diff --git a/baseflight.uvopt b/baseflight.uvopt
index cee4e59af1..637b26d3e3 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -24,250 +24,6 @@
     <TargetName>STM32</TargetName>
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
-    <TargetOption>
-      <CLKADS>8000000</CLKADS>
-      <OPTTT>
-        <gFlags>1</gFlags>
-        <BeepAtEnd>1</BeepAtEnd>
-        <RunSim>1</RunSim>
-        <RunTarget>0</RunTarget>
-      </OPTTT>
-      <OPTHX>
-        <HexSelection>1</HexSelection>
-        <FlashByte>65535</FlashByte>
-        <HexRangeLowAddress>0</HexRangeLowAddress>
-        <HexRangeHighAddress>0</HexRangeHighAddress>
-        <HexOffset>0</HexOffset>
-      </OPTHX>
-      <OPTLEX>
-        <PageWidth>79</PageWidth>
-        <PageLength>66</PageLength>
-        <TabStop>8</TabStop>
-        <ListingPath>.\obj\</ListingPath>
-      </OPTLEX>
-      <ListingPage>
-        <CreateCListing>1</CreateCListing>
-        <CreateAListing>1</CreateAListing>
-        <CreateLListing>1</CreateLListing>
-        <CreateIListing>0</CreateIListing>
-        <AsmCond>1</AsmCond>
-        <AsmSymb>1</AsmSymb>
-        <AsmXref>0</AsmXref>
-        <CCond>1</CCond>
-        <CCode>0</CCode>
-        <CListInc>0</CListInc>
-        <CSymb>0</CSymb>
-        <LinkerCodeListing>0</LinkerCodeListing>
-      </ListingPage>
-      <OPTXL>
-        <LMap>1</LMap>
-        <LComments>1</LComments>
-        <LGenerateSymbols>1</LGenerateSymbols>
-        <LLibSym>1</LLibSym>
-        <LLines>1</LLines>
-        <LLocSym>1</LLocSym>
-        <LPubSym>1</LPubSym>
-        <LXref>0</LXref>
-        <LExpSel>0</LExpSel>
-      </OPTXL>
-      <OPTFL>
-        <tvExp>1</tvExp>
-        <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
-      </OPTFL>
-      <CpuCode>255</CpuCode>
-      <Books>
-        <Book>
-          <Number>0</Number>
-          <Title>Reference Manual</Title>
-          <Path>DATASHTS\ST\STM32F10xxx.PDF</Path>
-        </Book>
-      </Books>
-      <DllOpt>
-        <SimDllName>SARMCM3.DLL</SimDllName>
-        <SimDllArguments></SimDllArguments>
-        <SimDlgDllName>DARMSTM.DLL</SimDlgDllName>
-        <SimDlgDllArguments>-pSTM32F103C8</SimDlgDllArguments>
-        <TargetDllName>SARMCM3.DLL</TargetDllName>
-        <TargetDllArguments></TargetDllArguments>
-        <TargetDlgDllName>TARMSTM.DLL</TargetDlgDllName>
-        <TargetDlgDllArguments>-pSTM32F103C8</TargetDlgDllArguments>
-      </DllOpt>
-      <DebugOpt>
-        <uSim>0</uSim>
-        <uTrg>1</uTrg>
-        <sLdApp>1</sLdApp>
-        <sGomain>1</sGomain>
-        <sRbreak>1</sRbreak>
-        <sRwatch>1</sRwatch>
-        <sRmem>1</sRmem>
-        <sRfunc>1</sRfunc>
-        <sRbox>1</sRbox>
-        <tLdApp>1</tLdApp>
-        <tGomain>1</tGomain>
-        <tRbreak>1</tRbreak>
-        <tRwatch>1</tRwatch>
-        <tRmem>1</tRmem>
-        <tRfunc>0</tRfunc>
-        <tRbox>1</tRbox>
-        <sRunDeb>0</sRunDeb>
-        <sLrtime>0</sLrtime>
-        <nTsel>1</nTsel>
-        <sDll></sDll>
-        <sDllPa></sDllPa>
-        <sDlgDll></sDlgDll>
-        <sDlgPa></sDlgPa>
-        <sIfile></sIfile>
-        <tDll></tDll>
-        <tDllPa></tDllPa>
-        <tDlgDll></tDlgDll>
-        <tDlgPa></tDlgPa>
-        <tIfile></tIfile>
-        <pMon>BIN\UL2CM3.DLL</pMon>
-      </DebugOpt>
-      <TargetDriverDllRegistry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ST-LINKIII-KEIL</Key>
-          <Name>-S</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>DLGTARM</Key>
-          <Name>(1010=333,106,699,649,0)(1007=-1,-1,-1,-1,0)(1008=90,117,456,339,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=-1,-1,-1,-1,0)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=582,118,1166,798,0)(131=549,135,1133,815,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=791,309,1258,816,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=570,175,1163,795,0)(151=-1,-1,-1,-1,0)</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ARMDBGFLAGS</Key>
-          <Name></Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>DLGUARM</Key>
-          <Name>(105=-1,-1,-1,-1,0)(106=-1,-1,-1,-1,0)(107=-1,-1,-1,-1,0)</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>JL2CM3</Key>
-          <Name>-U5800306 -O110 -S8 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO2 -TC72000000 -TP21 -TDS800B -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO11 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>UL2CM3</Key>
-          <Name>-UV0168AVR -O206 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC72000000 -TP21 -TDS803D -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO11 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000</Name>
-        </SetRegEntry>
-      </TargetDriverDllRegistry>
