diff --git a/.vscode/settings.json b/.vscode/settings.json
index 2cece3ee12..9be3fced22 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -2,7 +2,10 @@
     "files.associations": {
         "chrono": "c",
         "cmath": "c",
-        "ranges": "c"
+        "ranges": "c",
+        "platform.h": "c",
+        "timer.h": "c",
+        "bus.h": "c"
     },
     "editor.tabSize": 4,
     "editor.insertSpaces": true,
diff --git a/docs/Settings.md b/docs/Settings.md
index 3c431bd4a5..841b7cfba4 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2444,7 +2444,7 @@ This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK
 
 ### mc_cd_lpf_hz
 
-Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky
+Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed.
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -2454,7 +2454,7 @@ Cutoff frequency for Control Derivative. Lower value smoother reaction on fast s
 
 ### mc_cd_pitch
 
-Multicopter Control Derivative gain for PITCH
+Multicopter Control Derivative gain for PITCH (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough.
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -2464,7 +2464,7 @@ Multicopter Control Derivative gain for PITCH
 
 ### mc_cd_roll
 
-Multicopter Control Derivative gain for ROLL
+Multicopter Control Derivative gain for ROLL (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough.
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -2474,7 +2474,7 @@ Multicopter Control Derivative gain for ROLL
 
 ### mc_cd_yaw
 
-Multicopter Control Derivative gain for YAW
+Multicopter Control Derivative gain for YAW (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough.
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -3692,6 +3692,16 @@ When ON, NAV engine will slow down when switching to the next waypoint. This pri
 
 ---
 
+### nav_min_ground_speed
+
+Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 7 | 6 | 50 |
+
+---
+
 ### nav_min_rth_distance
 
 Minimum distance from homepoint when RTH full procedure will be activated [cm]. Below this distance, the mode will activate at the current location and the final phase is executed (loiter / land). Above this distance, the full procedure is activated, which may include initial climb and flying directly to the homepoint before entering the loiter / land phase.
@@ -5058,7 +5068,7 @@ Selection of pitot hardware.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| VIRTUAL |  |  |
+| NONE |  |  |
 
 ---
 
diff --git a/docs/boards/MAMBAH743_2022B.md b/docs/boards/MAMBAH743_2022B.md
new file mode 100644
index 0000000000..688c630cb8
--- /dev/null
+++ b/docs/boards/MAMBAH743_2022B.md
@@ -0,0 +1,5 @@
+# VTX Power SWITCH
+
+Contrary to what the documentation suggests, VTX power is actually on USER2.
+
+
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index f504ffb059..79e7418ced 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -462,9 +462,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU16(dst, packSensorStatus());
             sbufWriteU16(dst, averageSystemLoadPercent);
             sbufWriteU8(dst, (getConfigBatteryProfile() << 4) | getConfigProfile());
-            sbufWriteU8(dst, getConfigMixerProfile());
             sbufWriteU32(dst, armingFlags);
             sbufWriteData(dst, &mspBoxModeFlags, sizeof(mspBoxModeFlags));
+            sbufWriteU8(dst, getConfigMixerProfile());
         }
         break;
 
@@ -2581,6 +2581,29 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
                         if (sbufBytesRemaining(src) > 0) {
                             vtxSettingsConfigMutable()->lowPowerDisarm = sbufReadU8(src);
                         }
+
+                        // //////////////////////////////////////////////////////////
+                        // this code is taken from BF, it's hack for HDZERO VTX MSP frame
+                        // API version 1.42 - this parameter kept separate since clients may already be supplying
+                        if (sbufBytesRemaining(src) >= 2) {
+                            sbufReadU16(src); //skip pitModeFreq
+                        }
+
+                        // API version 1.42 - extensions for non-encoded versions of the band, channel or frequency
+                        if (sbufBytesRemaining(src) >= 4) {
+                            uint8_t newBand = sbufReadU8(src);
+                            const uint8_t newChannel = sbufReadU8(src);
+                            vtxSettingsConfigMutable()->band = newBand;
+                            vtxSettingsConfigMutable()->channel = newChannel;
+                        }
+
+                       /* if (sbufBytesRemaining(src) >= 4) {
+                            sbufRead8(src); // freq_l
+                            sbufRead8(src); // freq_h
+                            sbufRead8(src); // band count
+                            sbufRead8(src); // channel count
+                        }*/
+                        // //////////////////////////////////////////////////////////
                     }
                 }
             }
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 8a03ed8128..9cce60a2a3 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -119,8 +119,7 @@ throttleStatus_e FAST_CODE NOINLINE calculateThrottleStatus(throttleStatusType_e
         value = rcCommand[THROTTLE];
     }
 
-    const uint16_t mid_throttle_deadband = rcControlsConfig()->mid_throttle_deadband;
-    bool midThrottle = value > (PWM_RANGE_MIDDLE - mid_throttle_deadband) && value < (PWM_RANGE_MIDDLE + mid_throttle_deadband);
+    bool midThrottle = value > (reversibleMotorsConfig()->deadband_low) && value < (reversibleMotorsConfig()->deadband_high);
     if ((feature(FEATURE_REVERSIBLE_MOTORS) && midThrottle) || (!feature(FEATURE_REVERSIBLE_MOTORS) && (value < rxConfig()->mincheck))) {
         return THROTTLE_LOW;
     }
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 0c517ab8c5..4d349b7e0b 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -588,7 +588,7 @@ groups:
     members:
       - name: pitot_hardware
         description: "Selection of pitot hardware."
-        default_value: "VIRTUAL"
+        default_value: "NONE"
         table: pitot_hardware
       - name: pitot_lpf_milli_hz
         min: 0
@@ -1730,7 +1730,7 @@ groups:
         min: RPYL_PID_MIN
         max: RPYL_PID_MAX
       - name: mc_cd_pitch
-        description: "Multicopter Control Derivative gain for PITCH"
+        description: "Multicopter Control Derivative gain for PITCH (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough."
         default_value: 60
         field: bank_mc.pid[PID_PITCH].FF
         min: RPYL_PID_MIN
@@ -1754,7 +1754,7 @@ groups:
         min: RPYL_PID_MIN
         max: RPYL_PID_MAX
       - name: mc_cd_roll
-        description: "Multicopter Control Derivative gain for ROLL"
+        description: "Multicopter Control Derivative gain for ROLL (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough."
         default_value: 60
         field: bank_mc.pid[PID_ROLL].FF
         min: RPYL_PID_MIN
@@ -1778,7 +1778,7 @@ groups:
         min: RPYL_PID_MIN
         max: RPYL_PID_MAX
       - name: mc_cd_yaw
-        description: "Multicopter Control Derivative gain for YAW"
+        description: "Multicopter Control Derivative gain for YAW (known as 'Feed Forward' in Betaflight). The CD intoduces a term to the PID controller that is the magnitude of the Setpoint change. Fast inputs produce a high CD gain to help push the MC into a move; in advance of the P-gain if set high enough."
         default_value: 60
         field: bank_mc.pid[PID_YAW].FF
         min: RPYL_PID_MIN
@@ -2195,7 +2195,7 @@ groups:
         table: pidTypeTable
         default_value: AUTO
       - name: mc_cd_lpf_hz
-        description: "Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky"
+        description: "Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed."
         default_value: 30
         field: controlDerivativeLpfHz
         min: 0
@@ -2486,6 +2486,12 @@ groups:
         field: general.auto_speed
         min: 10
         max: 2000
+      - name: nav_min_ground_speed
+        description: "Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s."
+        default_value: 7
+        field: general.min_ground_speed
+        min: 6
+        max: 50
       - name: nav_max_auto_speed
         description: "Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]"
         default_value: 1000
diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
index d03c339077..da0f54dd2f 100755
--- a/src/main/io/gps_ublox.c
+++ b/src/main/io/gps_ublox.c
@@ -1042,12 +1042,15 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
 
     gpsState.autoConfigStep = 0;
     ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0;
-    do {
-        pollGnssCapabilities();
-        gpsState.autoConfigStep++;
-        ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
-    } while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
-
+    // M7 and earlier will never get pass this step, so skip it (#9440).
+    // UBLOX documents that this is M8N and later
+    if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {
+	do {
+	    pollGnssCapabilities();
+	    gpsState.autoConfigStep++;
+	    ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
+	} while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
+    }
     // Configure GPS module if enabled
     if (gpsState.gpsConfig->autoConfig) {
         // Configure GPS
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index b799ab5c56..881cd66034 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -154,8 +154,9 @@
 
 #define OSD_MIN_FONT_VERSION 3
 
-static timeMs_t notify_settings_saved = 0;
-static bool     savingSettings = false;
+static timeMs_t linearDescentMessageMs  = 0;
+static timeMs_t notify_settings_saved   = 0;
+static bool     savingSettings          = false;
 
 static unsigned currentLayout = 0;
 static int layoutOverride = -1;
@@ -1000,6 +1001,9 @@ static const char * divertingToSafehomeMessage(void)
 
 static const char * navigationStateMessage(void)
 {
+    if (!posControl.rthState.rthLinearDescentActive && linearDescentMessageMs != 0)
+        linearDescentMessageMs = 0;
+
     switch (NAV_Status.state) {
         case MW_NAV_STATE_NONE:
             break;
@@ -1011,7 +1015,13 @@ static const char * navigationStateMessage(void)
             if (posControl.flags.rthTrackbackActive) {
                 return OSD_MESSAGE_STR(OSD_MSG_RTH_TRACKBACK);
             } else {
-                return OSD_MESSAGE_STR(OSD_MSG_HEADING_HOME);
+                if (posControl.rthState.rthLinearDescentActive && (linearDescentMessageMs == 0 || linearDescentMessageMs > millis())) {
+                    if (linearDescentMessageMs == 0)
+                        linearDescentMessageMs = millis() + 5000; // Show message for 5 seconds.
+
+                    return OSD_MESSAGE_STR(OSD_MSG_RTH_LINEAR_DESCENT);
+                } else 
+                    return OSD_MESSAGE_STR(OSD_MSG_HEADING_HOME);
             }
         case MW_NAV_STATE_HOLD_INFINIT:
             // Used by HOLD flight modes. No information to add.
@@ -1052,6 +1062,7 @@ static const char * navigationStateMessage(void)
             // Not used
             break;
     }
+
     return NULL;
 }
 
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 23d2ec87c1..5bcf6d3474 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -93,6 +93,7 @@
 #define OSD_MSG_RTH_CLIMB           "ADJUSTING RTH ALTITUDE"
 #define OSD_MSG_RTH_TRACKBACK       "RTH BACK TRACKING"
 #define OSD_MSG_HEADING_HOME        "EN ROUTE TO HOME"
+#define OSD_MSG_RTH_LINEAR_DESCENT  "BEGIN LINEAR DESCENT"
 #define OSD_MSG_WP_FINISHED         "WP END>HOLDING POSITION"
 #define OSD_MSG_WP_LANDED           "WP END>LANDED"
 #define OSD_MSG_PREPARE_NEXT_WP     "PREPARING FOR NEXT WAYPOINT"
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index c566c94bfa..82cb7461f0 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -97,7 +97,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
 PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 2);
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 5);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 6);
 
 PG_RESET_TEMPLATE(navConfig_t, navConfig,
     .general = {
@@ -132,6 +132,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
 #endif
         .waypoint_load_on_boot = SETTING_NAV_WP_LOAD_ON_BOOT_DEFAULT,                           // load waypoints automatically during boot
         .auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT,                                           // speed in autonomous modes (3 m/s = 10.8 km/h)
+        .min_ground_speed = SETTING_NAV_MIN_GROUND_SPEED_DEFAULT,                               // Minimum ground speed (m/s) 
         .max_auto_speed = SETTING_NAV_MAX_AUTO_SPEED_DEFAULT,                                   // max allowed speed autonomous modes
         .max_auto_climb_rate = SETTING_NAV_AUTO_CLIMB_RATE_DEFAULT,                             // 5 m/s
         .max_manual_speed = SETTING_NAV_MANUAL_SPEED_DEFAULT,
@@ -1227,6 +1228,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
 {
     UNUSED(previousState);
 
+    if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
+                posControl.rthState.rthLinearDescentActive = false;
+
     if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || !STATE(GPS_FIX_HOME)) {
         // Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
         // Relevant to failsafe forced RTH only. Switched RTH blocked in selectNavEventFromBoxModeInput if sensors unavailable.
@@ -1432,6 +1436,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
 
         if (homeDistance <= METERS_TO_CENTIMETERS(navConfig()->general.rth_linear_descent_start_distance)) {
             posControl.rthState.rthFinalAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
+            posControl.rthState.rthLinearDescentActive = true;
         }
     }
 
@@ -1442,6 +1447,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
         if (isWaypointReached(tmpHomePos, 0)) {
             // Successfully reached position target - update XYZ-position
             setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
+            
+            if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
+                posControl.rthState.rthLinearDescentActive = false;
+
             return NAV_FSM_EVENT_SUCCESS;       // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
         } else {
             setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_XY);
@@ -4053,7 +4062,8 @@ bool navigationPositionEstimateIsHealthy(void)
 
 navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
 {
-    const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING_LEGACY) && (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE)));
+    const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) ||
+    IS_RC_MODE_ACTIVE(BOXNAVCRUISE) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD));
 
     if (usedBypass) {
         *usedBypass = false;
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index d4ee6e078e..b5c7953e12 100644
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -245,6 +245,7 @@ typedef struct navConfig_s {
 #endif
         bool     waypoint_load_on_boot;             // load waypoints automatically during boot
         uint16_t auto_speed;                        // autonomous navigation speed cm/sec
+        uint8_t  min_ground_speed;                  // Minimum navigation ground speed [m/s]
         uint16_t max_auto_speed;                    // maximum allowed autonomous navigation speed cm/sec
         uint16_t max_auto_climb_rate;               // max vertical speed limitation cm/sec
         uint16_t max_manual_speed;                  // manual velocity control max horizontal speed
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index e6084e0972..f1bff8f804 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -60,9 +60,8 @@
 #define NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ     2.0f
 #define NAV_FW_BASE_ROLL_CUTOFF_FREQUENCY_HZ     10.0f
 
-// If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind
+// If we are going slower than the minimum ground speed (navConfig()->general.min_ground_speed) - boost throttle to fight against the wind
 #define NAV_FW_THROTTLE_SPEED_BOOST_GAIN        1.5f
-#define NAV_FW_MIN_VEL_SPEED_BOOST              700.0f      // 7 m/s
 
 // If this is enabled navigation won't be applied if velocity is below 3 m/s
 //#define NAV_FW_LIMIT_MIN_FLY_VELOCITY
@@ -518,8 +517,8 @@ void applyFixedWingPositionController(timeUs_t currentTimeUs)
                 // POSITION_TARGET_UPDATE_RATE_HZ should be chosen keeping in mind that position target shouldn't be reached until next pos update occurs
                 // FIXME: verify the above
                 calculateVirtualPositionTarget_FW(HZ2S(MIN_POSITION_UPDATE_RATE_HZ) * 2);
-
                 updatePositionHeadingController_FW(currentTimeUs, deltaMicrosPositionUpdate);
+                needToCalculateCircularLoiter = false;
             }
             else {
                 // Position update has not occurred in time (first iteration or glitch), reset altitude controller
@@ -552,10 +551,10 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
             previousTimePositionUpdate = currentTimeUs;
 
             if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
-                float velThrottleBoost = (NAV_FW_MIN_VEL_SPEED_BOOST - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
+                float velThrottleBoost = ((navConfig()->general.min_ground_speed * 100.0f) - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
 
                 // If we are in the deadband of 50cm/s - don't update speed boost
-                if (fabsf(posControl.actualState.velXY - NAV_FW_MIN_VEL_SPEED_BOOST) > 50) {
+                if (fabsf(posControl.actualState.velXY - (navConfig()->general.min_ground_speed * 100.0f)) > 50) {
                     throttleSpeedAdjustment += velThrottleBoost;
                 }
 
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index c408f109c9..776eca78ea 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -350,6 +350,7 @@ typedef struct {
     float                   rthInitialDistance;     // Distance when starting flight home
     fpVector3_t             homeTmpWaypoint;        // Temporary storage for home target
     fpVector3_t             originalHomePosition;   // the original rth home - save it, since it could be replaced by safehome or HOME_RESET
+    bool                    rthLinearDescentActive; // Activation status of Linear Descent
 } rthState_t;
 
 typedef enum {
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 3eaeecc5f0..3745ed7a8e 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -134,7 +134,6 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
             .failsafe_throttle = SETTING_FAILSAFE_THROTTLE_DEFAULT,                                 // default throttle off.
 
