456.c \
+            drivers/sonar_hcsr04.c \
+            io/osd.c
diff --git a/src/main/target/VRRACE/target.c b/src/main/target/VRRACE/target.c
new file mode 100644
index 0000000000..90270b1fa8
--- /dev/null
+++ b/src/main/target/VRRACE/target.c
@@ -0,0 +1,104 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),      // motor #1 or servo #1 (swap to servo if needed)
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 or servo #2 (swap to servo if needed)
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 or #3
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #1
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #3
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #4
+    0xFFFF
+};
+
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM1,  IO_TAG(PE9),  TIM_Channel_1, TIM1_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // PPM
+    { TIM1,  IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S2_IN
+    { TIM1,  IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S3_IN
+    { TIM1,  IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S4_IN
+    { TIM9,  IO_TAG(PE6),  TIM_Channel_1, TIM1_BRK_TIM9_IRQn,  0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S5_IN
+    { TIM9,  IO_TAG(PE7),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S6_IN
+
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S1_OUT
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S2_OUT
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S4_OUT
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT
+};
diff --git a/src/main/target/VRRACE/target.h b/src/main/target/VRRACE/target.h
new file mode 100644
index 0000000000..def63803d7
--- /dev/null
+++ b/src/main/target/VRRACE/target.h
@@ -0,0 +1,179 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "VRRA"
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "VRRACE"
+
+#define LED0 PD14
+#define LED1 PD15
+#define BEEPER PA0
+#define BEEPER_INVERTED
+
+#define INVERTER PD7
+#define INVERTER_USART USART6
+
+#define MPU6500_CS_PIN        PE10
+#define MPU6500_SPI_INSTANCE  SPI2
+
+#define ACC
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN CW270_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN CW270_DEG
+
+// MPU6500 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI PD10
+#define USE_MPU_DATA_READY_SIGNAL
+
+/*
+#define BARO
+#define USE_BARO_MS5611
+#define MS5611_I2C_INSTANCE I2CDEV_1
+
+#define USE_SDCARD
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PD2
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_PIN                   PB12
+*/
+
+/*
+#define SDCARD_DETECT_PIN                   PD2
+#define SDCARD_DETECT_EXTI_LINE             EXTI_Line2
+#define SDCARD_DETECT_EXTI_PIN_SOURCE       EXTI_PinSource2
+#define SDCARD_DETECT_EXTI_PORT_SOURCE      EXTI_PortSourceGPIOD
+#define SDCARD_DETECT_EXTI_IRQn             EXTI2_IRQn
+
+#define SDCARD_SPI_INSTANCE                 SPI3
+#define SDCARD_SPI_CS_PIN                   PB3
+*/
+
+// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+/*
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+*/
+// Divide to under 25MHz for normal operation:
+/*
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
+*/
+
+/*
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream4
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+*/
+
+
+/*
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN         PB3
+#define M25P16_SPI_INSTANCE   SPI3
+*/
+
+#define USE_VCP
+#define VBUS_SENSING_PIN PA9
+//#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_RX_PIN PB7
+#define UART1_TX_PIN PB6
+
+#define USE_UART2
+#define UART2_RX_PIN PD6
+#define UART2_TX_PIN PD5
+
+#define USE_UART3
+#define UART3_RX_PIN PD9
+#define UART3_TX_PIN PD8
+
+#define USE_UART6
+#define UART6_RX_PIN PC7
+#define UART6_TX_PIN PC6
+
+#define USE_SOFTSERIAL1
+
+#define SOFTSERIAL_1_TIMER TIM1
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 2 // PWM 3
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 1 // PWM 2
+
+
+#define SERIAL_PORT_COUNT 6 //VCP, USART1, USART2, USART3, USART6, SOFTSERIAL1
+
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PE10
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+/*
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1)  // PB8-SCL, PB8-SDA
+#define USE_I2C_PULLUP
+#define I2C1_SCL             PB8
+#define I2C1_SDA             PB9
+*/
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define VBAT_ADC_PIN                PC0
+#define RSSI_ADC_GPIO_PIN           PB1
+#define CURRENT_METER_ADC_PIN       PA5
+
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_SOFTSERIAL | FEATURE_TELEMETRY)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+/*
+#define SPEKTRUM_BIND
+// USART3 Rx, PB11
+#define BIND_PIN             PB11
+*/
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/VRRACE/target.mk b/src/main/target/VRRACE/target.mk
new file mode 100644
index 0000000000..ed853fd62b
--- /dev/null
+++ b/src/main/target/VRRACE/target.mk
@@ -0,0 +1,7 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c
diff --git a/src/main/target/X_RACERSPI/target.c b/src/main/target/X_RACERSPI/target.c
index 85db79093c..a63258100e 100644
--- a/src/main/target/X_RACERSPI/target.c
+++ b/src/main/target/X_RACERSPI/target.c
@@ -5,6 +5,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT    << 8),  // PPM input
diff --git a/src/main/target/X_RACERSPI/target.h b/src/main/target/X_RACERSPI/target.h
index 4a38e233fb..d8e8f1b179 100644
--- a/src/main/target/X_RACERSPI/target.h
+++ b/src/main/target/X_RACERSPI/target.h
@@ -22,34 +22,29 @@
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 
-#define LED0 PC14
-#define BEEPER PC15
+#define LED0                    PC14
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 17
-
-
-
 #define USE_MAG_DATA_READY_SIGNAL
 #define ENSURE_MAG_DATA_READY_IS_HIGH
 
-#define MPU6000_CS_PIN        PA15
-#define MPU6000_SPI_INSTANCE  SPI1
+#define MPU6000_CS_PIN          PA15
+#define MPU6000_SPI_INSTANCE    SPI1
 
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN CW270_DEG
+#define GYRO_MPU6000_ALIGN      CW270_DEG
 
 #define ACC
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN CW270_DEG
+#define ACC_MPU6000_ALIGN       CW270_DEG
 
 // MPU6000 interrupts
-#define USE_MPU_DATA_READY_SIGNAL
-#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
-#define MPU_INT_EXTI PC13
 #define USE_EXTI
+#define MPU_INT_EXTI            PC13
+#define USE_MPU_DATA_READY_SIGNAL
 
 
 #define USE_FLASHFS
@@ -59,28 +54,24 @@
 #define USE_UART2
 #define USE_UART3
 #define USE_SOFTSERIAL1
-#define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT 5
+#define SERIAL_PORT_COUNT       4
 
-#define UART1_TX_PIN        PA9  // PA9
-#define UART1_RX_PIN        PA10 // PA10
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
 
-#define UART2_TX_PIN        PA2 // PA14 / SWCLK
-#define UART2_RX_PIN        PA3 // PA15
+#define UART2_TX_PIN            PA2 // PA14 / SWCLK
+#define UART2_RX_PIN            PA3
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
-#define SOFTSERIAL_1_TIMER TIM3
-#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
-#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
-#define SOFTSERIAL_2_TIMER TIM3
-#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
-#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
+#define SOFTSERIAL_1_TIMER      TIM3
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 6 // PWM 5
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 7 // PWM 6
 
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1
@@ -100,12 +91,12 @@
 #define M25P16_CS_PIN           PB12
 #define M25P16_SPI_INSTANCE     SPI2
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 
@@ -119,21 +110,21 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES FEATURE_BLACKBOX
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        FEATURE_BLACKBOX
 
 #define SPEKTRUM_BIND
 // USART3,
-#define BIND_PIN   PB11
+#define BIND_PIN                PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
-
-#define USED_TIMERS  ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
+#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
 
diff --git a/src/main/target/ZCOREF3/target.c b/src/main/target/ZCOREF3/target.c
index b72400e6fd..48a6ce60da 100644
--- a/src/main/target/ZCOREF3/target.c
+++ b/src/main/target/ZCOREF3/target.c
@@ -5,6 +5,7 @@
 #include <platform.h>
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
 
 const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT     << 8),  // PPM input
diff --git a/src/main/target/ZCOREF3/target.h b/src/main/target/ZCOREF3/target.h
index dc9f80cb23..5c07c78190 100644
--- a/src/main/target/ZCOREF3/target.h
+++ b/src/main/target/ZCOREF3/target.h
@@ -21,32 +21,30 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define LED0        PB8
+#define LED0                    PB8
 
-#define BEEPER      PC15
+#define BEEPER                  PC15
 #define BEEPER_INVERTED
 
 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1
 
 #define USE_EXTI
-#define MPU_INT_EXTI PC13
+#define MPU_INT_EXTI            PC13
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_MAG_DATA_READY_SIGNAL
 #define ENSURE_MAG_DATA_READY_IS_HIGH
 
-
 #define GYRO
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW180_DEG
 
 #define ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-
-#define ACC_MPU6500_ALIGN   CW180_DEG
-#define GYRO_MPU6500_ALIGN  CW180_DEG
+#define ACC_MPU6500_ALIGN       CW180_DEG
 
 #define BARO
 #define USE_BARO_BMP280
@@ -54,17 +52,17 @@
 #define USE_UART1
 #define USE_UART2
 #define USE_UART3
-#define SERIAL_PORT_COUNT 3
+#define SERIAL_PORT_COUNT       3
 
 
-#define UART2_TX_PIN        PA14 // PA14 / SWCLK
-#define UART2_RX_PIN        PA15 // PA15
+#define UART2_TX_PIN            PA14 // PA14 / SWCLK
+#define UART2_RX_PIN            PA15
 
-#define UART3_TX_PIN        PB10 // PB10 (AF7)
-#define UART3_RX_PIN        PB11 // PB11 (AF7)
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1 // PB9,3,4,5 on AF5 SPI1 (MPU)
@@ -74,7 +72,7 @@
 #define SPI1_SCK_PIN            PB3
 #define SPI1_MISO_PIN           PB4
 #define SPI1_MOSI_PIN           PB5
- 
+
 #define MPU6500_CS_PIN          PB9
 #define MPU6500_SPI_INSTANCE    SPI1
 
@@ -84,25 +82,24 @@
 #define M25P16_CS_PIN           PB12
 #define M25P16_SPI_INSTANCE     SPI2
 
-#define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
-#define ADC_INSTANCE                ADC2
-#define VBAT_ADC_PIN                PA4
-#define CURRENT_METER_ADC_PIN       PA5
-#define RSSI_ADC_PIN                PB2
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define VBAT_ADC_PIN            PA4
+#define CURRENT_METER_ADC_PIN   PA5
+#define RSSI_ADC_PIN            PB2
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_TELEMETRY)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_FEATURES        (FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_TELEMETRY)
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(3)|BIT(4))
 
 #define USABLE_TIMER_CHANNEL_COUNT 17 // PPM, 8 PWM, UART3 RX/TX, LED Strip
-
-#define USED_TIMERS  ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
 
diff --git a/src/main/target/ZCOREF3/target.mk b/src/main/target/ZCOREF3/target.mk
index 4b232a7870..39b7b5d000 100644
--- a/src/main/target/ZCOREF3/target.mk
+++ b/src/main/target/ZCOREF3/target.mk
@@ -1,11 +1,11 @@
-F3_TARGETS  += $(TARGET)
-FEATURES    = ONBOARDFLASH
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6500.c \
-            drivers/accgyro_spi_mpu6500.c \
-            drivers/barometer_bmp280.c \
-            drivers/light_ws2811strip.c \
-            drivers/light_ws2811strip_stm32f30x.c
-
+F3_TARGETS  += $(TARGET)
+FEATURES    = ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/barometer_bmp280.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_stm32f30x.c
+
diff --git a/src/main/target/common.h b/src/main/target/common.h
index c9a9a0f1b3..bb7cd7f045 100644
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -14,7 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
- 
+
 #pragma once
 
 #define I2C1_OVERCLOCK true
@@ -24,15 +24,16 @@
 /* STM32F4 specific settings that apply to all F4 targets */
 #ifdef STM32F4
 
-#define TASK_GYROPID_DESIRED_PERIOD 125
-#define SCHEDULER_DELAY_LIMIT 10
-#define USE_SLOW_SERIAL_CLI
-#define I2C3_OVERCLOCK true
+#define MAX_AUX_CHANNELS                99
+#define TASK_GYROPID_DESIRED_PERIOD     125
+#define SCHEDULER_DELAY_LIMIT           10
+#define I2C3_OVERCLOCK                  true
 
 #else /* when not an F4 */
 
-#define TASK_GYROPID_DESIRED_PERIOD 1000
-#define SCHEDULER_DELAY_LIMIT 100
+#define MAX_AUX_CHANNELS                6
+#define TASK_GYROPID_DESIRED_PERIOD     1000
+#define SCHEDULER_DELAY_LIMIT           100
 