-      <Breakpoint>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>309</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134244448</Address>
-          <ByteObject>0</ByteObject>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename></Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\baseflight\src/drv_pwm.c\309</Expression>
-        </Bp>
-      </Breakpoint>
-      <WatchWindow1>
-        <Ww>
-          <count>0</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>cycleTime,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>1</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>Inputs
-</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>Inputs
-</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>rcData,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>incoming</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>dmpdata
-</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>dmpdata</ItemText>
-        </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>dmp_fifoCountL</ItemText>
-        </Ww>
-      </WatchWindow1>
-      <MemoryWindow1>
-        <Mm>
-          <WinNumber>1</WinNumber>
-          <SubType>0</SubType>
-          <ItemText>20000000</ItemText>
-        </Mm>
-      </MemoryWindow1>
-      <MemoryWindow2>
-        <Mm>
-          <WinNumber>2</WinNumber>
-          <SubType>0</SubType>
-          <ItemText>\\baseflight\sensors.c\maginv</ItemText>
-        </Mm>
-      </MemoryWindow2>
-      <DebugFlag>
-        <trace>0</trace>
-        <periodic>1</periodic>
-        <aLwin>1</aLwin>
-        <aCover>0</aCover>
-        <aSer1>0</aSer1>
-        <aSer2>0</aSer2>
-        <aPa>0</aPa>
-        <viewmode>1</viewmode>
-        <vrSel>0</vrSel>
-        <aSym>0</aSym>
-        <aTbox>0</aTbox>
-        <AscS1>0</AscS1>
-        <AscS2>0</AscS2>
-        <AscS3>0</AscS3>
-        <aSer3>0</aSer3>
-        <eProf>0</eProf>
-        <aLa>0</aLa>
-        <aPa1>0</aPa1>
-        <AscS4>0</AscS4>
-        <aSer4>0</aSer4>
-        <StkLoc>0</StkLoc>
-        <TrcWin>0</TrcWin>
-        <newCpu>0</newCpu>
-        <uProt>0</uProt>
-      </DebugFlag>
-      <LintExecutable></LintExecutable>
-      <LintConfigFile></LintConfigFile>
-    </TargetOption>
-  </Target>
-
-  <Target>
-    <TargetName>STM32-Release</TargetName>
-    <ToolsetNumber>0x4</ToolsetNumber>
-    <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
       <CLKADS>8000000</CLKADS>
       <OPTTT>
@@ -369,6 +125,253 @@
         <tIfile></tIfile>
         <pMon>BIN\UL2CM3.DLL</pMon>
       </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL</Key>
+          <Name>-S</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=333,106,699,649,0)(1007=-1,-1,-1,-1,0)(1008=90,117,456,339,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=-1,-1,-1,-1,0)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=582,118,1166,798,0)(131=549,135,1133,815,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=791,309,1258,816,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=570,175,1163,795,0)(151=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)(106=-1,-1,-1,-1,0)(107=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>JL2CM3</Key>
+          <Name>-U5800306 -O110 -S8 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO2 -TC72000000 -TP21 -TDS800B -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO11 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>-UV0168AVR -O206 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC72000000 -TP21 -TDS803D -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO11 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cycleTime,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Inputs
+</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Inputs
+</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rcData,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>incoming</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dmpdata
+</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dmpdata</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dmp_fifoCountL</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>smallAngle25</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>accSmooth,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>accADC,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>acc_samples</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>20000000</ItemText>
+        </Mm>
+      </MemoryWindow1>
+      <MemoryWindow2>
+        <Mm>
+          <WinNumber>2</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>\\baseflight\sensors.c\maginv</ItemText>
+        </Mm>
+      </MemoryWindow2>
+      <DebugFlag>
+        <trace>0</trace>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
+        <aCover>0</aCover>
+        <aSer1>0</aSer1>