             .nav = {
-
                 .mc = {
                     .hover_throttle = SETTING_NAV_MC_HOVER_THR_DEFAULT,
                 },
@@ -147,7 +146,6 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
                     .launch_throttle = SETTING_NAV_FW_LAUNCH_THR_DEFAULT,
                     .launch_idle_throttle = SETTING_NAV_FW_LAUNCH_IDLE_THR_DEFAULT,                 // Motor idle or MOTOR_STOP
                 }
-
             },
 
 #if defined(USE_POWER_LIMITS)
diff --git a/src/main/target/AIRBOTF4/target.c b/src/main/target/AIRBOTF4/target.c
index 988543aa32..9273b3dff7 100644
--- a/src/main/target/AIRBOTF4/target.c
+++ b/src/main/target/AIRBOTF4/target.c
@@ -32,12 +32,13 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO,               0, 0), // S6_OUT
     DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED | TIM_USE_ANY,                   0, 0), // LED D1_ST0, n/a on older AIRBOTF4
 
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0), // PPM (5th pin on FlexiIO port)
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0), // S2_IN
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S3_IN
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S4_IN
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S5_IN
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S6_IN
+    //Airbot F4 don't have those outputs, they exist only in the original Revo
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0), // PPM (5th pin on FlexiIO port)
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0), // S2_IN
+    // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S3_IN
+    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S4_IN
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S5_IN
+    // DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S6_IN
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/ALIENFLIGHTF4/target.c b/src/main/target/ALIENFLIGHTF4/target.c
index e7ee4cf552..7c6fd6ed84 100644
--- a/src/main/target/ALIENFLIGHTF4/target.c
+++ b/src/main/target/ALIENFLIGHTF4/target.c
@@ -23,11 +23,10 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_PWM | TIM_USE_PPM,               0, 1), // PWM1  - PA8  RC1  - DMA2_ST1
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_PWM,                             0, 0), // PWM2  - PB0  RC2  - DMA1_ST5
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_PWM,                             0, 0), // PWM3  - PB1  RC3  - DMA1_ST7
-    DEF_TIM(TIM1, CH2, PB14, TIM_USE_PWM,                             0, 1), // PWM4  - PA14 RC4  - DMA2_ST2
-    DEF_TIM(TIM1, CH3, PB15, TIM_USE_PWM | TIM_USE_LED,               0, 0), // PWM5  - PA15 RC5  - DMA2_ST6
+    // DEF_TIM(TIM1, CH1, PA8,  TIM_USE_PWM | TIM_USE_PPM,               0, 1), // PWM1  - PA8  RC1  - DMA2_ST1
+    // DEF_TIM(TIM3, CH3, PB0,  TIM_USE_PWM,                             0, 0), // PWM2  - PB0  RC2  - DMA1_ST5
+    // DEF_TIM(TIM3, CH4, PB1,  TIM_USE_PWM,                             0, 0), // PWM3  - PB1  RC3  - DMA1_ST7
+    // DEF_TIM(TIM1, CH2, PB14, TIM_USE_PWM,                             0, 1), // PWM4  - PA14 RC4  - DMA2_ST2
     DEF_TIM(TIM4, CH3, PB8,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM6  - PB8  OUT1 - DMA1_ST7
     DEF_TIM(TIM4, CH4, PB9,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM7  - PB9  OUT2 - DMA_NONE
     DEF_TIM(TIM5, CH1, PA0,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM8  - PA0  OUT3 - DMA1_ST2
@@ -36,6 +35,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH2, PC7,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM11 - PC7  OUT6 - DMA2_ST3
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO,           0, 1), // PWM13 - PC8  OUT7 - DMA2_ST4
     DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM13 - PC9  OUT8 - DMA2_ST7
+    DEF_TIM(TIM1, CH3, PB15, TIM_USE_LED,                   0, 0), // PWM5  - PA15 RC5  - DMA2_ST6
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.c b/src/main/target/ALIENFLIGHTNGF7/target.c
index 455747923e..ba8ab6111c 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.c
+++ b/src/main/target/ALIENFLIGHTNGF7/target.c
@@ -23,7 +23,6 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH1,  PA8,  TIM_USE_PPM | TIM_USE_LED,      0, 1), // PPM   - DMA2_ST1
     DEF_TIM(TIM8, CH1,  PC6,  TIM_USE_OUTPUT_AUTO,  0, 0), // PWM1  - DMA2_ST2
     DEF_TIM(TIM3, CH2,  PC7,  TIM_USE_OUTPUT_AUTO,  0, 0), // PWM2  - DMA1_ST5
     DEF_TIM(TIM8, CH2N, PB14, TIM_USE_OUTPUT_AUTO,  0, 0), // PWM3  - DMA2_ST3
@@ -36,6 +35,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1, CH3N, PB15, TIM_USE_OUTPUT_AUTO,  0, 0), // PWM10 - DMA2_ST6
     DEF_TIM(TIM4, CH3,  PB8,  TIM_USE_OUTPUT_AUTO,  0, 0), // PWM11 - DMA1_ST7
     DEF_TIM(TIM4, CH4,  PB9,  TIM_USE_OUTPUT_AUTO,  0, 0), // PWM12 - DMA_NONE
+    DEF_TIM(TIM1, CH1,  PA8,  TIM_USE_LED,      0, 1),     // PPM   - DMA2_ST1
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/ANYFC/target.c b/src/main/target/ANYFC/target.c
index 5353b58911..a8adb8578e 100644
--- a/src/main/target/ANYFC/target.c
+++ b/src/main/target/ANYFC/target.c
@@ -23,12 +23,12 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                      0, 0), // S1_IN
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                    0, 0), // S2_IN
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,                                    0, 0), // S3_IN
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,                                    0, 0), // S4_IN
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                                    0, 0), // S6_IN
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                                    0, 0), // S5_IN
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                      0, 0), // S1_IN
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                    0, 0), // S2_IN
+    // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,                                    0, 0), // S3_IN
+    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,                                    0, 0), // S4_IN
+    // DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                                    0, 0), // S6_IN
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                                    0, 0), // S5_IN
 
     DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_OUTPUT_AUTO,                  0, 0), // S10_OUT 16
     DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_OUTPUT_AUTO,                  0, 0), // S6_OUT 12
diff --git a/src/main/target/ANYFCF7/target.c b/src/main/target/ANYFCF7/target.c
index 65f807d798..b5ef1f12c4 100644
--- a/src/main/target/ANYFCF7/target.c
+++ b/src/main/target/ANYFCF7/target.c
@@ -23,23 +23,26 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0 ), // S1_IN
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0 ), // S2_IN
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0 ), // S6_IN DMA2_ST7
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0 ), // S1_IN
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0 ), // S2_IN
+
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S6_IN DMA2_ST7
+
+    DEF_TIM(TIM4,  CH3, PB8,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S10_OUT 1 DMA1_ST7
+    DEF_TIM(TIM5,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S6_OUT  2 DMA1_ST0
+    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S5_OUT
+    DEF_TIM(TIM5,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S1_OUT  4 DMA1_ST1 DMA1_ST3
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S2_OUT  3 DMA1_ST4
+    DEF_TIM(TIM9,  CH2, PE6,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S3_OUT
+    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S4_OUT DMA1_ST5
+    DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S7_OUT DMA1_ST2
+    DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_OUTPUT_AUTO | TIM_USE_LED,    0, 0 ), // S8_OUT DMA1_ST6
+    DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S9_OUT DMA1_ST4
+    
 
-    DEF_TIM(TIM4,  CH3, PB8,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S10_OUT 1 DMA1_ST7
-    DEF_TIM(TIM5,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S6_OUT  2 DMA1_ST0
-    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S5_OUT
-    DEF_TIM(TIM5,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S1_OUT  4 DMA1_ST1 DMA1_ST3
-    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S2_OUT  3 DMA1_ST4
-    DEF_TIM(TIM9,  CH2, PE6,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S3_OUT
-    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S4_OUT DMA1_ST5
-    DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S7_OUT DMA1_ST2
-    DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_OUTPUT_AUTO | TIM_USE_LED, 0, 0 ), // S8_OUT DMA1_ST6
-    DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S9_OUT DMA1_ST4
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/ANYFCM7/target.c b/src/main/target/ANYFCM7/target.c
index fb69d60a43..7dd30d2250 100644
--- a/src/main/target/ANYFCM7/target.c
+++ b/src/main/target/ANYFCM7/target.c
@@ -26,12 +26,12 @@
 #define TIM_EN_N    TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_N_CHANNEL
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,   0, 0 ), // S1_IN
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                 0, 0 ), // S2_IN
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,                 0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,                 0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                 0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                 0, 0 ), // S6_IN DMA2_ST7
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,   0, 0 ), // S1_IN
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                 0, 0 ), // S2_IN
+    // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,                 0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2
+    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,                 0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                 0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2
+    // DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                 0, 0 ), // S6_IN DMA2_ST7
 
     DEF_TIM(TIM4,  CH3,  PB8,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S10_OUT 1 DMA1_ST7
     DEF_TIM(TIM2,  CH3,  PA2,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S6_OUT  2 DMA1_ST1
diff --git a/src/main/target/AOCODARCF405AIO/target.c b/src/main/target/AOCODARCF405AIO/target.c
index be225da1bf..d2f3d67c42 100644
--- a/src/main/target/AOCODARCF405AIO/target.c
+++ b/src/main/target/AOCODARCF405AIO/target.c
@@ -28,7 +28,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,  DEVHW_MPU6500,   MPU6500_SPI_BUS, MPU65
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,   MPU6000_SPI_BUS, MPU6000_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,  DEVHW_BMI270,   BMI270_SPI_BUS, BMI270_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM2, CH2, PA10,  TIM_USE_PPM, 0, 0),  // PPM
+    // DEF_TIM(TIM2, CH2, PA10,  TIM_USE_PPM, 0, 0),  // PPM
     
     DEF_TIM(TIM3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S1
     DEF_TIM(TIM3, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S2
diff --git a/src/main/target/AOCODARCF4V2/target.c b/src/main/target/AOCODARCF4V2/target.c
index 8581cc5bf1..eccd2f06d8 100644
--- a/src/main/target/AOCODARCF4V2/target.c
+++ b/src/main/target/AOCODARCF4V2/target.c
@@ -25,7 +25,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5,  CH4,  PA3,     TIM_USE_PPM,       0, 0 ),       // PPM IN
+    // DEF_TIM(TIM5,  CH4,  PA3,     TIM_USE_PPM,       0, 0 ),       // PPM IN
 
     DEF_TIM(TIM8,   CH1,  PC6,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S1 
     DEF_TIM(TIM8,   CH2,  PC7,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S2
diff --git a/src/main/target/AOCODARCF722AIO/target.c b/src/main/target/AOCODARCF722AIO/target.c
index 90d21bbf2f..038b4121b4 100644
--- a/src/main/target/AOCODARCF722AIO/target.c
+++ b/src/main/target/AOCODARCF722AIO/target.c
@@ -27,7 +27,7 @@
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,  DEVHW_MPU6500,   MPU6500_SPI_BUS, MPU6500_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),  // PPM
+    // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),  // PPM
 
     DEF_TIM(TIM3, CH1, PB4,  TIM_USE_MOTOR, 0, 0),  // S1
     DEF_TIM(TIM3, CH2, PB5,  TIM_USE_MOTOR, 0, 0),  // S2
diff --git a/src/main/target/AOCODARCF7DUAL/target.c b/src/main/target/AOCODARCF7DUAL/target.c
index d09fafeda2..2e7de30b5d 100644
--- a/src/main/target/AOCODARCF7DUAL/target.c
+++ b/src/main/target/AOCODARCF7DUAL/target.c
@@ -30,7 +30,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,
 BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      NONE,  0,   DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM, 0, 0),    //PPM
+    // DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM, 0, 0),    //PPM
 
     DEF_TIM(TIM3, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 0),        // S1   D(2, 2, 7)
     DEF_TIM(TIM3, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 0),        // S2   D(2, 3, 7)
diff --git a/src/main/target/AOCODARCF7MINI/target.c b/src/main/target/AOCODARCF7MINI/target.c
index 34360bbc03..f01d2c73e8 100644
--- a/src/main/target/AOCODARCF7MINI/target.c
+++ b/src/main/target/AOCODARCF7MINI/target.c
@@ -37,7 +37,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE, 0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH3, PA10,  TIM_USE_PPM, 0, 0),                            // PPM, RX1  
+    // DEF_TIM(TIM1, CH3, PA10,  TIM_USE_PPM, 0, 0),                            // PPM, RX1  
     
     DEF_TIM(TIM3, CH1, PB4,   TIM_USE_OUTPUT_AUTO, 0, 0),     // S1   D(1, 4, 5)
     DEF_TIM(TIM3, CH2, PB5,   TIM_USE_OUTPUT_AUTO, 0, 0),     // S2   D(1, 5, 4)   
diff --git a/src/main/target/ATOMRCF405NAVI_DELUX/CMakeLists.txt b/src/main/target/ATOMRCF405NAVI_DELUX/CMakeLists.txt
new file mode 100644
index 0000000000..b9b7af8634
--- /dev/null
+++ b/src/main/target/ATOMRCF405NAVI_DELUX/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(ATOMRCF405NAVI_DELUX)
diff --git a/src/main/target/ATOMRCF405NAVI_DELUX/config.c b/src/main/target/ATOMRCF405NAVI_DELUX/config.c
new file mode 100644
index 0000000000..e8d9b30392
--- /dev/null
+++ b/src/main/target/ATOMRCF405NAVI_DELUX/config.c
@@ -0,0 +1,37 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdint.h>
+#include "platform.h"
+#include "fc/fc_msp_box.h"
+#include "io/piniobox.h"
+#include "io/serial.h"
+
+void targetConfiguration(void)
+{
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].msp_baudrateIndex = BAUD_115200;
+
+    pinioBoxConfigMutable()->permanentId[0] = BOXARM;
+}
diff --git a/src/main/target/ATOMRCF405NAVI_DELUX/target.c b/src/main/target/ATOMRCF405NAVI_DELUX/target.c
new file mode 100644
index 0000000000..54d715d8cb
--- /dev/null
+++ b/src/main/target/ATOMRCF405NAVI_DELUX/target.c
@@ -0,0 +1,56 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. 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"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH3,  PB0,    TIM_USE_OUTPUT_AUTO,    0, 0), // S1
+    DEF_TIM(TIM3, CH4,  PB1,    TIM_USE_OUTPUT_AUTO,    0, 0), // S2
+
+    DEF_TIM(TIM4, CH1,  PB6,    TIM_USE_OUTPUT_AUTO,    0, 0), // S3
+    DEF_TIM(TIM4, CH2,  PB7,    TIM_USE_OUTPUT_AUTO,    0, 0), // S4
+
+    DEF_TIM(TIM2, CH1,  PA15,   TIM_USE_OUTPUT_AUTO,    0, 0), // S5
+    DEF_TIM(TIM2, CH3,  PB10,   TIM_USE_OUTPUT_AUTO,    0, 0), // S6
+    DEF_TIM(TIM2, CH4,  PB11,   TIM_USE_OUTPUT_AUTO,    0, 0), // S7
+
+    DEF_TIM(TIM8, CH3,  PC8,    TIM_USE_OUTPUT_AUTO,    0, 0), // S8
+    DEF_TIM(TIM8, CH4,  PC9,    TIM_USE_OUTPUT_AUTO,    0, 0), // S9
+    DEF_TIM(TIM8, CH2N, PB14,   TIM_USE_OUTPUT_AUTO,          0, 0), // S10
+
+    DEF_TIM(TIM1, CH3N, PB15,   TIM_USE_OUTPUT_AUTO,          0, 0), // S11   
+
+    DEF_TIM(TIM1, CH1,  PA8,    TIM_USE_LED,            0, 0), // LED_STRIP
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/ATOMRCF405NAVI_DELUX/target.h b/src/main/target/ATOMRCF405NAVI_DELUX/target.h
new file mode 100644
index 0000000000..f04a5d5da6
--- /dev/null
+++ b/src/main/target/ATOMRCF405NAVI_DELUX/target.h
@@ -0,0 +1,189 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+#define TARGET_BOARD_IDENTIFIER "AT4D"
+
+#define USBD_PRODUCT_STRING "AtomRCF405NAVI_DELUX"
+
+#define LED0                    PA13
+#define LED1                    PA14
+
+#define BEEPER                  PB2
+#define BEEPER_INVERTED
+
+/*
+ * SPI defines
+ */
+#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_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PC2
+#define SPI2_MOSI_PIN           PC3
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+/*
+ * I2C defines
+ */
+#define USE_I2C
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+//ICM42688-P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+/*
+ * Magnetometer
+ */
+#define USE_MAG
+#define MAG_I2C_BUS                     DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+/*
+ * Barometer
+ */
+#define USE_BARO
+#define BARO_I2C_BUS                    DEFAULT_I2C_BUS
+#define USE_BARO_ALL
+
+/*
+ * Serial ports
+ */
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+
+#define UART1_TX_PIN                    PA9
+#define UART1_RX_PIN                    PA10
+
+#define UART2_TX_PIN                    PA2
+#define UART2_RX_PIN                    PA3
+
+#define UART3_TX_PIN                    PC10
+#define UART3_RX_PIN                    PC11
+
+#define UART4_TX_PIN                    PA0
+#define UART4_RX_PIN                    PA1
+
+#define UART5_TX_PIN                    PC12
+#define UART5_RX_PIN                    PD2
+
+#define UART6_TX_PIN                    PC6
+#define UART6_RX_PIN                    PC7
+
+#define SERIAL_PORT_COUNT               7
+
+/*
+ * ADC
+ */
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+
+#define ADC_CHANNEL_1_PIN           PC0
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC4
+#define ADC_CHANNEL_4_PIN           PC5
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL        ADC_CHN_4
+
+#define CURRENT_METER_SCALE         128
+
+/*
+ * OSD
+ */
+#define USE_MAX7456
+#define MAX7456_SPI_BUS                 BUS_SPI2
+#define MAX7456_CS_PIN                  PB12
+
+/*
+ * SD Card
+ */
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PC14
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+/*
+ * LED Strip
+ */
+#define USE_LED_STRIP
+#define WS2811_PIN                      PA8
+
+/*
+ * Other configs
+ */
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT )
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_OPFLOW
+#define USE_OPFLOW_MSP
+
+#define RANGEFINDER_I2C_BUS         DEFAULT_I2C_BUS
+#define TEMPERATURE_I2C_BUS         DEFAULT_I2C_BUS
+#define PITOT_I2C_BUS               DEFAULT_I2C_BUS
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define MAX_PWM_OUTPUT_PORTS    11
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD (BIT(2))
+
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC15
+#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
\ No newline at end of file
diff --git a/src/main/target/AXISFLYINGF7PRO/target.c b/src/main/target/AXISFLYINGF7PRO/target.c
index 8d4b966b69..e6ad7b071f 100644
--- a/src/main/target/AXISFLYINGF7PRO/target.c
+++ b/src/main/target/AXISFLYINGF7PRO/target.c
@@ -33,7 +33,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 1),  // S7
 
