diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 46a1bb9135..7395cf1660 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -448,7 +448,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
 #endif
 
     case FLIGHT_LOG_FIELD_CONDITION_RSSI:
-        return rxConfig()->rssi_channel > 0 || feature(FEATURE_RSSI_ADC);
+        return rxConfig()->rssi_channel > 0 || featureConfigured(FEATURE_RSSI_ADC);
 
     case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
         return blackboxConfig()->p_ratio != 1;
@@ -1488,7 +1488,7 @@ STATIC_UNIT_TESTED void blackboxLogIteration(timeUs_t currentTimeUs)
             writeInterframe();
         }
 #ifdef USE_GPS
-        if (feature(FEATURE_GPS)) {
+        if (featureConfigured(FEATURE_GPS)) {
             if (blackboxShouldLogGpsHomeFrame()) {
                 writeGPSHomeFrame();
                 writeGPSFrame(currentTimeUs);
@@ -1554,7 +1554,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
         if (!sendFieldDefinition('I', 'P', blackboxMainFields, blackboxMainFields + 1, ARRAYLEN(blackboxMainFields),
                 &blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
 #ifdef USE_GPS
-            if (feature(FEATURE_GPS)) {
+            if (featureConfigured(FEATURE_GPS)) {
                 blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
             } else
 #endif
diff --git a/src/main/cms/cms_menu_ledstrip.c b/src/main/cms/cms_menu_ledstrip.c
index 335e3972a9..f8ef00f7fa 100644
--- a/src/main/cms/cms_menu_ledstrip.c
+++ b/src/main/cms/cms_menu_ledstrip.c
@@ -48,7 +48,7 @@ static uint8_t cmsx_FeatureLedstrip;
 static long cmsx_Ledstrip_FeatureRead(void)
 {
     if (!featureRead) {
-        cmsx_FeatureLedstrip = feature(FEATURE_LED_STRIP) ? 1 : 0;
+        cmsx_FeatureLedstrip = featureConfigured(FEATURE_LED_STRIP) ? 1 : 0;
         featureRead = true;
     }
 
diff --git a/src/main/config/feature.c b/src/main/config/feature.c
index f054c12bd8..a1ce317e5e 100644
--- a/src/main/config/feature.c
+++ b/src/main/config/feature.c
@@ -29,8 +29,6 @@
 #include "pg/pg_ids.h"
 
 
-static uint32_t activeFeaturesLatch = 0;
-
 PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
 
 PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
@@ -52,21 +50,11 @@ void intFeatureClearAll(uint32_t *features)
     *features = 0;
 }
 
-void latchActiveFeatures(void)
-{
-    activeFeaturesLatch = featureConfig()->enabledFeatures;
-}
-
 bool featureConfigured(uint32_t mask)
 {
     return featureConfig()->enabledFeatures & mask;
 }
 
-bool feature(uint32_t mask)
-{
-    return activeFeaturesLatch & mask;
-}
-
 void featureSet(uint32_t mask)
 {
     intFeatureSet(mask, &featureConfigMutable()->enabledFeatures);
diff --git a/src/main/config/feature.h b/src/main/config/feature.h
index 56ee75a5b9..a0d0b16e6a 100644
--- a/src/main/config/feature.h
+++ b/src/main/config/feature.h
@@ -62,9 +62,7 @@ typedef struct featureConfig_s {
 
 PG_DECLARE(featureConfig_t, featureConfig);
 
-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);
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index e97cb2e12e..93806febb7 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -268,7 +268,7 @@ void updateArmingStatus(void)
                          && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING));
 
           /* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
-          bool ignoreThrottle = feature(FEATURE_3D)
+          bool ignoreThrottle = featureConfigured(FEATURE_3D)
                              && !IS_RC_MODE_ACTIVE(BOX3D)
                              && !flight3DConfig()->switched_mode3d
                              && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
@@ -313,7 +313,7 @@ void disarm(void)
 #endif
         BEEP_OFF;
 #ifdef USE_DSHOT
-        if (isMotorProtocolDshot() && flipOverAfterCrashMode && !feature(FEATURE_3D)) {
+        if (isMotorProtocolDshot() && flipOverAfterCrashMode && !featureConfigured(FEATURE_3D)) {
             pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
         }
 #endif
@@ -352,7 +352,7 @@ void tryArm(void)
         if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
             if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
                 flipOverAfterCrashMode = false;
-                if (!feature(FEATURE_3D)) {
+                if (!featureConfigured(FEATURE_3D)) {
                     pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
                 }
             } else {
@@ -360,7 +360,7 @@ void tryArm(void)
 #ifdef USE_RUNAWAY_TAKEOFF
                 runawayTakeoffCheckDisabled = false;
 #endif
-                if (!feature(FEATURE_3D)) {
+                if (!featureConfigured(FEATURE_3D)) {
                     pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false);
                 }
             }
@@ -387,7 +387,7 @@ void tryArm(void)
 
         //beep to indicate arming
 #ifdef USE_GPS
-        if (feature(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
+        if (featureConfigured(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
             beeper(BEEPER_ARMING_GPS_FIX);
         } else {
             beeper(BEEPER_ARMING);
@@ -517,7 +517,7 @@ void runawayTakeoffTemporaryDisable(uint8_t disableFlag)
 uint8_t calculateThrottlePercent(void)
 {
     uint8_t ret = 0;
-    if (feature(FEATURE_3D)
+    if (featureConfigured(FEATURE_3D)
         && !IS_RC_MODE_ACTIVE(BOX3D)
         && !flight3DConfig()->switched_mode3d) {
 
@@ -560,7 +560,7 @@ bool processRx(timeUs_t currentTimeUs)
     }
 
     // in 3D mode, we need to be able to disarm by switch at any time
-    if (feature(FEATURE_3D)) {
+    if (featureConfigured(FEATURE_3D)) {
         if (!IS_RC_MODE_ACTIVE(BOXARM))
             disarm();
     }
@@ -615,7 +615,7 @@ bool processRx(timeUs_t currentTimeUs)
         //   - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
         //   - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
         bool inStableFlight = false;
-        if (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
+        if (!featureConfigured(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
             const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
             const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
             if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
@@ -667,9 +667,9 @@ bool processRx(timeUs_t currentTimeUs)
     // board after delay so users without buzzer won't lose fingers.
     // mixTable constrains motor commands, so checking  throttleStatus is enough
     if (ARMING_FLAG(ARMED)
-        && feature(FEATURE_MOTOR_STOP)
+        && featureConfigured(FEATURE_MOTOR_STOP)
         && !STATE(FIXED_WING)
-        && !feature(FEATURE_3D)
+        && !featureConfigured(FEATURE_3D)
         && !isAirmodeActive()
     ) {
         if (isUsingSticksForArming()) {
@@ -711,7 +711,7 @@ bool processRx(timeUs_t currentTimeUs)
 
     processRcStickPositions();
 
-    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
+    if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
         updateInflightCalibrationState();
     }
 
@@ -814,7 +814,7 @@ bool processRx(timeUs_t currentTimeUs)
     }
 
 #ifdef USE_TELEMETRY
-    if (feature(FEATURE_TELEMETRY)) {
+    if (featureConfigured(FEATURE_TELEMETRY)) {
         bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
         if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
             mspSerialReleaseSharedTelemetryPorts();
@@ -872,7 +872,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
         && !runawayTakeoffCheckDisabled
         && !flipOverAfterCrashMode
         && !runawayTakeoffTemporarilyDisabled
-        && (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
+        && (!featureConfigured(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
 
         if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
             || (fabsf(pidData[FD_ROLL].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 4f077fa559..185b1b0e91 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -255,9 +255,6 @@ void init(void)
 
     debugMode = systemConfig()->debug_mode;
 
