diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c
index 46e8fbe9a4..75772a9161 100755
--- a/src/main/flight/navigation_rewrite.c
+++ b/src/main/flight/navigation_rewrite.c
@@ -36,6 +36,7 @@
 #include "sensors/boardalignment.h"
 
 #include "io/beeper.h"
+#include "io/gps.h"
 
 #include "flight/pid.h"
 #include "flight/imu.h"
@@ -512,7 +513,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS(nav
 
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_2D_INITIALIZE(navigationFSMState_t previousState)
 {
-    if ((navGetStateFlags(previousState) & NAV_CTL_POS) == 0) {
+    navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
+
+    if (((prevFlags & NAV_CTL_POS) == 0) || ((prevFlags & NAV_AUTO_RTH) != 0) || ((prevFlags & NAV_AUTO_WP) != 0)) {
         t_fp_vector targetHoldPos;
 
         resetPositionController();
@@ -531,7 +534,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_2D_IN_PROGRESS(
 
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(navigationFSMState_t previousState)
 {
-    if ((navGetStateFlags(previousState) & NAV_CTL_ALT) == 0) {
+    navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
+
+    if (((prevFlags & NAV_CTL_ALT) == 0) || ((prevFlags & NAV_AUTO_RTH) != 0) || ((prevFlags & NAV_AUTO_WP) != 0)) {
         resetAltitudeController();
         setupAltitudeController();
 
@@ -540,7 +545,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(n
         setDesiredPosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z);
     }
 
-    if ((navGetStateFlags(previousState) & NAV_CTL_POS) == 0) {
+    if (((prevFlags & NAV_CTL_POS) == 0) || ((prevFlags & NAV_AUTO_RTH) != 0) || ((prevFlags & NAV_AUTO_WP) != 0)) {
         t_fp_vector targetHoldPos;
 
         resetPositionController();
@@ -1588,12 +1593,10 @@ void applyWaypointNavigationAndAltitudeHold(void)
 
 #if defined(NAV_BLACKBOX)
     navFlags = 0;
-    if (posControl.flags.verticalPositionNewData)   navFlags |= (1 << 0);
-    if (posControl.flags.horizontalPositionNewData) navFlags |= (1 << 1);
-    if (posControl.flags.headingNewData)            navFlags |= (1 << 2);
-    if (posControl.flags.hasValidAltitudeSensor)    navFlags |= (1 << 3);
-    if (posControl.flags.hasValidSurfaceSensor)     navFlags |= (1 << 4);
-    if (posControl.flags.hasValidPositionSensor)    navFlags |= (1 << 5);
+    if (posControl.flags.hasValidAltitudeSensor)    navFlags |= (1 << 0);
+    if (posControl.flags.hasValidSurfaceSensor)     navFlags |= (1 << 1);
+    if (posControl.flags.hasValidPositionSensor)    navFlags |= (1 << 2);
+    if ((STATE(GPS_FIX) && GPS_numSat >= 5))        navFlags |= (1 << 3);
 #endif
 
     // No navigation when disarmed
@@ -1679,7 +1682,8 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
     }
 
     if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {
-        return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
+        if (canActivatePosHold && canActivateAltHold && STATE(GPS_FIX_HOME) && ARMING_FLAG(ARMED))
+            return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
     }
 
     if (IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 1625152a31..18738bb61e 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -2411,7 +2411,7 @@ static void cliVersion(char *cmdline)
 {
     UNUSED(cmdline);
 
-    printf("# Cleanflight/%s %s %s / %s (%s)",
+    printf("# iNav/%s %s %s / %s (%s)",
         targetName,
         FC_VERSION_STRING,
         buildDate,
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index d46c90c0d5..a8d5df4ab8 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -139,10 +139,11 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
 
 #define MULTIWII_IDENTIFIER "MWII";
 #define CLEANFLIGHT_IDENTIFIER "CLFL"
+#define INAV_IDENTIFIER "INAV"
 #define BASEFLIGHT_IDENTIFIER "BAFL";
 
 #define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
-static const char * const flightControllerIdentifier = CLEANFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
+static const char * const flightControllerIdentifier = INAV_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
 
 #define FLIGHT_CONTROLLER_VERSION_LENGTH    3
 #define FLIGHT_CONTROLLER_VERSION_MASK      0xFFF
diff --git a/src/main/mw.c b/src/main/mw.c
index 74971e72e0..cc4cd58e59 100755
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -575,36 +575,26 @@ void processRx(void)
     }
 
 #if defined(MAG)
-#if defined(NAV)
-    if (naivationGetHeadingControlState() != NAV_HEADING_CONTROL_NONE) {
-        DISABLE_FLIGHT_MODE(MAG_MODE);
-        DISABLE_FLIGHT_MODE(HEADFREE_MODE);
-    }
-    else {
-#endif
-        if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
-            if (IS_RC_MODE_ACTIVE(BOXMAG)) {
-                if (!FLIGHT_MODE(MAG_MODE)) {
-                    ENABLE_FLIGHT_MODE(MAG_MODE);
-                    magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
-                }
-            } else {
-                DISABLE_FLIGHT_MODE(MAG_MODE);
-            }
-            if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
-                if (!FLIGHT_MODE(HEADFREE_MODE)) {
-                    ENABLE_FLIGHT_MODE(HEADFREE_MODE);
-                }
-            } else {
-                DISABLE_FLIGHT_MODE(HEADFREE_MODE);
-            }
-            if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
-                headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
+    if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
+        if (IS_RC_MODE_ACTIVE(BOXMAG)) {
+            if (!FLIGHT_MODE(MAG_MODE)) {
+                ENABLE_FLIGHT_MODE(MAG_MODE);
+                magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
             }
+        } else {
+            DISABLE_FLIGHT_MODE(MAG_MODE);
+        }
+        if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
+            if (!FLIGHT_MODE(HEADFREE_MODE)) {
+                ENABLE_FLIGHT_MODE(HEADFREE_MODE);
+            }
+        } else {
+            DISABLE_FLIGHT_MODE(HEADFREE_MODE);
+        }
+        if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
+            headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
         }
-#if defined(NAV)        
     }
-#endif
 #endif
 
     if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {