diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index c43abb8d..89a16493 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -560,7 +560,7 @@
         "message": "Settings restored to <strong>default</strong>"
     },
     "initialSetupEepromSaved": {
-        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>"
+        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>: Setup"
     },
 
     "RX_PPM": {
@@ -1009,7 +1009,7 @@
         "message": "Craft name. Can be displayed by OSD and by compatible RC systems."
     },
     "configurationEepromSaved": {
-        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>"
+        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>: Configuration"
     },
     "configurationButtonSave": {
         "message": "Save and Reboot"
@@ -1216,7 +1216,7 @@
         "message": "PID data <strong>refreshed</strong>"
     },
     "pidTuningEepromSaved": {
-        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>"
+        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>: PID Tuning"
     },
 
     "receiverHelp": {
@@ -1280,7 +1280,7 @@
         "message": "RC Tuning data <strong>refreshed</strong>"
     },
     "receiverEepromSaved": {
-        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>"
+        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>: Receiver"
     },
 
     "auxiliaryHelp": {
@@ -1528,9 +1528,11 @@
         "message": "Save"
     },
     "adjustmentsEepromSaved": {
-        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>"
+        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>: Adjustments"
+    },
+    "programmingEepromSaved": {
+        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>: Programming"
     },
-
     "transponderNotSupported": {
         "message": "Your flight controller's firmware does not support transponder functionality."
     },
@@ -1556,7 +1558,7 @@
         "message": "Transponder data is <span style=\"color: red\">invalid</span>"
     },
     "transponderEepromSaved": {
-        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>"
+        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>: Transponder"
     },
     "servosChangeDirection": {
         "message": "Change Direction in TX To Match"
@@ -2012,7 +2014,7 @@
         "message": "Save"
     },
     "ledStripEepromSaved": {
-        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>"
+        "message": "EEPROM <span style=\"color: #37a8db\">saved</span>: LED"
     },
 
     "controlAxisRoll": {
@@ -2492,12 +2494,21 @@
     "userControlMode": {
         "message": "User Control Mode"
     },
+    "posholdDefaultSpeed": {
+        "message": "Default navigation speed [cm/s]"
+    },
+    "posholdDefaultSpeedHelp": {
+        "message": "Default speed during RTH, also used for WP navigation if no speed set for WP leg. Limited to Max. navigation speed"
+    },
     "posholdMaxSpeed": {
         "message": "Max. navigation speed [cm/s]"
     },
     "posholdMaxManualSpeed": {
         "message": "Max. CRUISE speed [cm/s]"
     },
+    "posholdMaxManualSpeedHelp": {
+        "message": "Maximum horizonal velocity allowed for pilot manual control during POSHOLD/CRUISE mode"
+    },
     "posholdMaxClimbRate": {
         "message": "Max. navigation climb rate [cm/s]"
     },
@@ -2798,6 +2809,12 @@
     "osd_plus_code_short": {
         "message" : "Plus Code Remove Leading Digits"
     },
+    "osd_esc_rpm_precision": {
+      "message": "ESC RPM precision"
+    },
+    "osd_esc_rpm_precision_help": {
+        "message": "The number of digits shown in the RPM display. If the RPM is higher than the number of digits, it will be shown in thousand RPM with as many decimal places as allowed."
+      },
     "osd_crosshairs_style": {
         "message" : "Crosshairs Style"
     },
@@ -3245,6 +3262,9 @@
     "osdElement_WIND_SPEED_VERTICAL_HELP": {
         "message": "Shows estimated vertical wind speed and direction (up or down)."
     },
+    "osdElement_ACTIVE_PROFILE": {
+        "message": "Show the active profile"
+    },
     "osdElement_LEVEL_PIDS": {
         "message": "Level PIDs"
     },
@@ -3863,10 +3883,16 @@
     "fwLevelTrimMechanics": {
         "message": "Fixed Wing Level Trim"
     },
-    "d_boost_factor": {
-        "message": "D-Boost Factor"
+    "d_boost_min": {
+        "message": "D-Boost Min. Scale"
     },
-    "d_boost_factor_help": {
+    "d_boost_min_help": {
+        "message": "Defines the max allowed Dterm attenuation during stick acceleration phase. Value 1.0 mean Dterm is not attenuate. 0.5 mean it's allowed to shrink by half. Lower values result in faster response during fast stick movement."
+    },
+    "d_boost_max": {
+        "message": "D-Boost Max. Scale"
+    },
+    "d_boost_max_help": {
         "message": "Defines the maximum Dterm boost when maximum angular acceleration is reached. 1.0 means D-Boost is disabled, 2.0 means Dterm is allowed to grow by 100%. Values between 1.5 and 1.7 are usually the sweet spot."
     },
     "d_boost_max_at_acceleration": {
diff --git a/js/defaults_dialog.js b/js/defaults_dialog.js
index 08edd9bd..890fd473 100644
--- a/js/defaults_dialog.js
+++ b/js/defaults_dialog.js
@@ -214,7 +214,11 @@ helper.defaultsDialog = (function () {
                 value: 10
             },
             {
-                key: "d_boost_factor",
+                key: "d_boost_min",
+                value: 1
+            },
+            {
+                key: "d_boost_max",
                 value: 1
             },
             {
@@ -392,7 +396,11 @@ helper.defaultsDialog = (function () {
                 value: 10
             },
             {
-                key: "d_boost_factor",
+                key: "d_boost_min",
+                value: 1
+            },
+            {
+                key: "d_boost_max",
                 value: 1
             },
             {
diff --git a/js/fc.js b/js/fc.js
index 7a0ce011..7c95327e 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -1243,6 +1243,17 @@ var FC = {
                 hasOperand: [true, true],
                 output: "boolean"
             },
+
+            41: {
+                name: "LOITER RADIUS OVERRIDE",
+                hasOperand: [true, false],
+                output: "boolean"
+            },
+            42: {
+                name: "SET PROFILE",
+                hasOperand: [true, false],
+                output: "boolean"
+            },
         }
     },
     getOperandTypes: function () {
@@ -1301,6 +1312,8 @@ var FC = {
                     32: "CRSF LQ",
                     33: "CRSF SNR",
                     34: "GPS Valid Fix",
+                    35: "Loiter Radius [cm]",
+                    36: "Active Profile",
                 }
             },
             3: {
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index ab22c9e8..56b00720 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -2989,20 +2989,15 @@ var mspHelper = (function (gui) {
 
     self.loadWaypoints = function (callback) {
         MISSION_PLANER.reinit();
-        let waypointId = 1;
+        let waypointId = 0;
         let startTime = new Date().getTime();
-        MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getFirstWP);
+        MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, loadWaypoint);
 
-        function getFirstWP() {
-            MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint)
-        };
-
-        function nextWaypoint() {
+        function loadWaypoint() {
             waypointId++;
             if (waypointId < MISSION_PLANER.getCountBusyPoints()) {
-                MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint);
-            }
-            else {
+                MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, loadWaypoint);
+            } else {
                 GUI.log('Receive time: ' + (new Date().getTime() - startTime) + 'ms');
                 MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
             }
@@ -3010,14 +3005,14 @@ var mspHelper = (function (gui) {
     };
 
     self.saveWaypoints = function (callback) {
-        let waypointId = 1;
+        let waypointId = 0;
         let startTime = new Date().getTime();
-        MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint)
+        sendWaypoint();
 
-        function nextWaypoint() {
+        function sendWaypoint() {
             waypointId++;
             if (waypointId < MISSION_PLANER.get().length) {
-                MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint);
+                MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, sendWaypoint);
