diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index ea60993e..d5f0ba13 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -14,6 +14,9 @@
     "options_showProfileParameters": {
         "message": "Highlight parameters that change when switching battery or control profiles"
     },
+    "options_cliAutocomplete": {
+        "message": "Advanced CLI AutoComplete"
+    },
     "options_unit_type": {
         "message": "Set how the units render on the configurator only"
     },
@@ -1302,6 +1305,9 @@
     "portsFunction_MSP_DISPLAYPORT": {
         "message": "MSP DisplayPort"
     },
+    "portsFunction_SBUS_OUTPUT": {
+        "message": "SBus Output"
+    },
     "pidTuning_ShowAllPIDs": {
         "message": "Show all PIDs"
     },
@@ -4343,8 +4349,8 @@
     "missionMultiAddNewMission": {
         "message": "Add New Mission"
     },
-    "missionLevelEarthDEMModel": {
-        "message": "Use Sea Level Earth DEM Model: "
+    "missionEllipsoidEarthDEMModel": {
+        "message": "Use Ellipsoid instead of SL DEM: "
     },
     "SafehomeLegend": {
         "message": "Legend : "
@@ -5004,10 +5010,10 @@
         "message": "Illegal state. Restart required."
     },
     "motor_direction_inverted": {
-        "message": "Normal motor direction / Props In configuration"
+        "message": "Normal motor direction / Props-in configuration"
     },
     "motor_direction_isInverted": {
-        "message": "Reversed motor direction / Props Out configuration"
+        "message": "Reversed motor direction / Props-out configuration"
     },
     "motor_direction_inverted_hint": {
         "message": "Enable if the motor direction is reversed and the props are mounted in the opposite direction."
@@ -5700,4 +5706,4 @@
     "ezTuneNote": {
         "message": "<strong>Important</strong> Ez Tune is enabled. All settings on this tab are set and controlled by the Ez Tune. To use PID Tuning tab you have to disable Ez Tune. To do it, uncheck the <strong>Enabled</strong> checkbox on the Ez Tune tab."
     }
-}
\ No newline at end of file
+}
diff --git a/gulpfile.js b/gulpfile.js
index 5ce4b041..535aa324 100644
--- a/gulpfile.js
+++ b/gulpfile.js
@@ -138,6 +138,8 @@ sources.js = [
     './node_modules/openlayers/dist/ol.js',
     './js/libraries/plotly-latest.min.js',
     './js/sitl.js',
+    './js/CliAutoComplete.js',
+    './node_modules/jquery-textcomplete/dist/jquery.textcomplete.js',
     './js/fwApproach.js',
     './js/fwApproachCollection.js'
 ];
diff --git a/js/CliAutoComplete.js b/js/CliAutoComplete.js
new file mode 100644
index 00000000..b98908d7
--- /dev/null
+++ b/js/CliAutoComplete.js
@@ -0,0 +1,554 @@
+/**
+ * Encapsulates the AutoComplete logic
+ *
+ * Uses: https://github.com/yuku/jquery-textcomplete
+ * Check out the docs at https://github.com/yuku/jquery-textcomplete/tree/v1/doc
+ */
+const CliAutoComplete = {
+    configEnabled: false,
+    builder: { state: 'reset', numFails: 0 },
+};
+
+CliAutoComplete.isEnabled = function() {
+    return this.isBuilding() || (this.configEnabled && CONFIG.flightControllerIdentifier === "INAV" && this.builder.state !== 'fail');
+};
+
+CliAutoComplete.isBuilding = function() {
+    return this.builder.state !== 'reset' && this.builder.state !== 'done' && this.builder.state !== 'fail';
+};
+
+CliAutoComplete.isOpen = function() {
+    return $('.cli-textcomplete-dropdown').is(':visible');
+};
+
+/**
+ * @param {boolean} force - Forces AutoComplete to be shown even if the matching strategy has less that minChars input
+ */
+CliAutoComplete.openLater = function(force) {
+    const self = this;
+    setTimeout(function() {
+        self.forceOpen = !!force;
+        self.$textarea.textcomplete('trigger');
+        self.forceOpen = false;
+    }, 0);
+};
+
+CliAutoComplete.setEnabled = function(enable) {
+    if (this.configEnabled !== enable) {
+        this.configEnabled = enable;
+
+        if (CONFIGURATOR.cliActive && CONFIGURATOR.cliValid) {
+            // cli is already open
+            if (this.isEnabled()) {
+                this.builderStart();
+            } else if (!this.isEnabled() && !this.isBuilding()) {
+                this.cleanup();
+            }
+        }
+    }
+};
+
+CliAutoComplete.initialize = function($textarea, sendLine, writeToOutput) {
+    this.$textarea = $textarea;
+    this.forceOpen = false;
+    this.sendLine = sendLine;
+    this.writeToOutput = writeToOutput;
+    this.cleanup();
+};
+
+CliAutoComplete.cleanup = function() {
+    this.$textarea.textcomplete('destroy');
+    this.builder.state = 'reset';
+    this.builder.numFails = 0;
+};
+
+CliAutoComplete._builderWatchdogTouch = function() {
+    const self = this;
+
+    this._builderWatchdogStop();
+
+    helper.timeout.add('autocomplete_builder_watchdog', function() {
+        if (self.builder.numFails) {
+            self.builder.numFails++;
+            self.builder.state = 'fail';
+            self.writeToOutput('Failed!<br># ');
+            $(self).trigger('build:stop');
+        } else {
+            // give it one more try
+            self.builder.state = 'reset';
+            self.builderStart();
+        }
+    }, 3000);
+};
+
+CliAutoComplete._builderWatchdogStop = function() {
+    helper.timeout.remove('autocomplete_builder_watchdog');
+};
+
+CliAutoComplete.builderStart = function() {
+    if (this.builder.state === 'reset') {
+        this.cache = {
+            commands: [],
+            resources: [],
+            resourcesCount: {},
+            settings: [],
+            settingsAcceptedValues: {},
+            feature: [],
+            beeper: ['ALL'],
+        };
+        this.builder.commandSequence = ['help', 'dump', 'get'];
+        this.builder.currentSetting = null;
+        this.builder.sentinel = `# ${Math.random()}`;
+        this.builder.state = 'init';
+        this.writeToOutput('<br># Building AutoComplete Cache ... ');
+        this.sendLine(this.builder.sentinel);
+        $(this).trigger('build:start');
+    }
+};
+
+CliAutoComplete.builderParseLine = function(line) {
+    const cache = this.cache;
+    const builder = this.builder;
+
+    this._builderWatchdogTouch();
+
+    if (line.indexOf(builder.sentinel) !== -1) {
+        // got sentinel
+        const command = builder.commandSequence.shift();
+
+        if (command && this.configEnabled) {
+            // next state
+            builder.state = `parse-${command}`;
+            this.sendLine(command);
+            this.sendLine(builder.sentinel);
+        } else {
+            // done
+            this._builderWatchdogStop();
+
+            if (!this.configEnabled) {
+                // disabled while we were building
+                this.writeToOutput('Cancelled!<br># ');
+                this.cleanup();
+            } else {
+                cache.settings.sort();
+                cache.commands.sort();
+                cache.feature.sort();
+                cache.beeper.sort();
+                cache.resources = Object.keys(cache.resourcesCount).sort();
+
+                this._initTextcomplete();
+                this.writeToOutput('Done!<br># ');
+                builder.state = 'done';
+            }
+            $(this).trigger('build:stop');
+        }
+    } else {
+        switch (builder.state) {
+            case 'parse-help':
+                const matchHelp = line.match(/^(\w+)/);
+                if (matchHelp) {
+                    cache.commands.push(matchHelp[1]);
+                }
+                break;
+
+            case 'parse-dump':
+                const matchDump = line.match(/^resource\s+(\w+)/i);
+                if (matchDump) {
+                    const r = matchDump[1].toUpperCase(); // should alread be upper, but to be sure, since we depend on that later
+                    cache.resourcesCount[r] = (cache.resourcesCount[r] || 0) + 1;
+                } else {
+                    const matchFeatBeep = line.match(/^(feature|beeper)\s+-?(\w+)/i);
+                    if (matchFeatBeep) {
+                        cache[matchFeatBeep[1].toLowerCase()].push(matchFeatBeep[2]);
+                    }
+                }
+                break;
+
+            case 'parse-get':
+                const matchGet = line.match(/^(\w+)\s*=/);
+                if (matchGet) {
+                    // setting name
+                    cache.settings.push(matchGet[1]);
+                    builder.currentSetting = matchGet[1].toLowerCase();
+                } else {
+                    const matchGetSettings = line.match(/^(.*): (.*)/);
+                    if (matchGetSettings !== null && builder.currentSetting) {
+                        if (matchGetSettings[1].match(/values/i)) {
+                            // Allowed Values
+                            cache.settingsAcceptedValues[builder.currentSetting] = matchGetSettings[2].split(/\s*,\s*/).sort();
+                        } else if (matchGetSettings[1].match(/range|length/i)){
+                            // "Allowed range" or "Array length", store as string hint
+                            cache.settingsAcceptedValues[builder.currentSetting] = matchGetSettings[0];
+                        }
+                    }
+                }
+                break;
+        }
+    }
+};
+
+/**
+ * Initializes textcomplete with all the autocomplete strategies
+ */
+CliAutoComplete._initTextcomplete = function() {
+    let sendOnEnter = false;
+    const self = this;
+    const $textarea = this.$textarea;
+    const cache = self.cache;
+
+    let savedMouseoverItemHandler = null;
+
+    // helper functions
+    const highlighter = function(anywhere) {
+        return function(value, term) {
+            const anywherePrefix = anywhere ? '': '^';
+            const termValue = value.replace(new RegExp(`${anywherePrefix}(${term})`, 'gi'), '<b>$1</b>');
+            return term ? termValue : value;
+        };
+    };
+    const highlighterAnywhere = highlighter(true);
+    const highlighterPrefix = highlighter(false);
+
+    const searcher = function(term, callback, array, minChars, matchPrefix) {
+        const res = [];
+
+        if ((minChars !== false && term.length >= minChars) || self.forceOpen || self.isOpen()) {
+            term = term.toLowerCase();
+            for (let i = 0; i < array.length; i++) {
+                const v = array[i].toLowerCase();
+                if (matchPrefix && v.startsWith(term) || !matchPrefix && v.indexOf(term) !== -1) {
+                    res.push(array[i]);
+                }
+            }
+        }
+
+        callback(res);
+
+        if (self.forceOpen && res.length === 1) {
+            // hacky: if we came here because of Tab and there's only one match
+            // trigger Tab again, so that textcomplete should immediately select the only result
+            // instead of showing the menu
+            $textarea.trigger($.Event('keydown', {keyCode:9}));
+        }
+    };
+
+    const contexter = function(text) {
+        const val = $textarea.val();
+        if (val.length === text.length || val[text.length].match(/\s/)) {
+            return true;
+        }
+        return false; // do not show autocomplete if in the middle of a word
+    };
+
+    const basicReplacer = function(value) {
+        return `$1${value} `;
+    };
+    // end helper functions
+
+    // init textcomplete
+    $textarea.textcomplete([],
+        {
+            maxCount: 10000,
+            debounce: 0,
+            className: 'cli-textcomplete-dropdown',
+            placement: 'top',
+            onKeydown: function(e) {
+                // some strategies may set sendOnEnter only at the replace stage, thus we call with timeout
+                // since this handler [onKeydown] is triggered before replace()
+                if (e.which === 13) {
+                    setTimeout(function() {
+                        if (sendOnEnter) {
+                            // fake "enter" to run the textarea's handler
+                            $textarea.trigger($.Event('keypress', {which:13}));
+                        }
+                    }, 0);
+                }
+            },
+        },
+    )
+    .on('textComplete:show', function() {
+        /**
+         * The purpose of this code is to disable initially the `mouseover` menu item handler.
+         * Normally, when the menu pops up, if the mouse cursor is in the same area,
+         * the `mouseover` event triggers immediately and activates the item under
+         * the cursor. This might be undesirable when using the keyboard.
+         *
+         * Here we save the original `mouseover` handler and remove it on popup show.
+         * Then add `mousemove` handler. If the mouse moves we consider that mouse interaction
+         * is desired so we reenable the `mouseover` handler
+         */
+
+        const textCompleteDropDownElement = $('.textcomplete-dropdown');
+
+        if (!savedMouseoverItemHandler) {
+            // save the original 'mouseover' handeler
+            try {
+                savedMouseoverItemHandler = $._data(textCompleteDropDownElement[0], 'events').mouseover[0].handler;
+            } catch (error) {
+                console.log(error);
+            }
+
+            if (savedMouseoverItemHandler) {
+                textCompleteDropDownElement
+                .off('mouseover') // initially disable it
+                .off('mousemove') // avoid `mousemove` accumulation if previous show did not trigger `mousemove`
+                .on('mousemove', '.textcomplete-item', function(e) {
+                        // the mouse has moved so reenable `mouseover`
+                    $(this).parent()
+                    .off('mousemove')
+                    .on('mouseover', '.textcomplete-item', savedMouseoverItemHandler);
+
+                    // trigger the mouseover handler to select the item under the cursor
+                    savedMouseoverItemHandler(e);
+                });
+            }
+        }
+    });
+
+    // textcomplete autocomplete strategies
+
+    // strategy builder helper
+    const strategy = function(s) {
+        return $.extend({
+            template: highlighterAnywhere,
+            replace: basicReplacer,
+            context: contexter,
+            index: 2,
+        }, s);
+    };
+
+    $textarea.textcomplete('register', [
+        strategy({ // "command"
+            match: /^(\s*)(\w*)$/,
+            search: function(term, callback) {
+                sendOnEnter = false;
+                searcher(term, callback, cache.commands, false, true);
+            },
+            template: highlighterPrefix,
+        }),
+
+        strategy({ // "get"
+            match: /^(\s*get\s+)(\w*)$/i,
+            search:  function(term, callback) {
+                sendOnEnter = true;
+                searcher(term, function(arr) {
+                    if (term.length > 0 && arr.length > 1) {
+                        // prepend the uncompleted term in the popup
+                        arr = [term].concat(arr);
+                    }
+                    callback(arr);
+                }, cache.settings, 3);
+            },
+        }),
+
+        strategy({ // "set"
+            match: /^(\s*set\s+)(\w*)$/i,
+            search:  function(term, callback) {
+                sendOnEnter = false;
+                searcher(term, callback, cache.settings, 3);
+            },
+        }),
+
+        strategy({ // "set ="
+            match: /^(\s*set\s+\w*\s*)$/i,
+            search:  function(term, callback) {
+                sendOnEnter = false;
+                searcher('', callback, ['='], false);
+            },
+            replace: function(value) {
+                self.openLater();
+                return basicReplacer(value);
+            },
+        }),
+
+        strategy({ // "set with value"
+            match: /^(\s*set\s+(\w+))\s*=\s*(.*)$/i,
+            search: function(term, callback, match) {
+                const arr = [];
+                const settingName = match[2].toLowerCase();
+                this.isSettingValueArray = false;
+                this.value = match[3];
+                sendOnEnter = !!term;
+
+                if (settingName in cache.settingsAcceptedValues) {
+                    const val = cache.settingsAcceptedValues[settingName];
+
+                    if (Array.isArray(val)) {
+                        // setting uses lookup strings
+                        this.isSettingValueArray = true;
+                        sendOnEnter = true;
+                        searcher(term, callback, val, 0);
+                        return;
+                    }
+
+                    // the settings uses a numeric value.
+                    // Here we use a little trick - we use the autocomplete
+                    // list as kind of a tooltip to display the Accepted Range hint
+                    arr.push(val);
+                }
+
+                callback(arr);
+            },
+            replace: function (value) {
+                if (!this.isSettingValueArray) {
+                    // `value` is the tooltip text, so use the saved match
+                    value = this.value;
+                }
+
+                return `$1 = ${value}`; // cosmetic - make sure we have spaces around the `=`
+            },
+            index: 3,
+            isSettingValueArray: false,
+        }),
+
+        strategy({ // "resource"
+            match: /^(\s*resource\s+)(\w*)$/i,
+            search:  function(term, callback) {
+                sendOnEnter = false;
+                let arr = cache.resources;
+                arr = ['show'].concat(arr);
+                searcher(term, callback, arr, 1);
+            },
+            replace: function(value) {
+                if (value in cache.resourcesCount) {
+                    self.openLater();
+                } else if (value === 'list' || value === 'show') {
+                    sendOnEnter = true;
+                }
+                return basicReplacer(value);
+            },
+        }),
+
+        strategy({ // "resource index"
+            match: /^(\s*resource\s+(\w+)\s+)(\d*)$/i,
+            search:  function(term, callback, match) {
+                sendOnEnter = false;
+                this.savedTerm = term;
+                callback([`&lt;1-${cache.resourcesCount[match[2].toUpperCase()]}&gt;`]);
+            },
+            replace: function() {
+                if (this.savedTerm) {
+                    self.openLater();
+                    return '$1$3 ';
+                }
+                return undefined;
+            },
+            context: function(text) {
+                const matchResource = text.match(/^\s*resource\s+(\w+)\s/i);
+                // use this strategy only for resources with more than one index
+                if (matchResource && (cache.resourcesCount[matchResource[1].toUpperCase()] || 0) > 1 ) {
+                    return contexter(text);
+                }
+                return false;
+            },
+            index: 3,
+            savedTerm: null,
+        }),
+
+        strategy({ // "resource pin"
+            match: /^(\s*resource\s+\w+\s+(\d*\s+)?)(\w*)$/i,
+            search:  function(term, callback) {
+                sendOnEnter = !!term;
+                if (term) {
+                    if ('none'.startsWith(term)) {
+                        callback(['none']);
+                    } else {
+                        callback(['&lt;pin&gt;']);
+                    }
+                } else {
+                    callback(['&lt;pin&gt', 'none']);
+                }
+            },
+            template: function(value, term) {
+                if (value === 'none') {
+                    return highlighterPrefix(value, term);
+                }
+                return value;
+            },
+            replace: function(value) {
+                if (value === 'none') {
+                    sendOnEnter = true;
+                    return '$1none ';
+                }
+                return undefined;
+            },
+            context: function(text) {
+                const m = text.match(/^\s*resource\s+(\w+)\s+(\d+\s)?/i);
+                if (m) {
+                    // show pin/none for resources having only one index (it's not needed at the commend line)
+                    // OR having more than one index and the index is supplied at the command line
+                    const count = cache.resourcesCount[m[1].toUpperCase()] || 0;
+                    if (count && (m[2] || count === 1)) {
+                        return contexter(text);
+                    }
+                }
+                return false;
+            },
+            index: 3,
+        }),
+
+        strategy({ // "feature" and "beeper"
+            match: /^(\s*(feature|beeper)\s+(-?))(\w*)$/i,
+            search:  function(term, callback, match) {
+                sendOnEnter = !!term;
+                let arr = cache[match[2].toLowerCase()];
+                if (!match[3]) {
+                    arr = ['-', 'list'].concat(arr);
+                }
+                searcher(term, callback, arr, 1);
+            },
+            replace: function(value) {
+                if (value === '-') {
+                    self.openLater(true);
+                    return '$1-';
+                }
+                return basicReplacer(value);
+            },
+            index: 4,
+        }),
+
+    ]);
+
+    $textarea.textcomplete('register', [
+        strategy({ // "resource show all", from BF 4.0.0 onwards
+            match: /^(\s*resource\s+show\s+)(\w*)$/i,
+            search:  function(term, callback) {
+                sendOnEnter = true;
+                searcher(term, callback, ['all'], 1, true);
+            },
+            template: highlighterPrefix,
+        }),
+    ]);
+
+    // diff command
+    const diffArgs1 = ["master", "profile", "rates", "all"];
+    const diffArgs2 = [];
+
+    // above 3.4.0
+    diffArgs2.push("defaults");
+    diffArgs1.push("hardware");
+    diffArgs2.push("bare");
+
+    diffArgs1.sort();
+    diffArgs2.sort();
+
+    $textarea.textcomplete('register', [
+        strategy({ // "diff arg1"
+            match: /^(\s*diff\s+)(\w*)$/i,
+            search:  function(term, callback) {
+                sendOnEnter = true;
+                searcher(term, callback, diffArgs1, 1, true);
+            },
+            template: highlighterPrefix,
+        }),
+
+        strategy({ // "diff arg1 arg2"
+            match: /^(\s*diff\s+\w+\s+)(\w*)$/i,
+            search:  function(term, callback) {
+                sendOnEnter = true;
+                searcher(term, callback, diffArgs2, 1, true);
+            },
+            template: highlighterPrefix,
+        }),
+    ]);
+};
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 667e6c6c..6778431c 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -42,6 +42,7 @@ var mspHelper = (function (gui) {
         'GSM_SMS': 19,
         'FRSKY_OSD': 20,
         'DJI_FPV': 21,
+        'SBUS_OUTPUT': 22,
         'SMARTPORT_MASTER': 23,
         'MSP_DISPLAYPORT': 25,
     };
diff --git a/js/port_handler.js b/js/port_handler.js
index cc31c604..46d5bfc4 100755
--- a/js/port_handler.js
+++ b/js/port_handler.js
@@ -22,7 +22,16 @@ PortHandler.initialize = function () {
 PortHandler.check = function () {
     var self = this;
 
