diff --git a/CMakeLists.txt b/CMakeLists.txt
index f126830cfd..04623c6774 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,7 +37,7 @@ else()
     include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}-checks.cmake")
 endif()
 
-project(INAV VERSION 5.0.0)
+project(INAV VERSION 6.0.0)
 
 enable_language(ASM)
 
diff --git a/docs/Settings.md b/docs/Settings.md
index f909e698db..73b32c563d 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2834,11 +2834,11 @@ Protocol that is used to send motor updates to ESCs. Possible values - STANDARD,
 
 ### motor_pwm_rate
 
-Output frequency (in Hz) for motor pins. Default is 400Hz for motor with motor_pwm_protocol set to STANDARD. For *SHOT (e.g. ONESHOT125) values of 1000 and 2000 have been tested by the development team and are supported. It may be possible to use higher values. For BRUSHED values of 8000 and above should be used. Setting to 8000 will use brushed mode at 8kHz switching frequency. Up to 32kHz is supported for brushed. Default is 16000 for boards with brushed motors. Note, that in brushed mode, minthrottle is offset to zero. For brushed mode, set max_throttle to 2000.
+Output frequency (in Hz) for motor pins.  Applies only to brushed motors. 
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 400 | 50 | 32000 |
+| 16000 | 50 | 32000 |
 
 ---
 
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 5217a83838..d9256f0c71 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -45,6 +45,7 @@
 #include "drivers/compass/compass.h"
 #include "drivers/sensor.h"
 #include "drivers/time.h"
+#include "drivers/pwm_output.h"
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
@@ -287,6 +288,9 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"gyroADC",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"gyroADC",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"gyroADC",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"gyroRaw",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW},
+    {"gyroRaw",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW},
+    {"gyroRaw",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW},
     {"accSmooth",   0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
     {"accSmooth",   1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
     {"accSmooth",   2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
@@ -458,6 +462,7 @@ typedef struct blackboxMainState_s {
     int16_t rcData[4];
     int16_t rcCommand[4];
     int16_t gyroADC[XYZ_AXIS_COUNT];
+    int16_t gyroRaw[XYZ_AXIS_COUNT];
     int16_t accADC[XYZ_AXIS_COUNT];
     int16_t attitude[XYZ_AXIS_COUNT];
     int32_t debug[DEBUG32_VALUE_COUNT];
@@ -548,7 +553,7 @@ static struct {
 } xmitState;
 
 // Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
-static uint32_t blackboxConditionCache;
+static uint64_t blackboxConditionCache;
 
 STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
 
@@ -688,6 +693,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
     case FLIGHT_LOG_FIELD_CONDITION_RC_DATA:
         return blackboxIncludeFlag(BLACKBOX_FEATURE_RC_DATA);
 
+    case FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW:
+        return blackboxIncludeFlag(BLACKBOX_FEATURE_GYRO_RAW);
+
     case FLIGHT_LOG_FIELD_CONDITION_NEVER:
         return false;
 
@@ -700,16 +708,20 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
 static void blackboxBuildConditionCache(void)
 {
     blackboxConditionCache = 0;
-    for (FlightLogFieldCondition cond = FLIGHT_LOG_FIELD_CONDITION_FIRST; cond <= FLIGHT_LOG_FIELD_CONDITION_LAST; cond++) {
+    for (uint8_t cond = FLIGHT_LOG_FIELD_CONDITION_FIRST; cond <= FLIGHT_LOG_FIELD_CONDITION_LAST; cond++) {
+        
+        const uint64_t position = ((uint64_t)1) << cond;
+
         if (testBlackboxConditionUncached(cond)) {
-            blackboxConditionCache |= 1 << cond;
+            blackboxConditionCache |= position;
         }
     }
 }
 
 static bool testBlackboxCondition(FlightLogFieldCondition condition)
 {
-    return (blackboxConditionCache & (1 << condition)) != 0;
+    const uint64_t position = ((uint64_t)1) << condition;
+    return (blackboxConditionCache & position) != 0;
 }
 
 static void blackboxSetState(BlackboxState newState)
@@ -848,6 +860,10 @@ static void writeIntraframe(void)
     }
 
     blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
+                     
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW)) {
+        blackboxWriteSigned16VBArray(blackboxCurrent->gyroRaw, XYZ_AXIS_COUNT);
+    }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
         blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
@@ -1097,6 +1113,10 @@ static void writeInterframe(void)
     //Since gyros, accs and motors are noisy, base their predictions on the average of the history:
     blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, gyroADC),   XYZ_AXIS_COUNT);
 