             }
             else {
                 MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, endMission);
diff --git a/resources/osd/bold.mcm b/resources/osd/bold.mcm
index 2b67278a..3a2e306d 100644
--- a/resources/osd/bold.mcm
+++ b/resources/osd/bold.mcm
@@ -13250,48 +13250,48 @@ MAX7456
 01010101
 01010101
 01010101
+01010000
+00000101
 01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
+01001010
+10100000
+00000101
+00100000
+00001010
+10100001
+00101010
+10100101
+01011000
+00100101
+00000001
+01011000
+00100100
+10101000
+01011000
+00100100
+10000010
+00011000
+00100100
+10000010
+00011000
+00100100
+10101000
+01011000
+00100100
+10000001
+01011000
+00100100
+10000101
+01011000
+00100101
+00010101
+01011000
+00101010
+10101010
+10101000
+01000000
+00000000
+00000001
 01010101
 01010101
 01010101
diff --git a/resources/osd/bold.png b/resources/osd/bold.png
index 6092e55f..2d69f84d 100644
Binary files a/resources/osd/bold.png and b/resources/osd/bold.png differ
diff --git a/resources/osd/bold/207.png b/resources/osd/bold/207.png
new file mode 100644
index 00000000..bc34d733
Binary files /dev/null and b/resources/osd/bold/207.png differ
diff --git a/resources/osd/clarity.mcm b/resources/osd/clarity.mcm
index c56855ca..aa1d2c02 100644
--- a/resources/osd/clarity.mcm
+++ b/resources/osd/clarity.mcm
@@ -13253,48 +13253,48 @@ MAX7456
 01010101
 01010101
 01010101
+01010000
+00000101
 01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
+01001010
+10100000
+00000101
+00100000
+00001010
+10100001
+00101010
+10100101
+01011000
+00100101
+00000001
+01011000
+00100100
+10101000
+01011000
+00100100
+10000010
+00011000
+00100100
+10000010
+00011000
+00100100
+10101000
+01011000
+00100100
+10000001
+01011000
+00100100
+10000101
+01011000
+00100101
+00010101
+01011000
+00101010
+10101010
+10101000
+01000000
+00000000
+00000001
 01010101
 01010101
 01010101
diff --git a/resources/osd/clarity.png b/resources/osd/clarity.png
index e54bb3d3..9da501c2 100644
Binary files a/resources/osd/clarity.png and b/resources/osd/clarity.png differ
diff --git a/resources/osd/clarity/207.png b/resources/osd/clarity/207.png
new file mode 100644
index 00000000..4b2215f4
Binary files /dev/null and b/resources/osd/clarity/207.png differ
diff --git a/resources/osd/clarity_medium.mcm b/resources/osd/clarity_medium.mcm
index 0b186d4a..9b49775c 100644
--- a/resources/osd/clarity_medium.mcm
+++ b/resources/osd/clarity_medium.mcm
@@ -13256,48 +13256,48 @@ MAX7456
 01010101
 01010101
 01010101
+01010000
+00000101
 01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
+01001010
+10100000
+00000101
+00100000
+00001010
+10100001
+00101010
+10100101
+01011000
+00100101
+00000001
+01011000
+00100100
+10101000
+01011000
+00100100
+10000010
+00011000
+00100100
+10000010
+00011000
+00100100
+10101000
+01011000
+00100100
+10000001
+01011000
+00100100
+10000101
+01011000
+00100101
+00010101
+01011000
+00101010
+10101010
+10101000
+01000000
+00000000
+00000001
 01010101
 01010101
 01010101
diff --git a/resources/osd/clarity_medium.png b/resources/osd/clarity_medium.png
index 42266c20..4bbee5bd 100644
Binary files a/resources/osd/clarity_medium.png and b/resources/osd/clarity_medium.png differ
diff --git a/resources/osd/clarity_medium/207.png b/resources/osd/clarity_medium/207.png
new file mode 100644
index 00000000..62f6960b
Binary files /dev/null and b/resources/osd/clarity_medium/207.png differ
diff --git a/resources/osd/default.mcm b/resources/osd/default.mcm
index bf3da21e..8aca7c48 100644
--- a/resources/osd/default.mcm
+++ b/resources/osd/default.mcm
@@ -13250,48 +13250,48 @@ MAX7456
 01010101
 01010101
 01010101
+01010000
+00000101
 01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
+01001010
+10100000
+00000101
+00100000
+00001010
+10100001
+00101010
+10100101
+01011000
+00100101
+00000001
+01011000
+00100100
+10101000
+01011000
+00100100
+10000010
+00011000
+00100100
+10000010
+00011000
+00100100
+10101000
+01011000
+00100100
+10000001
+01011000
+00100100
+10000101
+01011000
+00100101
+00010101
+01011000
+00101010
+10101010
+10101000
+01000000
+00000000
+00000001
 01010101
 01010101
 01010101
diff --git a/resources/osd/default.png b/resources/osd/default.png
index 2e1e56eb..89ab554b 100644
Binary files a/resources/osd/default.png and b/resources/osd/default.png differ
diff --git a/resources/osd/default/207.png b/resources/osd/default/207.png
new file mode 100644
index 00000000..0675e61a
Binary files /dev/null and b/resources/osd/default/207.png differ
diff --git a/resources/osd/iNav character map.md b/resources/osd/iNav character map.md
index 8c79c381..d91b01a4 100644
--- a/resources/osd/iNav character map.md	
+++ b/resources/osd/iNav character map.md	
@@ -124,7 +124,8 @@ SYM_HEADING_E              | SYM.HEADING_E                | Heading graph East
 SYM_HEADING_W              | SYM.HEADING_W                | Heading graph West                    | 203        | 0xCB
 SYM_HEADING_DIVIDED_LINE   | SYM.HEADING_DIVIDED_LINE     | Heading graphic                       | 204        | 0xCC
 SYM_HEADING_LINE           | SYM.HEADING_LINE             | Heading graphic                       | 205        | 0xCD
-SYM_MAX					   | SYM.MAX					  | Max icon						 	  | 206		   | 0xCE
+SYM_MAX			   | SYM.MAX			  | Max icon				  | 206	       | 0xCE
+SYM_PROFILE		   | SYM.PROFILE		  | Profile icon			  | 207	       | 0xCF
  | | | | 
 SYM_LOGO_START             |                              | INAV Logo                             | 257 - 280  | 0x101 - 0x118
 SYM_AH_LEFT                | SYM.AH_LEFT                  | AHI Arrow left                        | 300        | 0x12C
diff --git a/resources/osd/impact.mcm b/resources/osd/impact.mcm
index bd5bf413..89bdd629 100644
--- a/resources/osd/impact.mcm
+++ b/resources/osd/impact.mcm
@@ -13250,51 +13250,51 @@ MAX7456
 01010101
 01010101
 01010101
+01000000
+00000101
 01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
+00101010
+10100000
+00000001
+00000000
+00001010
+10101000
+00101010
+10100000
+00000000
+00000000
+00001010
+10101000
+00101010
+10101010
+10101000
+00101010
+00000010
+10101000
+00101010
+00101000
+10101000
+00101010
+00101000
+10101000
+00101010
+00000010
+10101000
+00101010
+00101010
+10101000
+00101010
+00101010
+10101000
+00101010
+10101010
+10101000
+00101010
+10101010
+10101000
+01000000
+00000000
+00000001
 01010101
 01010101
 01010101
diff --git a/resources/osd/impact.png b/resources/osd/impact.png
index 9087e778..fcce2aa8 100644
Binary files a/resources/osd/impact.png and b/resources/osd/impact.png differ
diff --git a/resources/osd/impact/207.png b/resources/osd/impact/207.png
new file mode 100644
index 00000000..e8c9bf1f
Binary files /dev/null and b/resources/osd/impact/207.png differ
diff --git a/resources/osd/impact_mini.mcm b/resources/osd/impact_mini.mcm
index e6ce9418..4c60d7e3 100644
--- a/resources/osd/impact_mini.mcm
+++ b/resources/osd/impact_mini.mcm
@@ -13247,51 +13247,51 @@ MAX7456
 01010101
 01010101
 01010101
+01000000
+00000101
 01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
+00101010
+10100000
+00000001
+00000000
+00001010
+10101000
+00101010
+10100000
+00000000
+00000000
+00001010
+10101000
+00101010
+10101010
+10101000
+00101010
+00000010
+10101000
+00101010
+00101000
+10101000
+00101010
+00101000
+10101000
+00101010
+00000010
+10101000
+00101010
+00101010
+10101000
+00101010
+00101010
+10101000
+00101010
+10101010
+10101000
+00101010
+10101010
+10101000
+01000000
+00000000
+00000001
 01010101
 01010101
 01010101
diff --git a/resources/osd/impact_mini.png b/resources/osd/impact_mini.png
index e6c87aaa..74b223cd 100644
Binary files a/resources/osd/impact_mini.png and b/resources/osd/impact_mini.png differ
diff --git a/resources/osd/impact_mini/207.png b/resources/osd/impact_mini/207.png
new file mode 100644
index 00000000..a3743363
