diff --git a/cmake/Bitmaps.cmake b/cmake/Bitmaps.cmake
index b5cfcc651..5fe6d5263 100644
--- a/cmake/Bitmaps.cmake
+++ b/cmake/Bitmaps.cmake
@@ -15,11 +15,8 @@ endmacro(add_bitmaps_target)
 
 macro(add_truetype_font_target radio name font size bold)
   set(target ${RADIO_SRC_DIRECTORY}/fonts/${radio}/font_${name})
-  add_custom_command(
-    OUTPUT ${target}.png
-    OUTPUT ${target}.specs
+  add_custom_target(ttf_${radio}_${name}
     COMMAND ${RADIO_DIRECTORY}/util/font2png.py ${font} ${size} ${bold} ${target}
     WORKING_DIRECTORY ${RADIO_SRC_DIRECTORY}
   )
-  add_custom_target(ttf_${radio}_${name} DEPENDS ${target}.png ${target}.specs)
 endmacro(add_truetype_font_target)
\ No newline at end of file
diff --git a/radio/src/CMakeLists.txt b/radio/src/CMakeLists.txt
index 7e30b4b5d..41cd7ce1a 100644
--- a/radio/src/CMakeLists.txt
+++ b/radio/src/CMakeLists.txt
@@ -60,9 +60,10 @@ if(PCB STREQUAL HORUS)
   set(FIRMWARE_DEPENDENCIES ${FIRMWARE_DEPENDENCIES} horus_bitmaps)
   set(LUA_EXPORT lua_export_horus)
   set(FLAVOUR horus)
+  set(VIRTUAL_INPUTS YES)
   add_definitions(-DPCBHORUS -DCOLORLCD -DSTM32F429_439xx -DPPM_PIN_HW_SERIAL)
   add_definitions(-DEEPROM_VARIANT=0 -DAUDIO -DVOICE -DRTCLOCK)
-  add_definitions(-DVIRTUALINPUTS -DLUAINPUTS -DXCURVES -DVARIO)
+  add_definitions(-DLUAINPUTS -DXCURVES -DVARIO)
   include_directories(${RADIO_SRC_DIRECTORY}/fonts/horus)
   set(GUI_SRC
     ${GUI_SRC}
@@ -131,6 +132,7 @@ elseif(PCB STREQUAL TARANIS)
   set(GUI_DIR taranis)
   set(TARGET_DIR taranis)
   set(FIRMWARE_DEPENDENCIES ${FIRMWARE_DEPENDENCIES} taranis_bitmaps)
+  set(VIRTUAL_INPUTS YES)
   add_definitions(-DPCBTARANIS)
   add_definitions(-DAUDIO -DVOICE -DRTCLOCK)
   add_definitions(-DDBLKEYS -DVIRTUALINPUTS -DLUAINPUTS -DXCURVES -DVARIO)
@@ -417,7 +419,6 @@ if(ARCH STREQUAL ARM)
     telemetry/frsky.cpp
     telemetry/frsky_d_arm.cpp
     telemetry/frsky_sport.cpp
-    telemetry/telemetry.cpp
     crc16.cpp
     vario.cpp
     )
@@ -460,7 +461,7 @@ if(ARCH STREQUAL ARM)
     crossfire.cpp
     )
 else()
-  option(EXT "Telemetry extension" OFF)
+  option(EXT "Telemetry protocol" OFF) # TODO rename this EXT option to TELEMETRY
   option(AUDIO "Audio support" OFF)
   option(VOICE "Voice support" OFF)
   option(GRAPHICS "Additional graphics" ON)
@@ -507,7 +508,7 @@ else()
     set(SRC ${SRC} telemetry/jeti.cpp)
   elseif(EXT STREQUAL MAVLINK)
     add_definitions(-DMAVLINK)
-    include_directories(${THIRDPARTY} targets/common_avr)
+    include_directories(${THIRDPARTY_DIR} gui/${GUI_DIR} targets/common_avr)
     set(SRC ${SRC} telemetry/mavlink.cpp targets/common_avr/serial_driver.cpp)
     set(GUI_SRC ${GUI_SRC} view_mavlink.cpp)
     math(EXPR EEPROM_VARIANT ${EEPROM_VARIANT}+${MAVLINK_VARIANT})
@@ -526,6 +527,7 @@ else()
     option(VARIO "Vario support" ON)
     add_definitions(-DFRSKY)
     set(SRC ${SRC} telemetry/frsky.cpp telemetry/frsky_d.cpp)
+    set(FIRMWARE_SRC ${FIRMWARE_SRC} targets/common_avr/telemetry_driver.cpp)
     set(GUI_SRC ${GUI_SRC} view_telemetry.cpp)
     if(FRSKY_HUB)
       add_definitions(-DFRSKY_HUB)
@@ -603,6 +605,18 @@ set(GUI_SRC
   view_statistics.cpp
   )
 