 #endif
 
diff --git a/src/main/target/stm32_flash_f405.ld b/src/main/target/stm32_flash_f405.ld
index eb2a7fbf3d..a792a296c6 100644
--- a/src/main/target/stm32_flash_f405.ld
+++ b/src/main/target/stm32_flash_f405.ld
@@ -1,30 +1,10 @@
 /*
 *****************************************************************************
 **
-**  File        : stm32_flash.ld
+**  File        : stm32_flash_f405.ld
 **
-**  Abstract    : Linker script for STM32F407VG Device with
-**                1024KByte FLASH, 128KByte RAM
-**
-**                Set heap size, stack size and stack location according
-**                to application requirements.
-**
-**                Set memory bank area and size if external memory is used.
-**
-**  Target      : STMicroelectronics STM32
-**
-**  Environment : Atollic TrueSTUDIO(R)
-**
-**  Distribution: The file is distributed “as is,” without any warranty
-**                of any kind.
-**
-**  (c)Copyright Atollic AB.
-**  You may use this file as-is or modify it according to the needs of your
-**  project. Distribution of this file (unmodified or modified) is not
-**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
-**  rights to distribute the assembled, compiled & linked contents of this
-**  file as part of an application binary file, provided that it is built
-**  using the Atollic TrueSTUDIO(R) toolchain.
+**  Abstract    : Linker script for STM32F405RG Device with
+**                1024KByte FLASH, 128KByte RAM 64KByte CCM (RAM)
 **
 *****************************************************************************
 */
@@ -32,144 +12,15 @@
 /* Entry Point */
 ENTRY(Reset_Handler)
 
-/* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0;      /* required amount of heap  */
-_Min_Stack_Size = 0x400; /* required amount of stack */
-
 /* Specify the memory areas */
 MEMORY
 {
-	FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 0x0e0000 - 0x64
-	INFOX (rx)      : ORIGIN = 0x08000000 + 0x0e0000 - 0x64, LENGTH = 0x64
-	RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 128K
-	MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
+    FLASH (rx)        : ORIGIN = 0x08000000, LENGTH = 1M
+    RAM (rwx)         : ORIGIN = 0x20000000, LENGTH = 128K
+    CCM (rwx)         : ORIGIN = 0x10000000, LENGTH = 64K
+    BACKUP_SRAM (rwx) : ORIGIN = 0x40024000, LENGTH = 4K
+    MEMORY_B1 (rx)    : ORIGIN = 0x60000000, LENGTH = 0K
 }
+/* note CCM could be used for stack */
 
-/* Section Definitions */
-SECTIONS
-{
-  /* The program code and other data goes into FLASH */
-  .text :
-  {
-    PROVIDE (isr_vector_table_base = .);
-    KEEP(*(.isr_vector)) /* Startup code */
-    . = ALIGN(4);
-    *(.text)           /* .text sections (code) */
-    *(.text*)          /* .text* sections (code) */
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    *(.glue_7)         /* glue arm to thumb code */
-    *(.glue_7t)        /* glue thumb to arm code */
-    *(.eh_frame)
-
-    KEEP (*(.init))
-    KEEP (*(.fini))
-
-    . = ALIGN(4);
-    _etext = .;        /* define a global symbols at end of code */
-  } >FLASH
-
-
-   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
-    .ARM : {
-    __exidx_start = .;
-      *(.ARM.exidx*)
-      __exidx_end = .;
-    } >FLASH
-
-  .preinit_array     :
-  {
-    PROVIDE_HIDDEN (__preinit_array_start = .);
-    KEEP (*(.preinit_array*))
-    PROVIDE_HIDDEN (__preinit_array_end = .);
-  } >FLASH
-  .init_array :
-  {
-    PROVIDE_HIDDEN (__init_array_start = .);
-    KEEP (*(SORT(.init_array.*)))
-    KEEP (*(.init_array*))
-    PROVIDE_HIDDEN (__init_array_end = .);
-  } >FLASH
-  .fini_array :
-  {
-    PROVIDE_HIDDEN (__fini_array_start = .);
-    KEEP (*(.fini_array*))
-    KEEP (*(SORT(.fini_array.*)))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-  } >FLASH
-
-
-  /* used by the startup to initialize data */
-  _sidata = .;
-
-  /*
-   * Place the IRQ/bootstrap stack at the bottom of SRAM so that an overflow
-   * results in a hard fault.
-   */
-  .istack (NOLOAD) :
-  {
-    . = ALIGN(4);
-    _irq_stack_end = . ;
-    *(.irqstack)
-    _irq_stack_top = . ;
-  } > RAM
-
-  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : 
-  {
-    . = ALIGN(4);
-    _sdata = .;        /* create a global symbol at data start */
-    *(.data)           /* .data sections */
-    *(.data*)          /* .data* sections */
-
-    . = ALIGN(4);
-    _edata = .;        /* define a global symbol at data end */
-  } >RAM AT> FLASH
-
-  /* Uninitialized data section */
-  . = ALIGN(4);
-  .bss :
-  {
-    /* This is used by the startup in order to initialize the .bss secion */
-    _sbss = .;         /* define a global symbol at bss start */
-    __bss_start__ = _sbss;
-    *(.bss)
-    *(.bss*)
-    *(COMMON)
-
-    . = ALIGN(4);
-    _ebss = .;         /* define a global symbol at bss end */
-    __bss_end__ = _ebss;
-  } >RAM
-
-  /* User_heap_stack section, used to check that there is enough RAM left */
-  ._user_heap_stack :
-  {
-    . = ALIGN(4);
-    PROVIDE ( end = . );
-    PROVIDE ( _end = . );
-    . = . + _Min_Heap_Size;
-    . = . + _Min_Stack_Size;
-    . = ALIGN(4);
-  } >RAM
-
-  /* MEMORY_bank1 section, code must be located here explicitly            */
-  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
-  .memory_b1_text :
-  {
-    *(.mb1text)        /* .mb1text sections (code) */
-    *(.mb1text*)       /* .mb1text* sections (code)  */
-    *(.mb1rodata)      /* read-only data (constants) */
-    *(.mb1rodata*)
-  } >MEMORY_B1
-
-  /* Remove information from the standard libraries */
-  /DISCARD/ :
-  {
-    libc.a ( * )
-    libm.a ( * )
-    libgcc.a ( * )
-  }
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}
+INCLUDE "stm32_flash.ld"
diff --git a/src/main/target/stm32_flash_f405_opbl.ld b/src/main/target/stm32_flash_f405_opbl.ld
index e1215c110c..a9e2b7dd84 100644
--- a/src/main/target/stm32_flash_f405_opbl.ld
+++ b/src/main/target/stm32_flash_f405_opbl.ld
@@ -1,30 +1,10 @@
 /*
 *****************************************************************************
 **
-**  File        : stm32_flash.ld
+**  File        : stm32_flash_f405.ld
 **
-**  Abstract    : Linker script for STM32F407VG Device with
-**                1024KByte FLASH, 128KByte RAM
-**
-**                Set heap size, stack size and stack location according
-**                to application requirements.
-**
-**                Set memory bank area and size if external memory is used.
-**
-**  Target      : STMicroelectronics STM32
-**
-**  Environment : Atollic TrueSTUDIO(R)
-**
-**  Distribution: The file is distributed “as is,” without any warranty
-**                of any kind.
-**
-**  (c)Copyright Atollic AB.
-**  You may use this file as-is or modify it according to the needs of your
-**  project. Distribution of this file (unmodified or modified) is not
-**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
-**  rights to distribute the assembled, compiled & linked contents of this
-**  file as part of an application binary file, provided that it is built
-**  using the Atollic TrueSTUDIO(R) toolchain.
+**  Abstract    : Linker script for STM32F405RG Device with
+**                1024KByte FLASH, 128KByte RAM 64KByte CCM (RAM)
 **
 *****************************************************************************
 */
@@ -32,10 +12,6 @@
 /* Entry Point */
 ENTRY(Reset_Handler)
 
-/* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0x2000;      /* required amount of heap  */
-_Min_Stack_Size = 0x4000; /* required amount of stack */
-
 /* Specify the memory areas */
 
 /*
@@ -48,139 +24,9 @@ _Min_Stack_Size = 0x4000; /* required amount of stack */
 MEMORY
 {
 	FLASH (rx)      : ORIGIN = 0x08020000, LENGTH = 0x000A0000 
-    CCM (rwx)       : ORIGIN = 0x10000000, LENGTH = 64K
+  CCM (rwx)       : ORIGIN = 0x10000000, LENGTH = 64K
 	RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 0x00020000
 	MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
 }
 
-REGION_ALIAS("CCSRAM", CCM);
-REGION_ALIAS("SRAM", RAM);
-
-/* Section Definitions */
-SECTIONS
-{
-  /* The program code and other data goes into FLASH */
-  .text :
-  {
-    PROVIDE (isr_vector_table_base = .);
-    KEEP(*(.isr_vector)) /* Startup code */
-    . = ALIGN(4);
-    *(.text)           /* .text sections (code) */
-    *(.text*)          /* .text* sections (code) */
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    *(.glue_7)         /* glue arm to thumb code */
-    *(.glue_7t)        /* glue thumb to arm code */
-    *(.eh_frame)
-
-    KEEP (*(.init))
-    KEEP (*(.fini))
-
-    . = ALIGN(4);
-    _etext = .;        /* define a global symbols at end of code */
-  } >FLASH
-
-
-   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
-    .ARM : {
-    __exidx_start = .;
-      *(.ARM.exidx*)
-      __exidx_end = .;
-    } >FLASH
-
-  .preinit_array     :
-  {
-    PROVIDE_HIDDEN (__preinit_array_start = .);
-    KEEP (*(.preinit_array*))
-    PROVIDE_HIDDEN (__preinit_array_end = .);
-  } >FLASH
-  .init_array :
-  {
-    PROVIDE_HIDDEN (__init_array_start = .);
-    KEEP (*(SORT(.init_array.*)))
-    KEEP (*(.init_array*))
-    PROVIDE_HIDDEN (__init_array_end = .);
-  } >FLASH
-  .fini_array :
-  {
-    PROVIDE_HIDDEN (__fini_array_start = .);
-    KEEP (*(.fini_array*))
-    KEEP (*(SORT(.fini_array.*)))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-  } >FLASH
-
-
-  /* used by the startup to initialize data */
-  _sidata = .;
-
-  /*
-   * Place the IRQ/bootstrap stack at the bottom of SRAM so that an overflow
-   * results in a hard fault.
-   */
-  .istack (NOLOAD) :
-  {
-    . = ALIGN(4);
-    _irq_stack_end = . ;
-    *(.irqstack)
-    _irq_stack_top = . ;
-  } > RAM
-
-  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : 
-  {
-    . = ALIGN(4);
-    _sdata = .;        /* create a global symbol at data start */
-    *(.data)           /* .data sections */
-    *(.data*)          /* .data* sections */
-
-    . = ALIGN(4);
-    _edata = .;        /* define a global symbol at data end */
-  } >RAM AT> FLASH
-
-  /* Uninitialized data section */
-  . = ALIGN(4);
-  .bss :
-  {
-    /* This is used by the startup in order to initialize the .bss secion */
-    _sbss = .;         /* define a global symbol at bss start */
-    __bss_start__ = _sbss;
-    *(.bss)
-    *(.bss*)
-    *(COMMON)
-
-    . = ALIGN(4);
-    _ebss = .;         /* define a global symbol at bss end */
-    __bss_end__ = _ebss;
-  } >RAM
-
-  /* User_heap_stack section, used to check that there is enough RAM left */
-  ._user_heap_stack :
-  {
-    . = ALIGN(4);
-    PROVIDE ( end = . );
-    PROVIDE ( _end = . );
-    . = . + _Min_Heap_Size;
-    . = . + _Min_Stack_Size;
-    . = ALIGN(4);
-  } >RAM
-
-  /* MEMORY_bank1 section, code must be located here explicitly            */
-  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
-  .memory_b1_text :
-  {
-    *(.mb1text)        /* .mb1text sections (code) */
-    *(.mb1text*)       /* .mb1text* sections (code)  */
-    *(.mb1rodata)      /* read-only data (constants) */
-    *(.mb1rodata*)
-  } >MEMORY_B1
-
-  /* Remove information from the standard libraries */
-  /DISCARD/ :
-  {
-    libc.a ( * )
-    libm.a ( * )
-    libgcc.a ( * )
-  }
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}
+INCLUDE "stm32_flash.ld"
\ No newline at end of file
diff --git a/src/main/target/stm32_flash_f411.ld b/src/main/target/stm32_flash_f411.ld
index a3d834a188..d145ff3afc 100644
--- a/src/main/target/stm32_flash_f411.ld
+++ b/src/main/target/stm32_flash_f411.ld
@@ -1,49 +1,24 @@
 /*
 *****************************************************************************
 **
-**  File        : stm32_flash.ld
+**  File        : stm32_flash_f411.ld
 **
 **  Abstract    : Linker script for STM32F11 Device with
 **                512KByte FLASH, 128KByte RAM
 **
-**                Set heap size, stack size and stack location according
-**                to application requirements.
-**
-**                Set memory bank area and size if external memory is used.
-**
-**  Target      : STMicroelectronics STM32
-**
-**  Environment : Atollic TrueSTUDIO(R)
-**
-**  Distribution: The file is distributed “as is,” without any warranty
-**                of any kind.
-**
-**  (c)Copyright Atollic AB.
-**  You may use this file as-is or modify it according to the needs of your
-**  project. Distribution of this file (unmodified or modified) is not
-**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
-**  rights to distribute the assembled, compiled & linked contents of this
-**  file as part of an application binary file, provided that it is built
-**  using the Atollic TrueSTUDIO(R) toolchain.
-**
 *****************************************************************************
 */
 
 /* Entry Point */
 ENTRY(Reset_Handler)
 
-/* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0x2000;      /* required amount of heap  */
-_Min_Stack_Size = 0x4000; /* required amount of stack */
-
-/* Specify the memory areas */
-
 /*
 0x08000000 to 0x08080000 512kb full flash,
 0x08000000 to 0x08060000 384kb firmware,
 0x08060000 to 0x08080000 128kb config,
 */
 
