diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index ed938545a9..54922794f6 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -159,6 +159,7 @@ jobs:
           echo "outputs.shortsha: ${{ needs.build.outputs.shortsha }}"
           echo "outputs.artfact: ${{ needs.build.outputs.artifact }}"
           echo "outputs.artfact: ${{ needs.build.outputs.version }}"
+          echo "NOW=$(date +'%Y%m%d.%H%M%S')" >> $GITHUB_ENV
         continue-on-error: true
 
       - name: download artifacts
@@ -181,7 +182,7 @@ jobs:
           repo: dev-unstable
           owner: emuflight
           token: ${{ secrets.NC_PAT_EMUF }}
-          tag: "hex-${{ github.run_number }}"
+          tag: "${{ env.NOW }}-hex"
           draft: true
           prerelease: true
           allowUpdates: true
@@ -213,7 +214,7 @@ jobs:
           repo: dev-master
           owner: emuflight
           token: ${{ secrets.NC_PAT_EMUF }}
-          tag: "hex-${{ github.run_number }}"
+          tag: "${{ env.NOW }}-hex"
           draft: true
           prerelease: true
           allowUpdates: true
diff --git a/lib/main/STM32F4/Drivers/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c b/lib/main/STM32F4/Drivers/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
index 4aa38e731f..a1bf0317ee 100644
--- a/lib/main/STM32F4/Drivers/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
+++ b/lib/main/STM32F4/Drivers/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
@@ -423,6 +423,8 @@ void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct)
     /* Get the PLLM value */
     pllm = (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM);
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wduplicated-branches"
     if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSE)
     {
       /* Get the I2S source clock value */
@@ -433,6 +435,7 @@ void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct)
       i2sclk = (uint32_t)(((HSI_VALUE / pllm) * plln) / pllr);
     }
   #endif /* I2S_EXTERNAL_CLOCK_VAL */
+#pragma GCC diagnostic pop
     
     /* Compute the Real divider depending on the MCLK output state, with a floating point */
     if(I2S_InitStruct->I2S_MCLKOutput == I2S_MCLKOutput_Enable)
diff --git a/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c b/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c
index 4d9e318453..b3d1033aee 100644
--- a/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c
+++ b/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c
@@ -248,6 +248,8 @@ HAL_StatusTypeDef HAL_UART_Init(UART_HandleTypeDef *huart)
     return HAL_ERROR;
   }
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wduplicated-branches"
   if(huart->Init.HwFlowCtl != UART_HWCONTROL_NONE)
   {
     /* Check the parameters */
@@ -258,6 +260,7 @@ HAL_StatusTypeDef HAL_UART_Init(UART_HandleTypeDef *huart)
     /* Check the parameters */
     assert_param(IS_UART_INSTANCE(huart->Instance));
   }
+#pragma GCC diagnostic pop
 
   if(huart->gState == HAL_UART_STATE_RESET)
   {
diff --git a/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c b/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c
index c3ee209cc0..05d33296ce 100644
--- a/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c
+++ b/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c
@@ -817,7 +817,7 @@ HAL_StatusTypeDef USB_WritePacket(USB_OTG_GlobalTypeDef *USBx, uint8_t *src, uin
     count32b =  (len + 3) / 4;
     for (i = 0; i < count32b; i++, src += 4)
     {
-      USBx_DFIFO(ch_ep_num) = *((__packed uint32_t *)src);
+      USBx_DFIFO((uint32_t)ch_ep_num) = *((uint32_t *)src);
     }
   }
   return HAL_OK;
@@ -843,7 +843,7 @@ void *USB_ReadPacket(USB_OTG_GlobalTypeDef *USBx, uint8_t *dest, uint16_t len)
   
   for ( i = 0; i < count32b; i++, dest += 4 )
   {
-    *(__packed uint32_t *)dest = USBx_DFIFO(0);
+    *(uint32_t *)dest = USBx_DFIFO(0);
     
   }
   return ((void *)dest);
diff --git a/make/source.mk b/make/source.mk
index ad1a5d0f7a..e12e19aa7f 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -139,6 +139,7 @@ COMMON_SRC = \
             io/dashboard.c \
             io/displayport_max7456.c \
             io/displayport_msp.c \
+            io/displayport_hdzero_osd.c \
             io/displayport_oled.c \
             io/displayport_srxl.c \
             io/displayport_crsf.c \
@@ -198,6 +199,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             drivers/accgyro/accgyro_mpu6050.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_bmi160.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 8ee2428c8d..436871abb4 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1138,6 +1138,7 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("spa_yaw_p", "%d",                       currentPidProfile->setPointPTransition[YAW]);
         BLACKBOX_PRINT_HEADER_LINE("spa_yaw_i", "%d",                       currentPidProfile->setPointITransition[YAW]);
         BLACKBOX_PRINT_HEADER_LINE("spa_yaw_d", "%d",                       currentPidProfile->setPointDTransition[YAW]);
+        BLACKBOX_PRINT_HEADER_LINE("rates_type", "%d",                      currentControlRateProfile->rates_type);
         BLACKBOX_PRINT_HEADER_LINE("rc_rates", "%d,%d,%d",                  currentControlRateProfile->rcRates[ROLL],
                                    currentControlRateProfile->rcRates[PITCH],
                                    currentControlRateProfile->rcRates[YAW]);
@@ -1179,8 +1180,10 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_roll", "%d",          currentPidProfile->dFilter[ROLL].dLpf2);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_pitch", "%d",         currentPidProfile->dFilter[PITCH].dLpf2);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_yaw", "%d",           currentPidProfile->dFilter[YAW].dLpf2);
+#ifdef USE_GYRO_DATA_ANALYSE
         BLACKBOX_PRINT_HEADER_LINE("dterm_dyn_notch_enable", "%d",          currentPidProfile->dtermDynNotch);
         BLACKBOX_PRINT_HEADER_LINE("dterm_dyn_notch_q", "%d",               currentPidProfile->dterm_dyn_notch_q);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_alpha", "%d",                 currentPidProfile->dterm_ABG_alpha);
         BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_boost", "%d",                 currentPidProfile->dterm_ABG_boost);
         BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_half_life", "%d",             currentPidProfile->dterm_ABG_half_life);
@@ -1226,10 +1229,12 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_roll", "%d",            gyroConfig()->gyro_lowpass_hz[ROLL]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_pitch", "%d",           gyroConfig()->gyro_lowpass_hz[PITCH]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_yaw", "%d",             gyroConfig()->gyro_lowpass_hz[YAW]);
+#ifdef USE_GYRO_LPF2
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_type", "%d",              gyroConfig()->gyro_lowpass2_type);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_roll", "%d",           gyroConfig()->gyro_lowpass2_hz[ROLL]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_pitch", "%d",          gyroConfig()->gyro_lowpass2_hz[PITCH]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_yaw", "%d",            gyroConfig()->gyro_lowpass2_hz[YAW]);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                gyroConfig()->gyro_soft_notch_hz_1,
                                    gyroConfig()->gyro_soft_notch_hz_2);
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d",            gyroConfig()->gyro_soft_notch_cutoff_1,
@@ -1239,6 +1244,7 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_count", "%d",        gyroConfig()->dyn_notch_count);
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_min_hz", "%d",       gyroConfig()->dyn_notch_min_hz);
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_max_hz", "%d",       gyroConfig()->dyn_notch_max_hz);
+        BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_axis", "%d",       gyroConfig()->dyn_notch_axis);
 #endif
         BLACKBOX_PRINT_HEADER_LINE("gyro_ABG_alpha", "%d",                  gyroConfig()->gyro_ABG_alpha);
         BLACKBOX_PRINT_HEADER_LINE("gyro_ABG_boost", "%d",                  gyroConfig()->gyro_ABG_boost);
@@ -1266,6 +1272,7 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d",              motorConfig()->dev.motorPwmProtocol);
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d",                  motorConfig()->dev.motorPwmRate);
         BLACKBOX_PRINT_HEADER_LINE("dshot_idle_value", "%d",                motorConfig()->digitalIdleOffsetValue);
+        BLACKBOX_PRINT_HEADER_LINE("motor_poles", "%d",                     motorConfig()->motorPoleCount);
         BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d",                      systemConfig()->debug_mode);
         BLACKBOX_PRINT_HEADER_LINE("features", "%d",                        featureConfig()->enabledFeatures);
 #ifdef USE_RC_SMOOTHING_FILTER
diff --git a/src/main/cms/cms.c b/src/main/cms/cms.c
index c775c222e4..f5259d23b5 100644
--- a/src/main/cms/cms.c
+++ b/src/main/cms/cms.c
@@ -66,6 +66,7 @@
 // For VISIBLE*
 #include "io/osd.h"
 #include "io/rcdevice_cam.h"
+#include "pg/vcd.h"
 
 #include "rx/rx.h"
 
@@ -329,7 +330,7 @@ static int cmsDrawMenuEntry(displayPort_t *pDisplay, OSD_Entry *p, uint8_t row)
             buff[0] = 0x0;
             if ((p->type == OME_Submenu) && p->func && (p->flags & OPTSTRING)) {
                 // Special case of sub menu entry with optional value display.
-                char *str = ((CMSMenuOptFuncPtr)p->func)();
+                char *str = ((CMSMenuOptFuncPtr)(long)p->func)();
                 strncpy( buff, str, CMS_DRAW_BUFFER_LEN);
             }
             strncat(buff, ">", CMS_DRAW_BUFFER_LEN);
@@ -597,9 +598,19 @@ void cmsMenuOpen(void) {
     } else {
         smallScreen       = false;
         linesPerMenuItem  = 1;
-        leftMenuColumn    = 2;
+#if defined(USE_HDZERO_OSD)
+    if ((vcdProfile()->video_system == VIDEO_SYSTEM_HD) && (pCurrentDisplay->cols > 30))
+        { leftMenuColumn = HDINDENT + 2; }
+    else
+#endif
+        { leftMenuColumn    = SDINDENT + 2; }
 #ifdef CMS_OSD_RIGHT_ALIGNED_VALUES
-        rightMenuColumn   = pCurrentDisplay->cols - 2;
+#if defined(USE_HDZERO_OSD)
+    if ((vcdProfile()->video_system == VIDEO_SYSTEM_HD) && (pCurrentDisplay->cols > 30))
+        { rightMenuColumn   = pCurrentDisplay->cols - 2 - HDINDENT; }
+    else
+#endif
+        { rightMenuColumn   = pCurrentDisplay->cols - 2; }
 #else
         rightMenuColumn   = pCurrentDisplay->cols - CMS_DRAW_BUFFER_LEN;
 #endif
@@ -634,7 +645,7 @@ long cmsMenuExit(displayPort_t *pDisplay, const void *ptr) {
     currentCtx.menu = NULL;
     if (exitType == CMS_EXIT_SAVEREBOOT) {
         displayClearScreen(pDisplay);
-        displayWrite(pDisplay, 5, 3, "REBOOTING...");
+        displayWrite(pDisplay, (pCurrentDisplay->cols % 2) - 6, 3, "REBOOTING...");
         displayResync(pDisplay); // Was max7456RefreshAll(); why at this timing?
         stopMotors();
         stopPwmAllMotors();
diff --git a/src/main/cms/cms_menu_blackbox.c b/src/main/cms/cms_menu_blackbox.c
index 56adfed277..84f11531c3 100644
--- a/src/main/cms/cms_menu_blackbox.c
+++ b/src/main/cms/cms_menu_blackbox.c
@@ -140,7 +140,7 @@ static long cmsx_EraseFlash(displayPort_t *pDisplay, const void *ptr) {
         return 0;
     }
     displayClearScreen(pDisplay);
-    displayWrite(pDisplay, 5, 3, "ERASING FLASH...");
+    displayWrite(pDisplay, (pCurrentDisplay->cols % 2) - 7, 3, "ERASING FLASH...");
     displayResync(pDisplay); // Was max7456RefreshAll(); Why at this timing?
     flashfsEraseCompletely();
     while (!flashfsIsReady()) {
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index a8f3804735..50c0bfc589 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -104,6 +104,12 @@ static const char * const cms_FilterType[] = {
     "PT1", "BIQUAD", "PT2", "PT3", "PT4",
 };
 
+#ifdef USE_GYRO_DATA_ANALYSE
+static const char * const cms_dynNotchAxisType[] = {
+    "RP", "RPY"
+};
+#endif
+
 static long cmsx_menuImu_onEnter(void) {
     pidProfileIndex = getCurrentPidProfileIndex();
     tmpPidProfileIndex = pidProfileIndex + 1;
@@ -487,13 +493,19 @@ static uint8_t gyroConfig_gyro_lowpass1_type;
 static uint16_t gyroConfig_gyro_lowpass_hz_roll;
 static uint16_t gyroConfig_gyro_lowpass_hz_pitch;
 static uint16_t gyroConfig_gyro_lowpass_hz_yaw;
+#ifdef USE_GYRO_LPF2
+static uint8_t gyroConfig_gyro_lowpass2_type;
 static uint16_t gyroConfig_gyro_lowpass2_hz_roll;
 static uint16_t gyroConfig_gyro_lowpass2_hz_pitch;
 static uint16_t gyroConfig_gyro_lowpass2_hz_yaw;
+#endif
+#ifdef USE_GYRO_DATA_ANALYSE
 static uint16_t gyroConfig_gyro_q;
 static uint8_t gyroConfig_gyro_notch_count;
 static uint16_t gyroConfig_gyro_notch_min_hz;
 static uint16_t gyroConfig_gyro_notch_max_hz;
+static uint8_t gyroConfig_gyro_notch_axis;
+#endif
 static uint16_t gyroConfig_gyro_abg_alpha;
 static uint16_t gyroConfig_gyro_abg_boost;
 static uint8_t gyroConfig_gyro_abg_half_life;
@@ -515,17 +527,22 @@ static long cmsx_menuGyro_onEnter(void) {
     gyroConfig_gyro_lowpass_hz_roll =  gyroConfig()->gyro_lowpass_hz[ROLL];
     gyroConfig_gyro_lowpass_hz_pitch =  gyroConfig()->gyro_lowpass_hz[PITCH];
     gyroConfig_gyro_lowpass_hz_yaw =  gyroConfig()->gyro_lowpass_hz[YAW];
+#ifdef USE_GYRO_LPF2
+    gyroConfig_gyro_lowpass2_type =  gyroConfig()->gyro_lowpass2_type;
     gyroConfig_gyro_lowpass2_hz_roll =  gyroConfig()->gyro_lowpass2_hz[ROLL];
     gyroConfig_gyro_lowpass2_hz_pitch =  gyroConfig()->gyro_lowpass2_hz[PITCH];
     gyroConfig_gyro_lowpass2_hz_yaw =  gyroConfig()->gyro_lowpass2_hz[YAW];
+#endif
+#ifdef USE_GYRO_DATA_ANALYSE
     gyroConfig_gyro_q = gyroConfig()->dyn_notch_q;
     gyroConfig_gyro_notch_count = gyroConfig()->dyn_notch_count;
     gyroConfig_gyro_notch_min_hz = gyroConfig()->dyn_notch_min_hz;
     gyroConfig_gyro_notch_max_hz = gyroConfig()->dyn_notch_max_hz;
+    gyroConfig_gyro_notch_axis = gyroConfig()->dyn_notch_axis;
+#endif
     gyroConfig_gyro_abg_alpha = gyroConfig()->gyro_ABG_alpha;
     gyroConfig_gyro_abg_boost = gyroConfig()->gyro_ABG_boost;
     gyroConfig_gyro_abg_half_life = gyroConfig()->gyro_ABG_half_life;
-
 #ifndef USE_GYRO_IMUF9001
     gyroConfig_imuf_roll_q = gyroConfig()->imuf_roll_q;
     gyroConfig_imuf_pitch_q = gyroConfig()->imuf_pitch_q;
@@ -547,13 +564,19 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) {
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] =  gyroConfig_gyro_lowpass_hz_roll;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] =  gyroConfig_gyro_lowpass_hz_pitch;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] =  gyroConfig_gyro_lowpass_hz_yaw;
+#ifdef USE_GYRO_LPF2
+    gyroConfigMutable()->gyro_lowpass2_type =  gyroConfig_gyro_lowpass2_type;
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] =  gyroConfig_gyro_lowpass2_hz_roll;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] =  gyroConfig_gyro_lowpass2_hz_pitch;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] =  gyroConfig_gyro_lowpass2_hz_yaw;
+#endif
+#ifdef USE_GYRO_DATA_ANALYSE
     gyroConfigMutable()->dyn_notch_q = gyroConfig_gyro_q;
     gyroConfigMutable()->dyn_notch_count = gyroConfig_gyro_notch_count;
     gyroConfigMutable()->dyn_notch_min_hz = gyroConfig_gyro_notch_min_hz;
     gyroConfigMutable()->dyn_notch_max_hz = gyroConfig_gyro_notch_max_hz;
+    gyroConfigMutable()->dyn_notch_axis = gyroConfig_gyro_notch_axis;
+#endif
     gyroConfigMutable()->gyro_ABG_alpha = gyroConfig_gyro_abg_alpha;
     gyroConfigMutable()->gyro_ABG_boost = gyroConfig_gyro_abg_boost;
     gyroConfigMutable()->gyro_ABG_half_life = gyroConfig_gyro_abg_half_life;
@@ -575,19 +598,23 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) {
 static OSD_Entry cmsx_menuFilterGlobalEntries[] = {
     { "-- FILTER GLB  --", OME_Label, NULL, NULL, 0 },
 
+    { "GYRO LPF TYPE",    OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 },
     { "GYRO LPF ROLL",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_roll,     0, 16000, 1 }, 0 },
     { "GYRO LPF PITCH",   OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_pitch,    0, 16000, 1 }, 0 },
     { "GYRO LPF YAW",     OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_yaw,      0, 16000, 1 }, 0 },
-    { "GYRO LPF TYPE",    OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 },
 #ifdef USE_GYRO_LPF2
+    { "GYRO LPF2 TYPE",   OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass2_type, 4, cms_FilterType }, 0 },
     { "GYRO LPF2 ROLL",   OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_roll,    0, 16000, 1 }, 0 },
     { "GYRO LPF2 PITCH",  OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_pitch,   0, 16000, 1 }, 0 },
     { "GYRO LPF2 YAW",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_yaw,     0, 16000, 1 }, 0 },
 #endif
+#ifdef USE_GYRO_DATA_ANALYSE
     { "DYN NOTCH Q",         OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_q,        0, 1000, 1 }, 0 },
     { "DYN NOTCH COUNT",     OME_UINT8, NULL, &(OSD_UINT8_t) { &gyroConfig_gyro_notch_count,        1, 5, 1 }, 0 },
     { "DYN NOTCH MIN HZ",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_notch_min_hz,       30, 1000, 1 }, 0 },
     { "DYN NOTCH MAX HZ",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_notch_max_hz,       200, 1000, 1 }, 0 },
+    { "DYN NOTCH AXIS",      OME_TAB, NULL, &(OSD_TAB_t) { (uint8_t *) &gyroConfig_gyro_notch_axis, 1, cms_dynNotchAxisType }, 0 },
+#endif
 #ifndef USE_GYRO_IMUF9001
     { "IMUF W",           OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_w,                   0, 512,     1 }, 0 },
     { "ROLL Q",           OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_roll_q,              100, 16000, 100 }, 0 },
@@ -709,8 +736,10 @@ static uint16_t cmsx_dterm_lowpass2_type;
 static uint16_t cmsx_dterm_lowpass2_hz_roll;
 static uint16_t cmsx_dterm_lowpass2_hz_pitch;
 static uint16_t cmsx_dterm_lowpass2_hz_yaw;
+#ifdef USE_GYRO_DATA_ANALYSE
 static uint8_t cmsx_dterm_dyn_notch_enable ;
 static uint16_t cmsx_dterm_dyn_notch_q;
+#endif
 static uint16_t cmsx_dterm_abg_alpha;
 static uint16_t cmsx_dterm_abg_boost;
 static uint8_t cmsx_dterm_abg_half_life;
@@ -725,8 +754,10 @@ static long cmsx_FilterPerProfileRead(void) {
     cmsx_dterm_lowpass2_hz_roll  = pidProfile->dFilter[ROLL].dLpf2;
     cmsx_dterm_lowpass2_hz_pitch = pidProfile->dFilter[PITCH].dLpf2;
     cmsx_dterm_lowpass2_hz_yaw   = pidProfile->dFilter[YAW].dLpf2;
+#ifdef USE_GYRO_DATA_ANALYSE
     cmsx_dterm_dyn_notch_enable  = pidProfile->dtermDynNotch;
     cmsx_dterm_dyn_notch_q       = pidProfile->dterm_dyn_notch_q;
+#endif
     cmsx_dterm_abg_alpha = pidProfile->dterm_ABG_alpha;
     cmsx_dterm_abg_boost = pidProfile->dterm_ABG_boost;
     cmsx_dterm_abg_half_life = pidProfile->dterm_ABG_half_life;
@@ -744,8 +775,10 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self) {
     pidProfile->dFilter[ROLL].dLpf2  = cmsx_dterm_lowpass2_hz_roll;
     pidProfile->dFilter[PITCH].dLpf2 = cmsx_dterm_lowpass2_hz_pitch;
     pidProfile->dFilter[YAW].dLpf2   = cmsx_dterm_lowpass2_hz_yaw;
+#ifdef USE_GYRO_DATA_ANALYSE
     pidProfile->dtermDynNotch        = cmsx_dterm_dyn_notch_enable;
     pidProfile->dterm_dyn_notch_q    = cmsx_dterm_dyn_notch_q;
+#endif
     pidProfile->dterm_ABG_alpha = cmsx_dterm_abg_alpha;
     pidProfile->dterm_ABG_boost = cmsx_dterm_abg_boost;
     pidProfile->dterm_ABG_half_life = cmsx_dterm_abg_half_life;
@@ -763,8 +796,10 @@ static OSD_Entry cmsx_menuFilterPerProfileEntries[] = {
     { "DTERM LPF2 ROLL", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz_roll,    0, 500, 1 }, 0 },
     { "DTERM LPF2 PITCH", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz_pitch,    0, 500, 1 }, 0 },
     { "DTERM LPF2 YAW", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz_yaw,    0, 500, 1 }, 0 },
+#ifdef USE_GYRO_DATA_ANALYSE
     { "DTERM DYN ENABLE",   OME_TAB,   NULL, &(OSD_TAB_t)   { (uint8_t *) &cmsx_dterm_dyn_notch_enable, 1, cms_offOnLabels }, 0 },
     { "DTERM DYN NOT Q",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_dyn_notch_q,    0, 2000, 1 }, 0 },
+#endif
     { "DTERM ABG ALPHA",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_abg_alpha,       0, 1000, 1 }, 0 },
     { "DTERM ABG BOOST",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_abg_boost,       0, 2000, 1 }, 0 },
     { "DTERM ABG HL",       OME_UINT8,  NULL, &(OSD_UINT8_t) { &cmsx_dterm_abg_half_life,   0, 250, 1 }, 0 },
diff --git a/src/main/cms/cms_menu_vtx_smartaudio.c b/src/main/cms/cms_menu_vtx_smartaudio.c
index 77622df9e7..319da7d40e 100644
--- a/src/main/cms/cms_menu_vtx_smartaudio.c
+++ b/src/main/cms/cms_menu_vtx_smartaudio.c
@@ -492,7 +492,7 @@ static OSD_Entry saCmsMenuConfigEntries[] = {
     { "OP MODEL",  OME_TAB,     saCmsConfigOpmodelByGvar,              &(OSD_TAB_t){ &saCmsOpmodel, 2, saCmsOpmodelNames }, DYNAMIC },
     { "FSEL MODE", OME_TAB,     saCmsConfigFreqModeByGvar,             &saCmsEntFselMode,                                   DYNAMIC },
     { "PIT FMODE", OME_TAB,     saCmsConfigPitFModeByGvar,             &saCmsEntPitFMode,                                   0 },
-    { "POR FREQ",  OME_Submenu, (CMSEntryFuncPtr)saCmsORFreqGetString, &saCmsMenuPORFreq,                                   OPTSTRING },
+    { "POR FREQ",  OME_Submenu, (CMSEntryFuncPtr)(long)saCmsORFreqGetString, &saCmsMenuPORFreq,                                   OPTSTRING },
 #ifdef USE_EXTENDED_CMS_MENUS
     { "STATX",     OME_Submenu, cmsMenuChange,                         &saCmsMenuStats,                                     0 },
 #endif /* USE_EXTENDED_CMS_MENUS */
@@ -534,7 +534,7 @@ static OSD_Entry saCmsMenuFreqModeEntries[] = {
     { "- SMARTAUDIO -", OME_Label, NULL, NULL, 0 },
 
     { "",       OME_Label,   NULL,                                     saCmsStatusString,  DYNAMIC },
-    { "FREQ",   OME_Submenu, (CMSEntryFuncPtr)saCmsUserFreqGetString,  &saCmsMenuUserFreq, OPTSTRING },
+    { "FREQ",   OME_Submenu, (CMSEntryFuncPtr)(long)saCmsUserFreqGetString,  &saCmsMenuUserFreq, OPTSTRING },
     { "POWER",  OME_TAB,     saCmsConfigPowerByGvar,                   &saCmsEntPower,     0 },
     { "SET",    OME_Submenu, cmsMenuChange,                            &saCmsMenuCommence, 0 },
     { "CONFIG", OME_Submenu, cmsMenuChange,                            &saCmsMenuConfig,   0 },
diff --git a/src/main/common/bitarray.c b/src/main/common/bitarray.c
index 8884146fbb..3c523c1baa 100644
--- a/src/main/common/bitarray.c
+++ b/src/main/common/bitarray.c
@@ -51,3 +51,53 @@ void bitArrayCopy(void *array, unsigned from, unsigned to) {
         bitArrayClr(array, to);
     }
 }
+
+void bitArrayClrAll(bitarrayElement_t *array, size_t size)
+{
+    memset(array, 0, size);
+}
+
+__attribute__((always_inline)) static inline uint8_t __CTZ(uint32_t val)
+{
+    // __builtin_ctz is not defined for zero, since it's arch
+    // dependant. However, in ARM it gets translated to a
+    // rbit and then a clz, making it return 32 for zero on ARM.
+    // For other architectures, explicitely implement the same
+    // semantics.
+#ifdef __arm__
+    uint8_t zc;
+    __asm__ volatile ("rbit %1, %1\n\t"
+                      "clz %0, %1"
+                    : "=r" (zc)
+                    : "r" (val) );
+    return zc;
+#else
+    // __builtin_clz is not defined for zero, since it's arch
+    // dependant. Make it return 32 like ARM's CLZ.
+    return val ? __builtin_ctz(val) : 32;
+#endif
+}
+
+int bitArrayFindFirstSet(const bitarrayElement_t *array, unsigned start, size_t size)
+{
+    const uint32_t *ptr = (uint32_t*)array;
+    const uint32_t *end = ptr + (size / 4);
+    const uint32_t *p = ptr + start / (8 * 4);
+
+    if (p < end) {
+        int ret;
+        // First iteration might need to mask some bits
+        uint32_t mask = 0xFFFFFFFF << (start % (8 * 4));
+        if ((ret = __CTZ(*p & mask)) != 32) {
+            return (((char *)p) - ((char *)ptr)) * 8 + ret;
+        }
+        p++;
+        while (p < end) {
+            if ((ret = __CTZ(*p)) != 32) {
+                return (((char *)p) - ((char *)ptr)) * 8 + ret;
+            }
+            p++;
+        }
+    }
+    return -1;
+}
\ No newline at end of file
diff --git a/src/main/common/bitarray.h b/src/main/common/bitarray.h
index 13fafe5550..eaa64b3905 100644
--- a/src/main/common/bitarray.h
+++ b/src/main/common/bitarray.h
@@ -20,8 +20,21 @@
 
 #pragma once
 
+typedef uint32_t bitarrayElement_t;
+
 bool bitArrayGet(const void *array, unsigned bit);
 void bitArraySet(void *array, unsigned bit);
 void bitArrayClr(void *array, unsigned bit);
 void bitArrayXor(void *dest, size_t size, void *op1, void *op2);
 void bitArrayCopy(void *array, unsigned from, unsigned to);
+void bitArrayClrAll(bitarrayElement_t *array, size_t size);
+// Returns the first set bit with pos >= start_bit, or -1 if all bits
+// are zero. Note that size must indicate the size of array in bytes.
+// In most cases, you should use the BITARRAY_FIND_FIRST_SET() macro
+// to call this function.
+int bitArrayFindFirstSet(const bitarrayElement_t *array, unsigned start_bit, size_t size);
+
+#define BITARRAY_DECLARE(name, bits) bitarrayElement_t name[(bits + 31) / 32]
+#define BITARRAY_SET_ALL(array) bitArraySetAll(array, sizeof(array))
+#define BITARRAY_CLR_ALL(array) bitArrayClrAll(array, sizeof(array))
+#define BITARRAY_FIND_FIRST_SET(array, start_bit) bitArrayFindFirstSet(array, start_bit, sizeof(array))
\ No newline at end of file
diff --git a/src/main/common/utils.h b/src/main/common/utils.h
index 8cd021d1ff..95f2716244 100644
--- a/src/main/common/utils.h
+++ b/src/main/common/utils.h
@@ -103,6 +103,8 @@ static inline int32_t cmp32(uint32_t a, uint32_t b) {
     return (int32_t)(a - b);
 }
 
+static inline uint32_t llog2(uint32_t n) { return 31 - __builtin_clz(n | 1); }
+
 // using memcpy_fn will force memcpy function call, instead of inlining it. In most cases function call takes fewer instructions
 //  than inlined version (inlining is cheaper for very small moves < 8 bytes / 2 store instructions)
 #if defined(UNIT_TEST) || defined(SIMULATOR_BUILD)
diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h
index a29d931c25..0bcf72738c 100644
--- a/src/main/drivers/accgyro/accgyro.h
+++ b/src/main/drivers/accgyro/accgyro.h
@@ -33,17 +33,28 @@
 #include <pthread.h>
 #endif
 
+#define GYRO_SCALE_2000DPS (2000.0f / (1 << 15))   // 16.384 dps/lsb scalefactor for 2000dps sensors
+#define GYRO_SCALE_4000DPS (4000.0f / (1 << 15))   //  8.192 dps/lsb scalefactor for 4000dps sensor
+
 #ifndef MPU_I2C_INSTANCE
 #define MPU_I2C_INSTANCE I2C_DEVICE
 #endif
 
 #define GYRO_HARDWARE_LPF_NORMAL       0
-#define GYRO_HARDWARE_LPF_EXPERIMENTAL 1
 #define GYRO_HARDWARE_LPF_1KHZ_SAMPLE  2
 
+#if defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270)
+#define GYRO_HARDWARE_LPF_EXPERIMENTAL 3
+#else
+#define GYRO_HARDWARE_LPF_EXPERIMENTAL 1
+#endif
+
 #define GYRO_32KHZ_HARDWARE_LPF_NORMAL       0
 #define GYRO_32KHZ_HARDWARE_LPF_EXPERIMENTAL 1
 
+#define GYRO_HARDWARE_LPF_OPTION_1 1
+#define GYRO_HARDWARE_LPF_OPTION_2 2
+
 #define GYRO_LPF_256HZ      0
 #define GYRO_LPF_188HZ      1
 #define GYRO_LPF_98HZ       2
@@ -91,6 +102,8 @@ typedef struct gyroDev_s {
     ioTag_t mpuIntExtiTag;
     uint8_t gyroHasOverflowProtection;
     gyroSensor_e gyroHardware;
+    uint8_t accDataReg;
+    uint8_t gyroDataReg;
 } gyroDev_t;
 
 typedef struct accDev_s {
diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index 498536f8c2..f4b913736e 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -53,8 +53,10 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
+#include "drivers/accgyro/accgyro_spi_bmi270.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
+#include "drivers/accgyro/accgyro_spi_icm426xx.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
@@ -365,6 +367,32 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) {
         return true;
     }
 #endif
+#ifdef USE_GYRO_SPI_ICM42605
+#ifdef ICM42605_SPI_INSTANCE
+    spiBusSetInstance(&gyro->bus, ICM42605_SPI_INSTANCE);
+#endif
+#ifdef ICM42605_CS_PIN
+    gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM42605_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
+#endif
+    sensor = icm426xxSpiDetect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
+        return true;
+    }
+#endif
+#ifdef USE_GYRO_SPI_ICM42688P
+#ifdef ICM42688P_SPI_INSTANCE
+    spiBusSetInstance(&gyro->bus, ICM42688P_SPI_INSTANCE);
+#endif
+#ifdef ICM42688P_CS_PIN
+    gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM42688P_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
+#endif
+    sensor = icm426xxSpiDetect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
+        return true;
+    }
+#endif
 #ifdef USE_ACCGYRO_BMI160
 #ifndef USE_DUAL_GYRO
     spiBusSetInstance(&gyro->bus, BMI160_SPI_INSTANCE);
@@ -377,6 +405,19 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) {
         gyro->mpuDetectionResult.sensor = sensor;
         return true;
     }
+#endif
+#ifdef USE_ACCGYRO_BMI270
+#ifndef USE_DUAL_GYRO
+    spiBusSetInstance(&gyro->bus, BMI270_SPI_INSTANCE);
+#endif
+#ifdef BMI270_CS_PIN
+    gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI270_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
+#endif
+    sensor = bmi270Detect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
+        return true;
+    }
 #endif
     return false;
 }
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index 550f05fe81..b85e6d4ca4 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -29,7 +29,7 @@
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 
 #if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20649) \
- || defined(USE_GYRO_SPI_ICM20689)
+ || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define GYRO_USES_SPI
 #endif
 
@@ -47,6 +47,8 @@
 #define ICM20608G_WHO_AM_I_CONST            (0xAF)
 #define ICM20649_WHO_AM_I_CONST             (0xE1)
 #define ICM20689_WHO_AM_I_CONST             (0x98)
+#define ICM42605_WHO_AM_I_CONST             (0x42)
+#define ICM42688P_WHO_AM_I_CONST            (0x47)
 
 // RA = Register Address
 
@@ -214,7 +216,10 @@ typedef enum {
     ICM_20608_SPI,
     ICM_20649_SPI,
     ICM_20689_SPI,
+    ICM_42605_SPI,
+    ICM_42688P_SPI,
     BMI_160_SPI,
+    BMI_270_SPI,
     IMUF_9001_SPI,
 } mpuSensor_e;
 
