diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md
index 527d74f4aa..30e29d407e 100644
--- a/docs/Programming Framework.md	
+++ b/docs/Programming Framework.md	
@@ -228,6 +228,13 @@ All flags are reseted on ARM and DISARM event.
 
 ## Examples
 
+### When more than 100 meters away, increase VTX power
+![screenshot of vtx home distance](./assets/images/vtx_home_distance.png)
+
+### When more than 600 meters away, engage return-to-home by setting the matching RC channel
+![screenshot of rth home distance](./assets/images/rth_home_distance.jpg)
+
+
 ### Dynamic THROTTLE scale
 
 `logic 0 1 0 23 0 50 0 0 0`
diff --git a/docs/assets/images/rth_home_distance.jpg b/docs/assets/images/rth_home_distance.jpg
new file mode 100644
index 0000000000..2533c6ac43
Binary files /dev/null and b/docs/assets/images/rth_home_distance.jpg differ
diff --git a/docs/assets/images/vtx_home_distance.png b/docs/assets/images/vtx_home_distance.png
new file mode 100644
index 0000000000..db91f7b77f
Binary files /dev/null and b/docs/assets/images/vtx_home_distance.png differ
diff --git a/src/main/target/MATEKF405SE/config.c b/src/main/target/MATEKF405SE/config.c
index 55a5e67099..f82e5fa109 100644
--- a/src/main/target/MATEKF405SE/config.c
+++ b/src/main/target/MATEKF405SE/config.c
@@ -37,11 +37,9 @@ void targetConfiguration(void)
     pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
 #endif
 
-    serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_MSP;
-    serialConfigMutable()->portConfigs[1].msp_baudrateIndex = BAUD_57600;
+    //serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_MSP;
+    //serialConfigMutable()->portConfigs[1].msp_baudrateIndex = BAUD_57600;
 
-    //featureSet(FEATURE_PWM_OUTPUT_ENABLE); // enable PWM outputs by default
-    //mixerConfigMutable()->mixerMode = MIXER_FLYING_WING; // default mixer to flying wing
     mixerConfigMutable()->platformType = PLATFORM_AIRPLANE;   // default mixer to Airplane
 
     serialConfigMutable()->portConfigs[7].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
diff --git a/src/main/target/MATEKF405SE/target.h b/src/main/target/MATEKF405SE/target.h
index efce983f5d..4c0b4b8b39 100644
--- a/src/main/target/MATEKF405SE/target.h
+++ b/src/main/target/MATEKF405SE/target.h
@@ -42,6 +42,12 @@
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
+// ICM42688P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG_FLIP
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_SPI_BUS        BUS_SPI1
+
 // *************** I2C /Baro/Mag *********************
 #define USE_I2C
 #define USE_I2C_DEVICE_1