-    ConnectionSerial.getDevices(function(current_ports) {
+    ConnectionSerial.getDevices(function(all_ports) {
+
+        // filter out ports that are not serial
+        let current_ports = [];
+        for (var i = 0; i < all_ports.length; i++) {
+            if (all_ports[i].indexOf(':') === -1) {
+                current_ports.push(all_ports[i]);
+            }
+        }
+
         // port got removed or initial_ports wasn't initialized yet
         if (self.array_difference(self.initial_ports, current_ports).length > 0 || !self.initial_ports) {
             var removed_ports = self.array_difference(self.initial_ports, current_ports);
diff --git a/js/settings.js b/js/settings.js
index a2985235..fef11bdd 100644
--- a/js/settings.js
+++ b/js/settings.js
@@ -61,6 +61,8 @@ var Settings = (function () {
                 if (input.prop('tagName') == 'SELECT' || s.setting.table) {
                     if (input.attr('type') == 'checkbox') {
                         input.prop('checked', s.value > 0);
+                    } else if (input.attr('type') == 'radio') {
+                        input.prop( 'checked', s.value == input.attr('value') );
                     } else {
                         input.empty();
                         let option = null;
@@ -515,6 +517,10 @@ var Settings = (function () {
         if (setting.table) {
             if (input.attr('type') == 'checkbox') {
                 value = input.prop('checked') ? 1 : 0;
+            } else if (input.attr('type') == 'radio') {
+                if (input.prop('checked')) {
+                    value = parseInt(input.val());
+                }
             } else {
                 value = parseInt(input.val());
             }
diff --git a/js/waypoint.js b/js/waypoint.js
index 1b7812e1..d48531a3 100644
--- a/js/waypoint.js
+++ b/js/waypoint.js
@@ -147,7 +147,7 @@ let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endM
     self.getElevation = async function (globalSettings) {
         let elevation = "N/A";
         if (globalSettings.mapProviderType == 'bing') {
-            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "sealevel" : "ellipsoid";
+            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "ellipsoid" : "sealevel";
 