-    // Latch active features to be used for feature() in the remainder of init().
-    latchActiveFeatures();
-
 #ifdef TARGET_PREINIT
     targetPreInit();
 #endif
@@ -299,7 +296,7 @@ void init(void)
 #endif
 
 #if defined(USE_SPEKTRUM_BIND)
-    if (feature(FEATURE_RX_SERIAL)) {
+    if (featureConfigured(FEATURE_RX_SERIAL)) {
         switch (rxConfig()->serialrx_provider) {
         case SERIALRX_SPEKTRUM1024:
         case SERIALRX_SPEKTRUM2048:
@@ -330,23 +327,23 @@ void init(void)
 #endif
 
 #if defined(AVOID_UART1_FOR_PWM_PPM)
-    serialInit(feature(FEATURE_SOFTSERIAL),
-            feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
+    serialInit(featureConfigured(FEATURE_SOFTSERIAL),
+            featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
 #elif defined(AVOID_UART2_FOR_PWM_PPM)
-    serialInit(feature(FEATURE_SOFTSERIAL),
-            feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
+    serialInit(featureConfigured(FEATURE_SOFTSERIAL),
+            featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
 #elif defined(AVOID_UART3_FOR_PWM_PPM)
-    serialInit(feature(FEATURE_SOFTSERIAL),
-            feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
+    serialInit(featureConfigured(FEATURE_SOFTSERIAL),
+            featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
 #else
-    serialInit(feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
+    serialInit(featureConfigured(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
 #endif
 
     mixerInit(mixerConfig()->mixerMode);
     mixerConfigureOutput();
 
     uint16_t idlePulse = motorConfig()->mincommand;
-    if (feature(FEATURE_3D)) {
+    if (featureConfigured(FEATURE_3D)) {
         idlePulse = flight3DConfig()->neutral3d;
     }
     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
@@ -360,12 +357,12 @@ void init(void)
 
     if (0) {}
 #if defined(USE_PPM)
-    else if (feature(FEATURE_RX_PPM)) {
+    else if (featureConfigured(FEATURE_RX_PPM)) {
         ppmRxInit(ppmConfig());
     }
 #endif
 #if defined(USE_PWM)
-    else if (feature(FEATURE_RX_PARALLEL_PWM)) {
+    else if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
         pwmRxInit(pwmConfig());
     }
 #endif
@@ -452,13 +449,13 @@ void init(void)
 // XXX These kind of code should goto target/config.c?
 // XXX And these no longer work properly as FEATURE_RANGEFINDER does control HCSR04 runtime configuration.
 #if defined(RANGEFINDER_HCSR04_SOFTSERIAL2_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2)
-    if (feature(FEATURE_RANGEFINDER) && feature(FEATURE_SOFTSERIAL)) {
+    if (featureConfigured(FEATURE_RANGEFINDER) && featureConfigured(FEATURE_SOFTSERIAL)) {
         serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
     }
 #endif
 
 #if defined(RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
-    if (feature(FEATURE_RANGEFINDER) && feature(FEATURE_SOFTSERIAL)) {
+    if (featureConfigured(FEATURE_RANGEFINDER) && featureConfigured(FEATURE_SOFTSERIAL)) {
         serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
     }
 #endif
@@ -468,9 +465,9 @@ void init(void)
     adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
 
     // The FrSky D SPI RX sends RSSI_ADC_PIN (if configured) as A2
-    adcConfigMutable()->rssi.enabled = feature(FEATURE_RSSI_ADC);
+    adcConfigMutable()->rssi.enabled = featureConfigured(FEATURE_RSSI_ADC);
 #ifdef USE_RX_SPI
-    adcConfigMutable()->rssi.enabled |= (feature(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
+    adcConfigMutable()->rssi.enabled |= (featureConfigured(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
 #endif
     adcInit(adcConfig());
 #endif
@@ -499,7 +496,7 @@ void init(void)
     servosInit();
     servoConfigureOutput();
     if (isMixerUsingServos()) {
-        //pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
+        //pwm_params.useChannelForwarding = featureConfigured(FEATURE_CHANNEL_FORWARDING);
         servoDevInit(&servoConfig()->dev);
     }
     servosFilterInit();
@@ -561,7 +558,7 @@ void init(void)
 #if defined(USE_OSD) && !defined(USE_OSD_SLAVE)
     //The OSD need to be initialised after GYRO to avoid GYRO initialisation failure on some targets
 
-    if (feature(FEATURE_OSD)) {
+    if (featureConfigured(FEATURE_OSD)) {
 #if defined(USE_MAX7456)
         // If there is a max7456 chip for the OSD then use it
         osdDisplayPort = max7456DisplayPortInit(vcdProfile());
@@ -590,7 +587,7 @@ void init(void)
 
 #ifdef USE_DASHBOARD
     // Dashbord will register with CMS by itself.
-    if (feature(FEATURE_DASHBOARD)) {
+    if (featureConfigured(FEATURE_DASHBOARD)) {
         dashboardInit();
     }
 #endif
@@ -601,7 +598,7 @@ void init(void)
 #endif
 
 #ifdef USE_GPS
-    if (feature(FEATURE_GPS)) {
+    if (featureConfigured(FEATURE_GPS)) {
         gpsInit();
     }
 #endif
@@ -609,19 +606,19 @@ void init(void)
 #ifdef USE_LED_STRIP
     ledStripInit();
 
-    if (feature(FEATURE_LED_STRIP)) {
+    if (featureConfigured(FEATURE_LED_STRIP)) {
         ledStripEnable();
     }
 #endif
 
 #ifdef USE_TELEMETRY
-    if (feature(FEATURE_TELEMETRY)) {
+    if (featureConfigured(FEATURE_TELEMETRY)) {
         telemetryInit();
     }
 #endif
 
 #ifdef USE_ESC_SENSOR
-    if (feature(FEATURE_ESC_SENSOR)) {
+    if (featureConfigured(FEATURE_ESC_SENSOR)) {
         escSensorInit();
     }
 #endif
@@ -631,7 +628,7 @@ void init(void)
 #endif
 
 #ifdef USE_TRANSPONDER
-    if (feature(FEATURE_TRANSPONDER)) {
+    if (featureConfigured(FEATURE_TRANSPONDER)) {
         transponderInit();
         transponderStartRepeating();
         systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
@@ -714,7 +711,7 @@ void init(void)
     batteryInit(); // always needs doing, regardless of features.
 