+/* Specify the memory areas */
 MEMORY
 {
 	FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 0x00080000 
@@ -51,135 +26,4 @@ MEMORY
 	MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
 }
 
-REGION_ALIAS("CCSRAM", RAM);
-REGION_ALIAS("SRAM", RAM);
-
-
-/* Section Definitions */
-SECTIONS
-{
-  /* The program code and other data goes into FLASH */
-  .text :
-  {
-    PROVIDE (isr_vector_table_base = .);
-    KEEP(*(.isr_vector)) /* Startup code */
-    . = ALIGN(4);
-    *(.text)           /* .text sections (code) */
-    *(.text*)          /* .text* sections (code) */
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    *(.glue_7)         /* glue arm to thumb code */
-    *(.glue_7t)        /* glue thumb to arm code */
-    *(.eh_frame)
-
-    KEEP (*(.init))
-    KEEP (*(.fini))
-
-    . = ALIGN(4);
-    _etext = .;        /* define a global symbols at end of code */
-  } >FLASH
-
-
-   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
-    .ARM : {
-    __exidx_start = .;
-      *(.ARM.exidx*)
-      __exidx_end = .;
-    } >FLASH
-
-  .preinit_array     :
-  {
-    PROVIDE_HIDDEN (__preinit_array_start = .);
-    KEEP (*(.preinit_array*))
-    PROVIDE_HIDDEN (__preinit_array_end = .);
-  } >FLASH
-  .init_array :
-  {
-    PROVIDE_HIDDEN (__init_array_start = .);
-    KEEP (*(SORT(.init_array.*)))
-    KEEP (*(.init_array*))
-    PROVIDE_HIDDEN (__init_array_end = .);
-  } >FLASH
-  .fini_array :
-  {
-    PROVIDE_HIDDEN (__fini_array_start = .);
-    KEEP (*(.fini_array*))
-    KEEP (*(SORT(.fini_array.*)))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-  } >FLASH
-
-
-  /* used by the startup to initialize data */
-  _sidata = .;
-
-  /*
-   * Place the IRQ/bootstrap stack at the bottom of SRAM so that an overflow
-   * results in a hard fault.
-   */
-  .istack (NOLOAD) :
-  {
-    . = ALIGN(4);
-    _irq_stack_end = . ;
-    *(.irqstack)
-    _irq_stack_top = . ;
-  } > RAM
-
-  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : 
-  {
-    . = ALIGN(4);
-    _sdata = .;        /* create a global symbol at data start */
-    *(.data)           /* .data sections */
-    *(.data*)          /* .data* sections */
-
-    . = ALIGN(4);
-    _edata = .;        /* define a global symbol at data end */
-  } >RAM AT> FLASH
-
-  /* Uninitialized data section */
-  . = ALIGN(4);
-  .bss :
-  {
-    /* This is used by the startup in order to initialize the .bss secion */
-    _sbss = .;         /* define a global symbol at bss start */
-    __bss_start__ = _sbss;
-    *(.bss)
-    *(.bss*)
-    *(COMMON)
-
-    . = ALIGN(4);
-    _ebss = .;         /* define a global symbol at bss end */
-    __bss_end__ = _ebss;
-  } >RAM
-
-  /* User_heap_stack section, used to check that there is enough RAM left */
-  ._user_heap_stack :
-  {
-    . = ALIGN(4);
-    PROVIDE ( end = . );
-    PROVIDE ( _end = . );
-    . = . + _Min_Heap_Size;
-    . = . + _Min_Stack_Size;
-    . = ALIGN(4);
-  } >RAM
-
-  /* MEMORY_bank1 section, code must be located here explicitly            */
-  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
-  .memory_b1_text :
-  {
-    *(.mb1text)        /* .mb1text sections (code) */
-    *(.mb1text*)       /* .mb1text* sections (code)  */
-    *(.mb1rodata)      /* read-only data (constants) */
-    *(.mb1rodata*)
-  } >MEMORY_B1
-
-  /* Remove information from the standard libraries */
-  /DISCARD/ :
-  {
-    libc.a ( * )
-    libm.a ( * )
-    libgcc.a ( * )
-  }
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}
+INCLUDE "stm32_flash.ld"
diff --git a/src/main/target/stm32_flash_f411_opbl.ld b/src/main/target/stm32_flash_f411_opbl.ld
index 7ba674a6d5..5787e6d20b 100644
--- a/src/main/target/stm32_flash_f411_opbl.ld
+++ b/src/main/target/stm32_flash_f411_opbl.ld
@@ -1,43 +1,17 @@
 /*
 *****************************************************************************
 **
-**  File        : stm32_flash.ld
+**  File        : stm32_flash_f411.ld
 **
 **  Abstract    : Linker script for STM32F11 Device with
 **                512KByte FLASH, 128KByte RAM
 **
-**                Set heap size, stack size and stack location according
-**                to application requirements.
-**
-**                Set memory bank area and size if external memory is used.
-**
-**  Target      : STMicroelectronics STM32
-**
-**  Environment : Atollic TrueSTUDIO(R)
-**
-**  Distribution: The file is distributed “as is,” without any warranty
-**                of any kind.
-**
-**  (c)Copyright Atollic AB.
-**  You may use this file as-is or modify it according to the needs of your
-**  project. Distribution of this file (unmodified or modified) is not
-**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
-**  rights to distribute the assembled, compiled & linked contents of this
-**  file as part of an application binary file, provided that it is built
-**  using the Atollic TrueSTUDIO(R) toolchain.
-**
 *****************************************************************************
 */
 
 /* Entry Point */
 ENTRY(Reset_Handler)
 
-/* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0x2000;      /* required amount of heap  */
-_Min_Stack_Size = 0x4000; /* required amount of stack */
-
-/* Specify the memory areas */
-
 /*
 0x08000000 to 0x08080000 512kb full flash,
 0x08000000 to 0x08010000 64kb OPBL,
@@ -45,6 +19,7 @@ _Min_Stack_Size = 0x4000; /* required amount of stack */
 0x08060000 to 0x08080000 128kb config,
 */
 
+/* Specify the memory areas */
 MEMORY
 {
 	FLASH (rx)      : ORIGIN = 0x08010000, LENGTH = 0x00070000 
@@ -52,135 +27,4 @@ MEMORY
 	MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
 }
 
-REGION_ALIAS("CCSRAM", RAM);
-REGION_ALIAS("SRAM", RAM);
-
-
-/* Section Definitions */
-SECTIONS
-{
-  /* The program code and other data goes into FLASH */
-  .text :
-  {
-    PROVIDE (isr_vector_table_base = .);
-    KEEP(*(.isr_vector)) /* Startup code */
-    . = ALIGN(4);
-    *(.text)           /* .text sections (code) */
-    *(.text*)          /* .text* sections (code) */
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    *(.glue_7)         /* glue arm to thumb code */
-    *(.glue_7t)        /* glue thumb to arm code */
-    *(.eh_frame)
-
-    KEEP (*(.init))
-    KEEP (*(.fini))
-
-    . = ALIGN(4);
-    _etext = .;        /* define a global symbols at end of code */
-  } >FLASH
-
-
-   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
-    .ARM : {
-    __exidx_start = .;
-      *(.ARM.exidx*)
-      __exidx_end = .;
-    } >FLASH
-
-  .preinit_array     :
-  {
-    PROVIDE_HIDDEN (__preinit_array_start = .);
-    KEEP (*(.preinit_array*))
-    PROVIDE_HIDDEN (__preinit_array_end = .);
-  } >FLASH
-  .init_array :
-  {
-    PROVIDE_HIDDEN (__init_array_start = .);
-    KEEP (*(SORT(.init_array.*)))
-    KEEP (*(.init_array*))
-    PROVIDE_HIDDEN (__init_array_end = .);
-  } >FLASH
-  .fini_array :
-  {
-    PROVIDE_HIDDEN (__fini_array_start = .);
-    KEEP (*(.fini_array*))
-    KEEP (*(SORT(.fini_array.*)))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-  } >FLASH
-
-
-  /* used by the startup to initialize data */
-  _sidata = .;
-
-  /*
-   * Place the IRQ/bootstrap stack at the bottom of SRAM so that an overflow
-   * results in a hard fault.
-   */
-  .istack (NOLOAD) :
-  {
-    . = ALIGN(4);
-    _irq_stack_end = . ;
-    *(.irqstack)
-    _irq_stack_top = . ;
-  } > RAM
-
-  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : 
-  {
-    . = ALIGN(4);
-    _sdata = .;        /* create a global symbol at data start */
-    *(.data)           /* .data sections */
-    *(.data*)          /* .data* sections */
-
-    . = ALIGN(4);
-    _edata = .;        /* define a global symbol at data end */
-  } >RAM AT> FLASH
-
-  /* Uninitialized data section */
-  . = ALIGN(4);
-  .bss :
-  {
-    /* This is used by the startup in order to initialize the .bss secion */
-    _sbss = .;         /* define a global symbol at bss start */
-    __bss_start__ = _sbss;
-    *(.bss)
-    *(.bss*)
-    *(COMMON)
-
-    . = ALIGN(4);
-    _ebss = .;         /* define a global symbol at bss end */
-    __bss_end__ = _ebss;
-  } >RAM
-
-  /* User_heap_stack section, used to check that there is enough RAM left */
-  ._user_heap_stack :
-  {
-    . = ALIGN(4);
-    PROVIDE ( end = . );
-    PROVIDE ( _end = . );
-    . = . + _Min_Heap_Size;
-    . = . + _Min_Stack_Size;
-    . = ALIGN(4);
-  } >RAM
-
-  /* MEMORY_bank1 section, code must be located here explicitly            */
-  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
-  .memory_b1_text :
-  {
-    *(.mb1text)        /* .mb1text sections (code) */
-    *(.mb1text*)       /* .mb1text* sections (code)  */
-    *(.mb1rodata)      /* read-only data (constants) */
-    *(.mb1rodata*)
-  } >MEMORY_B1
-
-  /* Remove information from the standard libraries */
-  /DISCARD/ :
-  {
-    libc.a ( * )
-    libm.a ( * )
-    libgcc.a ( * )
-  }
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}
+INCLUDE "stm32_flash.ld"
diff --git a/src/main/target/system_stm32f30x.c b/src/main/target/system_stm32f30x.c
index 09ba3fa47c..f6bb082a97 100644
--- a/src/main/target/system_stm32f30x.c
+++ b/src/main/target/system_stm32f30x.c
@@ -9,17 +9,17 @@
   *          and is generated by the clock configuration tool
   *          stm32f30x_Clock_Configuration_V1.0.0.xls
   *
-  * 1.  This file provides two functions and one global variable to be called from 
+  * 1.  This file provides two functions and one global variable to be called from
   *     user application:
   *      - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
   *                      and Divider factors, AHB/APBx prescalers and Flash settings),
-  *                      depending on the configuration made in the clock xls tool. 
-  *                      This function is called at startup just after reset and 
+  *                      depending on the configuration made in the clock xls tool.
+  *                      This function is called at startup just after reset and
   *                      before branch to main program. This call is made inside
   *                      the "startup_stm32f30x.s" file.
   *
   *      - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
-  *                                  by the user application to setup the SysTick 
+  *                                  by the user application to setup the SysTick
   *                                  timer or configure other parameters.
   *
   *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
@@ -31,7 +31,7 @@
   *    configure the system clock before to branch to main program.
   *
   * 3. If the system clock source selected by user fails to startup, the SystemInit()
-  *    function will do nothing and HSI still used as system clock source. User can 
+  *    function will do nothing and HSI still used as system clock source. User can
   *    add some code to deal with this issue inside the SetSysClock() function.
   *
   * 4. The default value of HSE crystal is set to 8MHz, refer to "HSE_VALUE" define
@@ -79,8 +79,8 @@
   *
   *        http://www.st.com/software_license_agreement_liberty_v2
   *
-  * Unless required by applicable law or agreed to in writing, software 
-  * distributed under the License is distributed on an "AS IS" BASIS, 
+  * Unless required by applicable law or agreed to in writing, software
+  * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
@@ -93,8 +93,8 @@
 
 /** @addtogroup stm32f30x_system
   * @{
-  */  
-  
+  */ 
+ 
 /** @addtogroup STM32F30x_System_Private_Includes
   * @{
   */
@@ -113,13 +113,13 @@ uint32_t hse_value = HSE_VALUE;
   * @{
   */
 /*!< Uncomment the following line if you need to relocate your vector Table in
-     Internal SRAM. */ 
+     Internal SRAM. */
 /* #define VECT_TAB_SRAM */
-#define VECT_TAB_OFFSET  0x0 /*!< Vector Table base offset field. 
-                                  This value must be a multiple of 0x200. */  
+#define VECT_TAB_OFFSET  0x0 /*!< Vector Table base offset field.
+                                  This value must be a multiple of 0x200. */ 
 /**
   * @}
-  */ 
+  */
 
 /* Private macro -------------------------------------------------------------*/
 
@@ -151,7 +151,7 @@ void SetSysClock(void);
 
 /**
   * @brief  Setup the microcontroller system
-  *         Initialize the Embedded Flash Interface, the PLL and update the 
+  *         Initialize the Embedded Flash Interface, the PLL and update the
   *         SystemFrequency variable.
   * @param  None
   * @retval None
@@ -184,19 +184,19 @@ void SystemInit(void)
 