             const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/List?points='+self.getLatMap()+','+self.getLonMap()+'&heights='+elevationEarthModel+'&key='+globalSettings.mapApiKey);
             const myJson = await response.json();
diff --git a/main.js b/main.js
index 84ada383..c2e23fb4 100644
--- a/main.js
+++ b/main.js
@@ -78,6 +78,14 @@ $(document).ready(function () {
         // Update CSS on to show highlighing or not
         updateProfilesHighlightColours();
     });
+    chrome.storage.local.get('cli_autocomplete', function (result) {
+        if (typeof result.cliAutocomplete === 'undefined') {
+            result.cli_autocomplete = 1;
+        }
+        globalSettings.cliAutocomplete = result.cli_autocomplete;
+        CliAutoComplete.setEnabled(globalSettings.cliAutocomplete);
+    });
+
 	
     // Resets the OSD units used by the unit coversion when the FC is disconnected.
     if (!CONFIGURATOR.connectionValid) {
@@ -122,10 +130,14 @@ $(document).ready(function () {
         //Get saved size and position
         chrome.storage.local.get('windowSize', function (result) {
             if (result.windowSize) {
-                win.height = result.windowSize.height;
-                win.width = result.windowSize.width;
-                win.x = result.windowSize.x;
-                win.y = result.windowSize.y;
+                if (result.windowSize.height <= window.screen.availHeight)
+                   win.height = result.windowSize.height;
+                if (result.windowSize.width <= window.screen.availWidth)
+                   win.width = result.windowSize.width;
+                if (result.windowSize.x >= window.screen.availLeft)
+                   win.x = result.windowSize.x;
+                if (result.windowSize.y >= window.screen.availTop)
+                    win.y = result.windowSize.y;
             }
         });
 
@@ -367,6 +379,15 @@ $(document).ready(function () {
                     activeTab.removeClass('active');  
                     activeTab.find('a').click(); 
                 });
+                $('div.cli_autocomplete input').change(function () {
+                    globalSettings.cliAutocomplete = $(this).is(':checked');
+                    chrome.storage.local.set({
+                        'cli_autocomplete': globalSettings.cliAutocomplete
+                    });
+
+                    CliAutoComplete.setEnabled($(this).is(':checked'));
+                });
+
 
                 $('#ui-unit-type').val(globalSettings.unitType);
                 $('#map-provider-type').val(globalSettings.mapProviderType);
@@ -374,6 +395,7 @@ $(document).ready(function () {
                 $('#proxyurl').val(globalSettings.proxyURL);
                 $('#proxylayer').val(globalSettings.proxyLayer);   
                 $('#showProfileParameters').prop('checked', globalSettings.showProfileParameters);
+                $('#cliAutocomplete').prop('checked', globalSettings.cliAutocomplete);
                 