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.c b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
new file mode 100644
index 0000000000..b7e4749770
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
@@ -0,0 +1,499 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_ACCGYRO_BMI270
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_spi_bmi270.h"
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
+#include "drivers/nvic.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+// 10 MHz max SPI frequency
+#define BMI270_MAX_SPI_CLK_HZ 10000000
+
+#define BMI270_FIFO_FRAME_SIZE 6
+
+#define BMI270_CONFIG_SIZE 328
+
+// Declaration for the device config (microcode) that must be uploaded to the sensor
+const uint8_t bmi270_maximum_fifo_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x1a, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
+    0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x90, 0x32, 0x21, 0x2e, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x3b, 0x00, 0xc8, 0x2e, 0x44, 0x47, 0x22,
+    0x00, 0x37, 0x00, 0xa4, 0x00, 0xff, 0x0f, 0xd1, 0x00, 0x07, 0xad, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x11, 0x24, 0xfc, 0xf5, 0x80, 0x30, 0x40, 0x42, 0x50, 0x50, 0x00, 0x30, 0x12, 0x24, 0xeb,
+    0x00, 0x03, 0x30, 0x00, 0x2e, 0xc1, 0x86, 0x5a, 0x0e, 0xfb, 0x2f, 0x21, 0x2e, 0xfc, 0xf5, 0x13, 0x24, 0x63, 0xf5,
+    0xe0, 0x3c, 0x48, 0x00, 0x22, 0x30, 0xf7, 0x80, 0xc2, 0x42, 0xe1, 0x7f, 0x3a, 0x25, 0xfc, 0x86, 0xf0, 0x7f, 0x41,
+    0x33, 0x98, 0x2e, 0xc2, 0xc4, 0xd6, 0x6f, 0xf1, 0x30, 0xf1, 0x08, 0xc4, 0x6f, 0x11, 0x24, 0xff, 0x03, 0x12, 0x24,
+    0x00, 0xfc, 0x61, 0x09, 0xa2, 0x08, 0x36, 0xbe, 0x2a, 0xb9, 0x13, 0x24, 0x38, 0x00, 0x64, 0xbb, 0xd1, 0xbe, 0x94,
+    0x0a, 0x71, 0x08, 0xd5, 0x42, 0x21, 0xbd, 0x91, 0xbc, 0xd2, 0x42, 0xc1, 0x42, 0x00, 0xb2, 0xfe, 0x82, 0x05, 0x2f,
+    0x50, 0x30, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, 0x6f, 0x02, 0x30, 0x02, 0x42, 0x20,
+    0x26, 0xe0, 0x6f, 0x02, 0x31, 0x03, 0x40, 0x9a, 0x0a, 0x02, 0x42, 0xf0, 0x37, 0x05, 0x2e, 0x5e, 0xf7, 0x10, 0x08,
+    0x12, 0x24, 0x1e, 0xf2, 0x80, 0x42, 0x83, 0x84, 0xf1, 0x7f, 0x0a, 0x25, 0x13, 0x30, 0x83, 0x42, 0x3b, 0x82, 0xf0,
+    0x6f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x00, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x3e, 0x84,
+    0x00, 0x40, 0x40, 0x42, 0x7e, 0x82, 0xe1, 0x7f, 0xf2, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x21, 0x30, 0x23, 0x2e, 0x61,
+    0xf5, 0xeb, 0x2c, 0xe1, 0x6f
+};
+
+#define BMI270_CHIP_ID 0x24
+
+// BMI270 registers (not the complete list)
+typedef enum {
+    BMI270_REG_CHIP_ID = 0x00,
+    BMI270_REG_ERR_REG = 0x02,
+    BMI270_REG_STATUS = 0x03,
+    BMI270_REG_ACC_DATA_X_LSB = 0x0C,
+    BMI270_REG_GYR_DATA_X_LSB = 0x12,
+    BMI270_REG_SENSORTIME_0 = 0x18,
+    BMI270_REG_SENSORTIME_1 = 0x19,
+    BMI270_REG_SENSORTIME_2 = 0x1A,
+    BMI270_REG_EVENT = 0x1B,
+    BMI270_REG_INT_STATUS_0 = 0x1C,
+    BMI270_REG_INT_STATUS_1 = 0x1D,
+    BMI270_REG_INTERNAL_STATUS = 0x21,
+    BMI270_REG_TEMPERATURE_LSB = 0x22,
+    BMI270_REG_TEMPERATURE_MSB = 0x23,
+    BMI270_REG_FIFO_LENGTH_LSB = 0x24,
+    BMI270_REG_FIFO_LENGTH_MSB = 0x25,
+    BMI270_REG_FIFO_DATA = 0x26,
+    BMI270_REG_ACC_CONF = 0x40,
+    BMI270_REG_ACC_RANGE = 0x41,
+    BMI270_REG_GYRO_CONF = 0x42,
+    BMI270_REG_GYRO_RANGE = 0x43,
+    BMI270_REG_AUX_CONF = 0x44,
+    BMI270_REG_FIFO_DOWNS = 0x45,
+    BMI270_REG_FIFO_WTM_0 = 0x46,
+    BMI270_REG_FIFO_WTM_1 = 0x47,
+    BMI270_REG_FIFO_CONFIG_0 = 0x48,
+    BMI270_REG_FIFO_CONFIG_1 = 0x49,
+    BMI270_REG_SATURATION = 0x4A,
+    BMI270_REG_INT1_IO_CTRL = 0x53,
+    BMI270_REG_INT2_IO_CTRL = 0x54,
+    BMI270_REG_INT_LATCH = 0x55,
+    BMI270_REG_INT1_MAP_FEAT = 0x56,
+    BMI270_REG_INT2_MAP_FEAT = 0x57,
+    BMI270_REG_INT_MAP_DATA = 0x58,
+    BMI270_REG_INIT_CTRL = 0x59,
+    BMI270_REG_INIT_DATA = 0x5E,
+    BMI270_REG_ACC_SELF_TEST = 0x6D,
+    BMI270_REG_GYR_SELF_TEST_AXES = 0x6E,
+    BMI270_REG_PWR_CONF = 0x7C,
+    BMI270_REG_PWR_CTRL = 0x7D,
+    BMI270_REG_CMD = 0x7E,
+} bmi270Register_e;
+
+// BMI270 register configuration values
+typedef enum {
+    BMI270_VAL_CMD_SOFTRESET = 0xB6,
+    BMI270_VAL_CMD_FIFOFLUSH = 0xB0,
+    BMI270_VAL_PWR_CTRL = 0x0E,              // enable gyro, acc and temp sensors
+    BMI270_VAL_PWR_CONF = 0x02,              // disable advanced power save, enable FIFO self-wake
+    BMI270_VAL_ACC_CONF_ODR800 = 0x0B,       // set acc sample rate to 800hz
+    BMI270_VAL_ACC_CONF_ODR1600 = 0x0C,      // set acc sample rate to 1600hz
+    BMI270_VAL_ACC_CONF_BWP = 0x02,          // set acc filter in normal mode
+    BMI270_VAL_ACC_CONF_HP = 0x01,           // set acc in high performance mode
+    BMI270_VAL_ACC_RANGE_8G = 0x02,          // set acc to 8G full scale
+    BMI270_VAL_ACC_RANGE_16G = 0x03,         // set acc to 16G full scale
+    BMI270_VAL_GYRO_CONF_ODR3200 = 0x0D,     // set gyro sample rate to 3200hz
+    BMI270_VAL_GYRO_CONF_BWP_OSR4 = 0x00,    // set gyro filter in OSR4 mode
+    BMI270_VAL_GYRO_CONF_BWP_OSR2 = 0x01,    // set gyro filter in OSR2 mode
+    BMI270_VAL_GYRO_CONF_BWP_NORM = 0x02,    // set gyro filter in normal mode
+    BMI270_VAL_GYRO_CONF_NOISE_PERF = 0x01,  // set gyro in high performance noise mode
+    BMI270_VAL_GYRO_CONF_FILTER_PERF = 0x01, // set gyro in high performance filter mode
+
+    BMI270_VAL_GYRO_RANGE_2000DPS = 0x08,    // set gyro to 2000dps full scale
+                                             // for some reason you have to enable the ois_range bit (bit 3) for 2000dps as well
+                                             // or else the gyro scale will be 250dps when in prefiltered FIFO mode (not documented in datasheet!)
+
+    BMI270_VAL_INT_MAP_DATA_DRDY_INT1 = 0x04,// enable the data ready interrupt pin 1
+    BMI270_VAL_INT_MAP_FIFO_WM_INT1 = 0x02,  // enable the FIFO watermark interrupt pin 1
+    BMI270_VAL_INT1_IO_CTRL_PINMODE = 0x0A,  // active high, push-pull, output enabled, input disabled 
+    BMI270_VAL_FIFO_CONFIG_0 = 0x00,         // don't stop when full, disable sensortime frame
+    BMI270_VAL_FIFO_CONFIG_1 = 0x80,         // only gyro data in FIFO, use headerless mode
+    BMI270_VAL_FIFO_DOWNS = 0x00,            // select unfiltered gyro data with no downsampling (6.4KHz samples)
+    BMI270_VAL_FIFO_WTM_0 = 0x06,            // set the FIFO watermark level to 1 gyro sample (6 bytes)
+    BMI270_VAL_FIFO_WTM_1 = 0x00,            // FIFO watermark MSB
+} bmi270ConfigValues_e;
+
+// BMI270 register reads are 16bits with the first byte a "dummy" value 0
+// that must be ignored. The result is in the second byte.
+static uint8_t bmi270RegisterRead(const busDevice_t *bus, bmi270Register_e registerId)
+{
+    uint8_t data[2] = { 0, 0 };
+
+    if (spiBusReadRegisterBuffer(bus, registerId, data, 2)) {
+        return data[1];
+    } else {
+        return 0;
+    }
+}
+
+static void bmi270RegisterWrite(const busDevice_t *bus, bmi270Register_e registerId, uint8_t value, unsigned delayMs)
+{
+    spiBusWriteRegister(bus, registerId, value);
+    if (delayMs) {
+        delay(delayMs);
+    }
+}
+
+// Toggle the CS to switch the device into SPI mode.
+// Device switches initializes as I2C and switches to SPI on a low to high CS transition
+static void bmi270EnableSPI(const busDevice_t *bus)
+{
+    IOLo(bus->busdev_u.spi.csnPin);
+    delay(1);
+    IOHi(bus->busdev_u.spi.csnPin);
+    delay(10);
+}
+
+uint8_t bmi270Detect(const busDevice_t *bus)
+{
+#ifndef USE_DUAL_GYRO
+    IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
+    IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
+    IOHi(bus->busdev_u.spi.csnPin);
+#endif
+
+    spiSetDivisor(bus->busdev_u.spi.instance, spiCalculateDivider(BMI270_MAX_SPI_CLK_HZ));
+    bmi270EnableSPI(bus);
+
+    if (bmi270RegisterRead(bus, BMI270_REG_CHIP_ID) == BMI270_CHIP_ID) {
+        return BMI_270_SPI;
+    }
+
+    return MPU_NONE;
+}
+
+static void bmi270UploadConfig(const busDevice_t *bus)
+{
+    bmi270RegisterWrite(bus, BMI270_REG_PWR_CONF, 0, 1);
+    bmi270RegisterWrite(bus, BMI270_REG_INIT_CTRL, 0, 1);
+
+    // Transfer the config file
+    IOLo(bus->busdev_u.spi.csnPin);
+    spiTransferByte(bus->busdev_u.spi.instance, BMI270_REG_INIT_DATA);
+    spiTransfer(bus->busdev_u.spi.instance, bmi270_maximum_fifo_config_file, NULL, sizeof(bmi270_maximum_fifo_config_file));
+    IOHi(bus->busdev_u.spi.csnPin);
+
+    delay(10);
+    bmi270RegisterWrite(bus, BMI270_REG_INIT_CTRL, 1, 1);
+}
+
+static uint8_t getBmiOsrMode()
+{
+    switch(gyroConfig()->gyro_hardware_lpf) {
+        case GYRO_HARDWARE_LPF_NORMAL:
+            return BMI270_VAL_GYRO_CONF_BWP_OSR4;
+        case GYRO_HARDWARE_LPF_EXPERIMENTAL:
+            return BMI270_VAL_GYRO_CONF_BWP_OSR2;
+    }
+    return 0;
+}
+
+static void bmi270Config(const gyroDev_t *gyro)
+{
+    const busDevice_t *bus = &gyro->bus;
+
+    // If running in hardware_lpf experimental mode then switch to FIFO-based,
+    // 6.4KHz sampling, unfiltered data vs. the default 3.2KHz with hardware filtering
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+    const bool fifoMode = (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL);
+#else
+    const bool fifoMode = false;
+#endif
+
+    // Perform a soft reset to set all configuration to default
+    // Delay 100ms before continuing configuration
+    bmi270RegisterWrite(bus, BMI270_REG_CMD, BMI270_VAL_CMD_SOFTRESET, 100);
+
+    // Toggle the chip into SPI mode
+    bmi270EnableSPI(bus);
+
+    bmi270UploadConfig(bus);
+
+    // Configure the FIFO
+    if (fifoMode) {
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_CONFIG_0, BMI270_VAL_FIFO_CONFIG_0, 1);
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_CONFIG_1, BMI270_VAL_FIFO_CONFIG_1, 1);
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_DOWNS, BMI270_VAL_FIFO_DOWNS, 1);
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_WTM_0, BMI270_VAL_FIFO_WTM_0, 1);
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_WTM_1, BMI270_VAL_FIFO_WTM_1, 1);
+    }
+
+    // Configure the accelerometer
+    bmi270RegisterWrite(bus, BMI270_REG_ACC_CONF, (BMI270_VAL_ACC_CONF_HP << 7) | (BMI270_VAL_ACC_CONF_BWP << 4) | BMI270_VAL_ACC_CONF_ODR800, 1);
+
+    // Configure the accelerometer full-scale range
+    bmi270RegisterWrite(bus, BMI270_REG_ACC_RANGE, BMI270_VAL_ACC_RANGE_16G, 1);
+
+    // Configure the gyro
+    bmi270RegisterWrite(bus, BMI270_REG_GYRO_CONF, (BMI270_VAL_GYRO_CONF_FILTER_PERF << 7) | (BMI270_VAL_GYRO_CONF_NOISE_PERF << 6) | (getBmiOsrMode() << 4) | BMI270_VAL_GYRO_CONF_ODR3200, 1);
+
+    // Configure the gyro full-range scale
+    bmi270RegisterWrite(bus, BMI270_REG_GYRO_RANGE, BMI270_VAL_GYRO_RANGE_2000DPS, 1);
+
+    // Configure the gyro data ready interrupt
+    if (fifoMode) {
+        // Interrupt driven by FIFO watermark level
+        bmi270RegisterWrite(bus, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_FIFO_WM_INT1, 1);
+    } else {
+        // Interrupt driven by data ready
+        bmi270RegisterWrite(bus, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_DATA_DRDY_INT1, 1);
+    }
+
+    // Configure the behavior of the INT1 pin
+    bmi270RegisterWrite(bus, BMI270_REG_INT1_IO_CTRL, BMI270_VAL_INT1_IO_CTRL_PINMODE, 1);
+
+    // Configure the device for  performance mode
+    bmi270RegisterWrite(bus, BMI270_REG_PWR_CONF, BMI270_VAL_PWR_CONF, 1);
+
+    // Enable the gyro, accelerometer and temperature sensor - disable aux interface
+    bmi270RegisterWrite(bus, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL, 1);
+
+    // Flush the FIFO
+    if (fifoMode) {
+        bmi270RegisterWrite(bus, BMI270_REG_CMD, BMI270_VAL_CMD_FIFOFLUSH, 1);
+    }
+}
+
+extiCallbackRec_t bmi270IntCallbackRec;
+
+#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
+void bmi270ExtiHandler(extiCallbackRec_t *cb)
+{
+    gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
+    gyro->dataReady = true;
+}
+
+static void bmi270IntExtiInit(gyroDev_t *gyro)
+{
+    if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
+        return;
+    }
+
+    IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
+
+    IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
+    EXTIHandlerInit(&gyro->exti, bmi270ExtiHandler);
+    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING );
+    EXTIEnable(mpuIntIO, true);
+}
+#endif
+
+static bool bmi270AccRead(accDev_t *acc)
+{
+    enum {
+        IDX_REG = 0,
+        IDX_SKIP,
+        IDX_ACCEL_XOUT_L,
+        IDX_ACCEL_XOUT_H,
+        IDX_ACCEL_YOUT_L,
+        IDX_ACCEL_YOUT_H,
+        IDX_ACCEL_ZOUT_L,
+        IDX_ACCEL_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_ACC_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
+
+    IOLo(acc->bus.busdev_u.spi.csnPin);
+    spiTransfer(acc->bus.busdev_u.spi.instance, bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
+    IOHi(acc->bus.busdev_u.spi.csnPin);
+
+    acc->ADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_XOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_XOUT_L]);
+    acc->ADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_YOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_YOUT_L]);
+    acc->ADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_ZOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_ZOUT_L]);
+
+    return true;
+}
+
+static bool bmi270GyroReadRegister(gyroDev_t *gyro)
+{
+    enum {
+        IDX_REG = 0,
+        IDX_SKIP,
+        IDX_GYRO_XOUT_L,
+        IDX_GYRO_XOUT_H,
+        IDX_GYRO_YOUT_L,
+        IDX_GYRO_YOUT_H,
+        IDX_GYRO_ZOUT_L,
+        IDX_GYRO_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_GYR_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
+
+    IOLo(gyro->bus.busdev_u.spi.csnPin);
+    spiTransfer(gyro->bus.busdev_u.spi.instance, bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
+    IOHi(gyro->bus.busdev_u.spi.csnPin);
+
+    gyro->gyroADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
+    gyro->gyroADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
+    gyro->gyroADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
+
+    return true;
+}
+
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+static bool bmi270GyroReadFifo(gyroDev_t *gyro)
+{
+    enum {
+        IDX_REG = 0,
+        IDX_SKIP,
+        IDX_FIFO_LENGTH_L,
+        IDX_FIFO_LENGTH_H,
+        IDX_GYRO_XOUT_L,
+        IDX_GYRO_XOUT_H,
+        IDX_GYRO_YOUT_L,
+        IDX_GYRO_YOUT_H,
+        IDX_GYRO_ZOUT_L,
+        IDX_GYRO_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    bool dataRead = false;
+    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_FIFO_LENGTH_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+
+    // Burst read the FIFO length followed by the next 6 bytes containing the gyro axis data for
+    // the first sample in the queue. It's possible for the FIFO to be empty so we need to check the
+    // length before using the sample.
+    IOLo(gyro->bus.busdev_u.spi.csnPin);
+    spiTransfer(gyro->bus.busdev_u.spi.instance, bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
+    IOHi(gyro->bus.busdev_u.spi.csnPin);
+
+    int fifoLength = (uint16_t)((bmi270_rx_buf[IDX_FIFO_LENGTH_H] << 8) | bmi270_rx_buf[IDX_FIFO_LENGTH_L]);
+
+    if (fifoLength >= BMI270_FIFO_FRAME_SIZE) {
+
+        const int16_t gyroX = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
+        const int16_t gyroY = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
+        const int16_t gyroZ = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
+
+        // If the FIFO data is invalid then the returned values will be 0x8000 (-32768) (pg. 43 of datasheet).
+        // This shouldn't happen since we're only using the data if the FIFO length indicates
+        // that data is available, but this safeguard is needed to prevent bad things in
+        // case it does happen.
+        if ((gyroX != INT16_MIN) || (gyroY != INT16_MIN) || (gyroZ != INT16_MIN)) {
+            gyro->gyroADCRaw[X] = gyroX;
+            gyro->gyroADCRaw[Y] = gyroY;
+            gyro->gyroADCRaw[Z] = gyroZ;
+            dataRead = true;
+        }
+        fifoLength -= BMI270_FIFO_FRAME_SIZE;
+    }
+
+    // If there are additional samples in the FIFO then we don't use those for now and simply
+    // flush the FIFO. Under normal circumstances we only expect one sample in the FIFO since
+    // the gyro loop is running at the native sample rate of 6.4KHz.
+    // However the way the FIFO works in the sensor is that if a frame is partially read then
+    // it remains in the queue instead of bein removed. So if we ever got into a state where there
+    // was a partial frame or other unexpected data in the FIFO is may never get cleared and we
+    // would end up in a lock state of always re-reading the same partial or invalid sample.
+    if (fifoLength > 0) {
+        // Partial or additional frames left - flush the FIFO
+        bmi270RegisterWrite(&gyro->bus, BMI270_REG_CMD, BMI270_VAL_CMD_FIFOFLUSH, 0);
+    }
+
+    return dataRead;
+}
+#endif
+
+static bool bmi270GyroRead(gyroDev_t *gyro)
+{
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+    if (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) {
+        // running in 6.4KHz FIFO mode
+        return bmi270GyroReadFifo(gyro);
+    } else
+#endif
+    {
+        // running in 3.2KHz register mode
+        return bmi270GyroReadRegister(gyro);
+    }
+}
+
+static void bmi270SpiGyroInit(gyroDev_t *gyro)
+{
+    bmi270Config(gyro);
+
+#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
+    bmi270IntExtiInit(gyro);
+#endif
+}
+
+static void bmi270SpiAccInit(accDev_t *acc)
+{
+    // sensor is configured during gyro init
+    acc->acc_1G = 512 * 4;   // 16G sensor scale
+}
+
+bool bmi270SpiAccDetect(accDev_t *acc)
+{
+    if (acc->mpuDetectionResult.sensor != BMI_270_SPI) {
+        return false;
+    }
+
+    acc->initFn = bmi270SpiAccInit;
+    acc->readFn = bmi270AccRead;
+
+    return true;
+}
+
+
+bool bmi270SpiGyroDetect(gyroDev_t *gyro)
+{
+    if (gyro->mpuDetectionResult.sensor != BMI_270_SPI) {
+        return false;
+    }
+
+    gyro->initFn = bmi270SpiGyroInit;
+    gyro->readFn = bmi270GyroRead;
+    gyro->scale = GYRO_SCALE_2000DPS;
+
+    return true;
+}
+
+// Used to query the status register to determine what event caused the EXTI to fire.
+// When in 3.2KHz mode the interrupt is mapped to the data ready state. However the data ready
+// trigger will fire for both gyro and accelerometer. So it's necessary to check this register
+// to determine which event caused the interrupt.
+// When in 6.4KHz mode the interrupt is configured to be the FIFO watermark size of 6 bytes.
+// Since in this mode we only put gyro data in the FIFO it's sufficient to check for the FIFO
+// watermark reason as an idication of gyro data ready.
+uint8_t bmi270InterruptStatus(gyroDev_t *gyro)
+{
+    return bmi270RegisterRead(&gyro->bus, BMI270_REG_INT_STATUS_1);
+}
+#endif // USE_ACCGYRO_BMI270
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.h b/src/main/drivers/accgyro/accgyro_spi_bmi270.h
new file mode 100644
index 0000000000..c0ea0495fa
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi270.h
@@ -0,0 +1,28 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/bus.h"
+
+uint8_t bmi270Detect(const busDevice_t *bus);
+bool bmi270SpiAccDetect(accDev_t *acc);
+bool bmi270SpiGyroDetect(gyroDev_t *gyro);
+uint8_t bmi270InterruptStatus(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm426xx.c b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
new file mode 100644
index 0000000000..0b284fcee7
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
@@ -0,0 +1,401 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_spi_icm426xx.h"
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/io.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+// 24 MHz max SPI frequency
+#define ICM426XX_MAX_SPI_CLK_HZ 24000000
+
+#define ICM426XX_RA_REG_BANK_SEL                    0x76
+#define ICM426XX_BANK_SELECT0                       0x00
+#define ICM426XX_BANK_SELECT1                       0x01
+#define ICM426XX_BANK_SELECT2                       0x02
+#define ICM426XX_BANK_SELECT3                       0x03
+#define ICM426XX_BANK_SELECT4                       0x04
+
+// Fix for stalls in gyro output. See https://github.com/ArduPilot/ardupilot/pull/25332 ; https://github.com/betaflight/betaflight/pull/13132
+#define ICM426XX_INTF_CONFIG1                       0x4D
+#define ICM426XX_INTF_CONFIG1_AFSR_MASK             0xC0
+#define ICM426XX_INTF_CONFIG1_AFSR_DISABLE          0x40
+
+#define ICM426XX_RA_PWR_MGMT0                       0x4E  // User Bank 0
+#define ICM426XX_PWR_MGMT0_ACCEL_MODE_LN            (3 << 0)
+#define ICM426XX_PWR_MGMT0_GYRO_MODE_LN             (3 << 2)
+#define ICM426XX_PWR_MGMT0_GYRO_ACCEL_MODE_OFF      ((0 << 0) | (0 << 2))
+#define ICM426XX_PWR_MGMT0_TEMP_DISABLE_OFF         (0 << 5)
+#define ICM426XX_PWR_MGMT0_TEMP_DISABLE_ON          (1 << 5)
+
+#define ICM426XX_RA_GYRO_CONFIG0                    0x4F
+#define ICM426XX_RA_ACCEL_CONFIG0                   0x50
+
+// --- Registers for gyro and acc Anti-Alias Filter ---------
+#define ICM426XX_RA_GYRO_CONFIG_STATIC3             0x0C  // User Bank 1
+#define ICM426XX_RA_GYRO_CONFIG_STATIC4             0x0D  // User Bank 1
+#define ICM426XX_RA_GYRO_CONFIG_STATIC5             0x0E  // User Bank 1
+#define ICM426XX_RA_ACCEL_CONFIG_STATIC2            0x03  // User Bank 2
+#define ICM426XX_RA_ACCEL_CONFIG_STATIC3            0x04  // User Bank 2
+#define ICM426XX_RA_ACCEL_CONFIG_STATIC4            0x05  // User Bank 2
+// --- Register & setting for gyro and acc UI Filter --------
+#define ICM426XX_RA_GYRO_ACCEL_CONFIG0              0x52  // User Bank 0
+#define ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY       (15 << 4)
+#define ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY        (15 << 0)
+// ----------------------------------------------------------
+
+#define ICM426XX_RA_GYRO_DATA_X1                    0x25  // User Bank 0
+#define ICM426XX_RA_ACCEL_DATA_X1                   0x1F  // User Bank 0
+
+#define ICM426XX_RA_INT_CONFIG                      0x14  // User Bank 0
+#define ICM426XX_INT1_MODE_PULSED                   (0 << 2)
+#define ICM426XX_INT1_MODE_LATCHED                  (1 << 2)
+#define ICM426XX_INT1_DRIVE_CIRCUIT_OD              (0 << 1)
+#define ICM426XX_INT1_DRIVE_CIRCUIT_PP              (1 << 1)
+#define ICM426XX_INT1_POLARITY_ACTIVE_LOW           (0 << 0)
+#define ICM426XX_INT1_POLARITY_ACTIVE_HIGH          (1 << 0)
+
+#define ICM426XX_RA_INT_CONFIG0                     0x63  // User Bank 0
+#define ICM426XX_UI_DRDY_INT_CLEAR_ON_SBR           ((0 << 5) || (0 << 4))
+#define ICM426XX_UI_DRDY_INT_CLEAR_ON_SBR_DUPLICATE ((0 << 5) || (0 << 4)) // duplicate settings in datasheet, Rev 1.2.
+#define ICM426XX_UI_DRDY_INT_CLEAR_ON_F1BR          ((1 << 5) || (0 << 4))
+#define ICM426XX_UI_DRDY_INT_CLEAR_ON_SBR_AND_F1BR  ((1 << 5) || (1 << 4))
+
+#define ICM426XX_RA_INT_CONFIG1                     0x64   // User Bank 0
+#define ICM426XX_INT_ASYNC_RESET_BIT                4
+#define ICM426XX_INT_TDEASSERT_DISABLE_BIT          5
+#define ICM426XX_INT_TDEASSERT_ENABLED              (0 << ICM426XX_INT_TDEASSERT_DISABLE_BIT)
+#define ICM426XX_INT_TDEASSERT_DISABLED             (1 << ICM426XX_INT_TDEASSERT_DISABLE_BIT)
+#define ICM426XX_INT_TPULSE_DURATION_BIT            6
+#define ICM426XX_INT_TPULSE_DURATION_100            (0 << ICM426XX_INT_TPULSE_DURATION_BIT)
+#define ICM426XX_INT_TPULSE_DURATION_8              (1 << ICM426XX_INT_TPULSE_DURATION_BIT)
+
+#define ICM426XX_RA_INT_SOURCE0                     0x65  // User Bank 0
+#define ICM426XX_UI_DRDY_INT1_EN_DISABLED           (0 << 3)
+#define ICM426XX_UI_DRDY_INT1_EN_ENABLED            (1 << 3)
+
+typedef enum {
+    ODR_CONFIG_8K = 0,
+    ODR_CONFIG_4K,
+    ODR_CONFIG_2K,
+    ODR_CONFIG_1K,
+    ODR_CONFIG_COUNT
+} odrConfig_e;
+
+typedef enum {
+    AAF_CONFIG_258HZ = 0,
+    AAF_CONFIG_536HZ,
+    AAF_CONFIG_997HZ,
+    AAF_CONFIG_1962HZ,
+    AAF_CONFIG_COUNT
+} aafConfig_e;
+
+typedef struct aafConfig_s {
+    uint8_t delt;
+    uint16_t deltSqr;
+    uint8_t bitshift;
+} aafConfig_t;
+
+// Possible output data rates (ODRs)
+static uint8_t odrLUT[ODR_CONFIG_COUNT] = {  // see GYRO_ODR in section 5.6
+    [ODR_CONFIG_8K] = 3,
+    [ODR_CONFIG_4K] = 4,
+    [ODR_CONFIG_2K] = 5,
+    [ODR_CONFIG_1K] = 6,
+};
+
+// Possible gyro Anti-Alias Filter (AAF) cutoffs for ICM-42688P
+static aafConfig_t aafLUT42688[AAF_CONFIG_COUNT] = {  // see table in section 5.3
+    [AAF_CONFIG_258HZ]  = {  6,   36, 10 },
+    [AAF_CONFIG_536HZ]  = { 12,  144,  8 },
+    [AAF_CONFIG_997HZ]  = { 21,  440,  6 },
+    [AAF_CONFIG_1962HZ] = { 37, 1376,  4 },
+};
+
+// Possible gyro Anti-Alias Filter (AAF) cutoffs for ICM-42688P
+// actual cutoff differs slightly from those of the 42688P
+static aafConfig_t aafLUT42605[AAF_CONFIG_COUNT] = {  // see table in section 5.3
+    [AAF_CONFIG_258HZ]  = { 21,  440,  6 }, // actually 249 Hz
+    [AAF_CONFIG_536HZ]  = { 39, 1536,  4 }, // actually 524 Hz
+    [AAF_CONFIG_997HZ]  = { 63, 3968,  3 }, // actually 995 Hz
+    [AAF_CONFIG_1962HZ] = { 63, 3968,  3 }, // 995 Hz is the max cutoff on the 42605
+};
+
+static void icm426xxSpiInit(const busDevice_t *bus) {
+    static bool hardwareInitialised = false;
+    if (hardwareInitialised) {
+        return;
+    }
+#ifndef USE_DUAL_GYRO
+    IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
+    IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
+    IOHi(bus->busdev_u.spi.csnPin);
+#endif
+    spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
+    hardwareInitialised = true;
+}
+
+uint8_t icm426xxSpiDetect(const busDevice_t *bus) {
+    icm426xxSpiInit(bus);
+    spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_INITIALIZATION); //low speed
+    spiBusWriteRegister(bus, MPU_RA_PWR_MGMT_1, ICM426xx_BIT_RESET);
+    uint8_t icmDetected = MPU_NONE;
+    uint8_t attemptsRemaining = 20;
+    do {
+        delay(150);
+        const uint8_t whoAmI = spiBusReadRegister(bus, MPU_RA_WHO_AM_I);
+        switch (whoAmI) {
+        case ICM42605_WHO_AM_I_CONST:
+            icmDetected = ICM_42605_SPI;
+            break;
+        case ICM42688P_WHO_AM_I_CONST:
+            icmDetected = ICM_42688P_SPI;
+            break;
+        default:
+            icmDetected = MPU_NONE;
+            break;
+        }
+        if (icmDetected != MPU_NONE) {
+            break;
+        }
+        if (!attemptsRemaining) {
+            return MPU_NONE;
+        }
+    } while (attemptsRemaining--);
+    spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
+    return icmDetected;
+}
+
+void icm426xxAccInit(accDev_t *acc) {
+    acc->acc_1G = 512 * 4;
+}
+
+bool icm426xxAccRead(accDev_t *acc)
+{
+    uint8_t data[6];
+
+    const bool ack = busReadRegisterBuffer(&acc->bus, ICM426XX_RA_ACCEL_DATA_X1, data, 6);
+    if (!ack) {
+        return false;
+    }
+
+    acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
+    acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
+    acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
+
+    return true;
+}
+
+bool icm426xxSpiAccDetect(accDev_t *acc) {
+    switch (acc->mpuDetectionResult.sensor) {
+    case ICM_42605_SPI:
+    case ICM_42688P_SPI:
+        break;
+    default:
+        return false;
+    }
+    acc->initFn = icm426xxAccInit;
+    acc->readFn = icm426xxAccRead;
+    return true;
+}
+
+static aafConfig_t getGyroAafConfig(const mpuSensor_e, const aafConfig_e);
+
+static void turnGyroAccOff(const gyroDev_t *gyro)
+{
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_PWR_MGMT0, ICM426XX_PWR_MGMT0_GYRO_ACCEL_MODE_OFF);
+}
+
+// Turn on gyro and acc on in Low Noise mode
+static void turnGyroAccOn(const gyroDev_t *gyro)
+{
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_PWR_MGMT0, ICM426XX_PWR_MGMT0_TEMP_DISABLE_OFF | ICM426XX_PWR_MGMT0_ACCEL_MODE_LN | ICM426XX_PWR_MGMT0_GYRO_MODE_LN);
+    delay(1);
+}
+
+static void setUserBank(const gyroDev_t *gyro, const uint8_t user_bank)
+{
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_REG_BANK_SEL, user_bank & 7);
+}
+
+void icm426xxGyroInit(gyroDev_t *gyro)
+{
+    mpuGyroInit(gyro);
+
+    spiSetDivisor(gyro->bus.busdev_u.spi.instance, spiCalculateDivider(ICM426XX_MAX_SPI_CLK_HZ));
+
+    gyro->accDataReg = ICM426XX_RA_ACCEL_DATA_X1;
+    gyro->gyroDataReg = ICM426XX_RA_GYRO_DATA_X1;
+
+    // Turn off ACC and GYRO so they can be configured
+    // See section 12.9 in ICM-42688-P datasheet v1.7
+    setUserBank(gyro, ICM426XX_BANK_SELECT0);
+    turnGyroAccOff(gyro);
+
+    // Configure gyro Anti-Alias Filter (see section 5.3 "ANTI-ALIAS FILTER")
+    const mpuSensor_e gyroModel = gyro->mpuDetectionResult.sensor;
+    aafConfig_t aafConfig = getGyroAafConfig(gyroModel, gyroConfig()->gyro_hardware_lpf);
+    setUserBank(gyro, ICM426XX_BANK_SELECT1);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_GYRO_CONFIG_STATIC3, aafConfig.delt);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_GYRO_CONFIG_STATIC4, aafConfig.deltSqr & 0xFF);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_GYRO_CONFIG_STATIC5, (aafConfig.deltSqr >> 8) | (aafConfig.bitshift << 4));
+
+    // Configure acc Anti-Alias Filter for 1kHz sample rate (see tasks.c)
+    aafConfig = getGyroAafConfig(gyroModel, AAF_CONFIG_258HZ);
+    setUserBank(gyro, ICM426XX_BANK_SELECT2);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_ACCEL_CONFIG_STATIC2, aafConfig.delt << 1);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_ACCEL_CONFIG_STATIC3, aafConfig.deltSqr & 0xFF);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_ACCEL_CONFIG_STATIC4, (aafConfig.deltSqr >> 8) | (aafConfig.bitshift << 4));
+
+    // Configure gyro and acc UI Filters
+    setUserBank(gyro, ICM426XX_BANK_SELECT0);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_GYRO_ACCEL_CONFIG0, ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY | ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY);
+
+    // Configure interrupt pin
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_INT_CONFIG, ICM426XX_INT1_MODE_PULSED | ICM426XX_INT1_DRIVE_CIRCUIT_PP | ICM426XX_INT1_POLARITY_ACTIVE_HIGH);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_INT_CONFIG0, ICM426XX_UI_DRDY_INT_CLEAR_ON_SBR);
+
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_INT_SOURCE0, ICM426XX_UI_DRDY_INT1_EN_ENABLED);
+
+    uint8_t intConfig1Value = spiBusReadRegister(&gyro->bus, ICM426XX_RA_INT_CONFIG1);
+    // Datasheet says: "User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation"
+    intConfig1Value &= ~(1 << ICM426XX_INT_ASYNC_RESET_BIT);
+    intConfig1Value |= (ICM426XX_INT_TPULSE_DURATION_8 | ICM426XX_INT_TDEASSERT_DISABLED);
+
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_INT_CONFIG1, intConfig1Value);
+
+    // Disable AFSR to prevent stalls in gyro output
+    // ICM426XX_INTF_CONFIG1 location in user bank 0
+    uint8_t intfConfig1Value = spiBusReadRegister(&gyro->bus, ICM426XX_INTF_CONFIG1);
+    intfConfig1Value &= ~ICM426XX_INTF_CONFIG1_AFSR_MASK;
+    intfConfig1Value |= ICM426XX_INTF_CONFIG1_AFSR_DISABLE;
+    spiBusWriteRegister(&gyro->bus, ICM426XX_INTF_CONFIG1, intfConfig1Value);
+
+    // Turn on gyro and acc on again so ODR and FSR can be configured
+    turnGyroAccOn(gyro);
+
+    // Get desired output data rate
+    uint8_t odrConfig;
+    const unsigned decim = llog2(gyro->mpuDividerDrops + 1);
+    if (gyro->gyroRateKHz && decim < ODR_CONFIG_COUNT) {
+        odrConfig = odrLUT[decim];
+    } else {
+        odrConfig = odrLUT[ODR_CONFIG_1K];
+        gyro->gyroRateKHz = GYRO_RATE_1_kHz;
+    }
+
+    STATIC_ASSERT(INV_FSR_2000DPS == 3, INV_FSR_2000DPS_must_be_3_to_generate_correct_value);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (odrConfig & 0x0F));
+    delay(15);
+
+    STATIC_ASSERT(INV_FSR_16G == 3, INV_FSR_16G_must_be_3_to_generate_correct_value);
+    spiBusWriteRegister(&gyro->bus, ICM426XX_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (odrConfig & 0x0F));
+    delay(15);
+}
+
+// MIGHT NOT work on STM32F7
+#define STATIC_DMA_DATA_AUTO static
+//FAST_CODE bool mpuGyroReadSPI(gyroDev_t *gyro)
+bool icm426xxGyroReadSPI(gyroDev_t *gyro)
+{
+    //static const uint8_t dataToSend[7] = {MPU_RA_GYRO_XOUT_H | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+    STATIC_DMA_DATA_AUTO uint8_t dataToSend[7] = {ICM426XX_RA_GYRO_DATA_X1 | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+    //uint8_t data[7];
+    STATIC_DMA_DATA_AUTO uint8_t data[7];
+
+    const bool ack = spiBusTransfer(&gyro->bus, dataToSend, data, 7);
+    if (!ack) {
+        return false;
+    }
+
+    gyro->gyroADCRaw[X] = (int16_t)((data[1] << 8) | data[2]);
+    gyro->gyroADCRaw[Y] = (int16_t)((data[3] << 8) | data[4]);
+    gyro->gyroADCRaw[Z] = (int16_t)((data[5] << 8) | data[6]);
+
+    return true;
+}
+
+bool icm426xxSpiGyroDetect(gyroDev_t *gyro) {
+    switch (gyro->mpuDetectionResult.sensor) {
+    case ICM_42605_SPI:
+    case ICM_42688P_SPI:
+        break;
+    default:
+        return false;
+    }
+
+    gyro->initFn = icm426xxGyroInit;
+    gyro->readFn = icm426xxGyroReadSPI;
+
+    gyro->scale = (2000.0f / (1 << 15));   // 16.384 dps/lsb scalefactor for 2000dps sensors
+
+    return true;
+}
+
+static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig_e config)
+{
+    switch (gyroModel){
+    case ICM_42605_SPI:
+        switch (config) {
+        case GYRO_HARDWARE_LPF_NORMAL:
+            return aafLUT42605[AAF_CONFIG_258HZ];
+        case GYRO_HARDWARE_LPF_OPTION_1:
+            return aafLUT42605[AAF_CONFIG_536HZ];
+        case GYRO_HARDWARE_LPF_OPTION_2:
+            return aafLUT42605[AAF_CONFIG_997HZ];
+        default:
+            return aafLUT42605[AAF_CONFIG_258HZ];
+        }
+
+    case ICM_42688P_SPI:
+    default:
+        switch (config) {
+        case GYRO_HARDWARE_LPF_NORMAL:
+            return aafLUT42688[AAF_CONFIG_258HZ];
+        case GYRO_HARDWARE_LPF_OPTION_1:
+            return aafLUT42688[AAF_CONFIG_536HZ];
+        case GYRO_HARDWARE_LPF_OPTION_2:
+            return aafLUT42688[AAF_CONFIG_997HZ];
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+        case GYRO_HARDWARE_LPF_EXPERIMENTAL:
+            return aafLUT42688[AAF_CONFIG_1962HZ];
+#endif
+        default:
+            return aafLUT42688[AAF_CONFIG_258HZ];
+        }
+    }
+}
+
+#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm426xx.h b/src/main/drivers/accgyro/accgyro_spi_icm426xx.h
new file mode 100644
index 0000000000..842fe6626e
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_icm426xx.h
@@ -0,0 +1,36 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/bus.h"
+
+#define ICM426xx_BIT_RESET                  (0x80)
+
+bool icm426xxAccDetect(accDev_t *acc);
+bool icm426xxGyroDetect(gyroDev_t *gyro);
+
+void icm426xxAccInit(accDev_t *acc);
+void icm426xxGyroInit(gyroDev_t *gyro);
+
+uint8_t icm426xxSpiDetect(const busDevice_t *dev);
+
+bool icm426xxSpiAccDetect(accDev_t *acc);
+bool icm426xxSpiGyroDetect(gyroDev_t *gyro);
\ No newline at end of file
diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c
index a39d053d7a..86bca64388 100644
--- a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c
@@ -69,6 +69,12 @@ uint8_t mpu6500SpiDetect(const busDevice_t *bus) {
     case ICM20608G_WHO_AM_I_CONST:
         mpuDetected = ICM_20608_SPI;
         break;
+    case ICM42605_WHO_AM_I_CONST:
+        mpuDetected = ICM_42605_SPI;
+        break;
+    case ICM42688P_WHO_AM_I_CONST:
+        mpuDetected = ICM_42688P_SPI;
+        break;
     default:
         mpuDetected = MPU_NONE;
     }
diff --git a/src/main/drivers/accgyro/gyro_sync.c b/src/main/drivers/accgyro/gyro_sync.c
index bc9ad37f27..3653c24d43 100644
--- a/src/main/drivers/accgyro/gyro_sync.c
+++ b/src/main/drivers/accgyro/gyro_sync.c
@@ -53,16 +53,24 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
     }
     gyro->mpuDividerDrops = gyroSyncDenominator - 1;
     gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_8_kHz : GYRO_RATE_1_kHz;
-    //20649 is a weird gyro
-    if (gyro->mpuDetectionResult.sensor == ICM_20649_SPI) {
-        gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_9_kHz : GYRO_RATE_1100_Hz;
-    } else if (gyro->mpuDetectionResult.sensor == BMI_160_SPI && lpfNoneOr256) {
-        //brainFPV is also a weird gyro
-        gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
-    } else if (gyro_use_32khz) {
-        //use full 32k
-        gyro->gyroRateKHz = GYRO_RATE_32_kHz;
+
+    switch (gyro->mpuDetectionResult.sensor) {
+        case ICM_20649_SPI:  //20649 is a weird gyro
+            gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_9_kHz : GYRO_RATE_1100_Hz;
+            break;
+        case BMI_160_SPI:    //brainFPV is also a weird gyro
+            if (lpfNoneOr256) { gyro->gyroRateKHz = GYRO_RATE_3200_Hz; }
+            break;
+        case BMI_270_SPI:    //bmi270
+            gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
+            break;
+        default:
+            if (gyro_use_32khz) {
+                //use full 32k
+                gyro->gyroRateKHz = GYRO_RATE_32_kHz;
+            }
     }
+
     // return the targetLooptime (expected cycleTime)
     return (uint32_t)(gyroSyncDenominator * gyro->gyroRateKHz);
 }
diff --git a/src/main/drivers/beesign.c b/src/main/drivers/beesign.c
index ea6bfeee53..a84e6997c1 100644
--- a/src/main/drivers/beesign.c
+++ b/src/main/drivers/beesign.c
@@ -101,10 +101,13 @@ static uint8_t beesignCRC(const beesign_frame_t *pPackage) {
     return crc;
 }
 
+// compiler reports unused
+/*
 static uint8_t beesignChkID(uint8_t id) {
     UNUSED(id);
     return BEESIGN_OK;
 }
+*/
 
 uint8_t beesignReceive(uint8_t **pRcvFrame) {
     if (!receiveFrameValid) {
@@ -608,7 +611,7 @@ bool checkBeesignSerialPort(void) {
 
 void beesignUpdate(timeUs_t currentTimeUs) {
     UNUSED(currentTimeUs);
-    if (checkBeesignSerialPort) {
+    if (checkBeesignSerialPort()) {
 #ifdef USE_OSD_BEESIGN
         static uint32_t beesignTaskCounter = 0;
         static uint32_t beesignSendNextCounterPoint = 0;
diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
index 93cec8510a..71a62b210b 100644
--- a/src/main/drivers/bus_spi.c
+++ b/src/main/drivers/bus_spi.c
@@ -251,4 +251,33 @@ void spiBusSetInstance(busDevice_t *bus, SPI_TypeDef *instance) {
     bus->bustype = BUSTYPE_SPI;
     bus->busdev_u.spi.instance = instance;
 }
+
+// icm42688p and bmi270 porting
+uint16_t spiCalculateDivider(uint32_t freq)
+{
+#if defined(STM32F4) || defined(STM32G4) || defined(STM32F7)
+    uint32_t spiClk = SystemCoreClock / 2;
+#elif defined(STM32H7)
+    uint32_t spiClk = 100000000;
+#elif defined(AT32F4)
+    if(freq > 36000000){
+        freq = 36000000;
+    }
+    uint32_t spiClk = system_core_clock / 2;
+#else
+#error "Base SPI clock not defined for this architecture"
+#endif
+    uint16_t divisor = 2;
+    spiClk >>= 1;
+    for (; (spiClk > freq) && (divisor < 256); divisor <<= 1, spiClk >>= 1);
+    return divisor;
+}
+
+// Wait for bus to become free, then read a byte of data where the register is bitwise OR'ed with 0x80
+// EmuFlight codebase is old.  Bitwise or 0x80 is redundant here as spiBusReadRegister already contains such.
+uint8_t spiReadRegMsk(const busDevice_t *bus, uint8_t reg)
+{
+    return spiBusReadRegister(bus, reg | 0x80);
+}
+
 #endif
diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h
index 12d8d068a7..1fa4a0dab7 100644
--- a/src/main/drivers/bus_spi.h
+++ b/src/main/drivers/bus_spi.h
@@ -121,3 +121,8 @@ void spiBusSetInstance(busDevice_t *bus, SPI_TypeDef *instance);
 
 struct spiPinConfig_s;
 void spiPinConfigure(const struct spiPinConfig_s *pConfig);
+
+// Determine the divisor to use for a given bus frequency
+uint16_t spiCalculateDivider(uint32_t freq);
+
+uint8_t spiReadRegMsk(const busDevice_t *bus, uint8_t reg);
diff --git a/src/main/drivers/display_font_metadata.c b/src/main/drivers/display_font_metadata.c
new file mode 100644
index 0000000000..6bf01c383e
--- /dev/null
+++ b/src/main/drivers/display_font_metadata.c
@@ -0,0 +1,11 @@
+#include "drivers/display_font_metadata.h"
+#include "drivers/osd.h"
+
+bool displayFontMetadataUpdateFromCharacter(displayFontMetadata_t *metadata, const osdCharacter_t *chr)
+{
+    if (chr && FONT_CHR_IS_METADATA(chr)) {
+        metadata->version = chr->data[5];
+        return true;
+    }
+    return false;
+}
diff --git a/src/main/drivers/display_font_metadata.h b/src/main/drivers/display_font_metadata.h
new file mode 100644
index 0000000000..961c6b0751
--- /dev/null
+++ b/src/main/drivers/display_font_metadata.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+typedef struct osdCharacter_s osdCharacter_t;
+
+typedef struct displayFontMetadata_s {
+    uint8_t version;
+    uint16_t charCount;
+} displayFontMetadata_t;
+
+// 'E', 'M', 'U', 'F'
+#define FONT_CHR_IS_METADATA(chr) ((chr)->data[0] == 'E' && \
+    (chr)->data[1] == 'M' && \
+    (chr)->data[2] == 'U' && \
+    (chr)->data[3] == 'F')
+
+#define FONT_METADATA_CHR_INDEX 255
+// Used for runtime detection of display drivers that might
+// support 256 or 512 characters.
+#define FONT_METADATA_CHR_INDEX_2ND_PAGE 256
+
+bool displayFontMetadataUpdateFromCharacter(displayFontMetadata_t *metadata, const osdCharacter_t *chr);
diff --git a/src/main/drivers/serial_softserial.c b/src/main/drivers/serial_softserial.c
index 6a0767a153..56dd22c9b9 100644
--- a/src/main/drivers/serial_softserial.c
+++ b/src/main/drivers/serial_softserial.c
@@ -492,7 +492,7 @@ uint32_t softSerialTxBytesFree(const serialPort_t *instance) {
         return 0;
     }
     softSerial_t *s = (softSerial_t *)instance;
-    uint8_t bytesUsed = (s->port.txBufferHead - s->port.txBufferTail) & (s->port.txBufferSize - 1);
+    uint32_t bytesUsed = (s->port.txBufferHead - s->port.txBufferTail) & (s->port.txBufferSize - 1);
     return (s->port.txBufferSize - 1) - bytesUsed;
 }
 