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW)) {
+        blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, gyroRaw), XYZ_AXIS_COUNT);
+    }
+
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
         blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
     }
@@ -1471,6 +1491,7 @@ static void loadMainState(timeUs_t currentTimeUs)
         blackboxCurrent->axisPID_F[i] = axisPID_F[i];
         blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
         blackboxCurrent->accADC[i] = lrintf(acc.accADCf[i] * acc.dev.acc_1G);
+        blackboxCurrent->gyroRaw[i] = lrintf(gyro.gyroRaw[i]);
 #ifdef USE_MAG
         blackboxCurrent->magADC[i] = mag.magADC[i];
 #endif
@@ -1811,7 +1832,7 @@ static bool blackboxWriteSysinfo(void)
 #endif
         BLACKBOX_PRINT_HEADER_LINE("serialrx_provider", "%d",               rxConfig()->serialrx_provider);
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d",              motorConfig()->motorPwmProtocol);
-        BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d",                  motorConfig()->motorPwmRate);
+        BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d",                  getEscUpdateFrequency());
         BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d",                      systemConfig()->debug_mode);
         BLACKBOX_PRINT_HEADER_LINE("features", "%d",                        featureConfig()->enabledFeatures);
         BLACKBOX_PRINT_HEADER_LINE("waypoints", "%d,%d",                    getWaypointCount(),isWaypointListValid());
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index 854210441d..16a32a1400 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -31,6 +31,7 @@ typedef enum {
     BLACKBOX_FEATURE_RC_DATA        = 1 << 6,
     BLACKBOX_FEATURE_RC_COMMAND     = 1 << 7,
     BLACKBOX_FEATURE_MOTORS         = 1 << 8,
+    BLACKBOX_FEATURE_GYRO_RAW       = 1 << 9,
 } blackboxFeatureMask_e;
 
 
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 9b2a1da0ff..22cfe47f2d 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -60,6 +60,7 @@ typedef enum FlightLogFieldCondition {
     FLIGHT_LOG_FIELD_CONDITION_ATTITUDE,
     FLIGHT_LOG_FIELD_CONDITION_RC_DATA,
     FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND,
+    FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW,
 
     FLIGHT_LOG_FIELD_CONDITION_NEVER,
 
diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index 258c78fe3b..6fb2b4e530 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -52,7 +52,6 @@ extern timeUs_t sectionTimes[2][4];
 
 typedef enum {
     DEBUG_NONE,
-    DEBUG_GYRO,
     DEBUG_AGL,
     DEBUG_FLOW_RAW,
     DEBUG_FLOW,
diff --git a/src/main/common/typeconversion.c b/src/main/common/typeconversion.c
index b07f41f8a0..cd83a651ca 100644
--- a/src/main/common/typeconversion.c
+++ b/src/main/common/typeconversion.c
@@ -322,7 +322,7 @@ int fastA2I(const char *s)
     }
 
     while ((digit = a2d(*s)) >= 0) {
-        if (digit > 10)
+        if (digit > 9)
             break;
         num = num * 10 + digit;
         s++;
diff --git a/src/main/drivers/barometer/barometer_ms56xx.h b/src/main/drivers/barometer/barometer_ms56xx.h
index 1d9a4371ac..d676eae94b 100644
--- a/src/main/drivers/barometer/barometer_ms56xx.h
+++ b/src/main/drivers/barometer/barometer_ms56xx.h
@@ -16,6 +16,7 @@
  */
 
 #pragma once
+
 #include "sensors/barometer.h" // for baroSensor_e enum
 
 bool ms5607Detect(baroDev_t *baro);
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index e04f90c232..db9e1e3296 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -464,26 +464,56 @@ void pwmMotorPreconfigure(void)
         case PWM_TYPE_DSHOT600:
         case PWM_TYPE_DSHOT300:
         case PWM_TYPE_DSHOT150:
-            motorConfigDigitalUpdateInterval(motorConfig()->motorPwmRate);
+            motorConfigDigitalUpdateInterval(getEscUpdateFrequency());
             motorWritePtr = pwmWriteDigital;
             break;
 #endif
     }
 }
 
+/**
+ * This function return the PWM frequency based on ESC protocol. We allow customer rates only for Brushed motors
+ */ 
+uint32_t getEscUpdateFrequency(void) {
+    switch (initMotorProtocol) {
+        case PWM_TYPE_BRUSHED:
+            return motorConfig()->motorPwmRate;
+
+        case PWM_TYPE_STANDARD:
+            return 400;
+
+        case PWM_TYPE_MULTISHOT:
+            return 2000;
+
+        case PWM_TYPE_DSHOT150:
+            return 4000;
+
+        case PWM_TYPE_DSHOT300:
+            return 8000;
+
+        case PWM_TYPE_DSHOT600:
+            return 16000;
+
+        case PWM_TYPE_ONESHOT125:
+        default:
+            return 1000;
+
+    }
+}
+
 bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, bool enableOutput)
 {
     switch (initMotorProtocol) {
     case PWM_TYPE_BRUSHED:
-        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 0.0f, 0.0f, motorConfig()->motorPwmRate, enableOutput);
+        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 0.0f, 0.0f, getEscUpdateFrequency(), enableOutput);
         break;
 
     case PWM_TYPE_ONESHOT125:
-        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 125e-6f, 125e-6f, motorConfig()->motorPwmRate, enableOutput);
+        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 125e-6f, 125e-6f, getEscUpdateFrequency(), enableOutput);
         break;
 
     case PWM_TYPE_MULTISHOT:
-        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 5e-6f, 20e-6f, motorConfig()->motorPwmRate, enableOutput);
+        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 5e-6f, 20e-6f, getEscUpdateFrequency(), enableOutput);
         break;
 
 #ifdef USE_DSHOT
@@ -495,7 +525,7 @@ bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, bo
 #endif
 
     case PWM_TYPE_STANDARD:
-        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 1e-3f, 1e-3f, motorConfig()->motorPwmRate, enableOutput);
+        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 1e-3f, 1e-3f, getEscUpdateFrequency(), enableOutput);
         break;
 
     default:
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index b78d5b5e17..b3c0fa6be0 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -55,4 +55,6 @@ void pwmWriteBeeper(bool onoffBeep);
 void beeperPwmInit(ioTag_t tag, uint16_t frequency);
 
 void sendDShotCommand(dshotCommands_e cmd);
-void initDShotCommands(void);
\ No newline at end of file
+void initDShotCommands(void);
+
+uint32_t getEscUpdateFrequency(void);
\ No newline at end of file
diff --git a/src/main/drivers/serial.h b/src/main/drivers/serial.h
index 05d31fb024..fcb787ded9 100644
--- a/src/main/drivers/serial.h
+++ b/src/main/drivers/serial.h
@@ -38,8 +38,6 @@ typedef enum portOptions_t {
     SERIAL_PARITY_EVEN   = 1 << 2,
     SERIAL_UNIDIR        = 0 << 3,
     SERIAL_BIDIR         = 1 << 3,
-    SERIAL_LONGSTOP      = 0 << 4,
-    SERIAL_SHORTSTOP     = 1 << 4,
 
     /*
      * Note on SERIAL_BIDIR_PP
@@ -52,6 +50,9 @@ typedef enum portOptions_t {
     SERIAL_BIDIR_PP      = 1 << 4,
     SERIAL_BIDIR_NOPULL  = 1 << 5, // disable pulls in BIDIR RX mode
     SERIAL_BIDIR_UP      = 0 << 5, // enable pullup in BIDIR mode
+
+    SERIAL_LONGSTOP      = 0 << 6,
+    SERIAL_SHORTSTOP     = 1 << 6,
 } portOptions_t;
 
 typedef void (*serialReceiveCallbackPtr)(uint16_t data, void *rxCallbackData);   // used by serial drivers to return frames to app
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 8beac13f17..bcff67138b 100644
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -164,7 +164,7 @@ static const char * const featureNames[] = {
 
 #ifdef USE_BLACKBOX
 static const char * const blackboxIncludeFlagNames[] = {
-    "NAV_ACC", "NAV_POS", "NAV_PID", "MAG", "ACC", "ATTI", "RC_DATA", "RC_COMMAND", "MOTORS", NULL
+    "NAV_ACC", "NAV_POS", "NAV_PID", "MAG", "ACC", "ATTI", "RC_DATA", "RC_COMMAND", "MOTORS", "GYRO_RAW", NULL
 };
 #endif
 
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 205289a3ca..13480eed7a 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -107,7 +107,7 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
     .enabledFeatures = DEFAULT_FEATURES | COMMON_DEFAULT_FEATURES
 );
 
-PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 5);
+PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 6);
 
 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
     .current_profile_index = 0,
@@ -237,40 +237,8 @@ void validateAndFixConfig(void)
     }
 #endif
 
-#ifdef BRUSHED_MOTORS
     motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 500, 32000);
-#else
-    switch (motorConfig()->motorPwmProtocol) {
-    default:
-    case PWM_TYPE_STANDARD: // Limited to 490 Hz
-        motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 490);
-        break;
-    case PWM_TYPE_ONESHOT125:   // Limited to 3900 Hz
-        motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 3900);
-        break;
-    case PWM_TYPE_MULTISHOT:    // 2-16 kHz
-        motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 16000);
-        break;
-    case PWM_TYPE_BRUSHED:      // 500Hz - 32kHz
-        motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 500, 32000);
-        break;
-#ifdef USE_DSHOT
-    // One DSHOT packet takes 16 bits x 19 ticks + 2uS = 304 timer ticks + 2uS
-    case PWM_TYPE_DSHOT150:
-        motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 4000);
-        break;
-    case PWM_TYPE_DSHOT300:
-        motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 8000);
-        break;
-    // Although DSHOT 600+ support >16kHz update rate it's not practical because of increased CPU load
-    // It's more reasonable to use slower-speed DSHOT at higher rate for better reliability
-    case PWM_TYPE_DSHOT600:
-        motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 16000);
-        break;
-#endif
-    }
-#endif
-
+    
     // Call target-specific validation function
     validateAndFixTargetConfig();
 
