diff --git a/make/source.mk b/make/source.mk
index 569695a259..2d21c8d5be 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -130,11 +130,12 @@ COMMON_SRC = \
             blackbox/blackbox_io.c \
             cms/cms.c \
             cms/cms_menu_blackbox.c \
-            cms/cms_menu_builtin.c \
             cms/cms_menu_failsafe.c \
+            cms/cms_menu_firmware.c \
             cms/cms_menu_gps_rescue.c\
             cms/cms_menu_imu.c \
             cms/cms_menu_ledstrip.c \
+            cms/cms_menu_main.c \
             cms/cms_menu_misc.c \
             cms/cms_menu_osd.c \
             cms/cms_menu_power.c \
@@ -320,11 +321,12 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             msp/msp_serial.c \
             cms/cms.c \
             cms/cms_menu_blackbox.c \
-            cms/cms_menu_builtin.c \
             cms/cms_menu_failsafe.c \
+            cms/cms_menu_firmware.c \
             cms/cms_menu_gps_rescue.c\
             cms/cms_menu_imu.c \
             cms/cms_menu_ledstrip.c \
+            cms/cms_menu_main.c \
             cms/cms_menu_misc.c \
             cms/cms_menu_osd.c \
             cms/cms_menu_power.c \
diff --git a/src/main/build/version.h b/src/main/build/version.h
index 1ede5a2811..05ff38d7c5 100644
--- a/src/main/build/version.h
+++ b/src/main/build/version.h
@@ -23,6 +23,7 @@
 #include "common/utils.h"
 
 #define FC_FIRMWARE_NAME            "Betaflight"
+#define FC_FIRMWARE_IDENTIFIER      "BTFL"
 #define FC_VERSION_MAJOR            4  // increment when a major release is made (big new feature, etc)
 #define FC_VERSION_MINOR            2  // increment when a minor release is made (small new feature, change etc)
 #define FC_VERSION_PATCH_LEVEL      0  // increment when a bug is fixed
diff --git a/src/main/cms/cms.c b/src/main/cms/cms.c
index a01422b64c..72c888ffe4 100644
--- a/src/main/cms/cms.c
+++ b/src/main/cms/cms.c
@@ -41,7 +41,7 @@
 #include "build/version.h"
 
 #include "cms/cms.h"
-#include "cms/cms_menu_builtin.h"
+#include "cms/cms_menu_main.h"
 #include "cms/cms_menu_saveexit.h"
 #include "cms/cms_types.h"
 
@@ -393,20 +393,21 @@ static int cmsDrawMenuEntry(displayPort_t *pDisplay, const OSD_Entry *p, uint8_t
 
     case OME_Submenu:
     case OME_Funcall:
-        if (IS_PRINTVALUE(*flags))  {
-
+        if (IS_PRINTVALUE(*flags)) {
             buff[0]= 0x0;
 
-            if ((p->type == OME_Submenu) && p->func && (*flags & OPTSTRING)) {
+            if (p->type == OME_Submenu && p->func && *flags & OPTSTRING) {
 
                 // Special case of sub menu entry with optional value display.
 
                 char *str = ((CMSMenuOptFuncPtr)p->func)();
-                strncpy( buff, str, CMS_DRAW_BUFFER_LEN);
+                strncpy(buff, str, CMS_DRAW_BUFFER_LEN);
+            } else if (p->type == OME_Funcall && p->data) {
+                strncpy(buff, p->data, CMS_DRAW_BUFFER_LEN);
             }
             strncat(buff, ">", CMS_DRAW_BUFFER_LEN);
 
-            row = smallScreen  ? row - 1  : row;
+            row = smallScreen ? row - 1 : row;
             cnt = cmsDrawMenuItemValue(pDisplay, buff, row, strlen(buff));
             CLR_PRINTVALUE(*flags);
         }
@@ -526,7 +527,7 @@ static int cmsDrawMenuEntry(displayPort_t *pDisplay, const OSD_Entry *p, uint8_t
         // Shouldn't happen. Notify creator of this menu content
 #ifdef CMS_OSD_RIGHT_ALIGNED_VALUES
         cnt = displayWrite(pDisplay, rightMenuColumn - 6, row, "BADENT");
-#else.
+#else
         cnt = displayWrite(pDisplay, rightMenuColumn, row, "BADENT");
 #endif
 #endif
@@ -536,6 +537,8 @@ static int cmsDrawMenuEntry(displayPort_t *pDisplay, const OSD_Entry *p, uint8_t
     return cnt;
 }
 
+STATIC_UNIT_TESTED long cmsMenuBack(displayPort_t *pDisplay); // Forward; will be resolved after merging
+
 static void cmsDrawMenu(displayPort_t *pDisplay, uint32_t currentTimeUs)
 {
     if (!pageTop)
@@ -572,8 +575,9 @@ static void cmsDrawMenu(displayPort_t *pDisplay, uint32_t currentTimeUs)
 
     // Cursor manipulation
 
-    while ((pageTop + currentCtx.cursorRow)->type == OME_Label) // skip label
+    while ((pageTop + currentCtx.cursorRow)->type == OME_Label || (pageTop + currentCtx.cursorRow)->type == OME_String) { // skip labels and strings
         currentCtx.cursorRow++;
+    }
 
     cmsPageDebug();
 
@@ -581,16 +585,27 @@ static void cmsDrawMenu(displayPort_t *pDisplay, uint32_t currentTimeUs)
         room -= displayWrite(pDisplay, leftMenuColumn, top + pDisplay->cursorRow * linesPerMenuItem, " ");
     }
 
-    if (room < 30)
+    if (room < 30) {
         return;
+    }
 
     if (pDisplay->cursorRow != currentCtx.cursorRow) {
         room -= displayWrite(pDisplay, leftMenuColumn, top + currentCtx.cursorRow * linesPerMenuItem, ">");
         pDisplay->cursorRow = currentCtx.cursorRow;
     }
 
-    if (room < 30)
+    if (room < 30) {
         return;
+    }
+
+    if (currentCtx.menu->onDisplayUpdate) {
+        long result = currentCtx.menu->onDisplayUpdate(pageTop + currentCtx.cursorRow);
+        if (result == MENU_CHAIN_BACK) {
+            cmsMenuBack(pDisplay);
+
+            return;
+        }
+    }
 
     // Print text labels
     for (i = 0, p = pageTop; (p <= pageTop + pageMaxRow); i++, p++) {
@@ -599,8 +614,9 @@ static void cmsDrawMenu(displayPort_t *pDisplay, uint32_t currentTimeUs)
             coloff += (p->type == OME_Label) ? 0 : 1;
             room -= displayWrite(pDisplay, coloff, top + i * linesPerMenuItem, p->text);
             CLR_PRINTLABEL(runtimeEntryFlags[i]);
-            if (room < 30)
+            if (room < 30) {
                 return;
+            }
         }
 
     // Print values
@@ -625,8 +641,6 @@ static void cmsMenuCountPage(displayPort_t *pDisplay)
     pageCount = (p - currentCtx.menu->entries - 1) / maxMenuItems + 1;
 }
 
-STATIC_UNIT_TESTED long cmsMenuBack(displayPort_t *pDisplay); // Forward; will be resolved after merging
-
 long cmsMenuChange(displayPort_t *pDisplay, const void *ptr)
 {
     const CMS_Menu *pMenu = (const CMS_Menu *)ptr;
@@ -666,8 +680,11 @@ long cmsMenuChange(displayPort_t *pDisplay, const void *ptr)
         currentCtx.menu = pMenu;
         currentCtx.cursorRow = 0;
 
-        if (pMenu->onEnter && (pMenu->onEnter() == MENU_CHAIN_BACK)) {
-            return cmsMenuBack(pDisplay);
+        if (pMenu->onEnter) {
+            long result = pMenu->onEnter();
+            if (result == MENU_CHAIN_BACK) {
+                return cmsMenuBack(pDisplay);
+            }
         }
 
         cmsMenuCountPage(pDisplay);
@@ -691,8 +708,11 @@ STATIC_UNIT_TESTED long cmsMenuBack(displayPort_t *pDisplay)
 {
     // Let onExit function decide whether to allow exit or not.
 