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 5ccab8f8b5..37ca42323d 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -434,6 +434,7 @@ void validateAndFixGyroConfig(void) {
         samplingTime = 1.0f / 9000.0f;
         break;
     case BMI_160_SPI:
+    case BMI_270_SPI:
         samplingTime = 0.0003125f;
         break;
     default:
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 1c7396a33a..22a4447479 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -115,6 +115,7 @@
 #include "rx/spektrum.h"
 
 #include "io/beeper.h"
+#include "io/displayport_hdzero_osd.h"
 #include "io/displayport_max7456.h"
 #include "io/displayport_srxl.h"
 #include "io/serial.h"
@@ -508,12 +509,25 @@ void init(void) {
     if (feature(FEATURE_OSD)) {
 #if defined(USE_OSD_BEESIGN)
         // If there is a beesign for the OSD then use it
-        osdDisplayPort = beesignDisplayPortInit(vcdProfile());
-#elif defined(USE_MAX7456)
+        if (!osdDisplayPort) {
+            osdDisplayPort = beesignDisplayPortInit(vcdProfile());
+        }
+#endif
+#if defined(USE_HDZERO_OSD)
+        if (!osdDisplayPort) {
+            osdDisplayPort = hdzeroOsdDisplayPortInit();
+        }
+#endif
+#if defined(USE_MAX7456)
         // If there is a max7456 chip for the OSD then use it
-        osdDisplayPort = max7456DisplayPortInit(vcdProfile());
-#elif defined(USE_CMS) && defined(USE_MSP_DISPLAYPORT) && defined(USE_OSD_OVER_MSP_DISPLAYPORT) // OSD over MSP; not supported (yet)
-        osdDisplayPort = displayPortMspInit();
+        if (!osdDisplayPort) {
+            osdDisplayPort = max7456DisplayPortInit(vcdProfile());
+        }
+#endif
+#if defined(USE_CMS) && defined(USE_MSP_DISPLAYPORT) && defined(USE_OSD_OVER_MSP_DISPLAYPORT) // OSD over MSP; not supported (yet)
+        if (!osdDisplayPort) {
+            osdDisplayPort = displayPortMspInit();
+        }
 #endif
         // osdInit  will register with CMS by itself.
         osdInit(osdDisplayPort);
diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index 12831714bf..121e5b702a 100644
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -74,6 +74,7 @@
 #include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/osd.h"
+#include "io/displayport_hdzero_osd.h"
 #include "io/piniobox.h"
 #include "io/serial.h"
 #include "io/transponder_ir.h"
@@ -159,6 +160,11 @@ static void taskHandleSerial(timeUs_t currentTimeUs) {
     bool evaluateMspData = osdSlaveIsLocked ?  MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA;;
 #endif
     mspSerialProcess(evaluateMspData, mspFcProcessCommand, mspFcProcessReply);
+
+#ifdef USE_HDZERO_OSD
+    // Capture HDZero messages to determine if VTX is connected
+    hdzeroOsdSerialProcess(mspFcProcessCommand);
+#endif
 }
 
 static void taskBatteryAlerts(timeUs_t currentTimeUs) {
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index bb6f1fbdbb..e5e7601ab6 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -84,12 +84,10 @@ extern bool linearThrustEnabled;
 
 PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
 
-#ifdef STM32F10X
-#define PID_PROCESS_DENOM_DEFAULT 1
-#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
-#define PID_PROCESS_DENOM_DEFAULT 1
-#else
+#if defined(STM32F3) || defined(STM32F411xE)
 #define PID_PROCESS_DENOM_DEFAULT 2
+#else
+#define PID_PROCESS_DENOM_DEFAULT 1
 #endif
 
 #ifndef DEFAULT_PIDS_ROLL
@@ -235,7 +233,9 @@ static FAST_RAM filterApplyFnPtr angleSetpointFilterApplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT pt1Filter_t angleSetpointFilter[2];
 static FAST_RAM filterApplyFnPtr dtermABGapplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT alphaBetaGammaFilter_t dtermABG[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[XYZ_AXIS_COUNT][5];
+#endif
 
 #if defined(USE_ITERM_RELAX)
 static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
@@ -315,12 +315,14 @@ void pidInitFilters(const pidProfile_t *pidProfile) {
             dtermABGapplyFn = (filterApplyFnPtr)alphaBetaGammaApply;
             ABGInit(&dtermABG[axis], pidProfile->dterm_ABG_alpha, pidProfile->dterm_ABG_boost, pidProfile->dterm_ABG_half_life, dT);
         }
-
+#ifdef USE_GYRO_DATA_ANALYSE
         if (isDynamicFilterActive()) {
             for (int axis2 = 0; axis2 < gyroConfig()->dyn_notch_count; axis2++) {
                 biquadFilterInit(&dtermNotch[axis][axis2], 400, targetPidLooptime, gyroConfig()->dyn_notch_q / 100.0f, FILTER_NOTCH);
             }
         }
+#endif
+
     }
 
 #if defined(USE_THROTTLE_BOOST)
@@ -669,7 +671,9 @@ static FAST_RAM_ZERO_INIT float stickMovement[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float lastRcDeflectionAbs[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousError[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousMeasurement[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT float previousNotchCenterFreq[XYZ_AXIS_COUNT][5];
+#endif
 static FAST_RAM_ZERO_INIT timeUs_t crashDetectedAtUs;
 
 void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs) {
@@ -809,7 +813,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             float dDelta = ((feathered_pids * pureMeasurement) + ((1 - feathered_pids) * pureError)) * pidFrequency; //calculating the dterm determine how much is calculated using measurement vs error
             //filter the dterm
 #ifdef USE_GYRO_DATA_ANALYSE
-            if (isDynamicFilterActive() && pidProfile->dtermDynNotch) {
+            if (isDynamicFilterActive() && pidProfile->dtermDynNotch && axis <= gyroConfig()->dyn_notch_axis+1) {
                 for (int p = 0; p < gyroConfig()->dyn_notch_count; p++) {
                     if (getCenterFreq(axis, p) != previousNotchCenterFreq[axis][p]) {
                         previousNotchCenterFreq[axis][p] = getCenterFreq(axis, p);
diff --git a/src/main/interface/cli.c b/src/main/interface/cli.c
index 80bac75d60..75879e5fae 100644
--- a/src/main/interface/cli.c
+++ b/src/main/interface/cli.c
@@ -990,7 +990,7 @@ static void cliSerial(char *cmdline) {
     ptr = nextArg(ptr);
     if (ptr) {
         val = atoi(ptr);
-        portConfig.functionMask = val & 0xFFFF;
+        portConfig.functionMask = val & 0xFFFFFFFF;
         validArgumentCount++;
     }
     for (int i = 0; i < 4; i ++) {
diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c
index b3aebb427d..bdffb85b36 100644
--- a/src/main/interface/msp.c
+++ b/src/main/interface/msp.c
@@ -1084,7 +1084,7 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
                 continue;
             };
             sbufWriteU8(dst, serialConfig()->portConfigs[i].identifier);
-            sbufWriteU16(dst, serialConfig()->portConfigs[i].functionMask);
+            sbufWriteU32(dst, serialConfig()->portConfigs[i].functionMask);
             sbufWriteU8(dst, serialConfig()->portConfigs[i].msp_baudrateIndex);
             sbufWriteU8(dst, serialConfig()->portConfigs[i].gps_baudrateIndex);
             sbufWriteU8(dst, serialConfig()->portConfigs[i].telemetry_baudrateIndex);
@@ -1194,20 +1194,37 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[ROLL]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[PITCH]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[YAW]);
+#ifdef USE_GYRO_LPF2
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[ROLL]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[PITCH]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[YAW]);
+#else
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type);
+#ifdef USE_GYRO_LPF2
         sbufWriteU8(dst, gyroConfig()->gyro_lowpass2_type);
+#else
+        sbufWriteU8(dst, 0);
+#endif
         sbufWriteU16(dst, currentPidProfile->dFilter[ROLL].dLpf2);
         sbufWriteU16(dst, currentPidProfile->dFilter[PITCH].dLpf2);
         sbufWriteU16(dst, currentPidProfile->dFilter[YAW].dLpf2);
         //MSP 1.51 removes SmartDTermSmoothing and WitchCraft
         //MSP 1.51 adds and refactors dynamic_filter
+#ifdef USE_GYRO_DATA_ANALYSE
         sbufWriteU8(dst, gyroConfig()->dyn_notch_count);    //dynamic_gyro_notch_count
         sbufWriteU16(dst, gyroConfig()->dyn_notch_q);
         sbufWriteU16(dst, gyroConfig()->dyn_notch_min_hz);
         sbufWriteU16(dst, gyroConfig()->dyn_notch_max_hz);   //dynamic_gyro_notch_max_hz
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         //end MSP 1.51 add/refactor dynamic filter
         //MSP 1.51
         sbufWriteU16(dst, gyroConfig()->gyro_ABG_alpha);
@@ -1219,8 +1236,13 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
         sbufWriteU8(dst, currentPidProfile->dterm_ABG_half_life);
         //end MSP 1.51
         //MSP 1.51 dynamic dTerm notch
+#ifdef USE_GYRO_DATA_ANALYSE
         sbufWriteU8(dst, currentPidProfile->dtermDynNotch);        //dterm_dyn_notch_enable
         sbufWriteU16(dst, currentPidProfile->dterm_dyn_notch_q);   //dterm_dyn_notch_q
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         //end MSP 1.51 dynamic dTerm notch
         break;
     /*#ifndef USE_GYRO_IMUF9001
@@ -2197,7 +2219,7 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
         }
         break;
         case MSP_SET_CF_SERIAL_CONFIG: {
-    uint8_t portConfigSize = sizeof(uint8_t) + sizeof(uint16_t) + (sizeof(uint8_t) * 4);
+    uint8_t portConfigSize = sizeof(uint8_t) + sizeof(uint32_t) + (sizeof(uint8_t) * 4);
     if (dataSize % portConfigSize != 0) {
     return MSP_RESULT_ERROR;
     }
@@ -2209,7 +2231,7 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
     return MSP_RESULT_ERROR;
     }
     portConfig->identifier = identifier;
-    portConfig->functionMask = sbufReadU16(src);
+    portConfig->functionMask = sbufReadU32(src);
     portConfig->msp_baudrateIndex = sbufReadU8(src);
     portConfig->gps_baudrateIndex = sbufReadU8(src);
     portConfig->telemetry_baudrateIndex = sbufReadU8(src);
diff --git a/src/main/interface/msp_protocol.h b/src/main/interface/msp_protocol.h
index 6b062f5387..8716c30f0c 100644
--- a/src/main/interface/msp_protocol.h
+++ b/src/main/interface/msp_protocol.h
@@ -64,7 +64,7 @@
 // API VERSION
 
 #define API_VERSION_MAJOR                   1  // increment when major changes are made
-#define API_VERSION_MINOR                   51 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)
+#define API_VERSION_MINOR                   53 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)
 
 #define API_VERSION_LENGTH                  2
 
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 0b6664170c..3b7d50938c 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -109,13 +109,13 @@
 const char * const lookupTableAccHardware[] = {
     "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
     "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
-    "BMI160", "ACC_IMUF9001", "FAKE"
+    "ICM42605", "ICM42688P", "BMI160", "BMI270", "ACC_IMUF9001", "FAKE"
 };
 // sync with gyroSensor_e
 const char * const lookupTableGyroHardware[] = {
     "AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
     "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
-    "BMI160", "GYRO_IMUF9001", "FAKE"
+    "ICM42605", "ICM42688P", "BMI160", "BMI270", "GYRO_IMUF9001", "FAKE"
 };
 
 #if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
@@ -245,15 +245,23 @@ static const char * const lookupTableRxSpi[] = {
     "FLYSKY",
     "FLYSKY_2A",
     "KN",
-    "SFHSS", 
+    "SFHSS",
     "REDPINE"
 };
 #endif
 
 static const char * const lookupTableGyroHardwareLpf[] = {
     "NORMAL",
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270)
+    "OPTION1",
+    "OPTION2",
+#if ( defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270) ) && defined(USE_GYRO_DLPF_EXPERIMENTAL) // icm42688p & bmi270 experimental
+    "EXPERIMENTAL",
+#endif
+#else
     "EXPERIMENTAL",
     "1KHZ_SAMPLING"
+#endif
 };
 
 #ifdef USE_32K_CAPABLE_GYRO
@@ -285,6 +293,7 @@ static const char * const lookupTableRcInterpolation[] = {
 static const char * const lookupTableRcInterpolationChannels[] = {
     "RP", "RPY", "RPYT", "T", "RPT",
 };
+
 static const char * const lookupTableFilterType[] = {
     "PT1", "BIQUAD", "PT2", "PT3", "PT4",
 };
@@ -359,7 +368,7 @@ static const char * const lookupTableRescueSanityType[] = {
 
 #ifdef USE_MAX7456
 static const char * const lookupTableVideoSystem[] = {
-    "AUTO", "PAL", "NTSC"
+    "AUTO", "PAL", "NTSC", "HD"
 };
 #endif // USE_MAX7456
 
@@ -385,6 +394,10 @@ static const char *const lookupTableMixerImplType[] = {
     "LEGACY", "SMOOTH", "2PASS"
 };
 
+static const char *const lookupTableDynNotchAxisType[] = {
+    "RP", "RPY"
+};
+
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
 const lookupTableEntry_t lookupTables[] = {
@@ -474,6 +487,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
 #endif
     LOOKUP_TABLE_ENTRY(lookupTableMixerImplType),
+    LOOKUP_TABLE_ENTRY(lookupTableDynNotchAxisType),
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -495,10 +509,12 @@ const clivalue_t valueTable[] = {
     { "gyro_lowpass_hz_pitch",      VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[PITCH]) },
     { "gyro_lowpass_hz_yaw",        VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[YAW]) },
 
+#ifdef USE_GYRO_LPF2
     { "gyro_lowpass2_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FILTER_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_type) },
     { "gyro_lowpass2_hz_roll",      VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[ROLL]) },
     { "gyro_lowpass2_hz_pitch",     VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[PITCH]) },
     { "gyro_lowpass2_hz_yaw",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[YAW]) },
+#endif
 
     { "gyro_abg_alpha",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_alpha) },
     { "gyro_abg_boost",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  2000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_boost) },
@@ -545,6 +561,7 @@ const clivalue_t valueTable[] = {
     { "gyro_to_use",                VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
 #endif
 #if defined(USE_GYRO_DATA_ANALYSE)
+    { "dynamic_gyro_notch_axis",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DYN_NOTCH_AXIS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_axis) },
     { "dynamic_gyro_notch_q",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_q) },
     { "dynamic_gyro_notch_count",   VAR_UINT8  | MASTER_VALUE, .config.minmax = { 1, 5 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_count) },
     { "dynamic_gyro_notch_min_hz",  VAR_UINT16 | MASTER_VALUE, .config.minmax = { 30, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_min_hz) },
@@ -855,9 +872,10 @@ const clivalue_t valueTable[] = {
     { "runaway_takeoff_deactivate_throttle_percent",  VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_throttle) }, // minimum throttle percentage during deactivation phase
 #endif
 // PG_PID_PROFILE
+#ifdef USE_GYRO_DATA_ANALYSE
     { "dterm_dyn_notch_enable",     VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermDynNotch) },
     { "dterm_dyn_notch_q",          VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_dyn_notch_q) },
-
+#endif
     { "dterm_abg_alpha",            VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_ABG_alpha) },
     { "dterm_abg_boost",            VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_ABG_boost) },
     { "dterm_abg_half_life",        VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_ABG_half_life) },
diff --git a/src/main/interface/settings.h b/src/main/interface/settings.h
index f351a2aa12..e8a8269834 100644
--- a/src/main/interface/settings.h
+++ b/src/main/interface/settings.h
@@ -112,6 +112,7 @@ typedef enum {
     TABLE_OSD_LOGO_ON_ARMING,
 #endif
     TABLE_MIXER_IMPL_TYPE,
+    TABLE_DYN_NOTCH_AXIS_TYPE,
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;
 
diff --git a/src/main/io/displayport_hdzero_osd.c b/src/main/io/displayport_hdzero_osd.c
new file mode 100644
index 0000000000..5cd0b22f2a
--- /dev/null
+++ b/src/main/io/displayport_hdzero_osd.c
@@ -0,0 +1,423 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#define FILE_COMPILE_FOR_SPEED _Pragma("GCC optimize(\"Ofast\")")
+
+#include "drivers/display_font_metadata.h"
+FILE_COMPILE_FOR_SPEED
+
+//#define HDZERO_STATS
+
+#if defined(USE_OSD) && defined(USE_HDZERO_OSD)
+#include "common/utils.h"
+#include "common/printf.h"
+#include "common/time.h"
+#include "common/bitarray.h"
+
+#include "drivers/display.h"
+#include "drivers/max7456_symbols.h"
+
+#include "interface/msp_protocol.h"
+#include "io/serial.h"
+#include "msp/msp_serial.h"
+
+#include "displayport_hdzero_osd.h"
+
+#define FONT_VERSION 3
+
+#define MSP_CLEAR_SCREEN 2
+#define MSP_WRITE_STRING 3
+#define MSP_DRAW_SCREEN 4
+#define MSP_SET_OPTIONS 5
+//#define DRAW_FREQ_DENOM 4 // 60Hz
+#define DRAW_FREQ_DENOM 8 // 30Hz
+#define TX_BUFFER_SIZE 1024
+#define VTX_TIMEOUT 1000 // 1 second timer
+
+static mspProcessCommandFnPtr mspProcessCommand;
+static mspPort_t hdZeroMspPort;
+static displayPort_t hdZeroOsdDisplayPort;
+static bool vtxSeen, vtxActive, vtxReset;
+static timeMs_t vtxHeartbeat;
+
+// HD screen size
+#define ROWS 18
+#define COLS 50
+#define SCREENSIZE (ROWS*COLS)
+static uint8_t screen[SCREENSIZE];
+static BITARRAY_DECLARE(fontPage, SCREENSIZE); // font page for each character on the screen
+static BITARRAY_DECLARE(dirty, SCREENSIZE); // change status for each character on the screen
+static bool screenCleared;
+
+extern uint8_t cliMode;
+
+#ifdef HDZERO_STATS
+static uint32_t dataSent;
+static uint8_t resetCount;
+#endif
+
+static int output(displayPort_t *displayPort, uint8_t cmd, uint8_t *subcmd, int len)
+{
+    UNUSED(displayPort);
+
+    int sent = 0;
+
+    if (!cliMode && vtxActive) {
+        sent = mspSerialPushPort(cmd, subcmd, len, &hdZeroMspPort, MSP_V1);
+    }
+
+#ifdef HDZERO_STATS
+    dataSent += sent;
+#endif
+
+    return sent;
+}
+
+static void checkVtxPresent(void)
+{
+    if (vtxActive && (millis()-vtxHeartbeat) > VTX_TIMEOUT) {
+        vtxActive = false;
+    }
+}
+
+static int setHdMode(displayPort_t *displayPort)
+{
+    checkVtxPresent();
+    uint8_t subcmd[] = { MSP_SET_OPTIONS, 0, 1 }; // font selection, mode (SD/HD)
+    return output(displayPort, MSP_DISPLAYPORT, subcmd, sizeof(subcmd));
+}
+
+static void hdZeroInit(void)
+{
+    memset(screen, SYM_BLANK, sizeof(screen));
+    BITARRAY_CLR_ALL(fontPage);
+    BITARRAY_CLR_ALL(dirty);
+}
+
+static int clearScreen(displayPort_t *displayPort)
+{
+    uint8_t subcmd[] = { MSP_CLEAR_SCREEN };
+
+    hdZeroInit();
+    setHdMode(displayPort);
+    screenCleared = true;
+    return output(displayPort, MSP_DISPLAYPORT, subcmd, sizeof(subcmd));
+}
+
+static int setChar(const uint16_t pos, const uint16_t c)
+{
+    if (pos < SCREENSIZE) {
+        uint8_t ch = c & 0xFF;
+        bool page = (c >> 8);
+        if (screen[pos] != ch || bitArrayGet(fontPage, pos) !=  page) {
+            screen[pos] = ch;
+            (page) ? bitArraySet(fontPage, pos) : bitArrayClr(fontPage, pos);
+            bitArraySet(dirty, pos);
+        }
+    }
+    return 0;
+}
+
+static int writeChar(displayPort_t *displayPort, uint8_t col, uint8_t row, uint8_t c)
+{
+    UNUSED(displayPort);
+
+    return setChar((row * COLS) + col, c);
+}
+
+static int writeString(displayPort_t *displayPort, uint8_t col, uint8_t row, const char *string)
+{
+    UNUSED(displayPort);
+
+    uint16_t pos = (row * COLS) + col;
+    while (*string) {
+        setChar(pos++, *string++);
+    }
+    return 0;
+}
+
+#ifdef HDZERO_STATS
+static void printStats(displayPort_t *displayPort, uint32_t updates)
+{
+    static timeMs_t lastTime;
+    static uint32_t maxDataSent, maxBufferUsed, maxUpdates;
+    timeMs_t currentTime = millis();
+    char lineBuffer[100];
+
+    if (updates > maxUpdates) {
+        maxUpdates = updates; // updates sent per displayWrite
+    }
+
+    uint32_t bufferUsed = TX_BUFFER_SIZE - serialTxBytesFree(hdZeroMspPort.port);
+    if (bufferUsed > maxBufferUsed) {
+        maxBufferUsed = bufferUsed; // serial buffer used after displayWrite
+    }
+
+    uint32_t diff = (currentTime - lastTime);
+    if (diff > 1000) { // Data sampled in 1 second
+        if (dataSent > maxDataSent) {
+            maxDataSent = dataSent; // bps (max 11520 allowed)
+        }
+
+        dataSent = 0;
+        lastTime = currentTime;
+    }
+
+
+    tfp_sprintf(lineBuffer, "R:%2d %4ld %5ld(%5ld) U:%2ld(%2ld) B:%3ld(%4ld,%4ld)", resetCount, (millis()-vtxHeartbeat),
+            dataSent, maxDataSent, updates, maxUpdates, bufferUsed, maxBufferUsed, hdZeroMspPort.port->txBufferSize);
+    writeString(displayPort, 0, 17, lineBuffer, 0);
+}
+#endif
+
+/**
+ * Write only changed characters to the VTX
+ */
+static int drawScreen(displayPort_t *displayPort) // 250Hz
+{
+    static uint8_t counter = 0;
+
+    if ((counter++ % DRAW_FREQ_DENOM) == 0) {
+        uint8_t subcmd[COLS + 4];
+        uint8_t updateCount = 0;
+        subcmd[0] = MSP_WRITE_STRING;
+
+        int next = BITARRAY_FIND_FIRST_SET(dirty, 0);
+        while (next >= 0) {
+            // Look for sequential dirty characters on the same line for the same font page
+            int pos = next;
+            uint8_t row = pos / COLS;
+            uint8_t col = pos % COLS;
+            int endOfLine = row * COLS + COLS;
+            bool page = bitArrayGet(fontPage, pos);
+
+            uint8_t len = 4;
+            do {
+                bitArrayClr(dirty, pos);
+                subcmd[len++] = screen[pos++];
+
+                if (bitArrayGet(dirty, pos)) {
+                    next = pos;
+                }
+            } while (next == pos && next < endOfLine && bitArrayGet(fontPage, next) == page);
+
+            subcmd[1] = row;
+            subcmd[2] = col;
+            subcmd[3] = page;
+            output(displayPort, MSP_DISPLAYPORT, subcmd, len);
+            updateCount++;
+            next = BITARRAY_FIND_FIRST_SET(dirty, pos);
+        }
+
+        if (updateCount > 0 || screenCleared) {
+            if (screenCleared) {
+                screenCleared = false;
+            }
+            subcmd[0] = MSP_DRAW_SCREEN;
+            output(displayPort, MSP_DISPLAYPORT, subcmd, 1);
+        }
+
+#ifdef HDZERO_STATS
+        printStats(displayPort, updateCount);
+#endif
+        checkVtxPresent();
+
+        if (vtxReset) {
+#ifdef HDZERO_STATS
+            resetCount++;
+#endif
+            clearScreen(displayPort);
+            vtxReset = false;
+        }
+    }
+
+    return 0;
+}
+
+static void resync(displayPort_t *displayPort)
+{
+    displayPort->rows = ROWS;
+    displayPort->cols = COLS;
+    setHdMode(displayPort);
+}
+
+static int screenSize(const displayPort_t *displayPort)
+{
+    UNUSED(displayPort);
+    return SCREENSIZE;
+}
+
+static uint32_t txBytesFree(const displayPort_t *displayPort)
+{
+    UNUSED(displayPort);
+    return mspSerialTxBytesFree();
+}
+
+//Commented out as compiler reports unused.
+//static bool getFontMetadata(displayFontMetadata_t *metadata, const displayPort_t *displayPort)
+//{
+//    UNUSED(displayPort);
+//    metadata->charCount = 512;
+//    metadata->version = FONT_VERSION;
+//    return true;
+//}
+
+static bool isTransferInProgress(const displayPort_t *displayPort)
+{
+    UNUSED(displayPort);
+    return false;
+}
+
+//Commented out as compiler reports unused.
+//static bool isReady(displayPort_t *displayPort)
+//{
+//    UNUSED(displayPort);
+//    return vtxActive;
+//}
+
+static int grab(displayPort_t *displayPort)
+{
+    UNUSED(displayPort);
+    return 0;
+}
+
+static int heartbeat(displayPort_t *displayPort)
+{
+    UNUSED(displayPort);
+    return 0;
+}
+
+static int release(displayPort_t *displayPort)
+{
+    UNUSED(displayPort);
+    return 0;
+}
+
+static const displayPortVTable_t hdzeroOsdVTable = {
+    .grab = grab,
+    .release = release,
+    .clearScreen = clearScreen,
+    .drawScreen = drawScreen,
+    .screenSize = screenSize,
+    .writeString = writeString,
+    .writeChar = writeChar,
+    .isTransferInProgress = isTransferInProgress,
+    .heartbeat = heartbeat,
+    .resync = resync,
+    .txBytesFree = txBytesFree,
+};
+
+bool hdzeroOsdSerialInit(void)
+{
+    static volatile uint8_t txBuffer[TX_BUFFER_SIZE];
+    memset(&hdZeroMspPort, 0, sizeof(mspPort_t));
+
+    serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_HDZERO_OSD);
+    if (portConfig) {
+        // serialPort_t *port = openSerialPort(portConfig->identifier, FUNCTION_HDZERO_OSD, NULL, NULL,
+        //         baudRates[portConfig->peripheral_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
+        serialPort_t *port = openSerialPort(portConfig->identifier, FUNCTION_HDZERO_OSD, NULL, NULL,
+                 baudRates[BAUD_115200], MODE_RXTX, SERIAL_NOT_INVERTED);
+
+        if (port) {
+            // Use a bigger TX buffer size to accommodate the configuration menus
+            port->txBuffer = txBuffer;
+            port->txBufferSize = TX_BUFFER_SIZE;
+            port->txBufferTail = 0;
+            port->txBufferHead = 0;
+
+            resetMspPort(&hdZeroMspPort, port);
+
+            return true;
+        }
+    }
+
+    return false;
+}
+
+displayPort_t* hdzeroOsdDisplayPortInit(void)
+{
+    if (hdzeroOsdSerialInit()) {
+        hdZeroInit();
+        displayInit(&hdZeroOsdDisplayPort, &hdzeroOsdVTable);
+        return &hdZeroOsdDisplayPort;
+    }
+    return NULL;
+}
+
+/*
+ * Intercept MSP processor.
+ * VTX sends an MSP command every 125ms or so.
+ * VTX will have be marked as not ready if no commands received within VTX_TIMEOUT.
+ */
+static mspResult_e hdZeroProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn)
+{
+    if (vtxSeen && !vtxActive) {
+        vtxReset = true;
+    }
+
+    vtxSeen = vtxActive = true;
+    vtxHeartbeat = millis();
+
+    //Commented out as compiler reports unused.
+    //sbuf_t *dst = &reply->buf;
+
+    const uint8_t cmdMSP = cmd->cmd;
+    reply->cmd = cmd->cmd;
+
+    //Apparently no longer required as HDZero will send the MSP/EEPROM value of "EMUF" fc_variant
+    //if (cmdMSP == MSP_FC_VARIANT) {
+    //    //We advertise as EMUF on this port for the prettier font
+    //    sbufWriteData(dst, "EMUF", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
+    //    return MSP_RESULT_ACK;
+    //}
+
+    // #define MSP_SET_VTXTABLE_BAND 227
+    // #define MSP_SET_VTXTABLE_POWERLEVEL 228
+    // MSP_IMUF_CONFIG 227 -> MSP_SET_VTXTABLE_BAND (in betaflight)
+    // MSP_SET_IMUF_CONFIG 228 -> MSP_SET_VTXTABLE_POWERLEVEL (in betaflight)
+    if (cmdMSP == 227 || cmdMSP == 228) {
+        // We don't have VTX Tables so we just drop the packet and send ACK
+        return MSP_RESULT_ACK;
+    }
+
+    // Process MSP command
+    return mspProcessCommand(cmd, reply, mspPostProcessFn);
+}
+
+void hdzeroOsdSerialProcess(mspProcessCommandFnPtr mspProcessCommandFn)
+{
+    if (hdZeroMspPort.port) {
+        mspProcessCommand = mspProcessCommandFn;
+        mspSerialProcessOnePort(&hdZeroMspPort, MSP_SKIP_NON_MSP_DATA, hdZeroProcessMspCommand);
+    }
+}
+
+#endif // USE_HDZERO_OSD
diff --git a/src/main/io/displayport_hdzero_osd.h b/src/main/io/displayport_hdzero_osd.h
new file mode 100644
index 0000000000..2c00245421
--- /dev/null
+++ b/src/main/io/displayport_hdzero_osd.h
@@ -0,0 +1,34 @@
+
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+#include "osd.h"
+#include "msp/msp_serial.h"
+
+typedef struct displayPort_s displayPort_t;
+
+displayPort_t *hdzeroOsdDisplayPortInit(void);
+void hdzeroOsdSerialProcess(mspProcessCommandFnPtr mspProcessCommandFn);
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 3021608773..c13d3da510 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -169,6 +169,8 @@ static escSensorData_t *escDataCombined;
 #define AH_SIDEBAR_WIDTH_POS 7
 #define AH_SIDEBAR_HEIGHT_POS 3
 
+static uint8_t leftScreen;
+
 static const char compassBar[] = {
     SYM_HEADING_W,
     SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
@@ -220,7 +222,7 @@ static const uint8_t osdElementDisplayOrder[] = {
     OSD_COMPASS_BAR
 };
 
-PG_REGISTER_WITH_RESET_FN(osdConfig_t, osdConfig, PG_OSD_CONFIG, 4);
+PG_REGISTER_WITH_RESET_FN(osdConfig_t, osdConfig, PG_OSD_CONFIG, 5);
 
 /**
  * Gets the correct altitude symbol for the current unit system
@@ -1155,7 +1157,7 @@ void osdInit(displayPort_t *osdDisplayPortToUse) {
     if (!osdDisplayPortToUse) {
         return;
     }
-    BUILD_BUG_ON(OSD_POS_MAX != OSD_POS(31, 31));
+    BUILD_BUG_ON(OSD_POS_MAX != OSD_POS(63, 31));
     osdDisplayPort = osdDisplayPortToUse;
 #ifdef USE_CMS
     cmsDisplayPortRegister(osdDisplayPort);
@@ -1163,19 +1165,25 @@ void osdInit(displayPort_t *osdDisplayPortToUse) {
     armState = ARMING_FLAG(ARMED);
     memset(blinkBits, 0, sizeof(blinkBits));
     displayClearScreen(osdDisplayPort);
-    osdDrawLogo(3, 1);
+#if defined(USE_HDZERO_OSD)
+    if ((vcdProfile()->video_system == VIDEO_SYSTEM_HD) && (pCurrentDisplay->cols > 30))
+        { leftScreen = HDINDENT; }
+    else
+#endif
+        { leftScreen = SDINDENT; }
+    osdDrawLogo(leftScreen + 3, 1);
     char string_buffer[30];
     tfp_sprintf(string_buffer, "V%s", FC_VERSION_STRING);
-    displayWrite(osdDisplayPort, 20, 6, string_buffer);
+    displayWrite(osdDisplayPort, leftScreen + 20, 6, string_buffer);
 #ifdef USE_CMS
-    displayWrite(osdDisplayPort, 7, 8,  CMS_STARTUP_HELP_TEXT1);
-    displayWrite(osdDisplayPort, 11, 9, CMS_STARTUP_HELP_TEXT2);
-    displayWrite(osdDisplayPort, 11, 10, CMS_STARTUP_HELP_TEXT3);
+    displayWrite(osdDisplayPort, leftScreen + 7, 8,  CMS_STARTUP_HELP_TEXT1);
+    displayWrite(osdDisplayPort, leftScreen + 11, 9, CMS_STARTUP_HELP_TEXT2);
+    displayWrite(osdDisplayPort, leftScreen + 11, 10, CMS_STARTUP_HELP_TEXT3);
 #endif
 #ifdef USE_RTC_TIME
     char dateTimeBuffer[FORMATTED_DATE_TIME_BUFSIZE];
     if (osdFormatRtcDateTime(&dateTimeBuffer[0])) {
-        displayWrite(osdDisplayPort, 5, 12, dateTimeBuffer);
+        displayWrite(osdDisplayPort, leftScreen + 5, 12, dateTimeBuffer);
     }
 #endif
     displayResync(osdDisplayPort);
@@ -1376,9 +1384,9 @@ static void osdGetBlackboxStatusString(char * buff) {
 #endif
 
 static void osdDisplayStatisticLabel(uint8_t y, const char * text, const char * value) {
-    displayWrite(osdDisplayPort, 2, y, text);
-    displayWrite(osdDisplayPort, 20, y, ":");
-    displayWrite(osdDisplayPort, 22, y, value);
+    displayWrite(osdDisplayPort, leftScreen + 2, y, text);
+    displayWrite(osdDisplayPort, leftScreen + 20, y, ":");
+    displayWrite(osdDisplayPort, leftScreen + 22, y, value);
 }
 
 /*
@@ -1400,7 +1408,7 @@ static void osdShowStats(uint16_t endBatteryVoltage) {
     uint8_t top = 2;
     char buff[OSD_ELEMENT_BUFFER_LENGTH];
     displayClearScreen(osdDisplayPort);
-    displayWrite(osdDisplayPort, 2, top++, "  --- STATS ---");
+    displayWrite(osdDisplayPort, leftScreen + 2, top++, "  --- STATS ---");
     if (osdStatGetState(OSD_STAT_RTC_DATE_TIME)) {
         bool success = false;
 #ifdef USE_RTC_TIME
@@ -1409,7 +1417,7 @@ static void osdShowStats(uint16_t endBatteryVoltage) {
         if (!success) {
             tfp_sprintf(buff, "NO RTC");
         }
-        displayWrite(osdDisplayPort, 2, top++, buff);
+        displayWrite(osdDisplayPort, leftScreen + 2, top++, buff);
     }
     if (osdStatGetState(OSD_STAT_TIMER_1)) {
         osdFormatTimer(buff, false, (OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_1]) == OSD_TIMER_SRC_ON ? false : true), OSD_TIMER_1);
@@ -1483,12 +1491,12 @@ static timeDelta_t osdShowArmed(void)
     timeDelta_t ret;
     displayClearScreen(osdDisplayPort);
     if ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_ON) || ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_FIRST) && !everArmed)) {
-        osdDrawLogo(3, 1);
+        osdDrawLogo(leftScreen + 3, 1);
         ret = osdConfig()->logo_on_arming_duration * 1e5;
     } else {
         ret = (REFRESH_1S / 2);
     }
-    displayWrite(osdDisplayPort, 12, 7, "ARMED");
+    displayWrite(osdDisplayPort, leftScreen + 12, 7, "ARMED");
     everArmed = true;
     return ret;
 }
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 824506ce82..15ffb20cc6 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -22,6 +22,7 @@
 
 #include "common/time.h"
 #include "pg/pg.h"
+#include "pg/vcd.h"
 
 #define OSD_NUM_TIMER_TYPES 3
 extern const char * const osdTimerSourceNames[OSD_NUM_TIMER_TYPES];
@@ -30,16 +31,23 @@ extern const char * const osdTimerSourceNames[OSD_NUM_TIMER_TYPES];
 
 #define VISIBLE_FLAG  0x0800
 #define VISIBLE(x)    (x & VISIBLE_FLAG)
-#define OSD_POS_MAX   0x3FF
-#define OSD_POSCFG_MAX   (VISIBLE_FLAG|0x3FF) // For CLI values
+
+#define OSD_POS_MAX    0x7FF
+#define OSD_POSCFG_MAX   (VISIBLE_FLAG|0x7FF) // For CLI values
 
 // Character coordinate
-#define OSD_POSITION_BITS 5 // 5 bits gives a range 0-31
-#define OSD_POSITION_XY_MASK ((1 << OSD_POSITION_BITS) - 1)
-#define OSD_POS(x,y)  ((x & OSD_POSITION_XY_MASK) | ((y & OSD_POSITION_XY_MASK) << OSD_POSITION_BITS))
-#define OSD_X(x)      (x & OSD_POSITION_XY_MASK)
+#define OSD_POSITION_BITS       5       // 5 bits gives a range 0-31
+#define OSD_POSITION_BIT_XHD    10      // extra bit used to extend X range in a backward compatible manner for HD displays
+#define OSD_POSITION_XHD_MASK   (1 << OSD_POSITION_BIT_XHD)
+#define OSD_POSITION_XY_MASK    ((1 << OSD_POSITION_BITS) - 1)
+#define OSD_POS(x,y)  ((x & OSD_POSITION_XY_MASK) | ((x << (OSD_POSITION_BIT_XHD - OSD_POSITION_BITS)) & OSD_POSITION_XHD_MASK) | \
+                       ((y & OSD_POSITION_XY_MASK) << OSD_POSITION_BITS))
+#define OSD_X(x)      ((x & OSD_POSITION_XY_MASK) | ((x & OSD_POSITION_XHD_MASK) >> (OSD_POSITION_BIT_XHD - OSD_POSITION_BITS)))
 #define OSD_Y(x)      ((x >> OSD_POSITION_BITS) & OSD_POSITION_XY_MASK)
 
+#define SDINDENT      0   //Analog leftmost character for OSD Init and Menus
+#define HDINDENT     10   //HD leftmost character for OSD Init and Menus
+
 // Timer configuration
 // Stored as 15[alarm:8][precision:4][source:4]0
 #define OSD_TIMER(src, prec, alarm) ((src & 0x0F) | ((prec & 0x0F) << 4) | ((alarm & 0xFF ) << 8))
diff --git a/src/main/io/serial.c b/src/main/io/serial.c
index 1d130f2fe2..da16313d93 100644
--- a/src/main/io/serial.c
+++ b/src/main/io/serial.c
@@ -214,11 +214,11 @@ portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialP
     return portConfig->functionMask == function ? PORTSHARING_NOT_SHARED : PORTSHARING_SHARED;
 }
 
-bool isSerialPortShared(const serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction) {
+bool isSerialPortShared(const serialPortConfig_t *portConfig, uint32_t functionMask, serialPortFunction_e sharedWithFunction) {
     return (portConfig) && (portConfig->functionMask & sharedWithFunction) && (portConfig->functionMask & functionMask);
 }
 
-serialPort_t *findSharedSerialPort(uint16_t functionMask, serialPortFunction_e sharedWithFunction) {
+serialPort_t *findSharedSerialPort(uint32_t functionMask, serialPortFunction_e sharedWithFunction) {
     for (unsigned i = 0; i < SERIAL_PORT_COUNT; i++) {
         const serialPortConfig_t *candidate = &serialConfig()->portConfigs[i];
         if (isSerialPortShared(candidate, functionMask, sharedWithFunction)) {
diff --git a/src/main/io/serial.h b/src/main/io/serial.h
index 071cdf45b6..fa4eeebc8a 100644
--- a/src/main/io/serial.h
+++ b/src/main/io/serial.h
@@ -50,6 +50,7 @@ typedef enum {
     FUNCTION_VTX_TRAMP           = (1 << 13), // 8192
     FUNCTION_RCDEVICE            = (1 << 14), // 16384
     FUNCTION_LIDAR_TF            = (1 << 15), // 32768
+    FUNCTION_HDZERO_OSD          = (1 << 16)  // 65536
 } serialPortFunction_e;
 
 #define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK)
@@ -107,13 +108,13 @@ typedef struct serialPortUsage_s {
     serialPortIdentifier_e identifier;
 } serialPortUsage_t;
 
-serialPort_t *findSharedSerialPort(uint16_t functionMask, serialPortFunction_e sharedWithFunction);
+serialPort_t *findSharedSerialPort(uint32_t functionMask, serialPortFunction_e sharedWithFunction);
 