+if(VIRTUAL_INPUTS)
+  add_definitions(-DVIRTUALINPUTS)
+else()
+  option(TEMPLATES "Model Templates Menu" ON)
+endif()
+
+if(TEMPLATES)
+  add_definitions(-DTEMPLATES)
+  set(SRC ${SRC} templates.cpp)
+  set(GUI_SRC ${GUI_SRC} menu_model_templates.cpp)
+endif()
+
 if(LUA)
   add_definitions(-DLUA)
   include_directories(${LUA_DIR})
@@ -663,7 +677,6 @@ if(JITTER_FILTER)
   add_definitions(-DJITTER_FILTER)
 endif()
 
-
 if(SDCARD STREQUAL YES)
   add_definitions(-DSDCARD)
   include_directories(${FATFS_DIR} ${FATFS_DIR}/option)
@@ -754,7 +767,7 @@ set(SRC ${SRC} ${FIRMWARE_SRC})
 set(WARNING_FLAGS "-Wall -Wno-strict-aliasing -Wformat -Wreturn-type -Wunused -Wuninitialized -Wunknown-pragmas -Wno-switch -Wtype-limits")
 
 # trick to remove the -rdynamic and --out-implib issues
-set(CMAKE_EXECUTABLE_SUFFIX "")
+set(CMAKE_EXECUTABLE_SUFFIX ".elf")
 set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
 set(CMAKE_COMMON_FLAGS "")
@@ -778,27 +791,21 @@ if(ARCH STREQUAL ARM)
 
   if(PCB STREQUAL TARANIS)
     add_subdirectory(targets/${TARGET_DIR}/bootloader)
-    add_custom_command(
-      OUTPUT bootloader.bin bootloader.lbm
-      COMMAND arm-none-eabi-objcopy -O binary targets/${TARGET_DIR}/bootloader/bootloader.elf bootloader.bin
-      COMMAND python ${RADIO_DIRECTORY}/util/bin2lbm.py bootloader.bin bootloader.lbm
-      DEPENDS bootloader.elf
-      )
-    add_custom_target(bootloader DEPENDS bootloader.lbm)
+    include_directories(${CMAKE_CURRENT_BINARY_DIR}/targets/${TARGET_DIR}/bootloader)
     set(FIRMWARE_DEPENDENCIES ${FIRMWARE_DEPENDENCIES} bootloader)
   else()
     # We fetch Mike's bootloader as it is not included inside OpenTX
     file(DOWNLOAD https://github.com/MikeBland/OpenRcBootloader/releases/download/V1.9/${BOOTLOADER} ${CMAKE_CURRENT_BINARY_DIR}/bootloader.lbm)
   endif()
 
-  add_executable(firmware.elf ${SRC} ${FIRMWARE_HEADERS})
-  add_dependencies(firmware.elf ${FIRMWARE_DEPENDENCIES})
+  add_executable(firmware ${SRC} ${FIRMWARE_HEADERS})
+  add_dependencies(firmware ${FIRMWARE_DEPENDENCIES})
 
-  add_custom_target(firmware.bin
+  add_custom_command(
+    TARGET firmware POST_BUILD
     COMMAND arm-none-eabi-objcopy -O binary firmware.elf firmware.bin
-    DEPENDS firmware.elf
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-    )
+  )
 else()
   cmake_force_c_compiler(avr-gcc GNU)
   cmake_force_cxx_compiler(avr-gcc GNU)
@@ -815,31 +822,22 @@ else()
 
   file(WRITE ${ALLSRC} "${ALLSRC_CONTENT}")
 
-  add_executable(firmware.elf ${ALLSRC})
-  add_dependencies(firmware.elf ${FIRMWARE_DEPENDENCIES})
+  add_executable(firmware ${ALLSRC})
+  add_dependencies(firmware ${FIRMWARE_DEPENDENCIES})
 
-  add_custom_target(firmware.hex
+  add_custom_command(
+    TARGET firmware POST_BUILD
     COMMAND avr-objcopy -O ihex -R .eeprom firmware.elf firmware.hex
-    DEPENDS firmware.elf
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
     )
 
-  add_custom_target(firmware.bin
-    COMMAND avr-objcopy -O binary firmware.elf firmware.bin
-    DEPENDS firmware.elf
-    )
-
-  add_custom_target(firmware
-    COMMAND avr-size --mcu=${MCU} --format=avr firmware.elf
-    DEPENDS firmware.hex
+  add_custom_target(firmware.lss
+    COMMAND avr-objdump -h -S firmware.elf > firmware.lss
+    DEPENDS firmware
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
     )
 endif()
 