-    if (currentCtx.menu->onExit && currentCtx.menu->onExit(pageTop + currentCtx.cursorRow) < 0) {
-        return -1;
+    if (currentCtx.menu->onExit) {
+        long result = currentCtx.menu->onExit(pageTop + currentCtx.cursorRow);
+        if (result < 0) {
+            return MENU_CHAIN_BACK;
+        }
     }
 
     if (!menuStackIdx) {
@@ -717,7 +737,7 @@ void cmsMenuOpen(void)
         if (!pCurrentDisplay)
             return;
         cmsInMenu = true;
-        currentCtx = (cmsCtx_t){ &menuMain, 0, 0 };
+        currentCtx = (cmsCtx_t){ &cmsx_menuMain, 0, 0 };
         menuStackIdx = 0;
         setArmingDisabled(ARMING_DISABLED_CMS_MENU);
         displayLayerSelect(pCurrentDisplay, DISPLAYPORT_LAYER_FOREGROUND); // make sure the foreground layer is active
@@ -783,7 +803,7 @@ long cmsMenuExit(displayPort_t *pDisplay, const void *ptr)
     case CMS_POPUP_SAVE:
     case CMS_POPUP_SAVEREBOOT:
 
-        cmsTraverseGlobalExit(&menuMain);
+        cmsTraverseGlobalExit(&cmsx_menuMain);
 
         if (currentCtx.menu->onExit) {
             currentCtx.menu->onExit((OSD_Entry *)NULL); // Forced exit
@@ -1261,10 +1281,9 @@ static void cmsUpdate(uint32_t currentTimeUs)
 
 void cmsHandler(timeUs_t currentTimeUs)
 {
-    if (cmsDeviceCount < 0)
+    if (cmsDeviceCount < 0) {
         return;
-
-
+    }
 
     static timeUs_t lastCalledUs = 0;
 
diff --git a/src/main/cms/cms_menu_blackbox.c b/src/main/cms/cms_menu_blackbox.c
index 531c3660bb..1e4e70bbbf 100644
--- a/src/main/cms/cms_menu_blackbox.c
+++ b/src/main/cms/cms_menu_blackbox.c
@@ -222,6 +222,7 @@ CMS_Menu cmsx_menuBlackbox = {
     .onEnter = cmsx_Blackbox_onEnter,
     .onExit = cmsx_Blackbox_onExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuBlackboxEntries
 };
 
diff --git a/src/main/cms/cms_menu_failsafe.c b/src/main/cms/cms_menu_failsafe.c
index 8499a0ce46..32974da9b9 100644
--- a/src/main/cms/cms_menu_failsafe.c
+++ b/src/main/cms/cms_menu_failsafe.c
@@ -92,6 +92,7 @@ CMS_Menu cmsx_menuFailsafe = {
     .onEnter = cmsx_Failsafe_onEnter,
     .onExit = cmsx_Failsafe_onExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuFailsafeEntries
 };
 