+        <aSer2>0</aSer2>
+        <aPa>0</aPa>
+        <viewmode>1</viewmode>
+        <vrSel>0</vrSel>
+        <aSym>0</aSym>
+        <aTbox>0</aTbox>
+        <AscS1>0</AscS1>
+        <AscS2>0</AscS2>
+        <AscS3>0</AscS3>
+        <aSer3>0</aSer3>
+        <eProf>0</eProf>
+        <aLa>0</aLa>
+        <aPa1>0</aPa1>
+        <AscS4>0</AscS4>
+        <aSer4>0</aSer4>
+        <StkLoc>0</StkLoc>
+        <TrcWin>0</TrcWin>
+        <newCpu>0</newCpu>
+        <uProt>0</uProt>
+      </DebugFlag>
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
+    </TargetOption>
+  </Target>
+
+  <Target>
+    <TargetName>STM32-Release</TargetName>
+    <ToolsetNumber>0x4</ToolsetNumber>
+    <ToolsetName>ARM-ADS</ToolsetName>
+    <TargetOption>
+      <CLKADS>8000000</CLKADS>
+      <OPTTT>
+        <gFlags>1</gFlags>
+        <BeepAtEnd>1</BeepAtEnd>
+        <RunSim>1</RunSim>
+        <RunTarget>0</RunTarget>
+      </OPTTT>
+      <OPTHX>
+        <HexSelection>1</HexSelection>
+        <FlashByte>65535</FlashByte>
+        <HexRangeLowAddress>0</HexRangeLowAddress>
+        <HexRangeHighAddress>0</HexRangeHighAddress>
+        <HexOffset>0</HexOffset>
+      </OPTHX>
+      <OPTLEX>
+        <PageWidth>79</PageWidth>
+        <PageLength>66</PageLength>
+        <TabStop>8</TabStop>
+        <ListingPath>.\obj\</ListingPath>
+      </OPTLEX>
+      <ListingPage>
+        <CreateCListing>1</CreateCListing>
+        <CreateAListing>1</CreateAListing>
+        <CreateLListing>1</CreateLListing>
+        <CreateIListing>0</CreateIListing>
+        <AsmCond>1</AsmCond>
+        <AsmSymb>1</AsmSymb>
+        <AsmXref>0</AsmXref>
+        <CCond>1</CCond>
+        <CCode>0</CCode>
+        <CListInc>0</CListInc>
+        <CSymb>0</CSymb>
+        <LinkerCodeListing>0</LinkerCodeListing>
+      </ListingPage>
+      <OPTXL>
+        <LMap>1</LMap>
+        <LComments>1</LComments>
+        <LGenerateSymbols>1</LGenerateSymbols>
+        <LLibSym>1</LLibSym>
+        <LLines>1</LLines>
+        <LLocSym>1</LLocSym>
+        <LPubSym>1</LPubSym>
+        <LXref>0</LXref>
+        <LExpSel>0</LExpSel>
+      </OPTXL>
+      <OPTFL>
+        <tvExp>1</tvExp>
+        <tvExpOptDlg>0</tvExpOptDlg>
+        <IsCurrentTarget>0</IsCurrentTarget>
+      </OPTFL>
+      <CpuCode>255</CpuCode>
+      <Books>
+        <Book>
+          <Number>0</Number>
+          <Title>Reference Manual</Title>
+          <Path>DATASHTS\ST\STM32F10xxx.PDF</Path>
+        </Book>
+      </Books>
+      <DllOpt>
+        <SimDllName>SARMCM3.DLL</SimDllName>
+        <SimDllArguments></SimDllArguments>
+        <SimDlgDllName>DARMSTM.DLL</SimDlgDllName>
+        <SimDlgDllArguments>-pSTM32F103C8</SimDlgDllArguments>
+        <TargetDllName>SARMCM3.DLL</TargetDllName>
+        <TargetDllArguments></TargetDllArguments>
+        <TargetDlgDllName>TARMSTM.DLL</TargetDlgDllName>
+        <TargetDlgDllArguments>-pSTM32F103C8</TargetDlgDllArguments>
+      </DllOpt>
+      <DebugOpt>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
+        <sLdApp>1</sLdApp>
+        <sGomain>1</sGomain>
+        <sRbreak>1</sRbreak>
+        <sRwatch>1</sRwatch>
+        <sRmem>1</sRmem>
+        <sRfunc>1</sRfunc>
+        <sRbox>1</sRbox>
+        <tLdApp>1</tLdApp>
+        <tGomain>1</tGomain>
+        <tRbreak>1</tRbreak>
+        <tRwatch>1</tRwatch>
+        <tRmem>1</tRmem>
+        <tRfunc>0</tRfunc>
+        <tRbox>1</tRbox>
+        <sRunDeb>0</sRunDeb>
+        <sLrtime>0</sLrtime>
+        <nTsel>1</nTsel>
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
+        <pMon>BIN\UL2CM3.DLL</pMon>
+      </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
           <Number>0</Number>
@@ -412,21 +415,6 @@
           <ExecCommand></ExecCommand>
           <Expression>\\baseflight\src/spektrum.c\71</Expression>
         </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>167</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134229292</Address>
-          <ByteObject>0</ByteObject>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename></Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\baseflight\src/sensors.c\167</Expression>
-        </Bp>
       </Breakpoint>
       <WatchWindow1>
         <Ww>
@@ -507,7 +495,7 @@
       <DebugFlag>
         <trace>0</trace>
         <periodic>1</periodic>
-        <aLwin>0</aLwin>
+        <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
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@@ -546,10 +534,10 @@
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diff --git a/src/config.c b/src/config.c
index 0782c9b3a6..d8937189b7 100755
--- a/src/config.c
+++ b/src/config.c
@@ -33,10 +33,6 @@ void readEEPROM(void)
     // Read flash
     memcpy(&cfg, (char *)FLASH_WRITE_ADDR, sizeof(config_t));
 