 #ifdef USE_DASHBOARD
-    if (feature(FEATURE_DASHBOARD)) {
+    if (featureConfigured(FEATURE_DASHBOARD)) {
 #ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
         dashboardShowFixedPage(PAGE_GPS);
 #else
@@ -728,8 +725,6 @@ void init(void)
     rcdeviceInit();
 #endif // USE_RCDEVICE
 
-    // Latch active features AGAIN since some may be modified by init().
-    latchActiveFeatures();
     pwmEnableMotors();
 
     setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
diff --git a/src/main/fc/fc_rc.c b/src/main/fc/fc_rc.c
index 7a68797ced..eca6e1be25 100644
--- a/src/main/fc/fc_rc.c
+++ b/src/main/fc/fc_rc.c
@@ -203,7 +203,7 @@ static void checkForThrottleErrorResetState(uint16_t rxRefreshRate)
 
     const int rxRefreshRateMs = rxRefreshRate / 1000;
     const int indexMax = constrain(THROTTLE_DELTA_MS / rxRefreshRateMs, 1, THROTTLE_BUFFER_MAX);
-    const int16_t throttleVelocityThreshold = (feature(FEATURE_3D)) ? currentPidProfile->itermThrottleThreshold / 2 : currentPidProfile->itermThrottleThreshold;
+    const int16_t throttleVelocityThreshold = (featureConfigured(FEATURE_3D)) ? currentPidProfile->itermThrottleThreshold / 2 : currentPidProfile->itermThrottleThreshold;
 
     rcCommandThrottlePrevious[index++] = rcCommand[THROTTLE];
     if (index >= indexMax) {
@@ -621,7 +621,7 @@ FAST_CODE FAST_CODE_NOINLINE void updateRcCommands(void)
     }
 
     int32_t tmp;
-    if (feature(FEATURE_3D)) {
+    if (featureConfigured(FEATURE_3D)) {
         tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
         tmp = (uint32_t)(tmp - PWM_RANGE_MIN);
     } else {
@@ -635,7 +635,7 @@ FAST_CODE FAST_CODE_NOINLINE void updateRcCommands(void)
 
     rcCommand[THROTTLE] = rcLookupThrottle(tmp);
 
-    if (feature(FEATURE_3D) && !failsafeIsActive()) {
+    if (featureConfigured(FEATURE_3D) && !failsafeIsActive()) {
         if (!flight3DConfig()->switched_mode3d) {
             if (IS_RC_MODE_ACTIVE(BOX3D)) {
                 fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index ffa5d48c9d..4b789945ef 100644
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -216,7 +216,7 @@ static void taskCalculateAltitude(timeUs_t currentTimeUs)
 #ifdef USE_TELEMETRY
 static void taskTelemetry(timeUs_t currentTimeUs)
 {
-    if (!cliMode && feature(FEATURE_TELEMETRY)) {
+    if (!cliMode && featureConfigured(FEATURE_TELEMETRY)) {
         subTaskTelemetryPollSensors(currentTimeUs);
 
         telemetryProcess(currentTimeUs);
@@ -251,12 +251,12 @@ void fcTasksInit(void)
 #ifdef USE_OSD_SLAVE
     const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts;
 #else
-    const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || feature(FEATURE_OSD);
+    const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureConfigured(FEATURE_OSD);
 #endif
     setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
 
 #ifdef USE_TRANSPONDER
-    setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
+    setTaskEnabled(TASK_TRANSPONDER, featureConfigured(FEATURE_TRANSPONDER));
 #endif
 
 #ifdef STACK_CHECK
@@ -285,7 +285,7 @@ void fcTasksInit(void)
     setTaskEnabled(TASK_BEEPER, true);
 #endif
 #ifdef USE_GPS
-    setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
+    setTaskEnabled(TASK_GPS, featureConfigured(FEATURE_GPS));
 #endif
 #ifdef USE_MAG
     setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
@@ -294,13 +294,13 @@ void fcTasksInit(void)
     setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
 #endif
 #if defined(USE_BARO) || defined(USE_GPS)
-    setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || feature(FEATURE_GPS));
+    setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureConfigured(FEATURE_GPS));
 #endif
 #ifdef USE_DASHBOARD
-    setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD));
+    setTaskEnabled(TASK_DASHBOARD, featureConfigured(FEATURE_DASHBOARD));
 #endif
 #ifdef USE_TELEMETRY
-    if (feature(FEATURE_TELEMETRY)) {
+    if (featureConfigured(FEATURE_TELEMETRY)) {
         setTaskEnabled(TASK_TELEMETRY, true);
         if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) {
             // Reschedule telemetry to 500hz for Jeti Exbus
@@ -312,19 +312,19 @@ void fcTasksInit(void)
     }
 #endif
 #ifdef USE_LED_STRIP
-    setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
+    setTaskEnabled(TASK_LEDSTRIP, featureConfigured(FEATURE_LED_STRIP));
 #endif
 #ifdef USE_TRANSPONDER
-    setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
+    setTaskEnabled(TASK_TRANSPONDER, featureConfigured(FEATURE_TRANSPONDER));
 #endif
 #ifdef USE_OSD
-    setTaskEnabled(TASK_OSD, feature(FEATURE_OSD) && osdInitialized());
+    setTaskEnabled(TASK_OSD, featureConfigured(FEATURE_OSD) && osdInitialized());
 #endif
 #ifdef USE_BST
     setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
 #endif
 #ifdef USE_ESC_SENSOR
-    setTaskEnabled(TASK_ESC_SENSOR, feature(FEATURE_ESC_SENSOR));
+    setTaskEnabled(TASK_ESC_SENSOR, featureConfigured(FEATURE_ESC_SENSOR));
 #endif
 #ifdef USE_ADC_INTERNAL
     setTaskEnabled(TASK_ADC_INTERNAL, true);
@@ -336,7 +336,7 @@ void fcTasksInit(void)
 #ifdef USE_MSP_DISPLAYPORT
     setTaskEnabled(TASK_CMS, true);
 #else
-    setTaskEnabled(TASK_CMS, feature(FEATURE_OSD) || feature(FEATURE_DASHBOARD));
+    setTaskEnabled(TASK_CMS, featureConfigured(FEATURE_OSD) || featureConfigured(FEATURE_DASHBOARD));
 #endif
 #endif
 #ifdef USE_VTX_CONTROL
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 902a8ad944..eea48c2178 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -113,7 +113,7 @@ bool areSticksInApModePosition(uint16_t ap_mode)
 
 throttleStatus_e calculateThrottleStatus(void)
 {
-    if (feature(FEATURE_3D)) {
+    if (featureConfigured(FEATURE_3D)) {
         if (IS_RC_MODE_ACTIVE(BOX3D) || flight3DConfig()->switched_mode3d) {
             if (rcData[THROTTLE] < rxConfig()->mincheck) {
                 return THROTTLE_LOW;
@@ -240,7 +240,7 @@ void processRcStickPositions()
         gyroStartCalibration(false);
 
 #ifdef USE_GPS
-        if (feature(FEATURE_GPS)) {
+        if (featureConfigured(FEATURE_GPS)) {
             GPS_reset_home_position();
         }
 #endif
@@ -253,7 +253,7 @@ void processRcStickPositions()
         return;
     }
 
-    if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
+    if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
         // Inflight ACC Calibration
         handleInflightCalibrationStickPosition();
         return;
diff --git a/src/main/fc/rc_modes.c b/src/main/fc/rc_modes.c
index 631dea62f6..ce2212dbbb 100644
--- a/src/main/fc/rc_modes.c
+++ b/src/main/fc/rc_modes.c
@@ -59,7 +59,7 @@ void rcModeUpdate(boxBitmask_t *newState)
 }
 
 bool isAirmodeActive(void) {
-    return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
+    return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || featureConfigured(FEATURE_AIRMODE));
 }
 
 bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 56069fc07b..38a72a55cd 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -383,7 +383,7 @@ void initEscEndpoints(void)
     case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:
         disarmMotorOutput = DSHOT_DISARM_COMMAND;
-        if (feature(FEATURE_3D)) {
+        if (featureConfigured(FEATURE_3D)) {
             motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
         } else {
             motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
@@ -395,7 +395,7 @@ void initEscEndpoints(void)
         break;
 #endif
     default:
-        if (feature(FEATURE_3D)) {
+        if (featureConfigured(FEATURE_3D)) {
             disarmMotorOutput = flight3DConfig()->neutral3d;
             motorOutputLow = flight3DConfig()->limit3d_low;
             motorOutputHigh = flight3DConfig()->limit3d_high;
@@ -536,7 +536,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
     static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode
     float currentThrottleInputRange = 0;
 
-    if (feature(FEATURE_3D)) {
+    if (featureConfigured(FEATURE_3D)) {
         if (!ARMING_FLAG(ARMED)) {
             rcThrottlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
         }
@@ -708,7 +708,7 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
             motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
         }
         // Motor stop handling
-        if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isAirmodeActive()) {
+        if (featureConfigured(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !featureConfigured(FEATURE_3D) && !isAirmodeActive()) {
             if (((rcData[THROTTLE]) < rxConfig()->mincheck)) {
                 motorOutput = disarmMotorOutput;
             }
@@ -851,7 +851,7 @@ float convertExternalToMotor(uint16_t externalValue)
     case true:
         externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX);
 
-        if (feature(FEATURE_3D)) {
+        if (featureConfigured(FEATURE_3D)) {
             if (externalValue == PWM_RANGE_MID) {
                 motorValue = DSHOT_DISARM_COMMAND;
             } else if (externalValue < PWM_RANGE_MID) {
@@ -880,7 +880,7 @@ uint16_t convertMotorToExternal(float motorValue)
     switch ((int)isMotorProtocolDshot()) {
 #ifdef USE_DSHOT
     case true:
-        if (feature(FEATURE_3D)) {
+        if (featureConfigured(FEATURE_3D)) {
             if (motorValue == DSHOT_DISARM_COMMAND || motorValue < DSHOT_MIN_THROTTLE) {
                 externalValue = PWM_RANGE_MID;
             } else if (motorValue <= DSHOT_3D_DEADBAND_LOW) {
diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
index d1e75d0b1a..29e6332826 100644
--- a/src/main/flight/servos.c
+++ b/src/main/flight/servos.c
@@ -224,7 +224,7 @@ void servosInit(void)
     // 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) || feature(FEATURE_CHANNEL_FORWARDING)) {
+    if (featureConfigured(FEATURE_SERVO_TILT) || featureConfigured(FEATURE_CHANNEL_FORWARDING)) {
         useServo = 1;
     }
 
@@ -377,13 +377,13 @@ void writeServos(void)
     }
 
     // Two servos for SERVO_TILT, if enabled
-    if (feature(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
+    if (featureConfigured(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
         updateGimbalServos(servoIndex);
         servoIndex += 2;
     }
 
     // forward AUX to remaining servo outputs (not constrained)
-    if (feature(FEATURE_CHANNEL_FORWARDING)) {
+    if (featureConfigured(FEATURE_CHANNEL_FORWARDING)) {
         forwardAuxChannelsToServos(servoIndex);
         servoIndex += MAX_AUX_CHANNEL_COUNT;
     }
@@ -406,7 +406,7 @@ void servoMixer(void)
         input[INPUT_STABILIZED_YAW] = pidData[FD_YAW].Sum * PID_SERVO_MIXER_SCALING;
 
         // Reverse yaw servo when inverted in 3D mode
-        if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
+        if (featureConfigured(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
             input[INPUT_STABILIZED_YAW] *= -1;
         }
     }
@@ -498,7 +498,7 @@ static void servoTable(void)
     }
 
     // camera stabilization
-    if (feature(FEATURE_SERVO_TILT)) {
+    if (featureConfigured(FEATURE_SERVO_TILT)) {
         // center at fixed position, or vary either pitch or roll by RC channel
         servo[SERVO_GIMBAL_PITCH] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
         servo[SERVO_GIMBAL_ROLL] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
diff --git a/src/main/interface/cli.c b/src/main/interface/cli.c
index 4df132dd2e..d54a353a5c 100644
--- a/src/main/interface/cli.c
+++ b/src/main/interface/cli.c
@@ -2946,7 +2946,7 @@ static void cliDshotProg(char *cmdline)
                         pwmWriteDshotCommand(escIndex, getMotorCount(), command, true);
                     } else {
 #if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO)
-                        if (feature(FEATURE_ESC_SENSOR)) {
+                        if (featureConfigured(FEATURE_ESC_SENSOR)) {
                             if (escIndex != ALL_MOTORS) {
                                 executeEscInfoCommand(escIndex);
                             } else {
diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c
index 92ee499981..2168ababd0 100644
--- a/src/main/interface/msp.c
+++ b/src/main/interface/msp.c
@@ -1018,7 +1018,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
 
 #if defined(USE_ESC_SENSOR)
     case MSP_ESC_SENSOR_DATA:
-        if (feature(FEATURE_ESC_SENSOR)) {
+        if (featureConfigured(FEATURE_ESC_SENSOR)) {
             sbufWriteU8(dst, getMotorCount());
             for (int i = 0; i < getMotorCount(); i++) {
                 const escSensorData_t *escData = getEscSensorData(i);
diff --git a/src/main/interface/msp_box.c b/src/main/interface/msp_box.c
index 3740f987b9..a7e03103f6 100644
--- a/src/main/interface/msp_box.c
+++ b/src/main/interface/msp_box.c
@@ -166,11 +166,11 @@ void initActiveBoxIds(void)
 #define BME(boxId) do { bitArraySet(&ena, boxId); } while (0)
     BME(BOXARM);
     BME(BOXPREARM);
-    if (!feature(FEATURE_AIRMODE)) {
+    if (!featureConfigured(FEATURE_AIRMODE)) {
         BME(BOXAIRMODE);
     }
 
-    if (!feature(FEATURE_ANTI_GRAVITY)) {
+    if (!featureConfigured(FEATURE_ANTI_GRAVITY)) {
         BME(BOXANTIGRAVITY);
     }
 
@@ -188,9 +188,9 @@ void initActiveBoxIds(void)
 #endif
 
 #ifdef USE_GPS
-    if (feature(FEATURE_GPS)) {
+    if (featureConfigured(FEATURE_GPS)) {
 #ifdef USE_GPS_RESCUE
-        if (!feature(FEATURE_3D)) {
+        if (!featureConfigured(FEATURE_3D)) {
             BME(BOXGPSRESCUE);
         }
 #endif
@@ -207,7 +207,7 @@ void initActiveBoxIds(void)
     BME(BOXBEEPERON);
 
 #ifdef USE_LED_STRIP
-    if (feature(FEATURE_LED_STRIP)) {
+    if (featureConfigured(FEATURE_LED_STRIP)) {
         BME(BOXLEDLOW);
     }
 #endif
@@ -221,7 +221,7 @@ void initActiveBoxIds(void)
 
     BME(BOXFPVANGLEMIX);
 
-    if (feature(FEATURE_3D)) {
+    if (featureConfigured(FEATURE_3D)) {
         BME(BOX3D);
     }
 