diff --git a/src/main/cms/cms_menu_firmware.c b/src/main/cms/cms_menu_firmware.c
new file mode 100644
index 0000000000..326a0fc8fa
--- /dev/null
+++ b/src/main/cms/cms_menu_firmware.c
@@ -0,0 +1,192 @@
+/*
+ * 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/>.
+ */
+
+//
+// Firmware related menu contents and support functions
+//
+
+#include <stdbool.h>
+
+#include "platform.h"
+
+#ifdef USE_CMS
+
+#include "build/version.h"
+
+#include "cms/cms.h"
+#include "cms/cms_types.h"
+
+#include "common/printf.h"
+
+#include "config/config.h"
+
+#include "drivers/system.h"
+
+#include "fc/runtime_config.h"
+
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/gyro.h"
+
+#include "cms_menu_firmware.h"
+
+
+// Calibration
+
+#define CALIBRATION_STATUS_MAX_LENGTH 6
+
+#define CALIBRATION_STATUS_OFF " --- "
+#define CALIBRATION_STATUS_NOK " NOK "
+#define CALIBRATION_STATUS_WAIT "WAIT "
+#define CALIBRATION_STATUS_OK "  OK "
+
+static char gyroCalibrationStatus[CALIBRATION_STATUS_MAX_LENGTH];
+#if defined(USE_ACC)
+static char accCalibrationStatus[CALIBRATION_STATUS_MAX_LENGTH];
+#endif
+#if defined(USE_BARO)
+static char baroCalibrationStatus[CALIBRATION_STATUS_MAX_LENGTH];
+#endif
+
+static long cmsx_CalibrationOnDisplayUpdate(const OSD_Entry *selected)
+{
+    UNUSED(selected);
+
+    tfp_sprintf(gyroCalibrationStatus, sensors(SENSOR_GYRO) ? gyroIsCalibrationComplete() ? CALIBRATION_STATUS_OK : CALIBRATION_STATUS_WAIT: CALIBRATION_STATUS_OFF);
+#if defined(USE_ACC)
+    tfp_sprintf(accCalibrationStatus, sensors(SENSOR_ACC) ? accIsCalibrationComplete() ? accHasBeenCalibrated() ? CALIBRATION_STATUS_OK : CALIBRATION_STATUS_NOK : CALIBRATION_STATUS_WAIT: CALIBRATION_STATUS_OFF);
+#endif
+#if defined(USE_BARO)
+    tfp_sprintf(baroCalibrationStatus, sensors(SENSOR_BARO) ? baroIsCalibrationComplete() ? CALIBRATION_STATUS_OK : CALIBRATION_STATUS_WAIT: CALIBRATION_STATUS_OFF);
+#endif
+
+    return 0;
+}
+
+static long cmsCalibrateGyro(displayPort_t *pDisp, const void *self)
+{
+    UNUSED(pDisp);
+    UNUSED(self);
+
+    if (sensors(SENSOR_GYRO)) {
+        gyroStartCalibration(false);
+    }
+
+    return 0;
+}
+
+#if defined(USE_ACC)
+static long cmsCalibrateAcc(displayPort_t *pDisp, const void *self)
+{
+    UNUSED(pDisp);
+    UNUSED(self);
+
+    if (sensors(SENSOR_ACC)) {
+        accStartCalibration();
+    }
+
+    return 0;
+}
+#endif
+
+#if defined(USE_BARO)
+static long cmsCalibrateBaro(displayPort_t *pDisp, const void *self)
+{
+    UNUSED(pDisp);
+    UNUSED(self);
+
+    if (sensors(SENSOR_BARO)) {
+        baroStartCalibration();
+    }
+
+    return 0;
+}
+#endif
+
+static const OSD_Entry menuCalibrationEntries[] = {
+    { "--- CALIBRATE ---", OME_Label, NULL, NULL, 0 },
+    { "GYRO", OME_Funcall, cmsCalibrateGyro, gyroCalibrationStatus, DYNAMIC },
+#if defined(USE_ACC)
+    { "ACC",  OME_Funcall, cmsCalibrateAcc, accCalibrationStatus, DYNAMIC },
+#endif
+#if defined(USE_BARO)
+    { "BARO", OME_Funcall, cmsCalibrateBaro, baroCalibrationStatus, DYNAMIC },
+#endif
+    { "BACK", OME_Back, NULL, NULL, 0 },
+    { NULL, OME_END, NULL, NULL, 0 }
+};
+
+static CMS_Menu cmsx_menuCalibration = {
+#ifdef CMS_MENU_DEBUG
+    .GUARD_text = "MENUCALIBRATION",
+    .GUARD_type = OME_MENU,
+#endif
+    .onEnter = NULL,
+    .onExit = NULL,
+    .checkRedirect = NULL,
+    .onDisplayUpdate = cmsx_CalibrationOnDisplayUpdate,
+    .entries = menuCalibrationEntries
+};
+
+// Info
+
+static char infoGitRev[GIT_SHORT_REVISION_LENGTH + 1];
+static char infoTargetName[] = __TARGET__;
+
+static long cmsx_FirmwareInit(void)
+{
+    unsigned i;
+    for (i = 0 ; i < GIT_SHORT_REVISION_LENGTH ; i++) {
+        if (shortGitRevision[i] >= 'a' && shortGitRevision[i] <= 'f') {
+            infoGitRev[i] = shortGitRevision[i] - 'a' + 'A';
+        } else {
+            infoGitRev[i] = shortGitRevision[i];
+        }
+    }
+
+    infoGitRev[i] = 0x0; // Terminate string
+
+    return 0;
+}
+
+static const OSD_Entry menuFirmwareEntries[] = {
+    { "--- INFO ---", OME_Label, NULL, NULL, 0 },
+    { "FWID", OME_String, NULL, FC_FIRMWARE_IDENTIFIER, 0 },
+    { "FWVER", OME_String, NULL, FC_VERSION_STRING, 0 },
+    { "GITREV", OME_String, NULL, infoGitRev, 0 },
+    { "TARGET", OME_String, NULL, infoTargetName, 0 },
+    { "--- SETUP ---", OME_Label, NULL, NULL, 0 },
+    { "CALIBRATE",     OME_Submenu, cmsMenuChange, &cmsx_menuCalibration, 0},
+    { "BACK", OME_Back, NULL, NULL, 0 },
+    { NULL, OME_END, NULL, NULL, 0 }
+};
+
+CMS_Menu cmsx_menuFirmware = {
+#ifdef CMS_MENU_DEBUG
+    .GUARD_text = "MENUFIRMWARE",
+    .GUARD_type = OME_MENU,
+#endif
+    .onEnter = cmsx_FirmwareInit,
+    .onExit = NULL,
+    .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
+    .entries = menuFirmwareEntries
+};
+#endif
diff --git a/src/main/cms/cms_menu_firmware.h b/src/main/cms/cms_menu_firmware.h
new file mode 100644
index 0000000000..88d9d67471
--- /dev/null
+++ b/src/main/cms/cms_menu_firmware.h
@@ -0,0 +1,25 @@
+/*
+ * 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/>.
+ */
+
+#pragma once
+
+#include "cms/cms_types.h"
+
+extern CMS_Menu cmsx_menuFirmware;
diff --git a/src/main/cms/cms_menu_gps_rescue.c b/src/main/cms/cms_menu_gps_rescue.c
index b2d9b7a756..6c9295b4d8 100644
--- a/src/main/cms/cms_menu_gps_rescue.c
+++ b/src/main/cms/cms_menu_gps_rescue.c
@@ -118,6 +118,7 @@ CMS_Menu cms_menuGpsRescuePid = {
     .onEnter = cms_menuGpsRescuePidOnEnter,
     .onExit = cms_menuGpsRescuePidOnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cms_menuGpsRescuePidEntries,
 };
 
@@ -200,6 +201,7 @@ CMS_Menu cmsx_menuGpsRescue = {
     .onEnter = cmsx_menuGpsRescueOnEnter,
     .onExit = cmsx_menuGpsRescueOnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuGpsRescueEntries,
 };
 
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 4fd79d457c..5570798c74 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -224,6 +224,7 @@ static CMS_Menu cmsx_menuPid = {
     .onEnter = cmsx_PidOnEnter,
     .onExit = cmsx_PidWriteback,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuPidEntries
 };
 
@@ -291,6 +292,7 @@ static CMS_Menu cmsx_menuRateProfile = {
     .onEnter = cmsx_RateProfileOnEnter,
     .onExit = cmsx_RateProfileWriteback,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuRateProfileEntries
 };
 
@@ -350,6 +352,7 @@ static CMS_Menu cmsx_menuLaunchControl = {
     .onEnter = cmsx_launchControlOnEnter,
     .onExit = cmsx_launchControlOnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuLaunchControlEntries,
 };
 #endif
@@ -496,6 +499,7 @@ static CMS_Menu cmsx_menuProfileOther = {
     .onEnter = cmsx_profileOtherOnEnter,
     .onExit = cmsx_profileOtherOnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuProfileOtherEntries,
 };
 
@@ -564,6 +568,7 @@ static CMS_Menu cmsx_menuFilterGlobal = {
     .onEnter = cmsx_menuGyro_onEnter,
     .onExit = cmsx_menuGyro_onExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuFilterGlobalEntries,
 };
 
@@ -652,6 +657,7 @@ static CMS_Menu cmsx_menuDynFilt = {
     .onEnter = cmsx_menuDynFilt_onEnter,
     .onExit = cmsx_menuDynFilt_onExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuDynFiltEntries,
 };
 
@@ -713,6 +719,7 @@ static CMS_Menu cmsx_menuFilterPerProfile = {
     .onEnter = cmsx_FilterPerProfileRead,
     .onExit = cmsx_FilterPerProfileWriteback,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuFilterPerProfileEntries,
 };
 
@@ -784,6 +791,7 @@ CMS_Menu cmsx_menuCopyProfile = {
     .onEnter = cmsx_menuCopyProfile_onEnter,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuCopyProfileEntries,
 };
 
@@ -822,6 +830,7 @@ CMS_Menu cmsx_menuImu = {
     .onEnter = cmsx_menuImu_onEnter,
     .onExit = cmsx_menuImu_onExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuImuEntries,
 };
 
diff --git a/src/main/cms/cms_menu_ledstrip.c b/src/main/cms/cms_menu_ledstrip.c
index 25ec667b8f..9cecc42c7e 100644
--- a/src/main/cms/cms_menu_ledstrip.c
+++ b/src/main/cms/cms_menu_ledstrip.c
@@ -128,6 +128,7 @@ CMS_Menu cmsx_menuLedstrip = {
     .onEnter = cmsx_Ledstrip_OnEnter,
     .onExit = cmsx_Ledstrip_OnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuLedstripEntries
 };
 #endif // LED_STRIP
diff --git a/src/main/cms/cms_menu_builtin.c b/src/main/cms/cms_menu_main.c
similarity index 64%
rename from src/main/cms/cms_menu_builtin.c
rename to src/main/cms/cms_menu_main.c
index 8c9cf81f63..a6d55f76c7 100644
--- a/src/main/cms/cms_menu_builtin.c
+++ b/src/main/cms/cms_menu_main.c
@@ -19,20 +19,15 @@
  */
 
 //
-// Built-in menu contents and support functions
+// Main menu structure and support functions
 //
 
 #include <stdbool.h>
-#include <stdint.h>
-#include <string.h>
-#include <ctype.h>
 
 #include "platform.h"
 
 #ifdef USE_CMS
 
-#include "build/version.h"
-
 #include "cms/cms.h"
 #include "cms/cms_types.h"
 
@@ -41,6 +36,7 @@
 #include "cms/cms_menu_imu.h"
 #include "cms/cms_menu_blackbox.h"
 #include "cms/cms_menu_failsafe.h"
+#include "cms/cms_menu_firmware.h"
 #include "cms/cms_menu_ledstrip.h"
 #include "cms/cms_menu_misc.h"
 #include "cms/cms_menu_osd.h"
@@ -51,54 +47,10 @@
 
 #include "cms/cms_menu_vtx_common.h"
 
-#include "drivers/system.h"
-
 #include "config/config.h"
 
-#include "msp/msp_protocol.h" // XXX for FC identification... not available elsewhere
+#include "cms_menu_main.h"
 
-#include "cms_menu_builtin.h"
-
-
-// Info
-
-static char infoGitRev[GIT_SHORT_REVISION_LENGTH + 1];
-static char infoTargetName[] = __TARGET__;
-
-static long cmsx_InfoInit(void)
-{
-    int i;
-    for ( i = 0 ; i < GIT_SHORT_REVISION_LENGTH ; i++) {
-        if (shortGitRevision[i] >= 'a' && shortGitRevision[i] <= 'f')
-            infoGitRev[i] = shortGitRevision[i] - 'a' + 'A';
-        else
-            infoGitRev[i] = shortGitRevision[i];
-    }
-
-    infoGitRev[i] = 0x0; // Terminate string
-    return 0;
-}
-
-static const OSD_Entry menuInfoEntries[] = {
-    { "--- INFO ---", OME_Label, NULL, NULL, 0 },
-    { "FWID", OME_String, NULL, BETAFLIGHT_IDENTIFIER, 0 },
-    { "FWVER", OME_String, NULL, FC_VERSION_STRING, 0 },
-    { "GITREV", OME_String, NULL, infoGitRev, 0 },
-    { "TARGET", OME_String, NULL, infoTargetName, 0 },
-    { "BACK", OME_Back, NULL, NULL, 0 },
-    { NULL, OME_END, NULL, NULL, 0 }
-};
-
-static CMS_Menu menuInfo = {
-#ifdef CMS_MENU_DEBUG
-    .GUARD_text = "MENUINFO",
-    .GUARD_type = OME_MENU,
-#endif
-    .onEnter = cmsx_InfoInit,
-    .onExit = NULL,
-    .checkRedirect = NULL,
-    .entries = menuInfoEntries
-};
 
 // Features
 
@@ -125,7 +77,7 @@ static const OSD_Entry menuFeaturesEntries[] =
     {NULL, OME_END, NULL, NULL, 0}
 };
 
-static CMS_Menu menuFeatures = {
+static CMS_Menu cmsx_menuFeatures = {
 #ifdef CMS_MENU_DEBUG
     .GUARD_text = "MENUFEATURES",
     .GUARD_type = OME_MENU,
@@ -133,6 +85,7 @@ static CMS_Menu menuFeatures = {
     .onEnter = NULL,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = menuFeaturesEntries,
 };
 
@@ -155,21 +108,17 @@ static const OSD_Entry menuMainEntries[] =
     {"-- MAIN --",  OME_Label, NULL, NULL, 0},
 
     {"PROFILE",     OME_Submenu,  cmsMenuChange, &cmsx_menuImu, 0},
-    {"FEATURES",    OME_Submenu,  cmsMenuChange, &menuFeatures, 0},
+    {"FEATURES",    OME_Submenu,  cmsMenuChange, &cmsx_menuFeatures, 0},
 #ifdef USE_OSD
     {"OSD",         OME_Submenu,  cmsMenuChange, &cmsx_menuOsd, 0},
 #endif
-    {"FC&FW INFO",  OME_Submenu,  cmsMenuChange, &menuInfo, 0},
+    {"FC&FIRMWARE", OME_Submenu,  cmsMenuChange, &cmsx_menuFirmware, 0},
     {"MISC",        OME_Submenu,  cmsMenuChange, &cmsx_menuMisc, 0},
     {"SAVE/EXIT",   OME_Funcall,  cmsx_SaveExitMenu, NULL, 0},
-#ifdef CMS_MENU_DEBUG
-    {"ERR SAMPLE",  OME_Submenu,  cmsMenuChange, &menuInfoEntries[0], 0},
-#endif
-
-    {NULL,OME_END, NULL, NULL, 0}
+    {NULL,OME_END, NULL, NULL, 0},
 };
 
-CMS_Menu menuMain = {
+CMS_Menu cmsx_menuMain = {
 #ifdef CMS_MENU_DEBUG
     .GUARD_text = "MENUMAIN",
     .GUARD_type = OME_MENU,
@@ -177,6 +126,7 @@ CMS_Menu menuMain = {
     .onEnter = NULL,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = menuMainEntries,
 };
 #endif
diff --git a/src/main/cms/cms_menu_builtin.h b/src/main/cms/cms_menu_main.h
similarity index 96%
rename from src/main/cms/cms_menu_builtin.h
rename to src/main/cms/cms_menu_main.h
index 360a87ac44..1f74b655df 100644
--- a/src/main/cms/cms_menu_builtin.h
+++ b/src/main/cms/cms_menu_main.h
@@ -22,4 +22,4 @@
 
 #include "cms/cms_types.h"
 
-extern CMS_Menu menuMain;
+extern CMS_Menu cmsx_menuMain;
diff --git a/src/main/cms/cms_menu_misc.c b/src/main/cms/cms_menu_misc.c
index c76b95d463..363c877594 100644
--- a/src/main/cms/cms_menu_misc.c
+++ b/src/main/cms/cms_menu_misc.c
@@ -30,29 +30,32 @@
 #include "build/debug.h"
 #include "build/version.h"
 
-#include "drivers/time.h"
-
 #include "cms/cms.h"
 #include "cms/cms_types.h"
 #include "cms/cms_menu_ledstrip.h"
 
 #include "common/utils.h"
 