 //
 // configuration
 //
 typedef struct serialPortConfig_s {
-    uint16_t functionMask;
+    uint32_t functionMask;
     serialPortIdentifier_e identifier;
     uint8_t msp_baudrateIndex;
     uint8_t gps_baudrateIndex;
@@ -145,7 +146,7 @@ serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function);
 serialPortConfig_t *findNextSerialPortConfig(serialPortFunction_e function);
 
 portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialPortFunction_e function);
-bool isSerialPortShared(const serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction);
+bool isSerialPortShared(const serialPortConfig_t *portConfig, uint32_t functionMask, serialPortFunction_e sharedWithFunction);
 
 void pgResetFn_serialConfig(serialConfig_t *serialConfig); //!!TODO remove need for this
 serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier);
diff --git a/src/main/io/spektrum_vtx_control.c b/src/main/io/spektrum_vtx_control.c
index 61161a30e8..d591359078 100644
--- a/src/main/io/spektrum_vtx_control.c
+++ b/src/main/io/spektrum_vtx_control.c
@@ -113,6 +113,9 @@ const uint8_t vtxBsPi[SPEKTRUM_VTX_POWER_COUNT] = {
 #endif // USE_VTX_BEESIGN
 
 uint8_t convertSpektrumVtxPowerIndex(uint8_t sPower) {
+#if !(defined(USE_VTX_RTC6705) || defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP))
+    UNUSED(sPower);
+#endif
     uint8_t devicePower = 0;
     const vtxDevice_t *vtxDevice = vtxCommonDevice();
     switch (vtxCommonGetDeviceType(vtxDevice)) {
diff --git a/src/main/msc/usbd_msc_desc.c b/src/main/msc/usbd_msc_desc.c
index 2ebe7622fc..061c14563b 100644
--- a/src/main/msc/usbd_msc_desc.c
+++ b/src/main/msc/usbd_msc_desc.c
@@ -67,8 +67,10 @@
 #define USBD_MANUFACTURER_STRING   "STMicroelectronics"
 #define USBD_PRODUCT_HS_STRING        "Mass Storage in HS Mode"
 #define USBD_PRODUCT_FS_STRING        "Mass Storage in FS Mode"
-#define USBD_CONFIGURATION_HS_STRING  "MSC Config"
-#define USBD_INTERFACE_HS_STRING      "MSC Interface"
+#define USBD_CONFIGURATION_HS_STRING  "MSC Config in HS Mode"
+#define USBD_INTERFACE_HS_STRING      "MSC Interface in HS Mode"
+#define USBD_CONFIGURATION_FS_STRING  "MSC Config in FS Mode"
+#define USBD_INTERFACE_FS_STRING      "MSC Interface in FS Mode"
 /**
   * @}
   */
diff --git a/src/main/msp/msp_serial.c b/src/main/msp/msp_serial.c
index 9a32ffc400..4cc7b40f70 100644
--- a/src/main/msp/msp_serial.c
+++ b/src/main/msp/msp_serial.c
@@ -41,10 +41,9 @@
 
 static mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
 
-static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort, bool sharedWithTelemetry) {
+void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort) {
     memset(mspPortToReset, 0, sizeof(mspPort_t));
     mspPortToReset->port = serialPort;
-    mspPortToReset->sharedWithTelemetry = sharedWithTelemetry;
 }
 
 void mspSerialAllocatePorts(void) {
@@ -58,8 +57,8 @@ void mspSerialAllocatePorts(void) {
         }
         serialPort_t *serialPort = openSerialPort(portConfig->identifier, FUNCTION_MSP, NULL, NULL, baudRates[portConfig->msp_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
         if (serialPort) {
-            bool sharedWithTelemetry = isSerialPortShared(portConfig, FUNCTION_MSP, TELEMETRY_PORT_FUNCTIONS_MASK);
-            resetMspPort(mspPort, serialPort, sharedWithTelemetry);
+            resetMspPort(mspPort, serialPort);
+            mspPort->sharedWithTelemetry = isSerialPortShared(portConfig, FUNCTION_MSP, TELEMETRY_PORT_FUNCTIONS_MASK);
             portIndex++;
         }
         portConfig = findNextSerialPortConfig(FUNCTION_MSP);
@@ -505,3 +504,54 @@ uint32_t mspSerialTxBytesFree(void) {
     }
     return ret;
 }
+
+int mspSerialPushPort(uint16_t cmd, const uint8_t *data, int datalen, mspPort_t *mspPort, mspVersion_e version)
+{
+    uint8_t pushBuf[MSP_PORT_OUTBUF_SIZE];
+
+    mspPacket_t push = {
+        .buf = { .ptr = pushBuf, .end = ARRAYEND(pushBuf), },
+        .cmd = cmd,
+        .result = 0,
+    };
+
+    sbufWriteData(&push.buf, data, datalen);
+
+    sbufSwitchToReader(&push.buf, pushBuf);
+
+    return mspSerialEncode(mspPort, &push, version);
+}
+
+void mspSerialProcessOnePort(mspPort_t * const mspPort, mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn)
+{
+    mspPostProcessFnPtr mspPostProcessFn = NULL;
+
+    if (serialRxBytesWaiting(mspPort->port)) {
+        // There are bytes incoming - abort pending request
+        mspPort->lastActivityMs = millis();
+        mspPort->pendingRequest = MSP_PENDING_NONE;
+
+        // Process incoming bytes
+        while (serialRxBytesWaiting(mspPort->port)) {
+            const uint8_t c = serialRead(mspPort->port);
+            const bool consumed = mspSerialProcessReceivedData(mspPort, c);
+
+            if (!consumed && evaluateNonMspData == MSP_EVALUATE_NON_MSP_DATA) {
+                mspEvaluateNonMspData(mspPort, c);
+            }
+
+            if (mspPort->c_state == MSP_COMMAND_RECEIVED) {
+                mspPostProcessFn = mspSerialProcessReceivedCommand(mspPort, mspProcessCommandFn);
+                break; // process one command at a time so as not to block.
+            }
+        }
+
+        if (mspPostProcessFn) {
+            waitForSerialPortToFinishTransmitting(mspPort->port);
+            mspPostProcessFn(mspPort->port);
+        }
+    }
+    else {
+        mspProcessPendingRequest(mspPort);
+    }
+}
\ No newline at end of file
diff --git a/src/main/msp/msp_serial.h b/src/main/msp/msp_serial.h
index b1718323a0..cac9ca8723 100644
--- a/src/main/msp/msp_serial.h
+++ b/src/main/msp/msp_serial.h
@@ -22,6 +22,7 @@
 
 #include "drivers/time.h"
 #include "interface/msp.h"
+#include "io/serial.h"
 
 // Each MSP port requires state and a receive buffer, revisit this default if someone needs more than 3 MSP ports.
 #define MAX_MSP_PORT_COUNT 3
@@ -122,3 +123,6 @@ void mspSerialReleasePortIfAllocated(struct serialPort_s *serialPort);
 void mspSerialReleaseSharedTelemetryPorts(void);
 int mspSerialPush(uint8_t cmd, uint8_t *data, int datalen, mspDirection_e direction);
 uint32_t mspSerialTxBytesFree(void);
+int mspSerialPushPort(uint16_t cmd, const uint8_t *data, int datalen, mspPort_t *mspPort, mspVersion_e version);
+void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort);
+void mspSerialProcessOnePort(mspPort_t * const mspPort, mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn);
\ No newline at end of file
diff --git a/src/main/pg/board.c b/src/main/pg/board.c
index a3d17831ea..28f692c867 100644
--- a/src/main/pg/board.c
+++ b/src/main/pg/board.c
@@ -37,14 +37,14 @@ PG_REGISTER_WITH_RESET_FN(boardConfig_t, boardConfig, PG_BOARD_CONFIG, 0);
 
 void pgResetFn_boardConfig(boardConfig_t *boardConfig) {
     if (boardInformationIsSet()) {
-        strncpy(boardConfig->manufacturerId, getManufacturerId(), MAX_MANUFACTURER_ID_LENGTH);
-        strncpy(boardConfig->boardName, getBoardName(), MAX_BOARD_NAME_LENGTH);
+        strncpy(boardConfig->manufacturerId, getManufacturerId(), MAX_MANUFACTURER_ID_LENGTH + 1);
+        strncpy(boardConfig->boardName, getBoardName(), MAX_BOARD_NAME_LENGTH + 1);
         boardConfig->boardInformationSet = true;
     } else {
 #if !defined(GENERIC_TARGET)
-        strncpy(boardConfig->boardName, targetName, MAX_BOARD_NAME_LENGTH);
+        strncpy(boardConfig->boardName, targetName, MAX_BOARD_NAME_LENGTH + 1);
 #if defined(TARGET_MANUFACTURER_IDENTIFIER)
-        strncpy(boardConfig->manufacturerId, TARGET_MANUFACTURER_IDENTIFIER, MAX_MANUFACTURER_ID_LENGTH);
+        strncpy(boardConfig->manufacturerId, TARGET_MANUFACTURER_IDENTIFIER, MAX_MANUFACTURER_ID_LENGTH + 1);
 #endif
         boardConfig->boardInformationSet = true;
 #else
diff --git a/src/main/pg/bus_spi.c b/src/main/pg/bus_spi.c
index a51b0e9378..e8e50fc84f 100644
--- a/src/main/pg/bus_spi.c
+++ b/src/main/pg/bus_spi.c
@@ -91,9 +91,18 @@ ioTag_t preinitIPUList[SPI_PREINIT_IPU_COUNT] = {
 #ifdef ICM20689_CS_PIN
     IO_TAG(ICM20689_CS_PIN),
 #endif
+#ifdef ICM42605_CS_PIN
+    IO_TAG(ICM42605_CS_PIN),
+#endif
+#ifdef ICM42688P_CS_PIN
+    IO_TAG(ICM42688P_CS_PIN),
+#endif
 #ifdef BMI160_CS_PIN
     IO_TAG(BMI160_CS_PIN),
 #endif
+#ifdef BMI270_CS_PIN
+    IO_TAG(BMI270_CS_PIN),
+#endif
 #ifdef L3GD20_CS_PIN
     IO_TAG(L3GD20_CS_PIN),
 #endif
diff --git a/src/main/pg/vcd.h b/src/main/pg/vcd.h
index df3ed8001d..33ff77155a 100644
--- a/src/main/pg/vcd.h
+++ b/src/main/pg/vcd.h
@@ -27,7 +27,8 @@
 enum VIDEO_SYSTEMS {
     VIDEO_SYSTEM_AUTO = 0,
     VIDEO_SYSTEM_PAL,
-    VIDEO_SYSTEM_NTSC
+    VIDEO_SYSTEM_NTSC,
+    VIDEO_SYSTEM_HD
 };
 
 typedef struct vcdProfile_s {
diff --git a/src/main/rx/crsf.c b/src/main/rx/crsf.c
index 649712c084..f9dedb68ba 100644
--- a/src/main/rx/crsf.c
+++ b/src/main/rx/crsf.c
@@ -130,6 +130,7 @@ typedef struct crsfPayloadLinkstatistics_s {
 } crsfLinkStatistics_t;
 
 static void handleCrsfLinkStatisticsFrame(const crsfLinkStatistics_t* statsPtr, timeUs_t currentTimeUs) {
+    UNUSED(currentTimeUs);
     const crsfLinkStatistics_t stats = *statsPtr;
     CRSFsetLQ(stats.uplink_Link_quality);
     CRSFsetRFMode(stats.rf_Mode);
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 1d1f08b132..6a45d357b4 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -43,8 +43,10 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
+#include "drivers/accgyro/accgyro_spi_bmi270.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
+#include "drivers/accgyro/accgyro_spi_icm426xx.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
@@ -298,6 +300,42 @@ bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse) {
         }
         FALLTHROUGH;
 #endif
+#ifdef USE_ACCGYRO_BMI270
+    case ACC_BMI270:
+        if (bmi270SpiAccDetect(dev)) {
+            accHardware = ACC_BMI270;
+#ifdef ACC_BMI270_ALIGN
+            dev->accAlign = ACC_BMI270_ALIGN;
+#endif
+            break;
+        }
+        FALLTHROUGH;
+#endif
+#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P)
+    case ACC_ICM42605:
+    case ACC_ICM42688P:
+        if (icm426xxSpiAccDetect(dev)) {
+            switch (dev->mpuDetectionResult.sensor) {
+            case ICM_42605_SPI:
+                accHardware = ACC_ICM42605;
+#ifdef ACC_ICM42605_ALIGN
+            dev->accAlign = ACC_ICM42605_ALIGN;
+#endif
+                break;
+            case ICM_42688P_SPI:
+                accHardware = ACC_ICM42688P;
+#ifdef ACC_ICM42688P_ALIGN
+            dev->accAlign = ACC_ICM42688P_ALIGN;
+#endif
+                break;
+            default:
+                accHardware = ACC_NONE;
+                break;
+            }
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #ifdef USE_FAKE_ACC
     case ACC_FAKE:
         if (fakeAccDetect(dev)) {
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 778263ee37..5b132c53f6 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -47,7 +47,10 @@ typedef enum {
     ACC_ICM20608G,
     ACC_ICM20649,
     ACC_ICM20689,
+    ACC_ICM42605,
+    ACC_ICM42688P,
     ACC_BMI160,
+    ACC_BMI270,
     ACC_IMUF9001,
     ACC_FAKE
 } accelerationSensor_e;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 60d6a62df3..37bf1856cf 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -44,8 +44,10 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
+#include "drivers/accgyro/accgyro_spi_bmi270.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
+#include "drivers/accgyro/accgyro_spi_icm426xx.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
@@ -157,8 +159,10 @@ typedef struct gyroSensor_s {
     gyroLowpassFilter_t lowpassFilter[XYZ_AXIS_COUNT];
 
     // lowpass2 gyro soft filter
+#ifdef USE_GYRO_LPF2
     filterApplyFnPtr lowpass2FilterApplyFn;
     gyroLowpassFilter_t lowpass2Filter[XYZ_AXIS_COUNT];
+#endif
 
     // ABG filter
     filterApplyFnPtr gyroABGFilterApplyFn;
@@ -208,7 +212,7 @@ static void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int typ
 #ifdef STM32F10X
 #define GYRO_SYNC_DENOM_DEFAULT 8
 #elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
-   || defined(USE_GYRO_SPI_ICM20689)
+   || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define GYRO_SYNC_DENOM_DEFAULT 1
 #else
 #define GYRO_SYNC_DENOM_DEFAULT 3
@@ -249,6 +253,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
+                  .dyn_notch_axis = RPY,
                   .dyn_notch_q = 400,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
@@ -304,6 +309,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_offset_yaw = 0,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
+                  .dyn_notch_axis = RPY,
                   .dyn_notch_q = 350,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
@@ -496,6 +502,31 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) {
         }
         FALLTHROUGH;
 #endif
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+    case GYRO_ICM42605:
+    case GYRO_ICM42688P:
+        if (icm426xxSpiGyroDetect(dev)) {
+            switch (dev->mpuDetectionResult.sensor) {
+            case ICM_42605_SPI:
+                gyroHardware = GYRO_ICM42605;
+#ifdef GYRO_ICM42605_ALIGN
+            dev->gyroAlign = GYRO_ICM42605_ALIGN;
+#endif
+                break;
+            case ICM_42688P_SPI:
+                gyroHardware = GYRO_ICM42688P;
+#ifdef GYRO_ICM42688P_ALIGN
+            dev->gyroAlign = GYRO_ICM42688P_ALIGN;
+#endif
+                break;
+            default:
+                gyroHardware = GYRO_NONE;
+                break;
+            }
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #ifdef USE_ACCGYRO_BMI160
     case GYRO_BMI160:
         if (bmi160SpiGyroDetect(dev)) {
@@ -507,6 +538,17 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) {
         }
         FALLTHROUGH;
 #endif
+#ifdef USE_ACCGYRO_BMI270
+    case GYRO_BMI270:
+        if (bmi270SpiGyroDetect(dev)) {
+            gyroHardware = GYRO_BMI270;
+#ifdef GYRO_BMI270_ALIGN
+            dev->gyroAlign = GYRO_BMI270_ALIGN;
+#endif
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #ifdef USE_GYRO_IMUF9001
     case GYRO_IMUF9001:
         if (imufSpiGyroDetect(dev)) {
@@ -536,7 +578,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) {
 static bool gyroInitSensor(gyroSensor_t *gyroSensor) {
     gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
 #if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
- || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_IMUF9001) || defined(USE_ACCGYRO_BMI160)
+ || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_GYRO_IMUF9001) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
     mpuDetect(&gyroSensor->gyroDev);
     mpuResetFn = gyroSensor->gyroDev.mpuConfiguration.resetFn; // must be set after mpuDetect
 #endif
@@ -581,9 +623,12 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor) {
     case GYRO_MPU3050:
     case GYRO_L3GD20:
     case GYRO_BMI160:
+    case GYRO_BMI270:
     case GYRO_MPU6000:
     case GYRO_MPU6500:
     case GYRO_MPU9250:
+    case GYRO_ICM42688P:
+    case GYRO_ICM42605:
         gyroSensor->gyroDev.gyroHasOverflowProtection = true;
         break;
     case GYRO_ICM20601:
@@ -717,6 +762,7 @@ void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type) {
         lpfHz[PITCH] = gyroConfig()->gyro_lowpass_hz[PITCH];
         lpfHz[YAW] = gyroConfig()->gyro_lowpass_hz[YAW];
         break;
+#ifdef USE_GYRO_LPF2
     case FILTER_LOWPASS2:
         lowpassFilterApplyFn = &gyroSensor->lowpass2FilterApplyFn;
         lowpassFilter = gyroSensor->lowpass2Filter;
@@ -724,6 +770,7 @@ void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type) {
         lpfHz[PITCH] = gyroConfig()->gyro_lowpass2_hz[PITCH];
         lpfHz[YAW] = gyroConfig()->gyro_lowpass2_hz[YAW];
         break;
+#endif
     default:
         return;
     }
@@ -817,7 +864,7 @@ static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor) {
     gyroSensor->notchFilterDynApplyFn = nullFilterApply;
     if (isDynamicFilterActive()) {
         gyroSensor->notchFilterDynApplyFn = (filterApplyFnPtr)biquadFilterApplyDF1; // must be this function, not DF2
-        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+        for (int axis = 0; axis < gyroConfig()->dyn_notch_axis+1; axis++) {
             for (int axis2 = 0; axis2 < gyroConfig()->dyn_notch_count; axis2++) {
                 biquadFilterInit(&gyroSensor->gyroAnalyseState.notchFilterDyn[axis][axis2], 400, gyro.targetLooptime, gyroConfig()->dyn_notch_q / 100.0f, FILTER_NOTCH);
             }
@@ -862,11 +909,13 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor) {
         FILTER_LOWPASS,
         gyroConfig()->gyro_lowpass_type
     );
+#ifdef USE_GYRO_LPF2
     gyroInitLowpassFilterLpf(
         gyroSensor,
         FILTER_LOWPASS2,
         gyroConfig()->gyro_lowpass2_type
     );
+#endif
     gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
     gyroInitFilterNotch2(gyroSensor, gyroConfig()->gyro_soft_notch_hz_2, gyroConfig()->gyro_soft_notch_cutoff_2);
 #ifdef USE_GYRO_DATA_ANALYSE
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 1bbb627a89..671d7b7cbd 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -53,7 +53,10 @@ typedef enum {
     GYRO_ICM20608G,
     GYRO_ICM20649,
     GYRO_ICM20689,
+    GYRO_ICM42605,
+    GYRO_ICM42688P,
     GYRO_BMI160,
+    GYRO_BMI270,
     GYRO_IMUF9001,
     GYRO_FAKE
 } gyroSensor_e;
@@ -111,6 +114,11 @@ typedef struct smithPredictor_s {
 } smithPredictor_t;
 #endif // USE_SMITH_PREDICTOR
 
+typedef enum {
+    RP = 0,
+    RPY = 1
+} dynamicGyroAxisType_e;
+
 typedef struct gyroConfig_s {
     uint8_t  gyro_align;                       // gyro alignment
     uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
@@ -144,6 +152,7 @@ typedef struct gyroConfig_s {
     int16_t  yaw_spin_threshold;
 
     uint16_t gyroCalibrationDuration;  // Gyro calibration duration in 1/100 second
+    uint8_t dyn_notch_axis;
     uint16_t dyn_notch_q;
     uint8_t dyn_notch_count;
     uint16_t dyn_notch_min_hz;
@@ -196,7 +205,9 @@ bool gyroYawSpinDetected(void);
 uint16_t gyroAbsRateDps(int axis);
 uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);
 float applySmithPredictor(smithPredictor_t *smithPredictor, float gyroFiltered);
+#ifdef USE_GYRO_DATA_ANALYSE
 bool isDynamicFilterActive(void);
+#endif
 #ifdef USE_YAW_SPIN_RECOVERY
 void initYawSpinRecovery(int maxYawRate);
 #endif
diff --git a/src/main/sensors/gyro_filter_impl.h b/src/main/sensors/gyro_filter_impl.h
index 2008434496..4bf1060e19 100644
--- a/src/main/sensors/gyro_filter_impl.h
+++ b/src/main/sensors/gyro_filter_impl.h
@@ -36,7 +36,9 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor) {
 #endif
 
         // apply static notch filters and software lowpass filters
+#ifdef USE_GYRO_LPF2
         gyroADCf = gyroSensor->lowpass2FilterApplyFn((filter_t *)&gyroSensor->lowpass2Filter[axis], gyroADCf);
+#endif
         gyroADCf = gyroSensor->lowpassFilterApplyFn((filter_t *)&gyroSensor->lowpassFilter[axis], gyroADCf);
         gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf);
         gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf);
diff --git a/src/main/target/ALIENWHOOP/target.h b/src/main/target/ALIENWHOOP/target.h
index d5b04e3b1e..063672ca1e 100644
--- a/src/main/target/ALIENWHOOP/target.h
+++ b/src/main/target/ALIENWHOOP/target.h
@@ -38,12 +38,17 @@
 
 /* Multi-Arch Support for 168MHz or 216MHz ARM Cortex processors - STM32F405RGT or STM32F7RET
  */
+
+#define TARGET_MANUFACTURER_IDENTIFIER  "ALWH"
+
 #if defined(ALIENWHOOPF4)
-#define TARGET_BOARD_IDENTIFIER "AWF4"
-#define USBD_PRODUCT_STRING     "AlienWhoopF4"
+#define USBD_PRODUCT_STRING             "ALIENWHOOPF4"
+#define FC_TARGET_MCU                   STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER         "S405"        // generic ID
 #else
-#define TARGET_BOARD_IDENTIFIER "AWF7"
-#define USBD_PRODUCT_STRING     "AlienWhoopF7"
+#define USBD_PRODUCT_STRING            "ALIENWHOOPF7"
+#define FC_TARGET_MCU                  STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER        "S7X2"
 #endif
 
 #define USE_TARGET_CONFIG // see config.c for target specific customizations
@@ -125,6 +130,9 @@
 // MPU
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
 #define MPU6500_SPI_INSTANCE    SPI1
+#define MPU9250_CS_PIN          SPI1_NSS_PIN
+#define MPU9250_SPI_INSTANCE    SPI1
+
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 // MAG
@@ -136,11 +144,15 @@
 // GYRO
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6500
+#define USE_GYRO_SPI_MPU9250
 #define GYRO_MPU6500_ALIGN      CW0_DEG
+#define GYRO_MPU9250_ALIGN      CW0_DEG
 // ACC
 #define USE_ACC
 #define USE_ACC_SPI_MPU6500
+#define USE_ACC_SPI_MPU9250
 #define ACC_MPU6500_ALIGN       CW0_DEG
+#define ACC_MPU9250_ALIGN       CW0_DEG
 
 /* Optional Digital Pressure Sensor (barometer) - Bosch BMP280
  * TODO: not implemented on V1 or V2 pcb
@@ -232,6 +244,10 @@
 #define TARGET_IO_PORTE         0xffff
 #endif
 
+#define USE_ADC
+#define ADC1_DMA_OPT        1
+#define ADC1_DMA_STREAM     DMA2_Stream4 //# ADC 1: DMA2 Stream 4 Channel 0
+
 /* Timers
  */
 #define USABLE_TIMER_CHANNEL_COUNT 5
diff --git a/src/main/target/ALIENWHOOP/target.mk b/src/main/target/ALIENWHOOP/target.mk
index 4d72357939..73c66b293b 100644
--- a/src/main/target/ALIENWHOOP/target.mk
+++ b/src/main/target/ALIENWHOOP/target.mk
@@ -20,6 +20,7 @@ FEATURES    += ONBOARDFLASH VCP
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu9250.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_ak8963.c \
             drivers/flash_m25p16.c \
diff --git a/src/main/target/BETAFLIGHTF4/target.h b/src/main/target/BETAFLIGHTF4/target.h
index c3508959a8..2c46a633a5 100644
--- a/src/main/target/BETAFLIGHTF4/target.h
+++ b/src/main/target/BETAFLIGHTF4/target.h
@@ -20,8 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "BFF4"
-#define USBD_PRODUCT_STRING     "BetaFlightF4"
+#define TARGET_MANUFACTURER_IDENTIFIER "FPVM"
+#define USBD_PRODUCT_STRING "BETAFLIGHTF4"
+
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
 
 #define LED0_PIN                PB5
 
@@ -32,18 +35,24 @@
 // PC13 used as inverter select GPIO for UART2
 #define INVERTER_PIN_UART2      PC13
 
-#define MPU6000_CS_PIN          PA4
-#define MPU6000_SPI_INSTANCE    SPI1
-
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN      CW180_DEG
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
-#define ACC_MPU6000_ALIGN       CW180_DEG
 
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define ACC_MPU6000_ALIGN       CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
 
+#define ACC_BMI270_ALIGN        CW180_DEG
+#define GYRO_BMI270_ALIGN       CW180_DEG
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
 
 // MPU6000 interrupts
 #define USE_EXTI
@@ -122,6 +131,9 @@
 #define I2C2_SCL                NONE // PB10, UART3_TX
 #define I2C2_SDA                NONE // PB11, UART3_RX
 #define I2C_DEVICE              (I2CDEV_2)
+#define MAG_I2C_INSTANCE        (I2CDEV_2)
+#define BARO_I2C_INSTANCE       (I2CDEV_2)
+#define DASHBOARD_I2C_INSTANCE  (I2CDEV_2)
 
 #define USE_ADC
 #define CURRENT_METER_ADC_PIN   PC1
@@ -133,7 +145,7 @@
 #define SBUS_TELEMETRY_UART     SERIAL_PORT_USART2
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-#define DEFAULT_FEATURES        ( FEATURE_TELEMETRY | FEATURE_OSD )
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
 
 #define TARGET_IO_PORTA (0xffff & ~(BIT(14)|BIT(13)))
 #define TARGET_IO_PORTB (0xffff & ~(BIT(2)))
diff --git a/src/main/target/BETAFLIGHTF4/target.mk b/src/main/target/BETAFLIGHTF4/target.mk
index ca33021603..cd44e934c4 100644
--- a/src/main/target/BETAFLIGHTF4/target.mk
+++ b/src/main/target/BETAFLIGHTF4/target.mk
@@ -5,6 +5,7 @@ FEATURES       += VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
diff --git a/src/main/target/BETAFPVF411/target.h b/src/main/target/BETAFPVF411/target.h
index 68172fdc56..ddd244caef 100644
--- a/src/main/target/BETAFPVF411/target.h
+++ b/src/main/target/BETAFPVF411/target.h
@@ -34,6 +34,13 @@
 #define USE_SPI
 #define USE_SPI_DEVICE_1
 
+#define USE_SPI_GYRO	
+#define USE_ACCGYRO_BMI270
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
+#define ACC_BMI270_ALIGN        CW90_DEG
+#define GYRO_BMI270_ALIGN       CW90_DEG
+
 #define SPI1_SCK_PIN            PA5
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
diff --git a/src/main/target/BETAFPVF411/target.mk b/src/main/target/BETAFPVF411/target.mk
index 3971d0ca39..ab77872afb 100644
--- a/src/main/target/BETAFPVF411/target.mk
+++ b/src/main/target/BETAFPVF411/target.mk
@@ -4,6 +4,7 @@ FEATURES       = VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
diff --git a/src/main/target/BETAFPVF411RX/target.h b/src/main/target/BETAFPVF411RX/target.h
index b4cbe47a34..2a68447eda 100644
--- a/src/main/target/BETAFPVF411RX/target.h
+++ b/src/main/target/BETAFPVF411RX/target.h
@@ -38,27 +38,35 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
-#define MPU6000_CS_PIN          PA4
-//#define ICM20689_CS_PIN         PA4
-#define MPU6000_SPI_INSTANCE    SPI1
-//#define ICM20689_SPI_INSTANCE   SPI1
-
 #define USE_EXTI
 #define USE_GYRO_EXTI
 #define MPU_INT_EXTI         PB6
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define USE_GYRO
-#define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN      CW0_DEG_FLIP
-//#define USE_GYRO_SPI_ICM20689
-//#define ACC_ICM20689_ALIGN       CW180_DEG
 #define USE_ACC
+#define USE_GYRO
+
 #define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN       CW0_DEG_FLIP
-//#define USE_ACC_SPI_ICM20689
-//#define ACC_ICM20689_ALIGN       CW180_DEG
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN      CW180_DEG
+#define ACC_MPU6000_ALIGN       CW180_DEG
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define USE_ACC_SPI_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW180_DEG
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
+
+#define USE_ACCGYRO_BMI270
+#define USE_SPI_GYRO
+#define ACC_BMI270_ALIGN        CW180_DEG
+#define GYRO_BMI270_ALIGN       CW180_DEG
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
 
 // *************** Baro **************************
 //#define USE_I2C
@@ -140,17 +148,17 @@
 #define MAX7456_SPI_INSTANCE    SPI2
 #define MAX7456_SPI_CS_PIN      PB12
 
-//#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-//#define USE_FLASHFS
-//#define USE_FLASH_M25P16
-//#define FLASH_CS_PIN            PB2
-//#define FLASH_SPI_INSTANCE      SPI2
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_CS_PIN            PB2
+#define FLASH_SPI_INSTANCE      SPI2
 
 // *************** ADC *****************************
 #define USE_ADC
 #define ADC_INSTANCE         ADC1
-#define ADC1_DMA_OPT            0  // DMA 2 Stream 0 Channel 0
-
+//#define ADC1_DMA_OPT            0  // DMA 2 Stream 0 Channel 0
+#define ADC1_DMA_STREAM DMA2_Stream4 //# ADC 1: DMA2 Stream 4 Channel 0
 #define VBAT_ADC_PIN            PA1
 #define CURRENT_METER_ADC_PIN   PB0
 //#define RSSI_ADC_PIN            PB1
@@ -166,7 +174,7 @@
 //#define PINIO2_PIN              PA15 // Camera switcher
 //#define USE_PINIOBOX
 
-#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL)
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_SOFTSERIAL)
 #define CURRENT_METER_SCALE_DEFAULT         179
 #define DEFAULT_VOLTAGE_METER_SOURCE    VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SOURCE    CURRENT_METER_ADC
diff --git a/src/main/target/BETAFPVF411RX/target.mk b/src/main/target/BETAFPVF411RX/target.mk
index 965b78488e..e9ecda64c7 100644
--- a/src/main/target/BETAFPVF411RX/target.mk
+++ b/src/main/target/BETAFPVF411RX/target.mk
@@ -1,18 +1,19 @@
 F411_TARGETS    += $(TARGET)
-
-FEATURES        += VCP 
+FEATURES        += VCP ONBOARDFLASH
 
 TARGET_SRC = \
-						drivers/accgyro/accgyro_mpu.c \
-						drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
+			drivers/accgyro/accgyro_mpu6500.c \
+			drivers/accgyro/accgyro_spi_mpu6500.c \
+			drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/max7456.c \
             drivers/rx/rx_cc2500.c \
-						rx/cc2500_common.c \
+            rx/cc2500_common.c \
             rx/cc2500_frsky_shared.c \
             rx/cc2500_frsky_d.c \
-						rx/cc2500_frsky_x.c \
-						rx/cc2500_redpine.c \
+            rx/cc2500_frsky_x.c \
+            rx/cc2500_redpine.c \
             rx/cc2500_sfhss.c\
             drivers/rx/rx_a7105.c \
-						drivers/light_ws2811strip.c
+            drivers/light_ws2811strip.c
diff --git a/src/main/target/BETAFPVF722/target.c b/src/main/target/BETAFPVF722/target.c
index 1af98e92f5..b2aeb61ba6 100644
--- a/src/main/target/BETAFPVF722/target.c
+++ b/src/main/target/BETAFPVF722/target.c
@@ -28,8 +28,7 @@
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 // FILO arrangement for motor assignments, Motor 1 starts at 2nd DECLARATION
-    DEF_TIM(TIM8,  CH3,  PC8, TIM_USE_ANY,               0, 0), // USE FOR CAMERA CONTROL
-
+ 
     DEF_TIM(TIM3,  CH3,  PB0, TIM_USE_MOTOR,             0, 0), // D1-ST0                   MOTOR1
     DEF_TIM(TIM3,  CH4,  PB1, TIM_USE_MOTOR,             0, 0), // D1-ST3                   MOTOR2
     DEF_TIM(TIM2,  CH2,  PA1, TIM_USE_MOTOR,             0, 0), // D1-ST7                   MOTOR3
@@ -38,5 +37,4 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_MOTOR,             0, 0), // NONE  TIM4_UP_D1-ST6     MOTOR6
 
     DEF_TIM(TIM1,  CH1,  PA8, TIM_USE_LED,               0, 0), // D1-ST2                   LED/MOTOR5
-
 };
diff --git a/src/main/target/BETAFPVF722/target.h b/src/main/target/BETAFPVF722/target.h
index 31821bc7b2..595a08c5f2 100644
--- a/src/main/target/BETAFPVF722/target.h
+++ b/src/main/target/BETAFPVF722/target.h
@@ -33,7 +33,7 @@
 #define BEEPER_INVERTED
 
 //define camera control
-#define CAMERA_CONTROL_PIN                               PC8
+// N/A
 
 //MPU-6000
 #define USE_GYRO
@@ -49,6 +49,16 @@
 #define GYRO_MPU6000_ALIGN                               CW180_DEG
 #define ACC_MPU6000_ALIGN                                CW180_DEG
 
+
+// ICM42688P
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define ICM42688P_CS_PIN                                PA4
+#define ICM42688P_SPI_INSTANCE                          SPI1
+#define GYRO_ICM42688P_ALIGN                            CW180_DEG
+#define ACC_ICM42688P_ALIGN                             CW180_DEG
+
+
 // OSD
 #define USE_MAX7456
 #define MAX7456_SPI_INSTANCE                             SPI3
@@ -120,6 +130,7 @@
 #define VBAT_ADC_PIN                                     PC0
 #define RSSI_ADC_PIN                                     PC2
 #define CURRENT_METER_SCALE_DEFAULT                      450                   // 3.3/120A  = 25mv/A
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // SPI devices
 #define USE_SPI
@@ -154,5 +165,5 @@
 #define TARGET_IO_PORTD                                 (BIT(2))
 
 // timers
-#define USABLE_TIMER_CHANNEL_COUNT                      8
-#define USED_TIMERS ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) |  TIM_N(8) )
+#define USABLE_TIMER_CHANNEL_COUNT                      7
+#define USED_TIMERS ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/BETAFPVF722/target.mk b/src/main/target/BETAFPVF722/target.mk
index 56beeaedad..0da79a44b5 100644
--- a/src/main/target/BETAFPVF722/target.mk
+++ b/src/main/target/BETAFPVF722/target.mk
@@ -4,6 +4,7 @@ FEATURES       = VCP ONBOARDFLASH
 TARGET_SRC = \
 drivers/accgyro/accgyro_spi_mpu6000.c \
 drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
 drivers/barometer/barometer_bmp280.c \
 drivers/barometer/barometer_ms5611.c \
 drivers/compass/compass_hmc5883l.c \
diff --git a/src/main/target/CRASHTESTF7/TALONF7V2.md b/src/main/target/CRASHTESTF7/TALONF7V2.md
deleted file mode 100644
index 8624f95d55..0000000000
--- a/src/main/target/CRASHTESTF7/TALONF7V2.md
+++ /dev/null
@@ -1,12 +0,0 @@
-MCU: STM32F722RE
-IMU: ICM-20602
-IMU Interrupt: yes
-BARO: NO
-VCP: YES
-Hardware UARTS: 6 uarts
-OSD: uses a AB7456 chip
-Blackbox: flash Chip
-PPM/UART NOT Shared: YES
-Battery Voltage Sensor: 10:1
-Current sensor: from 4 in 1 socket
-Integrated Voltage Regulator: 1.5A 5v/v1   2A 5v/v2
diff --git a/src/main/target/CRASHTESTF7/target.h b/src/main/target/CRASHTESTF7/target.h
deleted file mode 100644
index 859462f588..0000000000
--- a/src/main/target/CRASHTESTF7/target.h
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
- * This file is part of Cleanflight and Betaflight.
- *
- * Cleanflight and Betaflight are free software. You can redistribute
- * this software and/or modify this software 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.
- *
- * Cleanflight and Betaflight are distributed in the hope that they
- * 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 this software.
- *
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-#define TARGET_BOARD_IDENTIFIER                          "S7X2"                 //not sure if this even shows, but defaults on BF as STM used
-#define USBD_PRODUCT_STRING                              "BotF7"            //board name on configurator drop down menu, flasher tab
-#define TARGET_MANUFACTURER_IDENTIFIER                   "BQEio"                //Manufacturer abbreviation
-
-#define USE_TARGET_CONFIG
-
-#define ENABLE_DSHOT_DMAR                                true                   //Dshot default
-
-//Aux
-#define LED0_PIN                                         PB0                    //resource led 1
-
-#define USE_BEEPER
-#define BEEPER_PIN                                       PB4                    //resource beeper 1
-#define BEEPER_INVERTED                                                         //set beeper_inversion = on
-
-#define USE_PINIO
-#define PINIO1_PIN                                       PA14                   // VTX power switcher
-#define USE_PINIOBOX
-
-
-//define camera control
-#define CAMERA_CONTROL_PIN                               PB3                    // resource camera_control 1
-
-//MPU-6000
-#define USE_GYRO                                                                //declaring usage of gyro accelerometer and Spi access
-#define USE_ACC
-#define USE_ACC_SPI_MPU6000
-#define USE_GYRO_SPI_MPU6000
-#define USE_EXTI
-#define USE_MPU_DATA_READY_SIGNAL
-
-#define MPU_INT_EXTI                                     PC4                    //gyro_1_exti_pin for mpu6000
-#define MPU6000_CS_PIN                                   PA4                    //GYRO_1_CS_PIN
-#define MPU6000_SPI_INSTANCE                             SPI1                   //GYRO_1_SPI_INSTANCE
-#define GYRO_MPU6000_ALIGN                               CW0_DEG                //set gyro_1_align
-#define ACC_MPU6000_ALIGN                                CW0_DEG                //set accel_1_align (normally same as gyro 1)
-
-// OSD
-#define USE_MAX7456                                                             //osd driver
-#define MAX7456_SPI_INSTANCE                             SPI3                   // set max7456
-#define MAX7456_SPI_CS_PIN                               PA15                   // resource osd_cs 1
-#define MAX7456_SPI_CLK                                  (SPI_CLOCK_STANDARD)   // 10MHz
-#define MAX7456_RESTORE_CLK                              (SPI_CLOCK_FAST)
-
-// Blackbox
-#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-#define USE_FLASHFS                                                             // enable flash blackbox
-#define USE_FLASH_M25P16                                                        //defines which driver type
-#define FLASH_CS_PIN                                     PB12                   //resource flash_cs
-#define FLASH_SPI_INSTANCE                               SPI2                   //set flash spi bus
-
-// Uarts
-#define USE_UART1                                                               //enable corresponding UARTS
-#define UART1_RX_PIN                                     PA10                   //resource serial_rx 1
-#define UART1_TX_PIN                                     PA9                    //resource serial_tx 1
-
-#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 USE_SOFTSERIAL1
-#define SERIAL_PORT_COUNT                                7                      //VCP, USART1, USART2,USART3,USART4,USART5,USART6
-
-// ESC
-#define USE_ADC                                                                 // enable adc
-#define DEFAULT_VOLTAGE_METER_SOURCE                     VOLTAGE_METER_ADC      //define source.. same as battery tab in configurator
-#define DEFAULT_CURRENT_METER_SOURCE                     CURRENT_METER_ADC
-#define CURRENT_METER_ADC_PIN                            PC1                    //resource adc_curr
-#define VBAT_ADC_PIN                                     PC2                    //resource adc_batt
-#define RSSI_ADC_PIN                                     PC3                    //resource adc_rssi
-#define CURRENT_METER_SCALE_DEFAULT                      150                    // 3.3/120A  = 25mv/A
-#define VBAT_SCALE                                       160                    //configurator tab voltage scale
-
-
-
-
-// SPI devices
-#define USE_SPI
-#define USE_SPI_DEVICE_1
-#define USE_SPI_DEVICE_2
-#define USE_SPI_DEVICE_3
-
-#define SPI1_NSS_PIN                                    PA4                     //resource usually matches cs pin of device that calls for it
-#define SPI1_SCK_PIN                                    PA5                     // resource spi_sck 1
-#define SPI1_MISO_PIN                                   PA6                     //resource spi_miso 1
-#define SPI1_MOSI_PIN                                   PA7                     //resource spi_mosi
-
-#define SPI2_NSS_PIN                                    PB12
-#define SPI2_SCK_PIN                                    PB13
-#define SPI2_MISO_PIN                                   PB14
-#define SPI2_MOSI_PIN                                   PB15
-
-#define SPI3_NSS_PIN                                    PA15
-#define SPI3_SCK_PIN                                    PC10
-#define SPI3_MISO_PIN                                   PC11
-#define SPI3_MOSI_PIN                                   PB5
-
-// USB
-#define USE_VCP
-#define BINDPLUG_PIN                                    PB2
-#define SERIALRX_PROVIDER                               SERIALRX_CRSF
-#define SERIALRX_UART                                   SERIAL_PORT_USART3
-
-//FEATURE
-#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE)
-#define DEFAULT_RX_FEATURE                              FEATURE_RX_SERIAL
-
-// IO Ports
-#define TARGET_IO_PORTA                                 0xffff
-#define TARGET_IO_PORTB                                 0xffff
-#define TARGET_IO_PORTC                                 0xffff
-#define TARGET_IO_PORTD                                 (BIT(2))
-
-// timers
-#define USABLE_TIMER_CHANNEL_COUNT                      9                       //updated timer count to compensate for Nf Motor 4, total timers defined in target.c
-#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5)  | TIM_N(8)   ) //update based on update CLRACINGF7 Target BF4.1+   timers defined, enumerated as per use
diff --git a/src/main/target/DAFP_DARWINF722HD/config.c b/src/main/target/DARWINF722HD/config.c
similarity index 100%
rename from src/main/target/DAFP_DARWINF722HD/config.c
rename to src/main/target/DARWINF722HD/config.c
diff --git a/src/main/target/DAFP_DARWINF722HD/target.c b/src/main/target/DARWINF722HD/target.c
similarity index 100%
rename from src/main/target/DAFP_DARWINF722HD/target.c
rename to src/main/target/DARWINF722HD/target.c
diff --git a/src/main/target/DAFP_DARWINF722HD/target.h b/src/main/target/DARWINF722HD/target.h
similarity index 100%
rename from src/main/target/DAFP_DARWINF722HD/target.h
rename to src/main/target/DARWINF722HD/target.h
diff --git a/src/main/target/DAFP_DARWINF722HD/target.mk b/src/main/target/DARWINF722HD/target.mk
similarity index 100%
rename from src/main/target/DAFP_DARWINF722HD/target.mk
rename to src/main/target/DARWINF722HD/target.mk
diff --git a/src/main/target/FLWO_FLYWOOF411FR/target.c b/src/main/target/FLYWOOF411FR/target.c
similarity index 100%
rename from src/main/target/FLWO_FLYWOOF411FR/target.c
rename to src/main/target/FLYWOOF411FR/target.c
diff --git a/src/main/target/FLWO_FLYWOOF411FR/target.h b/src/main/target/FLYWOOF411FR/target.h
similarity index 99%
rename from src/main/target/FLWO_FLYWOOF411FR/target.h
rename to src/main/target/FLYWOOF411FR/target.h
index 42724e2881..3e95bdc8cf 100644
--- a/src/main/target/FLWO_FLYWOOF411FR/target.h
+++ b/src/main/target/FLYWOOF411FR/target.h
@@ -169,5 +169,5 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
-#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USABLE_TIMER_CHANNEL_COUNT 10
 #define USED_TIMERS             ( TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(4) )
diff --git a/src/main/target/FLWO_FLYWOOF411FR/target.mk b/src/main/target/FLYWOOF411FR/target.mk
similarity index 100%
rename from src/main/target/FLWO_FLYWOOF411FR/target.mk
rename to src/main/target/FLYWOOF411FR/target.mk
diff --git a/src/main/target/FLWO_FLYWOOF411V2/target.c b/src/main/target/FLYWOOF411V2/target.c
similarity index 100%
rename from src/main/target/FLWO_FLYWOOF411V2/target.c
rename to src/main/target/FLYWOOF411V2/target.c
diff --git a/src/main/target/FLWO_FLYWOOF411V2/target.h b/src/main/target/FLYWOOF411V2/target.h
similarity index 100%
rename from src/main/target/FLWO_FLYWOOF411V2/target.h
rename to src/main/target/FLYWOOF411V2/target.h
diff --git a/src/main/target/FLWO_FLYWOOF411V2/target.mk b/src/main/target/FLYWOOF411V2/target.mk
similarity index 100%
rename from src/main/target/FLWO_FLYWOOF411V2/target.mk
rename to src/main/target/FLYWOOF411V2/target.mk
diff --git a/src/main/target/FLYWOOF411_5IN1_AIO/target.h b/src/main/target/FLYWOOF411_5IN1_AIO/target.h
index c3cf698af1..33c06dde11 100644
--- a/src/main/target/FLYWOOF411_5IN1_AIO/target.h
+++ b/src/main/target/FLYWOOF411_5IN1_AIO/target.h
@@ -61,6 +61,20 @@
 //#define USE_ACC_SPI_ICM20689
 //#define ACC_ICM20689_ALIGN CW180_DEG
 