-#if defined(POWERMETER)
-    pAlarm = (uint32_t) cfg.powerTrigger1 *(uint32_t) PLEVELSCALE *(uint32_t) PLEVELDIV;    // need to cast before multiplying
-#endif
-
     for (i = 0; i < 7; i++)
         lookupRX[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 1250;
 
@@ -116,10 +112,12 @@ void checkFirstTime(bool reset)
     }
     cfg.accTrim[0] = 0;
     cfg.accTrim[1] = 0;
+    cfg.accZero[0] = 0;
+    cfg.accZero[1] = 0;
+    cfg.accZero[2] = 0;
     cfg.acc_lpf_factor = 4;
     cfg.gyro_lpf = 42;
     cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
-    cfg.powerTrigger1 = 0;
     cfg.vbatscale = 110;
     cfg.vbatmaxcellvoltage = 43;
     cfg.vbatmincellvoltage = 33;
diff --git a/src/drv_adxl345.c b/src/drv_adxl345.c
index 58291c2f26..8ccfa6158c 100755
--- a/src/drv_adxl345.c
+++ b/src/drv_adxl345.c
@@ -3,6 +3,7 @@
 // ADXL345, Alternative address mode 0x53
 #define ADXL345_ADDRESS     0x53
 
+// Registers
 #define ADXL345_BW_RATE     0x2C
 #define ADXL345_POWER_CTL   0x2D
 #define ADXL345_INT_ENABLE  0x2E
@@ -10,16 +11,32 @@
 #define ADXL345_DATA_OUT    0x32
 #define ADXL345_FIFO_CTL    0x38
 
-#define ADXL345_BW_RATE_200 0x0B
+// BW_RATE values
+#define ADXL345_RATE_50     0x09
+#define ADXL345_RATE_100    0x0A
+#define ADXL345_RATE_200    0x0B
+#define ADXL345_RATE_400    0x0C
+#define ADXL345_RATE_800    0x0D
+#define ADXL345_RATE_1600   0x0E
+#define ADXL345_RATE_3200   0x0F
+
+// various register values
 #define ADXL345_POWER_MEAS  0x08
 #define ADXL345_FULL_RANGE  0x08
+#define ADXL345_RANGE_2G    0x00
+#define ADXL345_RANGE_4G    0x01
+#define ADXL345_RANGE_8G    0x02
 #define ADXL345_RANGE_16G   0x03
+#define ADXL345_FIFO_STREAM 0x80
+
 
 static void adxl345Init(void);
 static void adxl345Read(int16_t *accelData);
 static void adxl345Align(int16_t *accelData);
 
-bool adxl345Detect(sensor_t *acc)
+static bool useFifo = false;
+
+bool adxl345Detect(drv_adxl345_config_t *init, sensor_t *acc)
 {
     bool ack = false;
     uint8_t sig = 0;
@@ -28,48 +45,61 @@ bool adxl345Detect(sensor_t *acc)
     if (!ack || sig != 0xE5)
         return false;
 
+    // use ADXL345's fifo to filter data or not
+    useFifo = init->useFifo;
+
     acc->init = adxl345Init;
     acc->read = adxl345Read;
     acc->align = adxl345Align;
     return true;
 }
 
-#define ADXL_RATE_100      0x0A
-#define ADXL_RATE_200      0x0B
-#define ADXL_RATE_400      0x0C
-#define ADXL_RATE_800      0x0D
-#define ADXL_RATE_1600     0x0E
-#define ADXL_RATE_3200     0x0F
-#define ADXL_FULL_RES      0x08
-#define ADXL_RANGE_2G      0x00
-#define ADXL_RANGE_4G      0x01
-#define ADXL_RANGE_8G      0x02
-#define ADXL_RANGE_16G     0x03
-
 static void adxl345Init(void)
 {
-#ifdef FREEFLIGHT
-    i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_BW_RATE_200);
-    i2cWrite(ADXL345_ADDRESS, ADXL345_POWER_CTL, ADXL345_POWER_MEAS);
-    i2cWrite(ADXL345_ADDRESS, ADXL345_INT_ENABLE, 0);
-    i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_16G);
-    i2cWrite(ADXL345_ADDRESS, ADXL345_FIFO_CTL, 0);
-#else
-    // MWC defaults
-    i2cWrite(ADXL345_ADDRESS, ADXL345_POWER_CTL, 1 << 3);        //  register: Power CTRL  -- value: Set measure bit 3 on
-    i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, 0x0B);  //  register: DATA_FORMAT -- value: Set bits 3(full range) and 1 0 on (+/- 16g-range)
-    i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, 0x09);  //  register: BW_RATE     -- value: rate=50hz, bw=20hz
-#endif /* FreeFlight */
+   if (useFifo) {
+        uint8_t fifoDepth = 16;
+        i2cWrite(ADXL345_ADDRESS, ADXL345_POWER_CTL, ADXL345_POWER_MEAS);
+        i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G);
+        i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_RATE_400);
+        i2cWrite(ADXL345_ADDRESS, ADXL345_FIFO_CTL, (fifoDepth & 0x1F) | ADXL345_FIFO_STREAM);
+    } else {
+        i2cWrite(ADXL345_ADDRESS, ADXL345_POWER_CTL, ADXL345_POWER_MEAS);
+        i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G);
+        i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_RATE_100);
+    }
 }
 
+uint8_t acc_samples = 0;
+
 static void adxl345Read(int16_t *accelData)
 {
-    static uint8_t buf[6];
+    uint8_t buf[8];
 
-    i2cRead(ADXL345_ADDRESS, ADXL345_DATA_OUT, 6, buf);
-    accelData[0] = buf[0] + (buf[1] << 8);
-    accelData[1] = buf[2] + (buf[3] << 8);
-    accelData[2] = buf[4] + (buf[5] << 8);
+    if (useFifo) {
+        int32_t x = 0;
+        int32_t y = 0;
+        int32_t z = 0;
+        uint8_t i = 0;
+        uint8_t samples_remaining;
+
+        do {
+            i++;
+            i2cRead(ADXL345_ADDRESS, ADXL345_DATA_OUT, 8, buf);
+            x += (int16_t)(buf[0] + (buf[1] << 8));
+            y += (int16_t)(buf[2] + (buf[3] << 8));
+            z += (int16_t)(buf[4] + (buf[5] << 8));
+            samples_remaining = buf[7] & 0x7F;
+        } while ((i < 32) && (samples_remaining > 0));
+        accelData[0] = x / i;
+        accelData[1] = y / i;
+        accelData[2] = z / i;
+        acc_samples = i;
+    } else {
+        i2cRead(ADXL345_ADDRESS, ADXL345_DATA_OUT, 6, buf);
+        accelData[0] = buf[0] + (buf[1] << 8);
+        accelData[1] = buf[2] + (buf[3] << 8);
+        accelData[2] = buf[4] + (buf[5] << 8);
+    }
 }
 
 static void adxl345Align(int16_t *accData)
diff --git a/src/drv_adxl345.h b/src/drv_adxl345.h
index d526ba043a..564ccc4df7 100755
--- a/src/drv_adxl345.h
+++ b/src/drv_adxl345.h
@@ -1,3 +1,8 @@
 #pragma once
 
-bool adxl345Detect(sensor_t *acc);
+typedef struct drv_adxl345_config_t {
+    bool useFifo;
+    uint16_t dataRate;
+} drv_adxl345_config_t;
+
+bool adxl345Detect(drv_adxl345_config_t *init, sensor_t *acc);
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 7581f2584c..f3dde643aa 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -353,6 +353,13 @@ bool pwmInit(drv_pwm_config_t *init)
     // turn on more motor outputs if we're using ppm / not using pwm input
     if (!init->enableInput || init->usePPM) {
         // PWM 7,8,9,10
+        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
+        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+        GPIO_Init(GPIOA, &GPIO_InitStructure);
+        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
+        GPIO_Init(GPIOB, &GPIO_InitStructure);
+
         TIM_TimeBaseStructure.TIM_Period = (1000000 / init->motorPwmRate) - 1;
         TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
 
diff --git a/src/imu.c b/src/imu.c
index 85f3faf0e3..d34dfccbd5 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -246,8 +246,8 @@ void getEstimatedAltitude(void)
     static uint32_t deadLine = INIT_DELAY;
     static int16_t BaroHistTab[BARO_TAB_SIZE];
     static int8_t BaroHistIdx;
-    int32_t BaroHigh = 0;
-    int32_t BaroLow = 0;
+    static int32_t BaroHigh = 0;
+    static int32_t BaroLow = 0;
     int32_t temp32;
     int16_t last;
 
diff --git a/src/main.c b/src/main.c
index cc78f9bb78..464bd933e5 100755
--- a/src/main.c
+++ b/src/main.c
@@ -101,10 +101,6 @@ int main(void)
 
     previousTime = micros();
     calibratingG = 400;
-#if defined(POWERMETER)
-    for (i = 0; i <= PMOTOR_SUM; i++)
-        pMeter[i] = 0;
-#endif
 
     // loopy
     while (1) {
diff --git a/src/mixer.c b/src/mixer.c
index d381a38d2f..4d3abc3f58 100755
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -285,24 +285,4 @@ void mixTable(void)
         if (armed == 0)
             motor[i] = cfg.mincommand;
     }
-
-#if (LOG_VALUES == 2) || defined(POWERMETER_SOFT)
-    uint32_t amp;
-    /* true cubic function; when divided by vbat_max=126 (12.6V) for 3 cell battery this gives maximum value of ~ 500 */
-    /* Lookup table moved to PROGMEM 11/21/2001 by Danal */
-    static uint16_t amperes[64] = {
-    0, 2, 6, 15, 30, 52, 82, 123, 175, 240, 320, 415, 528, 659, 811, 984, 1181, 1402, 1648, 1923, 2226, 2559, 2924, 3322, 3755, 4224, 4730, 5276, 5861, 6489, 7160, 7875, 8637, 9446, 10304, 11213, 12173, 13187, 14256, 15381, 16564, 17805, 19108, 20472, 21900, 23392, 24951, 26578, 28274, 30041, 31879, 33792, 35779, 37843, 39984, 42205, 44507, 46890, 49358, 51910, 54549, 57276, 60093, 63000};
-
-    if (vbat) {                 // by all means - must avoid division by zero 
-        for (i = 0; i < NUMBER_MOTOR; i++) {
-            amp = amperes[((motor[i] - 1000) >> 4)] / vbat;     // range mapped from [1000:2000] => [0:1000]; then break that up into 64 ranges; lookup amp
-#if (LOG_VALUES == 2)
-            pMeter[i] += amp;   // sum up over time the mapped ESC input 
-#endif
-#if defined(POWERMETER_SOFT)
-            pMeter[PMOTOR_SUM] += amp;  // total sum over all motors
-#endif
-        }
-    }
-#endif
 }
diff --git a/src/mw.c b/src/mw.c
index 1aa8dede41..98d0b7a327 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -60,15 +60,7 @@ uint16_t AccInflightCalibrationMeasurementDone = 0;
 uint16_t AccInflightCalibrationSavetoEEProm = 0;
 uint16_t AccInflightCalibrationActive = 0;
 