@@ -229,18 +229,18 @@ void initActiveBoxIds(void)
         BME(BOXFLIPOVERAFTERCRASH);
     }
 
-    if (feature(FEATURE_SERVO_TILT)) {
+    if (featureConfigured(FEATURE_SERVO_TILT)) {
         BME(BOXCAMSTAB);
     }
 
-    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
+    if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
         BME(BOXCALIB);
     }
 
     BME(BOXOSD);
 
 #ifdef USE_TELEMETRY
-    if (feature(FEATURE_TELEMETRY)) {
+    if (featureConfigured(FEATURE_TELEMETRY)) {
         BME(BOXTELEMETRY);
     }
 #endif
diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c
index 6513594477..b663985736 100644
--- a/src/main/io/beeper.c
+++ b/src/main/io/beeper.c
@@ -384,7 +384,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
     if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
         beeper(BEEPER_RX_SET);
 #ifdef USE_GPS
-    } else if (feature(FEATURE_GPS) && IS_RC_MODE_ACTIVE(BOXBEEPGPSCOUNT)) {
+    } else if (featureConfigured(FEATURE_GPS) && IS_RC_MODE_ACTIVE(BOXBEEPGPSCOUNT)) {
         beeperGpsStatus();
 #endif
     }
diff --git a/src/main/io/dashboard.c b/src/main/io/dashboard.c
index 20abe2a8e3..eb560363a4 100644
--- a/src/main/io/dashboard.c
+++ b/src/main/io/dashboard.c
@@ -357,7 +357,7 @@ static void showProfilePage(void)
 #ifdef USE_GPS
 static void showGpsPage(void)
 {
-    if (!feature(FEATURE_GPS)) {
+    if (!featureConfigured(FEATURE_GPS)) {
         pageState.pageFlags |= PAGE_STATE_FLAG_FORCE_PAGE_CHANGE;
         return;
     }
diff --git a/src/main/io/gps.c b/src/main/io/gps.c
index 19c0ad0447..2d1aa4ffd9 100644
--- a/src/main/io/gps.c
+++ b/src/main/io/gps.c
@@ -1214,7 +1214,7 @@ static void gpsHandlePassthrough(uint8_t data)
 {
      gpsNewData(data);
  #ifdef USE_DASHBOARD
-     if (feature(FEATURE_DASHBOARD)) {
+     if (featureConfigured(FEATURE_DASHBOARD)) {
          dashboardUpdate(micros());
      }
  #endif
@@ -1230,7 +1230,7 @@ void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
         serialSetMode(gpsPort, gpsPort->mode | MODE_TX);
 
 #ifdef USE_DASHBOARD
-    if (feature(FEATURE_DASHBOARD)) {
+    if (featureConfigured(FEATURE_DASHBOARD)) {
         dashboardShowFixedPage(PAGE_GPS);
     }
 #endif
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 42de3f40bf..0a9d98d121 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -788,7 +788,7 @@ static bool osdDrawSingleElement(uint8_t item)
 
 #ifdef USE_ESC_SENSOR
             // Show warning if we lose motor output, the ESC is overheating or excessive current draw
-            if (feature(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
+            if (featureConfigured(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
                 char escWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
                 unsigned pos = 0;
                 
@@ -956,13 +956,13 @@ static bool osdDrawSingleElement(uint8_t item)
 
 #ifdef USE_ESC_SENSOR
     case OSD_ESC_TMP:
-        if (feature(FEATURE_ESC_SENSOR)) {
+        if (featureConfigured(FEATURE_ESC_SENSOR)) {
             tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(escDataCombined->temperature * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
         }
         break;
 
     case OSD_ESC_RPM:
-        if (feature(FEATURE_ESC_SENSOR)) {
+        if (featureConfigured(FEATURE_ESC_SENSOR)) {
             tfp_sprintf(buff, "%5d", escDataCombined == NULL ? 0 : calcEscRpm(escDataCombined->rpm));
         }
         break;
@@ -1040,7 +1040,7 @@ static void osdDrawElements(void)
 #endif // GPS
 
 #ifdef USE_ESC_SENSOR
-    if (feature(FEATURE_ESC_SENSOR)) {
+    if (featureConfigured(FEATURE_ESC_SENSOR)) {
         osdDrawSingleElement(OSD_ESC_TMP);
         osdDrawSingleElement(OSD_ESC_RPM);
     }
@@ -1226,7 +1226,7 @@ void osdUpdateAlarms(void)
     }
 
 #ifdef USE_ESC_SENSOR
-    if (feature(FEATURE_ESC_SENSOR)) {
+    if (featureConfigured(FEATURE_ESC_SENSOR)) {
         // This works because the combined ESC data contains the maximum temperature seen amongst all ESCs
         if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF && escDataCombined->temperature >= osdConfig()->esc_temp_alarm) {
             SET_BLINK(OSD_ESC_TMP);
@@ -1560,7 +1560,7 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
     blinkState = (currentTimeUs / 200000) % 2;
 