     DEF_TIM(TIM1, CH1, PA8,   TIM_USE_LED, 0, 0),  // LED STRIP
-    DEF_TIM(TIM9, CH2, PA3,   TIM_USE_PPM, 0, 0),  // PPM
+    // DEF_TIM(TIM9, CH2, PA3,   TIM_USE_PPM, 0, 0),  // PPM
     DEF_TIM(TIM12, CH2, PB15, TIM_USE_ANY, 0, 0),  // CAM CONTROL
 };
 
diff --git a/src/main/target/BEEROTORF4/target.c b/src/main/target/BEEROTORF4/target.c
index 28e6a77402..aa4d4893bf 100644
--- a/src/main/target/BEEROTORF4/target.c
+++ b/src/main/target/BEEROTORF4/target.c
@@ -24,7 +24,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH2,  PA3, TIM_USE_PPM,                                               0, 0), // PPM IN
+    // DEF_TIM(TIM9, CH2,  PA3, TIM_USE_PPM,                                               0, 0), // PPM IN
 
     DEF_TIM(TIM1, CH2N, PB0, TIM_USE_OUTPUT_AUTO,    0, 0), // M1 - DMAR: DMA2_ST5
     DEF_TIM(TIM1, CH3N, PB1, TIM_USE_OUTPUT_AUTO,    0, 0), // M2 -
diff --git a/src/main/target/BETAFLIGHTF4/target.c b/src/main/target/BETAFLIGHTF4/target.c
index 0e10cdbf59..67d8f260ad 100755
--- a/src/main/target/BETAFLIGHTF4/target.c
+++ b/src/main/target/BETAFLIGHTF4/target.c
@@ -24,7 +24,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM4, CH3, PB8,  TIM_USE_PPM,                               0, 0), // PPM
+    // DEF_TIM(TIM4, CH3, PB8,  TIM_USE_PPM,                               0, 0), // PPM
 
     // Motors
     DEF_TIM(TIM3,  CH3,  PB0,  TIM_USE_OUTPUT_AUTO,      0, 0), // S1_OUT D1_ST7
diff --git a/src/main/target/BETAFPVF435/target.h b/src/main/target/BETAFPVF435/target.h
index 2376afbcfe..fa025b9d7f 100644
--- a/src/main/target/BETAFPVF435/target.h
+++ b/src/main/target/BETAFPVF435/target.h
@@ -31,7 +31,7 @@
 
 //#define ENABLE_DSHOT_DMAR       DSHOT_DMAR_AUTO
 //#define DSHOT_BITBANG_DEFAULT   DSHOT_BITBANG_AUTO
-//#define ENABLE_DSHOT
+#define ENABLE_DSHOT
 
 // *************** Gyro & ACC **********************
 #define USE_SPI
@@ -177,7 +177,7 @@
 #define USE_LED_STRIP
 #define WS2811_PIN              PB6
 
-#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP )
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP )
 #define DEFAULT_VOLTAGE_METER_SOURCE    VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SOURCE    CURRENT_METER_ADC
 
@@ -189,11 +189,13 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         0xffff
 #define TARGET_IO_PORTE         BIT(2)
+#define TARGET_IO_PORTH         (BIT(1)|BIT(2)|BIT(3))
 
 
 #define MAX_PWM_OUTPUT_PORTS    8
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
-//#define USE_DSHOT
-//#define USE_ESC_SENSOR
+#define USE_DSHOT
+#define USE_ESC_SENSOR
 #define USE_ESCSERIAL
+#define USE_RPM_FILTER
diff --git a/src/main/target/BETAFPVF722/target.c b/src/main/target/BETAFPVF722/target.c
index e24689c0ca..d44324cd7c 100755
--- a/src/main/target/BETAFPVF722/target.c
+++ b/src/main/target/BETAFPVF722/target.c
@@ -25,7 +25,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM,  0, 0),                     // PPM
+    // DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM,  0, 0),                     // PPM
 
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0),                     // S1 D(1, 4, 5)
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0),                     // S2 D(2, 3, 7)
diff --git a/src/main/target/BLACKPILL_F411/target.c b/src/main/target/BLACKPILL_F411/target.c
index d36b8c19c2..18c0d2edf6 100644
--- a/src/main/target/BLACKPILL_F411/target.c
+++ b/src/main/target/BLACKPILL_F411/target.c
@@ -35,7 +35,7 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM11, CH1, PB9,  TIM_USE_ANY, 0, 0), //ST1 pad -softserial_tx1    
 
-    DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM, 0, 0), //RX2 Pad -PPM
+    // DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM, 0, 0), //RX2 Pad -PPM
 
 };
 
diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
index 0b968380cf..ba48551f76 100644
--- a/src/main/target/BLUEJAYF4/target.c
+++ b/src/main/target/BLUEJAYF4/target.c
@@ -23,7 +23,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM8, CH2,  PC7, TIM_USE_PPM,                 0, 0 ), // PPM IN
+    // DEF_TIM(TIM8, CH2,  PC7, TIM_USE_PPM,                 0, 0 ), // PPM IN
 
     DEF_TIM(TIM5, CH1,  PA0, TIM_USE_OUTPUT_AUTO,               0, 0 ), // S1_OUT - DMA1_ST2
     DEF_TIM(TIM5, CH2,  PA1, TIM_USE_OUTPUT_AUTO,               0, 0 ), // S2_OUT - DMA1_ST4
diff --git a/src/main/target/CLRACINGF4AIR/target.c b/src/main/target/CLRACINGF4AIR/target.c
index 54fa14c709..beca9ba67e 100644
--- a/src/main/target/CLRACINGF4AIR/target.c
+++ b/src/main/target/CLRACINGF4AIR/target.c
@@ -21,8 +21,7 @@
  #include "drivers/timer.h"
 
  timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM11, CH1,  PB9, TIM_USE_PPM,  0, 0),
-    DEF_TIM(TIM4,  CH3,  PB8, TIM_USE_LED,  0, 0),
+    // DEF_TIM(TIM11, CH1,  PB9, TIM_USE_PPM,  0, 0),
 
 #if defined(CLRACINGF4AIRV2) || defined(CLRACINGF4AIRV3)
     DEF_TIM(TIM3,  CH3,  PB0,   TIM_USE_OUTPUT_AUTO,    0, 0),
@@ -39,6 +38,7 @@
     DEF_TIM(TIM12, CH2,  PB15,  TIM_USE_OUTPUT_AUTO,    0, 0),
     DEF_TIM(TIM1,  CH1,  PA8,   TIM_USE_OUTPUT_AUTO,    0, 0),
 #endif
+    DEF_TIM(TIM4,  CH3,  PB8, TIM_USE_LED,  0, 0),
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/COLIBRI/target.c b/src/main/target/COLIBRI/target.c
index 932188992b..7affcc4936 100755
--- a/src/main/target/COLIBRI/target.c
+++ b/src/main/target/COLIBRI/target.c
@@ -24,14 +24,14 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1,  CH3, PA10, TIM_USE_PWM | TIM_USE_PPM, 0, 0), // S1_IN
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,               0, 0), // S2_IN
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,               0, 0), // S3_IN
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,               0, 0), // S4_IN
-    DEF_TIM(TIM2,  CH1, PA15, TIM_USE_PWM,               0, 0), // S5_IN
-    DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_PWM,               0, 0), // S6_IN
-    DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_PWM,               0, 0), // S7_IN
-    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_PWM,               0, 0), // S8_IN
+    // DEF_TIM(TIM1,  CH3, PA10, TIM_USE_PWM | TIM_USE_PPM, 0, 0), // S1_IN
+    // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,               0, 0), // S2_IN
+    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,               0, 0), // S3_IN
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,               0, 0), // S4_IN
+    // DEF_TIM(TIM2,  CH1, PA15, TIM_USE_PWM,               0, 0), // S5_IN
+    // DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_PWM,               0, 0), // S6_IN
+    // DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_PWM,               0, 0), // S7_IN
+    // DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_PWM,               0, 0), // S8_IN
 
     DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,   0, 0), // S1_OUT
     DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO,   0, 0), // S2_OUT
diff --git a/src/main/target/DAKEFPVF405/CMakeLists.txt b/src/main/target/DAKEFPVF405/CMakeLists.txt
new file mode 100644
index 0000000000..9a147fdb70
--- /dev/null
+++ b/src/main/target/DAKEFPVF405/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(DAKEFPVF405)
diff --git a/src/main/target/DAKEFPVF405/config.c b/src/main/target/DAKEFPVF405/config.c
new file mode 100644
index 0000000000..73f636cf8c
--- /dev/null
+++ b/src/main/target/DAKEFPVF405/config.c
@@ -0,0 +1,31 @@
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "io/serial.h"
+#include "rx/rx.h"
+#include "fc/fc_msp_box.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}
diff --git a/src/main/target/DAKEFPVF405/target.c b/src/main/target/DAKEFPVF405/target.c
new file mode 100644
index 0000000000..8f31bd7350
--- /dev/null
+++ b/src/main/target/DAKEFPVF405/target.c
@@ -0,0 +1,36 @@
+/*
+ * 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 <stdbool.h>
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S2
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0), // S3
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0), // S4
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0), // S5
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+
+    DEF_TIM(TIM2, CH2, PB3,  TIM_USE_LED, 0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/DAKEFPVF405/target.h b/src/main/target/DAKEFPVF405/target.h
new file mode 100644
index 0000000000..41c128668e
--- /dev/null
+++ b/src/main/target/DAKEFPVF405/target.h
@@ -0,0 +1,168 @@
+/*
+ * 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 "DAK4"
+#define USBD_PRODUCT_STRING  "DAKEFPV F405"
+
+#define LED0                    PC14
+#define LED1                    PC15
+
+#define BEEPER                  PC3
+#define BEEPER_INVERTED
+
+// Buses
+#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_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN	        PB14
+#define SPI2_MOSI_PIN	        PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN	        PC11
+#define SPI3_MOSI_PIN	        PB5
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+// Gyro
+#define USE_IMU_MPU6500
+#define IMU_MPU6500_ALIGN       CW90_DEG
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW90_DEG
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW90_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+
+//Baro 
+#define USE_BARO
+#define USE_BARO_BMP280
+#define BMP280_SPI_BUS          BUS_SPI2
+#define BMP280_CS_PIN           PC13
+#define USE_BARO_DPS310
+#define DPS310_SPI_BUS          BUS_SPI2
+#define DPS310_CS_PIN           PC13
+
+// M25P256 flash
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define M25P16_SPI_BUS          BUS_SPI3
+#define M25P16_CS_PIN           PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// Serial ports
+#define USE_VCP
+
+#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            PB11
+#define UART3_TX_PIN            PB10
+
+#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_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+// Mag
+#define USE_MAG
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
+
+#define PITOT_I2C_BUS           DEFAULT_I2C_BUS
+
+// ADC
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN           PC1
+#define ADC_CHANNEL_2_PIN           PC2
+#define ADC_CHANNEL_3_PIN           PC0
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY )
+
+#define USE_LED_STRIP
+#define WS2811_PIN                  PB3
+
+#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 USE_DSHOT
+#define USE_ESC_SENSOR
+
+#define MAX_PWM_OUTPUT_PORTS    6
+
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC5
+#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
\ No newline at end of file
diff --git a/src/main/target/DAKEFPVF722/CMakeLists.txt b/src/main/target/DAKEFPVF722/CMakeLists.txt
new file mode 100644
index 0000000000..e2385c70c5
--- /dev/null
+++ b/src/main/target/DAKEFPVF722/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(DAKEFPVF722)
diff --git a/src/main/target/DAKEFPVF722/config.c b/src/main/target/DAKEFPVF722/config.c
new file mode 100644
index 0000000000..bfb7ffbef3
--- /dev/null
+++ b/src/main/target/DAKEFPVF722/config.c
@@ -0,0 +1,28 @@
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "io/serial.h"
+#include "rx/rx.h"
+
+void targetConfiguration(void)
+{
+}
diff --git a/src/main/target/DAKEFPVF722/target.c b/src/main/target/DAKEFPVF722/target.c
new file mode 100644
index 0000000000..8f31bd7350
--- /dev/null
+++ b/src/main/target/DAKEFPVF722/target.c
@@ -0,0 +1,36 @@
+/*
+ * 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 <stdbool.h>
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S2
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0), // S3
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0), // S4
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0), // S5
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+
+    DEF_TIM(TIM2, CH2, PB3,  TIM_USE_LED, 0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/DAKEFPVF722/target.h b/src/main/target/DAKEFPVF722/target.h
new file mode 100644
index 0000000000..92cc65783b
--- /dev/null
+++ b/src/main/target/DAKEFPVF722/target.h
@@ -0,0 +1,150 @@
+/*
+ * 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 "DAK7"
+#define USBD_PRODUCT_STRING  "DAKEFPV F722"
+
+#define LED0                    PC14
+#define LED1                    PC15
+
+#define BEEPER                  PC3
+#define BEEPER_INVERTED
+
+// Buses
+#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_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN	        PB14
+#define SPI2_MOSI_PIN	        PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN	        PC11
+#define SPI3_MOSI_PIN	        PB5
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+// Gyro
+#define USE_IMU_MPU6500
+#define IMU_MPU6500_ALIGN       CW90_DEG
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_BUS         BUS_SPI1
+
+//Baro 
+#define USE_BARO
+#define USE_BARO_BMP280
+#define BMP280_SPI_BUS          BUS_SPI2
+#define BMP280_CS_PIN           PA13
+
+// M25P256 flash
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define M25P16_SPI_BUS          BUS_SPI3
+#define M25P16_CS_PIN           PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// Serial ports
+#define USE_VCP
+
+#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            PB11
+#define UART3_TX_PIN            PB10
+
+#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_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+// Mag
+#define USE_MAG
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
+
+#define PITOT_I2C_BUS           DEFAULT_I2C_BUS
+
+// ADC
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN           PC1
+#define ADC_CHANNEL_2_PIN           PC2
+#define ADC_CHANNEL_3_PIN           PC0
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY )
+
+#define USE_LED_STRIP
+#define WS2811_PIN                  PB3
+
+#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 USE_DSHOT
+#define USE_ESC_SENSOR
+
+#define MAX_PWM_OUTPUT_PORTS    6
diff --git a/src/main/target/DALRCF405/target.c b/src/main/target/DALRCF405/target.c
index e1cddea261..816ad3cdec 100644
--- a/src/main/target/DALRCF405/target.c
+++ b/src/main/target/DALRCF405/target.c
@@ -22,7 +22,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM12, CH2, PB15,  TIM_USE_PPM,                                          0, 0), // PPM
+    // DEF_TIM(TIM12, CH2, PB15,  TIM_USE_PPM,                                          0, 0), // PPM
 
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S1 (1,7)
     DEF_TIM(TIM8, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S2 (2,2)
diff --git a/src/main/target/DALRCF722DUAL/target.c b/src/main/target/DALRCF722DUAL/target.c
index 286c00539a..8c4fa74475 100644
--- a/src/main/target/DALRCF722DUAL/target.c
+++ b/src/main/target/DALRCF722DUAL/target.c
@@ -28,7 +28,7 @@
 #define TIM_EN_N    TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_N_CHANNEL
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM ,0, 0),
+    // DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM ,0, 0),
 
     DEF_TIM(TIM8, CH1, PC6, TIM_USE_OUTPUT_AUTO,0,0), //S1 DMA2_ST2  T8CH1
     DEF_TIM(TIM8, CH2, PC7, TIM_USE_OUTPUT_AUTO,0,0), //S2 DMA2_ST3  T8CH2
diff --git a/src/main/target/F4BY/target.c b/src/main/target/F4BY/target.c
index 37d9db8941..8d1b4622f6 100644
--- a/src/main/target/F4BY/target.c
+++ b/src/main/target/F4BY/target.c
@@ -6,14 +6,14 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM3, CH4, PC9,  TIM_USE_PPM | TIM_USE_PWM,   0, 0), // S1_IN
-    DEF_TIM(TIM3, CH3, PC8,  TIM_USE_PWM,   0, 0), // S2_IN
-    DEF_TIM(TIM3, CH1, PC6,  TIM_USE_PWM,   0, 0), // S3_IN
-    DEF_TIM(TIM3, CH2, PC7,  TIM_USE_PWM,   0, 0), // S4_IN
-    DEF_TIM(TIM4, CH4, PD15, TIM_USE_PWM,   0, 0), // S5_IN
-    DEF_TIM(TIM4, CH3, PD14, TIM_USE_PWM,   0, 0), // S6_IN
-    DEF_TIM(TIM4, CH2, PD13, TIM_USE_PWM,   0, 0), // S7_IN
-    DEF_TIM(TIM4, CH1, PD12, TIM_USE_PWM,   0, 0), // S8_IN
+    // DEF_TIM(TIM3, CH4, PC9,  TIM_USE_PPM | TIM_USE_PWM,   0, 0), // S1_IN
+    // DEF_TIM(TIM3, CH3, PC8,  TIM_USE_PWM,   0, 0), // S2_IN
+    // DEF_TIM(TIM3, CH1, PC6,  TIM_USE_PWM,   0, 0), // S3_IN
+    // DEF_TIM(TIM3, CH2, PC7,  TIM_USE_PWM,   0, 0), // S4_IN
+    // DEF_TIM(TIM4, CH4, PD15, TIM_USE_PWM,   0, 0), // S5_IN
+    // DEF_TIM(TIM4, CH3, PD14, TIM_USE_PWM,   0, 0), // S6_IN
+    // DEF_TIM(TIM4, CH2, PD13, TIM_USE_PWM,   0, 0), // S7_IN
+    // DEF_TIM(TIM4, CH1, PD12, TIM_USE_PWM,   0, 0), // S8_IN
 