Binary files /dev/null and b/resources/osd/impact_mini/207.png differ
diff --git a/resources/osd/large.mcm b/resources/osd/large.mcm
index 7e858ce5..21d492ca 100644
--- a/resources/osd/large.mcm
+++ b/resources/osd/large.mcm
@@ -13250,51 +13250,51 @@ MAX7456
 01010101
 01010101
 01010101
+01010000
+00000101
 01010101
+01001010
+10100000
+00000101
+00100000
+00001010
+10100001
+00101010
+10100101
+01011000
+00100101
+00000001
+01011000
+00100100
+10101000
+01011000
+00100100
+10000010
+00011000
+00100100
+10000010
+00011000
+00100100
+10101000
+01011000
+00100100
+10000001
+01011000
+00100100
+10000101
+01011000
+00100101
+00010101
+01011000
+00100101
 01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
+01011000
+00101010
+10101010
+10101000
+01000000
+00000000
+00000001
 01010101
 01010101
 01010101
diff --git a/resources/osd/large.png b/resources/osd/large.png
index bbb39889..4587ae96 100644
Binary files a/resources/osd/large.png and b/resources/osd/large.png differ
diff --git a/resources/osd/large/207.png b/resources/osd/large/207.png
new file mode 100644
index 00000000..d3871be0
Binary files /dev/null and b/resources/osd/large/207.png differ
diff --git a/resources/osd/vision.mcm b/resources/osd/vision.mcm
index 3ff69639..4e3611f6 100644
--- a/resources/osd/vision.mcm
+++ b/resources/osd/vision.mcm
@@ -13253,48 +13253,48 @@ MAX7456
 01010101
 01010101
 01010101
+01010000
+00000101
 01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
-01010101
+01001010
+10100000
+00000101
+00100000
+00001010
+10100001
+00101010
+10100101
+01011000
+00100101
+00000001
+01011000
+00100100
+10101000
+01011000
+00100100
+10000010
+00011000
+00100100
+10000010
+00011000
+00100100
+10101000
+01011000
+00100100
+10000001
+01011000
+00100100
+10000101
+01011000
+00100101
+00010101
+01011000
+00101010
+10101010
+10101000
+01000000
+00000000
+00000001
 01010101
 01010101
 01010101
diff --git a/resources/osd/vision.png b/resources/osd/vision.png
index bf1b5580..c9fdf8e1 100644
Binary files a/resources/osd/vision.png and b/resources/osd/vision.png differ
diff --git a/resources/osd/vision/207.png b/resources/osd/vision/207.png
new file mode 100644
index 00000000..23fa4f19
Binary files /dev/null and b/resources/osd/vision/207.png differ
diff --git a/tabs/adjustments.html b/tabs/adjustments.html
index a50ffc6c..1c5016f3 100644
--- a/tabs/adjustments.html
+++ b/tabs/adjustments.html
@@ -86,7 +86,6 @@
                         <option value="19" i18n="adjustmentsFunction19"></option>
                         <option value="20" i18n="adjustmentsFunction20"></option>
                         <option value="21" i18n="adjustmentsFunction21"></option>
-                        <option value="22" i18n="adjustmentsFunction22"></option>
                         <option value="23" i18n="adjustmentsFunction23"></option>
                         <option value="24" i18n="adjustmentsFunction24"></option>
                         <option value="25" i18n="adjustmentsFunction25"></option>
diff --git a/tabs/advanced_tuning.html b/tabs/advanced_tuning.html
index f24e55ed..841b62c3 100644
--- a/tabs/advanced_tuning.html
+++ b/tabs/advanced_tuning.html
@@ -216,12 +216,18 @@
                             <label for="user-control-mode"><span data-i18n="userControlMode"></span></label>
                         </div>
                         <div class="number">
-                            <input id="max-speed" type="number" data-setting="nav_auto_speed" data-setting-multiplier="1" step="1" min="10" max="2000" />
-                            <label for="max-speed"><span data-i18n="posholdMaxSpeed"></span></label>
+                            <input id="default-auto-speed" type="number" data-setting="nav_auto_speed" data-setting-multiplier="1" step="1" min="10" max="2000" />
+                            <label for="default-auto-speed"><span data-i18n="posholdDefaultSpeed"></span></label>
+                            <div class="helpicon cf_tip" data-i18n_title="posholdDefaultSpeedHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="max-auto-speed" type="number" data-setting="nav_max_auto_speed" data-setting-multiplier="1" step="1" min="10" max="2000" />
+                            <label for="max-auto-speed"><span data-i18n="posholdMaxSpeed"></span></label>
                         </div>
                         <div class="number">
                             <input id="max-manual-speed" type="number" data-setting="nav_manual_speed" data-setting-multiplier="1" step="1" min="10" max="2000" />
                             <label for="max-manual-speed"><span data-i18n="posholdMaxManualSpeed"></span></label>
+                            <div class="helpicon cf_tip" data-i18n_title="posholdMaxManualSpeedHelp"></div>
                         </div>
                         <div class="number">
                             <input id="max-bank-angle" type="number" data-setting="nav_mc_bank_angle" data-setting-multiplier="1" step="1" min="15" max="45" />
diff --git a/tabs/osd.html b/tabs/osd.html
index 5d65c877..335b6f7b 100644
--- a/tabs/osd.html
+++ b/tabs/osd.html
@@ -75,6 +75,11 @@
                                     <select class="update_preview" data-setting="osd_plus_code_short" data-live="true"></select>
                                     <span data-i18n="osd_plus_code_short"></span> 
                                 </label>
+                                <div class="helpicon cf_tip" data-i18n_title="osd_esc_rpm_precision_help"></div>
+                                <label>
+                                    <select class="update_preview" data-setting="osd_esc_rpm_precision" data-live="true"></select>
+                                    <span data-i18n="osd_esc_rpm_precision"></span> 
+                                </label>
                                 <label>
                                     <select class="update_preview" data-setting="osd_crosshairs_style" data-live="true"></select>
                                     <span data-i18n="osd_crosshairs_style"></span>
diff --git a/tabs/osd.js b/tabs/osd.js
index 63f08eae..23d6a121 100644
--- a/tabs/osd.js
+++ b/tabs/osd.js
@@ -100,6 +100,7 @@ SYM.AH_NM = 0x3F;
 SYM.WH_NM = 0x70;
 SYM.VTX_POWER = 0x27;
 SYM.MAX = 0xCE;
+SYM.PROFILE = 0xCF;
 
 SYM.AH_AIRCRAFT0 = 0x1A2;
 SYM.AH_AIRCRAFT1 = 0x1A3;
@@ -900,7 +901,10 @@ OSD.constants = {
                     name: 'ESC_RPM',
                     id: 106,
                     min_version: '2.3.0',
-                    preview: FONT.symbol(SYM.RPM) + '983',
+                    preview: function(){
+                        let rpmPreview = '112974'.substr((6 - parseInt(Settings.getInputValue('osd_esc_rpm_precision'))));
+                        return FONT.symbol(SYM.RPM) + rpmPreview;
+                    } 
                 },
                 {
                     name: 'GLIDESLOPE',
@@ -1717,6 +1721,13 @@ OSD.constants = {
         {
             name: 'osdGroupPIDs',
             items: [
+                {
+                    name: 'ACTIVE_PROFILE',
+                    id: 128,
+                    preview:  function(osd_data) {
+                        return FONT.symbol(SYM.PROFILE) + '1';
+                    }
+                },
                 {
                     name: 'ROLL_PIDS',
                     id: 16,
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index 621fe799..b52efe32 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -270,13 +270,6 @@
                                 <div class="helpicon cf_tip" data-i18n_title="gyro_main_lpf_hz_help"></div>
                             </td>
                         </tr>
-                        <tr>
-                            <th>Matrix Gyro Filter</th>
-                            <td>
-                                <select data-setting="dynamic_gyro_notch_enabled" />
-                                <div class="helpicon cf_tip" data-i18n_title="dynamic_gyro_notch_enabled_help"></div>