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+
+#define ICM42688P_SPI_INSTANCE    SPI1
+#define ICM42688P_CS_PIN          PA4
+#define ACC_ICM42688P_ALIGN       CW0_DEG_FLIP
+#define GYRO_ICM42688P_ALIGN      CW0_DEG_FLIP
+
+#define USE_SPI_GYRO
+#define BMI270_SPI_INSTANCE       SPI1
+#define BMI270_CS_PIN             PA4
+#define ACC_BMI270_ALIGN          CW0_DEG_FLIP
+#define GYRO_BMI270_ALIGN         CW0_DEG_FLIP
+
 // *************** Baro **************************
 #define USE_I2C
 
diff --git a/src/main/target/FLYWOOF411_5IN1_AIO/target.mk b/src/main/target/FLYWOOF411_5IN1_AIO/target.mk
index d6dc58877c..a0f0b8aff2 100644
--- a/src/main/target/FLYWOOF411_5IN1_AIO/target.mk
+++ b/src/main/target/FLYWOOF411_5IN1_AIO/target.mk
@@ -3,21 +3,23 @@ F411_TARGETS    += $(TARGET)
 FEATURES        += VCP
 
 TARGET_SRC = \
-						drivers/accgyro/accgyro_mpu.c \
-						drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_spi_icm20689.c \
-						drivers/barometer/barometer_bmp085.c \
-						drivers/barometer/barometer_bmp280.c \
-						drivers/barometer/barometer_ms5611.c \
-						drivers/compass/compass_hmc5883l.c \
+            drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms5611.c \
+            drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c \
             drivers/rx/rx_cc2500.c \
-						rx/cc2500_common.c \
+            rx/cc2500_common.c \
             rx/cc2500_frsky_shared.c \
             rx/cc2500_frsky_d.c \
-						rx/cc2500_frsky_x.c \
-						rx/cc2500_redpine.c \
+            rx/cc2500_frsky_x.c \
+            rx/cc2500_redpine.c \
             rx/cc2500_sfhss.c\
             drivers/rx/rx_a7105.c \
-						drivers/light_ws2811strip.c
+            drivers/light_ws2811strip.c
diff --git a/src/main/target/FOXEERF722V4/target.c b/src/main/target/FOXEERF722V4/target.c
new file mode 100644
index 0000000000..a0255f4f3a
--- /dev/null
+++ b/src/main/target/FOXEERF722V4/target.c
@@ -0,0 +1,44 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: bc7d9ef
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM1, CH2, PA9, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM, 0, 0), // ppm
+    DEF_TIM(TIM8, CH1, PC6, TIM_USE_ANY, 0, 0), // could not determine TIM_USE_xxxxx - please check
+    DEF_TIM(TIM8, CH2, PC7, TIM_USE_ANY, 0, 0), // could not determine TIM_USE_xxxxx - please check
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0), // led
+    DEF_TIM(TIM2, CH2, PB3, TIM_USE_ANY, 0, 0), // cam ctrl
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/FOXEERF722V4/target.h b/src/main/target/FOXEERF722V4/target.h
new file mode 100644
index 0000000000..47c8a127e7
--- /dev/null
+++ b/src/main/target/FOXEERF722V4/target.h
@@ -0,0 +1,155 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: bc7d9ef
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "FOXE"
+#define USBD_PRODUCT_STRING "FOXEERF722V4"
+
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
+
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define USE_BARO
+#define USE_BARO_DPS310
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_MAX7456
+#define USE_ADC
+#define USE_SPI_GYRO
+#define USE_BARO
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16  //works in place of W25Q128FV
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PC15
+#define LED_STRIP_PIN        PA15
+#define USE_BEEPER
+#define BEEPER_PIN           PA4
+#define BEEPER_INVERTED
+#define CAMERA_CONTROL_PIN   PB3
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PC10
+#define SPI3_MISO_PIN        PC11
+#define SPI3_MOSI_PIN        PB5
+
+#define GYRO_1_ALIGN         CW270_DEG
+#define ACC_1_ALIGN          CW270_DEG
+#define GYRO_1_CS_PIN        PB2
+#define GYRO_1_EXTI_PIN      PC4
+#define GYRO_1_SPI_INSTANCE  SPI1
+#define MPU_INT_EXTI         PC4
+
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define ACC_MPU6000_ALIGN        CW270_DEG
+#define GYRO_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_CS_PIN           PB2
+#define MPU6000_SPI_INSTANCE     SPI1
+
+#define ACC_ICM42688P_ALIGN      CW270_DEG
+#define GYRO_ICM42688P_ALIGN     CW270_DEG
+#define ICM42688P_CS_PIN         PB2
+#define ICM42688P_SPI_INSTANCE   SPI1
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+#define UART1_TX_PIN         PB6
+#define UART2_TX_PIN         PA2
+#define UART3_TX_PIN         PB10
+#define UART4_TX_PIN         PA0
+#define UART5_TX_PIN         PC12
+#define UART6_TX_PIN         PC6
+#define UART1_RX_PIN         PB7
+#define UART2_RX_PIN         PA3
+#define UART3_RX_PIN         PB11
+#define UART4_RX_PIN         PA1
+#define UART5_RX_PIN         PD2
+#define UART6_RX_PIN         PC7
+#define RX_PPM_PIN           PB7
+#define SERIAL_PORT_COUNT 7
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE        (I2CDEV_1)
+#define MAG_I2C_INSTANCE  (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define I2C1_SCL          PB8
+#define I2C1_SDA          PB9
+
+#define FLASH_CS_PIN       PB12
+#define FLASH_SPI_INSTANCE SPI2
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define MAX7456_SPI_CS_PIN   PC3
+#define MAX7456_SPI_INSTANCE SPI3
+
+#define VBAT_ADC_PIN          PC0
+#define CURRENT_METER_ADC_PIN PC2
+#define RSSI_ADC_PIN          PA0
+#define ADC3_DMA_STREAM       DMA2_Stream0 //# ADC 3: DMA2 Stream 0 Channel 2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define ADC_INSTANCE          ADC3
+
+#define ENABLE_DSHOT_DMAR true
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(4) | TIM_N(8) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/FOXEERF722V4/target.mk b/src/main/target/FOXEERF722V4/target.mk
new file mode 100644
index 0000000000..4cac437e26
--- /dev/null
+++ b/src/main/target/FOXEERF722V4/target.mk
@@ -0,0 +1,16 @@
+F7X2RE_TARGETS += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_mpu6000.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/max7456.c \
+
+# notice - this file was programmatically generated and may be incomplete.
+# eg: flash, compass, barometer, vtx6705, ledstrip, pinio, etc.   especially mag/baro
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: bc7d9ef
diff --git a/src/main/target/FOXEERF745V3_AIO/target.c b/src/main/target/FOXEERF745V3_AIO/target.c
new file mode 100644
index 0000000000..4e8a894d52
--- /dev/null
+++ b/src/main/target/FOXEERF745V3_AIO/target.c
@@ -0,0 +1,41 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 40b5552
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3, CH1, PB4, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM3, CH2, PB5, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // led
+    DEF_TIM(TIM2, CH2, PB3, TIM_USE_ANY, 0, 0), // cam ctrl
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/FOXEERF745V3_AIO/target.h b/src/main/target/FOXEERF745V3_AIO/target.h
new file mode 100644
index 0000000000..fd00e29fc2
--- /dev/null
+++ b/src/main/target/FOXEERF745V3_AIO/target.h
@@ -0,0 +1,138 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ * This software 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 this software.
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 40b5552
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "FOXE"
+#define USBD_PRODUCT_STRING "FOXEERF745V3_AIO"
+
+#define FC_TARGET_MCU     STM32F745     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S745"  // generic ID
+
+#define USE_GYRO
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC
+#define USE_ACC_SPI_ICM42688P
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_MAX7456
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16    // 16MB Micron M25P16 and others (ref: https://github.com/betaflight/betaflight/blob/master/src/main/drivers/flash_m25p16.c)
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PC13
+#define LED_STRIP_PIN        PA8
+#define USE_BEEPER
+#define BEEPER_PIN           PD2
+#define BEEPER_INVERTED
+#define CAMERA_CONTROL_PIN   PB3
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PC10
+#define SPI3_MISO_PIN        PC11
+#define SPI3_MOSI_PIN        PC12
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN         PE2
+#define SPI4_MISO_PIN        PE5
+#define SPI4_MOSI_PIN        PE6
+
+#define USE_SPI_GYRO
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define GYRO_1_ALIGN CW90_DEG
+#define ACC_1_ALIGN          CW90_DEG
+#define GYRO_1_CS_PIN        PA15
+#define GYRO_1_EXTI_PIN      PD0
+#define GYRO_1_SPI_INSTANCE SPI3
+#define MPU_INT_EXTI         PD0
+
+#define ACC_ICM42688P_ALIGN      CW90_DEG
+#define GYRO_ICM42688P_ALIGN     CW90_DEG
+#define ICM42688P_CS_PIN         PA15
+#define ICM42688P_SPI_INSTANCE   SPI3
+
+#define USE_UART1
+#define UART1_TX_PIN         PA9
+#define UART1_RX_PIN         PA10
+#define USE_UART2
+#define UART2_TX_PIN         PA2
+#define UART2_RX_PIN         PA3
+#define USE_UART3
+#define UART3_TX_PIN         PB10
+#define UART3_RX_PIN         PB11
+#define USE_UART4
+#define UART4_TX_PIN         PA0
+#define UART4_RX_PIN         PA1
+#define USE_UART7
+#define UART7_TX_PIN         PE8
+#define UART7_RX_PIN         PE7
+#define SERIAL_PORT_COUNT 6
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE        (I2CDEV_1)
+#define MAG_I2C_INSTANCE (I2CDEV_1)
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+
+#define FLASH_CS_PIN         PE4
+#define FLASH_SPI_INSTANCE SPI4
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define MAX7456_SPI_CS_PIN   PA4
+#define MAX7456_SPI_INSTANCE SPI1
+
+#define USE_ADC
+#define VBAT_ADC_PIN PC3
+#define CURRENT_METER_ADC_PIN PC2
+#define RSSI_ADC_PIN PC5
+#define ADC1_DMA_OPT        0
+#define ADC1_DMA_STREAM DMA2_Stream0 //# ADC 1: DMA2 Stream 0 Channel 0
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 100
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 6
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/FOXEERF745V3_AIO/target.mk b/src/main/target/FOXEERF745V3_AIO/target.mk
new file mode 100644
index 0000000000..6c6e3df109
--- /dev/null
+++ b/src/main/target/FOXEERF745V3_AIO/target.mk
@@ -0,0 +1,12 @@
+F7X5XG_TARGETS += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/max7456.c \
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: 40b5552
diff --git a/src/main/target/DIAT_MAMBAF405US/DIAT_MAMBAF405US_I2C.mk b/src/main/target/FOXEERF745_AIO/FOXEERF745_AIO_V2.mk
similarity index 100%
rename from src/main/target/DIAT_MAMBAF405US/DIAT_MAMBAF405US_I2C.mk
rename to src/main/target/FOXEERF745_AIO/FOXEERF745_AIO_V2.mk
diff --git a/src/main/target/FOXEERF745_AIO/target.h b/src/main/target/FOXEERF745_AIO/target.h
index bd56acc8ef..80c7fb0d14 100644
--- a/src/main/target/FOXEERF745_AIO/target.h
+++ b/src/main/target/FOXEERF745_AIO/target.h
@@ -21,7 +21,13 @@
  #pragma once
 
  #define TARGET_BOARD_IDENTIFIER "FOXE"
+ #define TARGET_MANUFACTURER_IDENTIFIER "FOXE"
+
+ #if defined(FOXEERF745_AIO_V2)
+ #define USBD_PRODUCT_STRING "FOXEERF745_AIO_V2"
+ #else
  #define USBD_PRODUCT_STRING "FOXEERF745_AIO"
+ #endif
 
  #define LED0_PIN   PC13
 
@@ -55,6 +61,16 @@
  //#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
  //#define MAG_ALIGN CW180_DEG  //not sure if this command will work or if should be more specific to mag
 
+ #if defined(FOXEERF745_AIO_V2)
+ //BMI270
+ #define USE_SPI_GYRO
+ #define USE_ACCGYRO_BMI270
+ #define BMI270_CS_PIN           PA15
+ #define BMI270_SPI_INSTANCE     SPI3
+ #define ACC_BMI270_ALIGN        CW180_DEG
+ #define GYRO_BMI270_ALIGN       CW180_DEG
+ #endif
+
  #define USE_BARO
  #define USE_BARO_BMP280
  #define BARO_I2C_INSTANCE           (I2CDEV_1)
diff --git a/src/main/target/FOXEERF745_AIO/target.mk b/src/main/target/FOXEERF745_AIO/target.mk
index e4faff73d9..01b1543813 100644
--- a/src/main/target/FOXEERF745_AIO/target.mk
+++ b/src/main/target/FOXEERF745_AIO/target.mk
@@ -2,11 +2,12 @@ F7X5XG_TARGETS += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
-					  drivers/compass/compass_lis3mdl.c \
+            drivers/compass/compass_lis3mdl.c \
             drivers/light_ws2811strip.c \
             drivers/max7456.c
diff --git a/src/main/target/TURC_FPVCYCLEF401/target.c b/src/main/target/FPVCYCLEF401/target.c
similarity index 100%
rename from src/main/target/TURC_FPVCYCLEF401/target.c
rename to src/main/target/FPVCYCLEF401/target.c
diff --git a/src/main/target/TURC_FPVCYCLEF401/target.h b/src/main/target/FPVCYCLEF401/target.h
similarity index 100%
rename from src/main/target/TURC_FPVCYCLEF401/target.h
rename to src/main/target/FPVCYCLEF401/target.h
diff --git a/src/main/target/TURC_FPVCYCLEF401/target.mk b/src/main/target/FPVCYCLEF401/target.mk
similarity index 100%
rename from src/main/target/TURC_FPVCYCLEF401/target.mk
rename to src/main/target/FPVCYCLEF401/target.mk
diff --git a/src/main/target/GEPRCF411_AIO/target.h b/src/main/target/GEPRCF411_AIO/target.h
index 2ebb2a9272..8f0ac9d3b9 100644
--- a/src/main/target/GEPRCF411_AIO/target.h
+++ b/src/main/target/GEPRCF411_AIO/target.h
@@ -60,6 +60,20 @@
 #define USE_ACC_SPI_MPU6500
 #define ACC_MPU6500_ALIGN       CW180_DEG
 
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_ICM42688P
+#define ACC_ICM42688P_ALIGN      CW180_DEG
+#define GYRO_ICM42688P_ALIGN     CW180_DEG
+#define ICM42688P_CS_PIN         PA4
+#define ICM42688P_SPI_INSTANCE   SPI1
+
+#define USE_SPI_GYRO
+#define USE_ACCGYRO_BMI270
+#define ACC_BMI270_ALIGN         CW180_DEG
+#define GYRO_BMI270_ALIGN        CW180_DEG
+#define BMI270_CS_PIN            PA4
+#define BMI270_SPI_INSTANCE      SPI1
+
 // *************** Baro **************************
 #define USE_I2C
 
@@ -131,7 +145,7 @@
 #define USE_ESCSERIAL
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL)
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_SOFTSERIAL)
 #define DEFAULT_VOLTAGE_METER_SOURCE    VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SOURCE    CURRENT_METER_ADC
 #define CURRENT_METER_SCALE_DEFAULT         100
diff --git a/src/main/target/GEPRCF411_AIO/target.mk b/src/main/target/GEPRCF411_AIO/target.mk
index 21fb3eb49f..10c401603f 100644
--- a/src/main/target/GEPRCF411_AIO/target.mk
+++ b/src/main/target/GEPRCF411_AIO/target.mk
@@ -2,14 +2,16 @@ F411_TARGETS    += $(TARGET)
 FEATURES        += VCP ONBOARDFLASH
 
 TARGET_SRC = \
-						drivers/accgyro/accgyro_mpu.c \
-						drivers/accgyro/accgyro_spi_mpu6500.c \
+			drivers/accgyro/accgyro_mpu.c \
+			drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+			drivers/accgyro/accgyro_spi_icm426xx.c \
+			drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
-						drivers/compass/compass_hmc5883l.c \
-						drivers/compass/compass_qmc5883l.c\
-						drivers/light_ws2811strip.c\
+			drivers/compass/compass_hmc5883l.c \
+			drivers/compass/compass_qmc5883l.c\
+			drivers/light_ws2811strip.c\
             drivers/max7456.c
diff --git a/src/main/target/CRASHTESTF7/target.c b/src/main/target/GEPRC_F722_AIO/target.c
similarity index 50%
rename from src/main/target/CRASHTESTF7/target.c
rename to src/main/target/GEPRC_F722_AIO/target.c
index c2489acc41..5fdda10d02 100644
--- a/src/main/target/CRASHTESTF7/target.c
+++ b/src/main/target/GEPRC_F722_AIO/target.c
@@ -17,6 +17,7 @@
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */
+
 #include <stdint.h>
 
 #include "platform.h"
@@ -27,18 +28,18 @@
 #include "drivers/timer_def.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-// FILO arrangement for motor assignments, Motor 1 starts at 2nd DECLARATION
-    DEF_TIM(TIM2,  CH2,   PB3, TIM_USE_ANY,                0, 0), // USE FOR CAMERA CONTROL
-
-    DEF_TIM(TIM4,  CH1,  PB6, TIM_USE_MOTOR,               0, 0), // D1-ST0                   MOTOR1
-    DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_MOTOR,               0, 0), // D1-ST3                   MOTOR2
-    DEF_TIM(TIM4,  CH3,  PB8, TIM_USE_MOTOR,               0, 0), // D1-ST7                   MOTOR3
-    DEF_TIM(TIM8,  CH3,  PC8, TIM_USE_MOTOR,               0, 0), // D2-ST2/D2-ST4            MOTOR4
-    DEF_TIM(TIM5,  CH2,  PA1, TIM_USE_MOTOR,               0, 0), // D1-ST4                   MOTOR5
-    DEF_TIM(TIM4,  CH4,  PB9, TIM_USE_MOTOR,               0, 0), // NONE  TIM4_UP_D1-ST6     MOTOR6
-    DEF_TIM(TIM8,  CH4,  PC9, TIM_USE_MOTOR,               0, 0), // D2-ST7                   MOTOR7
+DEF_TIM(TIM5, CH1, PA0, TIM_USE_ANY, 0, 0),	//CAMERA CONTROL
+DEF_TIM(TIM9, CH2, PA3, TIM_USE_ANY, 0, 0),	//PPM
 
-    DEF_TIM(TIM3,  CH4, PB1, TIM_USE_MOTOR | TIM_USE_LED,  0, 0), // D1-ST2                   LED/MOTOR5
+DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0),	//MOTOR 1
+DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 1),	//MOTOR 2
+DEF_TIM(TIM8, CH2, PC7, TIM_USE_MOTOR, 0, 1),	//MOTOR 3
+DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, 0, 0),	//MOTOR 4
 
+//DEF_TIM(TIM4, CH1, PB6, TIM_USE_ANY, 0, 0),	//in config but match no pins
+//DEF_TIM(TIM4, CH2, PB7, TIM_USE_ANY, 0, 0),   //pretty sure left over from
+//DEF_TIM(TIM3, CH4, PB1, TIM_USE_ANY, 0, 0),	//geprc_f722_bthd target/config
+//DEF_TIM(TIM3, CH3, PB0, TIM_USE_ANY, 0, 0),   //as match motors 5-8
 
+DEF_TIM(TIM2, CH2, PA1, TIM_USE_LED, 0, 0)	//LED
 };
diff --git a/src/main/target/GEPRC_F722_AIO/target.h b/src/main/target/GEPRC_F722_AIO/target.h
new file mode 100644
index 0000000000..2cb368bae7
--- /dev/null
+++ b/src/main/target/GEPRC_F722_AIO/target.h
@@ -0,0 +1,158 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Prepared by Kaio
+ */
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "S7X2"
+#define USBD_PRODUCT_STRING "GEPRC_F722_AIO"
+#define TARGET_MANUFACTURER_IDENTIFIER "GEPR"
+
+#define LED0_PIN PC4
+
+#define USE_BEEPER
+#define BEEPER_PIN PC15
+#define BEEPER_INVERTED
+
+#define ENABLE_DSHOT_DMAR  true
+
+#define USE_EXTI
+#define MPU_INT_EXTI PA8
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define USE_GYRO
+
+#define USE_GYRO_SPI_ICM42688P
+#define ICM42688P_CS_PIN        PA15
+#define ICM42688P_SPI_INSTANCE  SPI1
+#define GYRO_ICM42688P_ALIGN  CW90_DEG
+
+#define USE_GYRO_SPI_MPU6000
+#define MPU6000_CS_PIN PA15
+#define MPU6000_SPI_INSTANCE SPI1
+#define GYRO_MPU6000_ALIGN CW90_DEG
+
+#define USE_ACC
+
+#define USE_ACC_SPI_ICM42688P
+#define ACC_ICM42688P_ALIGN CW90_DEG
+
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6000_ALIGN CW90_DEG
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_BMP085
+#define USE_BARO_MS5611
+#define BARO_I2C_INSTANCE (I2CDEV_2)
+
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define MAG_I2C_INSTANCE (I2CDEV_2)
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE SPI2
+#define MAX7456_SPI_CS_PIN PB12
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_SPI_INSTANCE SPI3
+#define FLASH_CS_PIN PB9
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define USE_VCP
+#define USE_USB_DETECT
+
+#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 PC11
+#define UART4_TX_PIN PC10
+
+#define USE_UART5
+#define UART5_RX_PIN PD2
+#define UART5_TX_PIN PC12
+
+#define SERIAL_PORT_COUNT 6     //USB + 5 UARTS
+
+#define USE_ESCSERIAL                  //PPM
+#define ESCSERIAL_TIMER_TX_PIN PA3
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PB3
+#define SPI3_MISO_PIN PB4
+#define SPI3_MOSI_PIN PB5
+
+//#define USE_I2C
+//#define USE_I2C_DEVICE_1
+//#define I2C1_SCL PB8
+//#define I2C1_SDA PB9
+//#define I2C_DEVICE (I2CDEV_1)
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+#define I2C_DEVICE (I2CDEV_2)
+
+#define USE_ADC
+#define ADC3_DMA_STREAM DMA2_Stream0
+#define VBAT_ADC_PIN PC2
+#define CURRENT_METER_ADC_PIN PC1
+//#define RSSI_ADC_PIN PC2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 100
+
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+//#define SERIALRX_UART SERIAL_PORT_USART2
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES ( FEATURE_OSD | FEATURE_TELEMETRY )
+
+#define TARGET_IO_PORTA ( 0xffff )
+#define TARGET_IO_PORTB ( 0xffff )
+#define TARGET_IO_PORTC ( 0xffff )
+#define TARGET_IO_PORTD ( 0xffff )
+
+#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USED_TIMERS ( TIM_N(2) | TIM_N(5) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/GEPRC_F722_AIO/target.mk b/src/main/target/GEPRC_F722_AIO/target.mk
new file mode 100644
index 0000000000..ed078d59ff
--- /dev/null
+++ b/src/main/target/GEPRC_F722_AIO/target.mk
@@ -0,0 +1,15 @@
+F7X2RE_TARGETS  += $(TARGET)
+FEATURES        += VCP ONBOARDFLASH
+TARGET_SRC = \
+	drivers/accgyro/accgyro_spi_icm426xx.c \
+	drivers/accgyro/accgyro_mpu.c \
+	drivers/accgyro/accgyro_mpu6500.c \
+	drivers/accgyro/accgyro_spi_mpu6000.c \
+	drivers/accgyro/accgyro_spi_mpu6500.c \
+	drivers/barometer/barometer_ms5611.c \
+	drivers/barometer/barometer_bmp280.c \
+	drivers/barometer/barometer_bmp085.c \
+	drivers/compass/compass_hmc5883l.c \
+	drivers/compass/compass_qmc5883l.c \
+	drivers/max7456.c\
+	drivers/light_ws2811strip.c
diff --git a/src/main/target/HENA_TALONF7DJIHD/target.mk b/src/main/target/HENA_TALONF7DJIHD/target.mk
deleted file mode 100644
index 8626fa065d..0000000000
--- a/src/main/target/HENA_TALONF7DJIHD/target.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-F7X2RE_TARGETS  += $(TARGET)
-FEATURES        +=  VCP ONBOARDFLASH
-TARGET_SRC = \
-            drivers/accgyro/accgyro_mpu.c \
-            drivers/accgyro/accgyro_spi_mpu6000.c \
-            drivers/compass/compass_hmc5883l.c \
-            drivers/compass/compass_qmc5883l.c \
-            drivers/max7456.c
diff --git a/src/main/target/HOWI_HOBBYWING_XROTORF7CONV/target.c b/src/main/target/HOBBYWING_XROTORF7CONV/target.c
similarity index 100%
rename from src/main/target/HOWI_HOBBYWING_XROTORF7CONV/target.c
rename to src/main/target/HOBBYWING_XROTORF7CONV/target.c
diff --git a/src/main/target/HOWI_HOBBYWING_XROTORF7CONV/target.h b/src/main/target/HOBBYWING_XROTORF7CONV/target.h
similarity index 100%
rename from src/main/target/HOWI_HOBBYWING_XROTORF7CONV/target.h
rename to src/main/target/HOBBYWING_XROTORF7CONV/target.h
diff --git a/src/main/target/HOWI_HOBBYWING_XROTORF7CONV/target.mk b/src/main/target/HOBBYWING_XROTORF7CONV/target.mk
similarity index 100%
rename from src/main/target/HOWI_HOBBYWING_XROTORF7CONV/target.mk
rename to src/main/target/HOBBYWING_XROTORF7CONV/target.mk
diff --git a/src/main/target/IFLIGHT_BLITZ_F405/target.h b/src/main/target/IFLIGHT_BLITZ_F405/target.h
index 45e86da05b..bb0d69a611 100644
--- a/src/main/target/IFLIGHT_BLITZ_F405/target.h
+++ b/src/main/target/IFLIGHT_BLITZ_F405/target.h
@@ -21,9 +21,11 @@
 
 //#define USE_TARGET_CONFIG
 
-#define TARGET_BOARD_IDENTIFIER	"IBF4"
-#define TARGET_MANUFACTURER_IDENTIFIER	"IFRC"
-#define USBD_PRODUCT_STRING	"IFLIGHT_BLITZ_F405"
+#define TARGET_MANUFACTURER_IDENTIFIER "IFRC"
+#define USBD_PRODUCT_STRING "IFLIGHT_BLITZ_F405"
+
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
 
 #define LED0_PIN                PC15
 
diff --git a/src/main/target/IFF4_TWIN_G/IFF4_TWIN_G_M.mk b/src/main/target/IFLIGHT_F405_TWING/IFLIGHT_F405_TWING_M.mk.bak
similarity index 100%
rename from src/main/target/IFF4_TWIN_G/IFF4_TWIN_G_M.mk
rename to src/main/target/IFLIGHT_F405_TWING/IFLIGHT_F405_TWING_M.mk.bak
diff --git a/src/main/target/IFF4_AIO/target.c b/src/main/target/IFLIGHT_F405_TWING/target.c
similarity index 100%
rename from src/main/target/IFF4_AIO/target.c
rename to src/main/target/IFLIGHT_F405_TWING/target.c
diff --git a/src/main/target/IFF4_TWIN_G/target.h b/src/main/target/IFLIGHT_F405_TWING/target.h
similarity index 96%
rename from src/main/target/IFF4_TWIN_G/target.h
rename to src/main/target/IFLIGHT_F405_TWING/target.h
index 9253ffe9e7..c8a693f7c9 100644
--- a/src/main/target/IFF4_TWIN_G/target.h
+++ b/src/main/target/IFLIGHT_F405_TWING/target.h
@@ -20,12 +20,12 @@
 
 #pragma once
 
-#if defined(IFF4_TWIN_G_M)
+#if defined(IFLIGHT_F405_TWING_M)
 #define TARGET_BOARD_IDENTIFIER "S405"
-#define USBD_PRODUCT_STRING "IFLIGHTF4TWIN_G_mpu6000"
+#define USBD_PRODUCT_STRING "IFLIGHT_F405_TWING_M"
 #else
 #define TARGET_BOARD_IDENTIFIER "S405"
-#define USBD_PRODUCT_STRING "IFLIGHTF4TWIN_G"
+#define USBD_PRODUCT_STRING "IFLIGHT_F405_TWING"
 #endif
 
 #define USE_DSHOT_DMAR
@@ -47,7 +47,7 @@
 #define PINIO1_PIN              PC14
 #define PINIO2_PIN              PC15
 
-#if defined(IFF4_TWIN_G_M)
+#if defined(IFLIGHT_F405_TWING_M)
 #define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_EXTI
diff --git a/src/main/target/IFF4_TWIN_G/target.mk b/src/main/target/IFLIGHT_F405_TWING/target.mk
similarity index 100%
rename from src/main/target/IFF4_TWIN_G/target.mk
rename to src/main/target/IFLIGHT_F405_TWING/target.mk
diff --git a/src/main/target/IFF4_TWIN_G/target.c b/src/main/target/IFLIGHT_F411_AIO32/target.c
similarity index 100%
rename from src/main/target/IFF4_TWIN_G/target.c
rename to src/main/target/IFLIGHT_F411_AIO32/target.c
diff --git a/src/main/target/IFF4_AIO/target.h b/src/main/target/IFLIGHT_F411_AIO32/target.h
similarity index 94%
rename from src/main/target/IFF4_AIO/target.h
rename to src/main/target/IFLIGHT_F411_AIO32/target.h
index 0851f4f9e4..057462579d 100644
--- a/src/main/target/IFF4_AIO/target.h
+++ b/src/main/target/IFLIGHT_F411_AIO32/target.h
@@ -20,8 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "S411"
-#define USBD_PRODUCT_STRING "IFLIGHT F411 AIO"
+#define TARGET_MANUFACTURER_IDENTIFIER "IFRC"
+#define USBD_PRODUCT_STRING "IFLIGHT_F411_AIO32"
+
+#define FC_TARGET_MCU     STM32F411     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S411"  // generic ID
 
 #define LED0_PIN                  PB5
 
diff --git a/src/main/target/IFF4_AIO/target.mk b/src/main/target/IFLIGHT_F411_AIO32/target.mk
similarity index 100%
rename from src/main/target/IFF4_AIO/target.mk
rename to src/main/target/IFLIGHT_F411_AIO32/target.mk
diff --git a/src/main/target/IFF411_PRO/target.c b/src/main/target/IFLIGHT_F411_PRO/target.c
similarity index 100%
rename from src/main/target/IFF411_PRO/target.c
rename to src/main/target/IFLIGHT_F411_PRO/target.c
diff --git a/src/main/target/IFF411_PRO/target.h b/src/main/target/IFLIGHT_F411_PRO/target.h
similarity index 96%
rename from src/main/target/IFF411_PRO/target.h
rename to src/main/target/IFLIGHT_F411_PRO/target.h
index d84e8ed6f4..2539723608 100644
--- a/src/main/target/IFF411_PRO/target.h
+++ b/src/main/target/IFLIGHT_F411_PRO/target.h
@@ -19,8 +19,12 @@
  */
 
 #pragma once
-#define TARGET_BOARD_IDENTIFIER                          "S411"
-#define USBD_PRODUCT_STRING                              "IFLIGHT F411 PRO"
+
+#define TARGET_MANUFACTURER_IDENTIFIER "IFRC"
+#define USBD_PRODUCT_STRING "IFLIGHT_F411_PRO"
+
+#define FC_TARGET_MCU     STM32F411     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S411"  // generic ID
 
 #define ENABLE_DSHOT_DMAR                                true
 
diff --git a/src/main/target/IFF411_PRO/target.mk b/src/main/target/IFLIGHT_F411_PRO/target.mk
similarity index 100%
rename from src/main/target/IFF411_PRO/target.mk
rename to src/main/target/IFLIGHT_F411_PRO/target.mk
diff --git a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/target.c b/src/main/target/IFLIGHT_F722_TWING/target.c
similarity index 96%
rename from src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/target.c
rename to src/main/target/IFLIGHT_F722_TWING/target.c
index f6780a1a41..b8641b75c6 100644
--- a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/target.c
+++ b/src/main/target/IFLIGHT_F722_TWING/target.c
@@ -28,7 +28,7 @@
 #include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_ANY, 0, 0),
+    DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_ANY, 0, 0),  //cam
 
     DEF_TIM(TIM9,  CH2, PA3,  TIM_USE_PPM,   0, 0),  // PPM
 
diff --git a/src/main/target/IFF7_TWIN_G/target.h b/src/main/target/IFLIGHT_F722_TWING/target.h
similarity index 95%
rename from src/main/target/IFF7_TWIN_G/target.h
rename to src/main/target/IFLIGHT_F722_TWING/target.h
index dcaf56de6f..535a4b68b0 100644
--- a/src/main/target/IFF7_TWIN_G/target.h
+++ b/src/main/target/IFLIGHT_F722_TWING/target.h
@@ -20,9 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "S7X2"
+#define TARGET_MANUFACTURER_IDENTIFIER "IFRC"
+#define USBD_PRODUCT_STRING "IFLIGHT_F722_TWING"
 
-#define USBD_PRODUCT_STRING     "IFLIGHT F7 TWIN G"
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
 
 #define USE_DUAL_GYRO
 
diff --git a/src/main/target/IFF7_TWIN_G/target.mk b/src/main/target/IFLIGHT_F722_TWING/target.mk
similarity index 100%
rename from src/main/target/IFF7_TWIN_G/target.mk
rename to src/main/target/IFLIGHT_F722_TWING/target.mk
diff --git a/src/main/target/IFRC_IFLIGHT_F745_AIO/target.c b/src/main/target/IFLIGHT_F745_AIO/target.c
similarity index 100%
rename from src/main/target/IFRC_IFLIGHT_F745_AIO/target.c
rename to src/main/target/IFLIGHT_F745_AIO/target.c
diff --git a/src/main/target/IFRC_IFLIGHT_F745_AIO/target.h b/src/main/target/IFLIGHT_F745_AIO/target.h
similarity index 96%
rename from src/main/target/IFRC_IFLIGHT_F745_AIO/target.h
rename to src/main/target/IFLIGHT_F745_AIO/target.h
index 0cf4b6b8b7..c32ed746ed 100644
--- a/src/main/target/IFRC_IFLIGHT_F745_AIO/target.h
+++ b/src/main/target/IFLIGHT_F745_AIO/target.h
@@ -20,10 +20,12 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "IFRC"
-
+#define TARGET_MANUFACTURER_IDENTIFIER "IFRC"
 #define USBD_PRODUCT_STRING "IFLIGHT_F745_AIO"
 
+#define FC_TARGET_MCU     STM32F745     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S745"  // generic ID
+
 #define LED0_PIN   PC13
 
 #define USE_BEEPER
diff --git a/src/main/target/IFRC_IFLIGHT_F745_AIO/target.mk b/src/main/target/IFLIGHT_F745_AIO/target.mk
similarity index 100%
rename from src/main/target/IFRC_IFLIGHT_F745_AIO/target.mk
rename to src/main/target/IFLIGHT_F745_AIO/target.mk
diff --git a/src/main/target/IFLIGHT_F745_AIO_V2/target.c b/src/main/target/IFLIGHT_F745_AIO_V2/target.c
new file mode 100644
index 0000000000..c57c497050
--- /dev/null
+++ b/src/main/target/IFLIGHT_F745_AIO_V2/target.c
@@ -0,0 +1,44 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED,                 0, 0 ), //LED
+    DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_ANY,                 0, 0 ), //CAM
+
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR,               0, 0 ), // M1
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR,               0, 0 ), // M2
+    DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_MOTOR,               0, 0 ), // M3
+    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_MOTOR,               0, 0 ), // M4
+    DEF_TIM(TIM4,  CH1, PD12, TIM_USE_MOTOR,               0, 0 ), // M5
+    DEF_TIM(TIM4,  CH2, PD13, TIM_USE_MOTOR,               0, 0 ), // M6
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_MOTOR,               0, 1 ), // M7
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_MOTOR,               0, 0 ), // M8
+
+    };
diff --git a/src/main/target/IFLIGHT_F745_AIO_V2/target.h b/src/main/target/IFLIGHT_F745_AIO_V2/target.h
new file mode 100644
index 0000000000..e9a9e73836
--- /dev/null
+++ b/src/main/target/IFLIGHT_F745_AIO_V2/target.h
@@ -0,0 +1,190 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "IFRC"
+#define USBD_PRODUCT_STRING "IFLIGHT_F745_AIO_V2"
+
+#define FC_TARGET_MCU     STM32F745     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S745"  // generic ID
+
+#define ENABLE_DSHOT_DMAR       true
+
+#define LED0_PIN   PC13
+
+#define USE_BEEPER
+#define BEEPER_PIN PD2
+#define BEEPER_INVERTED
+
+//**********Gyro Acc *************//
+
+#define USE_ACC
+#define USE_GYRO
+#define USE_DUAL_GYRO
+
+#define USE_SPI_GYRO
+#define USE_ACCGYRO_BMI270
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6000
+
+#define USE_EXTI
+#define USE_GYRO_EXTI
+#define GYRO_1_EXTI_PIN             PD0
+#define GYRO_2_EXTI_PIN             PD8
+#define MPU_INT_EXTI
+
+#define GYRO_1_CS_PIN               PA4
+#define GYRO_1_SPI_INSTANCE         SPI1
+#define GYRO_2_CS_PIN               PB12
+#define GYRO_2_SPI_INSTANCE         SPI2
+
+#define GYRO_1_ALIGN                CW0_DEG
+#define ACC_1_ALIGN                 CW0_DEG
+#define GYRO_2_ALIGN                CW180_DEG
+#define ACC_2_ALIGN                 CW180_DEG
+
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
+
+//**********Mag and Baro**********//
+
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define MAG_HMC5883_ALIGN       CW180_DEG
+#define MAG_QMC5883_ALIGN       CW180_DEG
+#define MAG_I2C_INSTANCE           (I2CDEV_1)
+
+#define USE_BARO
+#define USE_BARO_MS5611
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define BARO_I2C_INSTANCE           (I2CDEV_1)
+
+//**********Serial****************//
+
+#define USE_VCP
+//#define USE_USB_DETECT
+//#define USB_DETECT_PIN   PC4
+
+#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_UART6
+#define UART6_RX_PIN PC7
+#define UART6_TX_PIN PC6
+
+#define USE_UART7
+#define UART7_RX_PIN PE7
+#define UART7_TX_PIN PE8
+
+#define USE_UART8
+#define UART8_RX_PIN PE0
+#define UART8_TX_PIN PE1
+
+#define SERIAL_PORT_COUNT 8 //VCP, USART1, USART2, USART3, UART4, USART6, USART7, USART8
+
+#define USE_ESCSERIAL
+#define USE_CAMERA_CONTROL
+#define CAMERA_CONTROL_PIN      PB3
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_2
+#define USE_SPI_DEVICE_3
+#define USE_SPI_DEVICE_4
+
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define SPI4_SCK_PIN            PE2
+#define SPI4_MISO_PIN           PE5
+#define SPI4_MOSI_PIN           PE6
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI4
+#define MAX7456_SPI_CS_PIN      PE4
+#define MAX7456_SPI_CLK         (SPI_CLOCK_STANDARD) // 10MHz
+#define MAX7456_RESTORE_CLK     (SPI_CLOCK_FAST)
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_CS_PIN            PA15
+#define FLASH_SPI_INSTANCE      SPI3
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE_1                  (I2CDEV_1)
+#define I2C1_SCL               PB8
+#define I2C1_SDA               PB9
+
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2                  (I2CDEV_2)
+#define I2C2_SCL               PB10
+#define I2C2_SDA               PB11
+
+#define USE_ADC
+#define VBAT_ADC_PIN                PC3
+#define CURRENT_METER_ADC_PIN       PC2
+#define RSSI_ADC_PIN                PC5
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 100
+
+#define USE_LED_STRIP
+
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY )
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 10
+
+#define USED_TIMERS  ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) )
diff --git a/src/main/target/IFLIGHT_F745_AIO_V2/target.mk b/src/main/target/IFLIGHT_F745_AIO_V2/target.mk
new file mode 100644
index 0000000000..7cfd60c081
--- /dev/null
+++ b/src/main/target/IFLIGHT_F745_AIO_V2/target.mk
@@ -0,0 +1,15 @@
+F7X5XG_TARGETS += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_mpu.c \
+            drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_hal.c \
+            drivers/max7456.c
diff --git a/src/main/target/IFF4_E/target.c b/src/main/target/IFLIGHT_SUCCEX_E_F4/target.c
similarity index 100%
rename from src/main/target/IFF4_E/target.c
rename to src/main/target/IFLIGHT_SUCCEX_E_F4/target.c
diff --git a/src/main/target/IFF4_E/target.h b/src/main/target/IFLIGHT_SUCCEX_E_F4/target.h
similarity index 95%
rename from src/main/target/IFF4_E/target.h
rename to src/main/target/IFLIGHT_SUCCEX_E_F4/target.h
index fb0ea6a4eb..a52e5907db 100644
--- a/src/main/target/IFF4_E/target.h
+++ b/src/main/target/IFLIGHT_SUCCEX_E_F4/target.h
@@ -20,8 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER       "IFRC"
-#define USBD_PRODUCT_STRING           "IFLIGHT SUCCEX E F4"
+#define TARGET_MANUFACTURER_IDENTIFIER "IFRC"
+#define USBD_PRODUCT_STRING "IFLIGHT_SUCCEX_E_F4"
+
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
 