     DEF_TIM(TIM2, CH1, PA0,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1_OUT
     DEF_TIM(TIM2, CH2, PA1,  TIM_USE_OUTPUT_AUTO, 0, 0), // S2_OUT
diff --git a/src/main/target/FF_F35_LIGHTNING/target.c b/src/main/target/FF_F35_LIGHTNING/target.c
index 83d75497e4..617c085a92 100644
--- a/src/main/target/FF_F35_LIGHTNING/target.c
+++ b/src/main/target/FF_F35_LIGHTNING/target.c
@@ -33,11 +33,11 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM5,  CH3, PA2,  TIM_USE_ANY, 0, 0),
     DEF_TIM(TIM5,  CH4, PA3,  TIM_USE_ANY, 0, 0),
 
-#ifdef WINGFC
-    DEF_TIM(TIM2,  CH4, PB11, TIM_USE_PPM, 0, 0), // UART3 RX
-#else
-    DEF_TIM(TIM2,  CH3, PB10, TIM_USE_PPM, 0, 0), // UART3 TX
-#endif
+// #ifdef WINGFC
+//     DEF_TIM(TIM2,  CH4, PB11, TIM_USE_PPM, 0, 0), // UART3 RX
+// #else
+//     DEF_TIM(TIM2,  CH3, PB10, TIM_USE_PPM, 0, 0), // UART3 TX
+// #endif
 
 };
 
diff --git a/src/main/target/FF_FORTINIF4/target.c b/src/main/target/FF_FORTINIF4/target.c
index 5853bc3139..54aae5ce4e 100644
--- a/src/main/target/FF_FORTINIF4/target.c
+++ b/src/main/target/FF_FORTINIF4/target.c
@@ -27,7 +27,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 1, 0 ), // S2_OUT - DMA1_ST2
     DEF_TIM(TIM2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 1, 1 ), // S3_OUT - DMA1_ST6
     DEF_TIM(TIM2, CH3, PA2, TIM_USE_OUTPUT_AUTO, 1, 0 ), // S4_OUT - DMA1_ST1
-    DEF_TIM(TIM4, CH4, PB9, TIM_USE_PPM,   0, 0 ),                       // PPM IN
+    // DEF_TIM(TIM4, CH4, PB9, TIM_USE_PPM,   0, 0 ),                       // PPM IN
     DEF_TIM(TIM4, CH2, PB7, TIM_USE_LED,   0, 0),                        // LED    - DMA1_ST3
 };
 
diff --git a/src/main/target/FIREWORKSV2/target.c b/src/main/target/FIREWORKSV2/target.c
index 8e7cdb9575..7f96e09714 100644
--- a/src/main/target/FIREWORKSV2/target.c
+++ b/src/main/target/FIREWORKSV2/target.c
@@ -44,7 +44,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6000,   DEVHW_MPU6000,  IMU_2_SPI_BUS,  IMU_
 BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6500,   DEVHW_MPU6500,  IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM10, CH1, PB8, TIM_USE_PPM, 0, 0), // PPM
+    // DEF_TIM(TIM10, CH1, PB8, TIM_USE_PPM, 0, 0), // PPM
 
     // Motor output 1: use different set of timers for MC and FW
     //DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM _USE_SERVO, 1, 0), // S1_OUT    D(1,7)
diff --git a/src/main/target/FISHDRONEF4/target.c b/src/main/target/FISHDRONEF4/target.c
index b0aec49bc4..93354b5175 100644
--- a/src/main/target/FISHDRONEF4/target.c
+++ b/src/main/target/FISHDRONEF4/target.c
@@ -23,12 +23,12 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5,   CH1, PA0,  TIM_USE_PWM | TIM_USE_PPM,   0, 0 ), // PPM IN
-    DEF_TIM(TIM5,   CH2, PA1,  TIM_USE_PWM,                 0, 0 ),
-    DEF_TIM(TIM3,   CH3, PB0,  TIM_USE_PWM,                 0, 0 ),
-    DEF_TIM(TIM2,   CH3, PB10, TIM_USE_PWM,                 0, 0 ),
-    DEF_TIM(TIM2,   CH4, PB11, TIM_USE_PWM,                 0, 0 ),
-    DEF_TIM(TIM1,   CH1, PA8,  TIM_USE_PWM,                 0, 0 ),
+    // DEF_TIM(TIM5,   CH1, PA0,  TIM_USE_PWM | TIM_USE_PPM,   0, 0 ), // PPM IN
+    // DEF_TIM(TIM5,   CH2, PA1,  TIM_USE_PWM,                 0, 0 ),
+    // DEF_TIM(TIM3,   CH3, PB0,  TIM_USE_PWM,                 0, 0 ),
+    // DEF_TIM(TIM2,   CH3, PB10, TIM_USE_PWM,                 0, 0 ),
+    // DEF_TIM(TIM2,   CH4, PB11, TIM_USE_PWM,                 0, 0 ),
+    // DEF_TIM(TIM1,   CH1, PA8,  TIM_USE_PWM,                 0, 0 ),
 
     DEF_TIM(TIM12,  CH1, PB14,  TIM_USE_OUTPUT_AUTO,    0, 0 ),
     DEF_TIM(TIM12,  CH2, PB15,  TIM_USE_OUTPUT_AUTO,    0, 0 ),
diff --git a/src/main/target/FLASHHOBBYF405/CMakeLists.txt b/src/main/target/FLASHHOBBYF405/CMakeLists.txt
new file mode 100644
index 0000000000..7fa38644d1
--- /dev/null
+++ b/src/main/target/FLASHHOBBYF405/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(FLASHHOBBYF405)
diff --git a/src/main/target/FLASHHOBBYF405/target.c b/src/main/target/FLASHHOBBYF405/target.c
new file mode 100644
index 0000000000..b088049a07
--- /dev/null
+++ b/src/main/target/FLASHHOBBYF405/target.c
@@ -0,0 +1,43 @@
+/*
+* This file is part of INAV Project.
+*
+* 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 "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+timerHardware_t timerHardware[] = {
+    // DEF_TIM(TIM5,  CH4,   PA3, TIM_USE_PPM,                        0, 1),
+
+    DEF_TIM(TIM3,  CH3,  PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+    DEF_TIM(TIM3,  CH4,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S2
+    DEF_TIM(TIM3,  CH2,  PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
+    DEF_TIM(TIM3,  CH1,  PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
+    DEF_TIM(TIM4,  CH1,  PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S5
+    DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+    DEF_TIM(TIM8,  CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S7
+    DEF_TIM(TIM8,  CH4,  PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
+
+    DEF_TIM(TIM1,  CH1,  PA8, TIM_USE_LED,                         0, 1),//WS2812B
+	// DEF_TIM(TIM2,  CH2,  PB3, TIM_USE_PWM | TIM_USE_FW_SERVO,      0, 0),  // "C.C"
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
\ No newline at end of file
diff --git a/src/main/target/FLASHHOBBYF405/target.h b/src/main/target/FLASHHOBBYF405/target.h
new file mode 100644
index 0000000000..937917c95c
--- /dev/null
+++ b/src/main/target/FLASHHOBBYF405/target.h
@@ -0,0 +1,164 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * 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/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "FHRCF405"
+
+#define USBD_PRODUCT_STRING     "FLASHHOBBYF405"
+
+#define LED0                    PC14
+
+#define BEEPER                  PB2
+#define BEEPER_INVERTED
+
+// *************** Gyro & ACC **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG
+#define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_SPI_BUS          BUS_SPI1
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS            DEFAULT_I2C_BUS
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
+#define PITOT_I2C_BUS           DEFAULT_I2C_BUS
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
+
+// *************** OSD *****************************
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          SPI2_NSS_PIN
+
+// *************** FLASH **************************
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PA15
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define M25P16_SPI_BUS          BUS_SPI3
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** UART *****************************
+#define USE_VCP
+
+#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            PB11
+#define UART3_TX_PIN            PB10
+
+#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            NONE
+
+#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_SBUS
+#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
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+// *************** PINIO ************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                      PC13
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#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         (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
diff --git a/src/main/target/FLASHHOBBYF722/CMakeLists.txt b/src/main/target/FLASHHOBBYF722/CMakeLists.txt
new file mode 100644
index 0000000000..90566a14d6
--- /dev/null
+++ b/src/main/target/FLASHHOBBYF722/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(FLASHHOBBYF722)
diff --git a/src/main/target/FLASHHOBBYF722/target.c b/src/main/target/FLASHHOBBYF722/target.c
new file mode 100644
index 0000000000..31a8f73544
--- /dev/null
+++ b/src/main/target/FLASHHOBBYF722/target.c
@@ -0,0 +1,45 @@
+/*
+* This file is part of INAV Project.
+*
+* 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 "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+timerHardware_t timerHardware[] = {
+    // DEF_TIM(TIM5,  CH4,   PA3, TIM_USE_PPM,                        0, 1),
+
+    DEF_TIM(TIM3,  CH3,  PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+    DEF_TIM(TIM3,  CH4,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S2
+    DEF_TIM(TIM3,  CH2,  PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
+    DEF_TIM(TIM3,  CH1,  PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
+    DEF_TIM(TIM4,  CH1,  PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S5
+    DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+    DEF_TIM(TIM8,  CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S7
+    DEF_TIM(TIM8,  CH4,  PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
+
+    DEF_TIM(TIM1,  CH1,  PA8, TIM_USE_LED,                         0, 1),//WS2812B
+	// DEF_TIM(TIM2,  CH2,  PB3, TIM_USE_PWM | TIM_USE_FW_SERVO,      0, 0),  // "C.C"
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
+
+
diff --git a/src/main/target/FLASHHOBBYF722/target.h b/src/main/target/FLASHHOBBYF722/target.h
new file mode 100644
index 0000000000..f0cc788135
--- /dev/null
+++ b/src/main/target/FLASHHOBBYF722/target.h
@@ -0,0 +1,162 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * 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/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "FHRCF722"
+#define USBD_PRODUCT_STRING     "FLASHHOBBYF722"
+
+#define LED0                    PC14
+
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+// *************** Gyro & ACC **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG
+#define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_SPI_BUS          BUS_SPI1
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS            DEFAULT_I2C_BUS
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
+#define PITOT_I2C_BUS           DEFAULT_I2C_BUS
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
+
+// *************** FLASH **************************
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PA15
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define M25P16_SPI_BUS          BUS_SPI3
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** OSD *****************************
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          SPI2_NSS_PIN
+
+// *************** UART *****************************
+#define USE_VCP
+
+#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            PB11
+#define UART3_TX_PIN            PB10
+
+#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            NONE
+
+#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_SBUS
+#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
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+// *************** PINIO ************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                      PC13
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#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         (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
diff --git a/src/main/target/FLYWOOF405PRO/target.c b/src/main/target/FLYWOOF405PRO/target.c
index f61d06ca0e..c0f1c4eec2 100644
--- a/src/main/target/FLYWOOF405PRO/target.c
+++ b/src/main/target/FLYWOOF405PRO/target.c
@@ -34,7 +34,7 @@ timerHardware_t timerHardware[] = {
 
 
     DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_LED,   0, 0), //2812LED  D(1,5,3)
-    DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,   0, 0), // PPM
+    // DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,   0, 0), // PPM
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/FLYWOOF405S_AIO/CMakeLists.txt b/src/main/target/FLYWOOF405S_AIO/CMakeLists.txt
new file mode 100644
index 0000000000..6e3af8a3cb
--- /dev/null
+++ b/src/main/target/FLYWOOF405S_AIO/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(FLYWOOF405S_AIO SKIP_RELEASES)
diff --git a/src/main/target/FLYWOOF405S_AIO/target.c b/src/main/target/FLYWOOF405S_AIO/target.c
new file mode 100644
index 0000000000..0d51ec0c10
--- /dev/null
+++ b/src/main/target/FLYWOOF405S_AIO/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 <stdbool.h>
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,   0, 1), // S1
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,   0, 0), // S2
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,   0, 0), // S3
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO,   0, 0), // S4
+    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_OUTPUT_AUTO,   0, 0), // S5
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO,   0, 0), // S6
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO,   0, 0), // S7
+
+    DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_LED,   0, 0), //2812LED  D(1,5,3)
+    DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,   0, 0), // PPM
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/FLYWOOF405S_AIO/target.h b/src/main/target/FLYWOOF405S_AIO/target.h
new file mode 100644
index 0000000000..c25dedfeb9
--- /dev/null
+++ b/src/main/target/FLYWOOF405S_AIO/target.h
@@ -0,0 +1,174 @@
+/*
+ * 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 "F4SA"
+#define USBD_PRODUCT_STRING  "FLYWOOF405S_AIO"
+
+
+#define LED0                    PC14  //Green
+#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_MPU6000
+#define IMU_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN       CW270_DEG
+#define BMI270_CS_PIN          PB12
+#define BMI270_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_CS_PIN         PB12
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+#define USE_EXTI
+#define GYRO_INT_EXTI            PB13
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06				   
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_AK8963
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_HCSR04_I2C
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+
+
+// *************** SPI2 OSD ***************************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN   	    PC11
+#define SPI3_MOSI_PIN   	    PC12
+
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI3
+#define MAX7456_CS_PIN          PB14//
+
+// *************** Onboard flash  ********************
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           PB3
+#define M25P16_SPI_BUS          BUS_SPI3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+
+// *************** UART *****************************
+#define USB_IO
+#define USE_VCP
+#define VBUS_SENSING_PIN        PA8
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PD5
+#define UART2_RX_PIN            PD6
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            NONE
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART3
+
+
+// *************** ADC ***************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC2
+#define ADC_CHANNEL_3_PIN           PC0
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+// *************** LED2812 ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                      PA9
+
+// ***************  OTHERS *************************
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL)
+#define CURRENT_METER_SCALE   250
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+#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         0x0064
+
+#define MAX_PWM_OUTPUT_PORTS       8
diff --git a/src/main/target/FLYWOOF411/target.c b/src/main/target/FLYWOOF411/target.c
index 965974162b..3946ad0b40 100644
--- a/src/main/target/FLYWOOF411/target.c
+++ b/src/main/target/FLYWOOF411/target.c
@@ -25,7 +25,7 @@
 
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH1, PA2,   TIM_USE_PPM,   0, 0), // PPM IN
+    // DEF_TIM(TIM9, CH1, PA2,   TIM_USE_PPM,   0, 0), // PPM IN
 #ifdef FLYWOOF411_V2
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO, 0, 1),      // S1 - D(2,1)
     DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_OUTPUT_AUTO, 0, 0),      // S2 - D(1,6)
diff --git a/src/main/target/FLYWOOF745/config.c b/src/main/target/FLYWOOF745/config.c
index 07f6de4697..7dfe40728d 100644
--- a/src/main/target/FLYWOOF745/config.c
+++ b/src/main/target/FLYWOOF745/config.c
@@ -22,7 +22,16 @@
 
 #include "io/piniobox.h"
 
+#include "drivers/pwm_output.h"
+#include "drivers/pwm_mapping.h"
+
 void targetConfiguration(void)
 {
     pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+
+    // Make sure S1-S4 default to Motors
+
+    timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
+    timerOverridesMutable(timer2id(TIM8))->outputMode = OUTPUT_MODE_MOTORS;
+    timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS;
 }
diff --git a/src/main/target/FLYWOOF745/target.c b/src/main/target/FLYWOOF745/target.c
index 879b66d01f..a82a708f51 100644
--- a/src/main/target/FLYWOOF745/target.c
+++ b/src/main/target/FLYWOOF745/target.c
@@ -30,17 +30,17 @@
 #include "drivers/pinio.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM,                      0, 1), // PPM, DMA2_ST6
+    // DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM,                      0, 1), // PPM, DMA2_ST6
 
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO,    0, 0), // M1 , DMA1_ST7
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO,    0, 0), // M2 , DMA1_ST2
-    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO,    0, 2), // M3 , DMA2_ST2
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO,    0, 0), // M1 , DMA1_ST2
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO,    0, 0), // M2 , DMA2_ST7
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO,    0, 0), // M3 , DMA1_ST7
     DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO,    0, 1), // M4 , DMA2_ST4
-    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO,    0, 0), // M5 , DMA2_ST7
+    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO,    0, 2), // M5 , DMA2_ST2
     DEF_TIM(TIM5, CH4, PA3,  TIM_USE_OUTPUT_AUTO,    0, 0), // M6 , DMA1_ST1
     DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO,    0, 0), // M7 , DMA1_ST4
     DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO,    0, 0), // M8 , DMA1_ST5
-    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED,                      0, 0), // LED_STRIP, DMA1_ST0
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED,            0, 0), // LED_STRIP, DMA1_ST0
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/FLYWOOF745/target.h b/src/main/target/FLYWOOF745/target.h
index 3b57ccc4fa..c2b1937c61 100644
--- a/src/main/target/FLYWOOF745/target.h
+++ b/src/main/target/FLYWOOF745/target.h
@@ -140,6 +140,10 @@
 
 #define USE_BARO
 #define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
 #define BARO_I2C_BUS            BUS_I2C1
 
 #define USE_MAG
diff --git a/src/main/target/FLYWOOF7DUAL/target.c b/src/main/target/FLYWOOF7DUAL/target.c
index d9d5482e3a..28d5a2ee47 100644
--- a/src/main/target/FLYWOOF7DUAL/target.c
+++ b/src/main/target/FLYWOOF7DUAL/target.c
@@ -38,7 +38,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,   DEVHW_MPU6000,  GYRO_2_SPI_BUS, GYRO
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_2,   DEVHW_MPU6500,  GYRO_2_SPI_BUS, GYRO_2_CS_PIN,  NONE,    1,  DEVFLAGS_NONE,  GYRO_2_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PPM,                          0, 0),  // PPM&SBUS  
+    // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PPM,                          0, 0),  // PPM&SBUS  
 
     DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),      // S1 - D(1,2)
     DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),      // S2 - D(1,4)
diff --git a/src/main/target/FOXEERF405/target.c b/src/main/target/FOXEERF405/target.c
index 1ad827bb5c..ca6ebe3507 100644
--- a/src/main/target/FOXEERF405/target.c
+++ b/src/main/target/FOXEERF405/target.c
@@ -22,7 +22,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PPM,          0, 0), // PPM
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PPM,          0, 0), // PPM
 
     DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,     0, 0),   // S1 (1,7)
     DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO,     0, 0),   // S2 (1,4)
diff --git a/src/main/target/FOXEERF722DUAL/target.c b/src/main/target/FOXEERF722DUAL/target.c
index 1933a5134e..fe34e0a45d 100644
--- a/src/main/target/FOXEERF722DUAL/target.c
+++ b/src/main/target/FOXEERF722DUAL/target.c
@@ -29,7 +29,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,
 #endif
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM4,  CH2, PB7,  TIM_USE_PPM,                          0, 0),  // PPM&SBUS
+    // DEF_TIM(TIM4,  CH2, PB7,  TIM_USE_PPM,                          0, 0),  // PPM&SBUS
 
     DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_OUTPUT_AUTO, 0, 1),  // S1 - D(2, 1, 6)
     #if defined(FOXEERF722V2)
diff --git a/src/main/target/FURYF4OSD/target.c b/src/main/target/FURYF4OSD/target.c
index c820d0c378..ef414db35e 100644
--- a/src/main/target/FURYF4OSD/target.c
+++ b/src/main/target/FURYF4OSD/target.c
@@ -23,7 +23,7 @@
 
 timerHardware_t timerHardware[] = {
 
-      DEF_TIM(TIM8, CH4,  PC9, TIM_USE_PPM,   0, 0 ), // PPM IN
+    //   DEF_TIM(TIM8, CH4,  PC9, TIM_USE_PPM,   0, 0 ), // PPM IN
       DEF_TIM(TIM2, CH4,  PA3, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S1_OUT - D(1, 6, 3)
       DEF_TIM(TIM3, CH3,  PB0, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S2_OUT - D(1, 7, 5)
       DEF_TIM(TIM3, CH4,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S3_OUT - D(1, 2, 5)
diff --git a/src/main/target/GEPRCF405/target.c b/src/main/target/GEPRCF405/target.c
index 68a900898c..c5f5791a92 100644
--- a/src/main/target/GEPRCF405/target.c
+++ b/src/main/target/GEPRCF405/target.c
@@ -24,12 +24,8 @@
 #include "drivers/timer.h"
 #include "drivers/timer_def.h"
 
-
-
-
-
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM8,  CH2,  PC7, TIM_USE_PPM,                        0, 0),
+    // DEF_TIM(TIM8,  CH2,  PC7, TIM_USE_PPM,                        0, 0),
 
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_OUTPUT_AUTO, 0, 1),
     DEF_TIM(TIM1, CH2, PA9,  TIM_USE_OUTPUT_AUTO, 0, 1),
diff --git a/src/main/target/GEPRCF405/target.h b/src/main/target/GEPRCF405/target.h
index 7f641643e8..0b96d5b8b1 100644
--- a/src/main/target/GEPRCF405/target.h
+++ b/src/main/target/GEPRCF405/target.h
@@ -61,9 +61,12 @@
 #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 BARO_I2C_BUS            BUS_I2C2
 #define USE_BARO_BMP280
 #define USE_BARO_DPS310
 #define USE_BARO_MS5611
diff --git a/src/main/target/GEPRCF722/target.c b/src/main/target/GEPRCF722/target.c
index 851ae376a5..7061c09ffc 100644
--- a/src/main/target/GEPRCF722/target.c
+++ b/src/main/target/GEPRCF722/target.c
@@ -27,7 +27,7 @@
 
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,                         0, 0),
+    // DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,                         0, 0),
 
     DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0),
diff --git a/src/main/target/GEPRCF722_BT_HD/target.c b/src/main/target/GEPRCF722_BT_HD/target.c
index d1f902eb69..e7a6f1b332 100644
--- a/src/main/target/GEPRCF722_BT_HD/target.c
+++ b/src/main/target/GEPRCF722_BT_HD/target.c
@@ -25,10 +25,8 @@
 #include "drivers/timer.h"
 #include "drivers/sensor.h"
 
-
-
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,         0, 0),
+    // DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,         0, 0),
 
     DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM8, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 0),
diff --git a/src/main/target/GEPRC_F722_AIO/target.c b/src/main/target/GEPRC_F722_AIO/target.c
index a8ee276fce..60b6b359e8 100644
--- a/src/main/target/GEPRC_F722_AIO/target.c
+++ b/src/main/target/GEPRC_F722_AIO/target.c
@@ -27,7 +27,7 @@
 
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,   0, 0),
+    // DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,   0, 0),
 
     DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0),
     DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0),
diff --git a/src/main/target/HAKRCF405D/target.c b/src/main/target/HAKRCF405D/target.c
index 664db47633..0679523028 100644
--- a/src/main/target/HAKRCF405D/target.c
+++ b/src/main/target/HAKRCF405D/target.c
@@ -30,7 +30,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000, MPU6000_SPI_BUS,  MPU600
 
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, 0, 0),  // PPM
+    // DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, 0, 0),  // PPM
 
     DEF_TIM(TIM3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S1 
     DEF_TIM(TIM8, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 1),  // S2 
@@ -41,9 +41,9 @@ timerHardware_t timerHardware[] = {
     
     DEF_TIM(TIM4, CH1, PB8, TIM_USE_LED, 0, 0),  // LED STRIP(2,6)
     
-    DEF_TIM(TIM5, CH1, PA0, TIM_USE_PWM, 0, 0),  // PWM1
-    DEF_TIM(TIM5, CH2, PA1, TIM_USE_PWM, 0, 0),  // PWM2
-    DEF_TIM(TIM9, CH1, PA2, TIM_USE_PWM, 0, 0),  // PWM3
+    // DEF_TIM(TIM5, CH1, PA0, TIM_USE_PWM, 0, 0),  // PWM1
+    // DEF_TIM(TIM5, CH2, PA1, TIM_USE_PWM, 0, 0),  // PWM2
+    // DEF_TIM(TIM9, CH1, PA2, TIM_USE_PWM, 0, 0),  // PWM3
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/HAKRCF411D/target.c b/src/main/target/HAKRCF411D/target.c
index 1423d2d199..f4fddb456a 100644
--- a/src/main/target/HAKRCF411D/target.c
+++ b/src/main/target/HAKRCF411D/target.c
@@ -23,7 +23,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH2, PA3, TIM_USE_PPM, 0, 0),  // PPM IN
+    // DEF_TIM(TIM9, CH2, PA3, TIM_USE_PPM, 0, 0),  // PPM IN
 
     DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0),  // S1
     DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0),  // S2
diff --git a/src/main/target/HAKRCKD722/target.c b/src/main/target/HAKRCKD722/target.c
index 16757ff641..e114f4410b 100644
--- a/src/main/target/HAKRCKD722/target.c
+++ b/src/main/target/HAKRCKD722/target.c
@@ -30,7 +30,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,   MPU6000_SPI_BUS, MPU6000_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),  // PPM
+    // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),  // PPM
 
     DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S1
     DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S2
diff --git a/src/main/target/HGLRCF722/target.c b/src/main/target/HGLRCF722/target.c
index 1ebbbf6337..e0e4a73e2a 100644
--- a/src/main/target/HGLRCF722/target.c
+++ b/src/main/target/HGLRCF722/target.c
@@ -47,8 +47,8 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4, CH2, PB7,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S8   UP1-6   D(1, 3, 2)
 
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 2),                            // LED          D(2, 6, 0)
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),                            // PPM, RX2
-    DEF_TIM(TIM5, CH3, PA2,  TIM_USE_PWM, 0, 0),                            // TX2 & softserial1
+    // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),                            // PPM, RX2
+    // DEF_TIM(TIM5, CH3, PA2,  TIM_USE_PWM, 0, 0),                            // TX2 & softserial1
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/IFLIGHTF4_SUCCEXD/target.c b/src/main/target/IFLIGHTF4_SUCCEXD/target.c
index ad9ab68c9e..b79bc16075 100644
--- a/src/main/target/IFLIGHTF4_SUCCEXD/target.c
+++ b/src/main/target/IFLIGHTF4_SUCCEXD/target.c
@@ -24,7 +24,7 @@
 #include "drivers/pinio.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,      0, 0),
+    // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,      0, 0),
 
     DEF_TIM(TIM5, CH1, PA0,  TIM_USE_MOTOR, 0, 0),
     DEF_TIM(TIM2, CH3, PB10, TIM_USE_MOTOR, 0, 0),
diff --git a/src/main/target/IFLIGHTF4_TWING/target.c b/src/main/target/IFLIGHTF4_TWING/target.c
index 87227cf3b0..fcf8b09a85 100644
--- a/src/main/target/IFLIGHTF4_TWING/target.c
+++ b/src/main/target/IFLIGHTF4_TWING/target.c
@@ -30,7 +30,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_imu0,    DEVHW_MPU6500,  MPU6500_0_SPI_BUS,  MPU6
 BUSDEV_REGISTER_SPI_TAG(busdev_imu1,    DEVHW_MPU6500,  MPU6500_1_SPI_BUS,  MPU6500_1_CS_PIN,  NONE,     1,  DEVFLAGS_NONE,  IMU_1_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH2, PA3, TIM_USE_PPM, 0, 0), // PPM
+    // DEF_TIM(TIM9, CH2, PA3, TIM_USE_PPM, 0, 0), // PPM
 
     // Motors
     DEF_TIM(TIM1, CH2N, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1_OUT D2_ST6
diff --git a/src/main/target/IFLIGHTF7_TWING/target.c b/src/main/target/IFLIGHTF7_TWING/target.c
index 6876f07b20..b04f6ee8d3 100644
--- a/src/main/target/IFLIGHTF7_TWING/target.c
+++ b/src/main/target/IFLIGHTF7_TWING/target.c
@@ -30,7 +30,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_imu0,    DEVHW_MPU6500,  MPU6500_0_SPI_BUS,  MPU6
 BUSDEV_REGISTER_SPI_TAG(busdev_imu1,    DEVHW_MPU6500,  MPU6500_1_SPI_BUS,  MPU6500_1_CS_PIN,  NONE,     1,  DEVFLAGS_NONE,  IMU_1_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,         0, 0),
+    // DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,         0, 0),
 
     DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM8, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 0),
diff --git a/src/main/target/IFLIGHT_BLITZ_ATF435/CMakeLists.txt b/src/main/target/IFLIGHT_BLITZ_ATF435/CMakeLists.txt
new file mode 100644
index 0000000000..c0136c9630
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_ATF435/CMakeLists.txt
@@ -0,0 +1 @@
+target_at32f43x_xGT7(IFLIGHT_BLITZ_ATF435)
\ No newline at end of file
diff --git a/src/main/target/IFLIGHT_BLITZ_ATF435/target.c b/src/main/target/IFLIGHT_BLITZ_ATF435/target.c
new file mode 100644
index 0000000000..2de0fd5057
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_ATF435/target.c
@@ -0,0 +1,50 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. 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(TMR3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0,8), // S1
+    DEF_TIM(TMR3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0,9), // S2
+    DEF_TIM(TMR8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0,2), // S3
+    DEF_TIM(TMR8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0,0), // S4
+
+    DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0,11),    // S5
+    DEF_TIM(TMR4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0,10),    // S6
+    DEF_TIM(TMR2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0,5),     //S7
+	DEF_TIM(TMR2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0,6),     //S8
+    
+    DEF_TIM(TMR1, CH1, PA8,   TIM_USE_LED, 0, 0),  // LED STRIP
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
+  
diff --git a/src/main/target/IFLIGHT_BLITZ_ATF435/target.h b/src/main/target/IFLIGHT_BLITZ_ATF435/target.h
new file mode 100644
index 0000000000..7518bbe13e
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_ATF435/target.h
@@ -0,0 +1,157 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "IAT4"
+
+#define USBD_PRODUCT_STRING  "iFlight BLITZ ATF435"
+
+#define LED0                    PC15
+
+#define BEEPER                  PB2
+#define BEEPER_INVERTED
+
+
+// Buses
+
+#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_SPI_DEVICE_2 
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN   	    PB4
+#define SPI3_MOSI_PIN   	    PB5
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+// #define USE_I2C_PULLUP
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+// Gyro
+
+// BMI270
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PA4
+
+// Other sensors
+
+#define USE_BARO
+#define BARO_I2C_BUS            DEFAULT_I2C_BUS
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+// OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// Flash
+  
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS          BUS_SPI3
+#define M25P16_CS_PIN           PA15
+
+#define USE_FLASH_W25N01G
+#define W25N01G_SPI_BUS         BUS_SPI3
+#define W25N01G_CS_PIN          PA15
+
+// UARTs
+#define USE_VCP
+// #define USB_DETECT_PIN          PC5
+// #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
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+
+#define ADC1_DMA_STREAM             DMA2_CHANNEL5
+
+#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
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY| FEATURE_VBAT | FEATURE_OSD )
+
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#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 TARGET_IO_PORTE             BIT(2)
+
+#define MAX_PWM_OUTPUT_PORTS        4
+#define USE_DSHOT
+#define USE_ESC_SENSOR
diff --git a/src/main/target/IFLIGHT_BLITZ_F7_AIO/target.c b/src/main/target/IFLIGHT_BLITZ_F7_AIO/target.c
index 54ba97a490..e46c36e050 100644
--- a/src/main/target/IFLIGHT_BLITZ_F7_AIO/target.c
+++ b/src/main/target/IFLIGHT_BLITZ_F7_AIO/target.c
@@ -30,7 +30,7 @@
 //BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM2, CH2, PB3, TIM_USE_PPM, 0, 0),                    // PPM
+    // DEF_TIM(TIM2, CH2, PB3, TIM_USE_PPM, 0, 0),                    // PPM
 
     DEF_TIM(TIM3, CH1, PB4, TIM_USE_MOTOR, 0, 0),                  // S1
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0),                  // S2
diff --git a/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.c b/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.c
index b4b6f6de0f..664ff354b4 100644
--- a/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.c
+++ b/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.c
@@ -30,7 +30,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_
 BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0),  // PPM
+    // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0),  // PPM
 
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 1),  // S1
     DEF_TIM(TIM3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S2
diff --git a/src/main/target/IFLIGHT_JBF7PRO/target.c b/src/main/target/IFLIGHT_JBF7PRO/target.c
index 676c3d6dae..dcf7ae6438 100644
--- a/src/main/target/IFLIGHT_JBF7PRO/target.c
+++ b/src/main/target/IFLIGHT_JBF7PRO/target.c
@@ -25,7 +25,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0),  // PPM
+    // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0),  // PPM
 