                 // Set the value of the unit type
                 // none, OSD, imperial, metric
diff --git a/manifest.json b/manifest.json
index 67284c3d..1a04e46c 100644
--- a/manifest.json
+++ b/manifest.json
@@ -1,7 +1,7 @@
 {
     "manifest_version": 2,
     "minimum_chrome_version": "38",
-    "version": "7.0.0",
+    "version": "7.1.0",
     "author": "Several",
     "name": "INAV - Configurator",
     "short_name": "INAV",
diff --git a/package-lock.json b/package-lock.json
index 790b6ce0..6946443e 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,12 +1,12 @@
 {
   "name": "inav-configurator",
-  "version": "7.0.0",
-  "lockfileVersion": 2,
+  "version": "7.1.0",
+  "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "inav-configurator",
-      "version": "7.0.0",
+      "version": "7.1.0",
       "license": "GPL-3.0",
       "dependencies": {
         "archiver": "^2.0.3",
@@ -19,10 +19,11 @@
         "gulp-concat": "^2.6.1",
         "inflection": "1.12.0",
         "jquery": "2.1.4",
+        "jquery-textcomplete": "^1.8.5",
         "jquery-ui-npm": "1.12.0",
         "marked": "^0.3.17",
         "minimist": "^1.2.0",
-        "nw": "^0.61.0-sdk",
+        "nw": "^0.81.0",
         "nw-dialog": "^1.0.7",
         "openlayers": "^4.6.5",
         "plotly": "^1.0.6",
@@ -44,8 +45,6 @@
     },
     "node_modules/@malept/cross-spawn-promise": {
       "version": "1.1.1",
-      "resolved": "https://registry.npmjs.org/@malept/cross-spawn-promise/-/cross-spawn-promise-1.1.1.tgz",
-      "integrity": "sha512-RTBGWL5FWQcg9orDOCcp4LvItNzUPcyEU9bwaeJX0rJ1IQxzucC48Y0/sQLp/g6t99IQgAlGIaesJS+gTn7tVQ==",
       "dev": true,
       "funding": [
         {
@@ -57,6 +56,7 @@
           "url": "https://tidelift.com/subscription/pkg/npm-.malept-cross-spawn-promise?utm_medium=referral&utm_source=npm_fund"
         }
       ],
+      "license": "Apache-2.0",
       "dependencies": {
         "cross-spawn": "^7.0.1"
       },
@@ -66,9 +66,8 @@
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/cross-spawn": {
       "version": "7.0.3",
-      "resolved": "https://registry.npmjs.org/cross-spawn/-/cross-spawn-7.0.3.tgz",
-      "integrity": "sha512-iRDPJKUPVEND7dHPO8rkbOnPpyDygcDFtWjpeWNCgy8WP2rXcxXL8TskReQl6OrB2G7+UJrags1q15Fudc7G6w==",
       "dev": true,
+      "license": "MIT",
       "dependencies": {
         "path-key": "^3.1.0",
         "shebang-command": "^2.0.0",
@@ -80,18 +79,16 @@
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/path-key": {
       "version": "3.1.1",
-      "resolved": "https://registry.npmjs.org/path-key/-/path-key-3.1.1.tgz",
-      "integrity": "sha512-ojmeN0qd+y0jszEtoY48r0Peq5dwMEkIlCOu6Q5f41lfkswXuKtYrhgoTpLnyIcHm24Uhqx+5Tqm2InSwLhE6Q==",
       "dev": true,
+      "license": "MIT",
       "engines": {
         "node": ">=8"
       }
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/shebang-command": {
       "version": "2.0.0",
-      "resolved": "https://registry.npmjs.org/shebang-command/-/shebang-command-2.0.0.tgz",
-      "integrity": "sha512-kHxr2zZpYtdmrN1qDjrrX/Z1rR1kG8Dx+gkpK1G4eXmvXswmcE1hTWBWYUzlraYw1/yZp6YuDY77YtvbN0dmDA==",
       "dev": true,
+      "license": "MIT",
       "dependencies": {
         "shebang-regex": "^3.0.0"
       },
@@ -101,18 +98,16 @@
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/shebang-regex": {
       "version": "3.0.0",
-      "resolved": "https://registry.npmjs.org/shebang-regex/-/shebang-regex-3.0.0.tgz",
-      "integrity": "sha512-7++dFhtcx3353uBaq8DDR4NuxBetBzC7ZQOhmTQInHEd6bSrXdiEyzCvG07Z44UYdLShWUyXt5M/yhz8ekcb1A==",
       "dev": true,
+      "license": "MIT",
       "engines": {
         "node": ">=8"
       }
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/which": {
       "version": "2.0.2",
-      "resolved": "https://registry.npmjs.org/which/-/which-2.0.2.tgz",
-      "integrity": "sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==",
       "dev": true,
+      "license": "ISC",
       "dependencies": {
         "isexe": "^2.0.0"
       },
@@ -125,25 +120,25 @@
     },
     "node_modules/@quanle94/innosetup": {
       "version": "6.0.2",
-      "resolved": "https://registry.npmjs.org/@quanle94/innosetup/-/innosetup-6.0.2.tgz",
-      "integrity": "sha512-pv5FCJ4ibDRsIWzQOuzhmUSDr7ciMrtTHBp/QF6gxZM3rVpOQ8+soXuKviQlS6DPsu0SWsBn1PS2m2dVggWkxA==",
       "dev": true,
+      "license": "ISC",
       "bin": {
         "innosetup-compiler": "lib/iscc"
       }
     },
     "node_modules/@types/node": {
-      "version": "20.7.2",
-      "resolved": "https://registry.npmjs.org/@types/node/-/node-20.7.2.tgz",
-      "integrity": "sha512-RcdC3hOBOauLP+r/kRt27NrByYtDjsXyAuSbR87O6xpsvi763WI+5fbSIvYJrXnt9w4RuxhV6eAXfIs7aaf/FQ==",
+      "version": "20.10.5",
       "dev": true,
-      "optional": true
+      "license": "MIT",
+      "optional": true,
+      "dependencies": {
+        "undici-types": "~5.26.4"
+      }
     },
     "node_modules/@types/yauzl": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@types/yauzl/-/yauzl-2.10.1.tgz",
-      "integrity": "sha512-CHzgNU3qYBnp/O4S3yv2tXPlvMTq0YWSTVg2/JYLqWZGHwwgJGAwd00poay/11asPq8wLFwHzubyInqHIFmmiw==",
+      "version": "2.10.3",
       "dev": true,
+      "license": "MIT",
       "optional": true,
       "dependencies": {
         "@types/node": "*"
@@ -151,22 +146,19 @@
     },
     "node_modules/@xmldom/xmldom": {
       "version": "0.8.10",
-      "resolved": "https://registry.npmjs.org/@xmldom/xmldom/-/xmldom-0.8.10.tgz",
-      "integrity": "sha512-2WALfTl4xo2SkGCYRt6rDTFfk9R1czmBvUQy12gK2KuRKIpWEhcbbzy8EZXtz/jkRqHX8bFEc6FC1HjX4TUWYw==",
       "dev": true,
+      "license": "MIT",
       "engines": {
         "node": ">=10.0.0"
       }
     },
     "node_modules/abbrev": {
       "version": "1.1.1",
-      "resolved": "https://registry.npmjs.org/abbrev/-/abbrev-1.1.1.tgz",
-      "integrity": "sha512-nne9/IiQ/hzIhY6pdDnbBtz7DjPTKrY00P/zvPSm5pOFkl6xuGrGnXn/VtTNNfNtAfZ9/1RtehkszU9qcTii0Q=="
+      "license": "ISC"
     },
     "node_modules/accepts": {
       "version": "1.3.8",
-      "resolved": "https://registry.npmjs.org/accepts/-/accepts-1.3.8.tgz",
-      "integrity": "sha512-PYAthTa2m2VKxuvSD3DPC/Gy+U+sOA1LAuT8mkmRuvw+NACSaeXEQ+NHcVF7rONl6qcaxV3Uuemwawk+7+SJLw==",
+      "license": "MIT",
       "dependencies": {
         "mime-types": "~2.1.34",
         "negotiator": "0.6.3"
@@ -177,8 +169,7 @@
     },
     "node_modules/acorn": {
       "version": "5.2.1",
-      "resolved": "https://registry.npmjs.org/acorn/-/acorn-5.2.1.tgz",
-      "integrity": "sha512-jG0u7c4Ly+3QkkW18V+NRDN+4bWHdln30NL1ZL2AvFZZmQe/BfopYCtghCKKVBUSetZ4QKcyA0pY6/4Gw8Pv8w==",
+      "license": "MIT",
       "bin": {
         "acorn": "bin/acorn"
       },
@@ -188,22 +179,26 @@
     },
     "node_modules/after": {
       "version": "0.8.2",
-      "resolved": "https://registry.npmjs.org/after/-/after-0.8.2.tgz",
-      "integrity": "sha512-QbJ0NTQ/I9DI3uSJA4cbexiwQeRAfjPScqIbSjUDd9TOrcg6pTkdgziesOqxBMBzit8vFCTwrP27t13vFOORRA=="
+      "license": "MIT"
     },
     "node_modules/ajv": {
-      "version": "4.11.8",
-      "resolved": "https://registry.npmjs.org/ajv/-/ajv-4.11.8.tgz",
-      "integrity": "sha512-I/bSHSNEcFFqXLf91nchoNB9D1Kie3QKcWdchYUaoIg1+1bdWDkdfdlvdIOJbi9U8xR0y+MWc5D+won9v95WlQ==",
+      "version": "6.12.6",
+      "dev": true,
+      "license": "MIT",
       "dependencies": {
-        "co": "^4.6.0",
-        "json-stable-stringify": "^1.0.1"
+        "fast-deep-equal": "^3.1.1",
+        "fast-json-stable-stringify": "^2.0.0",
+        "json-schema-traverse": "^0.4.1",
+        "uri-js": "^4.2.2"
+      },
+      "funding": {
+        "type": "github",
+        "url": "https://github.com/sponsors/epoberezkin"
       }
     },
     "node_modules/align-text": {
       "version": "0.1.4",
-      "resolved": "https://registry.npmjs.org/align-text/-/align-text-0.1.4.tgz",
-      "integrity": "sha512-GrTZLRpmp6wIC2ztrWW9MjjTgSKccffgFagbNDOX95/dcjEcYZibYTeaOntySQLcdw1ztBoFkviiUvTMbb9MYg==",
+      "license": "MIT",
       "optional": true,
       "dependencies": {
         "kind-of": "^3.0.2",
@@ -216,8 +211,7 @@
     },
     "node_modules/align-text/node_modules/kind-of": {
       "version": "3.2.2",
-      "resolved": "https://registry.npmjs.org/kind-of/-/kind-of-3.2.2.tgz",
-      "integrity": "sha512-NOW9QQXMoZGg/oqnVNoNTTIFEIid1627WCffUBJEdMxYApq7mNE7CpzucIPc+ZQg25Phej7IJSmX3hO+oblOtQ==",
+      "license": "MIT",
       "optional": true,
       "dependencies": {
         "is-buffer": "^1.1.5"
@@ -228,16 +222,14 @@
     },
     "node_modules/amdefine": {
       "version": "1.0.1",
-      "resolved": "https://registry.npmjs.org/amdefine/-/amdefine-1.0.1.tgz",
-      "integrity": "sha512-S2Hw0TtNkMJhIabBwIojKL9YHO5T0n5eNqWJ7Lrlel/zDbftQpxpapi8tZs3X1HWa+u+QeydGmzzNU0m09+Rcg==",
+      "license": "BSD-3-Clause OR MIT",
       "engines": {
         "node": ">=0.4.2"
       }
     },
     "node_modules/ansi-colors": {
       "version": "1.1.0",
-      "resolved": "https://registry.npmjs.org/ansi-colors/-/ansi-colors-1.1.0.tgz",
-      "integrity": "sha512-SFKX67auSNoVR38N3L+nvsPjOE0bybKTYbkf5tRvushrAPQ9V75huw0ZxBkKVeRU9kqH3d6HA4xTckbwZ4ixmA==",
+      "license": "MIT",
       "dependencies": {
         "ansi-wrap": "^0.1.0"
       },
@@ -247,8 +239,7 @@
     },
     "node_modules/ansi-gray": {
       "version": "0.1.1",
-      "resolved": "https://registry.npmjs.org/ansi-gray/-/ansi-gray-0.1.1.tgz",
-      "integrity": "sha512-HrgGIZUl8h2EHuZaU9hTR/cU5nhKxpVE1V6kdGsQ8e4zirElJ5fvtfc8N7Q1oq1aatO275i8pUFUCpNWCAnVWw==",
+      "license": "MIT",
       "dependencies": {
         "ansi-wrap": "0.1.0"
       },
@@ -258,38 +249,33 @@
     },
     "node_modules/ansi-regex": {
       "version": "2.1.1",
-      "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
-      "integrity": "sha512-TIGnTpdo+E3+pCyAluZvtED5p5wCqLdezCyhPZzKPcxvFplEt4i+W7OONCKgeZFT3+y5NZZfOOS/Bdcanm1MYA==",
+      "license": "MIT",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/ansi-styles": {
       "version": "2.2.1",
-      "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-2.2.1.tgz",
-      "integrity": "sha512-kmCevFghRiWM7HB5zTPULl4r9bVFSWjz62MhqizDGUrq2NWuNMQyuv4tHHoKJHs69M/MF64lEcHdYIocrdWQYA==",
+      "license": "MIT",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/ansi-wrap": {
       "version": "0.1.0",
-      "resolved": "https://registry.npmjs.org/ansi-wrap/-/ansi-wrap-0.1.0.tgz",
-      "integrity": "sha512-ZyznvL8k/FZeQHr2T6LzcJ/+vBApDnMNZvfVFy3At0knswWd6rJ3/0Hhmpu8oqa6C92npmozs890sX9Dl6q+Qw==",
+      "license": "MIT",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/any-promise": {
       "version": "1.3.0",
-      "resolved": "https://registry.npmjs.org/any-promise/-/any-promise-1.3.0.tgz",
-      "integrity": "sha512-7UvmKalWRt1wgjL1RrGxoSJW/0QZFIegpeGvZG9kjp8vrRu55XTHbwnqq2GpXm9uLbcuhxm3IqX9OB4MZR1b2A==",
-      "dev": true
+      "dev": true,
+      "license": "MIT"
     },
     "node_modules/anymatch": {
       "version": "2.0.0",
-      "resolved": "https://registry.npmjs.org/anymatch/-/anymatch-2.0.0.tgz",
-      "integrity": "sha512-5teOsQWABXHHBFP9y3skS5P3d/WfWXpv3FUpy+LorMrNYaT9pI4oLMQX7jzQ2KklNpGpWHzdCXTDT2Y3XGlZBw==",
+      "license": "ISC",
       "dependencies": {
         "micromatch": "^3.1.4",
         "normalize-path": "^2.1.1"
@@ -325,8 +311,7 @@
     },
     "node_modules/append-buffer": {
       "version": "1.0.2",
-      "resolved": "https://registry.npmjs.org/append-buffer/-/append-buffer-1.0.2.tgz",
-      "integrity": "sha512-WLbYiXzD3y/ATLZFufV/rZvWdZOs+Z/+5v1rBZ463Jn398pa6kcde27cvozYnBoxXblGZTFfoPpsaEw0orU5BA==",
+      "license": "MIT",
       "dependencies": {
         "buffer-equal": "^1.0.0"
       },
@@ -336,13 +321,11 @@
     },
     "node_modules/aproba": {
       "version": "1.2.0",
-      "resolved": "https://registry.npmjs.org/aproba/-/aproba-1.2.0.tgz",
-      "integrity": "sha512-Y9J6ZjXtoYh8RnXVCMOU/ttDmk1aBjunq9vO0ta5x85WDQiQfUF9sIPBITdbiiIVcBo03Hi3jMxigBtsddlXRw=="
+      "license": "ISC"
     },
     "node_modules/archiver": {
       "version": "2.1.1",
-      "resolved": "https://registry.npmjs.org/archiver/-/archiver-2.1.1.tgz",
-      "integrity": "sha512-01psM0DMD3YItvhnAXZODfsViaeDidrJwfne3lsoVrbyYa/xFQwTbVjY+2WlEBm7qH1fCsyxAA1SgNr/XenTlQ==",
+      "license": "MIT",
       "dependencies": {
         "archiver-utils": "^1.3.0",
         "async": "^2.0.0",
@@ -359,8 +342,7 @@
     },
     "node_modules/archiver-utils": {
       "version": "1.3.0",
-      "resolved": "https://registry.npmjs.org/archiver-utils/-/archiver-utils-1.3.0.tgz",
-      "integrity": "sha512-h+hTREBXcW5e1L9RihGXdH4PHHdGipG/jE2sMZrqIH6BmZAxeGU5IWjVsKhokdCSWX7km6Kkh406zZNEElHFPQ==",
