diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 0d0863760d..c51519927b 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -507,6 +507,18 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
     return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
 }
 
+uint16_t emergencyInFlightRearmTimeMS(void)
+{
+    uint16_t rearmMS = 0;
+
+    if (STATE(IN_FLIGHT_EMERG_REARM)) {
+        timeMs_t currentTimeMs = millis();
+        rearmMS = (uint16_t)((US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS) - currentTimeMs);
+    }
+
+    return rearmMS;
+}
+
 bool emergInflightRearmEnabled(void)
 {
     /* Emergency rearm allowed within 5s timeout period after disarm if craft still flying */
@@ -880,7 +892,6 @@ static void applyThrottleTiltCompensation(void)
 
 void taskMainPidLoop(timeUs_t currentTimeUs)
 {
-
     cycleTime = getTaskDeltaTime(TASK_SELF);
     dT = (float)cycleTime * 0.000001f;
 
@@ -899,7 +910,8 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
         }
     }
 
-    if (armTime > 1 * USECS_PER_SEC) {     // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
+    if (armTime > 1 * USECS_PER_SEC) {  
+        // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
         DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
     }
 
diff --git a/src/main/fc/fc_core.h b/src/main/fc/fc_core.h
index c66a0050ba..455e5b3849 100644
--- a/src/main/fc/fc_core.h
+++ b/src/main/fc/fc_core.h
@@ -42,7 +42,9 @@ timeUs_t getLastDisarmTimeUs(void);
 void tryArm(void);
 disarmReason_t getDisarmReason(void);
 
+uint16_t emergencyInFlightRearmTimeMS(void);
 bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
+bool emergInflightRearmEnabled(void);
 
 bool areSensorsCalibrating(void);
 float getFlightTime(void);
diff --git a/src/main/fc/runtime_config.h b/src/main/fc/runtime_config.h
index 5b6c624139..bda9321b6b 100644
--- a/src/main/fc/runtime_config.h
+++ b/src/main/fc/runtime_config.h
@@ -105,6 +105,7 @@ typedef enum {
     TURTLE_MODE           = (1 << 15),
     SOARING_MODE          = (1 << 16),
     ANGLEHOLD_MODE        = (1 << 17),
+    NAV_FW_AUTOLAND       = (1 << 18),
 } flightModeFlags_e;
 
 extern uint32_t flightModeFlags;
diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index 780de21b0a..2a32dbbd12 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -242,6 +242,10 @@ static void failsafeActivate(failsafePhase_e newPhase)
     ENABLE_FLIGHT_MODE(FAILSAFE_MODE);
     failsafeState.landingShouldBeFinishedAt = millis() + failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
 
+#ifdef USE_FW_AUTOLAND
+    posControl.fwLandState.landAborted = false;
+#endif
+
     failsafeState.events++;
 }
 
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index d913802d55..3da150e39d 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -594,7 +594,7 @@ static float computePidLevelTarget(flight_dynamics_index_t axis) {
 
     // Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle
 #ifdef USE_FW_AUTOLAND
-    if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle() && !isFwLandInProgess()) {
+    if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle() && !FLIGHT_MODE(NAV_FW_AUTOLAND)) {
 #else
     if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) {
 #endif
diff --git a/src/main/io/displayport_msp_bf_compat.c b/src/main/io/displayport_msp_bf_compat.c
index dd120a2295..7067ac140f 100644
--- a/src/main/io/displayport_msp_bf_compat.c
+++ b/src/main/io/displayport_msp_bf_compat.c
@@ -293,13 +293,12 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
     case SYM_THR:
         return BF_SYM_THR;
 
-/*
     case SYM_TEMP_F:
-        return BF_SYM_TEMP_F;
+        return BF_SYM_F;
 
     case SYM_TEMP_C:
-        return BF_SYM_TEMP_C;
-*/
+        return BF_SYM_C;
+
     case SYM_BLANK:
         return BF_SYM_BLANK;
 /*
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index e792d87b6d..3436de93ed 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -28,6 +28,7 @@
 #include <string.h>
 #include <ctype.h>
 #include <math.h>
+#include <inttypes.h>
 
 #include "platform.h"
 