-add_custom_target(firmware.lss
-  COMMAND avr-objdump -h -S firmware.elf > firmware.lss
-  DEPENDS firmware.elf
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-  )
-
 if(CPU_FAMILY STREQUAL STM32)
   add_custom_target(flash
     COMMAND dfu-util --alt 0 --dfuse-address 0x08000000 -D firmware.bin
diff --git a/radio/src/fonts/horus/CMakeLists.txt b/radio/src/fonts/horus/CMakeLists.txt
deleted file mode 100644
index e69de29bb..000000000
diff --git a/radio/src/gui/9x/menus.h b/radio/src/gui/9x/menus.h
index 172a66552..af3fd8272 100644
--- a/radio/src/gui/9x/menus.h
+++ b/radio/src/gui/9x/menus.h
@@ -560,4 +560,6 @@ void drawFunction(FnFuncP fn, uint8_t offset=0);
 
 uint8_t switchToMix(uint8_t source);
 
+void deleteExpoMix(uint8_t expo, uint8_t idx);
+
 #endif // _MENUS_H_
diff --git a/radio/src/gui/9x/view_mavlink.cpp b/radio/src/gui/9x/view_mavlink.cpp
index 69b7ce9b9..21261b747 100644
--- a/radio/src/gui/9x/view_mavlink.cpp
+++ b/radio/src/gui/9x/view_mavlink.cpp
@@ -23,10 +23,9 @@
  *	Contains the menu specific code for Mavlink support.
  */
 
-#include "9x/view_mavlink.h"
-
-// Globals declaration
+#include "view_mavlink.h"
 
+#define VIEW_MAVLINK_2ND_COLUMN  (LCD_W-6*FW-3-MENUS_SCROLLBAR_WIDTH)
  
 /*!	\brief Top Mavlink Menu definition
  *	\details Registers button events and handles that info. Buttons select menus,
@@ -494,13 +493,13 @@ void menuTelemetryMavlinkSetup(uint8_t event) {
 		switch(k) {	
 		case ITEM_MAVLINK_RC_RSSI_SCALE:
 			lcd_putsLeft(y, STR_MAVLINK_RC_RSSI_SCALE_LABEL);
-			lcdDrawNumber(RADIO_SETUP_2ND_COLUMN, y, (25 + g_model.mavlink.rc_rssi_scale * 5), attr|LEFT);
+			lcdDrawNumber(VIEW_MAVLINK_2ND_COLUMN, y, (25 + g_model.mavlink.rc_rssi_scale * 5), attr|LEFT);
 			lcdDrawChar(lcdLastPos, y, '%');
 			if (attr) CHECK_INCDEC_MODELVAR(event, g_model.mavlink.rc_rssi_scale, 0, 15);
 			break;
 		case ITEM_MAVLINK_PC_RSSI_EN:
 			g_model.mavlink.pc_rssi_en = editCheckBox(g_model.mavlink.pc_rssi_en,
-				RADIO_SETUP_2ND_COLUMN,
+				VIEW_MAVLINK_2ND_COLUMN,
 				y,
 				STR_MAVLINK_PC_RSSI_EN_LABEL,
 				attr,
diff --git a/radio/src/targets/taranis/bootloader/CMakeLists.txt b/radio/src/targets/taranis/bootloader/CMakeLists.txt
index 1253c3afa..f5152390c 100644
--- a/radio/src/targets/taranis/bootloader/CMakeLists.txt
+++ b/radio/src/targets/taranis/bootloader/CMakeLists.txt
@@ -67,5 +67,12 @@ add_definitions(-DBOOT -DUSB_MASS_STORAGE)
 
 set(CMAKE_EXE_LINKER_FLAGS "-mcpu=${MCU} -mthumb -nostartfiles -lm -T${RADIO_SRC_DIRECTORY}/targets/taranis/stm32_ramboot.ld -Wl,-Map=bootloader.map,--cref,--no-warn-mismatch,--gc-sections")
 
-add_executable(bootloader.elf ${BOOTLOADER_SRC})
-add_dependencies(bootloader.elf taranis_fonts firmware_translations)
+add_executable(bootloader ${BOOTLOADER_SRC})
+add_dependencies(bootloader taranis_fonts firmware_translations)
+
+add_custom_command(
+  TARGET bootloader POST_BUILD
+  COMMAND arm-none-eabi-objcopy -O binary bootloader.elf bootloader.bin
+  COMMAND python ${RADIO_DIRECTORY}/util/bin2lbm.py bootloader.bin bootloader.lbm
+)
+
diff --git a/radio/src/tests/mixer.cpp b/radio/src/tests/mixer.cpp
index e252ad6f7..8d21d4f32 100644
--- a/radio/src/tests/mixer.cpp
+++ b/radio/src/tests/mixer.cpp
@@ -35,6 +35,7 @@
  */
 
 #include "gtests.h"
+#include "../templates.h"
 
 #define CHECK_NO_MOVEMENT(channel, value, duration) \
     for (int i=1; i<=(duration); i++) { \
diff --git a/radio/util/commit-tests.sh b/radio/util/commit-tests.sh
index 7bcc91176..41a189d55 100755
--- a/radio/util/commit-tests.sh
+++ b/radio/util/commit-tests.sh
@@ -7,72 +7,75 @@ set -x
 mkdir build
 cd build 
 
-# OpenTX on Taranis and Companion
+# Companion
 rm -rf *
-cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=TARANIS -DHELI=YES -DLUA=YES -DWARNINGS_AS_ERRORS=YES .. 
+cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=TARANIS ..
 make -j2
-make -j2 firmware.bin
+
+# OpenTX on 9X stock with FrSky telemetry
+rm -rf *
+cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=9X -DHELI=YES -DEXT=FRSKY ..
+make -j2 firmware
 make -j2 simu
-make -j2 gtests && ./gtests
+make -j2 gtests ; ./gtests
+
+# OpenTX on 9X stock with Mavlink telemetry
+rm -rf *
+cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=9X -DHELI=YES -DEXT=MAVLINK ..
+make -j2 firmware
+
+# OpenTX on Mega2560
+# rm -rf *
+#cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=MEGA2560 -DHELI=YES ..
+#make -j2 firmware
+#make -j2 simu
+#make -j2 gtests ; ./gtests
+
+# OpenTX on Mega2560 with Mavlink telemetry
+# rm -rf *
+#cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=MEGA2560 -DEXT=MAVLINK -DHELI=YES ..
+#make -j2 firmware
+#make -j2 simu
+#make -j2 gtests ; ./gtests
+
+# OpenTX on gruvin9x board
+# rm -rf *
+#cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=GRUVIN9X -DHELI=YES ..
+#make -j2 firmware
+#make -j2 simu
+#make -j2 gtests ; ./gtests
+
+# OpenTX on Sky9x
+rm -rf *
+cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=SKY9X -DHELI=YES ..
+make -j2 firmware
+make -j2 simu
+make -j2 gtests ; ./gtests
+
+# OpenTX on Taranis
+rm -rf *
+cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=TARANIS -DHELI=YES -DLUA=YES -DWARNINGS_AS_ERRORS=YES ..
+make -j2 firmware
+make -j2 simu
+make -j2 gtests ; ./gtests
 
 # OpenTX on Taranis X9E
 rm -rf *
 cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=TARANIS -DPCBREV=REV9E -DHELI=YES -DLUA=YES -DWARNINGS_AS_ERRORS=YES .. 
-make -j2 firmware.bin
+make -j2 firmware
 make -j2 simu
-make -j2 gtests && ./gtests
+make -j2 gtests ; ./gtests
 
 # OpenTX on Taranis Plus
 rm -rf *
 cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=TARANIS -DPCBREV=REVPLUS -DHELI=YES -DLUA=YES -DWARNINGS_AS_ERRORS=YES .. 
-make -j2 firmware.bin
+make -j2 firmware
 make -j2 simu
-make -j2 gtests && ./gtests
+make -j2 gtests ; ./gtests
 
 # OpenTX on Horus
 rm -rf *
 cmake -DCMAKE_BUILD_TYPE=Debug -DPCB=HORUS -DHELI=NO -DUSB=SERIAL -DCLI=YES -DDEBUG=YES .. 
-make -j2 firmware.bin
+make -j2 firmware
 make -j2 simu
-#make -j2 gtests && ./gtests
-
-
-# Old, not yet converted
-
-
-cd ../radio/src/
-
-
-# OpenTX on 9X stock
-make clean
-make        PCB=9X EXT=FRSKY HELI=YES
-make simu   PCB=9X EXT=FRSKY HELI=YES 
-make gtests EXT=FRSKY HELI=YES
-./gtests
-
-
-# OpenTX on 9X stock with MAVLINK
-make clean
-make PCB=9X EXT=MAVLINK HELI=YES
-
-
-# OpenTX on Sky9x
-make clean
-make        PCB=SKY9X HELI=YES WARNINGS_AS_ERRORS=YES
-make simu   PCB=SKY9X HELI=YES
-make gtests PCB=SKY9X HELI=YES
-./gtests
-
-# OpenTX on Gruvin9x
-make clean
-make      PCB=GRUVIN9X EXT=FRSKY SDCARD=YES
-make simu PCB=GRUVIN9X EXT=FRSKY SDCARD=YES
-
-# OpenTX on MEGA2560
-make clean
-make PCB=MEGA2560
-
-# OpenTX on MEGA2560 with MAVLINK
-make clean
-make PCB=MEGA2560 EXT=MAVLINK
-
+#make -j2 gtests ; ./gtests