 #define LED0_PIN                      PB5
 
@@ -105,9 +108,6 @@
 #define SPI3_MISO_PIN                 PC11
 #define SPI3_MOSI_PIN                 PC12
 
-#define USE_BARO
-#define USE_BARO_BMP280
-
 #define USE_I2C
 #define USE_I2C_DEVICE_2
 #define I2C2_SCL                      PB10
diff --git a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F4/target.mk b/src/main/target/IFLIGHT_SUCCEX_E_F4/target.mk
similarity index 100%
rename from src/main/target/IFRC_IFLIGHT_SUCCEX_E_F4/target.mk
rename to src/main/target/IFLIGHT_SUCCEX_E_F4/target.mk
diff --git a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/config.c b/src/main/target/IFLIGHT_SUCCEX_E_F7/config.c
similarity index 100%
rename from src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/config.c
rename to src/main/target/IFLIGHT_SUCCEX_E_F7/config.c
diff --git a/src/main/target/IFF7_TWIN_G/target.c b/src/main/target/IFLIGHT_SUCCEX_E_F7/target.c
similarity index 100%
rename from src/main/target/IFF7_TWIN_G/target.c
rename to src/main/target/IFLIGHT_SUCCEX_E_F7/target.c
diff --git a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/target.h b/src/main/target/IFLIGHT_SUCCEX_E_F7/target.h
similarity index 86%
rename from src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/target.h
rename to src/main/target/IFLIGHT_SUCCEX_E_F7/target.h
index 372fc9d935..4a93895a28 100644
--- a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/target.h
+++ b/src/main/target/IFLIGHT_SUCCEX_E_F7/target.h
@@ -20,9 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "S7X2"
+#define TARGET_MANUFACTURER_IDENTIFIER "IFRC"
+#define USBD_PRODUCT_STRING "IFLIGHT_SUCCEX_E_F7"
 
-#define USBD_PRODUCT_STRING     "IFLIGHT_SUCCEX_E_F7"
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
 
 #define ENABLE_DSHOT_DMAR       true
 
@@ -51,14 +53,29 @@
 #define MPU6000_CS_PIN           PA15
 
 #define USE_GYRO
-#define USE_GYRO_SPI_MPU6000
-
 #define USE_ACC
+
 #define USE_ACC_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6000
 
 #define ACC_MPU6000_ALIGN        CW180_DEG
 #define GYRO_MPU6000_ALIGN       CW180_DEG
 
+#define USE_GYRO_SPI_ICM20689
+#define USE_ACC_SPI_ICM20689
+#define ACC_ICM20689_ALIGN       CW180_DEG
+#define GYRO_ICM20689_ALIGN      CW180_DEG
+#define ICM20689_CS_PIN          PA15
+#define ICM20689_SPI_INSTANCE    SPI1
+
+#define USE_SPI_GYRO
+#define USE_GYRO_EXTI
+#define USE_ACCGYRO_BMI270
+#define ACC_BMI270_ALIGN         CW180_DEG
+#define GYRO_BMI270_ALIGN        CW180_DEG
+#define BMI270_CS_PIN            PA15
+#define BMI270_SPI_INSTANCE      SPI1
+
 #define USE_VCP
 #define USE_UART1
 #define USE_UART2
diff --git a/src/main/target/IFLIGHT_SUCCEX_E_F7/target.mk b/src/main/target/IFLIGHT_SUCCEX_E_F7/target.mk
new file mode 100644
index 0000000000..d6804d7af7
--- /dev/null
+++ b/src/main/target/IFLIGHT_SUCCEX_E_F7/target.mk
@@ -0,0 +1,16 @@
+F7X2RE_TARGETS += $(TARGET)
+FEATURES    = VCP ONBOARDFLASH
+
+TARGET_SRC = \
+			drivers/accgyro/accgyro_mpu.c \
+			drivers/accgyro/accgyro_spi_mpu6000.c \
+			drivers/accgyro/accgyro_spi_icm20689.c \
+			drivers/accgyro/accgyro_spi_bmi270.c \
+			drivers/barometer/barometer_bmp280.c \
+			drivers/barometer/barometer_bmp085.c\
+			drivers/barometer/barometer_ms5611.c\
+			drivers/compass/compass_hmc5883l.c \
+			drivers/compass/compass_qmc5883l.c \
+			drivers/light_ws2811strip.c \
+			drivers/light_ws2811strip_hal.c \
+			drivers/max7456.c
diff --git a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F4/target.c b/src/main/target/IFLIGHT_SUCCEX_MINI_F4/target.c
similarity index 100%
rename from src/main/target/IFRC_IFLIGHT_SUCCEX_E_F4/target.c
rename to src/main/target/IFLIGHT_SUCCEX_MINI_F4/target.c
diff --git a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F4/target.h b/src/main/target/IFLIGHT_SUCCEX_MINI_F4/target.h
similarity index 93%
rename from src/main/target/IFRC_IFLIGHT_SUCCEX_E_F4/target.h
rename to src/main/target/IFLIGHT_SUCCEX_MINI_F4/target.h
index 634e216822..5042c44db7 100644
--- a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F4/target.h
+++ b/src/main/target/IFLIGHT_SUCCEX_MINI_F4/target.h
@@ -20,8 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER       "IFRC"
-#define USBD_PRODUCT_STRING           "IFLIGHT SUCCEX E F4"
+#define TARGET_MANUFACTURER_IDENTIFIER "IFRC"
+#define USBD_PRODUCT_STRING            "IFLIGHT_SUCCEX_MINI_F4"
+
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
 
 #define LED0_PIN                      PB5
 
@@ -105,6 +108,9 @@
 #define SPI3_MISO_PIN                 PC11
 #define SPI3_MOSI_PIN                 PC12
 
+#define USE_BARO
+#define USE_BARO_BMP280
+
 #define USE_I2C
 #define USE_I2C_DEVICE_2
 #define I2C2_SCL                      PB10
diff --git a/src/main/target/IFF4_E/target.mk b/src/main/target/IFLIGHT_SUCCEX_MINI_F4/target.mk
similarity index 100%
rename from src/main/target/IFF4_E/target.mk
rename to src/main/target/IFLIGHT_SUCCEX_MINI_F4/target.mk
diff --git a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/target.mk b/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/target.mk
deleted file mode 100644
index b2c6c71023..0000000000
--- a/src/main/target/IFRC_IFLIGHT_SUCCEX_E_F7/target.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-F7X2RE_TARGETS += $(TARGET)
-FEATURES    = VCP ONBOARDFLASH
-
-TARGET_SRC = \
-							drivers/accgyro/accgyro_mpu.c \
-							drivers/accgyro/accgyro_spi_mpu6000.c \
-							drivers/barometer/barometer_bmp280.c \
-							drivers/barometer/barometer_bmp085.c\
-							drivers/barometer/barometer_ms5611.c\
-							drivers/compass/compass_hmc5883l.c \
-							drivers/compass/compass_qmc5883l.c \
-							drivers/light_ws2811strip.c \
-							drivers/light_ws2811strip_hal.c \
-							drivers/max7456.c
diff --git a/src/main/target/IFRC_JBF7/config.c b/src/main/target/JBF7/config.c
similarity index 100%
rename from src/main/target/IFRC_JBF7/config.c
rename to src/main/target/JBF7/config.c
diff --git a/src/main/target/IFRC_JBF7/target.c b/src/main/target/JBF7/target.c
similarity index 100%
rename from src/main/target/IFRC_JBF7/target.c
rename to src/main/target/JBF7/target.c
diff --git a/src/main/target/IFRC_JBF7/target.h b/src/main/target/JBF7/target.h
similarity index 100%
rename from src/main/target/IFRC_JBF7/target.h
rename to src/main/target/JBF7/target.h
diff --git a/src/main/target/IFRC_JBF7/target.mk b/src/main/target/JBF7/target.mk
similarity index 100%
rename from src/main/target/IFRC_JBF7/target.mk
rename to src/main/target/JBF7/target.mk
diff --git a/src/main/target/JHEF411/target.h b/src/main/target/JHEF411/target.h
index f4c720412c..7db7a91a6d 100644
--- a/src/main/target/JHEF411/target.h
+++ b/src/main/target/JHEF411/target.h
@@ -56,6 +56,13 @@
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
 #define ACC_MPU6000_ALIGN       CW180_DEG
+
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_ICM42688P
+#define ICM42688P_CS_PIN          PA4
+#define ICM42688P_SPI_INSTANCE    SPI1
+#define ACC_ICM42688P_ALIGN       CW180_DEG
+#define GYRO_ICM42688P_ALIGN      CW180_DEG
 // *************** Baro **************************
 #define USE_I2C
 
diff --git a/src/main/target/JHEF411/target.mk b/src/main/target/JHEF411/target.mk
index a22931f0a8..04a1ea3283 100644
--- a/src/main/target/JHEF411/target.mk
+++ b/src/main/target/JHEF411/target.mk
@@ -4,6 +4,7 @@ FEATURES       += VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
diff --git a/src/main/target/JHEF7DUAL/target.h b/src/main/target/JHEF7DUAL/target.h
index e7e4e5c221..1545a2a13c 100644
--- a/src/main/target/JHEF7DUAL/target.h
+++ b/src/main/target/JHEF7DUAL/target.h
@@ -53,10 +53,12 @@
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM20689
+#define USE_GYRO_SPI_ICM42688P
 
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM20689
+#define USE_ACC_SPI_ICM42688P
 
 #define ACC_ICM20689_1_ALIGN    CW90_DEG
 #define GYRO_ICM20689_1_ALIGN   CW90_DEG
@@ -68,6 +70,9 @@
 #define GYRO_2_ALIGN            GYRO_MPU6000_2_ALIGN
 #define ACC_2_ALIGN             ACC_MPU6000_2_ALIGN
 
+#define ACC_ICM42688P_ALIGN     CW90_DEG
+#define GYRO_ICM42688P_ALIGN    CW90_DEG
+
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 
 // *************** Baro **************************
@@ -140,7 +145,7 @@
 
 #define USE_ADC
 #define ADC_INSTANCE            ADC3
-#define ADC3_DMA_OPT            0  // DMA 2 Stream 0 Channel 2 
+#define ADC3_DMA_OPT            0  // DMA 2 Stream 0 Channel 2
 
 #define CURRENT_METER_ADC_PIN   PC1
 #define VBAT_ADC_PIN            PC2
diff --git a/src/main/target/JHEF7DUAL/target.mk b/src/main/target/JHEF7DUAL/target.mk
index 8b16c3f1b2..42e86d325d 100644
--- a/src/main/target/JHEF7DUAL/target.mk
+++ b/src/main/target/JHEF7DUAL/target.mk
@@ -5,6 +5,7 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_fake.c \
             drivers/light_ws2811strip.c \
diff --git a/src/main/target/KAKUTEF7/target.h b/src/main/target/KAKUTEF7/target.h
index 052e2a7cf5..919d307ae6 100644
--- a/src/main/target/KAKUTEF7/target.h
+++ b/src/main/target/KAKUTEF7/target.h
@@ -20,13 +20,14 @@
 
 #pragma once
 
+#define TARGET_MANUFACTURER_IDENTIFIER "HBRO"
+#define TARGET_BOARD_IDENTIFIER "S745"  // generic ID
+
 //#define USE_TARGET_CONFIG
 #if defined(KAKUTEF7MINIV1)
-#define TARGET_BOARD_IDENTIFIER "KF7M"
-#define USBD_PRODUCT_STRING "KakuteF7 Mini V1"
+#define USBD_PRODUCT_STRING "KAKUTEF7MINIV1"
 #else
-#define TARGET_BOARD_IDENTIFIER "KTF7"
-#define USBD_PRODUCT_STRING "KakuteF7"
+#define USBD_PRODUCT_STRING "KAKUTEF7"
 #endif
 
 #define LED0_PIN                PA2
@@ -37,24 +38,39 @@
 
 #define USE_ACC
 #define USE_GYRO
-
-// ICM-20689
 #define USE_ACC_SPI_ICM20689
 #define USE_GYRO_SPI_ICM20689
-#define GYRO_ICM20689_ALIGN      CW270_DEG
-#define ACC_ICM20689_ALIGN       CW270_DEG
-#define MPU_INT_EXTI               PE1
-
-#define ICM20689_CS_PIN          SPI4_NSS_PIN
-#define ICM20689_SPI_INSTANCE    SPI4
-#define GYRO_1_CS_PIN            ICM20689_CS_PIN
-#define GYRO_1_SPI_INSTANCE      ICM20689_SPI_INSTANCE
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6000
 
-#define ACC_1_ALIGN              ACC_ICM20689_ALIGN
-#define GYRO_1_ALIGN             GYRO_ICM20689_ALIGN
+#define USE_SPI_GYRO
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
 
 #define USE_MPU_DATA_READY_SIGNAL
-#define USE_EXTI
+
+#define GYRO_1_ALIGN          CW270_DEG
+#define ACC_1_ALIGN           CW270_DEG
+#define GYRO_1_CS_PIN         PE4
+#define GYRO_1_EXTI_PIN       PE1
+#define GYRO_1_SPI_INSTANCE   SPI4
+#define MPU_INT_EXTI          PE1
+
+#define USE_DUAL_GYRO
+
+#define GYRO_2_ALIGN          CW0_DEG
+#define ACC_2_ALIGN           CW0_DEG
+#define GYRO_2_SPI_INSTANCE   SPI4
+
+#define ACC_MPU6000_ALIGN     CW270_DEG
+#define GYRO_MPU6000_ALIGN    CW270_DEG
+#define MPU6000_CS_PIN        PE4
+#define MPU6000_SPI_INSTANCE  SPI4
+
+#define ACC_ICM20689_ALIGN    CW270_DEG
+#define GYRO_ICM20689_ALIGN   CW270_DEG
+#define ICM20689_CS_PIN       PE4
+#define ICM20689_SPI_INSTANCE SPI4
 
 #define USE_VCP
 #define USE_USB_DETECT
@@ -129,14 +145,10 @@
 #define USE_SDCARD
 #define SDCARD_DETECT_INVERTED
 #define SDCARD_DETECT_PIN                   PD8
-
 #define SDCARD_SPI_INSTANCE                 SPI1
 #define SDCARD_SPI_CS_PIN                   SPI1_NSS_PIN
-
 #define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 422kHz
-
 #define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER      8 // 27MHz
-
 #define SDCARD_DMA_STREAM_TX_FULL             DMA2_Stream5
 #define SDCARD_DMA_CHANNEL                    3
 #endif
diff --git a/src/main/target/KAKUTEF7/target.mk b/src/main/target/KAKUTEF7/target.mk
index 7f1392d6a1..154eef84dc 100644
--- a/src/main/target/KAKUTEF7/target.mk
+++ b/src/main/target/KAKUTEF7/target.mk
@@ -7,6 +7,7 @@ endif
 
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
diff --git a/src/main/target/KAKUTEF7HDV/KAKUTEF7V2.mk b/src/main/target/KAKUTEF7HDV/KAKUTEF7V2.mk
new file mode 100644
index 0000000000..52b9c1d1ff
--- /dev/null
+++ b/src/main/target/KAKUTEF7HDV/KAKUTEF7V2.mk
@@ -0,0 +1 @@
+#KAKUTEF7V2.mk file
diff --git a/src/main/target/KAKUTEF7HDV/target.h b/src/main/target/KAKUTEF7HDV/target.h
index d33171c058..4a824688fd 100644
--- a/src/main/target/KAKUTEF7HDV/target.h
+++ b/src/main/target/KAKUTEF7HDV/target.h
@@ -20,21 +20,21 @@
 
 #pragma once
 
+#define FC_TARGET_MCU                   STM32F745  // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER        "S745"      // generic ID
+#define TARGET_MANUFACTURER_IDENTIFIER "HBRO"
+
 //#define USE_TARGET_CONFIG
 #if defined(KAKUTEF7MINIV2)
-#define TARGET_BOARD_IDENTIFIER "KF7M"
-#define USBD_PRODUCT_STRING "KakuteF7 Mini V2"
+#define USBD_PRODUCT_STRING "KAKUTEF7MINIV2"
+#elif defined(KAKUTEF7V2)
+#define USBD_PRODUCT_STRING "KAKUTEF7V2"
 #elif defined(KAKUTEF7V15)
-#define TARGET_BOARD_IDENTIFIER "KTF7"
-#define USBD_PRODUCT_STRING "Kakutef7 v15"
+#define USBD_PRODUCT_STRING "KAKUTEF7V15"
 #else
-#define TARGET_BOARD_IDENTIFIER "KTF7"
-#define USBD_PRODUCT_STRING "KakuteF7 HD"
+#define USBD_PRODUCT_STRING "KAKUTEF7HDV"
 #endif
 
-#define TARGET_BOARD_IDENTIFIER "KTF7"
-#define USBD_PRODUCT_STRING "KakuteF7"
-
 #define LED0_PIN                PA2
 
 #define USE_BEEPER
@@ -44,6 +44,14 @@
 #define USE_ACC
 #define USE_GYRO
 
+//ICM20689
+#define USE_ACC_SPI_ICM20689
+#define USE_GYRO_SPI_ICM20689
+#define ACC_ICM20689_ALIGN         CW270_DEG
+#define GYRO_ICM20689_ALIGN        CW270_DEG
+#define ICM20689_CS_PIN            PE4
+#define ICM20689_SPI_INSTANCE      SPI4
+
 // MPU6000
 #define USE_ACC_SPI_MPU6000
 #define USE_GYRO_SPI_MPU6000
@@ -119,7 +127,7 @@
 #define SPI4_MISO_PIN           PE5
 #define SPI4_MOSI_PIN           PE6
 
-#if defined(KAKUTEF7V15) || defined(KAKUTEF7MINIV2)
+#if defined(KAKUTEF7V15) || defined(KAKUTEF7V2) ||defined(KAKUTEF7MINIV2)
 #define CAMERA_CONTROL_PIN      PB3
 
 #define USE_MAX7456
diff --git a/src/main/target/KAKUTEF7HDV/target.mk b/src/main/target/KAKUTEF7HDV/target.mk
index 8d20f30a47..79bff4a092 100644
--- a/src/main/target/KAKUTEF7HDV/target.mk
+++ b/src/main/target/KAKUTEF7HDV/target.mk
@@ -7,6 +7,7 @@ endif
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
diff --git a/src/main/target/KAKUTEF7MINIV3/target.h b/src/main/target/KAKUTEF7MINIV3/target.h
index ed470a1e01..4eb8ef6070 100644
--- a/src/main/target/KAKUTEF7MINIV3/target.h
+++ b/src/main/target/KAKUTEF7MINIV3/target.h
@@ -20,8 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "KTF7"
-#define USBD_PRODUCT_STRING "KakuteF7 Mini V3"
+#define TARGET_MANUFACTURER_IDENTIFIER "HBRO"
+#define USBD_PRODUCT_STRING            "KAKUTEF7MINIV3"
+
+#define FC_TARGET_MCU                  STM32F7X2  // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER        "S7X2"     // generic ID
 
 #define LED0_PIN                  PD2
 
@@ -29,22 +32,41 @@
 #define BEEPER_PIN                PC8
 #define BEEPER_INVERTED
 
-//MPU6000
 #define USE_ACC
 #define USE_GYRO
-#define USE_ACC_SPI_MPU6000
-#define USE_GYRO_SPI_MPU6000
 
-#define MPU_INT_EXTI              PA4
-#define MPU6000_CS_PIN            SPI1_NSS_PIN
-#define MPU6000_SPI_INSTANCE      SPI1
-#define GYRO_1_CS_PIN             MPU6000_CS_PIN
-#define GYRO_1_SPI_INSTANCE       MPU6000_SPI_INSTANCE
+#define USE_SPI_GYRO
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define GYRO_1_ALIGN             CW270_DEG
+#define ACC_1_ALIGN              CW270_DEG
+#define GYRO_1_CS_PIN            PB2
+#define GYRO_1_EXTI_PIN          PA4
+#define GYRO_1_SPI_INSTANCE      SPI1
+#define MPU_INT_EXTI             PA4
+
+#define USE_DUAL_GYRO
+
+#define GYRO_2_ALIGN             CW0_DEG
+#define ACC_2_ALIGN              CW0_DEG
+#define GYRO_2_SPI_INSTANCE      SPI1
 
-#define GYRO_MPU6000_ALIGN        CW270_DEG
-#define ACC_MPU6000_ALIGN         CW270_DEG
-#define ACC_1_ALIGN               ACC_MPU6000_ALIGN
-#define GYRO_1_ALIGN              GYRO_MPU6000_ALIGN
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6000
+#define ACC_MPU6000_ALIGN        CW270_DEG
+#define GYRO_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_CS_PIN           PB2
+#define MPU6000_SPI_INSTANCE     SPI1
+
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_ICM42688P
+#define ACC_ICM42688P_ALIGN      CW270_DEG
+#define GYRO_ICM42688P_ALIGN     CW270_DEG
+#define ICM42688P_CS_PIN         PB2
+#define ICM42688P_SPI_INSTANCE   SPI1
 
 #define USE_MPU_DATA_READY_SIGNAL
 #define USE_EXTI
diff --git a/src/main/target/KAKUTEF7MINIV3/target.mk b/src/main/target/KAKUTEF7MINIV3/target.mk
index e0e4af6d5c..6a30ffc432 100644
--- a/src/main/target/KAKUTEF7MINIV3/target.mk
+++ b/src/main/target/KAKUTEF7MINIV3/target.mk
@@ -3,6 +3,7 @@ FEATURES        +=  VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
diff --git a/src/main/target/MAMBAF405US/MAMBAF405US_I2C.mk b/src/main/target/MAMBAF405US/MAMBAF405US_I2C.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/DIAT_MAMBAF405US/config.c b/src/main/target/MAMBAF405US/config.c
similarity index 100%
rename from src/main/target/DIAT_MAMBAF405US/config.c
rename to src/main/target/MAMBAF405US/config.c
diff --git a/src/main/target/DIAT_MAMBAF405US/target.c b/src/main/target/MAMBAF405US/target.c
similarity index 100%
rename from src/main/target/DIAT_MAMBAF405US/target.c
rename to src/main/target/MAMBAF405US/target.c
diff --git a/src/main/target/DIAT_MAMBAF405US/target.h b/src/main/target/MAMBAF405US/target.h
similarity index 98%
rename from src/main/target/DIAT_MAMBAF405US/target.h
rename to src/main/target/MAMBAF405US/target.h
index d2ffbb529c..8dcd92d716 100644
--- a/src/main/target/DIAT_MAMBAF405US/target.h
+++ b/src/main/target/MAMBAF405US/target.h
@@ -20,7 +20,7 @@
 
 #pragma once
 
-#if defined(DIAT_MAMBAF405US_I2C)
+#if defined(MAMBAF405US_I2C)
 #define TARGET_BOARD_IDENTIFIER "S405"
 #define USBD_PRODUCT_STRING "MAMBAF405US I2C"
 #else
@@ -79,7 +79,7 @@
 #define USE_I2C
 #define USE_I2C_DEVICE_2
 #define I2C_DEVICE              (I2CDEV_2)
-#if defined(DIAT_MAMBAF405US_I2C)
+#if defined(MAMBAF405US_I2C)
 #define I2C2_SCL                PB8        // SCL pad  PB10, shared with UART3TX
 #define I2C2_SDA                PB9        // SDA pad  PB11, shared with UART3RX
 #else
diff --git a/src/main/target/DIAT_MAMBAF405US/target.mk b/src/main/target/MAMBAF405US/target.mk
similarity index 100%
rename from src/main/target/DIAT_MAMBAF405US/target.mk
rename to src/main/target/MAMBAF405US/target.mk
diff --git a/src/main/target/MAMBAF405_2022B/target.c b/src/main/target/MAMBAF405_2022B/target.c
new file mode 100644
index 0000000000..37e46483ec
--- /dev/null
+++ b/src/main/target/MAMBAF405_2022B/target.c
@@ -0,0 +1,41 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM2, CH2, PB3,  TIM_USE_LED,                  0, 0 ), // LED_STRIP,
+    DEF_TIM(TIM4, CH3, PB8,  TIM_USE_ANY,                  0, 0),  // baro/mag // no dps310 in EmuFlight,
+    DEF_TIM(TIM11, CH1, PB9,  TIM_USE_ANY,                 0, 0),  // baro/mag // no dps310 in EmuFlight,
+    DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_MOTOR,               0, 0 ), // M1
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MOTOR,               0, 0 ), // M2
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_MOTOR,               0, 0 ), // M3
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_MOTOR,               0, 0 ), // M4
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR,               0, 0 ), // M5
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR,               0, 0 ), // M6
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/MAMBAF405_2022B/target.h b/src/main/target/MAMBAF405_2022B/target.h
new file mode 100644
index 0000000000..2e8faaa864
--- /dev/null
+++ b/src/main/target/MAMBAF405_2022B/target.h
@@ -0,0 +1,164 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "DIAT"
+#define USBD_PRODUCT_STRING "MAMBAF405_2022B"
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define USE_BARO_DPS310
+#define USE_FLASH
+#define USE_FLASH_M25P16
+#define USE_MAX7456
+#define USE_BARO
+#define USE_ADC
+#define USE_SPI_GYRO
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16  //testing
+#define USE_FLASH_W25M    //testing
+#define USE_FLASH_W25M512 //testing
+#define USE_FLASH_W25Q    //testing
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PC15
+#define LED1_PIN             PC14
+#define LED_STRIP_PIN        PB3
+#define USE_BEEPER
+#define BEEPER_PIN           PC13
+#define BEEPER_INVERTED
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PC10
+#define SPI3_MISO_PIN        PC11
+#define SPI3_MOSI_PIN        PB5
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define MPU_INT_EXTI               PC4
+
+#define ACC_MPU6000_ALIGN          CW270_DEG
+#define GYRO_MPU6000_ALIGN         CW270_DEG
+#define MPU6000_CS_PIN             PA4
+#define MPU6000_SPI_INSTANCE       SPI1
+
+#define ACC_MPU6500_ALIGN          CW270_DEG
+#define GYRO_MPU6500_ALIGN         CW270_DEG
+#define MPU6500_CS_PIN             PA4
+#define MPU6500_SPI_INSTANCE       SPI1
+
+#define ACC_ICM42688P_ALIGN        CW270_DEG
+#define GYRO_ICM42688P_ALIGN       CW270_DEG
+#define ICM42688P_CS_PIN           PA4
+#define ICM42688P_SPI_INSTANCE     SPI1
+
+#define MAG_I2C_INSTANCE (I2CDEV_1)
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE        (I2CDEV_1)
+#define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+// notice - this file was programmatically generated and likely needs MAG/BARO manually added and/or verified.
+
+#define FLASH_CS_PIN         PA15
+#define FLASH_SPI_INSTANCE   SPI3
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define MAX7456_SPI_CS_PIN   PB12
+#define MAX7456_SPI_INSTANCE SPI2
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+#define UART1_TX_PIN         PB6
+#define UART2_TX_PIN         PA2
+#define UART3_TX_PIN         PB10
+#define UART4_TX_PIN         PA0
+#define UART5_TX_PIN         PC12
+#define UART6_TX_PIN         PC6
+#define UART1_RX_PIN         PB7
+#define UART2_RX_PIN         PA3
+#define UART3_RX_PIN         PB11
+#define UART4_RX_PIN         PA1
+#define UART5_RX_PIN         PD2
+#define UART6_RX_PIN         PC7
+#define INVERTER_PIN_UART1   PC0
+#define SERIAL_PORT_COUNT 7
+// notice - UART/USART were programmatically generated
+
+#define VBAT_ADC_PIN PC1
+#define CURRENT_METER_ADC_PIN PC3
+#define ADC3_DMA_STREAM DMA2_Stream0 // # ADC 3: DMA2 Stream 0 Channel 2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 183
+#define ADC_INSTANCE ADC3
+// notice - DMA conversion were programmatically generated and may be incomplete.
+
+#define ENABLE_DSHOT_DMAR true
+
+#define PINIO1_PIN           PC2
+#define PINIO2_PIN           PC5
+#define PINIO1_CONFIG 129
+#define PINIO2_CONFIG 129
+#define PINIO1_BOX 0
+#define PINIO2_BOX 40
+// notice - this file was programmatically generated and may not have accounted for any config instance of "#define TLM_INVERTED ON", etc.
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+// notice - incomplete; may need additional DEFAULT_FEATURES; e.g. FEATURE_SOFTSERIAL | FEATURE_RX_SPI
+
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS ( TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(4)|TIM_N(8)|TIM_N(11) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/MAMBAF405_2022B/target.mk b/src/main/target/MAMBAF405_2022B/target.mk
new file mode 100644
index 0000000000..775a554519
--- /dev/null
+++ b/src/main/target/MAMBAF405_2022B/target.mk
@@ -0,0 +1,16 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_mpu6000.c \
+drivers/accgyro/accgyro_mpu6500.c \
+drivers/accgyro/accgyro_spi_mpu6500.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/pinio.c \
+drivers/max7456.c \
+
+# notice - this file was programmatically generated and may be incomplete.
+#  eg: flash, compass, barometer, vtx6705, ledstrip, pinio, etc.
diff --git a/src/main/target/MAMBAF722_2022A/target.c b/src/main/target/MAMBAF722_2022A/target.c
new file mode 100644
index 0000000000..dc954c0ec4
--- /dev/null
+++ b/src/main/target/MAMBAF722_2022A/target.c
@@ -0,0 +1,46 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 0808fa2
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM1, CH2, PA9, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // motor 5
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // motor 6
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_MOTOR, 0, 0), // motor 7
+    DEF_TIM(TIM3, CH1, PB4, TIM_USE_MOTOR, 0, 0), // motor 8
+    DEF_TIM(TIM11, CH1, PB9, TIM_USE_ANY, 0, 0),
+    DEF_TIM(TIM4, CH3, PB8, TIM_USE_ANY, 0, 0),
+    DEF_TIM(TIM2, CH2, PB3, TIM_USE_LED, 0, 0), // led
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/MAMBAF722_2022A/target.h b/src/main/target/MAMBAF722_2022A/target.h
new file mode 100644
index 0000000000..101c7c5fe5
--- /dev/null
+++ b/src/main/target/MAMBAF722_2022A/target.h
@@ -0,0 +1,156 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ * This software 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 this software.
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 0808fa2
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "DIAT"
+#define USBD_PRODUCT_STRING "MAMBAF722_2022A"
+
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
+
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACCGYRO_BMI270
+#define USE_FLASH
+#define USE_FLASH_M25P16
+#define USE_MAX7456
+#define USE_BARO_DPS310
+#define USE_BARO
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16    // 16MB Micron M25P16 and others (ref: https://github.com/betaflight/betaflight/blob/master/src/main/drivers/flash_m25p16.c)
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PC15
+#define LED1_PIN             PC14
+#define LED_STRIP_PIN        PB3
+#define USE_BEEPER
+#define BEEPER_PIN           PB2
+#define BEEPER_INVERTED
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PC10
+#define SPI3_MISO_PIN        PC11
+#define SPI3_MOSI_PIN        PB5
+
+#define USE_SPI_GYRO
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define GYRO_1_ALIGN CW180_DEG
+#define ACC_1_ALIGN          CW180_DEG
+#define GYRO_1_CS_PIN        PA4
+#define GYRO_1_EXTI_PIN      PC4
+#define GYRO_1_SPI_INSTANCE SPI1
+#define MPU_INT_EXTI         PC4
+
+#define ACC_MPU6000_ALIGN         CW180_DEG
+#define GYRO_MPU6000_ALIGN        CW180_DEG
+#define MPU6000_CS_PIN            PA4
+#define MPU6000_SPI_INSTANCE      SPI1
+
+#define ACC_BMI270_ALIGN         CW180_DEG
+#define GYRO_BMI270_ALIGN        CW180_DEG
+#define BMI270_CS_PIN            PA4
+#define BMI270_SPI_INSTANCE      SPI1
+
+#define USE_UART1
+#define UART1_TX_PIN         PB6
+#define UART1_RX_PIN         PB7
+#define USE_UART2
+#define UART2_TX_PIN         PA2
+#define UART2_RX_PIN         PA3
+#define USE_UART3
+#define UART3_TX_PIN         PB10
+#define UART3_RX_PIN         PB11
+#define USE_UART4
+#define UART4_TX_PIN         PA0
+#define UART4_RX_PIN         PA1
+#define USE_UART5
+#define UART5_TX_PIN         PC12
+#define UART5_RX_PIN         PD2
+#define USE_UART6
+#define UART6_TX_PIN         PC6
+#define UART6_RX_PIN         PC7
+#define SERIAL_PORT_COUNT 7
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE        (I2CDEV_1)
+#define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+
+#define FLASH_CS_PIN         PA15
+#define FLASH_SPI_INSTANCE SPI3
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define MAX7456_SPI_CS_PIN   PB12
+#define MAX7456_SPI_INSTANCE SPI2
+
+#define USE_ADC
+#define VBAT_ADC_PIN PC1
+#define CURRENT_METER_ADC_PIN PC3
+#define ADC3_DMA_OPT        0
+#define ADC3_DMA_STREAM DMA2_Stream0 //# ADC 3: DMA2 Stream 0 Channel 2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 115
+#define ADC_INSTANCE ADC3
+
+#define ENABLE_DSHOT_DMAR true
+
+#define PINIO1_PIN           PC2
+#define PINIO2_PIN           PC0
+#define PINIO1_BOX 0
+#define PINIO2_BOX 40
+#define PINIO1_CONFIG 129
+#define PINIO2_CONFIG 129
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(11) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/MAMBAF722_2022A/target.mk b/src/main/target/MAMBAF722_2022A/target.mk
new file mode 100644
index 0000000000..6d5a422d74
--- /dev/null
+++ b/src/main/target/MAMBAF722_2022A/target.mk
@@ -0,0 +1,14 @@
+F7X2RE_TARGETS += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_mpu6000.c \
+drivers/accgyro/accgyro_spi_bmi270.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/pinio.c \
+drivers/max7456.c \
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: 0808fa2
diff --git a/src/main/target/MATEKF405SE/target.h b/src/main/target/MATEKF405SE/target.h
index 006cbe36cd..0af5b9d9fc 100644
--- a/src/main/target/MATEKF405SE/target.h
+++ b/src/main/target/MATEKF405SE/target.h
@@ -20,8 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "MKF4"
-#define USBD_PRODUCT_STRING  "Matek F405 SE"
+#define TARGET_MANUFACTURER_IDENTIFIER "MTKS"
+#define USBD_PRODUCT_STRING "MATEKF405SE"
+
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
 
 #define LED0_PIN                PA14
 #define LED1_PIN                PA13
@@ -82,16 +85,16 @@
 #define USE_I2C
 // Useful for MATEKF405_OSD, since it does not have the SCL / SDA pads
 #define USE_I2C_DEVICE_1
-#define I2C_DEVICE              (I2CDEV_1)
+#define I2C_DEVICE_1            (I2CDEV_1)
 #define I2C1_SCL                PB8        // S4 pad
 #define I2C3_SDA                PB9        // S6 pad
 #define BARO_I2C_INSTANCE       (I2CDEV_1)
 
 #define USE_I2C_DEVICE_2
-#define I2C_DEVICE              (I2CDEV_2)
+#define I2C_DEVICE_2            (I2CDEV_2)
 #define I2C2_SCL                PB10        // SCL pad
 #define I2C2_SDA                PB11       // SDA pad
-#define BARO_I2C_INSTANCE       (I2CDEV_1)
+#define MAG_I2C_INSTANCE        (I2CDEV_2)
 
 #define USE_BARO
 #define USE_BARO_BMP280
diff --git a/src/main/target/MATEKF411RX/target.h b/src/main/target/MATEKF411RX/target.h
index 25b100780c..832ad67e72 100644
--- a/src/main/target/MATEKF411RX/target.h
+++ b/src/main/target/MATEKF411RX/target.h
@@ -21,19 +21,22 @@
 #pragma once
 
 #if defined(CRAZYBEEF4FR)
-#define TARGET_BOARD_IDENTIFIER "C4FR"
-#define USBD_PRODUCT_STRING     "CrazyBee F4 FR"
+#define TARGET_MANUFACTURER_IDENTIFIER "HAMO"
+#define USBD_PRODUCT_STRING            "CRAZYBEEF4FR"
 #elif defined(CRAZYBEEF4FS)
-#define TARGET_BOARD_IDENTIFIER "C4FS"
-#define USBD_PRODUCT_STRING     "CrazyBee F4 FS"
+#define TARGET_MANUFACTURER_IDENTIFIER "HAMO"
+#define USBD_PRODUCT_STRING            "CRAZYBEEF4FS"
 #elif defined(CRAZYBEEF4DX)
-#define TARGET_BOARD_IDENTIFIER "C4DX"
-#define USBD_PRODUCT_STRING     "CrazyBee F4 DX"
+#define TARGET_MANUFACTURER_IDENTIFIER "HAMO"
+#define USBD_PRODUCT_STRING            "CRAZYBEEF4DX"
 #else
-#define TARGET_BOARD_IDENTIFIER "M41R"
-#define USBD_PRODUCT_STRING     "MATEKF411RX"
+#define TARGET_MANUFACTURER_IDENTIFIER "MTKS"
+#define USBD_PRODUCT_STRING            "MATEKF411RX"
 #endif
 
+#define FC_TARGET_MCU     STM32F411     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S411"  // generic ID
+
 #define LED0_PIN                PC13
 
 #define USE_BEEPER
@@ -43,6 +46,16 @@
 #define USE_SPI
 
 // *************** SPI1 Gyro & ACC **********************
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_ICM20689
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_ICM20689
+#define USE_ACC_SPI_ICM42688P
+#define USE_ACCGYRO_BMI270
+
 #define USE_SPI_DEVICE_1
 #define SPI1_SCK_PIN            PA5
 #define SPI1_MISO_PIN           PA6
@@ -57,27 +70,36 @@
 #define MPU_INT_EXTI            PA1
 #define USE_MPU_DATA_READY_SIGNAL
 
-#define USE_GYRO
-#define USE_GYRO_SPI_MPU6000
-#define USE_GYRO_SPI_ICM20689
+#define ICM42688P_CS_PIN         PA4
+#define ICM42688P_SPI_INSTANCE   SPI1
+
+#define BMI270_CS_PIN            PA4
+#define BMI270_SPI_INSTANCE      SPI1
 
 #if defined(CRAZYBEEF4FS) || defined(CRAZYBEEF4FR) || defined(CRAZYBEEF4DX)
-#define GYRO_MPU6000_ALIGN      CW90_DEG
+#define GYRO_MPU6000_ALIGN       CW90_DEG
 #define GYRO_ICM20689_ALIGN      CW90_DEG
+#define GYRO_ICM42688P_ALIGN     CW90_DEG
+#define GYRO_BMI270_ALIGN        CW90_DEG
 #else
-#define GYRO_MPU6000_ALIGN      CW180_DEG
+#define GYRO_MPU6000_ALIGN       CW180_DEG
 #define GYRO_ICM20689_ALIGN      CW180_DEG
+#define GYRO_ICM42688P_ALIGN     CW180_DEG
+#define GYRO_BMI270_ALIGN        CW180_DEG
 #endif
-#define USE_ACC
-#define USE_ACC_SPI_MPU6000
-#define USE_ACC_SPI_ICM20689
+
 #if defined(CRAZYBEEF4FS) || defined(CRAZYBEEF4FR) || defined(CRAZYBEEF4DX)
-#define ACC_MPU6000_ALIGN       CW90_DEG
+#define ACC_MPU6000_ALIGN        CW90_DEG
 #define ACC_ICM20689_ALIGN       CW90_DEG
+#define ACC_ICM42688P_ALIGN      CW90_DEG
+#define ACC_BMI270_ALIGN         CW90_DEG
 #else
-#define ACC_MPU6000_ALIGN       CW180_DEG
+#define ACC_MPU6000_ALIGN        CW180_DEG
 #define ACC_ICM20689_ALIGN       CW180_DEG
+#define ACC_ICM42688P_ALIGN      CW180_DEG
+#define ACC_BMI270_ALIGN         CW180_DEG
 #endif
+
 // *************** SPI2 OSD *****************************
 #define USE_SPI_DEVICE_2
 #define SPI2_SCK_PIN            PB13
diff --git a/src/main/target/MATEKF411RX/target.mk b/src/main/target/MATEKF411RX/target.mk
index df79c2e027..e7b567997d 100644
--- a/src/main/target/MATEKF411RX/target.mk
+++ b/src/main/target/MATEKF411RX/target.mk
@@ -4,14 +4,16 @@ FEATURES        += VCP SDCARD
 
 TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/max7456.c \
             drivers/rx/rx_cc2500.c \
-						rx/cc2500_common.c \
+            rx/cc2500_common.c \
             rx/cc2500_frsky_shared.c \
             rx/cc2500_frsky_d.c \
-						rx/cc2500_frsky_x.c \
-						rx/cc2500_redpine.c \
+            rx/cc2500_frsky_x.c \
+            rx/cc2500_redpine.c \
             rx/cc2500_sfhss.c
 ifeq ($(TARGET), CRAZYBEEF4FS)
 TARGET_SRC += \
diff --git a/src/main/target/MATEKF411SE/target.h b/src/main/target/MATEKF411SE/target.h
index 61945caf16..214d4cd2f7 100644
--- a/src/main/target/MATEKF411SE/target.h
+++ b/src/main/target/MATEKF411SE/target.h
@@ -138,5 +138,5 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
-#define USABLE_TIMER_CHANNEL_COUNT 10
+#define USABLE_TIMER_CHANNEL_COUNT 11
 #define USED_TIMERS             ( TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(4)|TIM_N(5)|TIM_N(9)|TIM_N(11) )
diff --git a/src/main/target/MATEKF722SE/target.h b/src/main/target/MATEKF722SE/target.h
index df30407eda..dc89a9529d 100755
--- a/src/main/target/MATEKF722SE/target.h
+++ b/src/main/target/MATEKF722SE/target.h
@@ -46,7 +46,7 @@
 #define USE_EXTI
 #define GYRO_1_EXTI_PIN         PC4
 #define GYRO_2_EXTI_PIN         PC3
-#define MPU_INT_EXTI
+#define MPU_INT_EXTI            PC4
 
 #define GYRO_1_CS_PIN           PB2
 #define GYRO_1_SPI_INSTANCE     SPI1
@@ -61,15 +61,19 @@
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_MPU6500
 
+#define GYRO_1_ALIGN            CW180_DEG_FLIP
+#define ACC_1_ALIGN             CW180_DEG_FLIP
 #define GYRO_MPU6000_1_ALIGN    CW180_DEG_FLIP
 #define ACC_MPU6000_1_ALIGN     CW180_DEG_FLIP
-#define GYRO_1_ALIGN            GYRO_MPU6000_1_ALIGN
-#define ACC_1_ALIGN             ACC_MPU6000_1_ALIGN
+#define GYRO_MPU6500_1_ALIGN    CW180_DEG_FLIP
+#define ACC_MPU6500_1_ALIGN     CW180_DEG_FLIP
 
+#define GYRO_2_ALIGN            CW90_DEG
+#define ACC_2_ALIGN             CW90_DEG
 #define GYRO_MPU6500_2_ALIGN    CW90_DEG
 #define ACC_MPU6500_2_ALIGN     CW90_DEG
-#define GYRO_2_ALIGN            GYRO_MPU6500_2_ALIGN
-#define ACC_2_ALIGN             ACC_MPU6500_2_ALIGN
+#define GYRO_MPU6000_2_ALIGN    CW90_DEG
+#define ACC_MPU6000_2_ALIGN     CW90_DEG
 
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
diff --git a/src/main/target/MATEKF722SE/target.mk b/src/main/target/MATEKF722SE/target.mk
index db67145925..cd0322069a 100755
--- a/src/main/target/MATEKF722SE/target.mk
+++ b/src/main/target/MATEKF722SE/target.mk
@@ -3,6 +3,7 @@ FEATURES       += VCP ONBOARDFLASH SDCARD
 
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
diff --git a/src/main/target/NBDBBBLV2/config.c b/src/main/target/NBDBBBLV2/config.c
index 2c735aec79..407f0f6f97 100644
--- a/src/main/target/NBDBBBLV2/config.c
+++ b/src/main/target/NBDBBBLV2/config.c
@@ -168,9 +168,11 @@ void targetConfiguration(void)
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     rxConfigMutable()->mincheck = 1075;
     rxConfigMutable()->maxcheck = 1900;
diff --git a/src/main/target/NBDBBBLV3/config.c b/src/main/target/NBDBBBLV3/config.c
index 27f7b894ad..0774446586 100644
--- a/src/main/target/NBDBBBLV3/config.c
+++ b/src/main/target/NBDBBBLV3/config.c
@@ -168,9 +168,11 @@ void targetConfiguration(void)
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     rxConfigMutable()->mincheck = 1075;
     rxConfigMutable()->maxcheck = 1900;
diff --git a/src/main/target/NBDHMBF41S/config.c b/src/main/target/NBDHMBF41S/config.c
index 493da570e9..3f85579094 100644
--- a/src/main/target/NBDHMBF41S/config.c
+++ b/src/main/target/NBDHMBF41S/config.c
@@ -17,7 +17,7 @@
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */
-/*
+
 #include <stdbool.h>
 #include <stdint.h>
 #include <string.h>
@@ -38,7 +38,7 @@
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
-#include "fc/core.h"
+#include "fc/fc_core.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_modes.h"
 #include "fc/rc_controls.h"
@@ -49,18 +49,19 @@
 
 #include "pg/vcd.h"
 #include "pg/rx.h"
-#include "pg/motor.h"
-#include "pg/vtx_table.h"
+//#include "pg/motor.h"
+#include "io/motors.h"
+//#include "pg/vtx_table.h"
 
 #include "rx/rx.h"
 #include "rx/cc2500_frsky_common.h"
 
 #include "pg/rx.h"
 #include "pg/rx_spi.h"
-#include "pg/rx_spi_cc2500.h"
+#include "drivers/rx/rx_cc2500.h"
 #include "pg/vcd.h"
 
-#include "osd/osd.h"
+#include "io/osd.h"
 
 #include "io/serial.h"
 #include "io/vtx.h"
@@ -74,14 +75,14 @@
 
 void targetConfiguration(void)
 {
-    osdConfigMutable()->item_pos[OSD_CRAFT_NAME]        = OSD_POS(9, 10) | OSD_PROFILE_1_FLAG;
-    osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(23, 9) | OSD_PROFILE_1_FLAG;
-    osdConfigMutable()->item_pos[OSD_ITEM_TIMER_2]      = OSD_POS(2,  9) | OSD_PROFILE_1_FLAG;
-    osdConfigMutable()->item_pos[OSD_FLYMODE]           = OSD_POS(17, 9) | OSD_PROFILE_1_FLAG;
-    osdConfigMutable()->item_pos[OSD_VTX_CHANNEL]       = OSD_POS(9,  9) | OSD_PROFILE_1_FLAG;
-    osdConfigMutable()->item_pos[OSD_RSSI_VALUE]        = OSD_POS(2, 10) | OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->item_pos[OSD_CRAFT_NAME]        = OSD_POS(9, 10); //| OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(23, 9); //| OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->item_pos[OSD_ITEM_TIMER_2]      = OSD_POS(2,  9); //| OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->item_pos[OSD_FLYMODE]           = OSD_POS(17, 9); //| OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->item_pos[OSD_VTX_CHANNEL]       = OSD_POS(9,  9); //| OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->item_pos[OSD_RSSI_VALUE]        = OSD_POS(2, 10); //| OSD_PROFILE_1_FLAG;
     osdConfigMutable()->item_pos[OSD_WARNINGS]          = OSD_POS(9, 10);
-    osdConfigMutable()->item_pos[OSD_CURRENT_DRAW]      = OSD_POS(22,10) | OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->item_pos[OSD_CURRENT_DRAW]      = OSD_POS(22,10); //| OSD_PROFILE_1_FLAG;
 
 
     batteryConfigMutable()->batteryCapacity = 250;
@@ -113,11 +114,17 @@ void targetConfiguration(void)
     strcpy(pilotConfigMutable()->name, "Humming Bird");
 
     gyroConfigMutable()->gyro_lowpass_type = FILTER_PT1;
-    gyroConfigMutable()->gyro_lowpass_hz = 200;
-    gyroConfigMutable()->gyro_lowpass2_hz = 200;
+    gyroConfigMutable()->gyro_lowpass_hz[ROLL]  = 200;
+    gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
+    gyroConfigMutable()->gyro_lowpass_hz[YAW]  = 200;
+#ifdef USE_GYRO_LPF2
+    gyroConfigMutable()->gyro_lowpass2_hz[ROLL]  = 500;
+    gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 500;
+    gyroConfigMutable()->gyro_lowpass2_hz[YAW]   = 500;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
-    gyroConfigMutable()->dyn_lpf_gyro_min_hz = 160;
-    gyroConfigMutable()->dyn_lpf_gyro_max_hz = 400;
+    gyroConfigMutable()->dyn_notch_min_hz = 160;
+    gyroConfigMutable()->dyn_notch_max_hz = 400;
     rxConfigMutable()->mincheck = 1075;
     rxConfigMutable()->maxcheck = 1900;
     rxConfigMutable()->rc_smoothing_type = RC_SMOOTHING_TYPE_FILTER;
@@ -125,32 +132,34 @@ void targetConfiguration(void)
     rxConfigMutable()->rssi_channel = 9;
     motorConfigMutable()->digitalIdleOffsetValue = 1000;
     motorConfigMutable()->dev.useBurstDshot = true;
-    motorConfigMutable()->dev.useDshotTelemetry = false;
+    //motorConfigMutable()->dev.useDshotTelemetry = false;
     motorConfigMutable()->motorPoleCount = 12;
     motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT600;
     batteryConfigMutable()->batteryCapacity = 300;
-    batteryConfigMutable()->vbatmaxcellvoltage = 450;
-    batteryConfigMutable()->vbatfullcellvoltage = 400;
-    batteryConfigMutable()->vbatmincellvoltage = 290;
-    batteryConfigMutable()->vbatwarningcellvoltage = 320;
+    batteryConfigMutable()->vbatmaxcellvoltage = 45;
+    batteryConfigMutable()->vbatfullcellvoltage = 42;
+    batteryConfigMutable()->vbatmincellvoltage = 29;
+    batteryConfigMutable()->vbatwarningcellvoltage = 32;
     voltageSensorADCConfigMutable(0)->vbatscale = 110;
     mixerConfigMutable()->yaw_motors_reversed = false;
     mixerConfigMutable()->crashflip_motor_percent = 0;
     imuConfigMutable()->small_angle = 180;
     pidConfigMutable()->pid_process_denom = 1;
     pidConfigMutable()->runaway_takeoff_prevention = true;
-    //osdConfigMutable()->enabledWarnings &= ~(1 << OSD_WARNING_CORE_TEMPERATURE);
+    osdConfigMutable()->enabledWarnings &= ~(1 << OSD_WARNING_CORE_TEMPERATURE);
     osdConfigMutable()->cap_alarm = 2200;
 
     pidProfilesMutable(0)->dterm_filter_type = FILTER_PT1;
-    pidProfilesMutable(0)->dyn_lpf_dterm_min_hz = 56;
-    pidProfilesMutable(0)->dyn_lpf_dterm_max_hz = 136;
-    pidProfilesMutable(0)->dterm_lowpass_hz = 150;
-    pidProfilesMutable(0)->dterm_lowpass2_hz = 120;
-    pidProfilesMutable(0)->dterm_notch_cutoff = 0;
-    pidProfilesMutable(0)->vbatPidCompensation = true;
+    //pidProfilesMutable(0)->dyn_lpf_dterm_min_hz = 56;
+    //pidProfilesMutable(0)->dyn_lpf_dterm_max_hz = 136;
+    pidProfilesMutable(0)->dFilter[ROLL].dLpf = 150;
+    pidProfilesMutable(0)->dFilter[PITCH].dLpf = 150;
+    pidProfilesMutable(0)->dFilter[YAW].dLpf = 150;
+    //pidProfilesMutable(0)->dterm_lowpass2_hz = 120;
+    //pidProfilesMutable(0)->dterm_notch_cutoff = 0;
+    //pidProfilesMutable(0)->vbatPidCompensation = true;
     pidProfilesMutable(0)->iterm_rotation = true;
-    pidProfilesMutable(0)->itermThrottleThreshold = 250;
+    //pidProfilesMutable(0)->itermThrottleThreshold = 250;
     pidProfilesMutable(0)->yawRateAccelLimit = 0;
     pidProfilesMutable(0)->pidSumLimit = 500;
     pidProfilesMutable(0)->pidSumLimitYaw = 400;
@@ -166,16 +175,16 @@ void targetConfiguration(void)
     pidProfilesMutable(0)->pid[PID_YAW].I   = 55;
     pidProfilesMutable(0)->pid[PID_YAW].D   = 0;
     pidProfilesMutable(0)->pid[PID_YAW].F   = 0;
-    pidProfilesMutable(0)->pid[PID_LEVEL].P = 70;
-    pidProfilesMutable(0)->pid[PID_LEVEL].I = 70;
-    pidProfilesMutable(0)->pid[PID_LEVEL].D = 100;
+    //pidProfilesMutable(0)->pid[PID_LEVEL].P = 70;
+    //pidProfilesMutable(0)->pid[PID_LEVEL].I = 70;
+    //pidProfilesMutable(0)->pid[PID_LEVEL].D = 100;
     pidProfilesMutable(0)->levelAngleLimit  = 85;
     pidProfilesMutable(0)->horizon_tilt_effect = 75;
-    pidProfilesMutable(0)->d_min[FD_ROLL] = 20;
-    pidProfilesMutable(0)->d_min[FD_PITCH] = 18;
-    pidProfilesMutable(0)->d_min_gain = 25;
-    pidProfilesMutable(0)->d_min_advance = 1;
-    pidProfilesMutable(0)->horizon_tilt_expert_mode = false;
+    //pidProfilesMutable(0)->d_min[FD_ROLL] = 20;
+    //pidProfilesMutable(0)->d_min[FD_PITCH] = 18;
+    //pidProfilesMutable(0)->d_min_gain = 25;
+    //pidProfilesMutable(0)->d_min_advance = 1;
+    //pidProfilesMutable(0)->horizon_tilt_expert_mode = false;
 
     controlRateProfilesMutable(0)->rcRates[FD_YAW] = 100;
     controlRateProfilesMutable(0)->rates[FD_ROLL] = 73;
@@ -184,25 +193,24 @@ void targetConfiguration(void)
     controlRateProfilesMutable(0)->rcExpo[FD_ROLL] = 15;
     controlRateProfilesMutable(0)->rcExpo[FD_PITCH] = 15;
     controlRateProfilesMutable(0)->rcExpo[FD_YAW]  = 15;
-    controlRateProfilesMutable(0)->dynThrPID = 65;
+    //controlRateProfilesMutable(0)->dynThrPID = 65;
     controlRateProfilesMutable(0)->tpa_breakpoint = 1250;
 
-    ledStripStatusModeConfigMutable()->ledConfigs[0] = DEFINE_LED(7,  7,  8, 0, LF(COLOR), LO(LARSON_SCANNER) | LO(THROTTLE), 0);
-    ledStripStatusModeConfigMutable()->ledConfigs[1] = DEFINE_LED(8,  7, 13, 0, LF(COLOR), LO(LARSON_SCANNER) | LO(THROTTLE), 0);
-    ledStripStatusModeConfigMutable()->ledConfigs[2] = DEFINE_LED(9,  7, 11, 0, LF(COLOR), LO(LARSON_SCANNER) | LO(THROTTLE), 0);
-    ledStripStatusModeConfigMutable()->ledConfigs[3] = DEFINE_LED(10, 7, 4,  0, LF(COLOR), LO(LARSON_SCANNER) | LO(THROTTLE), 0);
+    ledStripConfigMutable()->ledConfigs[0] = DEFINE_LED(7,  7,  8, 0, LF(COLOR), LO(LARSON_SCANNER) | LO(THROTTLE), 0);
+    ledStripConfigMutable()->ledConfigs[1] = DEFINE_LED(8,  7, 13, 0, LF(COLOR), LO(LARSON_SCANNER) | LO(THROTTLE), 0);
+    ledStripConfigMutable()->ledConfigs[2] = DEFINE_LED(9,  7, 11, 0, LF(COLOR), LO(LARSON_SCANNER) | LO(THROTTLE), 0);
+    ledStripConfigMutable()->ledConfigs[3] = DEFINE_LED(10, 7, 4,  0, LF(COLOR), LO(LARSON_SCANNER) | LO(THROTTLE), 0);
 
     do {
         // T8SG
         uint8_t defaultTXHopTable[50] = {0,30,60,91,120,150,180,210,5,35,65,95,125,155,185,215,10,40,70,100,130,160,190,221,15,45,75,105,135,165,195,225,20,50,80,110,140,170,200,230,25,55,85,115,145,175,205,0,0,0};
-        rxCc2500SpiConfigMutable()->bindOffset  = 33;
-        rxCc2500SpiConfigMutable()->bindTxId[0] = 198;
-        rxCc2500SpiConfigMutable()->bindTxId[1] = 185;
+        rxFrSkySpiConfigMutable()->bindOffset  = 33;
+        rxFrSkySpiConfigMutable()->bindTxId[0] = 198;
+        rxFrSkySpiConfigMutable()->bindTxId[1] = 185;
         for (uint8_t i = 0; i < 50; i++) {
-            rxCc2500SpiConfigMutable()->bindHopData[i] = defaultTXHopTable[i];
+            rxFrSkySpiConfigMutable()->bindHopData[i] = defaultTXHopTable[i];
         }
     } while (0);
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_MSP;
 }
 #endif
-*/
diff --git a/src/main/target/NBDHMBF4PRO/config.c b/src/main/target/NBDHMBF4PRO/config.c
index 42862bed35..fd309465bc 100644
--- a/src/main/target/NBDHMBF4PRO/config.c
+++ b/src/main/target/NBDHMBF4PRO/config.c
@@ -149,9 +149,11 @@ void targetConfiguration(void) {
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     // gyroConfigMutable()->dyn_lpf_gyro_min_hz = 200;
     // gyroConfigMutable()->dyn_lpf_gyro_max_hz = 500;
diff --git a/src/main/target/NBD_INFINITYAIOV2/target.c b/src/main/target/NBD_INFINITYAIOV2/target.c
new file mode 100644
index 0000000000..eee0de7bb5
--- /dev/null
+++ b/src/main/target/NBD_INFINITYAIOV2/target.c
@@ -0,0 +1,41 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 4cb7ad1 
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3, CH1, PC6, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM3, CH2, PC7, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM3, CH3, PC8, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM3, CH4, PC9, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM1, CH2, PA9, TIM_USE_LED, 0, 0), // led
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_ANY, 0, 0),
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/NBD_INFINITYAIOV2/target.h b/src/main/target/NBD_INFINITYAIOV2/target.h
new file mode 100644
index 0000000000..0d042c69ac
--- /dev/null
+++ b/src/main/target/NBD_INFINITYAIOV2/target.h
@@ -0,0 +1,136 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 4cb7ad1 
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "NEBD"
+#define USBD_PRODUCT_STRING "NBD_INFINITYAIOV2"
+
+#define FC_TARGET_MCU     STM32F745     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S745"  // generic ID
+
+#define USE_ACC
+#define USE_GYRO
+#define USE_ACCGYRO_BMI270
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_MAX7456
+#define USE_SPI_GYRO
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16    // 16MB Micron M25P16 and others (ref: https://github.com/betaflight/betaflight/blob/master/src/main/drivers/flash_m25p16.c)
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PC0
+#define LED_STRIP_PIN        PA9
+#define USE_BEEPER
+#define BEEPER_PIN           PD13
+#define BEEPER_INVERTED
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PB3
+#define SPI3_MISO_PIN        PB4
+#define SPI3_MOSI_PIN        PD6
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN         PE12
+#define SPI4_MISO_PIN        PE13
+#define SPI4_MOSI_PIN        PE14
+
+#define GYRO_1_ALIGN         CW180_DEG
+#define ACC_1_ALIGN          CW180_DEG
+#define GYRO_1_CS_PIN        PE11
+#define GYRO_1_EXTI_PIN      PB1
+#define GYRO_1_SPI_INSTANCE  SPI4
+#define MPU_INT_EXTI         PB1
+
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define USE_SPI_GYRO
+#define ACC_BMI270_ALIGN     CW180_DEG
+#define GYRO_BMI270_ALIGN    CW180_DEG
+#define BMI270_CS_PIN        PE11
+#define BMI270_SPI_INSTANCE  SPI4
+
+#define USE_UART1
+#define UART1_RX_PIN         PB7
+#define USE_UART2
+#define UART2_TX_PIN         PA2
+#define UART2_RX_PIN         PA3
+#define USE_UART3
+#define UART3_TX_PIN         PB10
+#define UART3_RX_PIN         PB11
+#define USE_UART5
+#define UART5_RX_PIN         PD2
+#define USE_UART7
+#define UART7_TX_PIN         PE8
+#define USE_UART8
+#define UART8_TX_PIN         PE1
+#define UART8_RX_PIN         PE0
+#define SERIAL_PORT_COUNT 7
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE        (I2CDEV_1)
+#define MAG_I2C_INSTANCE  (I2CDEV_1)
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+
+#define FLASH_CS_PIN         PB0
+#define FLASH_SPI_INSTANCE              SPI1
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define MAX7456_SPI_CS_PIN   PA15
+#define MAX7456_SPI_INSTANCE            SPI3
+
+#define VBAT_ADC_PIN PC1
+#define CURRENT_METER_ADC_PIN PC2
+#define ADC1_DMA_STREAM DMA2_Stream4 //# ADC 1: DMA2 Stream 4 Channel 0
+#define DEFAULT_VOLTAGE_METER_SOURCE    VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE    CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE     230
+
+#define ENABLE_DSHOT_DMAR true
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 6
+#define USED_TIMERS ( TIM_N(1) | TIM_N(3) | TIM_N(4) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/NBD_INFINITYAIOV2/target.mk b/src/main/target/NBD_INFINITYAIOV2/target.mk
new file mode 100644
index 0000000000..6d826148cc
--- /dev/null
+++ b/src/main/target/NBD_INFINITYAIOV2/target.mk
@@ -0,0 +1,20 @@
+F7X5XG_TARGETS += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_bmi270.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/max7456.c \
+drivers/barometer/barometer_bmp085.c \
+drivers/barometer/barometer_bmp280.c \
+drivers/barometer/barometer_fake.c \
+drivers/barometer/barometer_lps.c \
+drivers/barometer/barometer_ms5611.c \
+drivers/barometer/barometer_qmp6988.c \
+
+# notice - this file was programmatically generated and may be incomplete.
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: 4cb7ad1 
diff --git a/src/main/target/TMTR_TMOTORF7/target.c b/src/main/target/NBD_INFINITYAIOV2PRO/target.c
similarity index 61%
rename from src/main/target/TMTR_TMOTORF7/target.c
rename to src/main/target/NBD_INFINITYAIOV2PRO/target.c
index 847810cf45..b0d2fbf100 100644
--- a/src/main/target/TMTR_TMOTORF7/target.c
+++ b/src/main/target/NBD_INFINITYAIOV2PRO/target.c
@@ -17,6 +17,9 @@
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include <stdint.h>
+
 #include "platform.h"
 #include "drivers/io.h"
 
@@ -25,15 +28,10 @@
 #include "drivers/timer_def.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM1, CH2, PA9,  TIM_USE_LED,                  0, 0 ), // LED_STRIP,
 
-    DEF_TIM(TIM8,  CH1,  PC6,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM8,  CH2,  PC7,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM3,  CH3,  PB0,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM4,  CH3,  PB8,  TIM_USE_MOTOR,               0, 0),
-
-    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_PPM,                 0, 0),
-    DEF_TIM(TIM11, CH1,  PB9,  TIM_USE_ANY,                 0, 0),
-    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_LED,                 0, 0)
+    DEF_TIM(TIM3,  CH4, PC9,  TIM_USE_MOTOR,               0, 0 ), // M1
+    DEF_TIM(TIM3,  CH3, PC8,  TIM_USE_MOTOR,               0, 0 ), // M2
+    DEF_TIM(TIM3,  CH2, PC7,  TIM_USE_MOTOR,               0, 0 ), // M3
+    DEF_TIM(TIM3,  CH1, PC6,  TIM_USE_MOTOR,               0, 0 ), // M4
 };
diff --git a/src/main/target/NBD_INFINITYAIOV2PRO/target.h b/src/main/target/NBD_INFINITYAIOV2PRO/target.h
new file mode 100644
index 0000000000..6b871d43ef
--- /dev/null
+++ b/src/main/target/NBD_INFINITYAIOV2PRO/target.h
@@ -0,0 +1,160 @@
+/*
+* This file is part of Cleanflight and Betaflight.
+*
+* Cleanflight and Betaflight are free software. You can redistribute
+* this software and/or modify this software 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.
+*
+* Cleanflight and Betaflight are distributed in the hope that they
+* 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 this software.
+*
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "NEBD"
+#define USBD_PRODUCT_STRING "NBD_INFINITYAIOV2PRO"
+
+#define FC_TARGET_MCU     STM32F745     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S745"  // generic ID
+
+#define LED0_PIN   PC0
+
+#define USE_BEEPER
+#define BEEPER_PIN PD13
+#define BEEPER_INVERTED
+
+#define USE_SPI_GYRO
+#define USE_ACCGYRO_BMI270
+#define BMI270_CS_PIN           PE11
+#define BMI270_SPI_INSTANCE     SPI4
+#define ACC_BMI270_ALIGN        CW270_DEG
+#define GYRO_BMI270_ALIGN       CW270_DEG
+
+// dual gyro
+#define USE_DUAL_GYRO
+
+#define USE_EXTI //REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+// gyro 1
+#define GYRO_1_CS_PIN           PE11
+#define GYRO_1_SPI_INSTANCE     SPI4
+#define GYRO_1_EXTI_PIN         PB1
+#define GYRO_1_ALIGN            CW270_DEG
+#define ACC_1_ALIGN             CW270_DEG
+
+// gyro 2
+#define GYRO_2_CS_PIN           PB12
+#define GYRO_2_SPI_INSTANCE     SPI2
+#define GYRO_2_EXTI_PIN         PD0
+#define GYRO_2_ALIGN            CW270_DEG
+#define ACC_2_ALIGN             CW270_DEG
+
+#define USE_VCP
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_RX_PIN PB7
+
+#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_UART5
+#define UART5_RX_PIN PD2
+
+#define USE_UART7
+#define UART7_TX_PIN PE8
+
+#define USE_UART8
+#define UART8_RX_PIN PE0
+#define UART8_TX_PIN PE1
+
+#define SERIAL_PORT_COUNT 7 //VCP, USART1, USART2, USART3, UART5, USART7, UART8
+
+#define USE_ESC_SENSOR
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_2
+#define USE_SPI_DEVICE_3
+#define USE_SPI_DEVICE_4
+
+#define SPI1_SCK_PIN   PA5
+#define SPI1_MISO_PIN  PA6
+#define SPI1_MOSI_PIN  PA7
+
+#define SPI2_SCK_PIN   PB13
+#define SPI2_MISO_PIN  PB14
+#define SPI2_MOSI_PIN  PB15
+
+#define SPI3_SCK_PIN   PB3
+#define SPI3_MISO_PIN  PB4
+#define SPI3_MOSI_PIN  PD6
+
+#define SPI4_SCK_PIN   PE12
+#define SPI4_MISO_PIN  PE13
+#define SPI4_MOSI_PIN  PE14
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI3
+#define MAX7456_SPI_CS_PIN      PA15
+#define MAX7456_SPI_CLK         (SPI_CLOCK_STANDARD) // 10MHz
+#define MAX7456_RESTORE_CLK     (SPI_CLOCK_FAST)
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASH
+#define USE_FLASHFS
+#define USE_FLASH_W25Q128FV     //official
+#define FLASH_CS_PIN            PB0
+#define FLASH_SPI_INSTANCE      SPI1
+
+#define USE_FLASH_M25P16    // testing // 16MB Micron M25P16 and others (ref: https://github.com/betaflight/betaflight/blob/master/src/main/drivers/flash_m25p16.c)
+#define USE_FLASH_W25M      // testing // 1Gb NAND flash support
+#define USE_FLASH_W25M512   // testing // 16, 32, 64 or 128MB Winbond stacked die support
+#define USE_FLASH_W25Q      // testing // 512Kb (256Kb x 2 stacked) NOR flash support
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE_1           (I2CDEV_1)
+#define MAG_I2C_INSTANCE       (I2CDEV_1)
+#define I2C1_SCL               PB8
+#define I2C1_SDA               PB9
+
+#define USE_ADC
+#define VBAT_ADC_PIN                PC1
+#define CURRENT_METER_ADC_PIN       PC2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 100
+
+#define BEEPER_PWM_HZ           5400
+
+#define USE_LED_STRIP
+#define LED_STRIP_PIN        PA9
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT      7
+#define USED_TIMERS ( TIM_N(1) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/NBD_INFINITYAIOV2PRO/target.mk b/src/main/target/NBD_INFINITYAIOV2PRO/target.mk
new file mode 100644
index 0000000000..ff6b7c6818
--- /dev/null
+++ b/src/main/target/NBD_INFINITYAIOV2PRO/target.mk
@@ -0,0 +1,13 @@
+F7X5XG_TARGETS += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/light_ws2811strip.c \
+            drivers/max7456.c \
+            drivers/compass/compass_fake.c \
+            drivers/compass/compass_ak8963.c \
+            drivers/compass/compass_ak8975.c \
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_lis3mdl.c \
+            drivers/compass/compass_qmc5883l.c \
diff --git a/src/main/target/NERO/target.c b/src/main/target/NERO/target.c
index 32b61c4a52..ca539b0c66 100644
--- a/src/main/target/NERO/target.c
+++ b/src/main/target/NERO/target.c
@@ -28,13 +28,13 @@
 #include "drivers/timer_def.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    DEF_TIM(TIM3, CH2, PC7, TIM_USE_PPM,                 0, 0 ),
-    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR,               0, 0 ),
-    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR,               0, 0 ),
-    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MOTOR,               0, 0 ),
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MOTOR,               0, 1 ),
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, 0, 0 ),
-    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               0, 0 ),
-    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR,               0, 0 ),
-    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR,               0, 0 ),
+    DEF_TIM(TIM3, CH2, PC7, TIM_USE_PPM,                 0, 0),
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR,               0, 0), // motor 1
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR,               0, 0), // motor 2
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MOTOR,               0, 0), // motor 3
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MOTOR,               0, 0), // motor 4
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, 0, 0), // motor 5 and LED_STRIP
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               0, 0), // motor 6
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR,               0, 0), // motor 7
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR,               0, 0), // motor 8
 };
diff --git a/src/main/target/NERO/target.h b/src/main/target/NERO/target.h
index 3c11c6dac5..2f6db626aa 100644
--- a/src/main/target/NERO/target.h
+++ b/src/main/target/NERO/target.h
@@ -19,17 +19,30 @@
  */
 
 #pragma once
-#define TARGET_BOARD_IDENTIFIER "NERO"
+#define TARGET_MANUFACTURER_IDENTIFIER "BKMN"
+#define USBD_PRODUCT_STRING "NERO"
 
-#define USBD_PRODUCT_STRING     "NERO"
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6500
+#define USE_ACC_SPI_ICM20602 // detected by MPU6500 code
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6500
+#define USE_GYRO_SPI_ICM20602 // detected by MPU6500 code
+#define USE_SDCARD
 
 #define HW_PIN                  PB2
 
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 
+#define USE_LED
 #define LED0_PIN                PB6
 #define LED1_PIN                PB5
 #define LED2_PIN                PB4
+#define LED_STRIP_PIN           PB0 // Shared with MOTOR5_PIN
+#define MOTOR5_PIN              PB0 // Shared with LED_STRIP_PIN
 
 #define USE_BEEPER
 #define BEEPER_PIN              PC1
@@ -55,7 +68,7 @@
 #define GYRO_MPU6500_ALIGN      CW0_DEG
 
 #define USE_SDCARD
-
+#define USE_SDCARD_SDIO
 #define SDCARD_DETECT_INVERTED
 #define SDCARD_DETECT_PIN                   PD2
 #define SDCARD_SPI_INSTANCE                 SPI3
@@ -96,6 +109,7 @@
 
 #define SERIAL_PORT_COUNT       6
 
+#define ENABLE_DSHOT_DMAR true
 #define USE_ESCSERIAL
 #define ESCSERIAL_TIMER_TX_PIN  PC7 // (Hardware=0, PPM)
 
@@ -121,10 +135,16 @@
 
 #define USE_ADC
 #define VBAT_ADC_PIN            PC3
+#define CURRENT_METER_ADC_PIN PC2
+#define RSSI_ADC_PIN PA4
+#define ADC1_DMA_OPT        1
+#define ADC1_DMA_STREAM DMA2_Stream4 //# ADC 1: DMA2 Stream 4 Channel 0
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART6
 
diff --git a/src/main/target/NERO/target.mk b/src/main/target/NERO/target.mk
index e2e1a265d5..c648832f84 100644
--- a/src/main/target/NERO/target.mk
+++ b/src/main/target/NERO/target.mk
@@ -1,6 +1,10 @@
 F7X2RE_TARGETS += $(TARGET)
-FEATURES       += SDCARD VCP
+FEATURES       += VCP SDCARD
 
 TARGET_SRC = \
-            drivers/accgyro/accgyro_spi_mpu6500.c \
-            drivers/accgyro/accgyro_mpu6500.c
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_mpu6500.c \
+drivers/accgyro/accgyro_spi_mpu6500.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/max7456.c \
diff --git a/src/main/target/TEBS_PODRACERAIO/target.c b/src/main/target/PODRACERAIO/target.c
similarity index 100%
rename from src/main/target/TEBS_PODRACERAIO/target.c
rename to src/main/target/PODRACERAIO/target.c
diff --git a/src/main/target/TEBS_PODRACERAIO/target.h b/src/main/target/PODRACERAIO/target.h
similarity index 100%
rename from src/main/target/TEBS_PODRACERAIO/target.h
rename to src/main/target/PODRACERAIO/target.h
diff --git a/src/main/target/TEBS_PODRACERAIO/target.mk b/src/main/target/PODRACERAIO/target.mk
similarity index 100%
rename from src/main/target/TEBS_PODRACERAIO/target.mk
rename to src/main/target/PODRACERAIO/target.mk
diff --git a/src/main/target/PYRODRONEF7/target.c b/src/main/target/PYRODRONEF7/target.c
index 64eff72d67..79fc418786 100644
--- a/src/main/target/PYRODRONEF7/target.c
+++ b/src/main/target/PYRODRONEF7/target.c
@@ -28,16 +28,23 @@
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 // FILO arrangement for motor assignments, Motor 1 starts at 2nd DECLARATION
-    DEF_TIM(TIM2,  CH2,   PB3, TIM_USE_ANY,                0, 0), // USE FOR CAMERA CONTROL
+    DEF_TIM(TIM2,  CH2,   PB3, TIM_USE_ANY,                0, 0), // pin B03: TIM2 CH2 (AF1) // USE FOR CAMERA CONTROL
 
-    DEF_TIM(TIM4,  CH1,  PB6, TIM_USE_MOTOR,               0, 0), // D1-ST0                   MOTOR1
-    DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_MOTOR,               0, 0), // D1-ST3                   MOTOR2
-    DEF_TIM(TIM4,  CH3,  PB8, TIM_USE_MOTOR,               0, 0), // D1-ST7                   MOTOR3
-    DEF_TIM(TIM8,  CH3,  PC8, TIM_USE_MOTOR,               0, 0), // D2-ST2/D2-ST4            MOTOR4
-    DEF_TIM(TIM5,  CH2,  PA1, TIM_USE_MOTOR,               0, 0), // D1-ST4                   MOTOR5
-    DEF_TIM(TIM4,  CH4,  PB9, TIM_USE_MOTOR,               0, 0), // NONE  TIM4_UP_D1-ST6     MOTOR6
-    DEF_TIM(TIM8,  CH4,  PC9, TIM_USE_MOTOR,               0, 0), // D2-ST7                   MOTOR7
+    DEF_TIM(TIM4,  CH1,  PB6, TIM_USE_MOTOR,               0, 0), // pin B06: TIM4 CH1 (AF2) // D1-ST0                   MOTOR1
+    DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_MOTOR,               0, 0), // pin B07: TIM4 CH2 (AF2) // D1-ST3                   MOTOR2
+    DEF_TIM(TIM4,  CH3,  PB8, TIM_USE_MOTOR,               0, 0), // pin B08: TIM4 CH3 (AF2) // D1-ST7                   MOTOR3
+    DEF_TIM(TIM8,  CH3,  PC8, TIM_USE_MOTOR,               0, 0), // pin C08: TIM8 CH3 (AF3) // D2-ST2/D2-ST4            MOTOR4
+    DEF_TIM(TIM5,  CH2,  PA1, TIM_USE_MOTOR,               0, 0), // pin A01: TIM5 CH2 (AF2) // D1-ST4                   MOTOR5
+    DEF_TIM(TIM4,  CH4,  PB9, TIM_USE_MOTOR,               0, 0), // pin B09: TIM4 CH4 (AF2) // NONE  TIM4_UP_D1-ST6     MOTOR6
+    DEF_TIM(TIM8,  CH4,  PC9, TIM_USE_MOTOR,               0, 0), // pin C09: TIM8 CH4 (AF3) // D2-ST7                   MOTOR7
 
-    DEF_TIM(TIM3,  CH4, PB1, TIM_USE_MOTOR | TIM_USE_LED,  0, 0), // D1-ST2                   LED/MOTOR5
+    DEF_TIM(TIM3,  CH4, PB1, TIM_USE_MOTOR | TIM_USE_LED,  0, 0), // pin B01: TIM3 CH4 (AF2) // D1-ST2                   LED/MOTOR5
+
+    DEF_TIM(TIM9,  CH2,  PA3, TIM_USE_ANY,                 0, 0), // pin A03: TIM9 CH2 (AF3)
+    DEF_TIM(TIM1,  CH2N, PB0, TIM_USE_ANY,                 0, 0), // pin B00: TIM1 CH2N (AF1)
+    DEF_TIM(TIM5,  CH1,  PA0, TIM_USE_ANY,                 0, 0), // pin A00: TIM5 CH1 (AF2)
+    DEF_TIM(TIM3,  CH1,  PC6, TIM_USE_ANY,                 0, 0), // pin C06: TIM3 CH1 (AF2)
+    DEF_TIM(TIM8,  CH2,  PC7, TIM_USE_ANY,                 0, 0), // pin C07: TIM8 CH2 (AF3)
+    DEF_TIM(TIM3,  CH2,  PB5, TIM_USE_ANY,                 0, 0), // pin B05: TIM3 CH2 (AF2)
 
 };
\ No newline at end of file
diff --git a/src/main/target/PYRODRONEF7/target.h b/src/main/target/PYRODRONEF7/target.h
index 8b8ef34c0e..d1f57146b4 100644
--- a/src/main/target/PYRODRONEF7/target.h
+++ b/src/main/target/PYRODRONEF7/target.h
@@ -132,5 +132,5 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
-#define USABLE_TIMER_CHANNEL_COUNT      6
-#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(4)  )
+#define USABLE_TIMER_CHANNEL_COUNT      15
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) |TIM_N(5) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/PYRODRONEF7/target.mk b/src/main/target/PYRODRONEF7/target.mk
index 3bae3aba77..6a383ad58a 100644
--- a/src/main/target/PYRODRONEF7/target.mk
+++ b/src/main/target/PYRODRONEF7/target.mk
@@ -9,4 +9,5 @@ TARGET_SRC = \
             drivers/light_ws2811strip_hal.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
+            drivers/pinio.c \
             drivers/max7456.c
diff --git a/src/main/target/RUSHBLADEF7/target.c b/src/main/target/RUSHBLADEF7/target.c
index 5cd05775bc..fefead3d9e 100644
--- a/src/main/target/RUSHBLADEF7/target.c
+++ b/src/main/target/RUSHBLADEF7/target.c
@@ -1,41 +1,45 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of EmuFlight. It is derived from Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
- * this software and/or modify this software 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.
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * 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 this software.
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <stdint.h>
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: c4eda1b
 
+#include <stdint.h>
 #include "platform.h"
 #include "drivers/io.h"
-
 #include "drivers/dma.h"
 #include "drivers/timer.h"
 #include "drivers/timer_def.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    DEF_TIM(TIM2, CH1, PA15,  TIM_USE_LED,   0, 0), // PPM&SBUS
-
-    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_MOTOR, 0, 0),   // S1
-    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_MOTOR, 0, 0),   // S2
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MOTOR, 0, 0),   // S3
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MOTOR, 0, 0),   // S4
-    DEF_TIM(TIM8, CH2, PC7,  TIM_USE_MOTOR, 0, 0),   // S5
-    DEF_TIM(TIM8, CH1, PC6,  TIM_USE_MOTOR, 0, 0),   // S6
-
-    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_ANY, 0, 0),    // LED STRIP
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM8, CH2, PC7, TIM_USE_MOTOR, 0, 0), // motor 5
+    DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, 0, 0), // motor 6
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MOTOR, 0, 0), // motor 7
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 0, 0), // motor 8
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0), // led
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_ANY, 0, 0), // cam ctrl
 };
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/RUSHBLADEF7/target.h b/src/main/target/RUSHBLADEF7/target.h
index 8559f4f88d..102932a3df 100644
--- a/src/main/target/RUSHBLADEF7/target.h
+++ b/src/main/target/RUSHBLADEF7/target.h
@@ -1,148 +1,155 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of EmuFlight. It is derived from Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
- * this software and/or modify this software 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.
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * 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 this software.
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */
 