-                            </td>
-                        </tr>
                         <tr>
                             <th>Matrix Filter Min Frequency</th>
                             <td>
@@ -291,12 +284,6 @@
                                 <div class="helpicon cf_tip" title="The higher value, the higher selectivity of the Matrix Filter. Values between 150 and 300 are recommended"></div>
                             </td>
                         </tr>
-                        <tr>
-                            <th>Unicorn Filter</th>
-                            <td>
-                                <select data-setting="setpoint_kalman_enabled" />
-                            </td>
-                        </tr>
                         <tr>
                             <th>Unicorn Filter Q Factor</th>
                             <td>
@@ -319,13 +306,6 @@
                                 <div class="helpicon cf_tip" data-i18n_title="dtermLpfCutoffFrequencyHelp"></div>
                             </td>
                         </tr>
-                        <tr>
-                            <th data-i18n="dterm_lpf2_hz"></th>
-                            <td>
-                                <input data-setting="dterm_lpf2_hz" type="number" class="rate-tpa_input" />
-                                <div class="helpicon cf_tip" data-i18n_title="dterm_lpf2_hz_help"></div>
-                            </td>
-                        </tr>
                     </tbody>
                 </table>
             </div>
@@ -358,13 +338,6 @@
             <div class="cf_column">
                 <table class="settings-table settings-table--filtering">
                     <tbody>
-                        <tr>
-                            <th data-i18n="itermRelax"></th>
-                            <td>
-                                <select data-setting="mc_iterm_relax" />
-                                <div class="helpicon cf_tip" data-i18n_title="itermRelaxHelp"></div>
-                            </td>
-                        </tr>
                         <tr>
                             <th data-i18n="itermRelaxCutoff"></th>
                             <td>
@@ -407,10 +380,17 @@
                 <table class="settings-table settings-table--filtering">
                     <tbody>
                         <tr>
-                            <th data-i18n="d_boost_factor"></th>
+                            <th data-i18n="d_boost_min"></th>
                             <td>
-                                <input data-setting="d_boost_factor" class="rate-tpa_input" />
-                                <div class="helpicon cf_tip" data-i18n_title="d_boost_factor_help"></div>
+                                <input data-setting="d_boost_min" class="rate-tpa_input" />
+                                <div class="helpicon cf_tip" data-i18n_title="d_boost_min_help"></div>
+                            </td>
+                        </tr>
+                        <tr>
+                            <th data-i18n="d_boost_max"></th>
+                            <td>
+                                <input data-setting="d_boost_max" class="rate-tpa_input" />
+                                <div class="helpicon cf_tip" data-i18n_title="d_boost_max_help"></div>
                             </td>
                         </tr>
                         <tr>
diff --git a/tabs/programming.js b/tabs/programming.js
index 7e142a7a..02e5ceab 100644
--- a/tabs/programming.js
+++ b/tabs/programming.js
@@ -54,6 +54,7 @@ TABS.programming.initialize = function (callback, scrollPosition) {
 
         $('#save-button').click(function () {
             saveChainer.execute();
+            GUI.log(chrome.i18n.getMessage('programmingEepromSaved'));
         });
 
         helper.mspBalancedInterval.add('logic_conditions_pull', 100, 1, function () {