diff --git a/baseflight.uvopt b/baseflight.uvopt
index e9ea8e7092..ab16376024 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -73,7 +73,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
+        <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>255</CpuCode>
       <Books>
@@ -161,6 +161,21 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
+          <LineNumber>309</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>D:\fly_122\projects\baseflight\src\drv_pwm.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
           <LineNumber>461</LineNumber>
           <EnabledFlag>1</EnabledFlag>
           <Address>134248194</Address>
@@ -317,7 +332,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>255</CpuCode>
       <Books>
@@ -402,7 +417,7 @@
           <Type>0</Type>
           <LineNumber>71</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134232388</Address>
+          <Address>134232424</Address>
           <ByteObject>0</ByteObject>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
@@ -412,6 +427,21 @@
           <ExecCommand></ExecCommand>
           <Expression>\\baseflight\src/spektrum.c\71</Expression>
         </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
+          <LineNumber>305</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134236062</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\305</Expression>
+        </Bp>
       </Breakpoint>
       <WatchWindow1>
         <Ww>
@@ -534,8 +564,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
-      <CurrentLine>1</CurrentLine>
+      <TopLine>52</TopLine>
+      <CurrentLine>52</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\cli.c</PathWithFileName>
       <FilenameWithoutPath>cli.c</FilenameWithoutPath>
@@ -548,8 +578,8 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>102</TopLine>
-      <CurrentLine>125</CurrentLine>
+      <TopLine>108</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\config.c</PathWithFileName>
       <FilenameWithoutPath>config.c</FilenameWithoutPath>
@@ -576,8 +606,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>43</TopLine>
-      <CurrentLine>50</CurrentLine>
+      <TopLine>40</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
@@ -604,8 +634,8 @@
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       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>15</TopLine>
-      <CurrentLine>26</CurrentLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.c</PathWithFileName>
       <FilenameWithoutPath>mw.c</FilenameWithoutPath>
@@ -618,8 +648,8 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\sensors.c</PathWithFileName>
       <FilenameWithoutPath>sensors.c</FilenameWithoutPath>
@@ -658,10 +688,10 @@
       <FileType>5</FileType>
       <tvExp>0</tvExp>
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-      <ColumnNumber>0</ColumnNumber>
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-      <TopLine>252</TopLine>
-      <CurrentLine>288</CurrentLine>
+      <TopLine>172</TopLine>
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       <bDave2>0</bDave2>
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       <FilenameWithoutPath>mw.h</FilenameWithoutPath>
@@ -672,10 +702,10 @@
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       <tvExp>0</tvExp>
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-      <ColumnNumber>0</ColumnNumber>
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-      <TopLine>1</TopLine>
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       <bDave2>0</bDave2>
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@@ -686,10 +716,10 @@
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       <tvExp>0</tvExp>
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-      <ColumnNumber>14</ColumnNumber>
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       <TopLine>53</TopLine>
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@@ -698,7 +728,7 @@
 
   <Group>
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+    <tvExp>1</tvExp>
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     <File>
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-      <tvExp>0</tvExp>
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-      <TopLine>0</TopLine>
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+      <TopLine>20</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_mpu3050.c</PathWithFileName>
       <FilenameWithoutPath>drv_mpu3050.c</FilenameWithoutPath>
@@ -791,10 +821,10 @@
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       <tvExp>0</tvExp>
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-      <ColumnNumber>47</ColumnNumber>
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+      <TopLine>283</TopLine>
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@@ -807,8 +837,8 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>37</TopLine>
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@@ -817,7 +847,7 @@
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diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 9f447cca7d..7b2c4a8337 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,80 +1,80 @@
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diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index a3e2167b94..91b4c4a993 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -156,9 +156,9 @@ static void pwmIRQHandler(TIM_TypeDef *tim)
 
 static void pwmInitializeInput(bool usePPM)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
-    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
-    NVIC_InitTypeDef NVIC_InitStructure;
+    GPIO_InitTypeDef GPIO_InitStructure = { 0, };
+    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure = { 0, };
+    NVIC_InitTypeDef NVIC_InitStructure = { 0, };
     uint8_t i;
 
    // Input pins
@@ -246,9 +246,9 @@ static void pwmInitializeInput(bool usePPM)
 
 bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServos)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
-    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
-    TIM_OCInitTypeDef TIM_OCInitStructure;
+    GPIO_InitTypeDef GPIO_InitStructure = { 0, };
+    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure = { 0, };
+    TIM_OCInitTypeDef TIM_OCInitStructure = { 0, };
 
     uint8_t i, val;
     uint16_t c;
@@ -279,7 +279,7 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     GPIO_Init(GPIOA, &GPIO_InitStructure);
-    
+
 #if 0
     // wait a while
     delay(100);
@@ -304,7 +304,7 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
     // TODO: clean this shit up. Make it all dynamic etc.
     if (pwmppmInput)
         pwmInitializeInput(usePPMFlag);
- 
+
     // Output pins
     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_11;
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@@ -314,6 +314,9 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
     GPIO_Init(GPIOB, &GPIO_InitStructure);
 
     // Output timers
+    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
+    TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1);
+
     if (useServos) {
         // 50Hz/200Hz period on ch1, 2 for servo
         if (useDigitalServos)