   /* Reset USARTSW[1:0], I2CSW and TIMs bits */
   RCC->CFGR3 &= (uint32_t)0xFF00FCCC;
-  
+ 
   /* Disable all interrupts */
   RCC->CIR = 0x00000000;
 
-  /* Configure the System clock source, PLL Multiplier and Divider factors, 
+  /* Configure the System clock source, PLL Multiplier and Divider factors,
      AHB/APBx prescalers and Flash settings ----------------------------------*/
   //SetSysClock(); // called from main()
-  
+ 
 #ifdef VECT_TAB_SRAM
   SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
 #else
   SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */
-#endif  
+#endif 
 }
 
 /**
@@ -204,25 +204,25 @@ void SystemInit(void)
   *         The SystemCoreClock variable contains the core clock (HCLK), it can
   *         be used by the user application to setup the SysTick timer or configure
   *         other parameters.
-  *   
+  *  
   * @note   Each time the core clock (HCLK) changes, this function must be called
   *         to update SystemCoreClock variable value. Otherwise, any configuration
-  *         based on this variable will be incorrect. 
-  * 
-  * @note   - The system frequency computed by this function is not the real 
-  *           frequency in the chip. It is calculated based on the predefined 
+  *         based on this variable will be incorrect.
+  *
+  * @note   - The system frequency computed by this function is not the real
+  *           frequency in the chip. It is calculated based on the predefined
   *           constant and the selected clock source:
   *
   *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
   *
   *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
   *
-  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) 
+  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
   *             or HSI_VALUE(*) multiplied/divided by the PLL factors.
-  * 
+  *
   *         (*) HSI_VALUE is a constant defined in stm32f30x.h file (default value
   *             8 MHz) but the real value may vary depending on the variations
-  *             in voltage and temperature.   
+  *             in voltage and temperature.  
   *
   *         (**) HSE_VALUE is a constant defined in stm32f30x.h file (default value
   *              8 MHz), user has to ensure that HSE_VALUE is same as the real
@@ -231,7 +231,7 @@ void SystemInit(void)
   *
   *         - The result of this function could be not correct when using fractional
   *           value for HSE crystal.
-  * 
+  *
   * @param  None
   * @retval None
   */
@@ -241,7 +241,7 @@ void SystemCoreClockUpdate (void)
 
   /* Get SYSCLK source -------------------------------------------------------*/
   tmp = RCC->CFGR & RCC_CFGR_SWS;
-  
+ 
   switch (tmp)
   {
     case 0x00:  /* HSI used as system clock */
@@ -255,7 +255,7 @@ void SystemCoreClockUpdate (void)
       pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
       pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
       pllmull = ( pllmull >> 18) + 2;
-  
+ 
       if (pllsource == 0x00)
       {
         /* HSI oscillator clock divided by 2 selected as PLL clock entry */
@@ -265,8 +265,8 @@ void SystemCoreClockUpdate (void)
       {
         prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1;
         /* HSE oscillator clock selected as PREDIV1 clock entry */
-        SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; 
-      }  
+        SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
+      } 
       break;
     default: /* HSI used as system clock */
       SystemCoreClock = HSI_VALUE;
@@ -276,7 +276,7 @@ void SystemCoreClockUpdate (void)
   /* Get HCLK prescaler */
   tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
   /* HCLK clock frequency */
-  SystemCoreClock >>= tmp;  
+  SystemCoreClock >>= tmp; 
 }
 
 /**
@@ -298,7 +298,7 @@ void SetSysClock(void)
   /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration -----------*/
   /* Enable HSE */
   RCC->CR |= ((uint32_t)RCC_CR_HSEON);
- 
+
   /* Wait till HSE is ready and if Time out is reached exit */
   do
   {
@@ -319,19 +319,25 @@ void SetSysClock(void)
   {
     /* Enable Prefetch Buffer and set Flash Latency */
     FLASH->ACR = FLASH_ACR_PRFTBE | (uint32_t)FLASH_ACR_LATENCY_1;
- 
+
      /* HCLK = SYSCLK / 1 */
      RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1;
-   
+  
      /* PCLK2 = HCLK / 1 */
      RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1;
- 
+
      /* PCLK1 = HCLK / 2 */
      RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2;
 
     /* PLL configuration */
     RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL));
-    RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9);
+
+    if (HSE_VALUE == 12000000) {
+        RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL6);
+    }
+    else {
+        RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9);
+    }
 
     /* Enable PLL */
     RCC->CR |= RCC_CR_PLLON;
diff --git a/src/main/target/system_stm32f30x.h b/src/main/target/system_stm32f30x.h
index 4f999d3058..b213ad0b1e 100644
--- a/src/main/target/system_stm32f30x.h
+++ b/src/main/target/system_stm32f30x.h
@@ -4,7 +4,7 @@
   * @author  MCD Application Team
   * @version V1.1.1
   * @date    28-March-2014
-  * @brief   CMSIS Cortex-M4 Device System Source File for STM32F30x devices.  
+  * @brief   CMSIS Cortex-M4 Device System Source File for STM32F30x devices. 
   ******************************************************************************
   * @attention
   *
@@ -16,8 +16,8 @@
   *
   *        http://www.st.com/software_license_agreement_liberty_v2
   *
-  * Unless required by applicable law or agreed to in writing, software 
-  * distributed under the License is distributed on an "AS IS" BASIS, 
+  * Unless required by applicable law or agreed to in writing, software
+  * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
@@ -31,8 +31,8 @@
 
 /** @addtogroup stm32f30x_system
   * @{
-  */  
-  
+  */ 
+ 
 /**
   * @brief Define to prevent recursive inclusion
   */
@@ -41,7 +41,7 @@
 
 #ifdef __cplusplus
  extern "C" {
-#endif 
+#endif
 
 /* Exported types ------------------------------------------------------------*/
 extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Clock) */
@@ -52,7 +52,7 @@ extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Cloc
 /** @addtogroup STM32F30x_System_Exported_Functions
   * @{
   */
-  
+ 
 extern void SystemInit(void);
 extern void SystemCoreClockUpdate(void);
 
@@ -69,8 +69,8 @@ extern void SystemCoreClockUpdate(void);
 /**
   * @}
   */
-  
+ 
 /**
   * @}
-  */  
+  */ 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/src/main/target/system_stm32f4xx.c b/src/main/target/system_stm32f4xx.c
index 5a6d90059b..879acff784 100644
--- a/src/main/target/system_stm32f4xx.c
+++ b/src/main/target/system_stm32f4xx.c
@@ -371,7 +371,11 @@ uint32_t hse_value = HSE_VALUE;
 /************************* PLL Parameters *************************************/
 #if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F469_479xx)
  /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
+#if defined(COLIBRI)
+ #define PLL_M      16
+#else
  #define PLL_M      8
+#endif
 #elif defined (STM32F446xx)
  #define PLL_M      8
 #elif defined (STM32F410xx) || defined (STM32F411xE)
diff --git a/src/main/target/system_stm32f4xx.h b/src/main/target/system_stm32f4xx.h
index e266366801..45c811bb06 100644
--- a/src/main/target/system_stm32f4xx.h
+++ b/src/main/target/system_stm32f4xx.h
@@ -4,8 +4,8 @@
   * @author  MCD Application Team
   * @version V1.6.1
   * @date    21-October-2015
-  * @brief   CMSIS Cortex-M4 Device System Source File for STM32F4xx devices.   
-  ******************************************************************************  
+  * @brief   CMSIS Cortex-M4 Device System Source File for STM32F4xx devices.  
+  ****************************************************************************** 
   * @attention
   *
   * <h2><center>&copy; COPYRIGHT 2015 STMicroelectronics</center></h2>
@@ -16,21 +16,21 @@
   *
   *        http://www.st.com/software_license_agreement_liberty_v2
   *
-  * Unless required by applicable law or agreed to in writing, software 
-  * distributed under the License is distributed on an "AS IS" BASIS, 
+  * Unless required by applicable law or agreed to in writing, software
+  * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *
-  ******************************************************************************  
-  */ 
+  ****************************************************************************** 
+  */
 
 #ifndef __SYSTEM_STM32F4XX_H
 #define __SYSTEM_STM32F4XX_H
 
 #ifdef __cplusplus
  extern "C" {
-#endif 
+#endif
 
 extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Clock) */
 extern void SystemInit(void);
diff --git a/src/main/telemetry/frsky.c b/src/main/telemetry/frsky.c
index 35185b9676..aa704142a5 100644
--- a/src/main/telemetry/frsky.c
+++ b/src/main/telemetry/frsky.c
@@ -19,9 +19,10 @@
  * Initial FrSky Telemetry implementation by silpstream @ rcgroups.
  * Addition protocol work by airmamaf @ github.
  */
+
+#include <stddef.h>
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 
 #include "platform.h"
 
@@ -45,7 +46,7 @@
 #include "sensors/battery.h"
 
 #include "io/serial.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/gps.h"
 
 #include "rx/rx.h"
@@ -55,8 +56,10 @@
 #include "flight/imu.h"
 #include "flight/altitudehold.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
+#include "config/feature.h"
 
 #include "telemetry/telemetry.h"
 #include "telemetry/frsky.h"
diff --git a/src/main/telemetry/frsky.h b/src/main/telemetry/frsky.h
index 8d1b82d61c..89ba617c8f 100644
--- a/src/main/telemetry/frsky.h
+++ b/src/main/telemetry/frsky.h
@@ -15,21 +15,19 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "rx/rx.h"
-
-#ifndef TELEMETRY_FRSKY_H_
-#define TELEMETRY_FRSKY_H_
+#pragma once
 
 typedef enum {
     FRSKY_VFAS_PRECISION_LOW = 0,
     FRSKY_VFAS_PRECISION_HIGH
 } frskyVFasPrecision_e;
 
-void handleFrSkyTelemetry(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
+struct rxConfig_s;
+void handleFrSkyTelemetry(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
 void checkFrSkyTelemetryState(void);
 
-void initFrSkyTelemetry(telemetryConfig_t *telemetryConfig);
+struct telemetryConfig_s;
+void initFrSkyTelemetry(struct telemetryConfig_s *telemetryConfig);
 void configureFrSkyTelemetryPort(void);
 void freeFrSkyTelemetryPort(void);
 
-#endif /* TELEMETRY_FRSKY_H_ */
diff --git a/src/main/telemetry/hott.c b/src/main/telemetry/hott.c
index 7ccf8ea197..bee5162b11 100644
--- a/src/main/telemetry/hott.c
+++ b/src/main/telemetry/hott.c
@@ -57,11 +57,12 @@
 #include <string.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
 
 #ifdef TELEMETRY
 
+#include "build/build_config.h"
+#include "build/debug.h"
+
 #include "common/axis.h"
 
 #include "drivers/system.h"
@@ -69,7 +70,7 @@
 #include "drivers/serial.h"
 #include "io/serial.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 
 #include "sensors/sensors.h"
 #include "sensors/battery.h"
diff --git a/src/main/telemetry/hott.h b/src/main/telemetry/hott.h
index 37b8e6f10f..64a43bd507 100644
--- a/src/main/telemetry/hott.h
+++ b/src/main/telemetry/hott.h
@@ -23,9 +23,7 @@
  * Texmode add-on by Michi (mamaretti32@gmail.com)
  */
 
-#ifndef HOTT_TELEMETRY_H_
-#define HOTT_TELEMETRY_H_
-
+#pragma once
 
 #define HOTTV4_RXTX 4
 
@@ -498,4 +496,3 @@ uint32_t getHoTTTelemetryProviderBaudRate(void);
 
 void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage);
 
-#endif /* HOTT_TELEMETRY_H_ */
diff --git a/src/main/telemetry/jetiexbus.h b/src/main/telemetry/jetiexbus.h
new file mode 100644
index 0000000000..79440c0df2
--- /dev/null
+++ b/src/main/telemetry/jetiexbus.h
@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+struct telemetryConfig_s;
+void initJetiExBusTelemetry(struct telemetryConfig_s *initialTelemetryConfig);
+void checkJetiExBusTelemetryState(void);
+void handleJetiExBusTelemetry(void);
diff --git a/src/main/telemetry/ltm.c b/src/main/telemetry/ltm.c
index c70146f64f..99cb4b2503 100644
--- a/src/main/telemetry/ltm.c
+++ b/src/main/telemetry/ltm.c
@@ -33,10 +33,10 @@
 
 #include "platform.h"
 
-#include "build_config.h"
-
 #ifdef TELEMETRY
 
+#include "build/build_config.h"
+
 #include "common/maths.h"
 #include "common/axis.h"
 #include "common/color.h"
@@ -57,7 +57,7 @@
 #include "sensors/battery.h"
 
 #include "io/serial.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -78,9 +78,8 @@
 #include "telemetry/ltm.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
-#include "config/config_profile.h"
-#include "config/config_master.h"
+#include "fc/runtime_config.h"
+
 
 #define TELEMETRY_LTM_INITIAL_PORT_MODE MODE_TX
 #define LTM_CYCLETIME   100
diff --git a/src/main/telemetry/ltm.h b/src/main/telemetry/ltm.h
index c78dfc22e4..6e4b80cbfa 100644
--- a/src/main/telemetry/ltm.h
+++ b/src/main/telemetry/ltm.h
@@ -17,8 +17,7 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#ifndef TELEMETRY_LTM_H_
-#define TELEMETRY_LTM_H_
+#pragma once
 
 void initLtmTelemetry(telemetryConfig_t *initialTelemetryConfig);
 void handleLtmTelemetry(void);
@@ -27,4 +26,3 @@ void checkLtmTelemetryState(void);
 void freeLtmTelemetryPort(void);
 void configureLtmTelemetryPort(void);
 