@@ -986,7 +987,7 @@ static const char * osdFailsafePhaseMessage(void)
 
 static const char * osdFailsafeInfoMessage(void)
 {
-    if (failsafeIsReceivingRxData()) {
+    if (failsafeIsReceivingRxData() && !FLIGHT_MODE(NAV_FW_AUTOLAND)) {
         // User must move sticks to exit FS mode
         return OSD_MESSAGE_STR(OSD_MSG_MOVE_EXIT_FS);
     }
@@ -2362,7 +2363,7 @@ static bool osdDrawSingleElement(uint8_t item)
         {
             char *p = "ACRO";
 #ifdef USE_FW_AUTOLAND
-            if (isFwLandInProgess()) 
+            if (FLIGHT_MODE(NAV_FW_AUTOLAND)) 
                 p = "LAND";
             else
 #endif
@@ -4672,8 +4673,16 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
         displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
     }
 
+    uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
+
     if (savingSettings == true) {
         displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS));
+    } else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
+        char emReArmMsg[23];
+        tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
+        tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
+        strcat(emReArmMsg, " **\0");
+        displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(emReArmMsg));
     } else if (notify_settings_saved > 0) {
         if (millis() > notify_settings_saved) {
             notify_settings_saved = 0;
@@ -4973,9 +4982,10 @@ static void osdRefresh(timeUs_t currentTimeUs)
     }
 
     bool statsSinglePageCompatible = (osdDisplayPort->rows >= OSD_STATS_SINGLE_PAGE_MIN_ROWS);
-    static uint8_t statsCurrentPage = 0;
-    static bool statsDisplayed = false;
-    static bool statsAutoPagingEnabled = true;
+    static uint8_t  statsCurrentPage = 0;
+    static timeMs_t statsRefreshTime = 0;
+    static bool     statsDisplayed = false;
+    static bool     statsAutoPagingEnabled = true;
 
     // Detect arm/disarm
     if (armState != ARMING_FLAG(ARMED)) {
@@ -5043,25 +5053,25 @@ static void osdRefresh(timeUs_t currentTimeUs)
                 // Alternate screens for multi-page stats.
                 // Also, refreshes screen at swap interval for single-page stats.
                 if (OSD_ALTERNATING_CHOICES((osdConfig()->stats_page_auto_swap_time * 1000), 2)) {
-                    if (statsCurrentPage == 0) {
-                        osdShowStats(statsSinglePageCompatible, statsCurrentPage);
+                    if (statsCurrentPage == 0)
                         statsCurrentPage = 1;
-                    }
                 } else {
-                    if (statsCurrentPage == 1) {
-                        osdShowStats(statsSinglePageCompatible, statsCurrentPage);
+                    if (statsCurrentPage == 1)
                         statsCurrentPage = 0;
-                    }
                 }
             } else {
                 // Process manual page change events for multi-page stats.
-                if (manualPageUpRequested) {
-                    osdShowStats(statsSinglePageCompatible, 1);
-                    statsCurrentPage = 1;                   
-                } else if (manualPageDownRequested) {
-                    osdShowStats(statsSinglePageCompatible, 0);
+                if (manualPageUpRequested)
+                    statsCurrentPage = 1;
+                else if (manualPageDownRequested)
                     statsCurrentPage = 0;
             }
+
+            // Only refresh the stats every 1/4 of a second.
+            if (statsRefreshTime <= millis()) {
+                statsRefreshTime =  millis() + 250;
+                osdShowStats(statsSinglePageCompatible, statsCurrentPage);
+            }
         }
         }
 
@@ -5254,7 +5264,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
 
         if (ARMING_FLAG(ARMED)) {
 #ifdef USE_FW_AUTOLAND
-            if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding() || isFwLandInProgess()) {
+            if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding() || FLIGHT_MODE(NAV_FW_AUTOLAND)) {
                 if (isWaypointMissionRTHActive() && !posControl.fwLandState.landWp) {
 #else
             if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
@@ -5295,7 +5305,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
 #ifdef USE_FW_AUTOLAND
                     if (canFwLandCanceld()) {
                          messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MOVE_STICKS);
-                    } else if (!isFwLandInProgess()) {
+                    } else if (!FLIGHT_MODE(NAV_FW_AUTOLAND)) {
 #endif
                         const char *navStateMessage = navigationStateMessage();
                         if (navStateMessage) {
@@ -5418,9 +5428,16 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
         }
 
