diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 2789c245..3bfd2856 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -1166,8 +1166,8 @@
     "portsFunction_DJI_FPV": {
         "message": "DJI FPV VTX"
     },
-    "portsFunction_HDZERO_VTX": {
-        "message": "HDZero VTX"
+    "portsFunction_MSP_DISPLAYPORT": {
+        "message": "MSP Displayport"
     },
     "portsFunction_IMU2": {
         "message": "Secondary IMU"
@@ -1745,6 +1745,9 @@
     "adjustmentsFunction58": {
         "message": "Fixed Wing Level Trim"
     },
+    "adjustmentsFunction59": {
+        "message": "Multi Mission Index Adjustment"
+    },
     "adjustmentsSave": {
         "message": "Save"
     },
@@ -2176,6 +2179,9 @@
     "firmwareFlasherOptionLabelSelectFirmwareVersionFor": {
         "message": "Choose a Firmware version for"
     },
+    "firmwareFlasherButtonAutoSelect": {
+        "message": "Auto-select Target"
+    },
     "firmwareFlasherButtonLoadLocal": {
         "message": "Load Firmware [Local]"
     },
@@ -2210,7 +2216,7 @@
         "message": "Warning"
     },
     "firmwareFlasherWarningText": {
-        "message": "Please do <span style=\"color: red\">not</span> try to flash <strong>non-iNAV</strong> hardware with this firmware flasher.<br />Do <span style=\"color: red\">not</span> <strong>disconnect</strong> the board or <strong>turn off</strong> your computer while flashing.<br /><br /><strong>Note: </strong>STM32 bootloader is stored in ROM, it cannot be bricked.<br /><strong>Note: </strong><span style=\"color: red\">Auto-Connect</span> is always disabled while you are inside firmware flasher.<br /><strong>Note: </strong>Make sure you have a backup; some upgrades/downgrades will wipe your configuration.<br /><strong>Note:</strong> If you have problems flashing try disconnecting all cables from your FC first, try rebooting, upgrade chrome, upgrade drivers.<br /><strong>Note:</strong> When flashing boards that have directly connected USB sockets (SPRacingF3Mini, Sparky, ColibriRace, etc) ensure you have read the USB Flashing section of the INAV manual and have the correct software and drivers installed"
+        "message": "Please do <span style=\"color: red\">not</span> try to flash <strong>non-iNAV</strong> hardware with this firmware flasher.<br />Do <span style=\"color: red\">not</span> <strong>disconnect</strong> the board or <strong>turn off</strong> your computer while flashing.<br /><br /><strong>Note: </strong>STM32 bootloader is stored in ROM, it cannot be bricked.<br /><!--strong>Note: </strong><span style=\"color: red\">Auto-Connect</span> is always disabled while you are inside firmware flasher.<br / --><strong>Note: </strong>Make sure you have a backup; some upgrades/downgrades will wipe your configuration.<br /><strong>Note:</strong> If you have problems flashing try disconnecting all cables from your FC first, try rebooting, upgrade chrome, upgrade drivers.<br /><strong>Note:</strong> When flashing boards that have directly connected USB sockets (Matek H743-SLIM, Holybro Kakute etc) ensure you have read the USB Flashing section of the INAV manual and have the correct software and drivers installed"
     },
     "firmwareFlasherRecoveryHead": {
         "message": "<strong>Recovery / Lost communication<strong>"
@@ -4328,5 +4334,11 @@
     },
     "rcSmoothing": {
         "message": "RC Smoothing"
+    },
+    "throttle_scale": {
+        "message": "Throttle scale"
+    },
+    "throttle_scale_help": {
+        "message": "Allow to limit effective power fed to the motors. Throttle Scale 1 mean there is no power limiting. Throttle Scale 0.5 means throttle position will be cut in half before passed to the motors."
     }
 }
diff --git a/js/defaults_dialog.js b/js/defaults_dialog.js
index 19bca033..42b44324 100644
--- a/js/defaults_dialog.js
+++ b/js/defaults_dialog.js
@@ -287,19 +287,23 @@ helper.defaultsDialog = (function () {
             },
             {
                 key: "nav_fw_pos_z_p",
-                value: 15
+                value: 25
             },
             {
-                key: "nav_fw_pos_z_d",
+                key: "nav_fw_pos_z_i",
                 value: 5
             },
+            {
+                key: "nav_fw_pos_z_d",
+                value: 8
+            },
             {
                 key: "nav_fw_pos_xy_p",
-                value: 60
+                value: 55
             },
             {
                 key: "fw_turn_assist_pitch_gain",
-                value: 0.5
+                value: 0.4
             },
             {
                 key: "max_angle_inclination_rll",
@@ -359,11 +363,19 @@ helper.defaultsDialog = (function () {
             },
             {
                 key: "imu_acc_ignore_rate",
-                value: 9
+                value: 7
             },
             {
                 key: "imu_acc_ignore_slope",
-                value: 5
+                value: 4
+            },
+            {
+                key: "imu_dcm_kp",
+                value: 1000
+            },
+            {
+                key: "imu_dcm_ki",
+                value: 0
             },
             {
                 key: "airmode_type",
@@ -393,6 +405,22 @@ helper.defaultsDialog = (function () {
                 key: "nav_wp_radius",
                 value: 5000
             },
+            {
+                key: "nav_fw_launch_max_angle",
+                value: 45
+            },
+            {
+                key: "nav_fw_launch_motor_delay",
+                value: 100
+            },
+            {
+                key: "nav_fw_launch_max_altitude",
+                value: 5000
+            },
+            {
+                key: "nav_fw_launch_climb_angle",
+                value: 25
+            },
         ],
         "features": [
             {
@@ -404,7 +432,7 @@ helper.defaultsDialog = (function () {
     {
         "title": 'Airplane without a Tail (Wing, Delta, etc)',
         "notRecommended": false,
-        "id": 3,
+        "id": 4,
         "reboot": true,
         "mixerToApply": 8,
         "settings": [
@@ -418,7 +446,7 @@ helper.defaultsDialog = (function () {
             },
             {
                 key: "applied_defaults",
-                value: 3
+                value: 4
             },
             {
                 key: "gyro_hardware_lpf",
@@ -486,19 +514,23 @@ helper.defaultsDialog = (function () {
             },
             {
                 key: "nav_fw_pos_z_p",
-                value: 15
+                value: 35
             },
             {
-                key: "nav_fw_pos_z_d",
+                key: "nav_fw_pos_z_i",
                 value: 5
             },
+            {
+                key: "nav_fw_pos_z_d",
+                value: 10
+            },
             {
                 key: "nav_fw_pos_xy_p",
-                value: 60
+                value: 70
             },
             {
                 key: "fw_turn_assist_pitch_gain",
-                value: 0.2
+                value: 0.3
             },
             {
                 key: "max_angle_inclination_rll",
@@ -564,6 +596,14 @@ helper.defaultsDialog = (function () {
                 key: "imu_acc_ignore_slope",
                 value: 5
             },
+            {
+                key: "imu_dcm_kp",
+                value: 1000
+            },
+            {
+                key: "imu_dcm_ki",
+                value: 0
+            },
             {
                 key: "airmode_type",
                 value: "STICK_CENTER_ONCE"
@@ -592,6 +632,22 @@ helper.defaultsDialog = (function () {
                 key: "nav_wp_radius",
                 value: 5000
             },
+            {
+                key: "nav_fw_launch_max_angle",
+                value: 75
+            },
+            {
+                key: "nav_fw_launch_motor_delay",
+                value: 100
+            },
+            {
+                key: "nav_fw_launch_max_altitude",
+                value: 5000
+            },
+            {
+                key: "nav_fw_launch_climb_angle",
+                value: 25
+            },
         ],
         "features": [
             {
@@ -718,7 +774,9 @@ helper.defaultsDialog = (function () {
                 GUI.tab_switch_cleanup(function () {
                     MSP.send_message(MSPCodes.MSP_SET_REBOOT, false, false, function () {
                         //noinspection JSUnresolvedVariable
-                        savingDefaultsModal.close();
+                        if (typeof savingDefaultsModal !== 'undefined') {
+                            savingDefaultsModal.close();
+                        }
                         GUI.log(chrome.i18n.getMessage('deviceRebooting'));
                         GUI.handleReconnect();
                     });
@@ -728,13 +786,21 @@ helper.defaultsDialog = (function () {
     };
 