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index f4a320bf29..13f85b4608 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -265,7 +265,26 @@ static void updateArmingStatus(void)
 #endif
 
         /* CHECK: */
-        if (sensors(SENSOR_ACC) && !STATE(ACCELEROMETER_CALIBRATED)) {
+        if (
+            sensors(SENSOR_ACC) && 
+            !STATE(ACCELEROMETER_CALIBRATED) &&
+            // Require ACC calibration only if any of the setting might require it
+            (
+                isModeActivationConditionPresent(BOXNAVPOSHOLD) ||
+                isModeActivationConditionPresent(BOXNAVRTH) ||
+                isModeActivationConditionPresent(BOXNAVWP) ||
+                isModeActivationConditionPresent(BOXANGLE) ||
+                isModeActivationConditionPresent(BOXHORIZON) ||
+                isModeActivationConditionPresent(BOXNAVALTHOLD) ||
+                isModeActivationConditionPresent(BOXHEADINGHOLD) ||
+                isModeActivationConditionPresent(BOXNAVLAUNCH) ||
+                isModeActivationConditionPresent(BOXTURNASSIST) ||
+                isModeActivationConditionPresent(BOXNAVCOURSEHOLD) ||
+                isModeActivationConditionPresent(BOXSOARING) ||
+                failsafeConfig()->failsafe_procedure != FAILSAFE_PROCEDURE_DROP_IT
+
+            )
+        ) {
             ENABLE_ARMING_FLAG(ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED);
         }
         else {
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 9b03757c90..9a391ba4e3 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -19,7 +19,7 @@ tables:
     values: ["NONE", "CXOF", "MSP", "FAKE"]
     enum: opticalFlowSensor_e
   - name: baro_hardware
-    values: ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "LPS25H", "SPL06", "BMP388", "DPS310", "MSP", "FAKE"]
+    values: ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "LPS25H", "SPL06", "BMP388", "DPS310", "B2SMPB", "MSP", "FAKE"]
     enum: baroSensor_e
   - name: pitot_hardware
     values: ["NONE", "AUTO", "MS4525", "ADC", "VIRTUAL", "FAKE", "MSP"]
@@ -91,14 +91,12 @@ tables:
   - name: i2c_speed
     values: ["400KHZ", "800KHZ", "100KHZ", "200KHZ"]
   - name: debug_modes
-    values: ["NONE", "GYRO", "AGL", "FLOW_RAW",
+    values: ["NONE", "AGL", "FLOW_RAW",
       "FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
       "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
       "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
       "IRLOCK", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "IMU2", "ALTITUDE",
       "SMITH_PREDICTOR", "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS", "LANDING"]
-  - name: async_mode
-    values: ["NONE", "GYRO", "ALL"]
   - name: aux_operator
     values: ["OR", "AND"]
     enum: modeActivationOperator_e
@@ -848,8 +846,8 @@ groups:
         min: 0
         max: PWM_RANGE_MAX
       - name: motor_pwm_rate
-        description: "Output frequency (in Hz) for motor pins. Default is 400Hz for motor with motor_pwm_protocol set to STANDARD. For *SHOT (e.g. ONESHOT125) values of 1000 and 2000 have been tested by the development team and are supported. It may be possible to use higher values. For BRUSHED values of 8000 and above should be used. Setting to 8000 will use brushed mode at 8kHz switching frequency. Up to 32kHz is supported for brushed. Default is 16000 for boards with brushed motors. Note, that in brushed mode, minthrottle is offset to zero. For brushed mode, set max_throttle to 2000."
-        default_value: 400
+        description: "Output frequency (in Hz) for motor pins.  Applies only to brushed motors. "
+        default_value: 16000
         field: motorPwmRate
         min: 50
         max: 32000
diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index 7596583273..94fa23b844 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -147,7 +147,8 @@ static float computeParabolaMean(gyroAnalyseState_t *state, uint8_t peakBinIndex
     // Estimate true peak position aka. preciseBin (fit parabola y(x) over y0, y1 and y2, solve dy/dx=0 for x)
     const float denom = 2.0f * (y0 - 2 * y1 + y2);
     if (denom != 0.0f) {
-        preciseBin += (y0 - y2) / denom;
+        //Cap precise bin to prevent off values if parabola is not fitted correctly
+        preciseBin += constrainf((y0 - y2) / denom, -0.5f, 0.5f);
     }
 
     return preciseBin;
diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
index a2ea21d523..90715b3c81 100755
--- a/src/main/io/gps_ublox.c
+++ b/src/main/io/gps_ublox.c
@@ -67,6 +67,14 @@
 #define UBX_VALID_GPS_TIME(valid) (valid & 1 << 1)
 #define UBX_VALID_GPS_DATE_TIME(valid) (UBX_VALID_GPS_DATE(valid) && UBX_VALID_GPS_TIME(valid))
 