         /* Messages that are shown regardless of Arming state */
+        uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
 
         if (savingSettings == true) {
            messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS);
+        } else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
+            char emReArmMsg[23];
+            tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
+            tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
+            strcat(emReArmMsg, " **\0");
+            messages[messageCount++] = OSD_MESSAGE_STR(emReArmMsg);
         } else if (notify_settings_saved > 0) {
             if (millis() > notify_settings_saved) {
                 notify_settings_saved = 0;
@@ -5429,6 +5446,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
             }
         }
 
+
         if (messageCount > 0) {
             message = messages[OSD_ALTERNATING_CHOICES(systemMessageCycleTime(messageCount, messages), messageCount)];
             if (message == failsafeInfoMessage) {
diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
index 38db724c8e..78edf45370 100644
--- a/src/main/io/osd_dji_hd.c
+++ b/src/main/io/osd_dji_hd.c
@@ -1063,6 +1063,10 @@ static bool djiFormatMessages(char *buff)
                 if (FLIGHT_MODE(MANUAL_MODE)) {
                     messages[messageCount++] = "(MANUAL)";
                 }
+
+                if (FLIGHT_MODE(NAV_FW_AUTOLAND)) {
+                     messages[messageCount++] = "(LAND)";
+                }
             }
         }
         // Pick one of the available messages. Each message lasts
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index f9ddc1f255..4bc4cece47 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -65,6 +65,7 @@
 #include "sensors/boardalignment.h"
 #include "sensors/battery.h"
 #include "sensors/gyro.h"
+#include "sensors/diagnostics.h"
 
 #include "programming/global_variables.h"
 #include "sensors/rangefinder.h"
@@ -1044,13 +1045,14 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         }
     },
 
+/** Advanced Fixed Wing Autoland **/
 #ifdef USE_FW_AUTOLAND
     [NAV_STATE_FW_LANDING_CLIMB_TO_LOITER] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
-        .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
@@ -1070,8 +1072,8 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
-        .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
@@ -1091,8 +1093,8 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_APPROACH,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
-        .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_WP,
+        .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
@@ -1113,7 +1115,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_YAW,
-        .mapToFlightModes = NAV_COURSE_HOLD_MODE,
+        .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
@@ -1134,7 +1136,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_FLARE,
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_YAW,
-        .mapToFlightModes = NAV_COURSE_HOLD_MODE,
+        .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
@@ -1147,8 +1149,8 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_ABORT,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_ABORT,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
-        .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
@@ -1677,7 +1679,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
 
     /* If position sensors unavailable - land immediately (wait for timeout on GPS)
      * Continue to check for RTH sanity during landing */
-    if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || !validateRTHSanityChecker()) {
+    if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || (previousState != NAV_STATE_WAYPOINT_REACHED && !validateRTHSanityChecker())) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
 
@@ -1687,7 +1689,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
 
 #ifdef USE_FW_AUTOLAND
     if (STATE(AIRPLANE)) {
-        int8_t missionIdx = -1, shIdx = -1, missionFwLandConfigStartIdx = 8;
+        int8_t missionIdx = -1, shIdx = -1, missionFwLandConfigStartIdx = 8, approachSettingIdx = -1;
 #ifdef USE_MULTI_MISSION
         missionIdx = posControl.loadedMultiMissionIndex - 1;
 #endif
@@ -1696,18 +1698,23 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
         shIdx = posControl.safehomeState.index;
         missionFwLandConfigStartIdx = MAX_SAFE_HOMES;
 #endif
-        if (!posControl.fwLandState.landAborted && (shIdx >= 0 || missionIdx >= 0) && (fwAutolandApproachConfig(shIdx)->landApproachHeading1 != 0 || fwAutolandApproachConfig(shIdx)->landApproachHeading2 != 0)) {
+        if (previousState == NAV_STATE_WAYPOINT_REACHED && missionIdx >= 0) {
+            approachSettingIdx = missionFwLandConfigStartIdx + missionIdx;
+        } else if (shIdx >= 0) {
+            approachSettingIdx = shIdx;
+        }
+
+        if (!posControl.fwLandState.landAborted && approachSettingIdx >= 0 && (fwAutolandApproachConfig(approachSettingIdx)->landApproachHeading1 != 0 || fwAutolandApproachConfig(approachSettingIdx)->landApproachHeading2 != 0)) {
 
             if (previousState == NAV_STATE_WAYPOINT_REACHED) {
                 posControl.fwLandState.landPos = posControl.activeWaypoint.pos;
-                posControl.fwLandState.approachSettingIdx = missionFwLandConfigStartIdx + missionIdx;
                 posControl.fwLandState.landWp = true;
             } else {
                 posControl.fwLandState.landPos = posControl.safehomeState.nearestSafeHome;
-                posControl.fwLandState.approachSettingIdx = shIdx;
                 posControl.fwLandState.landWp = false;
             }
 