-#endif /* TELEMETRY_LTM_H_ */
diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c
index 28daadc40b..402bf6a4f4 100644
--- a/src/main/telemetry/smartport.c
+++ b/src/main/telemetry/smartport.c
@@ -32,7 +32,7 @@
 
 #include "io/beeper.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
 #include "io/serial.h"
@@ -58,10 +58,14 @@
 #include "telemetry/telemetry.h"
 #include "telemetry/smartport.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 #include "config/config_profile.h"
-#include "config/config_master.h"
+#include "config/feature.h"
+
+extern profile_t *currentProfile;
+extern controlRateConfig_t *currentControlRateProfile;
 
 enum
 {
@@ -151,8 +155,6 @@ static telemetryConfig_t *telemetryConfig;
 static bool smartPortTelemetryEnabled =  false;
 static portSharing_e smartPortPortSharing;
 
-extern void serialInit(serialConfig_t *); // from main.c // FIXME remove this dependency
-
 char smartPortState = SPSTATE_UNINITIALIZED;
 static uint8_t smartPortHasRequest = 0;
 static uint8_t smartPortIdCnt = 0;
@@ -317,7 +319,9 @@ void handleSmartPortTelemetry(void)
         smartPortIdCnt++;
 
         int32_t tmpi;
+        uint32_t tmp2;
         static uint8_t t1Cnt = 0;
+        static uint8_t t2Cnt = 0;
 
         switch(id) {
 #ifdef GPS
@@ -467,6 +471,38 @@ void handleSmartPortTelemetry(void)
                     smartPortSendPackage(id, 0);
                     smartPortHasRequest = 0;
                 }
+
+                else if (telemetryConfig->pidValuesAsTelemetry){
+                    switch (t2Cnt) {
+                        case 0:
+                            tmp2 = currentProfile->pidProfile.P8[ROLL];
+                            tmp2 += (currentProfile->pidProfile.P8[PITCH]<<8);
+                            tmp2 += (currentProfile->pidProfile.P8[YAW]<<16);
+                        break;
+                        case 1:
+                            tmp2 = currentProfile->pidProfile.I8[ROLL];
+                            tmp2 += (currentProfile->pidProfile.I8[PITCH]<<8);
+                            tmp2 += (currentProfile->pidProfile.I8[YAW]<<16);
+                        break;
+                        case 2:
+                            tmp2 = currentProfile->pidProfile.D8[ROLL];
+                            tmp2 += (currentProfile->pidProfile.D8[PITCH]<<8);
+                            tmp2 += (currentProfile->pidProfile.D8[YAW]<<16);
+                        break;
+                        case 3:
+                            tmp2 = currentControlRateProfile->rates[FD_ROLL];
+                            tmp2 += (currentControlRateProfile->rates[FD_PITCH]<<8);
+                            tmp2 += (currentControlRateProfile->rates[FD_YAW]<<16);
+                        break;
+                    }
+                    tmp2 += t2Cnt<<24;
+                    t2Cnt++;
+                    if (t2Cnt == 4) {
+                        t2Cnt = 0;
+                    }
+                    smartPortSendPackage(id, tmp2);
+                    smartPortHasRequest = 0;
+                }
                 break;
 #ifdef GPS
             case FSSP_DATAID_GPS_ALT    :
diff --git a/src/main/telemetry/smartport.h b/src/main/telemetry/smartport.h
index 74643f629f..b24be90708 100644
--- a/src/main/telemetry/smartport.h
+++ b/src/main/telemetry/smartport.h
@@ -5,8 +5,7 @@
  *      Author: Frank26080115
  */
 
-#ifndef TELEMETRY_SMARTPORT_H_
-#define TELEMETRY_SMARTPORT_H_
+#pragma once
 
 void initSmartPortTelemetry(telemetryConfig_t *);
 
@@ -18,4 +17,3 @@ void freeSmartPortTelemetryPort(void);
 
 bool isSmartPortTimedOut(void);
 
-#endif /* TELEMETRY_SMARTPORT_H_ */
diff --git a/src/main/telemetry/telemetry.c b/src/main/telemetry/telemetry.c
index e3871aead0..c0058839d4 100644
--- a/src/main/telemetry/telemetry.c
+++ b/src/main/telemetry/telemetry.c
@@ -15,24 +15,24 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <stddef.h>
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 
 #include "platform.h"
 
 #ifdef TELEMETRY
 
-#include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/serial.h"
 #include "drivers/serial_softserial.h"
 #include "io/serial.h"
 
 #include "rx/rx.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
+#include "fc/runtime_config.h"
 
-#include "config/runtime_config.h"
 #include "config/config.h"
 
 #include "telemetry/telemetry.h"
@@ -40,7 +40,7 @@
 #include "telemetry/hott.h"
 #include "telemetry/smartport.h"
 #include "telemetry/ltm.h"
-#include "rx/jetiexbus.h"
+#include "telemetry/jetiexbus.h"
 
 static telemetryConfig_t *telemetryConfig;
 
diff --git a/src/main/telemetry/telemetry.h b/src/main/telemetry/telemetry.h
index b4585e5fce..1d45ed5b9e 100644
--- a/src/main/telemetry/telemetry.h
+++ b/src/main/telemetry/telemetry.h
@@ -44,8 +44,10 @@ typedef struct telemetryConfig_s {
     uint8_t frsky_vfas_precision;
     uint8_t frsky_vfas_cell_voltage;
     uint8_t hottAlarmSoundInterval;
+    uint8_t pidValuesAsTelemetry;
 } telemetryConfig_t;
 
+void telemetryInit(void);
 bool telemetryCheckRxPortShared(serialPortConfig_t *portConfig);
 extern serialPort_t *telemetrySharedPort;
 
diff --git a/src/main/vcp/hw_config.c b/src/main/vcp/hw_config.c
index 7384b1e0b4..db1b5d30c9 100644
--- a/src/main/vcp/hw_config.c
+++ b/src/main/vcp/hw_config.c
@@ -16,8 +16,8 @@
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
- * Unless required by applicable law or agreed to in writing, software 
- * distributed under the License is distributed on an "AS IS" BASIS, 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
@@ -39,7 +39,7 @@
 #include "drivers/system.h"
 #include "drivers/nvic.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 
 /* Private typedef -----------------------------------------------------------*/
@@ -68,13 +68,13 @@ void Set_System(void)
 {
 #if !defined(STM32L1XX_MD) && !defined(STM32L1XX_HD) && !defined(STM32L1XX_MD_PLUS)
     GPIO_InitTypeDef GPIO_InitStructure;
-#endif /* STM32L1XX_MD && STM32L1XX_XD */  
+#endif /* STM32L1XX_MD && STM32L1XX_XD */ 
 
 #if defined(USB_USE_EXTERNAL_PULLUP)
     GPIO_InitTypeDef GPIO_InitStructure;
-#endif /* USB_USE_EXTERNAL_PULLUP */ 
+#endif /* USB_USE_EXTERNAL_PULLUP */
 
-    /*!< At this stage the microcontroller clock setting is already configured, 
+    /*!< At this stage the microcontroller clock setting is already configured,
      this is done through SystemInit() function which is called from startup
      file (startup_stm32f10x_xx.s) before to branch to application main.
      To reconfigure the default setting of SystemInit() function, refer to
@@ -83,7 +83,7 @@ void Set_System(void)
 #if defined(STM32L1XX_MD) || defined(STM32L1XX_HD)|| defined(STM32L1XX_MD_PLUS) || defined(STM32F37X) || defined(STM32F303xC)
     /* Enable the SYSCFG module clock */
     RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
-#endif /* STM32L1XX_XD */ 
+#endif /* STM32L1XX_XD */
 
     /*Pull down PA12 to create USB Disconnect Pulse*/     // HJI
 #if defined(STM32F303xC)                                    // HJI
@@ -277,7 +277,7 @@ static void IntToUnicode(uint32_t value, uint8_t *pbuf, uint8_t len)
 
 /*******************************************************************************
  * Function Name  : Send DATA .
- * Description    : send the data received from the STM32 to the PC through USB  
+ * Description    : send the data received from the STM32 to the PC through USB 
  * Input          : None.
  * Output         : None.
  * Return         : None.
@@ -305,6 +305,12 @@ uint32_t CDC_Send_DATA(uint8_t *ptrBuffer, uint8_t sendLength)
     return sendLength;
 }
 
+uint32_t CDC_Send_FreeBytes(void)
+{
+    /* this driver is blocking, so the buffer is unlimited */
+    return 255;
+}
+
 /*******************************************************************************
  * Function Name  : Receive DATA .
  * Description    : receive the data from the PC to STM32 and send it through USB
@@ -338,6 +344,11 @@ uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len)
     return len;
 }
 
+uint32_t CDC_Receive_BytesAvailable(void)
+{
+    return receiveLength;
+}
+
 /*******************************************************************************
  * Function Name  : usbIsConfigured.
  * Description    : Determines if USB VCP is configured or not
diff --git a/src/main/vcp/hw_config.h b/src/main/vcp/hw_config.h
index de454859f3..aebac70e82 100644
--- a/src/main/vcp/hw_config.h
+++ b/src/main/vcp/hw_config.h
@@ -56,13 +56,15 @@ void USB_Interrupts_Config(void);
 void USB_Cable_Config(FunctionalState NewState);
 void Get_SerialNum(void);
 uint32_t CDC_Send_DATA(uint8_t *ptrBuffer, uint8_t sendLength);  // HJI
+uint32_t CDC_Send_FreeBytes(void);
 uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len);       // HJI
+uint32_t CDC_Receive_BytesAvailable(void);
+
 uint8_t usbIsConfigured(void);  // HJI
 uint8_t usbIsConnected(void);   // HJI
 uint32_t CDC_BaudRate(void);
-/* External variables --------------------------------------------------------*/
 
-extern __IO uint32_t receiveLength;  // HJI
+/* External variables --------------------------------------------------------*/
 extern __IO uint32_t packetSent;     // HJI
 
 #endif  /*__HW_CONFIG_H*/
diff --git a/src/main/vcp/platform_config.h b/src/main/vcp/platform_config.h
index 35715588e9..3f09726229 100644
--- a/src/main/vcp/platform_config.h
+++ b/src/main/vcp/platform_config.h
@@ -16,8 +16,8 @@
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
- * Unless required by applicable law or agreed to in writing, software 
- * distributed under the License is distributed on an "AS IS" BASIS, 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
diff --git a/src/main/vcp/stm32_it.h b/src/main/vcp/stm32_it.h
index 959a1e6db0..f3758882bf 100644
--- a/src/main/vcp/stm32_it.h
+++ b/src/main/vcp/stm32_it.h
@@ -16,8 +16,8 @@
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
- * Unless required by applicable law or agreed to in writing, software 
- * distributed under the License is distributed on an "AS IS" BASIS, 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
diff --git a/src/main/vcp/usb_conf.h b/src/main/vcp/usb_conf.h
index 6b322297ea..c0c17673ff 100644
--- a/src/main/vcp/usb_conf.h
+++ b/src/main/vcp/usb_conf.h
@@ -16,8 +16,8 @@
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
- * Unless required by applicable law or agreed to in writing, software 
- * distributed under the License is distributed on an "AS IS" BASIS, 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
diff --git a/src/main/vcp/usb_desc.c b/src/main/vcp/usb_desc.c
index 64ead56f62..5b162d7bd1 100644
--- a/src/main/vcp/usb_desc.c
+++ b/src/main/vcp/usb_desc.c
@@ -16,8 +16,8 @@
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
- * Unless required by applicable law or agreed to in writing, software 
- * distributed under the License is distributed on an "AS IS" BASIS, 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
@@ -30,20 +30,21 @@
 #include "usb_desc.h"
 