+      "license": "MIT",
       "dependencies": {
         "glob": "^7.0.0",
         "graceful-fs": "^4.1.0",
@@ -375,21 +357,18 @@
     },
     "node_modules/archiver/node_modules/async": {
       "version": "2.6.4",
-      "resolved": "https://registry.npmjs.org/async/-/async-2.6.4.tgz",
-      "integrity": "sha512-mzo5dfJYwAn29PeiJ0zvwTo04zj8HDJj0Mn8TD7sno7q12prdbnasKJHhkm2c1LgrhlJ0teaea8860oxi51mGA==",
+      "license": "MIT",
       "dependencies": {
         "lodash": "^4.17.14"
       }
     },
     "node_modules/archy": {
       "version": "1.0.0",
-      "resolved": "https://registry.npmjs.org/archy/-/archy-1.0.0.tgz",
-      "integrity": "sha512-Xg+9RwCg/0p32teKdGMPTPnVXKD0w3DfHnFTficozsAgsvq2XenPJq/MYpzzQ/v8zrOyJn6Ds39VA4JIDwFfqw=="
+      "license": "MIT"
     },
     "node_modules/are-we-there-yet": {
       "version": "1.1.7",
-      "resolved": "https://registry.npmjs.org/are-we-there-yet/-/are-we-there-yet-1.1.7.tgz",
-      "integrity": "sha512-nxwy40TuMiUGqMyRHgCSWZ9FM4VAoRP4xUYSTv5ImRog+h9yISPbVH7H8fASCIzYn9wlEv4zvFL7uKDMCFQm3g==",
+      "license": "ISC",
       "dependencies": {
         "delegates": "^1.0.0",
         "readable-stream": "^2.0.6"
@@ -397,16 +376,14 @@
     },
     "node_modules/arr-diff": {
       "version": "4.0.0",
-      "resolved": "https://registry.npmjs.org/arr-diff/-/arr-diff-4.0.0.tgz",
-      "integrity": "sha512-YVIQ82gZPGBebQV/a8dar4AitzCQs0jjXwMPZllpXMaGjXPYVUawSxQrRsjhjupyVxEvbHgUmIhKVlND+j02kA==",
+      "license": "MIT",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/arr-filter": {
       "version": "1.1.2",
-      "resolved": "https://registry.npmjs.org/arr-filter/-/arr-filter-1.1.2.tgz",
-      "integrity": "sha512-A2BETWCqhsecSvCkWAeVBFLH6sXEUGASuzkpjL3GR1SlL/PWL6M3J8EAAld2Uubmh39tvkJTqC9LeLHCUKmFXA==",
+      "license": "MIT",
       "dependencies": {
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diff --git a/package.json b/package.json
index 05cb8436..7d25b19b 100755
--- a/package.json
+++ b/package.json
@@ -1,7 +1,7 @@
 {
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   "description": "INAV Configurator",
-  "version": "7.0.0",
+  "version": "7.1.0",
   "main": "main.html",
   "default_locale": "en",
   "scripts": {
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+    "jquery-textcomplete": "^1.8.5",
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+         overflow="visible"
+         id="glyph0-2">
+        <path
+           style="stroke:none;"
+           d="M 1.921875 -4.402344 C 2.527344 -5.652344 3.710938 -6.785156 5.46875 -7.804688 L 8.09375 -9.324219 C 9.269531 -10.007812 10.09375 -10.589844 10.570312 -11.074219 C 11.316406 -11.832031 11.6875 -12.695312 11.6875 -13.671875 C 11.6875 -14.8125 11.347656 -15.714844 10.664062 -16.386719 C 9.980469 -17.054688 9.070312 -17.390625 7.929688 -17.390625 C 6.242188 -17.390625 5.078125 -16.753906 4.429688 -15.476562 C 4.082031 -14.792969 3.890625 -13.84375 3.855469 -12.632812 L 1.351562 -12.632812 C 1.378906 -14.335938 1.695312 -15.726562 2.296875 -16.804688 C 3.363281 -18.699219 5.246094 -19.648438 7.945312 -19.648438 C 10.1875 -19.648438 11.824219 -19.039062 12.859375 -17.828125 C 13.894531 -16.617188 14.410156 -15.265625 14.410156 -13.78125 C 14.410156 -12.214844 13.859375 -10.875 12.757812 -9.761719 C 12.117188 -9.113281 10.972656 -8.332031 9.324219 -7.410156 L 7.453125 -6.371094 C 6.558594 -5.878906 5.855469 -5.410156 5.34375 -4.960938 C 4.433594 -4.167969 3.859375 -3.289062 3.625 -2.324219 L 14.3125 -2.324219 L 14.3125 0 L 0.875 0 C 0.964844 -1.6875 1.316406 -3.152344 1.921875 -4.402344 Z M 1.921875 -4.402344 "
+           id="path8" />
+      </symbol>
+      <symbol
+         overflow="visible"
+         id="glyph0-3">
+        <path
+           style="stroke:none;"
+           d="M 2.234375 -1.375 C 1.191406 -2.644531 0.671875 -4.191406 0.671875 -6.015625 L 3.242188 -6.015625 C 3.351562 -4.75 3.585938 -3.828125 3.953125 -3.253906 C 4.589844 -2.222656 5.742188 -1.710938 7.410156 -1.710938 C 8.703125 -1.710938 9.742188 -2.054688 10.527344 -2.75 C 11.3125 -3.441406 11.703125 -4.335938 11.703125 -5.429688 C 11.703125 -6.777344 11.289062 -7.71875 10.464844 -8.257812 C 9.640625 -8.796875 8.496094 -9.0625 7.027344 -9.0625 C 6.863281 -9.0625 6.695312 -9.0625 6.527344 -9.058594 C 6.359375 -9.054688 6.1875 -9.046875 6.015625 -9.039062 L 6.015625 -11.210938 C 6.269531 -11.183594 6.484375 -11.164062 6.65625 -11.15625 C 6.832031 -11.148438 7.019531 -11.140625 7.21875 -11.140625 C 8.140625 -11.140625 8.894531 -11.289062 9.488281 -11.578125 C 10.527344 -12.089844 11.046875 -13 11.046875 -14.3125 C 11.046875 -15.289062 10.699219 -16.042969 10.007812 -16.570312 C 9.316406 -17.097656 8.507812 -17.363281 7.585938 -17.363281 C 5.945312 -17.363281 4.8125 -16.816406 4.183594 -15.722656 C 3.835938 -15.121094 3.640625 -14.265625 3.59375 -13.152344 L 1.164062 -13.152344 C 1.164062 -14.609375 1.453125 -15.851562 2.039062 -16.871094 C 3.039062 -18.695312 4.804688 -19.605469 7.328125 -19.605469 C 9.324219 -19.605469 10.867188 -19.160156 11.960938 -18.273438 C 13.054688 -17.382812 13.601562 -16.097656 13.601562 -14.410156 C 13.601562 -13.207031 13.28125 -12.230469 12.632812 -11.484375 C 12.230469 -11.019531 11.710938 -10.65625 11.074219 -10.390625 C 12.105469 -10.109375 12.910156 -9.5625 13.488281 -8.757812 C 14.066406 -7.949219 14.355469 -6.964844 14.355469 -5.796875 C 14.355469 -3.929688 13.742188 -2.40625 12.507812 -1.230469 C 11.277344 -0.0546875 9.535156 0.53125 7.273438 0.53125 C 4.957031 0.53125 3.277344 -0.101562 2.234375 -1.375 Z M 2.234375 -1.375 "
+           id="path11" />
+      </symbol>
+      <symbol
+         overflow="visible"
+         id="glyph0-4">
+        <path
+           style="stroke:none;"
+           d="M 9.257812 -6.929688 L 9.257812 -15.804688 L 2.980469 -6.929688 Z M 9.296875 0 L 9.296875 -4.785156 L 0.710938 -4.785156 L 0.710938 -7.191406 L 9.679688 -19.632812 L 11.757812 -19.632812 L 11.757812 -6.929688 L 14.640625 -6.929688 L 14.640625 -4.785156 L 11.757812 -4.785156 L 11.757812 0 Z M 9.296875 0 "
+           id="path14" />
+      </symbol>
+    </g>
+  </defs>
+  <g
+     id="surface11">
+    <path
+       style="fill:none;stroke-width:28;stroke-linecap:round;stroke-linejoin:round;stroke:rgb(72.941176%,72.941176%,72.941176%);stroke-opacity:1;stroke-miterlimit:10;"
+       d="M 40 40 L 160 160 M 40 160 L 160 40 "
+       id="path21" />
+    <path
+       style="fill:none;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(55,168,219);stroke-opacity:1;stroke-miterlimit:10;"
+       d="M 188 160 C 188 175.464844 175.464844 188 160 188 C 144.535156 188 132 175.464844 132 160 C 132 144.535156 144.535156 132 160 132 C 175.464844 132 188 144.535156 188 160 M 179.800781 179.800781 L 177.785156 163 M 179.800781 179.800781 L 196.601562 179.800781 "
+       id="path23" />
+    <g
+       style="fill:rgb(0%,0%,0%);fill-opacity:1;"
+       id="g27" />
+    <path
+       style="fill:none;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(55,168,219);stroke-opacity:1;stroke-miterlimit:10;"
+       d="M 188 40 C 188 55.464844 175.464844 68 160 68 C 144.535156 68 132 55.464844 132 40 C 132 24.535156 144.535156 12 160 12 C 175.464844 12 188 24.535156 188 40 M 179.800781 20.199219 L 177.785156 37 M 179.800781 20.199219 L 196.601562 20.199219 "
+       id="path29" />
+    <g
+       style="fill:rgb(0%,0%,0%);fill-opacity:1;"
+       id="g33" />
+    <path
+       style="fill:none;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(55,168,219);stroke-opacity:1;stroke-miterlimit:10;"
+       d="M 68 160 C 68 175.464844 55.464844 188 40 188 C 24.535156 188 12 175.464844 12 160 C 12 144.535156 24.535156 132 40 132 C 55.464844 132 68 144.535156 68 160 M 20.199219 179.800781 L 22.214844 163 M 20.199219 179.800781 L 3.398438 179.800781 "
+       id="path35" />
+    <path
+       style="fill:none;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(55,168,219);stroke-opacity:1;stroke-miterlimit:10;"
+       d="M 68 40 C 68 55.464844 55.464844 68 40 68 C 24.535156 68 12 55.464844 12 40 C 12 24.535156 24.535156 12 40 12 C 55.464844 12 68 24.535156 68 40 M 20.199219 20.199219 L 22.214844 37 M 20.199219 20.199219 L 3.398438 20.199219 "
+       id="path41" />
+    <g
+       style="fill:rgb(0%,0%,0%);fill-opacity:1;"
+       id="g45" />
+    <path
+       style="fill:none;stroke-width:12;stroke-linecap:butt;stroke-linejoin:bevel;stroke:rgb(98.039216%,2.745098%,0%);stroke-opacity:1;stroke-miterlimit:10;"
+       d="M 100 80 L 100 120 "
+       id="path47" />
+    <path
+       style=" stroke:none;fill-rule:nonzero;fill:rgb(98.039216%,2.745098%,0%);fill-opacity:1;"
+       d="M 100 75 L 85 90 L 115 90 L 100 75 "
+       id="path49" />
+  </g>
 </svg>
diff --git a/resources/motor_order/quad_x_reverse.svg b/resources/motor_order/quad_x_reverse.svg
index e8d03084..fd41f0aa 100644
--- a/resources/motor_order/quad_x_reverse.svg
+++ b/resources/motor_order/quad_x_reverse.svg
@@ -8,10 +8,9 @@
    version="1.1"
    id="svg52"
    sodipodi:docname="quad_x_reverse.svg"
-   inkscape:version="1.1 (c68e22c387, 2021-05-23)"
+   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
    xmlns="http://www.w3.org/2000/svg"
    xmlns:svg="http://www.w3.org/2000/svg">
   <sodipodi:namedview
@@ -25,14 +24,14 @@
      inkscape:document-units="pt"
      showgrid="false"
      inkscape:zoom="1.1269514"
-     inkscape:cx="-5.3240981"
-     inkscape:cy="231.15459"
-     inkscape:window-width="1920"
-     inkscape:window-height="1009"
-     inkscape:window-x="-8"
-     inkscape:window-y="-8"
+     inkscape:cx="-4.8804234"
+     inkscape:cy="231.1546"
+     inkscape:window-width="1850"
+     inkscape:window-height="1016"
+     inkscape:window-x="1990"
+     inkscape:window-y="27"
      inkscape:window-maximized="1"
-     inkscape:current-layer="svg52" />
+     inkscape:current-layer="g862" />
   <defs
      id="defs19">
     <g
@@ -89,62 +88,18 @@
        style="fill:none;stroke:#37a8db;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1"
        d="m 188,160 c 0,-15.46484 -12.53516,-28 -28,-28 -15.46484,0 -28,12.53516 -28,28 0,15.46484 12.53516,28 28,28 15.46484,0 28,-12.53516 28,-28 M 179.80078,140.19922 177.78516,157 m 2.01562,-16.80078 h 16.80078"
        id="path23" />
-    <g
-       style="fill:#000000;fill-opacity:1"
-       id="g27">
-      <use
-         xlink:href="#glyph0-1"
-         x="153"
-         y="167"
-         id="use25"
-         width="100%"
-         height="100%" />
-    </g>
     <path
        style="fill:none;stroke:#37a8db;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1"
        d="m 188,40 c 0,-15.464844 -12.53516,-28 -28,-28 -15.46484,0 -28,12.535156 -28,28 0,15.464844 12.53516,28 28,28 15.46484,0 28,-12.535156 28,-28 M 179.80078,59.800781 177.78516,43 m 2.01562,16.800781 h 16.80078"
        id="path29" />
-    <g
-       style="fill:#000000;fill-opacity:1"
-       id="g33">
-      <use
-         xlink:href="#glyph0-2"
-         x="153"
-         y="47"
-         id="use31"
-         width="100%"
-         height="100%" />
-    </g>
     <path
        style="fill:none;stroke:#37a8db;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1"
        d="m 68,160 c 0,-15.46484 -12.535156,-28 -28,-28 -15.464844,0 -28,12.53516 -28,28 0,15.46484 12.535156,28 28,28 15.464844,0 28,-12.53516 28,-28 M 20.199219,140.19922 22.214844,157 M 20.199219,140.19922 H 3.398438"
        id="path35" />
-    <g
-       style="fill:#000000;fill-opacity:1"
-       id="g39">
-      <use
-         xlink:href="#glyph0-3"
-         x="33"
-         y="167"
-         id="use37"
-         width="100%"
-         height="100%" />
-    </g>
     <path
        style="fill:none;stroke:#37a8db;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1"
        d="M 68,40 C 68,24.535156 55.464844,12 40,12 24.535156,12 12,24.535156 12,40 12,55.464844 24.535156,68 40,68 55.464844,68 68,55.464844 68,40 M 20.199219,59.800781 22.214844,43 M 20.199219,59.800781 H 3.398438"
        id="path41" />
-    <g
-       style="fill:#000000;fill-opacity:1"
-       id="g45">
-      <use
-         xlink:href="#glyph0-4"
-         x="33"
-         y="47"
-         id="use43"
-         width="100%"
-         height="100%" />
-    </g>
     <path
        style="fill:none;stroke:#fa0500;stroke-width:12;stroke-linecap:butt;stroke-linejoin:bevel;stroke-miterlimit:10;stroke-opacity:1"
        d="m 100,80 v 40"
diff --git a/src/css/tabs/cli.css b/src/css/tabs/cli.css
index d73ff43f..fcb76cb4 100644
--- a/src/css/tabs/cli.css
+++ b/src/css/tabs/cli.css
@@ -79,6 +79,24 @@
     color: white;
 }
 