+#define UBX_HW_VERSION_UNKNOWN  0
+#define UBX_HW_VERSION_UBLOX5   500
+#define UBX_HW_VERSION_UBLOX6   600
+#define UBX_HW_VERSION_UBLOX7   700
+#define UBX_HW_VERSION_UBLOX8   800
+#define UBX_HW_VERSION_UBLOX9   900
+#define UBX_HW_VERSION_UBLOX10  1000
+
 // SBAS_AUTO, SBAS_EGNOS, SBAS_WAAS, SBAS_MSAS, SBAS_GAGAN, SBAS_NONE
 // note PRNs last upadted 2020-12-18
 
@@ -557,11 +565,45 @@ static void configureSBAS(void)
     sendConfigMessageUBLOX();
 }
 
+static uint32_t gpsDecodeHardwareVersion(const char * szBuf, unsigned nBufSize)
+{
+    // ublox_5   hwVersion 00040005
+    if (strncmp(szBuf, "00040005", nBufSize) == 0) {
+        return UBX_HW_VERSION_UBLOX5;
+    }
+
+    // ublox_6   hwVersion 00040007
+    if (strncmp(szBuf, "00040007", nBufSize) == 0) {
+        return UBX_HW_VERSION_UBLOX6;
+    }
+
+    // ublox_7   hwVersion 00070000
+    if (strncmp(szBuf, "00070000", nBufSize) == 0) {
+        return UBX_HW_VERSION_UBLOX7;
+    }
+
+    // ublox_M8  hwVersion 00080000
+    if (strncmp(szBuf, "00080000", nBufSize) == 0) {
+        return UBX_HW_VERSION_UBLOX8;
+    }
+
+    // ublox_M9  hwVersion 00190000
+    if (strncmp(szBuf, "00190000", nBufSize) == 0) {
+        return UBX_HW_VERSION_UBLOX9;
+    }
+
+    // ublox_M10 hwVersion 000A0000
+    if (strncmp(szBuf, "000A0000", nBufSize) == 0) {
+        return UBX_HW_VERSION_UBLOX10;
+    }
+
+    return UBX_HW_VERSION_UNKNOWN;
+}
+
 static bool gpsParceFrameUBLOX(void)
 {
     switch (_msg_id) {
     case MSG_POSLLH:
-        //i2c_dataset.time                = _buffer.posllh.time;
         gpsSol.llh.lon = _buffer.posllh.longitude;
         gpsSol.llh.lat = _buffer.posllh.latitude;
         gpsSol.llh.alt = _buffer.posllh.altitude_msl / 10;  //alt in cm
@@ -647,11 +689,8 @@ static bool gpsParceFrameUBLOX(void)
         break;
     case MSG_VER:
         if (_class == CLASS_MON) {
-            //uint32_t swver = _buffer.ver.swVersion;
-            // EXT CORE 3.01 (107900)
-            // 01234567890123456789012
-            gpsState.hwVersion = fastA2I(_buffer.ver.hwVersion);
-            if  ((gpsState.hwVersion >= 80000) && (_buffer.ver.swVersion[9] > '2')) {
+            gpsState.hwVersion = gpsDecodeHardwareVersion(_buffer.ver.hwVersion, sizeof(_buffer.ver.hwVersion));
+            if  ((gpsState.hwVersion >= UBX_HW_VERSION_UBLOX8) && (_buffer.ver.swVersion[9] > '2')) {
                 // check extensions;
                 // after hw + sw vers; each is 30 bytes
                 for(int j = 40; j < _payload_length; j += 30) {
@@ -823,9 +862,8 @@ STATIC_PROTOTHREAD(gpsConfigure)
     // Configure UBX binary messages
     gpsSetProtocolTimeout(GPS_SHORT_TIMEOUT);
 
-    // u-Blox 9
-    // M9N does not support some of the UBX 6/7/8 messages, so we have to configure it using special sequence
-    if (gpsState.hwVersion >= 190000) {
+    // M9N & M10 does not support some of the UBX 6/7/8 messages, so we have to configure it using special sequence
+    if (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX9) {
         configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 0);
         ptWait(_ack_state == UBX_ACK_GOT_ACK);
 
@@ -853,9 +891,41 @@ STATIC_PROTOTHREAD(gpsConfigure)
         ptWait(_ack_state == UBX_ACK_GOT_ACK);
     }
     else {
-        // u-Blox 6/7/8
-        // u-Blox 6 doesn't support PVT, use legacy config
-        if ((gpsState.gpsConfig->provider == GPS_UBLOX) || (gpsState.hwVersion < 70000)) {
+        // u-Blox 5/6/7/8 or unknown
+        // u-Blox 7-8 support PVT
+        if (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX7) {
+            configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 0);
+            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+
+            configureMSG(MSG_CLASS_UBX, MSG_STATUS, 0);
+            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+
+            configureMSG(MSG_CLASS_UBX, MSG_SOL, 1);
+            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+
+            configureMSG(MSG_CLASS_UBX, MSG_VELNED, 0);
+            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+
+            configureMSG(MSG_CLASS_UBX, MSG_TIMEUTC, 0);
+            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+
+            configureMSG(MSG_CLASS_UBX, MSG_PVT, 1);
+            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+
+            configureMSG(MSG_CLASS_UBX, MSG_SVINFO, 0);
+            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+
+            if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX7)) {
+                configureRATE(100); // 10Hz
+            }
+            else {
+                configureRATE(200); // 5Hz
+            }
+            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+        }
+        // u-Blox 5/6 doesn't support PVT, use legacy config
+        // UNKNOWN also falls here, use as a last resort
+        else {
             configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 1);
             ptWait(_ack_state == UBX_ACK_GOT_ACK);
 
@@ -882,37 +952,6 @@ STATIC_PROTOTHREAD(gpsConfigure)
             configureRATE(200);
             ptWait(_ack_state == UBX_ACK_GOT_ACK);
         }
-        // u-Blox 7-8 support PVT
-        else {
-            configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 0);
-            ptWait(_ack_state == UBX_ACK_GOT_ACK);
-
-            configureMSG(MSG_CLASS_UBX, MSG_STATUS, 0);
-            ptWait(_ack_state == UBX_ACK_GOT_ACK);
-
-            configureMSG(MSG_CLASS_UBX, MSG_SOL, 1);
-            ptWait(_ack_state == UBX_ACK_GOT_ACK);
-
-            configureMSG(MSG_CLASS_UBX, MSG_VELNED, 0);
-            ptWait(_ack_state == UBX_ACK_GOT_ACK);
-
-            configureMSG(MSG_CLASS_UBX, MSG_TIMEUTC, 0);
-            ptWait(_ack_state == UBX_ACK_GOT_ACK);
-
-            configureMSG(MSG_CLASS_UBX, MSG_PVT, 1);
-            ptWait(_ack_state == UBX_ACK_GOT_ACK);
-
-            configureMSG(MSG_CLASS_UBX, MSG_SVINFO, 0);
-            ptWait(_ack_state == UBX_ACK_GOT_ACK);
-
-            if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= 70000)) {
-                configureRATE(100); // 10Hz
-            }
-            else {
-                configureRATE(200); // 5Hz
-            }
-            ptWait(_ack_state == UBX_ACK_GOT_ACK);
-        }
     }
 
     // Configure SBAS
@@ -994,14 +1033,14 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
         gpsSetProtocolTimeout(MAX(GPS_TIMEOUT, ((GPS_VERSION_RETRY_TIMES + 3) * GPS_CFG_CMD_TIMEOUT_MS)));
 
         // Attempt to detect GPS hw version
-        gpsState.hwVersion = 0;
+        gpsState.hwVersion = UBX_HW_VERSION_UNKNOWN;
         gpsState.autoConfigStep = 0;
 
         do {
             pollVersion();
             gpsState.autoConfigStep++;
-            ptWaitTimeout((gpsState.hwVersion != 0), GPS_CFG_CMD_TIMEOUT_MS);
-        } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == 0);
+            ptWaitTimeout((gpsState.hwVersion != UBX_HW_VERSION_UNKNOWN), GPS_CFG_CMD_TIMEOUT_MS);
+        } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN);
 
         // Configure GPS
         ptSpawn(gpsConfigure);
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 8ccb727da5..1dbec4cf40 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1209,7 +1209,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
 
             if (STATE(FIXED_WING_LEGACY)) {
                 // Airplane - climbout before heading home
-                if (navConfig()->general.flags.rth_climb_first == ON_FW_SPIRAL) {
+                if (navConfig()->general.flags.rth_climb_first == RTH_CLIMB_ON_FW_SPIRAL) {
                     // Spiral climb centered at xy of RTH activation
                     calculateInitialHoldPosition(&targetHoldPos);
                 } else {
@@ -1258,7 +1258,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
     const float rthAltitudeMargin = MAX(FW_RTH_CLIMB_MARGIN_MIN_CM, (rthClimbMarginPercent/100.0) * fabsf(posControl.rthState.rthInitialAltitude - posControl.rthState.homePosition.pos.z));
 
     // If we reached desired initial RTH altitude or we don't want to climb first
-    if (((navGetCurrentActualPositionAndVelocity()->pos.z - posControl.rthState.rthInitialAltitude) > -rthAltitudeMargin) || (navConfig()->general.flags.rth_climb_first == OFF) || rthAltControlStickOverrideCheck(ROLL) || rthClimbStageActiveAndComplete()) {
+    if (((navGetCurrentActualPositionAndVelocity()->pos.z - posControl.rthState.rthInitialAltitude) > -rthAltitudeMargin) || (navConfig()->general.flags.rth_climb_first == RTH_CLIMB_OFF) || rthAltControlStickOverrideCheck(ROLL) || rthClimbStageActiveAndComplete()) {
 