+            posControl.fwLandState.approachSettingIdx = approachSettingIdx;
             posControl.fwLandState.landAltAgl = fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->isSeaLevelRef ? fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landAlt - GPS_home.alt : fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landAlt;
             posControl.fwLandState.landAproachAltAgl = fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->isSeaLevelRef ? fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->approachAlt - GPS_home.alt : fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->approachAlt;
             return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING;
@@ -1779,6 +1786,12 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE(nav
     resetPositionController();
     resetAltitudeController(false);     // Make sure surface tracking is not enabled - WP uses global altitude, not AGL
 
+#ifdef USE_FW_AUTOLAND
+    if (previousState != NAV_STATE_FW_LANDING_ABORT) {
+        posControl.fwLandState.landAborted = false;
+    }
+#endif
+
     if (posControl.activeWaypointIndex == posControl.startWpIndex || posControl.wpMissionRestart) {
         /* Use p3 as the volatile jump counter, allowing embedded, rearmed jumps
         Using p3 minimises the risk of saving an invalid counter if a mission is aborted */
@@ -1988,11 +2001,20 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navig
 {
     UNUSED(previousState);
 
+#ifdef USE_FW_AUTOLAND
+    if (posControl.fwLandState.landAborted) {
+        return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
+    }
+#endif
+
     const navigationFSMEvent_t landEvent = navOnEnteringState_NAV_STATE_RTH_LANDING(previousState);
 
+#ifdef USE_FW_AUTOLAND
     if (landEvent == NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING) {
         return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING;
-    } else if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME) {
+    } else 
+#endif
+    if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME) {
         return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
     } else if (landEvent == NAV_FSM_EVENT_SUCCESS) {
         // Landing controller returned success - invoke RTH finishing state and finish the waypoint
@@ -2322,7 +2344,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(nav
 
     if (isLandingDetected()) {
         posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
-        disarm(DISARM_LANDING);
+        //disarm(DISARM_LANDING);
         return NAV_FSM_EVENT_SWITCH_TO_IDLE;
     }
 
@@ -2366,14 +2388,14 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(naviga
         return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT;
     }
 
-    if (getLandAltitude() <= posControl.fwLandState.landAltAgl + navFwAutolandConfig()->flareAltitude) {
+    if (getHwRangefinderStatus() == HW_SENSOR_OK && getLandAltitude() <= posControl.fwLandState.landAltAgl + navFwAutolandConfig()->flareAltitude) {
         posControl.fwLandState.landState = FW_AUTOLAND_STATE_FLARE;
         return NAV_FSM_EVENT_SUCCESS;
     }
 
     if (isLandingDetected()) {
         posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
-        disarm(DISARM_LANDING);
+        //disarm(DISARM_LANDING);
         return NAV_FSM_EVENT_SWITCH_TO_IDLE;
     }
 
@@ -2387,7 +2409,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FLARE(naviga
 
     if (isLandingDetected()) {
         posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
-        disarm(DISARM_LANDING);
+        //disarm(DISARM_LANDING);
         return NAV_FSM_EVENT_SUCCESS;
     }
     setDesiredPosition(NULL, posControl.cruise.course, NAV_POS_UPDATE_HEADING);
@@ -2993,7 +3015,7 @@ void setHomePosition(const fpVector3_t * pos, int32_t heading, navSetWaypointFla
     updateDesiredRTHAltitude();
 
     //  Reset RTH sanity checker for new home position if RTH active
-    if (FLIGHT_MODE(NAV_RTH_MODE)) {
+    if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_FW_AUTOLAND) ) {
         initializeRTHSanityChecker();
     }
 