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S1
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S2
diff --git a/src/main/target/JHEMCUF405/CMakeLists.txt b/src/main/target/JHEMCUF405/CMakeLists.txt
new file mode 100644
index 0000000000..1c8253eb46
--- /dev/null
+++ b/src/main/target/JHEMCUF405/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(JHEMCUF405)
diff --git a/src/main/target/JHEMCUF405/target.c b/src/main/target/JHEMCUF405/target.c
new file mode 100644
index 0000000000..463a5cbc0e
--- /dev/null
+++ b/src/main/target/JHEMCUF405/target.c
@@ -0,0 +1,39 @@
+/*
+ * 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 <stdbool.h>
+#include <platform.h>
+
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,   0, 0), // S1 D(1,3,2)
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO,   0, 0), // S2 D(1,0,2)
+    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,   0, 1), // S3 D(1,7,5)
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,   0, 0), // S4 D(1,2,5)
+    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_OUTPUT_AUTO,   0, 0), // S5 D(2,4,7)
+    DEF_TIM(TIM4,  CH2, PB7,  TIM_USE_OUTPUT_AUTO,   0, 0), // S6 D(2,7,7)
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO,   0, 0), // S7
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO,   0, 0), // S8
+
+    DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_LED,   0, 0), // 2812LED  D(1,5,3)
+    DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,   0, 0), // PPM
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/JHEMCUF405/target.h b/src/main/target/JHEMCUF405/target.h
new file mode 100644
index 0000000000..6a5b2f52ab
--- /dev/null
+++ b/src/main/target/JHEMCUF405/target.h
@@ -0,0 +1,164 @@
+/*
+ * 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 "JH45"
+#define USBD_PRODUCT_STRING     "JHEMCUF405"
+
+#define LED0                    PC14  //Green
+#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_MPU6000
+#define IMU_MPU6000_ALIGN       CW90_DEG
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW90_DEG
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PB12
+#define BMI270_EXTI_PIN         GYRO_INT_EXTI
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW90_DEG
+#define ICM42605_CS_PIN         PB12
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+#define USE_EXTI
+#define GYRO_INT_EXTI            PB13
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_AK8963
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_HCSR04_I2C
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+// *************** SPI2 OSD ***************************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN   	    PC11
+#define SPI3_MOSI_PIN   	    PC12
+
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI3
+#define MAX7456_CS_PIN          PB14
+
+// *************** Onboard flash  ********************
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           PB3
+#define M25P16_SPI_BUS          BUS_SPI3
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** UART *****************************
+#define USB_IO
+#define USE_VCP
+#define VBUS_SENSING_PIN        PA8
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PD5
+#define UART2_RX_PIN            PD6
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define SERIAL_PORT_COUNT       6
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#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           PC3
+#define ADC_CHANNEL_2_PIN           PC2
+#define ADC_CHANNEL_3_PIN           PC0
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+// *************** LED2812 ************************
+#define USE_LED_STRIP
+#define WS2811_PIN              PA9
+
+// ***************  OTHERS *************************
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL)
+#define CURRENT_METER_SCALE     250
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+#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    8
diff --git a/src/main/target/JHEMCUF722/CMakeLists.txt b/src/main/target/JHEMCUF722/CMakeLists.txt
new file mode 100644
index 0000000000..abbb496eaf
--- /dev/null
+++ b/src/main/target/JHEMCUF722/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(JHEMCUF722)
diff --git a/src/main/target/JHEMCUF722/config.c b/src/main/target/JHEMCUF722/config.c
new file mode 100644
index 0000000000..caaec66ef2
--- /dev/null
+++ b/src/main/target/JHEMCUF722/config.c
@@ -0,0 +1,28 @@
+/*
+ * 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 "fc/fc_msp_box.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;  // VTX power switch
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+}
diff --git a/src/main/target/JHEMCUF722/target.c b/src/main/target/JHEMCUF722/target.c
new file mode 100644
index 0000000000..68450216a0
--- /dev/null
+++ b/src/main/target/JHEMCUF722/target.c
@@ -0,0 +1,45 @@
+/*
+ * 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"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,   BMI270_SPI_BUS,   BMI270_CS_PIN,   NONE,   0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,   MPU6000_SPI_BUS, MPU6000_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM,   0, 0 ), //PPM&SBUS 
+
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S2 DMA1_S7_CH5
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S1 - D(1,2)
+    DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S2 - D(1,4)
+    DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S3 - D(1,6)
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S6 - D(2,1)	
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S5 - D(2,4) 
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED,                          0, 0),  // LED STRIP(1,5)
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/JHEMCUF722/target.h b/src/main/target/JHEMCUF722/target.h
new file mode 100644
index 0000000000..9d34e5c820
--- /dev/null
+++ b/src/main/target/JHEMCUF722/target.h
@@ -0,0 +1,182 @@
+/*
+ * 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 "JHF7"
+#define USBD_PRODUCT_STRING     "JHEMCUF722"
+
+#define LED0                 PA15
+
+#define USE_BEEPER
+#define BEEPER               PC15
+#define BEEPER_INVERTED
+
+// PINIO
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN            PC14
+#define PINIO2_PIN            PB9  
+
+// UART
+#define USB_IO
+#define USE_VCP
+
+#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         PB11
+#define UART3_TX_PIN         PB10
+
+#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
+
+// Gyro & Acc
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#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_ICM42605
+#define IMU_ICM42605_ALIGN   CW90_DEG
+#define ICM42605_SPI_BUS     BUS_SPI1
+#define ICM42605_CS_PIN      PA4
+#define ICM42605_EXTI_PIN    PC3   
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN     CW90_DEG
+#define BMI270_SPI_BUS       BUS_SPI1
+#define BMI270_CS_PIN        PA4
+#define BMI270_EXTI_PIN      PC3   
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN    CW90_DEG
+#define MPU6000_SPI_BUS      BUS_SPI1
+#define MPU6000_CS_PIN       PA4
+#define MPU6000_EXTI_PIN     PC3
+
+// I2C (Baro & Mag)
+#define USE_I2C
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL             PB6
+#define I2C1_SDA             PB7
+
+// Baro
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+#define BARO_I2C_BUS         BUS_I2C1	
+
+// Mag
+#define USE_MAG
+#define MAG_I2C_BUS          BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+// Onboard Flash
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PC10
+#define SPI3_MISO_PIN   	 PC11
+#define SPI3_MOSI_PIN   	 PB5
+
+#define M25P16_SPI_BUS       BUS_SPI3
+#define M25P16_CS_PIN        PC13
+
+#define W25N01G_SPI_BUS      BUS_SPI3
+#define W25N01G_CS_PIN       PC13
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define USE_FLASH_W25N01G
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// OSD
+#define USE_OSD
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS      BUS_SPI2
+#define MAX7456_CS_PIN       PB12
+
+// ADC
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC1
+#define ADC_CHANNEL_2_PIN               PC2
+#define ADC_CHANNEL_3_PIN               PC0
+
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
+#define VBAT_ADC_CHANNEL                ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+
+// LED
+#define USE_LED_STRIP
+#define WS2811_PIN PA8
+
+// Optical Flow & Lidar
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_OPFLOW
+#define USE_OPFLOW_MSP
+
+// Misc
+#define DEFAULT_FEATURES     (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define SERIALRX_UART        SERIAL_PORT_USART2
+#define DEFAULT_RX_TYPE      RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER    SERIALRX_SBUS
+
+#define MAX_PWM_OUTPUT_PORTS 6
+
+#define CURRENT_METER_SCALE  250
+
+#define TARGET_IO_PORTA      0xffff
+#define TARGET_IO_PORTB      0xffff
+#define TARGET_IO_PORTC      0xffff
+#define TARGET_IO_PORTD      (BIT(2))
diff --git a/src/main/target/KAKUTEF4/CMakeLists.txt b/src/main/target/KAKUTEF4/CMakeLists.txt
index ae1ba2a46a..caf084129b 100644
--- a/src/main/target/KAKUTEF4/CMakeLists.txt
+++ b/src/main/target/KAKUTEF4/CMakeLists.txt
@@ -1,3 +1,4 @@
 target_stm32f405xg(KAKUTEF4)
 target_stm32f405xg(KAKUTEF4V2)
-target_stm32f405xg(KAKUTEF4V23)
\ No newline at end of file
+target_stm32f405xg(KAKUTEF4V23)
+target_stm32f405xg(KAKUTEF4V24)
\ No newline at end of file
diff --git a/src/main/target/KAKUTEF4/target.c b/src/main/target/KAKUTEF4/target.c
index bf58e5bdca..758dfa8b1b 100755
--- a/src/main/target/KAKUTEF4/target.c
+++ b/src/main/target/KAKUTEF4/target.c
@@ -29,26 +29,26 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM8, CH2, PC7, TIM_USE_PPM,   0, 0), // PPM IN
+    // DEF_TIM(TIM8, CH2, PC7, TIM_USE_PPM,   0, 0), // PPM IN
 
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1_OUT - DMA1_ST7
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S2_OUT - DMA1_ST2
     DEF_TIM(TIM2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 1), // S3_OUT - DMA1_ST6
-#if !defined(KAKUTEF4V23)
-    DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0), // S4_OUT - DMA1_ST1
 
-#else
-    DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0),                    // S4_OUT - DMA1_ST1
+#if defined(KAKUTEF4V23) || defined(KAKUTEF4V24)
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0), // S4_OUT - DMA1_ST1
     DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S5_OUT - DMA1_ST0
     DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6_OUT - DMA1_ST3
+#else 
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0), // S4_OUT - DMA1_ST1
 #endif
 
-#if defined(KAKUTEF4V2) || defined(KAKUTEF4V23)
+#if defined(KAKUTEF4V2) || defined(KAKUTEF4V23) || defined(KAKUTEF4V24)
     DEF_TIM(TIM8, CH3, PC8, TIM_USE_LED,                         0, 0), // LED_STRIP - DMA2_ST2
 #else
     DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0), // S5_OUT - DMA1_ST2
     DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S6_OUT - DMA2_ST4
-    DEF_TIM(TIM5, CH2, PA1, TIM_USE_LED,                         0, 0), // LED_STRIP - DMA1_ST4
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_LED,         0, 0), // LED_STRIP - DMA1_ST4
 #endif
 };
 
diff --git a/src/main/target/KAKUTEF4/target.h b/src/main/target/KAKUTEF4/target.h
index 1895b4b7e7..bc921c9f3f 100644
--- a/src/main/target/KAKUTEF4/target.h
+++ b/src/main/target/KAKUTEF4/target.h
@@ -29,6 +29,9 @@
 #elif defined(KAKUTEF4V23)
 #   define TARGET_BOARD_IDENTIFIER "KT23"
 #   define USBD_PRODUCT_STRING "KakuteF4-V2.3"
+#elif defined(KAKUTEF4V24)
+#   define TARGET_BOARD_IDENTIFIER "KT24"
+#   define USBD_PRODUCT_STRING "KakuteF4-V2.4"
 #else
 #   define TARGET_BOARD_IDENTIFIER "KTV1"
 #   define USBD_PRODUCT_STRING "KakuteF4-V1"
@@ -37,7 +40,7 @@
 #define LED0                    PB5
 #define LED1                    PB4
 
-#if !defined(KAKUTEF4V23)
+#if defined(KAKUTEF4) || defined(KAKUTEF4V2) 
 #   define LED2                 PB6
 #endif
 
@@ -54,7 +57,7 @@
 #define MPU6000_CS_PIN          PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
-#if defined(KAKUTEF4V2) || defined(KAKUTEF4V23)
+#if defined(KAKUTEF4V2) || defined(KAKUTEF4V23) || defined(KAKUTEF4V24)
 #   define USE_I2C
 #   define USE_I2C_DEVICE_1
 #   define I2C1_SCL                PB8        // SCL pad
@@ -79,11 +82,12 @@
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PB14
 
+#define USE_FLASHFS
+
+#define USE_FLASH_M25P16
 #define M25P16_CS_PIN           PB3
 #define M25P16_SPI_BUS          BUS_SPI3
-
-#define USE_FLASHFS
-#define USE_FLASH_M25P16
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
 #define USB_IO
 #define USE_VCP
@@ -105,7 +109,7 @@
 #define UART6_RX_PIN            PC7
 #define UART6_TX_PIN            PC6
 
-#if defined(KAKUTEF4V2) || defined(KAKUTEF4V23)
+#if defined(KAKUTEF4V2) || defined(KAKUTEF4V23) || defined(KAKUTEF4V24)
 #   define USE_UART4
 #   define UART4_RX_PIN            PA1
 #   define UART4_TX_PIN            PA0
@@ -153,7 +157,7 @@
 #define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
 #define RSSI_ADC_CHANNEL            ADC_CHN_3
 
-#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_TELEMETRY | FEATURE_OSD)
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_BLACKBOX)
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART3
diff --git a/src/main/target/KAKUTEF7/target.c b/src/main/target/KAKUTEF7/target.c
old mode 100755
new mode 100644
index 53ae9359de..19d524dc71
--- a/src/main/target/KAKUTEF7/target.c
+++ b/src/main/target/KAKUTEF7/target.c
@@ -29,7 +29,6 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM,                   0, 1), // PPM, DMA2_ST6
 
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0), // M1 , DMA1_ST7
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0), // M2 , DMA1_ST2
@@ -37,8 +36,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1), // M4 , DMA2_ST4
     DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // M5 , DMA2_ST7
     DEF_TIM(TIM5, CH4, PA3,  TIM_USE_OUTPUT_AUTO, 0, 0), // M6 , DMA1_ST1
+					
+    //DEF_TIM(TIM1, CH3, PE13, TIM_USE_OUTPUT_AUTO, 0, 1), // PPM/M7, DMA2_ST6
 
-    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED,                                               0, 0), // LED_STRIP, DMA1_ST0
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED,         0, 0), // LED_STRIP, DMA1_ST0
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/KAKUTEF7MINIV3/target.c b/src/main/target/KAKUTEF7MINIV3/target.c
index 095038960d..864c1de520 100644
--- a/src/main/target/KAKUTEF7MINIV3/target.c
+++ b/src/main/target/KAKUTEF7MINIV3/target.c
@@ -38,7 +38,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_OUTPUT_AUTO,  0, 0),      // S5
     DEF_TIM(TIM4,  CH2, PB7,  TIM_USE_OUTPUT_AUTO,  0, 0),      // S6
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED,                          0, 0),      // LED STRIP
-    DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM,                          0, 0),      // RX2
+    // DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM,                          0, 0),      // RX2
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/KAKUTEF7MINIV3/target.h b/src/main/target/KAKUTEF7MINIV3/target.h
index 997cad1a97..bf485ebc82 100644
--- a/src/main/target/KAKUTEF7MINIV3/target.h
+++ b/src/main/target/KAKUTEF7MINIV3/target.h
@@ -88,6 +88,13 @@
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_CS_PIN          PB2
 
+// ICM42688
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PB2
+#define ICM42605_EXTI_PIN       PA4
+
 /*
  * Blackbox Onboard Flash
  */
diff --git a/src/main/target/KROOZX/target.c b/src/main/target/KROOZX/target.c
index c77a77aaed..a445a9656f 100755
--- a/src/main/target/KROOZX/target.c
+++ b/src/main/target/KROOZX/target.c
@@ -23,7 +23,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM8, CH2, PC7,  TIM_USE_PPM,   0, 0), // PPM IN
+    // DEF_TIM(TIM8, CH2, PC7,  TIM_USE_PPM,   0, 0), // PPM IN
 
     DEF_TIM(TIM5, CH2, PA1,  TIM_USE_MOTOR, 0, 0), // PWM4
     DEF_TIM(TIM5, CH4, PA3,  TIM_USE_MOTOR, 0, 0), // PWM2
diff --git a/src/main/target/MAMBAF405US/target.c b/src/main/target/MAMBAF405US/target.c
index 1781a047e3..19ba5944c2 100644
--- a/src/main/target/MAMBAF405US/target.c
+++ b/src/main/target/MAMBAF405US/target.c
@@ -25,7 +25,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM11,  CH1,  PB9,   TIM_USE_PPM,       0, 0 ),     // PPM IN
+    // DEF_TIM(TIM11,  CH1,  PB9,   TIM_USE_PPM,       0, 0 ),     // PPM IN
 
 #ifdef MAMBAF405US_I2C
     DEF_TIM(TIM1,   CH2,  PA9,   TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S1 pin A9: DMA2 Stream 6 Channel 0
diff --git a/src/main/target/MAMBAF722/target.c b/src/main/target/MAMBAF722/target.c
index b97969e57b..e1afa9b221 100644
--- a/src/main/target/MAMBAF722/target.c
+++ b/src/main/target/MAMBAF722/target.c
@@ -25,7 +25,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM11,  CH1,  PB9,   TIM_USE_PPM,       0, 0 ),     // PPM IN
+    // DEF_TIM(TIM11,  CH1,  PB9,   TIM_USE_PPM,       0, 0 ),     // PPM IN
 
     DEF_TIM(TIM8,   CH3,  PC8,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S1_OUT – D(2, 4, 7)
     DEF_TIM(TIM8,   CH4,  PC9,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S2_OUT – D(2, 7, 7)
diff --git a/src/main/target/MAMBAF722_2022A/target.c b/src/main/target/MAMBAF722_2022A/target.c
index 9b51f13945..4d37113596 100644
--- a/src/main/target/MAMBAF722_2022A/target.c
+++ b/src/main/target/MAMBAF722_2022A/target.c
@@ -25,7 +25,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM11,  CH1,  PB9,   TIM_USE_PPM,       0, 0 ),     // PPM IN
+    // DEF_TIM(TIM11,  CH1,  PB9,   TIM_USE_PPM,       0, 0 ),     // PPM IN
 
     DEF_TIM(TIM8,   CH3,  PC8,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S1
     DEF_TIM(TIM8,   CH4,  PC9,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S2
diff --git a/src/main/target/MAMBAF722_X8/target.c b/src/main/target/MAMBAF722_X8/target.c
index 9b51f13945..4d37113596 100644
--- a/src/main/target/MAMBAF722_X8/target.c
+++ b/src/main/target/MAMBAF722_X8/target.c
@@ -25,7 +25,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM11,  CH1,  PB9,   TIM_USE_PPM,       0, 0 ),     // PPM IN
+    // DEF_TIM(TIM11,  CH1,  PB9,   TIM_USE_PPM,       0, 0 ),     // PPM IN
 
     DEF_TIM(TIM8,   CH3,  PC8,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S1
     DEF_TIM(TIM8,   CH4,  PC9,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S2
diff --git a/src/main/target/MAMBAH743/target.h b/src/main/target/MAMBAH743/target.h
index 18070e1775..7fcea85f48 100644
--- a/src/main/target/MAMBAH743/target.h
+++ b/src/main/target/MAMBAH743/target.h
@@ -60,16 +60,15 @@
 
 #ifdef MAMBAH743_2022B
 
-// SPI4 is used on the second MPU6000 gyro, we do not use it at the moment
-// #define USE_SPI_DEVICE_4
-// #define SPI4_SCK_PIN            PE12
-// #define SPI4_MISO_PIN           PE13
-// #define SPI4_MOSI_PIN           PE14
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE12
+#define SPI4_MISO_PIN           PE13
+#define SPI4_MOSI_PIN           PE14
 