-// **********************
-// power meter
-// **********************
-#define PMOTOR_SUM 8            // index into pMeter[] for sum
-uint32_t pMeter[PMOTOR_SUM + 1];        // we use [0:7] for eight motors,one extra for sum
-uint8_t pMeterV;                // dummy to satisfy the paramStruct logic in ConfigurationLoop()
-uint32_t pAlarm;                // we scale the eeprom value from [0:255] to this value we can directly compare to the sum in pMeter[6]
-uint16_t powerValue = 0;        // last known current
-uint16_t intPowerMeterSum, intPowerTrigger1;
+// Battery monitoring stuff
 uint8_t batteryCellCount = 3;   // cell count
 uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead
 
@@ -91,19 +83,9 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
 void annexCode(void)
 {
     static uint32_t buzzerTime, calibratedAccTime;
-#if defined(LCD_TELEMETRY)
-    static uint16_t telemetryTimer = 0, telemetryAutoTimer = 0, psensorTimer = 0;
-#endif
-#if defined(LCD_TELEMETRY)
-    static uint8_t telemetryAutoIndex = 0;
-    static char telemetryAutoSequence[] = LCD_TELEMETRY_AUTO;
-#endif
     static uint8_t vbatTimer = 0;
     static uint8_t buzzerFreq;  //delay between buzzer ring
     uint8_t axis, prop1, prop2;
-#if defined(POWERMETER_HARD)
-    uint16_t pMeterRaw;         //used for current reading
-#endif
     static uint8_t ind = 0;
     uint16_t vbatRaw = 0;
     static uint16_t vbatRawArray[8];
@@ -159,21 +141,6 @@ void annexCode(void)
         rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
         rcCommand[PITCH] = rcCommand_PITCH;
     }
-#if defined(POWERMETER_HARD)
-    if (!(++psensorTimer % PSENSORFREQ)) {
-        pMeterRaw = analogRead(PSENSORPIN);
-        powerValue = (PSENSORNULL > pMeterRaw ? PSENSORNULL - pMeterRaw : pMeterRaw - PSENSORNULL);     // do not use abs(), it would induce implicit cast to uint and overrun
-        if (powerValue < 333) { // only accept reasonable values. 333 is empirical
-#ifdef LOG_VALUES
-            if (powerValue > powerMax)
-                powerMax = powerValue;
-#endif
-        } else {
-            powerValue = 333;
-        }
-        pMeter[PMOTOR_SUM] += (uint32_t) powerValue;
-    }
-#endif
 
     if (feature(FEATURE_VBAT)) {
         if (!(++vbatTimer % VBATFREQ)) {
@@ -184,18 +151,10 @@ void annexCode(void)
         }
         if (rcOptions[BOXBEEPERON]) {   // unconditional beeper on via AUXn switch 
             buzzerFreq = 7;
-        } else if (((vbat > batteryWarningVoltage)
-#if defined(POWERMETER)
-                    && ((pMeter[PMOTOR_SUM] < pAlarm) || (pAlarm == 0))
-#endif
-                   ) || (vbat < cfg.vbatmincellvoltage)) {      //VBAT ok AND powermeter ok, buzzer off
+        } else if ((vbat > batteryWarningVoltage) || (vbat < cfg.vbatmincellvoltage)) {      //VBAT ok, buzzer off
             buzzerFreq = 0;
             buzzerState = 0;
             BEEP_OFF;
-#if defined(POWERMETER)
-        } else if (pMeter[PMOTOR_SUM] > pAlarm) {       // sound alarm for powermeter
-            buzzerFreq = 4;
-#endif
         } else
             buzzerFreq = 4;     // low battery
         if (buzzerFreq) {
@@ -241,28 +200,6 @@ void annexCode(void)
 
     serialCom();
 
-#if defined(POWERMETER)
-    intPowerMeterSum = (pMeter[PMOTOR_SUM] / PLEVELDIV);
-    intPowerTrigger1 = cfg.powerTrigger1 * PLEVELSCALE;
-#endif
-
-#ifdef LCD_TELEMETRY_AUTO
-    if ((telemetry_auto)
-        && (!(++telemetryAutoTimer % LCD_TELEMETRY_AUTO_FREQ))) {
-        telemetry = telemetryAutoSequence[++telemetryAutoIndex % strlen(telemetryAutoSequence)];
-        LCDclear();             // make sure to clear away remnants
-    }
-#endif
-#ifdef LCD_TELEMETRY
-    if (!(++telemetryTimer % LCD_TELEMETRY_FREQ)) {
-#if (LCD_TELEMETRY_DEBUG+0 > 0)
-        telemetry = LCD_TELEMETRY_DEBUG;
-#endif
-        if (telemetry)
-            lcd_telemetry();
-    }
-#endif
-
     if (sensors(SENSOR_GPS)) {
         static uint32_t GPSLEDTime;
         if (currentTime > GPSLEDTime && (GPS_fix_home == 1)) {
@@ -353,21 +290,6 @@ void loop(void)
             if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && armed == 0) {
                 if (rcDelayCommand == 20)
                     calibratingG = 400;
-            } else if (rcData[YAW] > cfg.maxcheck && rcData[PITCH] > cfg.maxcheck && armed == 0) {
-                if (rcDelayCommand == 20) {
-                    if (cfg.mixerConfiguration == MULTITYPE_TRI) {
-                        servo[5] = 1500;        // we center the yaw servo in conf mode
-                        writeServos();
-                    } else if (cfg.mixerConfiguration == MULTITYPE_FLYING_WING) {
-                        servo[0] = cfg.wing_left_mid;
-                        servo[1] = cfg.wing_right_mid;
-                        writeServos();
-                    }
-#if defined(LCD_CONF)
-                    configurationLoop();        //beginning LCD configuration
-#endif
-                    previousTime = micros();
-                }
             } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && rcData[ROLL] > cfg.maxcheck)) {
                 if (rcDelayCommand == 20) {
                     if (AccInflightCalibrationMeasurementDone) {        // trigger saving into eeprom after landing
@@ -397,16 +319,6 @@ void loop(void)
                     armed = 1;
                     headFreeModeHold = heading;
                 }
-#ifdef LCD_TELEMETRY_AUTO
-            } else if (rcData[ROLL] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && armed == 0) {
-                if (rcDelayCommand == 20) {
-                    if (telemetry_auto) {
-                        telemetry_auto = 0;
-                        telemetry = 0;
-                    } else
-                        telemetry_auto = 1;
-                }
-#endif
             } else
                 rcDelayCommand = 0;
         } else if (rcData[THROTTLE] > cfg.maxcheck && armed == 0) {
@@ -502,6 +414,7 @@ void loop(void)
             } else
                 baroMode = 0;
         }
+
         if (sensors(SENSOR_MAG)) {
             if (rcOptions[BOXMAG]) {
                 if (magMode == 0) {
diff --git a/src/mw.h b/src/mw.h
index bded2615e5..43e1d0e248 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -106,13 +106,10 @@ typedef enum MultiType
 #define CHECKBOXITEMS 11
 #define PIDITEMS 8
 
-// #define ACC_ORIENTATION(X, Y, Z)  { accADC[ROLL]  =  Y; accADC[PITCH]  = -X; accADC[YAW]  = Z; }
-// #define GYRO_ORIENTATION(X, Y, Z) { gyroADC[ROLL] = -Y; gyroADC[PITCH] =  X; gyroADC[YAW] = Z; }
-
-#define min(a,b) ((a)<(b)?(a):(b))
-#define max(a,b) ((a)>(b)?(a):(b))
-#define abs(x) ((x)>0?(x):-(x))
-#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+#define min(a, b) ((a) < (b) ? (a) : (b))
+#define max(a, b) ((a) > (b) ? (a) : (b))
+#define abs(x) ((x) > 0 ? (x) : -(x))
+#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
 
 typedef struct config_t {
     uint8_t version;
@@ -140,7 +137,6 @@ typedef struct config_t {
 
     uint8_t activate1[CHECKBOXITEMS];
     uint8_t activate2[CHECKBOXITEMS];
-    uint8_t powerTrigger1;                  // trigger for alarm based on power consumption
     uint8_t vbatscale;                      // adjust this to match battery voltage to reported value
     uint8_t vbatmaxcellvoltage;             // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
     uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
@@ -224,7 +220,6 @@ extern int16_t rcData[8];
 extern uint8_t accMode;
 extern uint8_t magMode;
 extern uint8_t baroMode;
-extern uint16_t intPowerMeterSum, intPowerTrigger1;
 extern int32_t GPS_latitude, GPS_longitude;
 extern int32_t GPS_latitude_home, GPS_longitude_home;
 extern int32_t GPS_latitude_hold, GPS_longitude_hold;
diff --git a/src/sensors.c b/src/sensors.c
index 69f8c2eb88..697d9f835e 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -21,8 +21,14 @@ sensor_t gyro;                  // gyro access functions
 