+.cli-textcomplete-dropdown {
+    border: 1px solid black;
+    background-color: #4f4f4f;
+    border-radius: 5px;
+    max-height: 50%;
+    overflow: auto;
+    list-style: none;
+    padding: 5px;
+    margin: 0;
+}
+.cli-textcomplete-dropdown a {
+    color: white;
+    cursor: pointer;
+}
+.cli-textcomplete-dropdown .active {
+    background-color: #000000;
+}
+
 @media only screen and (max-width: 1055px) , only screen and (max-device-width: 1055px) {
 
 .tab-cli .content_wrapper {
diff --git a/src/css/tabs/mixer.css b/src/css/tabs/mixer.css
index a8ca2d5b..82532512 100644
--- a/src/css/tabs/mixer.css
+++ b/src/css/tabs/mixer.css
@@ -118,4 +118,14 @@
     height: 29px;
     line-height: 27px;
     border-radius: 20px;
-}
\ No newline at end of file
+}
+
+
+.motorNumber {
+    position: absolute;
+    font-size: 1.4em;
+}
+
+.mixer-preview-image-numbers {
+    width: fit-content;
+}
diff --git a/tabs/cli.js b/tabs/cli.js
index 2d6d11fa..166de578 100644
--- a/tabs/cli.js
+++ b/tabs/cli.js
@@ -151,6 +151,19 @@ TABS.cli.initialize = function (callback) {
         CONFIGURATOR.cliActive = true;
 