@@ -3115,7 +3137,7 @@ void updateHomePosition(void)
         static bool isHomeResetAllowed = false;
         // If pilot so desires he may reset home position to current position
         if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) {
-            if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) {
+            if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_FW_AUTOLAND) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) {
                 homeUpdateFlags = 0;
                 homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
                 setHome = true;
@@ -3935,6 +3957,7 @@ bool isNavHoldPositionActive(void)
     // Also hold position during emergency landing if position valid
     return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
             FLIGHT_MODE(NAV_POSHOLD_MODE) ||
+            (posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) || 
             navigationIsExecutingAnEmergencyLanding();
 }
 
@@ -3974,7 +3997,9 @@ bool isWaypointNavTrackingActive(void)
     // is set from current position not previous WP. Works for WP Restart intermediate WP as well as first mission WP.
     // (NAV_WP_MODE flag isn't set until WP initialisation is finished, i.e. after calculateAndSetActiveWaypoint called)
 
-    return FLIGHT_MODE(NAV_WP_MODE) || (posControl.flags.rthTrackbackActive && rth_trackback.activePointIndex != rth_trackback.lastSavedIndex);
+    return FLIGHT_MODE(NAV_WP_MODE) 
+    || posControl.navState == NAV_STATE_FW_LANDING_APPROACH
+    || (posControl.flags.rthTrackbackActive && posControl.activeRthTBPointIndex != posControl.rthTBLastSavedIndex);
 }
 
 /*-----------------------------------------------------------
@@ -4039,7 +4064,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
     posControl.flags.verticalPositionDataConsumed = false;
 
 #ifdef USE_FW_AUTOLAND
-    if (!isFwLandInProgess()) {
+    if (!FLIGHT_MODE(NAV_FW_AUTOLAND)) {
         posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
     }
 #endif
@@ -4080,7 +4105,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
 void switchNavigationFlightModes(void)
 {
     const flightModeFlags_e enabledNavFlightModes = navGetMappedFlightModes(posControl.navState);
-    const flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE | NAV_COURSE_HOLD_MODE) & (~enabledNavFlightModes);
+    const flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_FW_AUTOLAND | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE | NAV_COURSE_HOLD_MODE) & (~enabledNavFlightModes);
     DISABLE_FLIGHT_MODE(disabledFlightModes);
     ENABLE_FLIGHT_MODE(enabledNavFlightModes);
 }
@@ -4192,22 +4217,6 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
         }
         posControl.rthSanityChecker.rthSanityOK = true;
 
-        /* WP mission activation control:
-         * canActivateWaypoint & waypointWasActivated are used to prevent WP mission
-         * auto restarting after interruption by Manual or RTH modes.
-         * WP mode must be deselected before it can be reactivated again. */
-        static bool waypointWasActivated = false;
-        const bool isWpMissionLoaded = isWaypointMissionValid();
-        bool canActivateWaypoint = isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive;  // Block activation if using WP Mission Planner
-
-        if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) {
-            canActivateWaypoint = false;
-            if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
-                canActivateWaypoint = true;
-                waypointWasActivated = false;
-            }
-        }
-
         /* Airplane specific modes */
         if (STATE(AIRPLANE)) {
             // LAUNCH mode has priority over any other NAV mode
@@ -4247,14 +4256,36 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
             return NAV_FSM_EVENT_SWITCH_TO_RTH;
         }
 