-#include "config/feature.h"
-#include "pg/pg.h"
-#include "pg/pg_ids.h"
-#include "pg/motor.h"
-#include "pg/rx.h"
-
 #include "config/config.h"
+#include "config/feature.h"
+
+#include "drivers/time.h"
+
 #include "fc/rc_controls.h"
 
 #include "flight/mixer.h"
 
+#include "pg/motor.h"
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+#include "pg/rx.h"
+
 #include "rx/rx.h"
 
 #include "sensors/battery.h"
 
+#include "cms_menu_misc.h"
+
 //
 // Misc
 //
@@ -94,6 +97,7 @@ CMS_Menu cmsx_menuRcPreview = {
     .onEnter = NULL,
     .onExit = cmsx_menuRcConfirmBack,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuRcEntries
 };
 
@@ -146,6 +150,7 @@ CMS_Menu cmsx_menuMisc = {
     .onEnter = cmsx_menuMiscOnEnter,
     .onExit = cmsx_menuMiscOnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = menuMiscEntries
 };
 
diff --git a/src/main/cms/cms_menu_misc.h b/src/main/cms/cms_menu_misc.h
index 582fdf314c..168f4154ae 100644
--- a/src/main/cms/cms_menu_misc.h
+++ b/src/main/cms/cms_menu_misc.h
@@ -20,4 +20,6 @@
 
 #pragma once
 
+#include "cms_types.h"
+
 extern CMS_Menu cmsx_menuMisc;
diff --git a/src/main/cms/cms_menu_osd.c b/src/main/cms/cms_menu_osd.c
index 1dbcc41e23..e1a0a6d724 100644
--- a/src/main/cms/cms_menu_osd.c
+++ b/src/main/cms/cms_menu_osd.c
@@ -151,7 +151,7 @@ const OSD_Entry menuOsdActiveElemsEntries[] =
     {NULL,                 OME_END,     NULL, NULL, 0}
 };
 
-CMS_Menu menuOsdActiveElems = {
+static CMS_Menu menuOsdActiveElems = {
 #ifdef CMS_MENU_DEBUG
     .GUARD_text = "MENUOSDACT",
     .GUARD_type = OME_MENU,
@@ -159,6 +159,7 @@ CMS_Menu menuOsdActiveElems = {
     .onEnter = menuOsdActiveElemsOnEnter,
     .onExit = menuOsdActiveElemsOnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = menuOsdActiveElemsEntries
 };
 
@@ -216,7 +217,7 @@ const OSD_Entry menuAlarmsEntries[] =
     {NULL, OME_END, NULL, NULL, 0}
 };
 
-CMS_Menu menuAlarms = {
+static CMS_Menu menuAlarms = {
 #ifdef CMS_MENU_DEBUG
     .GUARD_text = "MENUALARMS",
     .GUARD_type = OME_MENU,
@@ -224,6 +225,7 @@ CMS_Menu menuAlarms = {
     .onEnter = menuAlarmsOnEnter,
     .onExit = menuAlarmsOnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = menuAlarmsEntries,
 };
 
@@ -269,7 +271,7 @@ const OSD_Entry menuTimersEntries[] =
     {NULL, OME_END, NULL, NULL, 0}
 };
 
-CMS_Menu menuTimers = {
+static CMS_Menu menuTimers = {
 #ifdef CMS_MENU_DEBUG
     .GUARD_text = "MENUTIMERS",
     .GUARD_type = OME_MENU,
@@ -277,6 +279,7 @@ CMS_Menu menuTimers = {
     .onEnter = menuTimersOnEnter,
     .onExit = menuTimersOnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = menuTimersEntries,
 };
 #endif /* USE_EXTENDED_CMS_MENUS */
@@ -351,6 +354,7 @@ CMS_Menu cmsx_menuOsd = {
     .onEnter = cmsx_menuOsdOnEnter,
     .onExit = cmsx_menuOsdOnExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuOsdEntries
 };
 #endif // CMS
diff --git a/src/main/cms/cms_menu_power.c b/src/main/cms/cms_menu_power.c
index e0005cbb25..4528b2d69e 100644
--- a/src/main/cms/cms_menu_power.c
+++ b/src/main/cms/cms_menu_power.c
@@ -127,6 +127,7 @@ CMS_Menu cmsx_menuPower = {
     .onEnter = cmsx_Power_onEnter,
     .onExit = cmsx_Power_onExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuPowerEntries
 };
 
diff --git a/src/main/cms/cms_menu_saveexit.c b/src/main/cms/cms_menu_saveexit.c
index 0c6055ff67..3e39e4d1ea 100644
--- a/src/main/cms/cms_menu_saveexit.c
+++ b/src/main/cms/cms_menu_saveexit.c
@@ -52,6 +52,7 @@ CMS_Menu cmsx_menuSaveExit = {
     .onEnter = NULL,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuSaveExitEntries
 };
 
@@ -72,6 +73,7 @@ CMS_Menu cmsx_menuSaveExitReboot = {
     .onEnter = NULL,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuSaveExitRebootEntries
 };
 
diff --git a/src/main/cms/cms_menu_vtx_common.c b/src/main/cms/cms_menu_vtx_common.c
index 9ea05c519b..3cb7b6fccc 100644
--- a/src/main/cms/cms_menu_vtx_common.c
+++ b/src/main/cms/cms_menu_vtx_common.c
@@ -114,6 +114,7 @@ CMS_Menu cmsx_menuVtxRedirect = {
     .onEnter = setStatusMessage,
     .onExit = NULL,
     .checkRedirect = vtxMenuRedirect,
+    .onDisplayUpdate = NULL,
     .entries = vtxRedirectMenuEntries,
 };
 
diff --git a/src/main/cms/cms_menu_vtx_rtc6705.c b/src/main/cms/cms_menu_vtx_rtc6705.c
index 129bf7303f..77830368cc 100644
--- a/src/main/cms/cms_menu_vtx_rtc6705.c
+++ b/src/main/cms/cms_menu_vtx_rtc6705.c
@@ -165,6 +165,7 @@ CMS_Menu cmsx_menuVtxRTC6705 = {
     .onEnter = cmsx_Vtx_onEnter,
     .onExit = cmsx_Vtx_onExit,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = cmsx_menuVtxEntries
 };
 
diff --git a/src/main/cms/cms_menu_vtx_smartaudio.c b/src/main/cms/cms_menu_vtx_smartaudio.c
index 9743d332e6..a280fd9f90 100644
--- a/src/main/cms/cms_menu_vtx_smartaudio.c
+++ b/src/main/cms/cms_menu_vtx_smartaudio.c
@@ -417,6 +417,7 @@ static CMS_Menu saCmsMenuStats = {
     .onEnter = NULL,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = saCmsMenuStatsEntries
 };
 #endif /* USE_EXTENDED_CMS_MENUS */
@@ -615,6 +616,7 @@ static CMS_Menu saCmsMenuPORFreq =
     .onEnter = saCmsSetPORFreqOnEnter,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = saCmsMenuPORFreqEntries,
 };
 
@@ -638,6 +640,7 @@ static CMS_Menu saCmsMenuUserFreq =
     .onEnter = saCmsSetUserFreqOnEnter,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = saCmsMenuUserFreqEntries,
 };
 