 void sensorsAutodetect(void)
 {
+    drv_adxl345_config_t acc_params;
+
+    // configure parameters for ADXL345 driver
+    acc_params.useFifo = false;
+    acc_params.dataRate = 800; // unused currently
+
     // Detect what's available
-    if (!adxl345Detect(&acc))
+    if (!adxl345Detect(&acc_params, &acc))
         sensorsClear(SENSOR_ACC);
     if (!bmp085Init())
         sensorsClear(SENSOR_BARO);
diff --git a/src/serial.c b/src/serial.c
index 3bc9ed2b48..64f90fa1ce 100755
--- a/src/serial.c
+++ b/src/serial.c
@@ -23,7 +23,7 @@ void serialInit(uint32_t baudrate)
 void serialCom(void)
 {
     uint8_t i;
-    
+
     // in cli mode, all uart stuff goes to here. enter cli mode by sending #
     if (cliMode) {
         cliProcess();
@@ -35,109 +35,14 @@ void serialCom(void)
         case '#':
             cliProcess();
             break;
-
 #ifdef BTSERIAL
-        case 'K':              //receive RC data from Bluetooth Serial adapter as a remote
+        case 'K':              // receive RC data from Bluetooth Serial adapter as a remote
             rcData[THROTTLE] = (SerialRead(0) * 4) + 1000;
             rcData[ROLL] = (SerialRead(0) * 4) + 1000;
             rcData[PITCH] = (SerialRead(0) * 4) + 1000;
             rcData[YAW] = (SerialRead(0) * 4) + 1000;
             rcData[AUX1] = (SerialRead(0) * 4) + 1000;
             break;
-#endif
-#ifdef LCD_TELEMETRY
-        case 'A':              // button A press
-        case '1':
-            if (telemetry == 1)
-                telemetry = 0;
-            else {
-                telemetry = 1;
-                LCDclear();
-            }
-            break;
-        case 'B':              // button B press
-        case '2':
-            if (telemetry == 2)
-                telemetry = 0;
-            else {
-                telemetry = 2;
-                LCDclear();
-            }
-            break;
-        case 'C':              // button C press
-        case '3':
-            if (telemetry == 3)
-                telemetry = 0;
-            else {
-                telemetry = 3;
-                LCDclear();
-#if defined(LOG_VALUES) && defined(DEBUG)
-                cycleTimeMax = 0;       // reset min/max on transition on->off
-                cycleTimeMin = 65535;
-#endif
-            }
-            break;
-        case 'D':              // button D press
-        case '4':
-            if (telemetry == 4)
-                telemetry = 0;
-            else {
-                telemetry = 4;
-                LCDclear();
-            }
-            break;
-        case '5':
-            if (telemetry == 5)
-                telemetry = 0;
-            else {
-                telemetry = 5;
-                LCDclear();
-            }
-            break;
-        case '6':
-            if (telemetry == 6)
-                telemetry = 0;
-            else {
-                telemetry = 6;
-                LCDclear();
-            }
-            break;
-        case '7':
-            if (telemetry == 7)
-                telemetry = 0;
-            else {
-                telemetry = 7;
-                LCDclear();
-            }
-            break;
-#if defined(LOG_VALUES) && defined(DEBUG)
-        case 'R':
-            //Reset logvalues
-            if (telemetry == 'R')
-                telemetry = 0;
-            else {
-                telemetry = 'R';
-                LCDclear();
-            }
-            break;
-#endif
-#ifdef DEBUG
-        case 'F':
-            {
-                if (telemetry == 'F')
-                    telemetry = 0;
-                else {
-                    telemetry = 'F';
-                    LCDclear();
-                }
-                break;
-            }
-#endif
-        case 'a':              // button A release
-        case 'b':              // button B release
-        case 'c':              // button C release
-        case 'd':              // button D release
-            break;
 #endif
         case 'M':              // Multiwii @ arduino to GUI all data
             serialize8('M');
@@ -181,15 +86,14 @@ void serialCom(void)
             for (i = 0; i < CHECKBOXITEMS; i++) {
                 serialize8(cfg.activate1[i]);
                 serialize8(cfg.activate2[i] | (rcOptions[i] << 7)); // use highest bit to transport state in mwc
-
             }
             serialize16(GPS_distanceToHome);
             serialize16(GPS_directionToHome + 180);
             serialize8(GPS_numSat);
             serialize8(GPS_fix);
             serialize8(GPS_update);
-            serialize16(intPowerMeterSum);
-            serialize16(intPowerTrigger1);
+            serialize16(0);                 // power meter, removed
+            serialize16(0);                 // power meter, removed
             serialize8(vbat);
             serialize16(BaroAlt / 10);      // 4 variables are here for general monitoring purpose
             serialize16(debug2);            // debug2
@@ -245,18 +149,14 @@ void serialCom(void)
                 cfg.activate1[i] = uartReadPoll();
                 cfg.activate2[i] = uartReadPoll();
             }
-#if defined(POWERMETER)
-            cfg.powerTrigger1 = (uartReadPoll() + 256 * uartReadPoll()) / PLEVELSCALE;        // we rely on writeParams() to compute corresponding pAlarm value
-#else
-            uartReadPoll();
-            uartReadPoll();      //7 so we unload the two bytes
-#endif
+            uartReadPoll();     // power meter crap, removed
+            uartReadPoll();     // power meter crap, removed
             writeParams();
             break;
-        case 'S':              //GUI to arduino ACC calibration request
+        case 'S':              // GUI to arduino ACC calibration request
             calibratingA = 400;
             break;
-        case 'E':              //GUI to arduino MAG calibration request
+        case 'E':              // GUI to arduino MAG calibration request
             calibratingM = 1;
             break;
         }