 /* USB Standard Device Descriptor */
-const uint8_t Virtual_Com_Port_DeviceDescriptor[] = { 0x12, /* bLength */
-USB_DEVICE_DESCRIPTOR_TYPE, /* bDescriptorType */
-0x00, 0x02, /* bcdUSB = 2.00 */
-0x02, /* bDeviceClass: CDC */
-0x00, /* bDeviceSubClass */
-0x00, /* bDeviceProtocol */
-0x40, /* bMaxPacketSize0 */
-0x83, 0x04, /* idVendor = 0x0483 */
-0x40, 0x57, /* idProduct = 0x7540 */
-0x00, 0x02, /* bcdDevice = 2.00 */
-1, /* Index of string descriptor describing manufacturer */
-2, /* Index of string descriptor describing product */
-3, /* Index of string descriptor describing the device's serial number */
-0x01 /* bNumConfigurations */
+const uint8_t Virtual_Com_Port_DeviceDescriptor[] = { 
+    0x12, /* bLength */
+    USB_DEVICE_DESCRIPTOR_TYPE, /* bDescriptorType */
+    0x00, 0x02, /* bcdUSB = 2.00 */
+    0x02, /* bDeviceClass: CDC */
+    0x00, /* bDeviceSubClass */
+    0x00, /* bDeviceProtocol */
+    0x40, /* bMaxPacketSize0 */
+    0x83, 0x04, /* idVendor  = 0x0483 */
+    0x40, 0x57, /* idProduct = 0x5740 */
+    0x00, 0x02, /* bcdDevice = 2.00 */
+    1, /* Index of string descriptor describing manufacturer */
+    2, /* Index of string descriptor describing product */
+    3, /* Index of string descriptor describing the device's serial number */
+    0x01 /* bNumConfigurations */
 };
 
 const uint8_t Virtual_Com_Port_ConfigDescriptor[] = {
diff --git a/src/main/vcp/usb_desc.h b/src/main/vcp/usb_desc.h
index 92f38341a3..9a21291c0c 100644
--- a/src/main/vcp/usb_desc.h
+++ b/src/main/vcp/usb_desc.h
@@ -16,8 +16,8 @@
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
- * Unless required by applicable law or agreed to in writing, software 
- * distributed under the License is distributed on an "AS IS" BASIS, 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
diff --git a/src/main/vcp/usb_istr.h b/src/main/vcp/usb_istr.h
index 1d72d91c67..7285da6852 100644
--- a/src/main/vcp/usb_istr.h
+++ b/src/main/vcp/usb_istr.h
@@ -16,8 +16,8 @@
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
- * Unless required by applicable law or agreed to in writing, software 
- * distributed under the License is distributed on an "AS IS" BASIS, 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
diff --git a/src/main/vcp/usb_prop.c b/src/main/vcp/usb_prop.c
index b070ce9cca..c8558de342 100644
--- a/src/main/vcp/usb_prop.c
+++ b/src/main/vcp/usb_prop.c
@@ -16,8 +16,8 @@
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
- * Unless required by applicable law or agreed to in writing, software 
- * distributed under the License is distributed on an "AS IS" BASIS, 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
diff --git a/src/main/vcp/usb_prop.h b/src/main/vcp/usb_prop.h
index 12d050c38d..f8e1d20249 100644
--- a/src/main/vcp/usb_prop.h
+++ b/src/main/vcp/usb_prop.h
@@ -16,8 +16,8 @@
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
- * Unless required by applicable law or agreed to in writing, software 
- * distributed under the License is distributed on an "AS IS" BASIS, 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
diff --git a/src/main/vcpf4/stm32f4xx_it.h b/src/main/vcpf4/stm32f4xx_it.h
index 74f17c9cce..dd000126fd 100644
--- a/src/main/vcpf4/stm32f4xx_it.h
+++ b/src/main/vcpf4/stm32f4xx_it.h
@@ -1,6 +1,6 @@
 /**
   ******************************************************************************
-  * @file    GPIO/IOToggle/stm32f4xx_it.h 
+  * @file    GPIO/IOToggle/stm32f4xx_it.h
   * @author  MCD Application Team
   * @version V1.0.0
   * @date    19-September-2011
@@ -17,7 +17,7 @@
   *
   * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
   ******************************************************************************
-  */ 
+  */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __STM32F4xx_IT_H
@@ -25,7 +25,7 @@
 
 #ifdef __cplusplus
  extern "C" {
-#endif 
+#endif
 
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f4xx.h"
diff --git a/src/main/vcpf4/usb_conf.h b/src/main/vcpf4/usb_conf.h
index ea8d49bcf1..bd5bbe14f1 100644
--- a/src/main/vcpf4/usb_conf.h
+++ b/src/main/vcpf4/usb_conf.h
@@ -30,15 +30,15 @@
 /** @addtogroup USB_OTG_DRIVER
   * @{
   */
-  
+ 
 /** @defgroup USB_CONF
   * @brief USB low level driver configuration file
   * @{
-  */ 
+  */
 
 /** @defgroup USB_CONF_Exported_Defines
   * @{
-  */ 
+  */
 
 /* USB Core and PHY interface configuration.
    Tip: To avoid modifying these defines each time you need to change the USB
@@ -66,7 +66,7 @@
 #endif /* USE_I2C_PHY */
 
 
-#ifdef USE_USB_OTG_FS 
+#ifdef USE_USB_OTG_FS
  #define USB_OTG_FS_CORE
 #endif
 
@@ -76,35 +76,35 @@
 
 /*******************************************************************************
 *                      FIFO Size Configuration in Device mode
-*  
-*  (i) Receive data FIFO size = RAM for setup packets + 
+* 
+*  (i) Receive data FIFO size = RAM for setup packets +
 *                   OUT endpoint control information +
 *                   data OUT packets + miscellaneous
 *      Space = ONE 32-bits words
 *     --> RAM for setup packets = 10 spaces
-*        (n is the nbr of CTRL EPs the device core supports) 
+*        (n is the nbr of CTRL EPs the device core supports)
 *     --> OUT EP CTRL info      = 1 space
-*        (one space for status information written to the FIFO along with each 
+*        (one space for status information written to the FIFO along with each
 *        received packet)
-*     --> data OUT packets      = (Largest Packet Size / 4) + 1 spaces 
+*     --> data OUT packets      = (Largest Packet Size / 4) + 1 spaces
 *        (MINIMUM to receive packets)
-*     --> OR data OUT packets  = at least 2*(Largest Packet Size / 4) + 1 spaces 
+*     --> OR data OUT packets  = at least 2*(Largest Packet Size / 4) + 1 spaces
 *        (if high-bandwidth EP is enabled or multiple isochronous EPs)
 *     --> miscellaneous = 1 space per OUT EP
-*        (one space for transfer complete status information also pushed to the 
+*        (one space for transfer complete status information also pushed to the
 *        FIFO with each endpoint's last packet)
 *
-*  (ii)MINIMUM RAM space required for each IN EP Tx FIFO = MAX packet size for 
+*  (ii)MINIMUM RAM space required for each IN EP Tx FIFO = MAX packet size for
 *       that particular IN EP. More space allocated in the IN EP Tx FIFO results
 *       in a better performance on the USB and can hide latencies on the AHB.
 *
 *  (iii) TXn min size = 16 words. (n  : Transmit FIFO index)
-*   (iv) When a TxFIFO is not used, the Configuration should be as follows: 
+*   (iv) When a TxFIFO is not used, the Configuration should be as follows:
 *       case 1 :  n > m    and Txn is not used    (n,m  : Transmit FIFO indexes)
 *       --> Txm can use the space allocated for Txn.
 *       case2  :  n < m    and Txn is not used    (n,m  : Transmit FIFO indexes)
 *       --> Txn should be configured with the minimum space of 16 words
-*  (v) The FIFO is used optimally when used TxFIFOs are allocated in the top 
+*  (v) The FIFO is used optimally when used TxFIFOs are allocated in the top
 *       of the FIFO.Ex: use EP1 and EP2 as IN instead of EP1 and EP3 as IN ones.
 *******************************************************************************/
 
@@ -126,7 +126,7 @@
 *        then the space must be at least two times the maximum packet size for
 *        that channel.
 *******************************************************************************/
- 
+
 /****************** USB OTG HS CONFIGURATION **********************************/
 #ifdef USB_OTG_HS_CORE
  #define RX_FIFO_HS_SIZE                          512
@@ -211,20 +211,20 @@
 #ifdef USB_OTG_HS_INTERNAL_DMA_ENABLED
   #if defined   (__GNUC__)        /* GNU Compiler */
     #define __ALIGN_END    __attribute__ ((aligned (4)))
-    #define __ALIGN_BEGIN 
+    #define __ALIGN_BEGIN
   #else
     #define __ALIGN_END
     #if defined   (__CC_ARM)      /* ARM Compiler */
-      #define __ALIGN_BEGIN    __align(4)  
-    #elif defined (__ICCARM__)    /* IAR Compiler */
-      #define __ALIGN_BEGIN 
-    #elif defined  (__TASKING__)  /* TASKING Compiler */
       #define __ALIGN_BEGIN    __align(4) 
-    #endif /* __CC_ARM */  
-  #endif /* __GNUC__ */ 
+    #elif defined (__ICCARM__)    /* IAR Compiler */
+      #define __ALIGN_BEGIN
+    #elif defined  (__TASKING__)  /* TASKING Compiler */
+      #define __ALIGN_BEGIN    __align(4)
+    #endif /* __CC_ARM */ 
+  #endif /* __GNUC__ */
 #else
   #define __ALIGN_BEGIN
-  #define __ALIGN_END   
+  #define __ALIGN_END  
 #endif /* USB_OTG_HS_INTERNAL_DMA_ENABLED */
 
 /* __packed keyword used to decrease the data type alignment to 1-byte */
@@ -242,37 +242,37 @@
 
 /**
   * @}
-  */ 
+  */
 
 
 /** @defgroup USB_CONF_Exported_Types
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 
 /** @defgroup USB_CONF_Exported_Macros
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 /** @defgroup USB_CONF_Exported_Variables
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 /** @defgroup USB_CONF_Exported_FunctionsPrototype
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 
 #endif //__USB_CONF__H__
@@ -280,10 +280,10 @@
 
 /**
   * @}
-  */ 
+  */
 
 /**
   * @}
-  */ 
+  */
 /******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
 
diff --git a/src/main/vcpf4/usbd_cdc_vcp.c b/src/main/vcpf4/usbd_cdc_vcp.c
index 5672eeae55..040d5729df 100644
--- a/src/main/vcpf4/usbd_cdc_vcp.c
+++ b/src/main/vcpf4/usbd_cdc_vcp.c
@@ -19,8 +19,8 @@
  ******************************************************************************
  */
 
-#ifdef USB_OTG_HS_INTERNAL_DMA_ENABLED 
-#pragma     data_alignment = 4 
+#ifdef USB_OTG_HS_INTERNAL_DMA_ENABLED
+#pragma     data_alignment = 4
 #endif /* USB_OTG_HS_INTERNAL_DMA_ENABLED */
 
 /* Includes ------------------------------------------------------------------*/
@@ -34,18 +34,24 @@ LINE_CODING g_lc;
 extern __IO uint8_t USB_Tx_State;
 __IO uint32_t bDeviceState = UNCONNECTED; /* USB device status */
 
-/* These are external variables imported from CDC core to be used for IN 
- transfer management. */
-extern uint8_t APP_Rx_Buffer[]; /* Write CDC received data in this buffer.
- These data will be sent over USB IN endpoint
- in the CDC core functions. */
+/* These are external variables imported from CDC core to be used for IN transfer management. */
+
+/* This is the buffer for data received from the MCU to APP (i.e. MCU TX, APP RX) */
+extern uint8_t APP_Rx_Buffer[]; 
 extern uint32_t APP_Rx_ptr_out;
-extern uint32_t APP_Rx_ptr_in; /* Increment this pointer or roll it back to
+/* Increment this buffer position or roll it back to
  start address when writing received data
  in the buffer APP_Rx_Buffer. */
-__IO uint32_t receiveLength=0;
+extern uint32_t APP_Rx_ptr_in; 
 
-usbStruct_t usbData;
+/*
+    APP TX is the circular buffer for data that is transmitted from the APP (host)
+    to the USB device (flight controller).
+*/
+#define APP_TX_DATA_SIZE      1024
+static uint8_t APP_Tx_Buffer[APP_TX_DATA_SIZE]; 
+static uint32_t APP_Tx_ptr_out = 0;
+static uint32_t APP_Tx_ptr_in = 0;
 
 /* Private function prototypes -----------------------------------------------*/
 static uint16_t VCP_Init(void);
@@ -105,7 +111,7 @@ static uint16_t VCP_Ctrl(uint32_t Cmd, uint8_t* Buf, uint32_t Len)
     assert_param(Len>=sizeof(LINE_CODING));
 
     switch (Cmd) {
-       /* Not  needed for this driver, AT modem commands */   
+       /* Not  needed for this driver, AT modem commands */  
       case SEND_ENCAPSULATED_COMMAND:
       case GET_ENCAPSULATED_RESPONSE:
          break;
@@ -116,18 +122,18 @@ static uint16_t VCP_Ctrl(uint32_t Cmd, uint8_t* Buf, uint32_t Len)
       case CLEAR_COMM_FEATURE:
          break;
 
- 
+
       //Note - hw flow control on UART 1-3 and 6 only
-      case SET_LINE_CODING: 
+      case SET_LINE_CODING:
          ust_cpy(&g_lc, plc);           //Copy into structure to save for later
          break;
- 
- 
+
+
       case GET_LINE_CODING:
          ust_cpy(plc, &g_lc);
          break;
 
- 
+
       case SET_CONTROL_LINE_STATE:
          /* Not  needed for this driver */
          //RSW - This tells how to set RTS and DTR
@@ -147,39 +153,52 @@ static uint16_t VCP_Ctrl(uint32_t Cmd, uint8_t* Buf, uint32_t Len)
 /*******************************************************************************
  * Function Name  : Send DATA .
  * Description    : send the data received from the STM32 to the PC through USB
- * Input          : None.
+ * Input          : buffer to send, and the length of the buffer.
  * Output         : None.
  * Return         : None.
  *******************************************************************************/
 uint32_t CDC_Send_DATA(uint8_t *ptrBuffer, uint8_t sendLength)
 {
-    if (USB_Tx_State) 
-        return 0;
-
     VCP_DataTx(ptrBuffer, sendLength);
     return sendLength;
 }
 