@@ -666,6 +669,7 @@ static CMS_Menu saCmsMenuConfig = {
     .onEnter = NULL,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = saCmsMenuConfigEntries
 };
 
@@ -686,6 +690,7 @@ static CMS_Menu saCmsMenuCommence = {
     .onEnter = NULL,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = saCmsMenuCommenceEntries,
 };
 
@@ -759,6 +764,7 @@ CMS_Menu cmsx_menuVtxSmartAudio = {
     .onEnter = sacms_SetupTopMenu,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = saCmsMenuOfflineEntries,
 };
 
diff --git a/src/main/cms/cms_menu_vtx_tramp.c b/src/main/cms/cms_menu_vtx_tramp.c
index 3a927066a5..feee4066b5 100644
--- a/src/main/cms/cms_menu_vtx_tramp.c
+++ b/src/main/cms/cms_menu_vtx_tramp.c
@@ -244,6 +244,7 @@ static CMS_Menu trampCmsMenuCommence = {
     .onEnter = NULL,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = trampCmsMenuCommenceEntries,
 };
 
@@ -272,6 +273,7 @@ CMS_Menu cmsx_menuVtxTramp = {
     .onEnter = trampCmsOnEnter,
     .onExit = NULL,
     .checkRedirect = NULL,
+    .onDisplayUpdate = NULL,
     .entries = trampMenuEntries,
 };
 #endif
diff --git a/src/main/cms/cms_types.h b/src/main/cms/cms_types.h
index 1e659d472b..30c4b3472b 100644
--- a/src/main/cms/cms_types.h
+++ b/src/main/cms/cms_types.h
@@ -98,6 +98,8 @@ typedef long (*CMSMenuOnExitPtr)(const OSD_Entry *self);
 
 typedef const void * (*CMSMenuCheckRedirectPtr)(void);
 
+typedef long (*CMSMenuOnDisplayUpdatePtr)(const OSD_Entry *selected);
+
 typedef struct
 {
 #ifdef CMS_MENU_DEBUG
@@ -108,6 +110,7 @@ typedef struct
     const CMSMenuFuncPtr onEnter;
     const CMSMenuOnExitPtr onExit;
     const CMSMenuCheckRedirectPtr checkRedirect;
+    const CMSMenuOnDisplayUpdatePtr onDisplayUpdate;
     const OSD_Entry *entries;
 } CMS_Menu;
 
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 48b1f24573..f7364472e2 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -276,6 +276,12 @@ static void validateAndFixConfig(void)
     buildAlignmentFromStandardAlignment(&gyroDeviceConfigMutable(1)->customAlignment, gyroDeviceConfig(1)->alignment);
 #endif
 
+    if (accelerometerConfig()->accZero.values.roll != 0 ||
+        accelerometerConfig()->accZero.values.pitch != 0 ||
+        accelerometerConfig()->accZero.values.yaw != 0) {
+        accelerometerConfigMutable()->accZero.values.calibrationCompleted = 1;
+    }
+
     if (!(featureIsConfigured(FEATURE_RX_PARALLEL_PWM) || featureIsConfigured(FEATURE_RX_PPM) || featureIsConfigured(FEATURE_RX_SERIAL) || featureIsConfigured(FEATURE_RX_MSP) || featureIsConfigured(FEATURE_RX_SPI))) {
         featureEnable(DEFAULT_RX_FEATURE);
     }
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index 9743c4c2c5..5cf0a17bde 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -177,15 +177,15 @@ PG_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig,
 
 static bool isCalibrating(void)
 {
-    return !isGyroCalibrationComplete()
+    return (sensors(SENSOR_GYRO) && !gyroIsCalibrationComplete())
 #ifdef USE_ACC
         || (sensors(SENSOR_ACC) && !accIsCalibrationComplete())
 #endif
 #ifdef USE_BARO
-        || (sensors(SENSOR_BARO) && !isBaroCalibrationComplete())
+        || (sensors(SENSOR_BARO) && !baroIsCalibrationComplete())
 #endif
 #ifdef USE_MAG
-        || (sensors(SENSOR_MAG) && !isCompassCalibrationComplete())
+        || (sensors(SENSOR_MAG) && !compassIsCalibrationComplete())
 #endif
         ;
 }
@@ -216,11 +216,7 @@ static bool accNeedsCalibration(void)
     if (sensors(SENSOR_ACC)) {
 
         // Check to see if the ACC has already been calibrated
-        if (accelerometerConfig()->accZero.values.calibrationCompleted ||
-            accelerometerConfig()->accZero.values.roll != 0 ||
-            accelerometerConfig()->accZero.values.pitch != 0 ||
-            accelerometerConfig()->accZero.values.yaw != 0) {
-
+        if (accHasBeenCalibrated()) {
             return false;
         }
 
diff --git a/src/main/flight/position.c b/src/main/flight/position.c
index 3e88fb23c4..94bb4d5d87 100644
--- a/src/main/flight/position.c
+++ b/src/main/flight/position.c
@@ -109,7 +109,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
     bool haveGpsAlt = false;
 #ifdef USE_BARO
     if (sensors(SENSOR_BARO)) {
-        if (!isBaroCalibrationComplete()) {
+        if (!baroIsCalibrationComplete()) {
             performBaroCalibrationCycle();
         } else {
             baroAlt = baroCalculateAltitude();
diff --git a/src/main/msc/emfat_file.c b/src/main/msc/emfat_file.c
index 118af8891e..22a3112101 100644
--- a/src/main/msc/emfat_file.c
+++ b/src/main/msc/emfat_file.c
@@ -261,7 +261,7 @@ static const emfat_entry_t entriesPredefined[] =
 #ifdef USE_EMFAT_README
     { "readme.txt",   false, 0,           1,  0,      README_SIZE,     1024*1024,      (long)readme_file,  CMA,  memory_read_proc,  NULL, { 0 } },
 #endif
-    { "BTFL_ALL.BBL", 0,     0,           1,  0,      0,               0,              0,                  CMA,  bblog_read_proc,   NULL, { 0 } },
+    { FC_FIRMWARE_IDENTIFIER "_ALL.BBL", 0,     0,           1,  0,      0,               0,              0,                  CMA,  bblog_read_proc,   NULL, { 0 } },
     { "PADDING.TXT",  0,     ATTR_HIDDEN, 1,  0,      0,               0,              0,                  CMA,  NULL,              NULL, { 0 } },
 };
 
@@ -288,7 +288,7 @@ static void emfat_set_entry_cma(emfat_entry_t *entry)
 
 static void emfat_add_log(emfat_entry_t *entry, int number, uint32_t offset, uint32_t size)
 {
-    tfp_sprintf(logNames[number], "BTFL_%03d.BBL", number + 1);
+    tfp_sprintf(logNames[number], FC_FIRMWARE_IDENTIFIER "_%03d.BBL", number + 1);
     entry->name = logNames[number];
     entry->level = 1;
     entry->offset = offset;
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index 22582ca065..58fef8cc16 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -141,7 +141,7 @@
 #include "msp.h"
 