-        /* Pilot-triggered RTH, also fall-back for WP if there is no mission loaded.
-         * WP prevented from falling back to RTH if WP mission planner is active */
-        const bool wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive;
+        /* WP mission activation control:
+         * canActivateWaypoint & waypointWasActivated are used to prevent WP mission
+         * auto restarting after interruption by Manual or RTH modes.
+         * WP mode must be deselected before it can be reactivated again
+         * WP Mode also inhibited when Mission Planner is active */
+        static bool waypointWasActivated = false;
+        bool canActivateWaypoint = isWaypointMissionValid();
+        bool wpRthFallbackIsActive = false;
+
+        if (IS_RC_MODE_ACTIVE(BOXMANUAL) || posControl.flags.wpMissionPlannerActive) {
+            canActivateWaypoint = false;
+        } else {
+            if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) {
+                canActivateWaypoint = false;
+
+                if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
+                    canActivateWaypoint = true;
+                    waypointWasActivated = false;
+                }
+            }
+
+            wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint;
+        }
+
+        /* Pilot-triggered RTH, also fall-back for WP if no mission is loaded.
+         * Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
+         * Without this loss of any of the canActivateNavigation && canActivateAltHold
+         * will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
+         * logic kicking in (waiting for GPS on airplanes, switch to emergency landing etc) */
         if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || wpRthFallbackIsActive) {
-            // Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
-            // Without this loss of any of the canActivateNavigation && canActivateAltHold
-            // will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
-            // logic kicking in (waiting for GPS on airplanes, switch to emergency landing etc)
             if (isExecutingRTH || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
                 return NAV_FSM_EVENT_SWITCH_TO_RTH;
             }
@@ -4268,11 +4299,11 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
         // Pilot-activated waypoint mission. Fall-back to RTH if no mission loaded.
         // Also check multimission mission change status before activating WP mode.
 #ifdef USE_MULTI_MISSION
-        if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) {
+        if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP)) {
 #else
-        if (IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) {
+        if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {
 #endif
-            if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
+            if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateWaypoint && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
                 waypointWasActivated = true;
                 return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
             }
@@ -4767,7 +4798,7 @@ void abortForcedRTH(void)
 rthState_e getStateOfForcedRTH(void)
 {
     /* If forced RTH activated and in AUTO_RTH or EMERG state */
-    if (posControl.flags.forcedRTHActivated && (navGetStateFlags(posControl.navState) & (NAV_AUTO_RTH | NAV_CTL_EMERG | NAV_MIXERAT))) {
+    if (posControl.flags.forcedRTHActivated && ((navGetStateFlags(posControl.navState) & (NAV_AUTO_RTH | NAV_CTL_EMERG | NAV_MIXERAT)) || FLIGHT_MODE(NAV_FW_AUTOLAND))) {
         if (posControl.navState == NAV_STATE_RTH_FINISHED || posControl.navState == NAV_STATE_EMERGENCY_LANDING_FINISHED) {
             return RTH_HAS_LANDED;
         }
@@ -4849,6 +4880,12 @@ bool navigationIsFlyingAutonomousMode(void)
 
 bool navigationRTHAllowsLanding(void)
 {
+#ifdef USE_FW_AUTOLAND
+    if (posControl.fwLandState.landAborted) {
+        return false;
+    }
+#endif
+    
     // WP mission RTH landing setting
     if (isWaypointMissionRTHActive() && isWaypointMissionValid()) {
         return posControl.waypointList[posControl.startWpIndex + posControl.waypointCount - 1].p1 > 0;
@@ -5006,15 +5043,6 @@ void resetFwAutolandApproach(int8_t idx)
     }
 }
 
-bool isFwLandInProgess(void)
-{
-    return posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER
-    || posControl.navState == NAV_STATE_FW_LANDING_LOITER
-    || posControl.navState == NAV_STATE_FW_LANDING_APPROACH
-    || posControl.navState == NAV_STATE_FW_LANDING_GLIDE
-    || posControl.navState == NAV_STATE_FW_LANDING_FLARE;
-}
-
 bool canFwLandCanceld(void)
 {
     return posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 84e5390d43..3c2155ebc6 100644
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -702,7 +702,6 @@ uint8_t getActiveWpNumber(void);
 int32_t navigationGetHomeHeading(void);
 
 #ifdef USE_FW_AUTOLAND
-bool isFwLandInProgess(void);
 bool canFwLandCanceld(void);
 #endif
 
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index db4b3229d5..e6209f460b 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -271,7 +271,7 @@ static int8_t loiterDirection(void) {
 
 static void calculateVirtualPositionTarget_FW(float trackingPeriod)
 {
-    if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
+    if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) || posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE) {
         return;
     }
 
@@ -405,7 +405,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
     static bool forceTurnDirection = false;
     int32_t virtualTargetBearing;
 
-    if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
+    if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) || posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE) {
         virtualTargetBearing = posControl.desiredState.yaw;
     } else {
         // We have virtual position target, calculate heading error
@@ -643,11 +643,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
         uint16_t correctedThrottleValue = constrain(currentBatteryProfile->nav.fw.cruise_throttle + throttleCorrection, currentBatteryProfile->nav.fw.min_throttle, currentBatteryProfile->nav.fw.max_throttle);
 