+uint32_t CDC_Send_FreeBytes(void)
+{
+    /* 
+        return the bytes free in the circular buffer 
+        
+        functionally equivalent to:
+        (APP_Rx_ptr_out > APP_Rx_ptr_in ? APP_Rx_ptr_out - APP_Rx_ptr_in : APP_RX_DATA_SIZE - APP_Rx_ptr_in + APP_Rx_ptr_in)
+        but without the impact of the condition check.
+    */
+    return ((APP_Rx_ptr_out - APP_Rx_ptr_in) + (-((int)(APP_Rx_ptr_out <= APP_Rx_ptr_in)) & APP_RX_DATA_SIZE)) - 1;
+}
+
 /**
  * @brief  VCP_DataTx
- *         CDC received data to be send over USB IN endpoint are managed in
- *         this function.
+ *         CDC data to be sent to the Host (app) over USB 
  * @param  Buf: Buffer of data to be sent
  * @param  Len: Number of data to be sent (in bytes)
- * @retval Result of the opeartion: USBD_OK if all operations are OK else VCP_FAIL
+ * @retval Result of the operation: USBD_OK if all operations are OK else VCP_FAIL
  */
 static uint16_t VCP_DataTx(uint8_t* Buf, uint32_t Len)
 {
+    /* 
+        make sure that any paragraph end frame is not in play
+        could just check for: USB_CDC_ZLP, but better to be safe
+        and wait for any existing transmission to complete.
+    */
+    while (USB_Tx_State != 0);
+    
     for (uint32_t i = 0; i < Len; i++) {
         APP_Rx_Buffer[APP_Rx_ptr_in] = Buf[i];
         APP_Rx_ptr_in = (APP_Rx_ptr_in + 1) % APP_RX_DATA_SIZE;
+        
+        while (CDC_Send_FreeBytes() <= 0);
     }
-    return USBD_OK;
-}
 
-uint8_t usbAvailable(void) 
-{
-    return (usbData.bufferInPosition != usbData.bufferOutPosition);
+    return USBD_OK;
 }
 
 /*******************************************************************************
@@ -191,17 +210,21 @@ uint8_t usbAvailable(void)
  *******************************************************************************/
 uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len)
 {
-    uint32_t ch = 0;
+    uint32_t count = 0;
 
-    while (usbAvailable() && ch < len) {
-        recvBuf[ch] = usbData.buffer[usbData.bufferOutPosition];
-        usbData.bufferOutPosition = (usbData.bufferOutPosition + 1) % USB_RX_BUFSIZE;
-        ch++;
-        receiveLength--;
+    while (APP_Tx_ptr_out != APP_Tx_ptr_in && count < len) {
+        recvBuf[count] = APP_Tx_Buffer[APP_Tx_ptr_out];
+        APP_Tx_ptr_out = (APP_Tx_ptr_out + 1) % APP_TX_DATA_SIZE;
+        count++;
     }
-    return ch;
+    return count;
 }
 
+uint32_t CDC_Receive_BytesAvailable(void)
+{
+    /* return the bytes available in the receive circular buffer */
+    return APP_Tx_ptr_out > APP_Tx_ptr_in ? APP_TX_DATA_SIZE - APP_Tx_ptr_out + APP_Tx_ptr_in : APP_Tx_ptr_in - APP_Tx_ptr_out;
+}
 
 /**
  * @brief  VCP_DataRx
@@ -218,22 +241,20 @@ uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len)
  * @param  Len: Number of data received (in bytes)
  * @retval Result of the opeartion: USBD_OK if all operations are OK else VCP_FAIL
  */
-static uint32_t rxTotalBytes = 0;
-static uint32_t rxPackets = 0;
-
 static uint16_t VCP_DataRx(uint8_t* Buf, uint32_t Len)
 {
-    rxPackets++;
-
-    for (uint32_t i = 0; i < Len; i++) {
-        usbData.buffer[usbData.bufferInPosition] = Buf[i];
-        usbData.bufferInPosition = (usbData.bufferInPosition + 1) % USB_RX_BUFSIZE;
-        receiveLength++;
-        rxTotalBytes++;
+    if (CDC_Receive_BytesAvailable() + Len > APP_TX_DATA_SIZE) {
+        return USBD_FAIL;
     }
 
-    if(receiveLength > (USB_RX_BUFSIZE-1))
-        return USBD_FAIL;
+    __disable_irq();
+
+    for (uint32_t i = 0; i < Len; i++) {
+        APP_Tx_Buffer[APP_Tx_ptr_in] = Buf[i];
+        APP_Tx_ptr_in = (APP_Tx_ptr_in + 1) % APP_TX_DATA_SIZE;
+    }
+
+    __enable_irq();
 
     return USBD_OK;
 }
diff --git a/src/main/vcpf4/usbd_cdc_vcp.h b/src/main/vcpf4/usbd_cdc_vcp.h
index df1e29001c..1168faf5fd 100644
--- a/src/main/vcpf4/usbd_cdc_vcp.h
+++ b/src/main/vcpf4/usbd_cdc_vcp.h
@@ -34,19 +34,18 @@
 #include "usbd_usr.h"
 #include "usbd_desc.h"
 
-#define USB_RX_BUFSIZE      2048
-
 __ALIGN_BEGIN USB_OTG_CORE_HANDLE  USB_OTG_dev __ALIGN_END;
 
 uint32_t CDC_Send_DATA(uint8_t *ptrBuffer, uint8_t sendLength);  // HJI
+uint32_t CDC_Send_FreeBytes(void);
 uint32_t CDC_Receive_DATA(uint8_t* recvBuf, uint32_t len);       // HJI
+uint32_t CDC_Receive_BytesAvailable(void);
+
 uint8_t usbIsConfigured(void);  // HJI
 uint8_t usbIsConnected(void);   // HJI
 uint32_t CDC_BaudRate(void);
 
 /* External variables --------------------------------------------------------*/
-
-extern __IO uint32_t receiveLength;  // HJI
 extern __IO uint32_t bDeviceState; /* USB device status */
 
 typedef enum _DEVICE_STATE {
@@ -59,7 +58,7 @@ typedef enum _DEVICE_STATE {
 } DEVICE_STATE;
 
 /* Exported typef ------------------------------------------------------------*/
-/* The following structures groups all needed parameters to be configured for the 
+/* The following structures groups all needed parameters to be configured for the
    ComPort. These parameters can modified on the fly by the host through CDC class
    command class requests. */
 typedef struct
@@ -70,12 +69,6 @@ typedef struct
   uint8_t  datatype;
 } LINE_CODING;
 
-typedef struct {
-    uint8_t buffer[USB_RX_BUFSIZE];
-    uint16_t bufferInPosition;
-    uint16_t bufferOutPosition;
-} usbStruct_t;
-
 
 #endif /* __USBD_CDC_VCP_H */
 
diff --git a/src/main/vcpf4/usbd_conf.h b/src/main/vcpf4/usbd_conf.h
index a32176efe8..87481c2ef1 100644
--- a/src/main/vcpf4/usbd_conf.h
+++ b/src/main/vcpf4/usbd_conf.h
@@ -53,43 +53,43 @@
  #define CDC_CMD_PACKET_SZE             8    /* Control Endpoint Packet size */
 
  #define CDC_IN_FRAME_INTERVAL          15    /* Number of frames between IN transfers */
- #define APP_RX_DATA_SIZE               2048 /* Total size of IN buffer:
-                                                APP_RX_DATA_SIZE*8/MAX_BAUDARATE*1000 should be > CDC_IN_FRAME_INTERVAL */
+ #define APP_RX_DATA_SIZE               1024  /* Total size of IN buffer: 
+                                                 APP_RX_DATA_SIZE*8/MAX_BAUDARATE*1000 should be > CDC_IN_FRAME_INTERVAL */
 #endif /* USE_USB_OTG_HS */
 
 #define APP_FOPS                        VCP_fops
 /**
   * @}
-  */ 
+  */
 
 /** @defgroup USB_CONF_Exported_Types
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 
 /** @defgroup USB_CONF_Exported_Macros
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 /** @defgroup USB_CONF_Exported_Variables
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 /** @defgroup USB_CONF_Exported_FunctionsPrototype
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 
 #endif //__USBD_CONF__H__
diff --git a/src/main/vcpf4/usbd_desc.c b/src/main/vcpf4/usbd_desc.c
index ab1a3e1d35..cdf6c4fe7a 100644
--- a/src/main/vcpf4/usbd_desc.c
+++ b/src/main/vcpf4/usbd_desc.c
@@ -17,7 +17,7 @@
   *
   * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
   ******************************************************************************
-  */ 
+  */
 
 /* Includes ------------------------------------------------------------------*/
 #include "usbd_core.h"
@@ -32,22 +32,22 @@
   */
 
 
-/** @defgroup USBD_DESC 
+/** @defgroup USBD_DESC
   * @brief USBD descriptors module
   * @{
-  */ 
+  */
 
 /** @defgroup USBD_DESC_Private_TypesDefinitions
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 
 /** @defgroup USBD_DESC_Private_Defines
   * @{
-  */ 
+  */
 
 #define USBD_VID                        0x0483
 
@@ -55,7 +55,7 @@
 
 /** @defgroup USB_String_Descriptors
   * @{
-  */ 
+  */
 #define USBD_LANGID_STRING              0x409
 #define USBD_MANUFACTURER_STRING        "BetaFlight"
 
@@ -83,64 +83,60 @@
 #define USBD_INTERFACE_FS_STRING        "VCP Interface"
 /**
   * @}
-  */ 
+  */
 
 
 /** @defgroup USBD_DESC_Private_Macros
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 
 /** @defgroup USBD_DESC_Private_Variables
   * @{
-  */ 
+  */
 
 USBD_DEVICE USR_desc =
 {
   USBD_USR_DeviceDescriptor,
-  USBD_USR_LangIDStrDescriptor, 
+  USBD_USR_LangIDStrDescriptor,
   USBD_USR_ManufacturerStrDescriptor,
   USBD_USR_ProductStrDescriptor,
   USBD_USR_SerialStrDescriptor,
   USBD_USR_ConfigStrDescriptor,
   USBD_USR_InterfaceStrDescriptor,
-  
+ 
 };
 
 #ifdef USB_OTG_HS_INTERNAL_DMA_ENABLED
   #if defined ( __ICCARM__ ) /*!< IAR Compiler */
-    #pragma data_alignment=4   
+    #pragma data_alignment=4  
   #endif
 #endif /* USB_OTG_HS_INTERNAL_DMA_ENABLED */
 /* USB Standard Device Descriptor */
 __ALIGN_BEGIN uint8_t USBD_DeviceDesc[USB_SIZ_DEVICE_DESC] __ALIGN_END =
   {
-    0x12,                       /*bLength */
-    USB_DEVICE_DESCRIPTOR_TYPE, /*bDescriptorType*/
-    0x00,                       /*bcdUSB */
-    0x02,
-    0xef,                       /*bDeviceClass*/
-    0x02,                       /*bDeviceSubClass*/
-    0x01,                       /*bDeviceProtocol*/
-    USB_OTG_MAX_EP0_SIZE,      /*bMaxPacketSize*/
-    LOBYTE(USBD_VID),           /*idVendor*/
-    HIBYTE(USBD_VID),           /*idVendor*/
-    LOBYTE(USBD_PID),           /*idVendor*/
-    HIBYTE(USBD_PID),           /*idVendor*/
-    0x00,                       /*bcdDevice rel. 2.00*/
-    0x02,
-    USBD_IDX_MFC_STR,           /*Index of manufacturer  string*/
-    USBD_IDX_PRODUCT_STR,       /*Index of product string*/
-    USBD_IDX_SERIAL_STR,        /*Index of serial number string*/
-    USBD_CFG_MAX_NUM            /*bNumConfigurations*/
+    0x12,                                  /*bLength */
+    USB_DEVICE_DESCRIPTOR_TYPE,            /*bDescriptorType*/
+    0x00, 0x02,                            /*bcdUSB */
+    0x02,                                  /*bDeviceClass*/
+    0x02,                                  /*bDeviceSubClass*/
+    0x00,                                  /*bDeviceProtocol*/
+    USB_OTG_MAX_EP0_SIZE,                  /*bMaxPacketSize*/
+    LOBYTE(USBD_VID), HIBYTE(USBD_VID),    /*idVendor*/
+    LOBYTE(USBD_PID), HIBYTE(USBD_PID),    /*idProduct*/
+    0x00, 0x02,                            /*bcdDevice rel. 2.00*/
+    USBD_IDX_MFC_STR,                      /*Index of manufacturer  string*/
+    USBD_IDX_PRODUCT_STR,                  /*Index of product string*/
+    USBD_IDX_SERIAL_STR,                   /*Index of serial number string*/
+    USBD_CFG_MAX_NUM                       /*bNumConfigurations*/
   } ; /* USB_DeviceDescriptor */
 
 #ifdef USB_OTG_HS_INTERNAL_DMA_ENABLED
   #if defined ( __ICCARM__ ) /*!< IAR Compiler */
-    #pragma data_alignment=4   
+    #pragma data_alignment=4  
   #endif
 #endif /* USB_OTG_HS_INTERNAL_DMA_ENABLED */
 /* USB Standard Device Descriptor */
@@ -160,36 +156,36 @@ __ALIGN_BEGIN uint8_t USBD_DeviceQualifierDesc[USB_LEN_DEV_QUALIFIER_DESC] __ALI
 