 
-static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
+static const char * const flightControllerIdentifier = FC_FIRMWARE_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
 
 enum {
     MSP_REBOOT_FIRMWARE = 0,
diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
index f4f3972d20..ef9978a7ac 100644
--- a/src/main/msp/msp_protocol.h
+++ b/src/main/msp/msp_protocol.h
@@ -68,7 +68,7 @@
 
 #define MULTIWII_IDENTIFIER "MWII";
 #define BASEFLIGHT_IDENTIFIER "BAFL";
-#define BETAFLIGHT_IDENTIFIER "BTFL"
+//#define BETAFLIGHT_IDENTIFIER "BTFL" Actual value stored in FC_FIRMWARE_IDENTIFIER in build/version.h
 #define CLEANFLIGHT_IDENTIFIER "CLFL"
 #define INAV_IDENTIFIER "INAV"
 #define RACEFLIGHT_IDENTIFIER "RCFL"
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 65ace6804c..0dce6835a4 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -99,6 +99,11 @@ static void setConfigCalibrationCompleted(void)
     accelerometerConfigMutable()->accZero.values.calibrationCompleted = 1;
 }
 
+bool accHasBeenCalibrated(void)
+{
+    return accelerometerConfig()->accZero.values.calibrationCompleted;
+}
+
 void accResetRollAndPitchTrims(void)
 {
     resetRollAndPitchTrims(&accelerometerConfigMutable()->accelerometerTrims);
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 27ea13c3ca..a0218fb285 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -79,6 +79,7 @@ PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
 
 bool accInit(uint32_t gyroTargetLooptime);
 bool accIsCalibrationComplete(void);
+bool accHasBeenCalibrated(void);
 void accStartCalibration(void);
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
 void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims);
diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 794302ccdd..faf8dcc243 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -275,7 +275,7 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
     return true;
 }
 
-bool isBaroCalibrationComplete(void)
+bool baroIsCalibrationComplete(void)
 {
     return calibratingB == 0;
 }
@@ -434,7 +434,7 @@ int32_t baroCalculateAltitude(void)
 
     // calculates height from ground via baro readings
     // see: https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Baro/AP_Baro.cpp#L140
-    if (isBaroCalibrationComplete()) {
+    if (baroIsCalibrationComplete()) {
         BaroAlt_tmp = lrintf((1.0f - pow_approx((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190259f)) * 4433000.0f); // in cm
         BaroAlt_tmp -= baroGroundAltitude;
         baro.BaroAlt = lrintf((float)baro.BaroAlt * CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf) + (float)BaroAlt_tmp * (1.0f - CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf))); // additional LPF to reduce baro noise
@@ -453,11 +453,11 @@ void performBaroCalibrationCycle(void)
     baroGroundPressure += baroPressureSum / PRESSURE_SAMPLE_COUNT;
     baroGroundAltitude = (1.0f - pow_approx((baroGroundPressure / 8) / 101325.0f, 0.190259f)) * 4433000.0f;
 
-    if (baroGroundPressure == savedGroundPressure)
-      calibratingB = 0;
-    else {
-      calibratingB--;
-      savedGroundPressure=baroGroundPressure;
+    if (baroGroundPressure == savedGroundPressure) {
+        calibratingB = 0;
+    } else {
+        calibratingB--;
+        savedGroundPressure = baroGroundPressure;
     }
 }
 
diff --git a/src/main/sensors/barometer.h b/src/main/sensors/barometer.h
index 252179b119..e9a3a4f175 100644
--- a/src/main/sensors/barometer.h
+++ b/src/main/sensors/barometer.h
@@ -63,7 +63,7 @@ extern baro_t baro;
 
 void baroPreInit(void);
 bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse);
-bool isBaroCalibrationComplete(void);
+bool baroIsCalibrationComplete(void);
 void baroStartCalibration(void);
 void baroSetGroundLevel(void);
 uint32_t baroUpdate(void);
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index f593e896e2..de24518fbd 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -332,7 +332,7 @@ void compassStartCalibration(void)
     }
 }
 
-bool isCompassCalibrationComplete(void)
+bool compassIsCalibrationComplete(void)
 {
     return tCal == 0;
 }
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index 57d1b2bafc..1250d925cc 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -68,5 +68,5 @@ void compassUpdate(timeUs_t currentTime);
 bool compassInit(void);
 void compassPreInit(void);
 void compassStartCalibration(void);
-bool isCompassCalibrationComplete(void);
+bool compassIsCalibrationComplete(void);
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index a4fb73d92b..0069249258 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -119,7 +119,7 @@ typedef struct gyroCalibration_s {
     int32_t cyclesRemaining;
 } gyroCalibration_t;
 
-bool firstArmingCalibrationWasStarted = false;
+static bool firstArmingCalibrationWasStarted = false;
 
 typedef struct gyroSensor_s {
     gyroDev_t gyroDev;
@@ -773,7 +773,7 @@ FAST_CODE bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
     return gyroSensor->calibration.cyclesRemaining == 0;
 }
 
-FAST_CODE bool isGyroCalibrationComplete(void)
+FAST_CODE bool gyroIsCalibrationComplete(void)
 {
     switch (gyroToUse) {
         default:
@@ -819,21 +819,23 @@ static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
 
 void gyroStartCalibration(bool isFirstArmingCalibration)
 {
-    if (!(isFirstArmingCalibration && firstArmingCalibrationWasStarted)) {
-        gyroSetCalibrationCycles(&gyroSensor1);
+    if (isFirstArmingCalibration && firstArmingCalibrationWasStarted) {
+        return;
+    }
+
+    gyroSetCalibrationCycles(&gyroSensor1);
 #ifdef USE_MULTI_GYRO
-        gyroSetCalibrationCycles(&gyroSensor2);
+    gyroSetCalibrationCycles(&gyroSensor2);
 #endif
 
-        if (isFirstArmingCalibration) {
-            firstArmingCalibrationWasStarted = true;
-        }
+    if (isFirstArmingCalibration) {
+        firstArmingCalibrationWasStarted = true;
     }
 }
 
 bool isFirstArmingGyroCalibrationRunning(void)
 {
-    return firstArmingCalibrationWasStarted && !isGyroCalibrationComplete();
+    return firstArmingCalibrationWasStarted && !gyroIsCalibrationComplete();
 }
 
 STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t gyroMovementCalibrationThreshold)
@@ -879,8 +881,8 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
             beeper(BEEPER_GYRO_CALIBRATED);
         }
     }
-    --gyroSensor->calibration.cyclesRemaining;
 
+    --gyroSensor->calibration.cyclesRemaining;
 }
 
 #if defined(USE_GYRO_SLEW_LIMITER)
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index fc8351173e..9c1baffa85 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -167,7 +167,7 @@ struct mpuDetectionResult_s;
 const struct mpuDetectionResult_s *gyroMpuDetectionResult(void);
 void gyroStartCalibration(bool isFirstArmingCalibration);
 bool isFirstArmingGyroCalibrationRunning(void);
-bool isGyroCalibrationComplete(void);
+bool gyroIsCalibrationComplete(void);
 void gyroReadTemperature(void);
 int16_t gyroGetTemperature(void);
 int16_t gyroRateDps(int axis);
diff --git a/src/test/unit/arming_prevention_unittest.cc b/src/test/unit/arming_prevention_unittest.cc
index a18b7ca265..f0679c8f28 100644
--- a/src/test/unit/arming_prevention_unittest.cc
+++ b/src/test/unit/arming_prevention_unittest.cc
@@ -88,6 +88,7 @@ TEST(ArmingPreventionTest, CalibrationPowerOnGraceAngleThrottleArmSwitch)
     // given
     simulationTime = 0;
     gyroCalibDone = false;
+    sensorsSet(SENSOR_GYRO);
 