         // Manual throttle increase
-#ifdef USE_FW_AUTOLAND
-        if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE) && !isFwLandInProgess()) {
-#else
-        if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE)) {
-#endif
+        if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_FW_AUTOLAND)) {
             if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95){
                 correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - currentBatteryProfile->nav.fw.cruise_throttle);
             } else {
@@ -665,7 +661,6 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
     // Advanced autoland
     if (posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE || STATE(LANDING_DETECTED)) {
         // Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
-        rcCommand[THROTTLE] = getThrottleIdleValue();
         ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
 
         if (posControl.navState == NAV_STATE_FW_LANDING_GLIDE) {
@@ -727,6 +722,7 @@ bool isFixedWingLandingDetected(void)
     // Basic condition to start looking for landing
     bool startCondition = (navGetCurrentStateFlags() & (NAV_CTL_LAND | NAV_CTL_EMERG))
                           || FLIGHT_MODE(FAILSAFE_MODE)
+                          || FLIGHT_MODE(NAV_FW_AUTOLAND)
                           || (!navigationIsControllingThrottle() && throttleStickIsLow());
 
     if (!startCondition || posControl.flags.resetLandingDetector) {
diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index ad1cb21c6c..343db2989f 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -483,8 +483,9 @@ static int logicConditionCompute(
             }
             break;
 
-#ifdef LED_PIN
+#ifdef USE_LED_STRIP
         case LOGIC_CONDITION_LED_PIN_PWM:
+
             if (operandA >=0 && operandA <= 100) {
                 ledPinStartPWM((uint8_t)operandA);
             } else {
@@ -768,7 +769,7 @@ static int logicConditionGetFlightOperandValue(int operand) {
 
         case LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING: // 0/1
 #ifdef USE_FW_AUTOLAND
-            return ((navGetCurrentStateFlags() & NAV_CTL_LAND) || isFwLandInProgess()) ? 1 : 0;
+            return ((navGetCurrentStateFlags() & NAV_CTL_LAND) || FLIGHT_MODE(NAV_FW_AUTOLAND)) ? 1 : 0;
 #else
             return ((navGetCurrentStateFlags() & NAV_CTL_LAND)) ? 1 : 0;
 #endif
diff --git a/src/main/target/IFLIGHT_BLITZ_ATF435/target.h b/src/main/target/IFLIGHT_BLITZ_ATF435/target.h
index 7518bbe13e..b29112d525 100644
--- a/src/main/target/IFLIGHT_BLITZ_ATF435/target.h
+++ b/src/main/target/IFLIGHT_BLITZ_ATF435/target.h
@@ -69,6 +69,13 @@
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PA4
 
+// ICM42605/ICM42688P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+
+
 // Other sensors
 