         // Delayed initialization for RTH sanity check on airplanes - allow to finish climb first as it can take some distance
         if (STATE(FIXED_WING_LEGACY)) {
@@ -1289,7 +1289,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
 
         // Climb to safe altitude and turn to correct direction
         if (STATE(FIXED_WING_LEGACY)) {
-            if (navConfig()->general.flags.rth_climb_first == ON_FW_SPIRAL) {
+            if (navConfig()->general.flags.rth_climb_first == RTH_CLIMB_ON_FW_SPIRAL) {
                 float altitudeChangeDirection = (tmpHomePos->z += FW_RTH_CLIMB_OVERSHOOT_CM) > navGetCurrentActualPositionAndVelocity()->pos.z ? 1 : -1;
                 updateClimbRateToAltitudeController(altitudeChangeDirection * navConfig()->general.max_auto_climb_rate, ROC_TO_ALT_NORMAL);
             } else {
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 55949a33a5..01585d4524 100644
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -139,9 +139,9 @@ typedef enum {
 } navOverridesMotorStop_e;
 
 typedef enum {
-    OFF,
-    ON,
-    ON_FW_SPIRAL,
+    RTH_CLIMB_OFF,
+    RTH_CLIMB_ON,
+    RTH_CLIMB_ON_FW_SPIRAL,
 } navRTHClimbFirst_e;
 
 typedef enum {  // keep aligned with fixedWingLaunchState_t
diff --git a/src/main/sensors/barometer.h b/src/main/sensors/barometer.h
index 79ffa6339d..7358c64ffe 100644
--- a/src/main/sensors/barometer.h
+++ b/src/main/sensors/barometer.h
@@ -35,7 +35,7 @@ typedef enum {
     BARO_B2SMPB = 10,
     BARO_MSP    = 11,
     BARO_FAKE   = 12,
-    BARO_MAX = BARO_FAKE
+    BARO_MAX    = BARO_FAKE
 } baroSensor_e;
 
 typedef struct baro_s {
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index d23779abdf..95b2c275d8 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -505,7 +505,8 @@ void FAST_CODE NOINLINE gyroUpdate()
         // At this point gyro.gyroADCf contains unfiltered gyro value [deg/s]
         float gyroADCf = gyro.gyroADCf[axis];
 
-        DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
+        // Set raw gyro for blackbox purposes
+        gyro.gyroRaw[axis] = gyroADCf;
 
         /*
          * First gyro LPF is the only filter applied with the full gyro sampling speed
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 88e15db8c8..6021afdde6 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -48,6 +48,7 @@ typedef struct gyro_s {
     bool initialized;
     uint32_t targetLooptime;
     float gyroADCf[XYZ_AXIS_COUNT];
+    float gyroRaw[XYZ_AXIS_COUNT];
 } gyro_t;
 
 extern gyro_t gyro;
diff --git a/src/main/target/ASGARD32F4/config.c b/src/main/target/ASGARD32F4/config.c
index eb6793cbff..9aaa2793ce 100644
--- a/src/main/target/ASGARD32F4/config.c
+++ b/src/main/target/ASGARD32F4/config.c
@@ -36,6 +36,5 @@ void targetConfiguration(void)
 {
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
     motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
-    motorConfigMutable()->motorPwmRate = 4000;
     motorConfigMutable()->maxthrottle = 1950;
 }
diff --git a/src/main/target/ASGARD32F7/config.c b/src/main/target/ASGARD32F7/config.c
index eb6793cbff..9aaa2793ce 100644
--- a/src/main/target/ASGARD32F7/config.c
+++ b/src/main/target/ASGARD32F7/config.c
@@ -36,6 +36,5 @@ void targetConfiguration(void)
 {
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
     motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
-    motorConfigMutable()->motorPwmRate = 4000;
     motorConfigMutable()->maxthrottle = 1950;
 }
diff --git a/src/main/target/FIREWORKSV2/target.c b/src/main/target/FIREWORKSV2/target.c
index 0e4ca76ef6..133c2bd1d7 100644
--- a/src/main/target/FIREWORKSV2/target.c
+++ b/src/main/target/FIREWORKSV2/target.c
@@ -73,7 +73,6 @@ void validateAndFixTargetConfig(void)
     if (mixerConfig()->platformType != PLATFORM_MULTIROTOR && mixerConfig()->platformType != PLATFORM_TRICOPTER) {
         if (motorConfig()->motorPwmProtocol >= PWM_TYPE_DSHOT150) {
             motorConfigMutable()->motorPwmProtocol = PWM_TYPE_STANDARD;
-            motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 490);
         }
     }
 }
diff --git a/src/main/target/SKYSTARSF405HD/target.h b/src/main/target/SKYSTARSF405HD/target.h
index ec83125d5f..6f71d52821 100644
--- a/src/main/target/SKYSTARSF405HD/target.h
+++ b/src/main/target/SKYSTARSF405HD/target.h
@@ -35,15 +35,21 @@
 #define SPI1_MISO_PIN	        PA6
 #define SPI1_MOSI_PIN	        PA7
 
