diff --git a/src/main/config/config.c b/src/main/config/config.c
index 30b3e5f00b..0db945cc05 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -223,6 +223,7 @@ void resetNavConfig(navConfig_t * navConfig)
 #if defined(INAV_ENABLE_AUTO_MAG_DECLINATION)
     navConfig->inav.automatic_mag_declination = 1;
 #endif
+    navConfig->inav.gps_min_sats = 5;
     navConfig->inav.gps_delay_ms = 200;
     navConfig->inav.accz_unarmed_cal = 1;
 
@@ -491,7 +492,6 @@ static void resetConf(void)
 
     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 
-    masterConfig.retarded_arm = 0;  // FIXME: cleanup retarded arm
     masterConfig.disarm_kill_switch = 1;
     masterConfig.auto_disarm_delay = 5;
     masterConfig.small_angle = 25;
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 698ac64107..4876ba080b 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -71,7 +71,6 @@ typedef struct master_t {
 
     failsafeConfig_t failsafeConfig;
 
-    uint8_t retarded_arm;                   // allow disarm/arm on throttle down + roll left/right
     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
     uint8_t small_angle;
diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c
index 1293656ce1..b6de616b05 100755
--- a/src/main/flight/navigation_rewrite.c
+++ b/src/main/flight/navigation_rewrite.c
@@ -1850,7 +1850,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
     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);
+    if ((STATE(GPS_FIX) && GPS_numSat >= posControl.navConfig->inav.gps_min_sats)) navFlags |= (1 << 3);
 #endif
 
     // No navigation when disarmed
diff --git a/src/main/flight/navigation_rewrite.h b/src/main/flight/navigation_rewrite.h
index d347f54db6..75f039a30a 100755
--- a/src/main/flight/navigation_rewrite.h
+++ b/src/main/flight/navigation_rewrite.h
@@ -70,6 +70,7 @@ typedef struct navConfig_s {
 #if defined(INAV_ENABLE_AUTO_MAG_DECLINATION)
         uint8_t automatic_mag_declination;
 #endif
+        uint8_t gps_min_sats;
         uint8_t accz_unarmed_cal;
         uint16_t gps_delay_ms;
 
diff --git a/src/main/flight/navigation_rewrite_pos_estimator.c b/src/main/flight/navigation_rewrite_pos_estimator.c
index c5b2059efb..b9bfde34ff 100755
--- a/src/main/flight/navigation_rewrite_pos_estimator.c
+++ b/src/main/flight/navigation_rewrite_pos_estimator.c
@@ -58,8 +58,6 @@
 #define INAV_GPS_GLITCH_RADIUS              250.0f  // 2.5m GPS glitch radius
 #define INAV_GPS_GLITCH_ACCEL               1000.0f // 10m/s/s max possible acceleration for GPS glitch detection
 
-#define INAV_MIN_GPS_SAT_COUNT              5       // Minimum satellite count
-
 #define INAV_POSITION_PUBLISH_RATE_HZ       50      // Publish position updates at this rate
 #define INAV_BARO_UPDATE_RATE               20
 #define INAV_SONAR_UPDATE_RATE              15      // Sonar is limited to 1/60ms update rate, go lower that that
@@ -244,7 +242,7 @@ void onNewGPSData(int32_t newLat, int32_t newLon, int32_t newAlt, int16_t velN,
     velDValid = false;
 
     if (sensors(SENSOR_GPS)) {
-        if (!(STATE(GPS_FIX) && GPS_numSat >= INAV_MIN_GPS_SAT_COUNT)) {
+        if (!(STATE(GPS_FIX) && GPS_numSat >= posControl.navConfig->inav.gps_min_sats)) {
             isFirstGPSUpdate = true;
             return;
         }
@@ -264,7 +262,7 @@ void onNewGPSData(int32_t newLat, int32_t newLon, int32_t newAlt, int16_t velN,
 
         /* Process position update if GPS origin is already set, or precision is good enough */
         // FIXME: use HDOP here
-        if ((posControl.gpsOrigin.valid) || (GPS_numSat >= INAV_MIN_GPS_SAT_COUNT)) {
+        if ((posControl.gpsOrigin.valid) || (GPS_numSat >= posControl.navConfig->inav.gps_min_sats)) {
             /* Convert LLH position to local coordinates */
             t_fp_vector newLocalPos;
             geoConvertGeodeticToLocal(&posControl.gpsOrigin, &newLLH, &newLocalPos);
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index b8a4c95934..5994213402 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -122,7 +122,7 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
     return THROTTLE_HIGH;
 }
 
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch)
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
 {
     static uint8_t rcDelayCommand;      // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
     static uint8_t rcSticks;            // this hold sticks position for command combos
@@ -221,12 +221,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
             mwArm();
             return;
         }
-
-        if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
-            // Arm via ROLL
-            mwArm();
-            return;
-        }
     }
 
     if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index e17f5bee37..600505b3c7 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -150,7 +150,7 @@ bool areUsingSticksToArm(void);
 
 bool areSticksInApModePosition(uint16_t ap_mode);
 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
 
 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
 
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index efae91f6f4..d910862519 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -543,6 +543,7 @@ const clivalue_t valueTable[] = {
 
     { "inav_accz_unarmedcal",       VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.inav.accz_unarmed_cal, .config.lookup = { TABLE_OFF_ON }, 0 },
     { "inav_gps_delay",             VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.inav.gps_delay_ms, .config.minmax = { 0,  500 }, 0 },
+    { "inav_gps_min_sats",          VAR_UINT8  | MASTER_VALUE, &masterConfig.navConfig.inav.gps_min_sats, .config.minmax = { 5,  10}, 0 },
 
     { "inav_w_z_baro_p",            VAR_FLOAT  | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_baro_p, .config.minmax = { 0,  10 }, 0 },
     { "inav_w_z_gps_p",             VAR_FLOAT  | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_gps_p, .config.minmax = { 0,  10 }, 0 },
diff --git a/src/main/mw.c b/src/main/mw.c
index e1b4166280..c36976aa29 100755
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -533,7 +533,7 @@ void processRx(void)
         }
     }
 
-    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
+    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.disarm_kill_switch);
 
     updateActivatedModes(currentProfile->modeActivationConditions);