 #define USE_BARO
diff --git a/src/main/target/IFLIGHT_BLITZ_F722_X1/CMakeLists.txt b/src/main/target/IFLIGHT_BLITZ_F722_X1/CMakeLists.txt
new file mode 100644
index 0000000000..2d52bdb52e
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_F722_X1/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_stm32f722xe(IFLIGHT_BLITZ_F722_X1)
+target_stm32f722xe(IFLIGHT_BLITZ_F722_X1_OSD)
+
diff --git a/src/main/target/IFLIGHT_BLITZ_F722_X1/config.c b/src/main/target/IFLIGHT_BLITZ_F722_X1/config.c
new file mode 100644
index 0000000000..b8796a0d2f
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_F722_X1/config.c
@@ -0,0 +1,29 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include "platform.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+}
diff --git a/src/main/target/IFLIGHT_BLITZ_F722_X1/target.c b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.c
new file mode 100644
index 0000000000..5a20c88ff2
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.c
@@ -0,0 +1,37 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH4, PB1,   TIM_USE_OUTPUT_AUTO, 0, 0),  // S1 DMA1_S2_CH5
+    DEF_TIM(TIM3, CH3, PB0,   TIM_USE_OUTPUT_AUTO, 0, 0),  // S2 DMA1_S7_CH5
+
+    DEF_TIM(TIM8, CH3, PC8,   TIM_USE_OUTPUT_AUTO, 0, 1),  // S3 DMA2_S4_CH7
+    DEF_TIM(TIM8, CH4, PC9,   TIM_USE_OUTPUT_AUTO, 0, 0),  // S4 DMA2_S7_CH7
+    DEF_TIM(TIM4, CH1, PB6,   TIM_USE_OUTPUT_AUTO, 0, 0),  // S5 DMA1_S0_CH2
+    DEF_TIM(TIM4, CH2, PB7,   TIM_USE_OUTPUT_AUTO, 0, 0),  // S6 DMA1_S3_CH2
+
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED,                         0, 0),  // WS2812B
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h
new file mode 100644
index 0000000000..0319625442
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h
@@ -0,0 +1,167 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "I7X1"
+#define USBD_PRODUCT_STRING  "IFLIGHT_BLITZ_F722_X1"
+
+#define LED0                    PC15
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+// *************** SPI1 Gyro & ACC *******************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN       CW90_DEG_FLIP
+#define BMI270_CS_PIN          PA4
+#define BMI270_SPI_BUS         BUS_SPI1
+
+// ICM42605
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW90_DEG_FLIP
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL                PB10
+#define I2C2_SDA                PB11
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C2
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C2
+
+#define PITOT_I2C_BUS           BUS_I2C2
+
+#define RANGEFINDER_I2C_BUS     BUS_I2C2
+
+// *************** SPI2 OSD***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_OSD
+
+#ifdef IFLIGHT_BLITZ_F722_X1_OSD
+    #define USE_MAX7456
+    #define MAX7456_SPI_BUS		    BUS_SPI2
+    #define MAX7456_CS_PIN          PB12
+#endif
+
+// *************** SPI3 Flash ***********************
+#define USE_SPI_DEVICE_3 
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+#define USE_FLASHFS
+
+#define USE_FLASH_W25N01G
+#define W25N01G_SPI_BUS         BUS_SPI3
+#define W25N01G_CS_PIN          PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** UART *****************************
+#define USE_VCP
+#define USB_DETECT_PIN          PB2
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PC11
+#define UART3_TX_PIN            PC10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART5
+#define UART5_RX_PIN            PD2
+#define UART5_TX_PIN            PC12
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_CRSF
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+
+#define ADC_CHANNEL_1_PIN           PC2
+#define ADC_CHANNEL_2_PIN           PC1
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL)
+#define CURRENT_METER_SCALE     200
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
+#define MAX_PWM_OUTPUT_PORTS    7
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESC_SENSOR
+
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN              PC0
+#define PINIO1_FLAGS            PINIO_FLAGS_INVERTED
+#define PINIO2_PIN              PC14
\ No newline at end of file
diff --git a/src/main/telemetry/crsf.c b/src/main/telemetry/crsf.c
index af9f278659..fd46100387 100755
--- a/src/main/telemetry/crsf.c
+++ b/src/main/telemetry/crsf.c
@@ -371,6 +371,10 @@ static void crsfFrameFlightMode(sbuf_t *dst)
         } else if (FLIGHT_MODE(ANGLEHOLD_MODE)) {
             flightMode = "ANGH";
         }
+#ifdef USE_FW_AUTOLAND
+    } else if (FLIGHT_MODE(NAV_FW_AUTOLAND)) {
+        flightMode = "LAND";
+#endif
 #ifdef USE_GPS
     } else if (feature(FEATURE_GPS) && navConfig()->general.flags.extra_arming_safety && (!STATE(GPS_FIX) || !STATE(GPS_FIX_HOME))) {
         flightMode = "WAIT"; // Waiting for GPS lock
diff --git a/src/main/telemetry/ltm.c b/src/main/telemetry/ltm.c
index 84dccddb86..45ab37deec 100644
--- a/src/main/telemetry/ltm.c
+++ b/src/main/telemetry/ltm.c
@@ -71,6 +71,7 @@
 #include "sensors/gyro.h"
 #include "sensors/sensors.h"
 #include "sensors/pitotmeter.h"
+#include "sensors/diagnostics.h"
 
 #include "telemetry/ltm.h"
 #include "telemetry/telemetry.h"
@@ -182,6 +183,10 @@ void ltm_sframe(sbuf_t *dst)
         lt_flightmode = LTM_MODE_ANGLE;
     else if (FLIGHT_MODE(HORIZON_MODE))
         lt_flightmode = LTM_MODE_HORIZON;
+#ifdef USE_FW_AUTOLAND
+    else if (FLIGHT_MODE(NAV_FW_AUTOLAND))
+        lt_flightmode = LTM_MODE_LAND;
+#endif
     else
         lt_flightmode = LTM_MODE_RATE;      // Rate mode