 #define USE_IMU_ICM42605
-#define IMU_ICM42605_ALIGN      CW0_DEG
-#define ICM42605_SPI_BUS        BUS_SPI1
-#define ICM42605_CS_PIN         PA4
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_SPI_BUS        BUS_SPI4
+#define ICM42605_CS_PIN         PE11
 
 #endif
 
diff --git a/src/main/target/MATEKF405/target.c b/src/main/target/MATEKF405/target.c
index 254707887b..1706954b7f 100644
--- a/src/main/target/MATEKF405/target.c
+++ b/src/main/target/MATEKF405/target.c
@@ -22,7 +22,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0), // PPM
+    // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0), // PPM
 
     DEF_TIM(TIM3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
     DEF_TIM(TIM8, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 1), // S2  UP(2,1)
diff --git a/src/main/target/MATEKF405CAN/target.c b/src/main/target/MATEKF405CAN/target.c
index 2ab40de1dc..406a74ecd8 100644
--- a/src/main/target/MATEKF405CAN/target.c
+++ b/src/main/target/MATEKF405CAN/target.c
@@ -36,7 +36,7 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM2,  CH1, PA15, TIM_USE_LED,     0, 0), //2812LED  D(1,5,3)
 
-    DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM,     0, 0), //RX2
+    DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_ANY,     0, 0), //RX2
     DEF_TIM(TIM5,  CH3, PA2,  TIM_USE_ANY,     0, 0), //TX2  softserial1_Tx
 };
 
diff --git a/src/main/target/MATEKF405SE/target.c b/src/main/target/MATEKF405SE/target.c
index ef6fceaca9..6aa586e68a 100644
--- a/src/main/target/MATEKF405SE/target.c
+++ b/src/main/target/MATEKF405SE/target.c
@@ -35,7 +35,7 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM2,  CH1, PA15, TIM_USE_LED,   0, 0), //2812LED  D(1,5,3)
 
-    DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM,   0, 0), //RX2
+    // DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM,   0, 0), //RX2
     DEF_TIM(TIM5,  CH3, PA2,  TIM_USE_ANY,   0, 0), //TX2  softserial1_Tx
 };
 
diff --git a/src/main/target/MATEKF405TE/target.c b/src/main/target/MATEKF405TE/target.c
index 79f6269a52..2240915365 100644
--- a/src/main/target/MATEKF405TE/target.c
+++ b/src/main/target/MATEKF405TE/target.c
@@ -42,7 +42,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_LED,    0, 0), // 2812LED  D(1,2,5)
     DEF_TIM(TIM11, CH1,  PB9,  TIM_USE_BEEPER, 0, 0), // BEEPER PWM
     
-    DEF_TIM(TIM9,  CH2,  PA3,  TIM_USE_PPM,    0, 0), //RX2
+    // DEF_TIM(TIM9,  CH2,  PA3,  TIM_USE_PPM,    0, 0), //RX2
     DEF_TIM(TIM5,  CH3,  PA2,  TIM_USE_ANY,    0, 0), //TX2  softserial1_Tx
 };
 
diff --git a/src/main/target/MATEKF411/target.c b/src/main/target/MATEKF411/target.c
index fb2ccde3f1..9a15bfd8d1 100755
--- a/src/main/target/MATEKF411/target.c
+++ b/src/main/target/MATEKF411/target.c
@@ -35,7 +35,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // S7  D(1,5,3) - clash with S2
 
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_ANY,   0, 0), //softserial_tx2 - 2812LED TIM_USE_LED   D(2,1,6)
-    DEF_TIM(TIM5, CH1, PA0,  TIM_USE_PPM,   0, 0), //use rssi pad for PPM/softserial_tx1
+    DEF_TIM(TIM5, CH1, PA0,  TIM_USE_ANY,   0, 0), //use rssi pad for PPM/softserial_tx1
 
     //DEF_TIM(TIM5, CH3, PA2,  TIM_USE_ANY,   0, 0), // TX2
 };
diff --git a/src/main/target/MATEKF722/target.c b/src/main/target/MATEKF722/target.c
index d2575f42f2..eb4275d39f 100644
--- a/src/main/target/MATEKF722/target.c
+++ b/src/main/target/MATEKF722/target.c
@@ -25,7 +25,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,                         0, 0), // PPM
+    // DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,                         0, 0), // PPM
 
     DEF_TIM(TIM3, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 0),  // S1 D(1, 4, 5)
     DEF_TIM(TIM8, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 0),  // S2 D(2, 3, 7)
diff --git a/src/main/target/MATEKF722PX/target.c b/src/main/target/MATEKF722PX/target.c
index 170b67d951..da31a68e42 100755
--- a/src/main/target/MATEKF722PX/target.c
+++ b/src/main/target/MATEKF722PX/target.c
@@ -40,10 +40,9 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 2),                            // LED          D(2, 3, 6)
 
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),                            // RX2, PPM
-    DEF_TIM(TIM5, CH3, PA2,  TIM_USE_PWM, 0, 0),                            // TX2, softserial1_tx
-
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM, 0, 0),                           // Cam_ctrl reserved
+    // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),                            // RX2, PPM
+    DEF_TIM(TIM5, CH3, PA2,  TIM_USE_ANY, 0, 0),                            // TX2, softserial1_tx
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM, 0, 0),                           // Cam_ctrl reserved
 
 };
 
diff --git a/src/main/target/MATEKF722SE/target.c b/src/main/target/MATEKF722SE/target.c
index 6e469dfff3..585f3bb399 100644
--- a/src/main/target/MATEKF722SE/target.c
+++ b/src/main/target/MATEKF722SE/target.c
@@ -43,9 +43,9 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 2),            // LED          D(2, 6, 0)
 
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),            // PPM, RX2
+    // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),            // PPM, RX2
 
-    DEF_TIM(TIM5, CH3, PA2,  TIM_USE_PWM, 0, 0),            // TX2 & softserial1
+    DEF_TIM(TIM5, CH3, PA2,  TIM_USE_ANY, 0, 0),            // TX2 & softserial1
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/MATEKF765/target.c b/src/main/target/MATEKF765/target.c
index 712beb4c8c..6d0599a29f 100644
--- a/src/main/target/MATEKF765/target.c
+++ b/src/main/target/MATEKF765/target.c
@@ -52,8 +52,8 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM1, CH1, PA8,   TIM_USE_LED, 0, 0),        // LED_2812  D(2,6,0)
 
-    DEF_TIM(TIM8, CH2, PC7,   TIM_USE_PPM, 0, 0),        // RX6 PPM
-    DEF_TIM(TIM8, CH1, PC6,   TIM_USE_ANY, 0, 0),        // TX6
+    // DEF_TIM(TIM8, CH2, PC7,   TIM_USE_PPM, 0, 0),        // RX6 PPM
+    DEF_TIM(TIM8, CH1, PC6,   TIM_USE_ANY, 0, 0),        // TX6 and SoftwareSerial
 
     DEF_TIM(TIM11, CH1, PB9,  TIM_USE_BEEPER, 0, 0),     // BEEPER PWM for MATEKF765SE
 };
diff --git a/src/main/target/MATEKH743/target.c b/src/main/target/MATEKH743/target.c
index 1923e6623a..bc2fb01558 100644
--- a/src/main/target/MATEKH743/target.c
+++ b/src/main/target/MATEKH743/target.c
@@ -51,10 +51,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 9),    // LED_2812
     DEF_TIM(TIM2,  CH1, PA15, TIM_USE_BEEPER, 0, 0),  // BEEPER PWM
 
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PPM, 0, 0),   // RX6 PPM
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY, 0, 0),   // TX6    
-    DEF_TIM(TIM16, CH1, PB8,  TIM_USE_ANY, 0, 0),   // RX4
-    DEF_TIM(TIM17, CH1, PB9,  TIM_USE_ANY, 0, 0),   // TX4
+    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PPM, 0, 0),   // RX6 PPM
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY, 0, 0),   // TX6 SoftwareSerial   
+    // DEF_TIM(TIM16, CH1, PB8,  TIM_USE_ANY, 0, 0),   // RX4
+    // DEF_TIM(TIM17, CH1, PB9,  TIM_USE_ANY, 0, 0),   // TX4
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/NEUTRONRCF435SE/target.c b/src/main/target/NEUTRONRCF435SE/target.c
index 3a8848911f..54c4932ebe 100644
--- a/src/main/target/NEUTRONRCF435SE/target.c
+++ b/src/main/target/NEUTRONRCF435SE/target.c
@@ -26,20 +26,19 @@
 
 timerHardware_t timerHardware[] = {
 
-        DEF_TIM(TMR5, CH1, PA0,  TIM_USE_ANY,  0, 13), // TIM_USE_CAMERA_CONTROL
-        DEF_TIM(TMR5, CH2, PA1,  TIM_USE_ANY |TIM_USE_LED, 0,7), // PWM1 - LED MCO1 DMA1 CH2
-        DEF_TIM(TMR2, CH4, PA3,  TIM_USE_ANY |TIM_USE_PPM, 0,6), // PWM2 - PPM DMA1 CH6
+    DEF_TIM(TMR8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0,0), // motor1 DMA2 CH7
+    DEF_TIM(TMR8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0,2), // motor2 DMA2 CH6
+    DEF_TIM(TMR3, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0,1), // motor3 DMA2 CH5
+    DEF_TIM(TMR3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0,3), // motor4 DMA2 CH4
 
-        DEF_TIM(TMR8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0,0), // motor1 DMA2 CH7
-        DEF_TIM(TMR8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0,2), // motor2 DMA2 CH6
-        DEF_TIM(TMR3, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0,1), // motor3 DMA2 CH5
-        DEF_TIM(TMR3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0,3), // motor4 DMA2 CH4
-
-        DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0,11), // PWM1 - OUT5  DMA1 CH7
-        DEF_TIM(TMR4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0,10), // PWM2 - OUT6  DMA2 CH1
-        DEF_TIM(TMR3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0,9),  // PWM3 - OUT7  DMA2 CH2
-        DEF_TIM(TMR3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0,8),  // PWM4 - OUT8  DMA2 CH3
+    DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0,11), // PWM1 - OUT5  DMA1 CH7
+    DEF_TIM(TMR4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0,10), // PWM2 - OUT6  DMA2 CH1
+    DEF_TIM(TMR3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0,9),  // PWM3 - OUT7  DMA2 CH2
+    DEF_TIM(TMR3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0,8),  // PWM4 - OUT8  DMA2 CH3
 
+    // DEF_TIM(TMR5, CH1, PA0,  TIM_USE_ANY,  0, 13), // TIM_USE_CAMERA_CONTROL
+    DEF_TIM(TMR5, CH2, PA1,  TIM_USE_LED, 0,7), // PWM1 - LED MCO1 DMA1 CH2
+    // DEF_TIM(TMR2, CH4, PA3,  TIM_USE_ANY |TIM_USE_PPM, 0,6), // PWM2 - PPM DMA1 CH6
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/NOX/target.c b/src/main/target/NOX/target.c
index e2651956e1..647c77bfa1 100755
--- a/src/main/target/NOX/target.c
+++ b/src/main/target/NOX/target.c
@@ -24,8 +24,6 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM2, CH3, PB10, TIM_USE_PPM,  0, 0),   //PPM
-    DEF_TIM(TIM2, CH1, PA0,  TIM_USE_LED,  0, 0), //2812LED
 
     DEF_TIM(TIM5, CH2, PA1,  TIM_USE_OUTPUT_AUTO,  0, 0), // S1_OUT
     DEF_TIM(TIM1, CH1N, PA7, TIM_USE_OUTPUT_AUTO,  0, 0), // S2_OUT
@@ -34,6 +32,9 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM9, CH1, PA2,  TIM_USE_ANY,  0, 0), //UART2 TX
     DEF_TIM(TIM9, CH2, PA3,  TIM_USE_ANY,  0, 0), //UART2 RX
+
+    // DEF_TIM(TIM2, CH3, PB10, TIM_USE_PPM,  0, 0),   //PPM
+    DEF_TIM(TIM2, CH1, PA0,  TIM_USE_LED,  0, 0), //2812LED
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/OMNIBUSF4/target.c b/src/main/target/OMNIBUSF4/target.c
index 81b30e11f2..86485aa49f 100644
--- a/src/main/target/OMNIBUSF4/target.c
+++ b/src/main/target/OMNIBUSF4/target.c
@@ -24,17 +24,6 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3)
-    DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,                  0, 0), // PPM
-    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_ANY,                  0, 0), // S2_IN
-#else
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PPM,                  0, 0), // PPM
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_ANY,                  0, 0), // S2_IN
-#endif
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY,                 0, 0), // S3_IN, UART6_TX
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_ANY,                 0, 0), // S4_IN, UART6_RX
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_ANY,                 0, 0), // S5_IN // pad labelled CH5 on OMNIBUSF4PRO
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_ANY,                 0, 0), // S6_IN // pad labelled CH6 on OMNIBUSF4PRO
 
     DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,               0, 0), // S1_OUT D1_ST7
     DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO,               0, 0), // S2_OUT D1_ST2
@@ -63,6 +52,19 @@ timerHardware_t timerHardware[] = {
 #if (defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3)) && !defined(OMNIBUSF4PRO_LEDSTRIPM5)
     DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED,                                                           0, 0), // LED strip for F4 V2 / F4-Pro-0X and later (RCD_CS for F4)
 #endif
+
+#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3)
+    // DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,                  0, 0), // PPM
+    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_ANY,                  0, 0), // S2_IN
+#else
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PPM,                  0, 0), // PPM
+    DEF_TIM(TIM12, CH2, PB15, TIM_USE_ANY,                  0, 0), // S2_IN
+#endif
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY,                 0, 0), // S3_IN, UART6_TX
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_ANY,                 0, 0), // S4_IN, UART6_RX
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_ANY,                 0, 0), // S5_IN // pad labelled CH5 on OMNIBUSF4PRO
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_ANY,                 0, 0), // S6_IN // pad labelled CH6 on OMNIBUSF4PRO
+
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/OMNIBUSF7NXT/target.c b/src/main/target/OMNIBUSF7NXT/target.c
index b1eb7332dc..573c3e1bcd 100644
--- a/src/main/target/OMNIBUSF7NXT/target.c
+++ b/src/main/target/OMNIBUSF7NXT/target.c
@@ -36,7 +36,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     NONE,       1,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM,                            0, 0), // PPM / UART1_RX
+    // DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM,                            0, 0), // PPM / UART1_RX
 
     // OUTPUT 1-4
     DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO,    1, 0),  // D(1, 5, 5)
diff --git a/src/main/target/PIXRACER/target.c b/src/main/target/PIXRACER/target.c
index 73c9d6937a..2364e60aec 100755
--- a/src/main/target/PIXRACER/target.c
+++ b/src/main/target/PIXRACER/target.c
@@ -37,7 +37,7 @@ BUSDEV_REGISTER_I2C_TAG(busdev_mag3110,     DEVHW_MAG3110,      MAG_I2C_BUS,
 BUSDEV_REGISTER_SPI_TAG(busdev_hmc5983_spi, DEVHW_HMC5883,      MPU9250_SPI_BUS,    PE15,               NONE,                   1,  DEVFLAGS_NONE,    0);
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_PPM,         0, 0),   // PPM shared uart6 pc7
+    // DEF_TIM(TIM3, CH3, PB0,  TIM_USE_PPM,         0, 0),   // PPM shared uart6 pc7
 
     DEF_TIM(TIM1, CH4, PE14, TIM_USE_OUTPUT_AUTO, 0, 0),   // S1_OUT
     DEF_TIM(TIM1, CH3, PE13, TIM_USE_OUTPUT_AUTO, 0, 0),   // S2_OUT
diff --git a/src/main/target/RADIX/target.c b/src/main/target/RADIX/target.c
index db78409cda..ba10f01818 100644
--- a/src/main/target/RADIX/target.c
+++ b/src/main/target/RADIX/target.c
@@ -25,7 +25,7 @@
 
 /* TIMERS */
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PPM,      0, 0), // PPM In
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PPM,      0, 0), // PPM In
     DEF_TIM(TIM5,  CH3, PA2,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
     DEF_TIM(TIM5,  CH4, PA3,  TIM_USE_OUTPUT_AUTO, 0, 0), // S2
     DEF_TIM(TIM1,  CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c
index d1203adadc..e1a2c2e841 100644
--- a/src/main/target/REVO/target.c
+++ b/src/main/target/REVO/target.c
@@ -41,12 +41,12 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO | TIM_USE_ANY, 0, 0), // S5_OUT / LED
     DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_OUTPUT_AUTO,               0, 0), // S6_OUT D1_ST2
 
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0), // PPM (5th pin on FlexiIO port)
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0), // S2_IN
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S3_IN
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S4_IN
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S5_IN
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S6_IN
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0), // PPM (5th pin on FlexiIO port)
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0), // S2_IN
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0), // S3_IN
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 0), // S4_IN
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S5_IN
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6_IN
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/SAGEATF4/target.c b/src/main/target/SAGEATF4/target.c
index 4887541467..dd0f274b9f 100644
--- a/src/main/target/SAGEATF4/target.c
+++ b/src/main/target/SAGEATF4/target.c
@@ -26,9 +26,7 @@
 
 timerHardware_t timerHardware[] = {
 
-    DEF_TIM(TMR5, CH4, PA3,  TIM_USE_PPM,  0, 4), 						// PPM UART2_RX_PIN DMA1 CH5
-    DEF_TIM(TMR2, CH3, PB10, TIM_USE_ANY | TIM_USE_LED, 0,5), 			// PWM1 - LED MCO1 DMA1 CH6
-	DEF_TIM(TMR2, CH4, PB11, TIM_USE_ANY | TIM_USE_BEEPER, 0,6), 		// PWM2 - BB DMA1 CH7
+    // DEF_TIM(TMR5, CH4, PA3,  TIM_USE_PPM,  0, 4), 						// PPM UART2_RX_PIN DMA1 CH5
 
