diff --git a/src/main/config/parameter_group_ids.h b/src/main/config/parameter_group_ids.h
index 44ad13b037..4df6f3b810 100644
--- a/src/main/config/parameter_group_ids.h
+++ b/src/main/config/parameter_group_ids.h
@@ -55,25 +55,38 @@
 #define PG_NAVIGATION_CONFIG 34 // structs OK
 #define PG_ACCELEROMETER_CONFIG 35 // no accelerometerConfig_t in betaflight
 #define PG_RATE_PROFILE_SELECTION 36 // part of profile in betaflight
-#define PG_ADJUSTMENT_PROFILE 37 // array needs to be made into struct
+//#define PG_ADJUSTMENT_PROFILE 37 // array needs to be made into struct
+#define PG_ADJUSTMENT_RANGE_CONFIG 37
 #define PG_BAROMETER_CONFIG 38 // structs OK
 #define PG_THROTTLE_CORRECTION_CONFIG 39
 #define PG_COMPASS_CONFIGURATION 40 // structs OK
 #define PG_MODE_ACTIVATION_PROFILE 41 // array needs to be made into struct
-#define PG_SERVO_PROFILE 42
-#define PG_FAILSAFE_CHANNEL_CONFIG 43 // structs OK
-#define PG_CHANNEL_RANGE_CONFIG 44 // structs OK
+//#define PG_SERVO_PROFILE 42
+#define PG_SERVO_PARAMS 42
+//#define PG_FAILSAFE_CHANNEL_CONFIG 43 // structs OK
+#define PG_RX_FAILSAFE_CHANNEL_CONFIG 43
+//#define PG_CHANNEL_RANGE_CONFIG 44 // structs OK
+#define PG_RX_CHANNEL_RANGE_CONFIG 44
 #define PG_MODE_COLOR_CONFIG 45  // part of led strip, structs OK
 #define PG_SPECIAL_COLOR_CONFIG 46  // part of led strip, structs OK
 #define PG_PILOT_CONFIG 47 // does not exist in betaflight
 #define PG_MSP_SERVER_CONFIG 48 // does not exist in betaflight
 #define PG_VOLTAGE_METER_CONFIG 49 // Cleanflight has voltageMeterConfig_t, betaflight has batteryConfig_t
 #define PG_AMPERAGE_METER_CONFIG 50 // Cleanflight has amperageMeterConfig_t, betaflight has batteryConfig_t
+#define PG_SERVO_CONFIG 52
 
 // Driver configuration
 #define PG_DRIVER_PWM_RX_CONFIG 100 // does not exist in betaflight
 #define PG_DRIVER_FLASHCHIP_CONFIG 101 // does not exist in betaflight
 
+// betaflight specific parameter group ids start at 500
+#define PG_BETAFLIGHT_START 500
+#define PG_MODE_ACTIVATION_OPERATOR_CONFIG 500
+#define PG_OSD_CONFIG 501
+#define PG_BEEPER_CONFIG 5002
+#define PG_BETAFLIGHT_END 1002
+
+
 // OSD configuration (subject to change)
 #define PG_OSD_FONT_CONFIG 2047
 #define PG_OSD_VIDEO_CONFIG 2046
diff --git a/src/main/drivers/flash_m25p16.c b/src/main/drivers/flash_m25p16.c
index 79fc8509e7..139ead18cc 100644
--- a/src/main/drivers/flash_m25p16.c
+++ b/src/main/drivers/flash_m25p16.c
@@ -208,7 +208,7 @@ static bool m25p16_readIdentification()
  * Attempts to detect a connected m25p16. If found, true is returned and device capacity can be fetched with
  * m25p16_getGeometry().
  */
-bool m25p16_init(flashConfig_t *flashConfig)
+bool m25p16_init(const flashConfig_t *flashConfig)
 {
     /*
         if we have already detected a flash device we can simply exit
diff --git a/src/main/drivers/flash_m25p16.h b/src/main/drivers/flash_m25p16.h
index f3cec0d9f7..3569ff9a89 100644
--- a/src/main/drivers/flash_m25p16.h
+++ b/src/main/drivers/flash_m25p16.h
@@ -22,7 +22,7 @@
 