 #ifdef USE_ESC_SENSOR
-    if (feature(FEATURE_ESC_SENSOR)) {
+    if (featureConfigured(FEATURE_ESC_SENSOR)) {
         escDataCombined = getEscSensorData(ESC_SENSOR_COMBINED);
     }
 #endif
diff --git a/src/main/io/vtx_rtc6705.c b/src/main/io/vtx_rtc6705.c
index 5ea31f169f..6433aeffcc 100644
--- a/src/main/io/vtx_rtc6705.c
+++ b/src/main/io/vtx_rtc6705.c
@@ -72,7 +72,7 @@ bool vtxRTC6705Init(void)
 bool vtxRTC6705CanUpdate(void)
 {
 #if defined(MAX7456_SPI_INSTANCE) && defined(RTC6705_SPI_INSTANCE) && defined(SPI_SHARED_MAX7456_AND_RTC6705)
-    if (feature(FEATURE_OSD)) {
+    if (featureConfigured(FEATURE_OSD)) {
         return !max7456DmaInProgress();
     }
 #endif
diff --git a/src/main/osd_slave/osd_slave_init.c b/src/main/osd_slave/osd_slave_init.c
new file mode 100644
index 0000000000..2a37ec4b42
--- /dev/null
+++ b/src/main/osd_slave/osd_slave_init.c
@@ -0,0 +1,308 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#include "blackbox/blackbox.h"
+
+#include "common/axis.h"
+#include "common/color.h"
+#include "common/maths.h"
+#include "common/printf.h"
+
+#include "config/config_eeprom.h"
+#include "config/feature.h"
+
+#include "drivers/adc.h"
+#include "drivers/bus.h"
+#include "drivers/bus_i2c.h"
+#include "drivers/bus_spi.h"
+#include "drivers/dma.h"
+#include "drivers/exti.h"
+#include "drivers/inverter.h"
+#include "drivers/io.h"
+#include "drivers/light_led.h"
+#include "drivers/nvic.h"
+#include "drivers/sensor.h"
+#include "drivers/serial.h"
+#include "drivers/serial_softserial.h"
+#include "drivers/serial_uart.h"
+#include "drivers/sound_beeper.h"
+#include "drivers/system.h"
+#include "drivers/time.h"
+#include "drivers/timer.h"
+#include "drivers/transponder_ir.h"
+#include "drivers/usb_io.h"
+
+#include "fc/config.h"
+#include "fc/rc_controls.h"
+#include "fc/fc_tasks.h"
+#include "fc/runtime_config.h"
+
+#include "interface/cli.h"
+#include "interface/msp.h"
+
+#include "msp/msp_serial.h"
+
+#include "io/beeper.h"
+#include "io/displayport_max7456.h"
+#include "io/flashfs.h"
+#include "io/ledstrip.h"
+#include "io/osd_slave.h"
+#include "io/serial.h"
+#include "io/transponder_ir.h"
+
+#include "osd_slave/osd_slave_init.h"
+
+#include "pg/adc.h"
+#include "pg/bus_i2c.h"
+#include "pg/bus_spi.h"
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+#include "pg/vcd.h"
+
+#include "scheduler/scheduler.h"
+
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/battery.h"
+
+#ifdef USE_HARDWARE_REVISION_DETECTION
+#include "hardware_revision.h"
+#endif
+
+#include "build/build_config.h"
+#include "build/debug.h"
+
+#ifdef TARGET_PREINIT
+void targetPreInit(void);
+#endif
+
+uint8_t systemState = SYSTEM_STATE_INITIALISING;
+
+void processLoopback(void)
+{
+}
+
+
+#ifdef BUS_SWITCH_PIN
+void busSwitchInit(void)
+{
+static IO_t busSwitchResetPin        = IO_NONE;
+
+    busSwitchResetPin = IOGetByTag(IO_TAG(BUS_SWITCH_PIN));
+    IOInit(busSwitchResetPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(busSwitchResetPin, IOCFG_OUT_PP);
+
+    // ENABLE
+    IOLo(busSwitchResetPin);
+}
+#endif
+
+void init(void)
+{
+#ifdef USE_HAL_DRIVER
+    HAL_Init();
+#endif
+
+    printfSupportInit();
+
+    systemInit();
+
+    // initialize IO (needed for all IO operations)
+    IOInitGlobal();
+
+#ifdef USE_HARDWARE_REVISION_DETECTION
+    detectHardwareRevision();
+#endif
+
+    initEEPROM();
+
+    ensureEEPROMStructureIsValid();
+    readEEPROM();
+
+    systemState |= SYSTEM_STATE_CONFIG_LOADED;
+
+    debugMode = systemConfig()->debug_mode;
+
+    // Latch active features to be used for featureConfigured() in the remainder of init().
+    latchActiveFeatures();
+
+#ifdef TARGET_PREINIT
+    targetPreInit();
+#endif
+
+    ledInit(statusLedConfig());
+    LED2_ON;
+
+#ifdef USE_EXTI
+    EXTIInit();
+#endif
+
+    delay(100);
+
+    timerInit();  // timer must be initialized before any channel is allocated
+
+#ifdef BUS_SWITCH_PIN
+    busSwitchInit();
+#endif
+
+#if defined(USE_UART) && !defined(SIMULATOR_BUILD)
+    uartPinConfigure(serialPinConfig());
+#endif
+
+    serialInit(false, SERIAL_PORT_NONE);
+
+#ifdef USE_BEEPER
+    beeperInit(beeperDevConfig());
+#endif
+/* temp until PGs are implemented. */
+#ifdef USE_INVERTER
+    initInverters();
+#endif
+
+#ifdef TARGET_BUS_INIT
+    targetBusInit();
+#else
+
+#ifdef USE_SPI
+    spiPinConfigure(spiPinConfig(0));
+
+    // Initialize CS lines and keep them high
+    spiPreInit();
+
+#ifdef USE_SPI_DEVICE_1
+    spiInit(SPIDEV_1);
+#endif
+#ifdef USE_SPI_DEVICE_2
+    spiInit(SPIDEV_2);
+#endif
+#ifdef USE_SPI_DEVICE_3
+    spiInit(SPIDEV_3);
+#endif
+#ifdef USE_SPI_DEVICE_4
+    spiInit(SPIDEV_4);
+#endif
+#endif /* USE_SPI */
+
+#ifdef USE_I2C
+    i2cHardwareConfigure(i2cConfig(0));
+
+    // Note: Unlike UARTs which are configured when client is present,
+    // I2C buses are initialized unconditionally if they are configured.
+
+#ifdef USE_I2C_DEVICE_1
+    i2cInit(I2CDEV_1);
+#endif
+#ifdef USE_I2C_DEVICE_2
+    i2cInit(I2CDEV_2);
+#endif
+#ifdef USE_I2C_DEVICE_3
+    i2cInit(I2CDEV_3);
+#endif
+#ifdef USE_I2C_DEVICE_4
+    i2cInit(I2CDEV_4);
+#endif
+#endif /* USE_I2C */
+
+#endif /* TARGET_BUS_INIT */
+
+#ifdef USE_HARDWARE_REVISION_DETECTION
+    updateHardwareRevision();
+#endif
+
+#ifdef USE_ADC
+    adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
+    adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
+
+    adcConfigMutable()->rssi.enabled = featureConfigured(FEATURE_RSSI_ADC);
+    adcInit(adcConfig());
+#endif
+
+    LED1_ON;
+    LED0_OFF;
+    LED2_OFF;
+
+    for (int i = 0; i < 10; i++) {
+        LED1_TOGGLE;
+        LED0_TOGGLE;
+#if defined(USE_BEEPER)
+        delay(25);
+        if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_SYSTEM_INIT))) BEEP_ON;
+        delay(25);
+        BEEP_OFF;
+#else
+        delay(50);
+#endif
+    }
+    LED0_OFF;
+    LED1_OFF;
+
+    mspInit();
+    mspSerialInit();
+
+#ifdef USE_CLI
+    cliInit(serialConfig());
+#endif
+
+    displayPort_t *osdDisplayPort = NULL;
+
+#if defined(USE_MAX7456)
+    // If there is a max7456 chip for the OSD then use it
+    osdDisplayPort = max7456DisplayPortInit(vcdProfile());
+    // osdInit  will register with CMS by itself.
+    osdSlaveInit(osdDisplayPort);
+#endif
+
+#ifdef USE_LED_STRIP
+    ledStripInit();
+
+    if (featureConfigured(FEATURE_LED_STRIP)) {
+        ledStripEnable();
+    }
+#endif
+
+#ifdef USE_USB_DETECT
+    usbCableDetectInit();
+#endif
+
+#ifdef USE_TRANSPONDER
+    if (featureConfigured(FEATURE_TRANSPONDER)) {
+        transponderInit();
+        transponderStartRepeating();
+        systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
+    }
+#endif
+
+    timerStart();
+
+    batteryInit();
+
+    // Latch active features AGAIN since some may be modified by init().
+    latchActiveFeatures();
+
+    fcTasksInit();
+
+    systemState |= SYSTEM_STATE_READY;
+}
diff --git a/src/main/rx/cc2500_frsky_d.c b/src/main/rx/cc2500_frsky_d.c
index 52aaa95e63..ab49cff4cf 100644
--- a/src/main/rx/cc2500_frsky_d.c
+++ b/src/main/rx/cc2500_frsky_d.c
@@ -305,7 +305,7 @@ rx_spi_received_e frSkyDHandlePacket(uint8_t * const packet, uint8_t * const pro
 void frSkyDInit(void)
 {
 #if defined(USE_RX_FRSKY_SPI_TELEMETRY) && defined(USE_TELEMETRY_FRSKY_HUB)
-    if (feature(FEATURE_TELEMETRY)) {
+    if (featureConfigured(FEATURE_TELEMETRY)) {
         telemetryEnabled = initFrSkyHubTelemetryExternal(frSkyDTelemetryWriteByte);
     }
 #endif
diff --git a/src/main/rx/cc2500_frsky_x.c b/src/main/rx/cc2500_frsky_x.c
index f37da6967c..ca9432db13 100644
--- a/src/main/rx/cc2500_frsky_x.c
+++ b/src/main/rx/cc2500_frsky_x.c
@@ -543,7 +543,7 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
 void frSkyXInit(void)
 {
 #if defined(USE_TELEMETRY_SMARTPORT)
-     if (feature(FEATURE_TELEMETRY)) {
+     if (featureConfigured(FEATURE_TELEMETRY)) {
          telemetryEnabled = initSmartPortTelemetryExternal(frSkyXTelemetryWriteFrame);
      }
 #endif
diff --git a/src/main/rx/pwm.c b/src/main/rx/pwm.c
index 356752797f..d85fc32783 100644
--- a/src/main/rx/pwm.c
+++ b/src/main/rx/pwm.c
@@ -60,10 +60,10 @@ void rxPwmInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
     rxRuntimeConfig->rxRefreshRate = 20000;
 
     // configure PWM/CPPM read function and max number of channels. serial rx below will override both of these, if enabled
-    if (feature(FEATURE_RX_PARALLEL_PWM)) {
+    if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
         rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT;
         rxRuntimeConfig->rcReadRawFn = pwmReadRawRC;
-    } else if (feature(FEATURE_RX_PPM)) {
+    } else if (featureConfigured(FEATURE_RX_PPM)) {
         rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT;
         rxRuntimeConfig->rcReadRawFn = ppmReadRawRC;
     }
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index 347881a54c..8d595a9d55 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -248,7 +248,7 @@ void rxInit(void)
         rcInvalidPulsPeriod[i] = millis() + MAX_INVALID_PULS_TIME;
     }
 
-    rcData[THROTTLE] = (feature(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
+    rcData[THROTTLE] = (featureConfigured(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
 
     // Initialize ARM switch to OFF position when arming via switch is defined
     // TODO - move to rc_mode.c
@@ -268,10 +268,9 @@ void rxInit(void)
     }
 
 #ifdef USE_SERIAL_RX
-    if (feature(FEATURE_RX_SERIAL)) {
+    if (featureConfigured(FEATURE_RX_SERIAL)) {
         const bool enabled = serialRxInit(rxConfig(), &rxRuntimeConfig);
         if (!enabled) {
-            featureClear(FEATURE_RX_SERIAL);
             rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
             rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus;
         }
@@ -279,17 +278,16 @@ void rxInit(void)
 #endif
 
 #ifdef USE_RX_MSP
-    if (feature(FEATURE_RX_MSP)) {
+    if (featureConfigured(FEATURE_RX_MSP)) {
         rxMspInit(rxConfig(), &rxRuntimeConfig);
         needRxSignalMaxDelayUs = DELAY_5_HZ;
     }
 #endif
 
 #ifdef USE_RX_SPI
-    if (feature(FEATURE_RX_SPI)) {
+    if (featureConfigured(FEATURE_RX_SPI)) {
         const bool enabled = rxSpiInit(rxSpiConfig(), &rxRuntimeConfig);
         if (!enabled) {
-            featureClear(FEATURE_RX_SPI);
             rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
             rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus;
         }
@@ -297,13 +295,13 @@ void rxInit(void)
 #endif
 
 #if defined(USE_PWM) || defined(USE_PPM)
-    if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
+    if (featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
         rxPwmInit(rxConfig(), &rxRuntimeConfig);
     }
 #endif
 
 #if defined(USE_ADC)
-    if (feature(FEATURE_RSSI_ADC)) {
+    if (featureConfigured(FEATURE_RSSI_ADC)) {
         rssiSource = RSSI_SOURCE_ADC;
     } else
 #endif
@@ -346,14 +344,14 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
     bool useDataDrivenProcessing = true;
 
 #if defined(USE_PWM) || defined(USE_PPM)
-    if (feature(FEATURE_RX_PPM)) {
+    if (featureConfigured(FEATURE_RX_PPM)) {
         if (isPPMDataBeingReceived()) {
             signalReceived = true;
             rxIsInFailsafeMode = false;
             needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
             resetPPMDataReceivedState();
         }
-    } else if (feature(FEATURE_RX_PARALLEL_PWM)) {
+    } else if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
         if (isPWMDataBeingReceived()) {
             signalReceived = true;
             rxIsInFailsafeMode = false;
@@ -437,7 +435,7 @@ static uint16_t getRxfailValue(uint8_t channel)
         case YAW:
             return rxConfig()->midrc;
         case THROTTLE:
-            if (feature(FEATURE_3D))
+            if (featureConfigured(FEATURE_3D))
                 return rxConfig()->midrc;
             else
                 return rxConfig()->rx_min_usec;
@@ -512,7 +510,7 @@ static void detectAndApplySignalLossBehaviour(void)
                 }
             }
         }
-        if (feature(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
+        if (featureConfigured(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
             // smooth output for PWM and PPM
             rcData[channel] = calculateChannelMovingAverage(channel, sample);
         } else {
diff --git a/src/main/rx/spektrum.c b/src/main/rx/spektrum.c
index 9045b68631..79075ca69a 100644
--- a/src/main/rx/spektrum.c
+++ b/src/main/rx/spektrum.c
@@ -238,7 +238,7 @@ void spektrumBind(rxConfig_t *rxConfig)
         switch (rxConfig->serialrx_provider) {
         case SERIALRX_SRXL:
 #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
-            if (feature(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
+            if (featureConfigured(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
                 bindPin = txPin;
             }
             break;
@@ -322,7 +322,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
     switch (rxConfig->serialrx_provider) {
     case SERIALRX_SRXL:
 #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
-        srxlEnabled = (feature(FEATURE_TELEMETRY) && !portShared);
+        srxlEnabled = (featureConfigured(FEATURE_TELEMETRY) && !portShared);
         FALLTHROUGH;
 #endif
     case SERIALRX_SPEKTRUM2048:
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 882fbccd12..a3479d30bd 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -528,7 +528,7 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
         performAcclerationCalibration(rollAndPitchTrims);
     }
 
-    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
+    if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
         performInflightAccelerationCalibration(rollAndPitchTrims);
     }
 