     // and
     modeActivationConditionsMutable(0)->auxChannelIndex = 0;
@@ -178,6 +179,7 @@ TEST(ArmingPreventionTest, ArmingGuardRadioLeftOnAndArmed)
     // given
     simulationTime = 0;
     gyroCalibDone = false;
+    sensorsSet(SENSOR_GYRO);
 
     // and
     modeActivationConditionsMutable(0)->auxChannelIndex = 0;
@@ -1036,8 +1038,8 @@ extern "C" {
     void saveConfigAndNotify(void) {}
     void blackboxFinish(void) {}
     bool accIsCalibrationComplete(void) { return true; }
-    bool isBaroCalibrationComplete(void) { return true; }
-    bool isGyroCalibrationComplete(void) { return gyroCalibDone; }
+    bool baroIsCalibrationComplete(void) { return true; }
+    bool gyroIsCalibrationComplete(void) { return gyroCalibDone; }
     void gyroStartCalibration(bool) {}
     bool isFirstArmingGyroCalibrationRunning(void) { return false; }
     void pidController(const pidProfile_t *, timeUs_t) {}
@@ -1072,6 +1074,7 @@ extern "C" {
     void transponderUpdate(timeUs_t) {}
     void GPS_reset_home_position(void) {}
     void accStartCalibration(void) {}
+    bool accHasBeenCalibrated(void) { return true; }
     void baroSetGroundLevel(void) {}
     void changePidProfile(uint8_t) {}
     void changeControlRateProfile(uint8_t) {}
@@ -1093,6 +1096,6 @@ extern "C" {
     void applyAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
     bool isFixedWing(void) { return false; }
     void compassStartCalibration(void) {}
-    bool isCompassCalibrationComplete(void) { return true; }
+    bool compassIsCalibrationComplete(void) { return true; }
     bool isUpright(void) { return mockIsUpright; }
 }
diff --git a/src/test/unit/cms_unittest.cc b/src/test/unit/cms_unittest.cc
index 348139e666..c2547aa88f 100644
--- a/src/test/unit/cms_unittest.cc
+++ b/src/test/unit/cms_unittest.cc
@@ -125,7 +125,7 @@ static OSD_Entry menuMainEntries[] =
     {"EXIT", OME_OSD_Exit, cmsMenuExit, (void*)0, 0},
     {NULL, OME_END, NULL, NULL, 0}
 };
-CMS_Menu menuMain = {
+CMS_Menu cmsx_menuMain = {
 #ifdef CMS_MENU_DEBUG
     .GUARD_text = "MENUMAIN",
     .GUARD_type = OME_MENU,
diff --git a/src/test/unit/flight_imu_unittest.cc b/src/test/unit/flight_imu_unittest.cc
index c4790e6cc2..324c71652b 100644
--- a/src/test/unit/flight_imu_unittest.cc
+++ b/src/test/unit/flight_imu_unittest.cc
@@ -242,7 +242,7 @@ uint32_t millis(void) { return 0; }
 uint32_t micros(void) { return 0; }
 
 bool compassIsHealthy(void) { return true; }
-bool isBaroCalibrationComplete(void) { return true; }
+bool baroIsCalibrationComplete(void) { return true; }
 void performBaroCalibrationCycle(void) {}
 int32_t baroCalculateAltitude(void) { return 0; }
 bool gyroGetAccumulationAverage(float *) { return false; }
diff --git a/src/test/unit/sensor_gyro_unittest.cc b/src/test/unit/sensor_gyro_unittest.cc
index abeb27252b..c11fa23f00 100644
--- a/src/test/unit/sensor_gyro_unittest.cc
+++ b/src/test/unit/sensor_gyro_unittest.cc
@@ -100,8 +100,8 @@ TEST(SensorGyro, Calibrate)
     EXPECT_EQ(9, gyroDevPtr->gyroZero[Y]);
     EXPECT_EQ(10, gyroDevPtr->gyroZero[Z]);
     gyroStartCalibration(false);
-    EXPECT_EQ(false, isGyroCalibrationComplete());
-    while (!isGyroCalibrationComplete()) {
+    EXPECT_EQ(false, gyroIsCalibrationComplete());
+    while (!gyroIsCalibrationComplete()) {
         gyroDevPtr->readFn(gyroDevPtr);
         performGyroCalibration(gyroSensorPtr, gyroMovementCalibrationThreshold);
     }
@@ -121,16 +121,16 @@ TEST(SensorGyro, Update)
     gyroInit();
     gyroDevPtr->readFn = fakeGyroRead;
     gyroStartCalibration(false);
-    EXPECT_EQ(false, isGyroCalibrationComplete());
+    EXPECT_EQ(false, gyroIsCalibrationComplete());
 
     timeUs_t currentTimeUs = 0;
     fakeGyroSet(gyroDevPtr, 5, 6, 7);
     gyroUpdate(currentTimeUs);
-    while (!isGyroCalibrationComplete()) {
+    while (!gyroIsCalibrationComplete()) {
         fakeGyroSet(gyroDevPtr, 5, 6, 7);
         gyroUpdate(currentTimeUs);
     }
-    EXPECT_EQ(true, isGyroCalibrationComplete());
+    EXPECT_EQ(true, gyroIsCalibrationComplete());
     EXPECT_EQ(5, gyroDevPtr->gyroZero[X]);
     EXPECT_EQ(6, gyroDevPtr->gyroZero[Y]);
     EXPECT_EQ(7, gyroDevPtr->gyroZero[Z]);
diff --git a/src/test/unit/vtx_unittest.cc b/src/test/unit/vtx_unittest.cc
index f050baa4ae..eb6523080d 100644
--- a/src/test/unit/vtx_unittest.cc
+++ b/src/test/unit/vtx_unittest.cc
@@ -129,8 +129,9 @@ extern "C" {
     void saveConfigAndNotify(void) {}
     void blackboxFinish(void) {}
     bool accIsCalibrationComplete(void) { return true; }
-    bool isBaroCalibrationComplete(void) { return true; }
-    bool isGyroCalibrationComplete(void) { return gyroCalibDone; }
+    bool accHasBeenCalibrated(void) { return true; }
+    bool baroIsCalibrationComplete(void) { return true; }
+    bool gyroIsCalibrationComplete(void) { return gyroCalibDone; }
     void gyroStartCalibration(bool) {}
     bool isFirstArmingGyroCalibrationRunning(void) { return false; }
     void pidController(const pidProfile_t *, timeUs_t) {}
@@ -180,6 +181,6 @@ extern "C" {
     void applyAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
     bool isFixedWing(void) { return false; }
     void compassStartCalibration(void) {}
-    bool isCompassCalibrationComplete(void) { return true; }
+    bool compassIsCalibrationComplete(void) { return true; }
     bool isUpright(void) { return true; }
 }