 #define M25P16_PAGESIZE 256
 
-bool m25p16_init(flashConfig_t *flashConfig);
+bool m25p16_init(const flashConfig_t *flashConfig);
 
 void m25p16_eraseSector(uint32_t address);
 void m25p16_eraseCompletely();
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index bc9e7f6233..14062a364a 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -1567,10 +1567,9 @@ static void cliRxFailsafe(char *cmdline)
         channel = atoi(ptr++);
         if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
 
-            rxFailsafeChannelConfig_t *channelFailsafeConfig = &rxConfig()->failsafe_channel_configurations[channel];
+            rxFailsafeChannelConfig_t *channelFailsafeConfig = &rxConfigMutable()->failsafe_channel_configurations[channel];
 
-            uint16_t value;
-            rxFailsafeChannelType_e type = (channel < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_TYPE_FLIGHT : RX_FAILSAFE_TYPE_AUX;
+            const rxFailsafeChannelType_e type = (channel < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_TYPE_FLIGHT : RX_FAILSAFE_TYPE_AUX;
             rxFailsafeChannelMode_e mode = channelFailsafeConfig->mode;
             bool requireValue = channelFailsafeConfig->mode == RX_FAILSAFE_MODE_SET;
 
@@ -1596,7 +1595,7 @@ static void cliRxFailsafe(char *cmdline)
                         cliShowParseError();
                         return;
                     }
-                    value = atoi(ptr);
+                    uint16_t value = atoi(ptr);
                     value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
                     if (value > MAX_RXFAIL_RANGE_STEP) {
                         cliPrint("Value out of range\r\n");
@@ -2004,7 +2003,7 @@ static void printMotorMix(uint8_t dumpMask, const motorMixer_t *customMotorMixer
     char buf2[8];
     char buf3[8];
     for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-        if (customMotorMixer(i)->throttle == 0.0f)
+        if (customMotorMixer[i].throttle == 0.0f)
             break;
         const float thr = customMotorMixer[i].throttle;
         const float roll = customMotorMixer[i].roll;
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index 82561b717f..0f327872dc 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -22,6 +22,11 @@
 
 #include "config/parameter_group.h"
 
+#include "drivers/adc.h"
+#include "drivers/flash.h"
+#include "drivers/rx_pwm.h"
+#include "drivers/sound_beeper.h"
+
 #if FLASH_SIZE <= 128
 #define MAX_PROFILE_COUNT 2
 #else
@@ -67,6 +72,11 @@ typedef struct systemConfig_s {
 } systemConfig_t;
 
 PG_DECLARE(systemConfig_t, systemConfig);
+PG_DECLARE(adcConfig_t, adcConfig);
+PG_DECLARE(beeperDevConfig_t, beeperDevConfig);
+PG_DECLARE(flashConfig_t, flashConfig);
+PG_DECLARE(ppmConfig_t, ppmConfig);
+PG_DECLARE(pwmConfig_t, pwmConfig);
 
 /*typedef struct beeperConfig_s {
     uint32_t beeper_off_flags;
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 8a0c61acae..2b5373648a 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -364,9 +364,9 @@ void init(void)
 
 #ifdef USE_ADC
     /* these can be removed from features! */
-    adcConfig()->vbat.enabled = feature(FEATURE_VBAT);
-    adcConfig()->currentMeter.enabled = feature(FEATURE_CURRENT_METER);
-    adcConfig()->rssi.enabled = feature(FEATURE_RSSI_ADC);
+    adcConfigMutable()->vbat.enabled = feature(FEATURE_VBAT);
+    adcConfigMutable()->currentMeter.enabled = feature(FEATURE_CURRENT_METER);
+    adcConfigMutable()->rssi.enabled = feature(FEATURE_RSSI_ADC);
     adcInit(adcConfig());
 #endif
 
diff --git a/src/main/fc/rc_controls.h b/src/main/fc/rc_controls.h
index 4fb14d4dd4..19d649588f 100644
--- a/src/main/fc/rc_controls.h
+++ b/src/main/fc/rc_controls.h
@@ -163,7 +163,8 @@ typedef struct controlRateConfig_s {
     uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
 } controlRateConfig_t;
 
-//!!TODO PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
+#define MAX_CONTROL_RATE_PROFILE_COUNT 3
+PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
 
 extern int16_t rcCommand[4];