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 28c86d7e4e..d2170d80b2 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -121,7 +121,7 @@ void batteryUpdateVoltage(timeUs_t currentTimeUs)
     switch (batteryConfig()->voltageMeterSource) {
 #ifdef USE_ESC_SENSOR
         case VOLTAGE_METER_ESC:
-            if (feature(FEATURE_ESC_SENSOR)) {
+            if (featureConfigured(FEATURE_ESC_SENSOR)) {
                 voltageMeterESCRefresh();
                 voltageMeterESCReadCombined(&voltageMeter);
             }
@@ -399,7 +399,7 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
         case CURRENT_METER_VIRTUAL: {
 #ifdef USE_VIRTUAL_CURRENT_METER
             throttleStatus_e throttleStatus = calculateThrottleStatus();
-            bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP));
+            bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP));
             int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
 
             currentMeterVirtualRefresh(lastUpdateAt, ARMING_FLAG(ARMED), throttleLowAndMotorStop, throttleOffset);
@@ -410,7 +410,7 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
 
         case CURRENT_METER_ESC:
 #ifdef USE_ESC_SENSOR
-            if (feature(FEATURE_ESC_SENSOR)) {
+            if (featureConfigured(FEATURE_ESC_SENSOR)) {
                 currentMeterESCRefresh(lastUpdateAt);
                 currentMeterESCReadCombined(&currentMeter);
             }
diff --git a/src/main/sensors/esc_sensor.c b/src/main/sensors/esc_sensor.c
index 958fc43f53..7ada2bd594 100644
--- a/src/main/sensors/esc_sensor.c
+++ b/src/main/sensors/esc_sensor.c
@@ -148,7 +148,7 @@ bool isEscSensorActive(void)
 
 escSensorData_t *getEscSensorData(uint8_t motorNumber)
 {
-    if (!feature(FEATURE_ESC_SENSOR)) {
+    if (!featureConfigured(FEATURE_ESC_SENSOR)) {
         return NULL;
     }
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 427720bcd7..bb18fa3a0b 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -744,7 +744,7 @@ static void gyroInitFilterNotch2(gyroSensor_t *gyroSensor, uint16_t notchHz, uin
 #ifdef USE_GYRO_DATA_ANALYSE
 static bool isDynamicFilterActive(void)
 {
-    return feature(FEATURE_DYNAMIC_FILTER);
+    return featureConfigured(FEATURE_DYNAMIC_FILTER);
 }
 
 static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
diff --git a/src/main/target/BLUEJAYF4/initialisation.c b/src/main/target/BLUEJAYF4/initialisation.c
index 2ee012a2ce..fb746befc3 100644
--- a/src/main/target/BLUEJAYF4/initialisation.c
+++ b/src/main/target/BLUEJAYF4/initialisation.c
@@ -56,7 +56,7 @@ void targetPreInit(void)
     serialPortConfig_t *portConfig = serialFindPortConfiguration(SERIAL_PORT_USART1);
     if (portConfig) {
         bool smartportEnabled = (portConfig->functionMask & FUNCTION_TELEMETRY_SMARTPORT);
-        if (smartportEnabled && (!telemetryConfig()->telemetry_inverted) && (feature(FEATURE_TELEMETRY))) {
+        if (smartportEnabled && (!telemetryConfig()->telemetry_inverted) && (featureConfigured(FEATURE_TELEMETRY))) {
             high = true;
         }
     }
diff --git a/src/main/target/SITL/target.c b/src/main/target/SITL/target.c
index 6b39529f97..7b3efd45f8 100644
--- a/src/main/target/SITL/target.c
+++ b/src/main/target/SITL/target.c
@@ -436,7 +436,7 @@ void pwmCompleteMotorUpdate(uint8_t motorCount) {
     // for gazebo8 ArduCopterPlugin remap, normal range = [0.0, 1.0], 3D rang = [-1.0, 1.0]
 
     double outScale = 1000.0;
-    if (feature(FEATURE_3D)) {
+    if (featureConfigured(FEATURE_3D)) {
         outScale = 500.0;
     }
 
diff --git a/src/main/telemetry/crsf.c b/src/main/telemetry/crsf.c
index 6f9fd09254..68fab96b7a 100644
--- a/src/main/telemetry/crsf.c
+++ b/src/main/telemetry/crsf.c
@@ -445,7 +445,7 @@ void initCrsfTelemetry(void)
         crsfSchedule[index++] = BV(CRSF_FRAME_BATTERY_SENSOR_INDEX);
     }
     crsfSchedule[index++] = BV(CRSF_FRAME_FLIGHT_MODE_INDEX);
-    if (feature(FEATURE_GPS)) {
+    if (featureConfigured(FEATURE_GPS)) {
         crsfSchedule[index++] = BV(CRSF_FRAME_GPS_INDEX);
     }
     crsfScheduleCount = (uint8_t)index;
diff --git a/src/main/telemetry/frsky_hub.c b/src/main/telemetry/frsky_hub.c
index bc4ef15acc..2adfec3c5f 100644
--- a/src/main/telemetry/frsky_hub.c
+++ b/src/main/telemetry/frsky_hub.c
@@ -193,7 +193,7 @@ static void sendThrottleOrBatterySizeAsRpm(void)
     if (ARMING_FLAG(ARMED)) {
         const throttleStatus_e throttleStatus = calculateThrottleStatus();
         uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
-        if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP)) {
+        if (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP)) {
             throttleForRPM = 0;
         }
         data = throttleForRPM;
diff --git a/src/main/telemetry/ibus_shared.c b/src/main/telemetry/ibus_shared.c
index 38481bc181..a76197ea04 100644
--- a/src/main/telemetry/ibus_shared.c
+++ b/src/main/telemetry/ibus_shared.c
@@ -228,7 +228,7 @@ static uint16_t getRPM()
     if (ARMING_FLAG(ARMED)) {
         const throttleStatus_e throttleStatus = calculateThrottleStatus();
         rpm = rcCommand[THROTTLE];  // / BLADE_NUMBER_DIVIDER;
-        if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP)) rpm = 0;
+        if (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP)) rpm = 0;
     } else {
         rpm = (uint16_t)(batteryConfig()->batteryCapacity); //  / BLADE_NUMBER_DIVIDER
     }
diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c
index 1b7ceabb87..b5a21b232e 100644
--- a/src/main/telemetry/smartport.c
+++ b/src/main/telemetry/smartport.c
@@ -318,7 +318,7 @@ static void smartPortSendPackage(uint16_t id, uint32_t val)
 }
 
 static bool reportExtendedEscSensors(void) {
-    return feature(FEATURE_ESC_SENSOR) && telemetryConfig()->smartport_use_extra_sensors;
+    return featureConfigured(FEATURE_ESC_SENSOR) && telemetryConfig()->smartport_use_extra_sensors;
 }
 
 #define ADD_SENSOR(dataId) frSkyDataIdTableInfo.table[frSkyDataIdTableInfo.index++] = dataId
@@ -332,7 +332,7 @@ static void initSmartPortSensors(void)
 
     if (isBatteryVoltageConfigured()) {
 #ifdef USE_ESC_SENSOR
-        if (!reportExtendedEscSensors())
+        if (!featureConfigured(FEATURE_ESC_SENSOR)) {
 #endif
         {
             ADD_SENSOR(FSSP_DATAID_VFAS);
@@ -365,7 +365,7 @@ static void initSmartPortSensors(void)
     }
 
 #ifdef USE_GPS
-    if (feature(FEATURE_GPS)) {
+    if (featureConfigured(FEATURE_GPS)) {
         ADD_SENSOR(FSSP_DATAID_SPEED);
         ADD_SENSOR(FSSP_DATAID_LATLONG);
         ADD_SENSOR(FSSP_DATAID_LATLONG); // twice (one for lat, one for long)
@@ -719,7 +719,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
                     // provide GPS lock status
                     smartPortSendPackage(id, (STATE(GPS_FIX) ? 1000 : 0) + (STATE(GPS_FIX_HOME) ? 2000 : 0) + gpsSol.numSat);
                     *clearToSend = false;
-                } else if (feature(FEATURE_GPS)) {
+                } else if (featureConfigured(FEATURE_GPS)) {
                     smartPortSendPackage(id, 0);
                     *clearToSend = false;
                 } else