  	DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0,0),  // motor1 DMA1 CH1
  	DEF_TIM(TMR4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0,1),  // motor2 DMA1 CH2
@@ -40,6 +38,8 @@ timerHardware_t timerHardware[] = {
 	DEF_TIM(TMR3, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0,10), 		// PWM3 - OUT7  DMA2 CH4
 	DEF_TIM(TMR3, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0,11), 		// PWM4 - OUT8  DMA2 CH5
 
+    DEF_TIM(TMR2, CH3, PB10, TIM_USE_ANY | TIM_USE_LED, 0,5), 			// PWM1 - LED MCO1 DMA1 CH6
+	DEF_TIM(TMR2, CH4, PB11, TIM_USE_ANY | TIM_USE_BEEPER, 0,6), 		// PWM2 - BB DMA1 CH7
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/SKYSTARSF405HD/target.c b/src/main/target/SKYSTARSF405HD/target.c
index 40ab18015a..3da0f45db9 100644
--- a/src/main/target/SKYSTARSF405HD/target.c
+++ b/src/main/target/SKYSTARSF405HD/target.c
@@ -22,7 +22,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_PPM,   0, 0),
+    // DEF_TIM(TIM1, CH1, PA8,  TIM_USE_PPM,   0, 0),
 
     DEF_TIM(TIM4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0),
diff --git a/src/main/target/SKYSTARSF722HD/target.c b/src/main/target/SKYSTARSF722HD/target.c
index 72ac897455..bee870243a 100644
--- a/src/main/target/SKYSTARSF722HD/target.c
+++ b/src/main/target/SKYSTARSF722HD/target.c
@@ -22,7 +22,7 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_PPM,   0, 0),
+    // DEF_TIM(TIM3, CH1, PB4,  TIM_USE_PPM,   0, 0),
 
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0), // TIM3_CH3 / TIM8_CH3
     DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // TIM3_CH4 / TIM8_CH4
diff --git a/src/main/target/SPARKY2/target.c b/src/main/target/SPARKY2/target.c
index b4b4b29504..9364f231c5 100644
--- a/src/main/target/SPARKY2/target.c
+++ b/src/main/target/SPARKY2/target.c
@@ -24,11 +24,11 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM | TIM_USE_PPM,                                0, 0 ), // PPM IN
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM,                                              0, 0 ), // S2_IN
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                              0, 0 ), // S3_IN - GPIO_PartialRemap_TIM3
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                                              0, 0 ), // S4_IN
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                                              0, 0 ), // S5_IN
+    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM | TIM_USE_PPM,                                0, 0 ), // PPM IN
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM,                                              0, 0 ), // S2_IN
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                              0, 0 ), // S3_IN - GPIO_PartialRemap_TIM3
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                                              0, 0 ), // S4_IN
+    // DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                                              0, 0 ), // S5_IN
 
     DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,   0, 0 ), // S1_OUT
     DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO,   0, 0 ), // S2_OUT
diff --git a/src/main/target/SPEDIXF405/CMakeLists.txt b/src/main/target/SPEDIXF405/CMakeLists.txt
new file mode 100644
index 0000000000..62ce61f7c7
--- /dev/null
+++ b/src/main/target/SPEDIXF405/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(SPEDIXF405)
diff --git a/src/main/target/SPEDIXF405/target.c b/src/main/target/SPEDIXF405/target.c
new file mode 100644
index 0000000000..31a8f73544
--- /dev/null
+++ b/src/main/target/SPEDIXF405/target.c
@@ -0,0 +1,45 @@
+/*
+* This file is part of INAV Project.
+*
+* 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 "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+timerHardware_t timerHardware[] = {
+    // DEF_TIM(TIM5,  CH4,   PA3, TIM_USE_PPM,                        0, 1),
+
+    DEF_TIM(TIM3,  CH3,  PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+    DEF_TIM(TIM3,  CH4,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S2
+    DEF_TIM(TIM3,  CH2,  PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
+    DEF_TIM(TIM3,  CH1,  PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
+    DEF_TIM(TIM4,  CH1,  PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S5
+    DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+    DEF_TIM(TIM8,  CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S7
+    DEF_TIM(TIM8,  CH4,  PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
+
+    DEF_TIM(TIM1,  CH1,  PA8, TIM_USE_LED,                         0, 1),//WS2812B
+	// DEF_TIM(TIM2,  CH2,  PB3, TIM_USE_PWM | TIM_USE_FW_SERVO,      0, 0),  // "C.C"
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
+
+
diff --git a/src/main/target/SPEDIXF405/target.h b/src/main/target/SPEDIXF405/target.h
new file mode 100644
index 0000000000..3f46890b48
--- /dev/null
+++ b/src/main/target/SPEDIXF405/target.h
@@ -0,0 +1,164 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * 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/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "SPDXF405"
+
+#define USBD_PRODUCT_STRING     "SPEDIXF405"
+
+#define LED0                    PC14
+
+#define BEEPER                  PB2
+#define BEEPER_INVERTED
+
+// *************** Gyro & ACC **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG
+#define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_SPI_BUS          BUS_SPI1
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS            DEFAULT_I2C_BUS
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
+
+#define PITOT_I2C_BUS           DEFAULT_I2C_BUS
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
+
+// *************** OSD *****************************
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          SPI2_NSS_PIN
+// *************** FLASH **************************
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PA15
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define M25P16_SPI_BUS          BUS_SPI3
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** UART *****************************
+#define USE_VCP
+
+#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            PB11
+#define UART3_TX_PIN            PB10
+
+#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            NONE
+
+#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_SBUS
+#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
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+// *************** PINIO ************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                      PC13
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#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         (BIT(2))
+
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
diff --git a/src/main/target/SPEDIXF722/CMakeLists.txt b/src/main/target/SPEDIXF722/CMakeLists.txt
new file mode 100644
index 0000000000..e937ebba9e
--- /dev/null
+++ b/src/main/target/SPEDIXF722/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(SPEDIXF722)
diff --git a/src/main/target/SPEDIXF722/target.c b/src/main/target/SPEDIXF722/target.c
new file mode 100644
index 0000000000..31a8f73544
--- /dev/null
+++ b/src/main/target/SPEDIXF722/target.c
@@ -0,0 +1,45 @@
+/*
+* This file is part of INAV Project.
+*
+* 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 "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+timerHardware_t timerHardware[] = {
+    // DEF_TIM(TIM5,  CH4,   PA3, TIM_USE_PPM,                        0, 1),
+
+    DEF_TIM(TIM3,  CH3,  PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+    DEF_TIM(TIM3,  CH4,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S2
+    DEF_TIM(TIM3,  CH2,  PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
+    DEF_TIM(TIM3,  CH1,  PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
+    DEF_TIM(TIM4,  CH1,  PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S5
+    DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+    DEF_TIM(TIM8,  CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S7
+    DEF_TIM(TIM8,  CH4,  PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
+
+    DEF_TIM(TIM1,  CH1,  PA8, TIM_USE_LED,                         0, 1),//WS2812B
+	// DEF_TIM(TIM2,  CH2,  PB3, TIM_USE_PWM | TIM_USE_FW_SERVO,      0, 0),  // "C.C"
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
+
+
diff --git a/src/main/target/SPEDIXF722/target.h b/src/main/target/SPEDIXF722/target.h
new file mode 100644
index 0000000000..511381587a
--- /dev/null
+++ b/src/main/target/SPEDIXF722/target.h
@@ -0,0 +1,166 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * 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/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "SPDX722"
+
+#define USBD_PRODUCT_STRING     "SPEDIXF722"
+
+#define LED0                    PC14
+
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+// *************** Gyro & ACC **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG
+#define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_SPI_BUS          BUS_SPI1
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS            DEFAULT_I2C_BUS
+#define USE_BARO_DPS310
+
+#define USE_MAG
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
+
+#define PITOT_I2C_BUS           DEFAULT_I2C_BUS
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
+
+// *************** FLASH **************************
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PA15
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define M25P16_SPI_BUS          BUS_SPI3
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+
+// *************** OSD *****************************
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          SPI2_NSS_PIN
+
+// *************** UART *****************************
+#define USE_VCP
+
+#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            PB11
+#define UART3_TX_PIN            PB10
+
+#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            NONE
+
+#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_SBUS
+#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
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+// *************** PINIO ************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                      PC13
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#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         (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
diff --git a/src/main/target/SPEEDYBEEF4/target.c b/src/main/target/SPEEDYBEEF4/target.c
index b45c517bfa..075640d0f0 100644
--- a/src/main/target/SPEEDYBEEF4/target.c
+++ b/src/main/target/SPEEDYBEEF4/target.c
@@ -24,7 +24,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5, CH4, PA3,  TIM_USE_PPM, 0, 0), // PPM
+    // DEF_TIM(TIM5, CH4, PA3,  TIM_USE_PPM, 0, 0), // PPM
 
     DEF_TIM(TIM3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1  UP(1,2)
     DEF_TIM(TIM3, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 0), // S2  UP(2,1)
diff --git a/src/main/target/SPEEDYBEEF7/target.c b/src/main/target/SPEEDYBEEF7/target.c
index 78821f5259..ac38530b84 100644
--- a/src/main/target/SPEEDYBEEF7/target.c
+++ b/src/main/target/SPEEDYBEEF7/target.c
@@ -24,7 +24,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5, CH4, PA3,  TIM_USE_PPM,   0, 0),  // PPM
+    // DEF_TIM(TIM5, CH4, PA3,  TIM_USE_PPM,   0, 0),  // PPM
 
     DEF_TIM(TIM8, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S1
     DEF_TIM(TIM8, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 0),  // S2
diff --git a/src/main/target/SPEEDYBEEF7MINI/target.c b/src/main/target/SPEEDYBEEF7MINI/target.c
index 32b5792dda..2b0777ab57 100644
--- a/src/main/target/SPEEDYBEEF7MINI/target.c
+++ b/src/main/target/SPEEDYBEEF7MINI/target.c
@@ -46,7 +46,7 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_LED, 0, 0),                            // LED          D(2, 6, 0)
 
-    DEF_TIM(TIM1, CH3, PA10,  TIM_USE_PPM, 0, 0),                            // PPM, RX1
+    // DEF_TIM(TIM1, CH3, PA10,  TIM_USE_PPM, 0, 0),                            // PPM, RX1
 
     DEF_TIM(TIM5, CH3, PA2,  TIM_USE_PWM, 0, 0),                            // TX2 & softserial1
 };
diff --git a/src/main/target/SPEEDYBEEF7V2/target.c b/src/main/target/SPEEDYBEEF7V2/target.c
index 0914224a05..abf06021a1 100644
--- a/src/main/target/SPEEDYBEEF7V2/target.c
+++ b/src/main/target/SPEEDYBEEF7V2/target.c
@@ -27,7 +27,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_PPM,   0, 0),  // PPM
+    // DEF_TIM(TIM4, CH2, PB7,  TIM_USE_PPM,   0, 0),  // PPM
 
     DEF_TIM(TIM1, CH1, PA8,     TIM_USE_OUTPUT_AUTO, 0, 1),  // S1
     DEF_TIM(TIM1, CH2, PA9,     TIM_USE_OUTPUT_AUTO, 0, 1),  // S2
diff --git a/src/main/target/SPEEDYBEEF7V3/config.c b/src/main/target/SPEEDYBEEF7V3/config.c
index b064cd99f9..9bc0a52a89 100644
--- a/src/main/target/SPEEDYBEEF7V3/config.c
+++ b/src/main/target/SPEEDYBEEF7V3/config.c
@@ -26,9 +26,13 @@
 
 #include "fc/fc_msp_box.h"
 #include "io/serial.h"
+#include "drivers/pwm_mapping.h"
 
 void targetConfiguration(void)
 {
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_ESCSERIAL;
     pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    timerOverridesMutable(timer2id(TIM2))->outputMode = OUTPUT_MODE_MOTORS;
+    timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
+    timerOverridesMutable(timer2id(TIM4))->outputMode = OUTPUT_MODE_MOTORS;
 }
diff --git a/src/main/target/SPRACINGF4EVO/target.c b/src/main/target/SPRACINGF4EVO/target.c
index deabe8665d..5b108168c1 100755
--- a/src/main/target/SPRACINGF4EVO/target.c
+++ b/src/main/target/SPRACINGF4EVO/target.c
@@ -23,8 +23,8 @@
 
 timerHardware_t timerHardware[] =
 {
-    DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM | TIM_USE_PWM,   0, 0), // PPM / PWM1 / UART2 RX
-    DEF_TIM(TIM9,  CH1, PA2,  TIM_USE_PWM,                 0, 0), // PPM / PWM2 / UART2 TX
+    // DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM | TIM_USE_PWM,   0, 0), // PPM / PWM1 / UART2 RX
+    // DEF_TIM(TIM9,  CH1, PA2,  TIM_USE_PWM,                 0, 0), // PPM / PWM2 / UART2 TX
 
     DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 1), // ESC 1
     DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 1), // ESC 2
diff --git a/src/main/target/SPRACINGF7DUAL/target.c b/src/main/target/SPRACINGF7DUAL/target.c
index f47d1a0835..e94835b93c 100644
--- a/src/main/target/SPRACINGF7DUAL/target.c
+++ b/src/main/target/SPRACINGF7DUAL/target.c
@@ -35,8 +35,8 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_2,     DEVHW_MPU6500,      MPU6500_2_SPI_
 
 timerHardware_t timerHardware[] = {
 
-    DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM | TIM_USE_PWM,   0, 0), // PPM / PWM1 / UART2 RX
-    DEF_TIM(TIM9,  CH1, PA2,  TIM_USE_PWM,                 0, 0), // PPM / PWM2 / UART2 TX
+    // DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM | TIM_USE_PWM,   0, 0), // PPM / PWM1 / UART2 RX
+    // DEF_TIM(TIM9,  CH1, PA2,  TIM_USE_PWM,                 0, 0), // PPM / PWM2 / UART2 TX
 
 #if (SPRACINGF7DUAL_REV <= 1)
     DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_MOTOR,               0, 0), // ESC 1
diff --git a/src/main/target/TMOTORF7/target.c b/src/main/target/TMOTORF7/target.c
index 2f96517ba1..0af36aa68c 100644
--- a/src/main/target/TMOTORF7/target.c
+++ b/src/main/target/TMOTORF7/target.c
@@ -37,7 +37,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM4,  CH3,  PB8,  TIM_USE_OUTPUT_AUTO, 0, 0),
 
-    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_PPM,                 0, 0),
+    // DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_PPM,                 0, 0),
     DEF_TIM(TIM11, CH1,  PB9,  TIM_USE_ANY,                 0, 0),
 
     DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_LED,                 0, 0)
diff --git a/src/main/target/TMOTORF7/target.h b/src/main/target/TMOTORF7/target.h
index 9e935d1dc6..068894323d 100644
--- a/src/main/target/TMOTORF7/target.h
+++ b/src/main/target/TMOTORF7/target.h
@@ -52,9 +52,7 @@
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C2
-#define USE_BARO_BMP280
-#define USE_BARO_MS5611
-#define USE_BARO_DPS310
+#define USE_BARO_ALL
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
diff --git a/src/main/target/TMOTORF7V2/target.c b/src/main/target/TMOTORF7V2/target.c
index 606ac8819d..c21b0f0229 100644
--- a/src/main/target/TMOTORF7V2/target.c
+++ b/src/main/target/TMOTORF7V2/target.c
@@ -24,7 +24,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,                         0, 0),  // PPM
+    // DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM,                         0, 0),  // PPM
 
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0),  // S1
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0),  // S2
diff --git a/src/main/target/TMOTORF7V2/target.h b/src/main/target/TMOTORF7V2/target.h
index 525330e120..2691812f2f 100644
--- a/src/main/target/TMOTORF7V2/target.h
+++ b/src/main/target/TMOTORF7V2/target.h
@@ -95,7 +95,7 @@
 // BMP280 BARO --- I2C1
 #define USE_I2C
 #define USE_BARO
-#define USE_BARO_BMP280
+#define USE_BARO_ALL
 #define BARO_I2C_BUS            BUS_I2C1
 
 #define USE_I2C_DEVICE_1
diff --git a/src/main/target/YUPIF4/target.c b/src/main/target/YUPIF4/target.c
index 310ab66b0a..837647a89b 100644
--- a/src/main/target/YUPIF4/target.c
+++ b/src/main/target/YUPIF4/target.c
@@ -24,7 +24,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PPM,                                 0, 0 ), // PPM IN
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PPM,                                 0, 0 ), // PPM IN
 
     DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S1_OUT - DMA1_ST2
     DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S2_OUT - DMA1_ST4
diff --git a/src/main/target/YUPIF7/target.c b/src/main/target/YUPIF7/target.c
index cd6a17ee68..3587a8bc4b 100644
--- a/src/main/target/YUPIF7/target.c
+++ b/src/main/target/YUPIF7/target.c
@@ -24,7 +24,7 @@
 #include "drivers/bus.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PPM,                                 0, 1 ), // PPM IN
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PPM,                                 0, 1 ), // PPM IN
     DEF_TIM(TIM2,  CH1, PA0,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S1_OUT - DMA1_ST2
     DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S2_OUT - DMA1_ST4
     DEF_TIM(TIM5,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S3_OUT - DMA1_ST1