 #ifdef USB_OTG_HS_INTERNAL_DMA_ENABLED
   #if defined ( __ICCARM__ ) /*!< IAR Compiler */
-    #pragma data_alignment=4   
+    #pragma data_alignment=4  
   #endif
 #endif /* USB_OTG_HS_INTERNAL_DMA_ENABLED */
 /* USB Standard Device Descriptor */
 __ALIGN_BEGIN uint8_t USBD_LangIDDesc[USB_SIZ_STRING_LANGID] __ALIGN_END =
 {
-     USB_SIZ_STRING_LANGID, 
-     USB_DESC_TYPE_STRING,   
+     USB_SIZ_STRING_LANGID,
+     USB_DESC_TYPE_STRING,  
      LOBYTE(USBD_LANGID_STRING),
-     HIBYTE(USBD_LANGID_STRING), 
+     HIBYTE(USBD_LANGID_STRING),
 };
 /**
   * @}
-  */ 
+  */
 
 
 /** @defgroup USBD_DESC_Private_FunctionPrototypes
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 
 /** @defgroup USBD_DESC_Private_Functions
   * @{
-  */ 
+  */
 
 /**
-* @brief  USBD_USR_DeviceDescriptor 
+* @brief  USBD_USR_DeviceDescriptor
 *         return the device descriptor
 * @param  speed : current device speed
 * @param  length : pointer to data length variable
@@ -203,7 +199,7 @@ uint8_t *  USBD_USR_DeviceDescriptor( uint8_t speed , uint16_t *length)
 }
 
 /**
-* @brief  USBD_USR_LangIDStrDescriptor 
+* @brief  USBD_USR_LangIDStrDescriptor
 *         return the LangID string descriptor
 * @param  speed : current device speed
 * @param  length : pointer to data length variable
@@ -212,13 +208,13 @@ uint8_t *  USBD_USR_DeviceDescriptor( uint8_t speed , uint16_t *length)
 uint8_t *  USBD_USR_LangIDStrDescriptor( uint8_t speed , uint16_t *length)
 {
     (void)speed;
-  *length =  sizeof(USBD_LangIDDesc);  
+  *length =  sizeof(USBD_LangIDDesc); 
   return USBD_LangIDDesc;
 }
 
 
 /**
-* @brief  USBD_USR_ProductStrDescriptor 
+* @brief  USBD_USR_ProductStrDescriptor
 *         return the product string descriptor
 * @param  speed : current device speed
 * @param  length : pointer to data length variable
@@ -226,8 +222,8 @@ uint8_t *  USBD_USR_LangIDStrDescriptor( uint8_t speed , uint16_t *length)
 */
 uint8_t *  USBD_USR_ProductStrDescriptor( uint8_t speed , uint16_t *length)
 {
+
  
-  
   if(speed == 0)
     USBD_GetString ((uint8_t*)USBD_PRODUCT_HS_STRING, USBD_StrDesc, length);
   else
@@ -237,7 +233,7 @@ uint8_t *  USBD_USR_ProductStrDescriptor( uint8_t speed , uint16_t *length)
 }
 
 /**
-* @brief  USBD_USR_ManufacturerStrDescriptor 
+* @brief  USBD_USR_ManufacturerStrDescriptor
 *         return the manufacturer string descriptor
 * @param  speed : current device speed
 * @param  length : pointer to data length variable
@@ -251,7 +247,7 @@ uint8_t *  USBD_USR_ManufacturerStrDescriptor( uint8_t speed , uint16_t *length)
 }
 
 /**
-* @brief  USBD_USR_SerialStrDescriptor 
+* @brief  USBD_USR_SerialStrDescriptor
 *         return the serial number string descriptor
 * @param  speed : current device speed
 * @param  length : pointer to data length variable
@@ -268,7 +264,7 @@ uint8_t *  USBD_USR_SerialStrDescriptor( uint8_t speed , uint16_t *length)
 }
 
 /**
-* @brief  USBD_USR_ConfigStrDescriptor 
+* @brief  USBD_USR_ConfigStrDescriptor
 *         return the configuration string descriptor
 * @param  speed : current device speed
 * @param  length : pointer to data length variable
@@ -281,12 +277,12 @@ uint8_t *  USBD_USR_ConfigStrDescriptor( uint8_t speed , uint16_t *length)
   else
     USBD_GetString ((uint8_t*)USBD_CONFIGURATION_FS_STRING, USBD_StrDesc, length);
 
-  return USBD_StrDesc;  
+  return USBD_StrDesc; 
 }
 
 
 /**
-* @brief  USBD_USR_InterfaceStrDescriptor 
+* @brief  USBD_USR_InterfaceStrDescriptor
 *         return the interface string descriptor
 * @param  speed : current device speed
 * @param  length : pointer to data length variable
@@ -299,22 +295,22 @@ uint8_t *  USBD_USR_InterfaceStrDescriptor( uint8_t speed , uint16_t *length)
   else
     USBD_GetString ((uint8_t*)USBD_INTERFACE_FS_STRING, USBD_StrDesc, length);
 
-  return USBD_StrDesc;  
+  return USBD_StrDesc; 
 }
 
 /**
   * @}
-  */ 
+  */
 
 
 /**
   * @}
-  */ 
+  */
 
 
 /**
   * @}
-  */ 
+  */
 
 /******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
 
diff --git a/src/main/vcpf4/usbd_desc.h b/src/main/vcpf4/usbd_desc.h
index ed999dc62a..f67799cf42 100644
--- a/src/main/vcpf4/usbd_desc.h
+++ b/src/main/vcpf4/usbd_desc.h
@@ -6,18 +6,18 @@
   * @date    19-September-2011
   * @brief   header file for the usbd_desc.c file
   ******************************************************************************
-  * @attention 
+  * @attention
   *
   * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
   * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
   * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
   * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
   * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. 
+  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
   *
   * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
   ******************************************************************************
-  */ 
+  */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 
@@ -30,11 +30,11 @@
 /** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
   * @{
   */
-  
+ 
 /** @defgroup USB_DESC
   * @brief general defines for the usb device library file
   * @{
-  */ 
+  */
 
 /** @defgroup USB_DESC_Exported_Defines
   * @{
@@ -49,7 +49,7 @@
 
 /**
   * @}
-  */ 
+  */
 
 
 /** @defgroup USBD_DESC_Exported_TypesDefinitions
@@ -57,33 +57,33 @@
   */
 /**
   * @}
-  */ 
+  */
 
 
 
 /** @defgroup USBD_DESC_Exported_Macros
   * @{
-  */ 
+  */
 /**
   * @}
-  */ 
+  */
 
 /** @defgroup USBD_DESC_Exported_Variables
   * @{
-  */ 
+  */
 extern  uint8_t USBD_DeviceDesc  [USB_SIZ_DEVICE_DESC];
 extern  uint8_t USBD_StrDesc[USB_MAX_STR_DESC_SIZ];
-extern  uint8_t USBD_OtherSpeedCfgDesc[USB_LEN_CFG_DESC]; 
+extern  uint8_t USBD_OtherSpeedCfgDesc[USB_LEN_CFG_DESC];
 extern  uint8_t USBD_DeviceQualifierDesc[USB_LEN_DEV_QUALIFIER_DESC];
 extern  uint8_t USBD_LangIDDesc[USB_SIZ_STRING_LANGID];
-extern  USBD_DEVICE USR_desc; 
+extern  USBD_DEVICE USR_desc;
 /**
   * @}
-  */ 
+  */
 
 /** @defgroup USBD_DESC_Exported_FunctionsPrototype
   * @{
-  */ 
+  */
 
 
 uint8_t *     USBD_USR_DeviceDescriptor( uint8_t speed , uint16_t *length);
@@ -95,20 +95,20 @@ uint8_t *     USBD_USR_ConfigStrDescriptor( uint8_t speed , uint16_t *length);
 uint8_t *     USBD_USR_InterfaceStrDescriptor( uint8_t speed , uint16_t *length);
 
 #ifdef USB_SUPPORT_USER_STRING_DESC
-uint8_t *     USBD_USR_USRStringDesc (uint8_t speed, uint8_t idx , uint16_t *length);  
-#endif /* USB_SUPPORT_USER_STRING_DESC */  
-  
+uint8_t *     USBD_USR_USRStringDesc (uint8_t speed, uint8_t idx , uint16_t *length); 
+#endif /* USB_SUPPORT_USER_STRING_DESC */ 
+ 
 /**
   * @}
-  */ 
+  */
 
 #endif /* __USBD_DESC_H */
 
 /**
   * @}
-  */ 
+  */
 
 /**
 * @}
-*/ 
+*/
 /******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
diff --git a/src/main/vcpf4/usbd_usr.c b/src/main/vcpf4/usbd_usr.c
index 958e772322..b3de6d44a6 100644
--- a/src/main/vcpf4/usbd_usr.c
+++ b/src/main/vcpf4/usbd_usr.c
@@ -17,7 +17,7 @@
   *
   * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
   ******************************************************************************
-  */ 
+  */
 
 #include "usbd_usr.h"
 #include "usbd_ioreq.h"
@@ -29,25 +29,25 @@ USBD_Usr_cb_TypeDef USR_cb =
   USBD_USR_DeviceConfigured,
   USBD_USR_DeviceSuspended,
   USBD_USR_DeviceResumed,
-  
+ 
   USBD_USR_DeviceConnected,
   USBD_USR_DeviceDisconnected,
 };
 
 
 /**
-* @brief  USBD_USR_Init 
+* @brief  USBD_USR_Init
 *         Displays the message on LCD for host lib initialization
 * @param  None
 * @retval None
 */
 void USBD_USR_Init(void)
-{   
+{  
 
 }
 
 /**
-* @brief  USBD_USR_DeviceReset 
+* @brief  USBD_USR_DeviceReset
 *         Displays the message on LCD on device Reset Event
 * @param  speed : device speed
 * @retval None
@@ -56,14 +56,14 @@ void USBD_USR_DeviceReset(uint8_t speed )
 {
  switch (speed)
  {
-   case USB_OTG_SPEED_HIGH: 
+   case USB_OTG_SPEED_HIGH:
      break;
 
-  case USB_OTG_SPEED_FULL: 
+  case USB_OTG_SPEED_FULL:
      break;
  default:
      break;
- 
+
  }
 }
 
@@ -101,7 +101,7 @@ void USBD_USR_DeviceDisconnected (void)
 }
 
 /**
-* @brief  USBD_USR_DeviceSuspended 
+* @brief  USBD_USR_DeviceSuspended
 *         Displays the message on LCD on device suspend Event
 * @param  None
 * @retval None
@@ -113,7 +113,7 @@ void USBD_USR_DeviceSuspended(void)
 
 
 /**
-* @brief  USBD_USR_DeviceResumed 
+* @brief  USBD_USR_DeviceResumed
 *         Displays the message on LCD on device resume Event
 * @param  None
 * @retval None
diff --git a/src/test/unit/telemetry_hott_unittest.cc b/src/test/unit/telemetry_hott_unittest.cc
index 4a2b0dd1f7..0d080e8c84 100644
--- a/src/test/unit/telemetry_hott_unittest.cc
+++ b/src/test/unit/telemetry_hott_unittest.cc
@@ -177,33 +177,38 @@ uint32_t millis(void) {
 
 uint32_t micros(void) { return 0; }
 
-uint8_t serialRxBytesWaiting(serialPort_t *instance) {
+uint32_t serialRxBytesWaiting(serialPort_t *instance)
+{
     UNUSED(instance);
     return 0;
 }
 
-uint8_t serialTxBytesFree(serialPort_t *instance) {
+uint32_t serialTxBytesFree(serialPort_t *instance)
+{
     UNUSED(instance);
     return 0;
 }
 
-uint8_t serialRead(serialPort_t *instance) {
+uint8_t serialRead(serialPort_t *instance)
+{
     UNUSED(instance);
     return 0;
 }
 
-void serialWrite(serialPort_t *instance, uint8_t ch) {
+void serialWrite(serialPort_t *instance, uint8_t ch)
+{
     UNUSED(instance);
     UNUSED(ch);
 }
 
-void serialSetMode(serialPort_t *instance, portMode_t mode) {
+void serialSetMode(serialPort_t *instance, portMode_t mode)
+{
     UNUSED(instance);
     UNUSED(mode);
 }
 
-
-serialPort_t *openSerialPort(serialPortIdentifier_e identifier, serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, portOptions_t options) {
+serialPort_t *openSerialPort(serialPortIdentifier_e identifier, serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, portOptions_t options)
+{
     UNUSED(identifier);
     UNUSED(functionMask);
     UNUSED(baudRate);
@@ -214,30 +219,36 @@ serialPort_t *openSerialPort(serialPortIdentifier_e identifier, serialPortFuncti
     return NULL;
 }
 
-void closeSerialPort(serialPort_t *serialPort) {
+void closeSerialPort(serialPort_t *serialPort)
+{
     UNUSED(serialPort);
 }
 
-serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function) {
+serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
+{
     UNUSED(function);
 
     return NULL;
 }
 
-bool sensors(uint32_t mask) {
+bool sensors(uint32_t mask)
+{
     UNUSED(mask);
     return false;
 }
 
-bool telemetryDetermineEnabledState(portSharing_e) {
+bool telemetryDetermineEnabledState(portSharing_e)
+{
     return true;
 }
 
-portSharing_e determinePortSharing(serialPortConfig_t *, serialPortFunction_e) {
+portSharing_e determinePortSharing(serialPortConfig_t *, serialPortFunction_e)
+{
     return PORTSHARING_NOT_SHARED;
 }
 
-batteryState_e getBatteryState(void) {
+batteryState_e getBatteryState(void)
+{
 	return BATTERY_OK;
 }