         var textarea = $('.tab-cli textarea[name="commands"]');
+        CliAutoComplete.initialize(textarea, self.sendLine.bind(self), writeToOutput);
+        $(CliAutoComplete).on('build:start', function() {
+            textarea
+                .val('')
+                .attr('placeholder', chrome.i18n.getMessage('cliInputPlaceholderBuilding'))
+                .prop('disabled', true);
+        });
+        $(CliAutoComplete).on('build:stop', function() {
+            textarea
+                .attr('placeholder', chrome.i18n.getMessage('cliInputPlaceholder'))
+                .prop('disabled', false)
+                .focus();
+        });
 
         $('.tab-cli .save').click(function() {
             var prefix = 'cli';
@@ -266,12 +279,19 @@ TABS.cli.initialize = function (callback) {
             if (event.which == tabKeyCode) {
                 // prevent default tabbing behaviour
                 event.preventDefault();
-                const outString = textarea.val();
-                const lastCommand = outString.split("\n").pop();
-                const command = getCliCommand(lastCommand, self.cliBuffer);
-                if (command) {
-                    self.sendAutoComplete(command);
-                    textarea.val('');
+
+                if (!CliAutoComplete.isEnabled()) {
+                    const outString = textarea.val();
+                    const lastCommand = outString.split("\n").pop();
+                    const command = getCliCommand(lastCommand, self.cliBuffer);
+                    if (command) {
+                        self.sendAutoComplete(command);
+                        textarea.val('');
+                    }
+                }
+                else if (!CliAutoComplete.isOpen() && !CliAutoComplete.isBuilding()) {
+                    // force show autocomplete on Tab
+                    CliAutoComplete.openLater(true);
                 }
             }
         });
@@ -281,6 +301,10 @@ TABS.cli.initialize = function (callback) {
             if (event.which == enterKeyCode) {
                 event.preventDefault(); // prevent the adding of new line
 
+                if (CliAutoComplete.isBuilding()) {
+                    return; // silently ignore commands if autocomplete is still building
+                }
+
                 var out_string = textarea.val();
                 self.history.add(out_string.trim());
 
@@ -300,6 +324,10 @@ TABS.cli.initialize = function (callback) {
             var keyUp = {38: true},
                 keyDown = {40: true};
 
+            if (CliAutoComplete.isOpen()) {
+                return; // disable history keys if autocomplete is open
+            }
+
             if (event.keyCode in keyUp) {
                 textarea.val(self.history.prev());
             }
@@ -335,7 +363,7 @@ TABS.cli.initialize = function (callback) {
                 }, 400);
             } 
         }
-    
+
         GUI.content_ready(callback);
     });
 };
@@ -370,6 +398,11 @@ function writeToOutput(text) {
 }
 
 function writeLineToOutput(text) {
+    if (CliAutoComplete.isBuilding()) {
+        CliAutoComplete.builderParseLine(text);
+        return; // suppress output if in building state
+    }
+
     if (text.startsWith("### ERROR: ")) {
         writeToOutput('<span class="error_message">' + text + '</span><br>');
     } else {
@@ -444,7 +477,10 @@ TABS.cli.read = function (readInfo) {
                 this.cliBuffer += currentChar;
         }
 
-        this.outputHistory += currentChar;
+        if (!CliAutoComplete.isBuilding()) {
+            // do not include the building dialog into the history
+            this.outputHistory += currentChar;
+        }
 
         if (this.cliBuffer == 'Rebooting') {
             CONFIGURATOR.cliActive = false;
@@ -459,7 +495,16 @@ TABS.cli.read = function (readInfo) {
     if (!CONFIGURATOR.cliValid && validateText.indexOf('CLI') !== -1) {
         GUI.log(chrome.i18n.getMessage('cliEnter'));
         CONFIGURATOR.cliValid = true;
-        validateText = "";
+
+        if (CliAutoComplete.isEnabled() && !CliAutoComplete.isBuilding()) {
+            // start building autoComplete
+            CliAutoComplete.builderStart();
+        }
+    }
+
+    // fallback to native autocomplete
+    if (!CliAutoComplete.isEnabled()) {
+        setPrompt(removePromptHash(this.cliBuffer));
     }
 
     setPrompt(removePromptHash(this.cliBuffer));
@@ -498,5 +543,8 @@ TABS.cli.cleanup = function (callback) {
             if (callback) callback();
         }, 1000); // if we dont allow enough time to reboot, CRC of "first" command sent will fail, keep an eye for this one
         CONFIGURATOR.cliActive = false;
+
+        CliAutoComplete.cleanup();
+        $(CliAutoComplete).off();
     });
 };
diff --git a/tabs/mission_control.html b/tabs/mission_control.html
index 138dbf5c..d67d686c 100644
--- a/tabs/mission_control.html
+++ b/tabs/mission_control.html
@@ -174,8 +174,8 @@
                         </div>
                     </div>
                     <div class="point" id="elevationEarthModelclass" style="display: none">
-                        <label class="spacer_box_title" for="elevationEarthModel" data-i18n="missionLevelEarthDEMModel"></label>
-                        <input id="elevationEarthModel" type="checkbox" value="0" class="togglemedium" checked required>
+                        <label class="spacer_box_title" for="elevationEarthModel" data-i18n="missionEllipsoidEarthDEMModel"></label>
+                        <input id="elevationEarthModel" type="checkbox" value="0" class="togglemedium" required>
                     </div>
                 </div>
 
diff --git a/tabs/mission_control.js b/tabs/mission_control.js
index 8d592070..29b62479 100644
--- a/tabs/mission_control.js
+++ b/tabs/mission_control.js
@@ -809,6 +809,7 @@ TABS.mission_control.initialize = function (callback) {
 
         if (globalSettings.mapProviderType == 'bing') {
             $('#elevationEarthModelclass').fadeIn(300);
+            changeSwitchery($('#elevationEarthModel'), settings.bingDemModel);
         } else {
             $('#elevationEarthModelclass').fadeOut(300);
         }
@@ -1718,7 +1719,7 @@ TABS.mission_control.initialize = function (callback) {
          // * @param {Object=} opt_options Control options.
          // */
         app.PlannerMultiMissionControl = function (opt_options) {
-            
+
             var options = opt_options || {};
             var button = document.createElement('button');
 
@@ -2397,7 +2398,7 @@ TABS.mission_control.initialize = function (callback) {
         $('#pointP3Alt').on('change', function (event) {
             if (selectedMarker) {
                 P3Value = selectedMarker.getP3();
-                
+
                 if (disableMarkerEdit) {
                     changeSwitchery($('#pointP3Alt'), TABS.mission_control.isBitSet(P3Value, MWNP.P3.ALT_TYPE));
                 }
@@ -2407,14 +2408,17 @@ TABS.mission_control.initialize = function (callback) {
                     const elevationAtWP = await selectedMarker.getElevation(globalSettings);
                     $('#elevationValueAtWP').text(elevationAtWP);
                     var altitude = Number($('#pointAlt').val());
+
                     if (P3Value != selectedMarker.getP3()) {
                         selectedMarker.setP3(P3Value);
-                        
+
+                        let groundClearance = 100 * Number($('#groundClearanceValueAtWP').text());
+                        if (isNaN(groundClearance)) {
+                            groundClearance = settings.alt; // use default altitude if no current ground clearance
+                        }
+
                         if ($('#pointP3Alt').prop("checked")) {
-                            if (altitude < 0) {
-                                altitude = settings.alt;
-                            }
-                            selectedMarker.setAlt(altitude + elevationAtWP * 100);
+                            selectedMarker.setAlt(groundClearance + elevationAtWP * 100);
                         } else {
                             selectedMarker.setAlt(altitude - Number(elevationAtWP) * 100);
                         }
@@ -2466,7 +2470,7 @@ TABS.mission_control.initialize = function (callback) {
 
                 P3Value = TABS.mission_control.setBit(selectedMarker.getP3(), MWNP.P3.USER_ACTION_1, $('#pointP3UserAction1').prop("checked"));
                 selectedMarker.setP3(P3Value);
-    
+
                 mission.updateWaypoint(selectedMarker);
                 mission.update(singleMissionActive());
                 redrawLayer();
@@ -2493,7 +2497,7 @@ TABS.mission_control.initialize = function (callback) {
                 if (disableMarkerEdit) {
                     changeSwitchery($('#pointP3UserAction3'), TABS.mission_control.isBitSet(selectedMarker.getP3(), MWNP.P3.USER_ACTION_3));
                 }
-    
+
                 P3Value = TABS.mission_control.setBit(selectedMarker.getP3(), MWNP.P3.USER_ACTION_3, $('#pointP3UserAction3').prop("checked"));
                 selectedMarker.setP3(P3Value);
 