     privateScope.setSettings = function (selectedDefaultPreset) {
+        var currentControlProfile = parseInt($("#profilechange").val());
+        var currentBatteryProfile = parseInt($("#batteryprofilechange").val());
         //Save analytics
         googleAnalytics.sendEvent('Setting', 'Defaults', selectedDefaultPreset.title);
         Promise.mapSeries(selectedDefaultPreset.settings, function (input, ii) {
             return mspHelper.getSetting(input.key);
         }).then(function () {
             Promise.mapSeries(selectedDefaultPreset.settings, function (input, ii) {
-                return mspHelper.setSetting(input.key, input.value);
+                if (FC.isControlProfileParameter(input.key)) {
+                    return privateScope.setSettingForAllControlProfiles(input.key, input.value);
+                } else if (FC.isBatteryProfileParameter(input.key)) {
+                    return privateScope.setSettingForAllBatteryProfiles(input.key, input.value);
+                } else {
+                    return mspHelper.setSetting(input.key, input.value);
+                }
             }).then(function () {
 
                 // If default preset is associated to a mixer, apply the mixer as well
@@ -751,19 +817,50 @@ helper.defaultsDialog = (function () {
 
                     mspHelper.sendServoMixer(function () {
                         mspHelper.sendMotorMixer(function () {
-                            privateScope.finalize(selectedDefaultPreset);
-                        })
+                            MSP.send_message(MSPCodes.MSP_SELECT_SETTING, [currentControlProfile], false, function() {
+                                MSP.send_message(MSPCodes.MSP2_INAV_SELECT_BATTERY_PROFILE, [currentBatteryProfile], false, privateScope.finalize(selectedDefaultPreset));
+                            });
+                        });
                     });
                 } else {
-                    privateScope.finalize(selectedDefaultPreset);
+                    MSP.send_message(MSPCodes.MSP_SELECT_SETTING, [currentControlProfile], false, function() {
+                        MSP.send_message(MSPCodes.MSP2_INAV_SELECT_BATTERY_PROFILE, [currentBatteryProfile], false, privateScope.finalize(selectedDefaultPreset));
+                    });
                 }
-
-                
-
             })
         });
     };
 
+    privateScope.setSettingForAllControlProfiles = function (key, value) {
+        MSP.send_message(MSPCodes.MSP_SELECT_SETTING, [0], false, function () {
+            mspHelper.setSetting(key, value, function() {
+                MSP.send_message(MSPCodes.MSP_SELECT_SETTING, [1], false, function () {
+                    mspHelper.setSetting(key, value, function() {
+                        MSP.send_message(MSPCodes.MSP_SELECT_SETTING, [2], false, function () {
+                            mspHelper.setSetting(key, value);
+                        });
+                    });
+                });
+            });
+        });
+        return;
+    };
+
+    privateScope.setSettingForAllBatteryProfiles = function (key, value) {
+        MSP.send_message(MSPCodes.MSP2_INAV_SELECT_BATTERY_PROFILE, [0], false, function () {
+            mspHelper.setSetting(key, value, function() {
+                MSP.send_message(MSPCodes.MSP2_INAV_SELECT_BATTERY_PROFILE, [1], false, function () {
+                    mspHelper.setSetting(key, value, function() {
+                        MSP.send_message(MSPCodes.MSP2_INAV_SELECT_BATTERY_PROFILE, [2], false, function () {
+                            mspHelper.setSetting(key, value);
+                        });
+                    });
+                });
+            });
+        });
+        return;
+    };
+
     privateScope.onPresetClick = function (event) {
         savingDefaultsModal = new jBox('Modal', {
             width: 400,
diff --git a/js/fc.js b/js/fc.js
index 096ccc69..aad1e3ab 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -1249,7 +1249,7 @@ var FC = {
             4: {
                 name: "Logic Condition",
                 type: "range",
-                range: [0, 31],
+                range: [0, (LOGIC_CONDITIONS.getMaxLogicConditionCount()-1)],
                 default: 0
             },
             5: {
diff --git a/js/gui.js b/js/gui.js
index 6849c972..94cbabe6 100644
--- a/js/gui.js
+++ b/js/gui.js
@@ -316,16 +316,27 @@ GUI_control.prototype.renderOperandValue = function ($container, operandMetadata
  * @param  {function} onChange
  * @param  {boolean} withAlways
  */
-GUI_control.prototype.renderLogicConditionSelect = function ($container, logicConditions, current, onChange, withAlways) {
+GUI_control.prototype.renderLogicConditionSelect = function ($container, logicConditions, current, onChange, withAlways, onlyEnabled) {
 
     let $select = $container.append('<select class="mix-rule-condition">').find("select"),
         lcCount = logicConditions.getCount();
+        option  = "";
 
     if (withAlways) {
         $select.append('<option value="-1">Always</option>')
     }
     for (let i = 0; i < lcCount ; i++) {
-        $select.append('<option value="' + i + '">Logic Condition ' + i + ' </option>');
+        if (!onlyEnabled || i === current || (logicConditions.isEnabled(i))) {
+            option = '<option';
+
+            if (i === current && !logicConditions.isEnabled(i)) {
+                option+= ' class="lc_disabled"';
+            }
+            
+            option+= ' value="' + i + '">Logic Condition ' + i + ' </option>';
+
+            $select.append(option);
+        }
     }
 
     $select.val(current).change(onChange);
diff --git a/js/helpers.js b/js/helpers.js
index 8b611898..914fbbaa 100644
--- a/js/helpers.js
+++ b/js/helpers.js
@@ -42,8 +42,9 @@ function generateFilename(prefix, suffix) {
 
     if (CONFIG) {
         if (CONFIG.flightControllerIdentifier) {
-            filename = CONFIG.flightControllerIdentifier + '_' + filename;
+            filename = CONFIG.flightControllerIdentifier + '_' + CONFIG.flightControllerVersion + "_" + filename;
         }
+         
         if (CONFIG.name && CONFIG.name.trim() !== '') {
             filename = filename + '_' + CONFIG.name.trim().replace(' ', '_');
         }
diff --git a/js/logicCondition.js b/js/logicCondition.js
index e5a5de3e..8409476b 100644
--- a/js/logicCondition.js
+++ b/js/logicCondition.js
@@ -218,9 +218,10 @@ let LogicCondition = function (enabled, activatorId, operation, operandAType, op
         if (self.getEnabled()) {
             GUI.renderLogicConditionSelect(
                 $e, 
-                LOGIC_CONDITIONS, 
+                LOGIC_CONDITIONS,
                 self.getActivatorId, 
                 self.onActivatorChange,
+                true,
                 true
             );
         } else {
diff --git a/js/logicConditionsCollection.js b/js/logicConditionsCollection.js
index 84ccc8ce..9412362c 100644
--- a/js/logicConditionsCollection.js
+++ b/js/logicConditionsCollection.js
@@ -28,6 +28,10 @@ let LogicConditionsCollection = function () {
         return data.length
     };
 
+    self.isEnabled = function (lcID) {
+        return data[lcID].getEnabled();
+    }
+
     self.open = function () {
         self.render();
         $container.show();
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index ef448dda..01b5789d 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -44,7 +44,7 @@ var mspHelper = (function (gui) {
         'DJI_FPV': 21,
         'SMARTPORT_MASTER': 23,
         'IMU2': 24,
-        'HDZERO_VTX': 25,
+        'MSP_DISPLAYPORT': 25,
     };
 
     // Required for MSP_DEBUGMSG because console.log() doesn't allow omitting
@@ -777,6 +777,18 @@ var mspHelper = (function (gui) {
                 CONFIG.boardIdentifier = identifier;
                 CONFIG.boardVersion = data.getUint16(offset, 1);
                 offset += 2;
+                if (semver.gt(CONFIG.flightControllerVersion, "4.1.0")) {
+                    CONFIG.osdUsed = data.getUint8(offset++);
+                    CONFIG.commCompatability = data.getUint8(offset++);
+                    let targetNameLen = data.getUint8(offset++);
+                    let targetName = "";
+                    targetNameLen += offset;
+                    for (offset = offset; offset < targetNameLen; offset++) {
+                        targetName += String.fromCharCode(data.getUint8(offset));
+                    }
+                    CONFIG.target = targetName;
+                }
+                
                 break;
 
             case MSPCodes.MSP_SET_CHANNEL_FORWARDING:
@@ -3190,6 +3202,15 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_MOTOR, false, false, callback);
     };
 
+    self.getTarget = function(callback) {
+        MSP.send_message(MSPCodes.MSP_FC_VERSION, false, false, function(resp){
+            var target = resp.data.readString();
+            if (callback) {
+                callback(target);
+            }
+        });
+    }
+
     self.getCraftName = function (callback) {
         MSP.send_message(MSPCodes.MSP_NAME, false, false, function (resp) {
             var name = resp.data.readString();
diff --git a/js/settings.js b/js/settings.js
index e54fe492..36816ed9 100644
--- a/js/settings.js
+++ b/js/settings.js
@@ -173,19 +173,20 @@ var Settings = (function () {
 
                     let dataStep = input.data("step");
 
-                    if (dataStep !== undefined) {
-                        input.attr('step', dataStep);
-                    } else {
-                        input.attr('step', "0.01");
+                    if (typeof dataStep === 'undefined') {
+                        dataStep = self.countDecimals(s.value);
+                        dataStep = 1 / Math.pow(10, dataStep);
+                        input.data("step", dataStep);
                     }
 
+                    input.attr('step', dataStep);
                     input.attr('min', s.setting.min);
                     input.attr('max', s.setting.max);
-                    input.val(s.value.toFixed(2));
-
+                    input.val(s.value.toFixed(self.countDecimals(dataStep)));
                 } else {
                     var multiplier = parseFloat(input.data('setting-multiplier') || 1);
 
+                    input.data("step", 1);
                     input.val((s.value / multiplier).toFixed(Math.log10(multiplier)));
                     input.attr('type', 'number');
                     if (typeof s.setting.min !== 'undefined' && s.setting.min !== null) {
@@ -449,7 +450,7 @@ var Settings = (function () {
                 'm-lrg' : 'mi',
                 'cms' : 'mph',
                 'v-cms' : 'fts',
-                'decadegps' : 'degpd',
+                'decadegps' : 'degps',
                 'decideg' : 'deg',
                 'decideg-lrg' : 'deg',
                 'msec' : 'sec',
@@ -498,38 +499,33 @@ var Settings = (function () {
         const multiplier = multiObj.multiplier;
         const unitName = multiObj.unitName;
 
+        let decimalPlaces = 0;
         // Update the step, min, and max; as we have the multiplier here.
         if (element.attr('type') == 'number') {
-            let step = element.attr('step') || 1;
-            let decimalPlaces = 0;
+            let step = parseFloat(element.attr('step')) || 1;
             
-            step = step / multiplier;
-            
-            if (step < 1) {
-                decimalPlaces = step.toString().length - step.toString().indexOf(".") - 1;
-                if (parseInt(step.toString().slice(-1)) > 1 ) { 
-                    decimalPlaces--; 
-                }
+            if (multiplier !== 1) { 
+                decimalPlaces = Math.min(Math.ceil(multiplier / 100), 3);
                 step = 1 / Math.pow(10, decimalPlaces);
             }
             element.attr('step', step.toFixed(decimalPlaces));
 
-            if (multiplier != 'FAHREN') {
-                element.attr('min', (element.attr('min') / multiplier).toFixed(decimalPlaces));
-                element.attr('max', (element.attr('max') / multiplier).toFixed(decimalPlaces));
+            if (multiplier !== 'FAHREN' && multiplier !== 1) {
+                element.attr('min', (parseFloat(element.attr('min')) / multiplier).toFixed(decimalPlaces));
+                element.attr('max', (parseFloat(element.attr('max')) / multiplier).toFixed(decimalPlaces));
             }
         }
 
         // Update the input with a new formatted unit
         let newValue = "";
-        if (multiplier == 'FAHREN') {
-            element.attr('min', toFahrenheit(element.attr('min')).toFixed(2));
-            element.attr('max', toFahrenheit(element.attr('max')).toFixed(2));
-            newValue = toFahrenheit(oldValue).toFixed(2);
+        if (multiplier === 'FAHREN') {
+            element.attr('min', toFahrenheit(element.attr('min')).toFixed(decimalPlaces));
+            element.attr('max', toFahrenheit(element.attr('max')).toFixed(decimalPlaces));
+            newValue = toFahrenheit(oldValue).toFixed(decimalPlaces);
         } else {
-            const convertedValue = Number((oldValue / multiplier).toFixed(2));
-            newValue = Number.isInteger(convertedValue) ? Math.round(convertedValue) : convertedValue;
+            newValue = Number((oldValue / multiplier)).toFixed(decimalPlaces);
         }
+
         element.val(newValue);
         element.data('setting-multiplier', multiplier);
 
@@ -564,12 +560,36 @@ var Settings = (function () {
                 value = Math.round(((parseFloat(input.val())-32) / 1.8) * 10);
             } else {
                 multiplier = parseFloat(multiplier);
-                value = Math.round(parseFloat(input.val()) * multiplier);
+                
+                let presicion = input.data("step") || 1; // data-step is always based on the default firmware units.
+                presicion = self.countDecimals(presicion);
+
+                if (presicion === 0) {
+                    value = Math.round(parseFloat(input.val()) * multiplier);
+                } else {
+                    value = Math.round((parseFloat(input.val()) * multiplier) * Math.pow(10, presicion)) / Math.pow(10, presicion);
+                }
             }
         }
+
         return mspHelper.setSetting(settingName, value);
     };
 
+    self.countDecimals = function(value) {
+        let text = value.toString()
+        // verify if number 0.000005 is represented as "5e-6"
+        if (text.indexOf('e-') > -1) {
+          let [base, trail] = text.split('e-');
+          let deg = parseInt(trail, 10);
+          return deg;
+        }
+        // count decimals for number in representation like "0.123456"
+        if (Math.floor(value) !== value) {
+          return value.toString().split(".")[1].length || 0;
+        }
+        return 0;
+    };
+
     self.saveInputs = function() {
         var inputs = [];
         $('[data-setting!=""][data-setting]').each(function() {
diff --git a/main.css b/main.css
index 1c13dbf8..f2e47013 100644
--- a/main.css
+++ b/main.css
@@ -2010,6 +2010,10 @@ select {
     padding: 1px;
 }
 
+.lc_disabled {
+    color: #aaa;
+}
+
 .ic_osd {
     background-image: url("../images/icons/icon_osd.svg");
     background-position-y: 4px;
diff --git a/main.js b/main.js
index 75a123df..b365b96a 100644
--- a/main.js
+++ b/main.js
@@ -657,7 +657,7 @@ function updateActivatedTab() {
 
 function updateFirmwareVersion() {
     if (CONFIGURATOR.connectionValid) {
-        $('#logo .firmware_version').text(CONFIG.flightControllerVersion);
+        $('#logo .firmware_version').text(CONFIG.flightControllerVersion + " [" + CONFIG.target + "]");
     } else {
         $('#logo .firmware_version').text(chrome.i18n.getMessage('fcNotConnected'));
     }
diff --git a/resources/osd/avatar/default/12x18/010.png b/resources/osd/avatar/default/12x18/010.png
index ce561447..13b120ec 100644
Binary files a/resources/osd/avatar/default/12x18/010.png and b/resources/osd/avatar/default/12x18/010.png differ
diff --git a/resources/osd/avatar/default/12x18/012.png b/resources/osd/avatar/default/12x18/012.png
index 0138d416..d5375212 100644
Binary files a/resources/osd/avatar/default/12x18/012.png and b/resources/osd/avatar/default/12x18/012.png differ
diff --git a/resources/osd/avatar/default/12x18/099.png b/resources/osd/avatar/default/12x18/099.png
index c4ecb5dd..f9829c46 100644
Binary files a/resources/osd/avatar/default/12x18/099.png and b/resources/osd/avatar/default/12x18/099.png differ
diff --git a/resources/osd/avatar/default/12x18/100.png b/resources/osd/avatar/default/12x18/100.png
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index dd109ab1..45a220aa 100644
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index 7654ead0..2f0cb1ae 100644
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diff --git a/resources/osd/avatar/default/36x54/352.png b/resources/osd/avatar/default/36x54/352.png
index 517079d0..c2508e73 100644
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diff --git a/src/css/tabs/auxiliary.css b/src/css/tabs/auxiliary.css
index 86ff9acf..724f6758 100644
--- a/src/css/tabs/auxiliary.css
+++ b/src/css/tabs/auxiliary.css
@@ -81,18 +81,22 @@
     background-color: #e4e4e4;
     border-bottom: 5px solid white;
     color: grey;
-    min-width: 100px;
+    height: 85px;
+    width: 130px;
+    padding: 0px 5px;
 }
 
 .tab-auxiliary .mode .info .name {
     font-weight: bold;
     font-size: 1.0em;
+    padding-bottom: 5px;
 }
 
 .tab-auxiliary .mode .info .buttons {
     position: absolute;
     bottom: 14px;
     width: 100%;
+    margin-left:-5px;
 }
 
 .tab-auxiliary .mode .info .buttons a {
diff --git a/src/css/tabs/firmware_flasher.css b/src/css/tabs/firmware_flasher.css
index ec488163..a57bf456 100644
--- a/src/css/tabs/firmware_flasher.css
+++ b/src/css/tabs/firmware_flasher.css
@@ -49,6 +49,11 @@
     -webkit-appearance: none;
 }
 
+.tab-firmware_flasher .autoselect_description {
+    margin-left: 10px;
+    line-height: 25px;
+}
+
 /*noinspection ALL*/
 .tab-firmware_flasher .info .progress::-webkit-progress-bar {
     background-color: #4f4f4f;
diff --git a/tabs/adjustments.html b/tabs/adjustments.html
index 03769f7d..6cc87d6a 100644
--- a/tabs/adjustments.html
+++ b/tabs/adjustments.html
@@ -81,7 +81,7 @@
                             <option value="26" i18n="adjustmentsFunction26"></option> <!-- Manual RC Pitch/Roll Expo -->
                             <option value="27" i18n="adjustmentsFunction27"></option> <!-- Manual RC Yaw Expo -->
                         </optgroup>
-                        
+
                         <optgroup i18n_label="adjustmentsGroupPIDTuning">
                             <option value="6" i18n="adjustmentsFunction6"></option>   <!-- Pitch & Roll P -->
                             <option value="7" i18n="adjustmentsFunction7"></option>   <!-- Pitch & Roll I -->
@@ -103,7 +103,7 @@
                             <option value="55" i18n="adjustmentsFunction55"></option> <!-- TPA Breakpoint -->
                             <option value="57" i18n="adjustmentsFunction57"></option> <!-- FW TPA Time Const -->
                         </optgroup>
-                        
+
                         <optgroup i18n_label="adjustmentsGroupNavigationFlight">
                             <option value="34" i18n="adjustmentsFunction34"></option> <!-- Board Roll-->
                             <option value="35" i18n="adjustmentsFunction35"></option> <!-- Board Pitch-->
@@ -112,7 +112,7 @@
                             <option value="33" i18n="adjustmentsFunction33"></option> <!-- FW Pitch to Throttle -->
                             <option value="52" i18n="adjustmentsFunction52"></option> <!-- FW min thr down pitch -->
                             <option value="56" i18n="adjustmentsFunction56"></option> <!-- Control Smoothness -->
-                            
+
                             <option value="36" i18n="adjustmentsFunction36"></option> <!-- Level P -->
                             <option value="37" i18n="adjustmentsFunction37"></option> <!-- Level I -->
                             <option value="38" i18n="adjustmentsFunction38"></option> <!-- Level D -->
@@ -130,9 +130,10 @@
                             <option value="50" i18n="adjustmentsFunction50"></option> <!-- VEL Z I -->
                             <option value="51" i18n="adjustmentsFunction51"></option> <!-- VEL Z D -->
                         </optgroup>
-                        
+
                         <optgroup i18n_label="adjustmentsGroupMisc">
-                            <option value="53" i18n="adjustmentsFunction53"></option> <!-- VTX Power --> 
+                            <option value="53" i18n="adjustmentsFunction53"></option> <!-- VTX Power -->
+                            <option value="59" i18n="adjustmentsFunction59"></option> <!-- WP Mission Index -->
                         </optgroup>
                     </select></td>
                 <td class="adjustmentSlot"><select class="slot">
diff --git a/tabs/advanced_tuning.html b/tabs/advanced_tuning.html
index eaa1ded0..e1a81a4c 100644
--- a/tabs/advanced_tuning.html
+++ b/tabs/advanced_tuning.html
@@ -15,33 +15,16 @@
                             <label for="launchIdleThr"><span data-i18n="configurationLaunchIdleThr"></span></label>
                             <div for="launchIdleThr" class="helpicon cf_tip" data-i18n_title="configurationLaunchIdleThrHelp"></div>
                         </div>
-
                         <div class="number">
                             <input type="number" id="launchIdleDelay" data-unit="msec" data-setting="nav_fw_launch_idle_motor_delay" data-setting-multiplier="1" step="1" min="0" max="60000" />
                             <label for="launchIdleDelay"><span data-i18n="configurationLaunchIdleDelay"></span></label>
                             <div for="launchIdleDelay" class="helpicon cf_tip" data-i18n_title="configurationLaunchIdleDelayHelp"></div>
                         </div>
-
                         <div class="number">
                             <input type="number" id="launchMaxAngle" data-unit="deg" data-setting="nav_fw_launch_max_angle" data-setting-multiplier="1" step="1" min="5" max="180" />
                             <label for="launchMaxAngle"><span data-i18n="configurationLaunchMaxAngle"></span></label>
                             <div for="launchMaxAngle" class="helpicon cf_tip" data-i18n_title="configurationLaunchMaxAngleHelp"></div>
                         </div>
-                        <div class="number">
-                            <input type="number" id="launchVelocity" data-unit="cms" data-setting="nav_fw_launch_velocity" data-setting-multiplier="1" step="1" min="100" max="10000" />
-                            <label for="launchVelocity"><span data-i18n="configurationLaunchVelocity"></span></label>
-                            <div for="launchVelocity" class="helpicon cf_tip" data-i18n_title="configurationLaunchVelocityHelp"></div>
-                        </div>
-                        <div class="number">
-                            <input type="number" id="launchAccel" data-unit="cmss" data-setting="nav_fw_launch_accel" data-setting-multiplier="1" step="1" min="1000" max="20000" />
-                            <label for="launchAccel"><span data-i18n="configurationLaunchAccel"></span></label>
-                            <div for="launchAccel" class="helpicon cf_tip" data-i18n_title="configurationLaunchAccelHelp"></div>
-                        </div>
-                        <div class="number">
-                            <input type="number" id="launchDetectTime" data-unit="msec-nc" data-setting="nav_fw_launch_detect_time" data-setting-multiplier="1" step="1" min="10" max="1000" />
-                            <label for="launchDetectTime"><span data-i18n="configurationLaunchDetectTime"></span></label>
-                            <div for="launchDetectTime" class="helpicon cf_tip" data-i18n_title="configurationLaunchDetectTimeHelp"></div>
-                        </div>
                         <div class="number">
                             <input type="number" id="launchMotorDelay" data-unit="msec-nc" data-setting="nav_fw_launch_motor_delay" data-setting-multiplier="1" step="1" min="0" max="5000" />
                             <label for="launchMotorDelay"><span data-i18n="configurationLaunchMotorDelay"></span></label>
@@ -57,7 +40,7 @@
                             <label for="launchSpinupTime"><span data-i18n="configurationLaunchSpinupTime"></span></label>
                             <div for="launchSpinupTime" class="helpicon cf_tip" data-i18n_title="configurationLaunchSpinupTimeHelp"></div>
                         </div>
-                         <div class="number">
+                        <div class="number">
                             <input type="number" id="launchThr" data-unit="us" data-setting="nav_fw_launch_thr" data-setting-multiplier="1" step="1" min="1000" max="2000" />
                             <label for="launchThr"><span data-i18n="configurationLaunchThr"></span></label>
                             <div for="launchThr" class="helpicon cf_tip" data-i18n_title="configurationLaunchThrHelp"></div>
diff --git a/tabs/auxiliary.js b/tabs/auxiliary.js
index 7e497d00..7d38f164 100644
--- a/tabs/auxiliary.js
+++ b/tabs/auxiliary.js
@@ -18,7 +18,15 @@ TABS.auxiliary.initialize = function (callback) {
     }
 
     function get_rc_data() {
-        MSP.send_message(MSPCodes.MSP_RC, false, false, load_html);
+        if (SERIAL_CONFIG.ports.length == 0) {
+            MSP.send_message(MSPCodes.MSP_RC, false, false, get_ports_data);
+        } else {
+            MSP.send_message(MSPCodes.MSP_RC, false, false, load_html);
+        }
+    }
+
+    function get_ports_data() {
+        MSP.send_message(MSPCodes.MSP2_CF_SERIAL_CONFIG, false, false, load_html);
     }
 
     function load_html() {
@@ -33,12 +41,12 @@ TABS.auxiliary.initialize = function (callback) {
         modeSections["Arming"] = ["ARM", "PREARM"];
         modeSections["Flight Modes"] = ["ANGLE", "HORIZON", "MANUAL"];
         modeSections["Navigation Modes"] = ["NAV COURSE HOLD", "NAV CRUISE", "NAV POSHOLD", "NAV RTH", "NAV WP", "GCS NAV"];
-        modeSections["Flight Mode Modifiers"] = ["NAV ALTHOLD", "HEADING HOLD", "AIR MODE", "SOARING", "SURFACE"];
-        modeSections["Fixed Wing"] = ["AUTO TUNE", "SERVO AUTOTRIM", "AUTO LEVEL", "NAV LAUNCH", "LOITER CHANGE", "FLAPERON", "TURN ASSIST"];
+        modeSections["Flight Mode Modifiers"] = ["NAV ALTHOLD", "HEADING HOLD", "AIR MODE", "SOARING", "SURFACE", "TURN ASSIST"];
+        modeSections["Fixed Wing"] = ["AUTO TUNE", "SERVO AUTOTRIM", "AUTO LEVEL", "NAV LAUNCH", "LOITER CHANGE", "FLAPERON"];
         modeSections["Multi-rotor"] = ["FPV ANGLE MIX", "TURTLE", "MC BRAKING", "HEADFREE", "HEADADJ"];
         modeSections["OSD Modes"] = ["OSD OFF", "OSD ALT 1", "OSD ALT 2", "OSD ALT 3"];
         modeSections["FPV Camera Modes"] = ["CAMSTAB", "CAMERA CONTROL 1", "CAMERA CONTROL 2", "CAMERA CONTROL 3"];
-        modeSections["Misc Modes"] = ["BEEPER", "LEDS OFF", "LIGHTS", "HOME RESET", "WP PLANNER", "BLACKBOX", "FAILSAFE", "KILLSWITCH", "TELEMETRY", "MSP RC OVERRIDE", "USER1", "USER2", "USER3", "USER4"];
+        modeSections["Misc Modes"] = ["BEEPER", "LEDS OFF", "LIGHTS", "HOME RESET", "WP PLANNER", "MISSION CHANGE", "BLACKBOX", "FAILSAFE", "KILLSWITCH", "TELEMETRY", "MSP RC OVERRIDE", "USER1", "USER2", "USER3", "USER4"];
 
     function sort_modes_for_display() {
         // Sort the modes
@@ -49,7 +57,7 @@ TABS.auxiliary.initialize = function (callback) {
 
         for (i=0; i<AUX_CONFIG.length; i++) {
             tmpAUX_CONFIG[i] = AUX_CONFIG[i];
-            tmpAUX_CONFIG_IDS[i] = AUX_CONFIG_IDS[i];   
+            tmpAUX_CONFIG_IDS[i] = AUX_CONFIG_IDS[i];
         }
 
         AUX_CONFIG = [];
@@ -63,7 +71,7 @@ TABS.auxiliary.initialize = function (callback) {
                         AUX_CONFIG[sortedID] = tmpAUX_CONFIG[j];
                         AUX_CONFIG_IDS[sortedID] = tmpAUX_CONFIG_IDS[j];
                         ORIG_AUX_CONFIG_IDS[sortedID++] = j;
-    
+
                         break;
                     }
                 }
@@ -103,11 +111,11 @@ TABS.auxiliary.initialize = function (callback) {
         var modeTemplate = $('#tab-auxiliary-templates .mode');
         var newMode = modeTemplate.clone();
         var modeName = AUX_CONFIG[modeIndex];
-        
+
         // If the runcam split peripheral is used, then adjust the boxname(BOXCAMERA1, BOXCAMERA2, BOXCAMERA3)
         // If platform is fixed wing, rename POS HOLD to LOITER
         modeName = adjustBoxNameIfPeripheralWithModeID(modeId, modeName);
- 
+
         $(newMode).attr('id', 'mode-' + modeIndex);
         $(newMode).find('.name').text(modeName);
 
@@ -203,7 +211,6 @@ TABS.auxiliary.initialize = function (callback) {
         let modeSelectionRange = "";
 
         for (var modeIndex = 0; modeIndex < AUX_CONFIG.length; modeIndex++) {
-
             // Get current mode category
             for (modeSelectionRange in modeSections) {
                 if (modeSections[modeSelectionRange].indexOf(AUX_CONFIG[modeIndex]) != -1) {
@@ -378,7 +385,7 @@ TABS.auxiliary.initialize = function (callback) {
             for (var i = 0; i < AUX_CONFIG.length; i++) {
                 var modeElement = $('#mode-' + i);
                 let inRange = false;
-                
+
                 if (modeElement.find(' .range').length == 0) {
                     // if the mode is unused, skip it
                     modeElement.removeClass('off').removeClass('on');
@@ -408,7 +415,7 @@ TABS.auxiliary.initialize = function (callback) {
                             inRange = true;
                         }
                     }
-                    
+
                     if (inRange) {
                         $('.mode .name').eq(modeElement.data('index')).data('modeElement').removeClass('on').addClass('inRange').removeClass('off');
 
@@ -428,7 +435,7 @@ TABS.auxiliary.initialize = function (callback) {
             } else {
                 $('.acroEnabled').removeClass('on').addClass('off');
             }
-        
+
             let hideUnused = hideUnusedModes && hasUsedMode;
             for (let i = 0; i < AUX_CONFIG.length; i++) {
                 let modeElement = $('#mode-' + i);
@@ -436,7 +443,7 @@ TABS.auxiliary.initialize = function (callback) {
                     modeElement.toggle(!hideUnused);
                 }
             }
-            
+
             $(".modeSection").each(function() {
                 $(this).toggle(!hideUnused);
             });
@@ -452,7 +459,7 @@ TABS.auxiliary.initialize = function (callback) {
                 })
                 .prop("checked", !!result.hideUnusedModes)
                 .change();
-        });  
+        });
         // update ui instantly on first load
         update_ui();
 
diff --git a/tabs/firmware_flasher.html b/tabs/firmware_flasher.html
index e0d4a688..1bbaed9b 100755
--- a/tabs/firmware_flasher.html
+++ b/tabs/firmware_flasher.html
@@ -8,7 +8,10 @@
                             <select name="board" id="board_targets">
                                 <option value="0">Loading ...</option>
                         </select></td>
-                        <td><span class="description" i18n="firmwareFlasherOnlineSelectBoardDescription"></span></td>
+                        <td><div class="default_btn narrow">
+                            <a class="auto_select_target" href="#" i18n="firmwareFlasherButtonAutoSelect"></a>
+                        </div> 
+                        <span class="autoselect_description description" i18n="firmwareFlasherOnlineSelectBoardDescription"></span></td>
                     </tr>
                     <tr>
                         <td><select name="firmware_version">
diff --git a/tabs/firmware_flasher.js b/tabs/firmware_flasher.js
index 21529e45..485a6753 100755
--- a/tabs/firmware_flasher.js
+++ b/tabs/firmware_flasher.js
@@ -50,8 +50,17 @@ TABS.firmware_flasher.initialize = function (callback) {
             };
         }
 
-        $('input.show_development_releases').click(function(){
+        $('input.show_development_releases').click(function() {
+            let selectedTarget = String($('select[name="board"]').val());
+            GUI.log("selected target = " + selectedTarget);
             buildBoardOptions();
+            GUI.log("toggled RCs");
+            if (selectedTarget === "0") {
+                TABS.firmware_flasher.getTarget();
+            } else {
+                $('select[name="board"] option[value=' + selectedTarget + ']').attr("selected", "selected");
+                $('select[name="board"]').change();
+            }
         });
 
         $('.target_search').on('input', function(){
@@ -74,10 +83,10 @@ TABS.firmware_flasher.initialize = function (callback) {
 
         var buildBoardOptions = function(){
             var boards_e = $('select[name="board"]').empty();
-            var showDevReleases = ($('input.show_development_releases').is(':checked'));
-            boards_e.append($("<option value='0'>{0}</option>".format(chrome.i18n.getMessage('firmwareFlasherOptionLabelSelectBoard'))));
-
             var versions_e = $('select[name="firmware_version"]').empty();
+            var showDevReleases = ($('input.show_development_releases').is(':checked'));
+            
+            boards_e.append($("<option value='0'>{0}</option>".format(chrome.i18n.getMessage('firmwareFlasherOptionLabelSelectBoard'))));
             versions_e.append($("<option value='0'>{0}</option>".format(chrome.i18n.getMessage('firmwareFlasherOptionLabelSelectFirmwareVersion'))));
 
             var releases = {};
@@ -140,6 +149,7 @@ TABS.firmware_flasher.initialize = function (callback) {
                     releases[result.target].push(descriptor);
                 });
             });
+            
             var selectTargets = [];
             Object.keys(releases)
                 .sort()
@@ -158,6 +168,7 @@ TABS.firmware_flasher.initialize = function (callback) {
                     });
                 });
             TABS.firmware_flasher.releases = releases;
+            return;
         };
 
         $.get('https://api.github.com/repos/iNavFlight/inav/releases?per_page=10', function (releasesData){
@@ -198,11 +209,15 @@ TABS.firmware_flasher.initialize = function (callback) {
                 }
             });
 
+            $('a.auto_select_target').removeClass('disabled');
+            TABS.firmware_flasher.getTarget();
         }).fail(function (data){
             if (data["responseJSON"]){
                 GUI.log("<b>GITHUB Query Failed: <code>{0}</code></b>".format(data["responseJSON"].message));
             }
-            $('select[name="release"]').empty().append('<option value="0">Offline</option>');
+            $('select[name="board"]').empty().append('<option value="0">Offline</option>');
+            $('select[name="firmware_version"]').empty().append('<option value="0">Offline</option>');
+            $('a.auto_select_target').addClass('disabled');
         });
 
         $('a.load_file').on('click', function () {
@@ -561,6 +576,10 @@ TABS.firmware_flasher.initialize = function (callback) {
             }
         });
 
+        $('a.auto_select_target').click(function () {
+            TABS.firmware_flasher.getTarget();
+        });
+
         GUI.content_ready(callback);
     });
 };
@@ -614,3 +633,133 @@ TABS.firmware_flasher.cleanup = function (callback) {
 
     if (callback) callback();
 };
+
+TABS.firmware_flasher.getTarget = function() {
+    GUI.log("Attempting automatic target selection");
+    
+    var selected_baud = parseInt($('#baud').val());
+    var selected_port = $('#port').find('option:selected').data().isManual ? $('#port-override').val() : String($('#port').val());
+    
+    if (selected_port !== 'DFU') {
+        if (selected_port == '0') {
+            GUI.log("Cannot prefetch target: No port");
+        } else {
+            console.log('Connecting to: ' + selected_port);
+            GUI.connecting_to = selected_port;
+
+            if (selected_port == 'tcp' || selected_port == 'udp') {
+                CONFIGURATOR.connection.connect($portOverride.val(), {}, TABS.firmware_flasher.onOpen);
+            } else {
+                CONFIGURATOR.connection.connect(selected_port, {bitrate: selected_baud}, TABS.firmware_flasher.onOpen);
+            }
+        }
+    } else {
+        GUI.log("Cannot prefetch target: Flight Controller in DFU");
+    }
+};
+
+TABS.firmware_flasher.onOpen = function(openInfo) {
+    if (openInfo) {
+        GUI.connected_to = GUI.connecting_to;
+
+        // reset connecting_to
+        GUI.connecting_to = false;
+
+        // save selected port with chrome.storage if the port differs
+        chrome.storage.local.get('last_used_port', function (result) {
+            if (result.last_used_port) {
+                if (result.last_used_port != GUI.connected_to) {
+                    // last used port doesn't match the one found in local db, we will store the new one
+                    chrome.storage.local.set({'last_used_port': GUI.connected_to});
+                }
+            } else {
+                // variable isn't stored yet, saving
+                chrome.storage.local.set({'last_used_port': GUI.connected_to});
+            }
+        });
+
+        chrome.storage.local.set({last_used_bps: CONFIGURATOR.connection.bitrate});
+        chrome.storage.local.set({wireless_mode_enabled: $('#wireless-mode').is(":checked")});
+
+        CONFIGURATOR.connection.addOnReceiveListener(read_serial);
+
+        // disconnect after 10 seconds with error if we don't get IDENT data
+        helper.timeout.add('connecting', function () {
+            if (!CONFIGURATOR.connectionValid) {
+                GUI.log("Cannot prefetch target: " + chrome.i18n.getMessage('noConfigurationReceived'));
+
+                TABS.firmware_flasher.closeTempConnection();
+            }
+        }, 10000);
+
+        FC.resetState();
+
+        // request configuration data. Start with MSPv1 and
+        // upgrade to MSPv2 if possible.
+        MSP.protocolVersion = MSP.constants.PROTOCOL_V2;
+        MSP.send_message(MSPCodes.MSP_API_VERSION, false, false, function () {
+            
+            if (CONFIG.apiVersion === "0.0.0") {
+                GUI_control.prototype.log("Cannot prefetch target: <span style='color: red; font-weight: bolder'><strong>" + chrome.i18n.getMessage("illegalStateRestartRequired") + "</strong></span>");
+                FC.restartRequired = true;
+                return;
+            }
+
+            MSP.send_message(MSPCodes.MSP_FC_VARIANT, false, false, function () {
+                if (CONFIG.flightControllerIdentifier == 'INAV') {
+                    MSP.send_message(MSPCodes.MSP_FC_VERSION, false, false, function () {
+                        if (semver.gte(CONFIG.flightControllerVersion, CONFIGURATOR.minfirmwareVersionAccepted) && semver.lt(CONFIG.flightControllerVersion, CONFIGURATOR.maxFirmwareVersionAccepted)) {
+                            if (CONFIGURATOR.connection.type == ConnectionType.BLE && semver.lt(CONFIG.flightControllerVersion, "5.0.0")) {  
+                                onBleNotSupported();
+                            } else {
+                                mspHelper.getCraftName(function(name) {
+                                    if (name) {
+                                        CONFIG.name = name;
+                                    }
+                                    TABS.firmware_flasher.onValidFirmware();  
+                                });
+                            }
+                        } else  {
+                            onInvalidFirmwareVersion();
+                        }
+                    });
+                } else {
+                    GUI.log("Cannot prefetch target: Non-INAV Firmware");
+                    onInvalidFirmwareVariant();
+                }
+            });
+        });
+    } else {
+        GUI.log("Cannot prefetch target: " + chrome.i18n.getMessage('serialPortOpenFail'));
+        return;
+    }
+};
+
+TABS.firmware_flasher.onValidFirmware = function() {
+    MSP.send_message(MSPCodes.MSP_BUILD_INFO, false, false, function () {
+        MSP.send_message(MSPCodes.MSP_BOARD_INFO, false, false, function () {
+            $('select[name="board"] option[value=' + CONFIG.target + ']').attr("selected", "selected");
+            GUI.log("Target prefetch successful: " + CONFIG.target);
+
+            TABS.firmware_flasher.closeTempConnection();
+            $('select[name="board"]').change();
+        });
+    });
+};
+
+TABS.firmware_flasher.closeTempConnection = function() {
+    helper.timeout.killAll();
+    helper.interval.killAll(['global_data_refresh', 'msp-load-update']);
+    helper.mspBalancedInterval.flush();
+
+    helper.mspQueue.flush();
+    helper.mspQueue.freeHardLock();
+    helper.mspQueue.freeSoftLock();
+    CONFIGURATOR.connection.emptyOutputBuffer();
+
+    CONFIGURATOR.connectionValid = false;
+    GUI.connected_to = false;
+
+    CONFIGURATOR.connection.disconnect(onClosed);
+    MSP.disconnect_cleanup();
+};
\ No newline at end of file
diff --git a/tabs/mission_control.html b/tabs/mission_control.html
index aeda5ef1..508da5d2 100644
--- a/tabs/mission_control.html
+++ b/tabs/mission_control.html
@@ -156,8 +156,8 @@
                                                 <a class="ic_center" data-role="home-center" href="#"  title="move to center view"></a>
                                             </div>
                                         </td>
-                                        <td><input type="number" class="home-lon" /></td>
                                         <td><input type="number" class="home-lat" /></td>
+                                        <td><input type="number" class="home-lon" /></td>
                                         <td><span id="elevationValueAtHome">N/A</span></td>
                                     </tr>
                                 </tbody>
diff --git a/tabs/mixer.js b/tabs/mixer.js
index 8494b974..c6b0fb05 100644
--- a/tabs/mixer.js
+++ b/tabs/mixer.js
@@ -301,6 +301,7 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
                     function () {
                         servoRule.setConditionId($(this).val());
                     },
+                    true,
                     true
                 );
 
diff --git a/tabs/osd.html b/tabs/osd.html
index f2de7a6a..389ded66 100644
--- a/tabs/osd.html
+++ b/tabs/osd.html
@@ -248,7 +248,7 @@
                         </label>
                     </div>
                 </div>
-                <div class="gui_box grey switch-indicator-container"> 
+                <div class="gui_box grey switch-indicator-container">
                     <div class="gui_box_titlebar">
                         <div class="spacer_box_title" data-i18n="osd_switch_indicator_settings"></div>
                     </div>
diff --git a/tabs/osd.js b/tabs/osd.js
index 327b6581..44bd89d3 100644
--- a/tabs/osd.js
+++ b/tabs/osd.js
@@ -502,6 +502,7 @@ OSD.DjiElements =  {
         "Timers",
         "VTX",
         "CRSF",
+        "SwitchIndicators",
         "GVars",
         "PIDs",
         "PIDOutputs",
@@ -1882,6 +1883,11 @@ OSD.constants = {
                     id: 135,
                     preview: 'LEVEL  ' + FONT.embed_dot('5.4')
                 },
+                {
+                    name: 'MISSION_INDEX',
+                    id: 139,
+                    preview: 'WP NO 7'
+                },
             ]
         },
         {
@@ -2052,7 +2058,7 @@ OSD.updateDisplaySize = function () {
             var item = OSD.msp.helpers.unpack.position(origPos[jj]);
             // leave element alone if outside of screen (enable and disable element to relocate to 0,0)
             if (item.x < OSD.data.display_size.x && item.y < OSD.data.display_size.y) {
-                items[jj] = item; 
+                items[jj] = item;
             }
         }
     }
@@ -2617,6 +2623,8 @@ OSD.GUI.updateDjiView = function(on) {
                 $(element).hide();
             }
         });
+
+        $('.switch-indicator-container').hide();
     } else {
         $(OSD.DjiElements.emptyGroups).each(function(index, groupName) {
             $('#osdGroup' + groupName).show();
@@ -2629,6 +2637,8 @@ OSD.GUI.updateDjiView = function(on) {
         $('.settings-container, .alarms-container').find('.settings').children()
             .show()
             .removeClass('no-bottom');
+
+        $('.switch-indicator-container').show();
     }
     OSD.GUI.updateDjiMessageElements($('#useCraftnameForMessages').is(':checked'));
 };
@@ -3121,7 +3131,7 @@ function updateCraftName() {
         for (let si = 0; si < generalGroup.items.length; si++) {
             if (generalGroup.items[si].name == "CRAFT_NAME") {
                 let craftNameText = $('#craft_name').val();
-                
+
                 if (craftNameText == "") {
                     generalGroup.items[si].preview = "CRAFT_NAME";
                 } else {
diff --git a/tabs/outputs.html b/tabs/outputs.html
index 6898a7a0..b19f953f 100644
--- a/tabs/outputs.html
+++ b/tabs/outputs.html
@@ -52,6 +52,14 @@
                         <span data-i18n="throttleIdle"></span>
                     </label>
                 </div>
+                
+                <div class="number">
+                    <input id="throttle_scale" data-setting="throttle_scale" type="number" data-step="0.01" />
+                    <label for="throttle_scale">
+                        <span data-i18n="throttle_scale"></span>
+                    </label>
+                    <div for="throttle_scale" class="helpicon cf_tip" data-i18n_title="throttle_scale_help"></div>
+                </div>
 
                 <div class="number">
                     <input id="motor_poles" data-setting="motor_poles" type="number" />
@@ -86,6 +94,7 @@
                         </label>
                     </div>
                 </div>
+                
             </div>
         </div>
         <div class="gui_box grey">
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index eb2dd329..0f1fafb6 100644
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -496,7 +496,7 @@
                         <tr>
                             <th data-i18n="pidTuning_d_boost_max_at_acceleration"></th>
                             <td>
-                                <div class="pidTuning_number"><input id="dBoostMaxAccel" type="number" class="rate-tpa_input" data-setting="d_boost_max_at_acceleration" data-step="0.001" /></div>
+                                <div class="pidTuning_number"><input id="dBoostMaxAccel" type="number" class="rate-tpa_input" data-setting="d_boost_max_at_acceleration" /></div>
                                 <div for="dBoostMaxAccel" class="helpicon cf_tip" data-i18n_title="pidTuning_d_boost_max_at_acceleration_help"></div>
                             </td>
                         </tr>
diff --git a/tabs/ports.js b/tabs/ports.js
index af923652..f6320ed9 100644
--- a/tabs/ports.js
+++ b/tabs/ports.js
@@ -94,7 +94,7 @@ TABS.ports.initialize = function (callback) {
     );
 
     functionRules.push({
-        name: 'HDZERO_VTX',
+        name: 'MSP_DISPLAYPORT',
         groups: ['peripherals'],
         maxPorts: 1 }
     );
diff --git a/tabs/programming.js b/tabs/programming.js
index 6c22c85b..8114b913 100644
--- a/tabs/programming.js
+++ b/tabs/programming.js
@@ -40,7 +40,6 @@ TABS.programming.initialize = function (callback, scrollPosition) {
     }
 
     function processHtml() {
-
         LOGIC_CONDITIONS.init($('#subtab-lc'));
         LOGIC_CONDITIONS.render();