-#define MPU6000_CS_PIN          PA4
-#define MPU6000_SPI_BUS         BUS_SPI1
-
 #define USE_EXTI
 #define GYRO_INT_EXTI           PC4
 #define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG_FLIP
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          PA4
+//#define MPU6000_EXTI_PIN        GYRO_INT_EXTI
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW180_DEG_FLIP
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PA4
+#define BMI270_EXTI_PIN         GYRO_INT_EXTI
 
 // *************** M25P256 flash ********************
 #define USE_FLASHFS
diff --git a/src/main/target/SKYSTARSF722HD/CMakeLists.txt b/src/main/target/SKYSTARSF722HD/CMakeLists.txt
new file mode 100644
index 0000000000..e2a8b28967
--- /dev/null
+++ b/src/main/target/SKYSTARSF722HD/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(SKYSTARSF722HD)
diff --git a/src/main/target/SKYSTARSF722HD/config.c b/src/main/target/SKYSTARSF722HD/config.c
new file mode 100644
index 0000000000..6dd129e144
--- /dev/null
+++ b/src/main/target/SKYSTARSF722HD/config.c
@@ -0,0 +1,29 @@
+/*
+ * 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)
+{
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_DJI_HD_OSD;
+}
diff --git a/src/main/target/SKYSTARSF722HD/target.c b/src/main/target/SKYSTARSF722HD/target.c
new file mode 100644
index 0000000000..28d9e8b757
--- /dev/null
+++ b/src/main/target/SKYSTARSF722HD/target.c
@@ -0,0 +1,35 @@
+/*
+ * 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, CH1, PB4,  TIM_USE_PPM,   0, 0),
+
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // TIM3_CH3 / TIM8_CH3
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // TIM3_CH4 / TIM8_CH4
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // TIM4_CH1
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // TIM4_CH2
+
+    DEF_TIM(TIM2, CH2, PB3,  TIM_USE_LED, 0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/SKYSTARSF722HD/target.h b/src/main/target/SKYSTARSF722HD/target.h
new file mode 100644
index 0000000000..6a282f49dd
--- /dev/null
+++ b/src/main/target/SKYSTARSF722HD/target.h
@@ -0,0 +1,163 @@
+/*
+ * 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 "SS7D"
+
+#define USBD_PRODUCT_STRING  "SkystarsF722HD"
+
+#define LED0                    PC14 // green
+#define LED1                    PC15 // blue
+
+#define BEEPER                  PB2
+#define BEEPER_INVERTED
+
+// *************** 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 BMI270_CS_PIN           PA4
+#define BMI270_SPI_BUS          BUS_SPI1
+
+#define USE_EXTI
+#define GYRO_INT_EXTI           PC4
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW90_DEG_FLIP
+
+// *************** M25P256 flash ********************
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#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           PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** OSD & baro ***********************
+#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
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define BMP280_SPI_BUS          BUS_SPI2
+#define BMP280_CS_PIN           PB1
+
+// *************** 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            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
+
+// *************** I2C ****************************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_MAG
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+#define USE_MAG_AK8963
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
+
+#define BNO055_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           PC3
+#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    4
diff --git a/src/main/target/SPEEDYBEEF4/target.c b/src/main/target/SPEEDYBEEF4/target.c
index c20ca2caed..be21bfbb26 100644
--- a/src/main/target/SPEEDYBEEF4/target.c
+++ b/src/main/target/SPEEDYBEEF4/target.c
@@ -26,13 +26,13 @@
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM5, CH4, PA3,  TIM_USE_PPM, 0, 0), // PPM
 
-    DEF_TIM(TIM3, CH1, PC6,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S1  UP(1,2)
-    DEF_TIM(TIM3, CH2, PC7,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S2  UP(2,1)
+    DEF_TIM(TIM3, CH1, PC6,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S1  UP(1,2)
+    DEF_TIM(TIM3, CH2, PC7,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S2  UP(2,1)
     DEF_TIM(TIM3, CH3, PC8,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S3  UP(2,1)
     DEF_TIM(TIM3, CH4, PC9,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S4  UP(2,1)
 
-    DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S5  UP(1,7)
-    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S6  UP(2,5)
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_MOTOR, 0, 0), // S5  UP(1,7)
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_MOTOR, 0, 0), // S6  UP(2,5)
     DEF_TIM(TIM4, CH3, PB8,  TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S7  D(1,7)!S5 UP(2,6)
 
     DEF_TIM(TIM4, CH1, PB6,  TIM_USE_LED, 0, 0),   // LED D(1,0) UP(2,6)