@@ -2508,7 +2512,7 @@ TABS.mission_control.initialize = function (callback) {
                 if (disableMarkerEdit) {
                     changeSwitchery($('#pointP3UserAction4'), TABS.mission_control.isBitSet(selectedMarker.getP3(), MWNP.P3.USER_ACTION_4));
                 }
-    
+
                 P3Value = TABS.mission_control.setBit(selectedMarker.getP3(), MWNP.P3.USER_ACTION_4, $('#pointP3UserAction4').prop("checked"));
                 selectedMarker.setP3(P3Value);
 
@@ -2924,6 +2928,9 @@ TABS.mission_control.initialize = function (callback) {
                     redrawLayer();
                     plotElevation();
                 })()
+
+                settings.bingDemModel = $('#elevationEarthModel').prop("checked") ? true : false;
+                saveSettings();
             }
         });
 
@@ -3087,11 +3094,13 @@ TABS.mission_control.initialize = function (callback) {
             let oldSafeRadiusSH = settings.safeRadiusSH;
             settings = { speed: Number($('#MPdefaultPointSpeed').val()), alt: Number($('#MPdefaultPointAlt').val()), safeRadiusSH: Number($('#MPdefaultSafeRangeSH').val()), maxDistSH : vMaxDistSH, fwApproachAlt: Number($('#MPdefaultFwApproachAlt').val()), fwLandAlt:Number($('#MPdefaultLandAlt').val())};
             saveSettings();
+
             if (settings.safeRadiusSH != oldSafeRadiusSH  && $('#showHideSafehomeButton').is(":visible")) {
                 cleanSafehomeLayers();
                 renderSafehomesOnMap();
                 $('#SafeHomeSafeDistance').text(settings.safeRadiusSH);
             }
+
             closeSettingsPanel();
         });
 
@@ -3517,7 +3526,11 @@ TABS.mission_control.initialize = function (callback) {
                     alert(chrome.i18n.getMessage('MissionPlannerAltitudeChangeReset'));
                     altitude = selectedMarker.getAlt();
                 } else {
-                    altitude = settings.alt + 100 * (elevation - elevationAtHome);
+                    let currentGroundClearance = 100 * Number($('#groundClearanceValueAtWP').text());
+                    if (isNaN(currentGroundClearance) || selectedMarker == null) {
+                        currentGroundClearance = settings.alt;  // use default altitude if no current ground clearance
+                    }
+                    altitude = currentGroundClearance + 100 * (elevation - elevationAtHome);
                 }
             }
             groundClearance = altitude / 100 + (elevationAtHome - elevation);
diff --git a/tabs/mixer.html b/tabs/mixer.html
index 85debdd6..cb03f5d4 100644
--- a/tabs/mixer.html
+++ b/tabs/mixer.html
@@ -15,11 +15,26 @@
                                 <span data-i18n="platformType"></span>
                             </label>
                         </div>
-                        <div class="checkbox">
-                            <input id="motor_direction_inverted" type="checkbox" class="toggle" data-setting="motor_direction_inverted" />
-                            <label for="motor_direction_inverted"><span data-i18n="motor_direction_inverted"></span></label>
+                        <div class="radio">
+                            <fieldset>
+                            <legend>Motor direction</legend>
+                            <label for="motor_direction_normal">
+                                <input id="motor_direction_normal" name="motor_direction_inverted" type="radio"
+                                        value="0" data-setting="motor_direction_inverted" class="left" />
+                                <span data-i18n="motor_direction_inverted"></span>
+                            </label><br class="clear-both"/>
+
+                            <label class="checkbox-inline">
+                                <input id="motor_direction_inverted" name="motor_direction_inverted" type="radio"
+                                        value="1" data-setting="motor_direction_inverted" class="left"/>
+                                <span data-i18n="motor_direction_isInverted"></span>
+                            </span></label>
+
                             <div class="helpicon cf_tip" data-i18n_title="motor_direction_inverted_hint"></div>
+                          </fieldset>
                         </div>
+
+
                         <div class="checkbox">
                             <input id="mixer_pid_profile_linking" type="checkbox" class="toggle" data-setting="mixer_pid_profile_linking" />
                             <label for="mixer_pid_profile_linking"><span data-i18n="mixer_pid_profile_linking"></span></label>
@@ -44,7 +59,11 @@
                     <div class="spacer_box">
                         <div class="select position-relative">
                             <div class="mixerPreview" style="max-width: 175px">
-                                <img src="./resources/motor_order/custom.svg" />
+                                <img src="./resources/motor_order/custom.svg" id="motor-mixer-preview-img"/>
+                                <div class="motorNumber" id="motorNumber1">1</div>
+                                <div class="motorNumber" id="motorNumber2">2</div>
+                                <div class="motorNumber" id="motorNumber3">3</div>
+                                <div class="motorNumber" id="motorNumber4">4</div>
                             </div>
                             <div class="half" style="width: calc(50% - 10px); margin-left: 10px;">
                                 <select id="mixer-preset"></select>
@@ -254,4 +273,4 @@
             <a id="save-button" class="save" href="#" data-i18n="configurationButtonSave"></a>
         </div>
     </div>
-</div>
\ No newline at end of file
+</div>
diff --git a/tabs/mixer.js b/tabs/mixer.js
index bdf7c2be..bc82e83a 100644
--- a/tabs/mixer.js
+++ b/tabs/mixer.js
@@ -421,6 +421,45 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
         return (parseInt(weight) + 100) * 1000 / 200 + 1000;
     }
 
+
+    function labelMotorNumbers() {
+
+        let index = 0;
+        var rules
+
+        if (currentMixerPreset.id == loadedMixerPresetID) {
+            rules = MOTOR_RULES.get();
+        } else {
+            rules = currentMixerPreset.motorMixer;
+        }
+
+        for (const i in rules) {
+            if (rules.hasOwnProperty(i)) {
+                const rule = rules[i];
+                index++;
+
+                if (currentMixerPreset.image != 'quad_x') {
+                    $("#motorNumber"+index).css("visibility", "hidden");
+                    continue;
+                }
+
+                let top_px = 30;
+                let left_px = 28;
+                if (rule.getRoll() < -0.5) {
+                  left_px = $("#motor-mixer-preview-img").width() - 42;
+                }
+
+                if (rule.getPitch() > 0.5) {
+                  top_px = $("#motor-mixer-preview-img").height() - 42;
+                }
+                $("#motorNumber"+index).css("left", left_px + "px");
+                $("#motorNumber"+index).css("top", top_px + "px");
+                $("#motorNumber"+index).css("visibility", "visible");
+            }
+        }
+    }
+
+
     function renderMotorMixRules() {
 
         /*
@@ -484,6 +523,7 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
             }
 
         }
+        labelMotorNumbers();
         localize();
     }
 
@@ -591,7 +631,7 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
                         r.getYaw()
                     )
                 );
-                
+
             }
 
             renderMotorMixRules();
@@ -601,25 +641,17 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
         });
 
         const updateMotorDirection = function () {
-            let motorDirectionCheckbox = $("#motor_direction_inverted");
-            const isReversed = motorDirectionCheckbox.is(":checked") && (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER);
+            let motorDirectionCheckbox = $('input[name=motor_direction_inverted]:checked');
+            const isReversed = motorDirectionCheckbox.val() == 1 && (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER);
 
             const path = './resources/motor_order/'
                 + currentMixerPreset.image + (isReversed ? "_reverse" : "") + '.svg';
             $('.mixerPreview img').attr('src', path);
 
-            if (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER) {
-                if (isReversed) {
-                    motorDirectionCheckbox.parent().find("label span").html(chrome.i18n.getMessage("motor_direction_isInverted"));
-                } else {
-                    motorDirectionCheckbox.parent().find("label span").html(chrome.i18n.getMessage("motor_direction_inverted"));
-                }
-            }
-
             renderServoOutputImage();
         };
 
-        $("#motor_direction_inverted").change(updateMotorDirection);
+        $("input[name=motor_direction_inverted]").change(updateMotorDirection);
 
         $platformSelect.find("*").remove();
 
@@ -675,7 +707,7 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
             }
 
             updateRefreshButtonStatus();
-
+            labelMotorNumbers();
             updateMotorDirection();
         });
 
diff --git a/tabs/options.html b/tabs/options.html
index 1ef62632..af41f97a 100644
--- a/tabs/options.html
+++ b/tabs/options.html
@@ -20,6 +20,11 @@
                     <input id="showProfileParameters" type="checkbox" />
                     <label for="showProfileParameters"><span data-i18n="options_showProfileParameters"></span></label>
                 </div>
+
+                <div class="checkbox cli_autocomplete">
+                    <input id="cliAutocomplete" type="checkbox" />
+                    <label for="cliAutocomplete"><span data-i18n="options_cliAutocomplete"></span></label>
+                </div>
             </div>
         </div>
 
diff --git a/tabs/ports.js b/tabs/ports.js
index 18ded4e3..aa486106 100644
--- a/tabs/ports.js
+++ b/tabs/ports.js
@@ -114,6 +114,12 @@ TABS.ports.initialize = function (callback) {
         maxPorts: 1,
         defaultBaud: 57600 }
     );
+    portFunctionRules.push({
+        name: 'SBUS_OUTPUT',
+        groups: ['peripherals'],
+        maxPorts: 1,
+        defaultBaud: 115200 }
+    );
 
     for (var i = 0; i < portFunctionRules.length; i++) {
         portFunctionRules[i].displayName = chrome.i18n.getMessage('portsFunction_' + portFunctionRules[i].name);