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: c4eda1b
+
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "RSF7"
-#define USBD_PRODUCT_STRING  "RUSHBLADE F7"
+#define TARGET_MANUFACTURER_IDENTIFIER "RUSH"
+#define USBD_PRODUCT_STRING "BLADE_F7"
 
-#define ENABLE_DSHOT_DMAR       true
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
 
-#define LED0_PIN                PB10
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define USE_BARO
+#define USE_BARO_DPS310
+#define USE_BARO_BMP280
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_MAX7456
+#define USE_SPI_GYRO
+#define USE_BARO
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16    // 16MB Micron M25P16 and others (ref: https://github.com/betaflight/betaflight/blob/master/src/main/drivers/flash_m25p16.c)
+#define USE_OSD
 
+#define USE_LED
+#define LED0_PIN             PB10
+#define LED_STRIP_PIN        PA15
 #define USE_BEEPER
-#define BEEPER_PIN              PB2
+#define BEEPER_PIN           PB2
 #define BEEPER_INVERTED
-//#define BEEPER_PWM_HZ           1100
+#define BEEPER_PWM_HZ        1100
+#define CAMERA_CONTROL_PIN   PA8
 
-#define USE_EXTI
-#define MPU_INT_EXTI PA4
-#define USE_MPU_DATA_READY_SIGNAL
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PB3
+#define SPI3_MISO_PIN        PB4
+#define SPI3_MOSI_PIN        PB5
 
-#define USE_ACC
-#define USE_GYRO
-//------MPU6000
-#define MPU6000_CS_PIN           PC4
-#define MPU6000_SPI_INSTANCE     SPI1
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
 
-#define USE_GYRO_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN      CW270_DEG
+#define USE_MPU_DATA_READY_SIGNAL
 
-#define USE_ACC_SPI_MPU6000
-#define ACC_MPU6000_ALIGN       CW270_DEG
+#define GYRO_1_ALIGN             CW270_DEG
+#define ACC_1_ALIGN              CW270_DEG
+#define GYRO_1_CS_PIN            PC4
+#define GYRO_1_EXTI_PIN          PA4
+#define GYRO_1_SPI_INSTANCE      SPI1
+#define MPU_INT_EXTI             PA4
 
-#define USE_ACC_MPU6000
-#define USE_ACC_SPI_MPU6000
-#define USE_GYRO_MPU6000
-#define USE_GYRO_SPI_MPU6000
-
-#define USE_BARO
-#define USE_BARO_BMP280
-#define USE_BARO_MS5611
+#define ACC_MPU6000_ALIGN        CW270_DEG
+#define GYRO_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_CS_PIN           PC4
+#define MPU6000_SPI_INSTANCE     SPI1
 
-#define USE_MAG
-#define USE_MAG_HMC5883
+#define ACC_ICM42688P_ALIGN      CW270_DEG
+#define GYRO_ICM42688P_ALIGN     CW270_DEG
+#define ICM42688P_CS_PIN         PC4
+#define ICM42688P_SPI_INSTANCE   SPI1
 
-#define USE_VCP
 #define USE_UART1
+#define UART1_TX_PIN         PA9
+#define UART1_RX_PIN         PA10
 #define USE_UART2
+#define UART2_TX_PIN         PA2
+#define UART2_RX_PIN         PA3
 #define USE_UART3
+#define UART3_TX_PIN         PC10
+#define UART3_RX_PIN         PC11
 #define USE_UART4
+#define UART4_TX_PIN         PA0
+#define UART4_RX_PIN         PA1
 #define USE_UART5
-
-#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN            PA10
-
-#define UART2_TX_PIN            PA2
-#define UART2_RX_PIN            PA3
-
-#define UART3_TX_PIN            PC10
-#define UART3_RX_PIN            PC11
-
-#define UART4_TX_PIN            PA0
-#define UART4_RX_PIN            PA1
-
-#define UART5_TX_PIN            PC12
-#define UART5_RX_PIN            PD2
-
-#define USE_SOFTSERIAL1
-#define USE_SOFTSERIAL2
-
-#define SERIAL_PORT_COUNT       8
+#define UART5_TX_PIN         PC12
+#define UART5_RX_PIN         PD2
+#define SERIAL_PORT_COUNT 6
+//#define USE_SOFTSERIAL1   //old defines had softserial, maybe in error
+//#define USE_SOFTSERIAL2
+//#define SERIAL_PORT_COUNT 8
 
 #define USE_I2C
 #define USE_I2C_DEVICE_1
-#define I2C_DEVICE              I2CDEV_1
-#define I2C1_SCL                PB8
-#define I2C1_SDA                PB9
-
-#define USE_SPI
-#define USE_SPI_DEVICE_1 //GYRO/ACC
-#define SPI1_SCK_PIN            PA5
-#define SPI1_MISO_PIN           PA6
-#define SPI1_MOSI_PIN           PA7
-
-#define USE_SPI_DEVICE_2 //MAX7456
-#define SPI2_SCK_PIN            PB13
-#define SPI2_MISO_PIN           PB14
-#define SPI2_MOSI_PIN           PB15
-
-#define USE_SPI_DEVICE_3
-#define SPI3_SCK_PIN            PB3
-#define SPI3_MISO_PIN           PB4
-#define SPI3_MOSI_PIN           PB5
-
-#define USE_MAX7456
-#define MAX7456_SPI_INSTANCE    SPI2
-#define MAX7456_SPI_CS_PIN      PB11
+#define I2C_DEVICE        (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define I2C1_SCL          PB8
+#define I2C1_SDA          PB9
 
+#define FLASH_CS_PIN         PB12
+#define FLASH_SPI_INSTANCE   SPI2
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-#define USE_FLASHFS
-#define USE_FLASH_M25P16
-#define FLASH_CS_PIN            PB12
-#define FLASH_SPI_INSTANCE      SPI2
-
-#define USE_ADC
-#define ADC_INSTANCE                        ADC1
-#define ADC3_DMA_STREAM                     DMA2_Stream0
 
-#define VBAT_ADC_PIN                        PC0
-#define CURRENT_METER_ADC_PIN               PC1
+#define MAX7456_SPI_CS_PIN   PB11
+#define MAX7456_SPI_INSTANCE SPI2
 
+#define USE_ADC
+#define VBAT_ADC_PIN                 PC0
+#define CURRENT_METER_ADC_PIN        PC1
+#define ADC1_DMA_OPT                 1
+#define ADC1_DMA_STREAM              DMA2_Stream4 //# ADC 1: DMA2 Stream 4 Channel 0
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE  179
 
-#define USE_OSD
-#define USE_LED_STRIP
+#define ENABLE_DSHOT_DMAR true
 
-#define DEFAULT_RX_FEATURE                  FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES                    FEATURE_OSD
-#define SERIALRX_UART                       SERIAL_PORT_USART2
-#define SERIALRX_PROVIDER                   SERIALRX_SBUS
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+//#define TARGET_IO_PORTD (BIT(2)) //old defines used this instead
 
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
 
-#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
+#define USABLE_TIMER_CHANNEL_COUNT 10
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) )
 
-#define USABLE_TIMER_CHANNEL_COUNT 9
-#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9) )
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/RUSHBLADEF7/target.mk b/src/main/target/RUSHBLADEF7/target.mk
index eb35ec20ee..512a00a52e 100644
--- a/src/main/target/RUSHBLADEF7/target.mk
+++ b/src/main/target/RUSHBLADEF7/target.mk
@@ -2,9 +2,18 @@ F7X2RE_TARGETS += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
-            drivers/accgyro/accgyro_mpu.c \
-            drivers/accgyro/accgyro_spi_mpu6000.c \
-            drivers/barometer/barometer_ms5611.c \
-            drivers/barometer/barometer_bmp280.c \
-            drivers/compass/compass_hmc5883l.c \
-            drivers/max7456.c
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_mpu6000.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
+drivers/barometer/barometer_ms5611.c \
+drivers/barometer/barometer_bmp280.c \
+drivers/compass/compass_hmc5883l.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/max7456.c \
+
+# notice - this file was programmatically generated and may be incomplete.
+# drivers for ms5611 & compass manually added
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: c4eda1b
diff --git a/src/main/target/RUSH_BLADE_F7_HD/target.c b/src/main/target/RUSHBLADEF7HD/target.c
similarity index 100%
rename from src/main/target/RUSH_BLADE_F7_HD/target.c
rename to src/main/target/RUSHBLADEF7HD/target.c
diff --git a/src/main/target/RUSHBLADEF7HD/target.h b/src/main/target/RUSHBLADEF7HD/target.h
new file mode 100644
index 0000000000..3041655e66
--- /dev/null
+++ b/src/main/target/RUSHBLADEF7HD/target.h
@@ -0,0 +1,156 @@
+/*
+* This file is part of Cleanflight and Betaflight.
+*
+* Cleanflight and Betaflight are free software. You can redistribute
+* this software and/or modify this software 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.
+*
+* Cleanflight and Betaflight are distributed in the hope that they
+* 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 this software.
+*
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#pragma once
+//#define USE_TARGET_CONFIG
+
+#define TARGET_BOARD_IDENTIFIER "RUSH"
+#define USBD_PRODUCT_STRING "BLADE_F7_HD"
+
+#define ENABLE_DSHOT_DMAR true
+
+#define USE_LED_STRIP
+
+#define LED0_PIN PB10
+
+#define USE_BEEPER
+#define BEEPER_PIN PB2
+#define BEEPER_INVERTED
+
+
+// *************** SPI1 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 USE_EXTI
+#define USE_GYRO
+#define USE_ACC
+
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6000
+#define MPU6000_CS_PIN          PC4
+#define MPU_INT_EXTI            PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+#define GYRO_MPU6000_ALIGN      CW270_DEG
+#define ACC_MPU6000_ALIGN       CW270_DEG
+
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define ICM42688P_EXTI_PIN      PA4
+#define ICM42688P_CS_PIN        PC4
+#define ICM42688P_SPI_INSTANCE  SPI1
+#define GYRO_ICM42688P_ALIGN    CW270_DEG
+#define ACC_ICM42688P_ALIGN     CW270_DEG
+
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+// *************** I2C /Baro/Mag *********************
+
+#define USE_I2C
+
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE_1 (I2CDEV_1)
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+
+//#define MAG_I2C_INSTANCE (I2CDEV_1)
+//#define USE_MAG
+//#define USE_MAG_HMC5883
+//#define USE_MAG_QMC5883
+
+// *************** SPI3 BLACKBOX****************
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_CS_PIN PB12
+#define FLASH_SPI_INSTANCE SPI2
+
+// *************** UART *****************************
+
+#define USE_VCP
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+
+#define USE_UART2
+#define UART2_TX_PIN PA2
+#define UART2_RX_PIN PA3
+
+#define USE_UART3
+#define UART3_TX_PIN PC10
+#define UART3_RX_PIN PC11
+
+#define USE_UART4
+#define UART4_TX_PIN PA0
+#define UART4_RX_PIN PA1
+
+#define USE_UART5
+#define UART5_TX_PIN PC12
+#define UART5_RX_PIN PD2
+
+#define SERIAL_PORT_COUNT 6
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+#define SERIALRX_UART SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+//#define ADC1_DMA_STREAM DMA2_Stream0
+#define VBAT_ADC_PIN PC0
+#define CURRENT_METER_ADC_PIN PC1
+//#define RSSI_ADC_PIN PC1
+
+// *************** Others ***************************
+
+
+#define DEFAULT_FEATURES ( FEATURE_TELEMETRY )
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 179
+
+#define USE_ESCSERIAL
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 10
+#define USED_TIMERS (TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(4)|TIM_N(8))
diff --git a/src/main/target/RUSHBLADEF7HD/target.mk b/src/main/target/RUSHBLADEF7HD/target.mk
new file mode 100644
index 0000000000..4a0083c78c
--- /dev/null
+++ b/src/main/target/RUSHBLADEF7HD/target.mk
@@ -0,0 +1,12 @@
+F7X2RE_TARGETS += $(TARGET)
+FEATURES += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_mpu6000.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
+drivers/barometer/barometer_ms5611.c \
+drivers/barometer/barometer_bmp280.c \
+drivers/barometer/barometer_bmp085.c \
+drivers/light_ws2811strip.c \
+drivers/max7456.c
diff --git a/src/main/target/RUSH_BLADE_F7_HD/target.h b/src/main/target/RUSH_BLADE_F7_HD/target.h
deleted file mode 100644
index 1ad1a5f0c1..0000000000
--- a/src/main/target/RUSH_BLADE_F7_HD/target.h
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
- * This file is part of Cleanflight and Betaflight.
- *
- * Cleanflight and Betaflight are free software. You can redistribute
- * this software and/or modify this software 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.
- *
- * Cleanflight and Betaflight are distributed in the hope that they
- * 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 this software.
- *
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
- #pragma once
- //#define USE_TARGET_CONFIG
-
- 	#define TARGET_BOARD_IDENTIFIER "RUSH"
- 	#define USBD_PRODUCT_STRING "BLADE_F7_HD"
-
- 	#define ENABLE_DSHOT_DMAR true
-
- 	#define USE_LED_STRIP
-
- 	#define LED0_PIN PB10
-
- 	#define USE_BEEPER
- 	#define BEEPER_PIN PB2
- 	#define BEEPER_INVERTED
-
-
- 	// *************** SPI1 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 USE_EXTI
- 	#define MPU_INT_EXTI PA4
-
- 	#define MPU6000_CS_PIN PC4
- 	#define MPU6000_SPI_INSTANCE SPI1
-
- 	#define USE_GYRO
- 	#define USE_GYRO_SPI_MPU6000
-
- 	#define USE_ACC
- 	#define USE_ACC_SPI_MPU6000
-
- 	#define GYRO_MPU6000_ALIGN CW270_DEG
- 	#define ACC_MPU6000_ALIGN CW270_DEG
-
- 	#define USE_MPU_DATA_READY_SIGNAL
- 	#define ENSURE_MPU_DATA_READY_IS_LOW
-
- 	// *************** I2C /Baro/Mag *********************
-
- 	#define USE_I2C
-
- 	#define USE_I2C_DEVICE_1
- 	#define I2C_DEVICE_1 (I2CDEV_1)
- 	#define I2C1_SCL PB8
- 	#define I2C1_SDA PB9
-
- 	#define BARO_I2C_INSTANCE (I2CDEV_1)
- 	#define USE_BARO
- 	#define USE_BARO_BMP280
- 	#define USE_BARO_MS5611
- 	#define USE_BARO_BMP085
-
- 	//#define MAG_I2C_INSTANCE (I2CDEV_1)
- 	//#define USE_MAG
- 	//#define USE_MAG_HMC5883
- 	//#define USE_MAG_QMC5883
-
- 	// *************** SPI3 BLACKBOX****************
-
- 	#define USE_SPI_DEVICE_2
- 	#define SPI2_SCK_PIN PB13
- 	#define SPI2_MISO_PIN PB14
- 	#define SPI2_MOSI_PIN PB15
-
- 	#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
- 	#define USE_FLASHFS
- 	#define USE_FLASH_M25P16
- 	#define FLASH_CS_PIN PB12
- 	#define FLASH_SPI_INSTANCE SPI2
-
- 	// *************** UART *****************************
-
- 	#define USE_VCP
- 	#define USE_USB_DETECT
-
- 	#define USE_UART1
- 	#define UART1_TX_PIN PA9
- 	#define UART1_RX_PIN PA10
-
- 	#define USE_UART2
- 	#define UART2_TX_PIN PA2
- 	#define UART2_RX_PIN PA3
-
- 	#define USE_UART3
- 	#define UART3_TX_PIN PC10
- 	#define UART3_RX_PIN PC11
-
- 	#define USE_UART4
- 	#define UART4_TX_PIN PA0
- 	#define UART4_RX_PIN PA1
-
- 	#define USE_UART5
- 	#define UART5_TX_PIN PC12
- 	#define UART5_RX_PIN PD2
-
- 	#define SERIAL_PORT_COUNT 6
-
- 	#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
- 	#define SERIALRX_PROVIDER SERIALRX_SBUS
- 	#define SERIALRX_UART SERIAL_PORT_USART2
-
- 	// *************** ADC *****************************
- 	#define USE_ADC
- 	//#define ADC1_DMA_STREAM DMA2_Stream0
- 	#define VBAT_ADC_PIN PC0
- 	#define CURRENT_METER_ADC_PIN PC1
- 	//#define RSSI_ADC_PIN PC1
-
- 	// *************** Others ***************************
-
-
- 	#define DEFAULT_FEATURES ( FEATURE_TELEMETRY )
- 	#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
- 	#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
- 	#define CURRENT_METER_SCALE_DEFAULT 179
-
- 	#define USE_ESCSERIAL
-
- 	#define TARGET_IO_PORTA 0xffff
- 	#define TARGET_IO_PORTB 0xffff
- 	#define TARGET_IO_PORTC 0xffff
- 	#define TARGET_IO_PORTD 0xffff
-
- 	#define USABLE_TIMER_CHANNEL_COUNT 10
- 	#define USED_TIMERS (TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(4)|TIM_N(8))
diff --git a/src/main/target/RUSH_BLADE_F7_HD/target.mk b/src/main/target/RUSH_BLADE_F7_HD/target.mk
deleted file mode 100644
index 3b2730cf37..0000000000
--- a/src/main/target/RUSH_BLADE_F7_HD/target.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-F7X2RE_TARGETS += $(TARGET)
-FEATURES += VCP ONBOARDFLASH
-
-TARGET_SRC = \
-							drivers/accgyro/accgyro_mpu.c \
-							drivers/accgyro/accgyro_spi_mpu6000.c \
-							drivers/barometer/barometer_ms5611.c \
-							drivers/barometer/barometer_bmp280.c \
-							drivers/barometer/barometer_bmp085.c \
-							drivers/light_ws2811strip.c \
-							drivers/max7456.c
diff --git a/src/main/target/SKYSTARSF7HD/target.h b/src/main/target/SKYSTARSF7HD/target.h
index bf68dc5fc4..31d1d6f3fa 100644
--- a/src/main/target/SKYSTARSF7HD/target.h
+++ b/src/main/target/SKYSTARSF7HD/target.h
@@ -53,6 +53,13 @@
 
 #define USE_ACC
 
+#define USE_SPI_GYRO
+#define USE_ACCGYRO_BMI270
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
+#define ACC_BMI270_ALIGN        CW180_DEG
+#define GYRO_BMI270_ALIGN       CW180_DEG
+
 #define MPU6000_CS_PIN           PA4
 #define MPU6000_SPI_INSTANCE     SPI1
 
diff --git a/src/main/target/SKYSTARSF7HD/target.mk b/src/main/target/SKYSTARSF7HD/target.mk
index 1b54266132..1f9b3af4ff 100644
--- a/src/main/target/SKYSTARSF7HD/target.mk
+++ b/src/main/target/SKYSTARSF7HD/target.mk
@@ -2,6 +2,7 @@ F7X2RE_TARGETS += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/barometer/barometer_bmp085.c \
@@ -9,5 +10,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
-						drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip.c \
             drivers/max7456.c
diff --git a/src/main/target/CRASHTESTF7/config.c b/src/main/target/SKYSTARSF7HDPRO/config.c
similarity index 89%
rename from src/main/target/CRASHTESTF7/config.c
rename to src/main/target/SKYSTARSF7HDPRO/config.c
index b9c6b5aea5..30086932e3 100644
--- a/src/main/target/CRASHTESTF7/config.c
+++ b/src/main/target/SKYSTARSF7HDPRO/config.c
@@ -18,19 +18,19 @@
  * If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <stdbool.h>
 #include <stdint.h>
-#include <string.h>
 
 #include "platform.h"
 
+#define USE_TARGET_CONFIG
+
+#include "io/serial.h"
 #include "pg/pinio.h"
 #include "pg/piniobox.h"
-
-#ifdef USE_TARGET_CONFIG
+#include "target.h"
 
 
 void targetConfiguration(void) {
     pinioBoxConfigMutable()->permanentId[0] = 40;
+    pinioConfigMutable()->config[0] = 129;
 }
-#endif
diff --git a/src/main/target/SKYSTARSF7HDPRO/target.c b/src/main/target/SKYSTARSF7HDPRO/target.c
new file mode 100644
index 0000000000..d993355657
--- /dev/null
+++ b/src/main/target/SKYSTARSF7HDPRO/target.c
@@ -0,0 +1,41 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3,  CH1,  PB4,   TIM_USE_PPM,   0, 0 ), // PPM IN
+
+    DEF_TIM(TIM8,   CH3,  PC8,   TIM_USE_MOTOR, 0, 0 ), // S1_OUT – UP2-1
+    DEF_TIM(TIM8,   CH4,  PC9,   TIM_USE_MOTOR, 0, 0 ), // S2_OUT – UP2-1
+    DEF_TIM(TIM4,   CH1,  PB6,   TIM_USE_MOTOR, 0, 0 ), // S3_OUT – UP2-5
+    DEF_TIM(TIM4,   CH2,  PB7,   TIM_USE_MOTOR, 0, 0 ), // S4_OUT – UP2-5
+
+    DEF_TIM(TIM1,   CH1,  PA8,   TIM_USE_ANY,   0, 0 ), // FC CAM – DMA1_ST7
+
+    DEF_TIM(TIM2,   CH2,  PB3,   TIM_USE_LED,   0, 0 ), // LED_STRIP – DMA1_ST6
+};
diff --git a/src/main/target/SKYSTARSF7HDPRO/target.h b/src/main/target/SKYSTARSF7HDPRO/target.h
new file mode 100644
index 0000000000..19c0c2e753
--- /dev/null
+++ b/src/main/target/SKYSTARSF7HDPRO/target.h
@@ -0,0 +1,207 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define USE_TARGET_CONFIG
+
+#define TARGET_MANUFACTURER_IDENTIFIER "SKST"
+#define USBD_PRODUCT_STRING     "SKST7HDPRO"
+
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"
+
+// ******* LEDs and BEEPER ********
+
+#define LED0_PIN                PC15
+#define LED1_PIN                PC14
+
+#define USE_BEEPER
+#define BEEPER_PIN              PB2
+#define BEEPER_INVERTED
+
+//#define ENABLE_DSHOT_DMAR       true
+
+#define USE_PINIO
+#define PINIO1_PIN PA14 // Bluetooth mode control, PB0 is connected to the 36 pin (P2.0) of the Bluetooth chip. Replace PB0 with the pin for your flight control and 36-pin connection
+
+#define USE_CAMERA_CONTROL
+#define CAMERA_CONTROL_PIN      PA8 // define dedicated camera osd pin
+
+
+// ******* GYRO and ACC ********
+
+#define USE_DUAL_GYRO
+#define USE_EXTI
+#define GYRO_1_EXTI_PIN         PC4
+#define GYRO_2_EXTI_PIN         PC0
+#define MPU_INT_EXTI
+
+#define GYRO_1_CS_PIN           PA4
+#define GYRO_1_SPI_INSTANCE     SPI1
+#define GYRO_2_CS_PIN           PC13
+#define GYRO_2_SPI_INSTANCE     SPI1
+
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6500
+#define USE_SPI_GYRO
+#define USE_ACCGYRO_BMI270
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_MPU6500
+
+#define GYRO_1_ALIGN     CW90_DEG_FLIP
+#define ACC_1_ALIGN      CW90_DEG_FLIP
+
+#define GYRO_2_ALIGN    CW0_DEG
+#define ACC_2_ALIGN     CW0_DEG
+
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
+
+// *************** Baro ************************
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_BARO
+#define USE_BARO_SPI_BMP280
+#define DEFAULT_BARO_SPI_BMP280
+#define BMP280_SPI_INSTANCE     SPI2
+#define BMP280_CS_PIN           PB1
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+
+//*********** Magnetometer / Compass *************
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define MAG_I2C_INSTANCE           (I2CDEV_1)
+
+// ******* SERIAL ********
+
+#define USE_VCP
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT       9 //VCP, UART1-UART6 , 2 x Soft Serial
+
+// ******* SPI ********
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PB5
+
+// ******* ADC ********
+
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define ADC2_DMA_STREAM         DMA2_Stream3
+
+#define VBAT_ADC_PIN            PC1
+#define RSSI_ADC_PIN            PC2
+#define CURRENT_METER_ADC_PIN   PC3
+
+// ******* OSD ********
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI2
+#define MAX7456_SPI_CS_PIN      PB12
+#define MAX7456_SPI_CLK         ( SPI_CLOCK_STANDARD )
+#define MAX7456_RESTORE_CLK     ( SPI_CLOCK_FAST )
+
+//******* FLASH ********
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_CS_PIN            PA15
+#define FLASH_SPI_INSTANCE      SPI3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// ******* FEATURES ********
+
+#define USE_OSD
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_UART           SERIAL_PORT_USART1
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL)
+#define DEFAULT_VOLTAGE_METER_SOURCE    VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE    CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 290
+
+
+#define USE_ESCSERIAL
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3)| TIM_N(4) | TIM_N(8) )
diff --git a/src/main/target/SKYSTARSF7HDPRO/target.mk b/src/main/target/SKYSTARSF7HDPRO/target.mk
new file mode 100644
index 0000000000..6d549c15d0
--- /dev/null
+++ b/src/main/target/SKYSTARSF7HDPRO/target.mk
@@ -0,0 +1,16 @@
+F7X2RE_TARGETS  += $(TARGET)
+FEATURES        += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/max7456.c
diff --git a/src/main/target/SPEEDYBEEF405V3/target.c b/src/main/target/SPEEDYBEEF405V3/target.c
new file mode 100644
index 0000000000..d54e0e4104
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF405V3/target.c
@@ -0,0 +1,47 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 1bce24c
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM4, CH4, PB9, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // motor 5
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // motor 6
+    DEF_TIM(TIM3, CH2, PB5, TIM_USE_MOTOR, 0, 0), // motor 7
+    DEF_TIM(TIM3, CH1, PB4, TIM_USE_MOTOR, 0, 0), // motor 8
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_ANY, 0, 0),
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, 0, 0), // ppm
+    DEF_TIM(TIM2, CH2, PB3, TIM_USE_ANY, 0, 0), // cam ctrl
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_LED, 0, 0), // led
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/SPEEDYBEEF405V3/target.h b/src/main/target/SPEEDYBEEF405V3/target.h
new file mode 100644
index 0000000000..bc440ac623
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF405V3/target.h
@@ -0,0 +1,153 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 1bce24c 
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "SPBE"
+#define USBD_PRODUCT_STRING "SPEEDYBEEF405V3"
+
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
+
+#define USE_GYRO
+#define USE_ACC
+#define USE_ACCGYRO_BMI270
+#define USE_MAX7456
+#define USE_SDCARD
+#define USE_BARO_DPS310
+#define USE_BARO
+#define USE_SDCARD_SPI
+#define USE_SPI_GYRO
+#define USE_BARO
+
+#define USE_VCP
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PC8
+#define LED_STRIP_PIN        PC9
+#define USE_BEEPER
+#define BEEPER_PIN           PC5
+#define BEEPER_INVERTED
+#define CAMERA_CONTROL_PIN   PB3
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define GYRO_1_ALIGN         CW0_DEG
+#define ACC_1_ALIGN          CW0_DEG
+#define GYRO_1_CS_PIN        PA4
+#define GYRO_1_EXTI_PIN      PC4
+#define GYRO_1_SPI_INSTANCE SPI1
+#define MPU_INT_EXTI         PC4
+
+#define USE_SPI_GYRO
+#define ACC_BMI270_ALIGN         CW0_DEG
+#define GYRO_BMI270_ALIGN        CW0_DEG
+#define BMI270_CS_PIN            PA4
+#define BMI270_SPI_INSTANCE      SPI1
+
+#define USE_UART1
+#define UART1_TX_PIN         PA9
+#define UART1_RX_PIN         PA10
+#define USE_UART2
+#define UART2_TX_PIN         PA2
+#define UART2_RX_PIN         PA3
+#define USE_UART3
+#define UART3_TX_PIN         PC10
+#define UART3_RX_PIN         PC11
+#define USE_UART4
+#define UART4_TX_PIN         PA0
+#define UART4_RX_PIN         PA1
+#define USE_UART5
+#define UART5_TX_PIN         PC12
+#define UART5_RX_PIN         PD2
+#define USE_UART6
+#define UART6_TX_PIN         PC6
+#define UART6_RX_PIN         PC7
+#define MSP_DISPLAYPORT_UART    SERIAL_PORT_USART1
+#define SERIALRX_UART           SERIAL_PORT_USART2
+#define SERIAL_PORT_COUNT 7
+
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE        (I2CDEV_2)
+#define MAG_I2C_INSTANCE (I2CDEV_2)
+#define BARO_I2C_INSTANCE (I2CDEV_2)
+#define DASHBOARD_I2C_INSTANCE (I2CDEV_2)
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+
+#define USE_SDCARD_SDIO
+#define SDCARD_SPI_CS_PIN    PA15
+#define SDCARD_SPI_INSTANCE SPI2
+#define SDCARD_DMA_CHANNEL          0
+#define SDCARD_DMA_CHANNEL_TX       DMA1_Stream4 //# SPI_MOSI 2: DMA1 Stream 4 Channel 0
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256
+
+#define MAX7456_SPI_CS_PIN   PB12
+#define MAX7456_SPI_INSTANCE SPI2
+
+#define USE_ADC
+#define VBAT_ADC_PIN PC0
+#define CURRENT_METER_ADC_PIN PC1
+#define RSSI_ADC_PIN PC2
+#define ADC1_DMA_OPT        0
+#define ADC1_DMA_STREAM DMA2_Stream0 //# ADC 1: DMA2 Stream 0 Channel 0
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 386
+
+#define ENABLE_DSHOT_DMAR true
+
+#define PINIO1_PIN           PC3
+#define PINIO1_CONFIG 129
+#define PINIO1_BOX 0
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/SPEEDYBEEF405V3/target.mk b/src/main/target/SPEEDYBEEF405V3/target.mk
new file mode 100644
index 0000000000..cb4965a77b
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF405V3/target.mk
@@ -0,0 +1,19 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP SDCARD
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_bmi270.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/pinio.c \
+drivers/max7456.c \
+drivers/barometer/barometer_bmp085.c \
+drivers/barometer/barometer_bmp280.c \
+drivers/barometer/barometer_fake.c \
+drivers/barometer/barometer_lps.c \
+drivers/barometer/barometer_ms5611.c \
+drivers/barometer/barometer_qmp6988.c \
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: 1bce24c 
diff --git a/src/main/target/SPEEDYBEEF405V4/target.c b/src/main/target/SPEEDYBEEF405V4/target.c
new file mode 100644
index 0000000000..7d23a6c998
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF405V4/target.c
@@ -0,0 +1,47 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 34cc79d
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), // motor 5
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0), // motor 6
+    DEF_TIM(TIM2, CH3, PB10, TIM_USE_MOTOR, 0, 0), // motor 7
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_MOTOR, 0, 0), // motor 8
+    DEF_TIM(TIM12, CH2, PB15, TIM_USE_ANY, 0, 0),
+    DEF_TIM(TIM12, CH1, PB14, TIM_USE_ANY, 0, 0), // cam ctrl
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // led
+    DEF_TIM(TIM9, CH2, PA3, TIM_USE_PPM, 0, 0), // ppm
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/SPEEDYBEEF405V4/target.h b/src/main/target/SPEEDYBEEF405V4/target.h
new file mode 100644
index 0000000000..49363e53d9
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF405V4/target.h
@@ -0,0 +1,150 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ * This software 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 this software.
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 34cc79d
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "SPBE"
+#define USBD_PRODUCT_STRING "SPEEDYBEEF405V4"
+
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
+
+#define USE_ACC
+#define USE_GYRO
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define USE_SDCARD
+#define USE_MAX7456
+#define USE_BARO
+#define USE_BARO_DPS310
+#define USE_SDCARD_SPI
+
+#define USE_VCP
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN PC13
+#define LED_STRIP_PIN PA8
+#define USE_BEEPER
+#define BEEPER_PIN PC15
+#define BEEPER_INVERTED
+#define CAMERA_CONTROL_PIN PB14
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN        PC2
+#define SPI2_MOSI_PIN        PC3
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PB3
+#define SPI3_MISO_PIN        PB4
+#define SPI3_MOSI_PIN        PB5
+
+#define USE_SPI_GYRO
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define GYRO_1_ALIGN CW90_DEG
+#define ACC_1_ALIGN          CW90_DEG
+#define GYRO_1_CS_PIN PA4
+#define GYRO_1_EXTI_PIN PC4
+#define GYRO_1_SPI_INSTANCE SPI1
+#define MPU_INT_EXTI         PC4
+
+#define ACC_ICM42688P_ALIGN      CW90_DEG
+#define GYRO_ICM42688P_ALIGN     CW90_DEG
+#define ICM42688P_CS_PIN         PA4
+#define ICM42688P_SPI_INSTANCE   SPI1
+
+#define USE_UART1
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+#define USE_UART2
+#define UART2_TX_PIN PA2
+#define UART2_RX_PIN PA3
+#define USE_UART3
+#define UART3_TX_PIN PC10
+#define UART3_RX_PIN PC11
+#define USE_UART4
+#define UART4_TX_PIN PA0
+#define UART4_RX_PIN PA1
+#define USE_UART5
+#define UART5_RX_PIN PD2
+#define USE_UART6
+#define UART6_TX_PIN PC6
+#define UART6_RX_PIN PC7
+#define SERIALRX_UART SERIAL_PORT_USART2
+#define SERIAL_PORT_COUNT 7
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE        (I2CDEV_1)
+#define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define DASHBOARD_I2C_INSTANCE (I2CDEV_1)
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+
+#define USE_SDCARD_SDIO
+#define SDCARD_SPI_CS_PIN PC14
+#define SDCARD_SPI_INSTANCE SPI3
+#define SDCARD_DMA_CHANNEL          0
+#define SDCARD_DMA_CHANNEL_TX       DMA1_Stream5 //# SPI_MOSI 3: DMA1 Stream 5 Channel 0
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256
+#define SDCARD_DETECT_INVERTED
+
+#define MAX7456_SPI_CS_PIN PB12
+#define MAX7456_SPI_INSTANCE SPI2
+
+#define USE_ADC
+#define VBAT_ADC_PIN PC0
+#define CURRENT_METER_ADC_PIN PC1
+#define RSSI_ADC_PIN PC5
+#define ADC1_DMA_OPT 0
+#define ADC1_DMA_STREAM DMA2_Stream0 //# ADC 1: DMA2 Stream 0 Channel 0
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 400
+
+#define ENABLE_DSHOT_DMAR false
+
+#define PINIO1_PIN PB11
+#define PINIO1_CONFIG 129
+#define PINIO1_BOX 0
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(9) | TIM_N(12) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/SPEEDYBEEF405V4/target.mk b/src/main/target/SPEEDYBEEF405V4/target.mk
new file mode 100644
index 0000000000..26842c6309
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF405V4/target.mk
@@ -0,0 +1,19 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP SDCARD
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/pinio.c \
+drivers/max7456.c \
+drivers/barometer/barometer_bmp085.c \
+drivers/barometer/barometer_bmp280.c \
+drivers/barometer/barometer_fake.c \
+drivers/barometer/barometer_lps.c \
+drivers/barometer/barometer_ms5611.c \
+drivers/barometer/barometer_qmp6988.c \
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: 34cc79d
diff --git a/src/main/target/SPEEDYBEEF7V3/target.c b/src/main/target/SPEEDYBEEF7V3/target.c
new file mode 100644
index 0000000000..2e21c085f3
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF7V3/target.c
@@ -0,0 +1,46 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 4cb7ad1 
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM2, CH2, PB3, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM3, CH1, PB4, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 0, 0), // motor 5
+    DEF_TIM(TIM3, CH2, PB5, TIM_USE_MOTOR, 0, 0), // motor 6
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // motor 7
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // motor 8
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_LED, 0, 0), // led
+    DEF_TIM(TIM9, CH2, PA3, TIM_USE_PPM, 0, 0), // ppm; dma 0 assumed, please verify
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_ANY, 0, 0), // cam ctrl
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/SPEEDYBEEF7V3/target.h b/src/main/target/SPEEDYBEEF7V3/target.h
new file mode 100644
index 0000000000..8de845f81d
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF7V3/target.h
@@ -0,0 +1,165 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 4cb7ad1 + manual edits for SDCard, UART5, etc.
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "SPBE"
+#define USBD_PRODUCT_STRING "SPEEDYBEEF7V3"
+
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
+
+#define USE_GYRO
+#define USE_ACC
+#define USE_ACCGYRO_BMI270
+#define USE_BARO_BMP280
+#define USE_MAX7456
+#define USE_BARO
+#define USE_SPI_GYRO
+
+#define USE_VCP
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PA14
+#define LED1_PIN             PA13
+#define LED_STRIP_PIN        PC8
+#define USE_BEEPER
+#define BEEPER_PIN           PC13
+#define BEEPER_INVERTED
+#define CAMERA_CONTROL_PIN   PA0
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PC10
+#define SPI3_MISO_PIN        PC11
+#define SPI3_MOSI_PIN        PC12
+
+#define GYRO_1_ALIGN         CW270_DEG_FLIP
+#define ACC_1_ALIGN          CW270_DEG_FLIP
+#define GYRO_1_CS_PIN        PB2
+#define GYRO_1_EXTI_PIN      PC4
+#define GYRO_1_SPI_INSTANCE  SPI1
+#define MPU_INT_EXTI         PC4
+
+#define USE_DUAL_GYRO
+#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_2
+
+#define GYRO_2_ALIGN         CW0_DEG_FLIP
+#define ACC_2_ALIGN          CW0_DEG_FLIP
+#define GYRO_2_CS_PIN        PC15
+#define GYRO_2_EXTI_PIN      PC3
+#define GYRO_2_SPI_INSTANCE  SPI1
+
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define USE_SPI_GYRO
+#define ACC_BMI270_ALIGN     CW270_DEG_FLIP
+#define GYRO_BMI270_ALIGN    CW270_DEG_FLIP
+#define BMI270_CS_PIN        PB2
+#define BMI270_SPI_INSTANCE  SPI1
+
+#define USE_UART1
+#define UART1_TX_PIN         PA9
+#define UART1_RX_PIN         PA10
+#define USE_UART2
+#define UART2_TX_PIN         PA2
+#define UART2_RX_PIN         PA3
+#define USE_UART3
+#define UART3_TX_PIN         PB10
+#define UART3_RX_PIN         PB11
+#define USE_UART4
+#define UART4_RX_PIN         PA1
+#define USE_UART6
+#define UART6_TX_PIN         PC6
+#define UART6_RX_PIN         PC7
+// note: UART5 NONE, but still need to define USE_UART5 and add +1 to serial-count.
+#define USE_UART5
+#define SERIAL_PORT_COUNT 7
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE        (I2CDEV_1)
+#define MAG_I2C_INSTANCE  (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define I2C1_SCL          PB8
+#define I2C1_SDA          PB9
+
+//#define USE_FLASH //breaks CLI resources (need support in .mk? or not valid at all?)
+#define FLASH_CS_PIN          PD2
+#define FLASH_SPI_INSTANCE    SPI3
+
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define USE_SDCARD_SDIO
+#define SDCARD_SPI_CS_PIN     PD2
+#define SDCARD_SPI_INSTANCE   SPI3
+#define SDCARD_DMA_CHANNEL    0
+#define SDCARD_DMA_CHANNEL_TX DMA1_Stream5 //# SPI_MOSI 3: DMA1 Stream 5 Channel 0
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256
+
+#define MAX7456_SPI_CS_PIN   PB12
+#define MAX7456_SPI_INSTANCE SPI2
+
+#define USE_ADC
+#define ADC_INSTANCE          ADC1
+#define VBAT_ADC_PIN          PC2
+#define CURRENT_METER_ADC_PIN PC1
+#define RSSI_ADC_PIN          PC0
+#define ADC1_DMA_STREAM       DMA2_Stream0 //# ADC 1: DMA2 Stream 0 Channel 0
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 490
+
+#define ENABLE_DSHOT_DMAR true
+
+#define PINIO1_PIN           PC9
+#define PINIO1_CONFIG        129
+#define PINIO1_BOX           0
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9) )
+
+// notice - this file was programmatically generated and may be incomplete.
+
diff --git a/src/main/target/SPEEDYBEEF7V3/target.mk b/src/main/target/SPEEDYBEEF7V3/target.mk
new file mode 100644
index 0000000000..c97ce2f4ed
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF7V3/target.mk
@@ -0,0 +1,18 @@
+F7X2RE_TARGETS += $(TARGET)
+FEATURES       += VCP SDCARD
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_bmi270.c \
+drivers/barometer/barometer_bmp280.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/pinio.c \
+drivers/max7456.c \
+
+# notice - this file was programmatically generated and may be incomplete.
+# eg: flash, compass, barometer, vtx6705, ledstrip, pinio, etc.   especially mag/baro
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: 4cb7ad1 
+
diff --git a/src/main/target/SPEEDYBEE_F745_AIO/target.c b/src/main/target/SPEEDYBEE_F745_AIO/target.c
new file mode 100644
index 0000000000..342cc98739
--- /dev/null
+++ b/src/main/target/SPEEDYBEE_F745_AIO/target.c
@@ -0,0 +1,42 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 0808fa2
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM1, CH1, PE9, TIM_USE_MOTOR, 0, 2), // motor 3
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_MOTOR, 0, 1), // motor 4
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM, 0, 0), // ppm
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED, 0, 0), // led
+    DEF_TIM(TIM2, CH2, PB3, TIM_USE_ANY, 0, 0), // cam ctrl
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/SPEEDYBEE_F745_AIO/target.h b/src/main/target/SPEEDYBEE_F745_AIO/target.h
new file mode 100644
index 0000000000..5f7d9f0eae
--- /dev/null
+++ b/src/main/target/SPEEDYBEE_F745_AIO/target.h
@@ -0,0 +1,144 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ * This software 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 this software.
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: 0808fa2
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "SPBE"
+#define USBD_PRODUCT_STRING "SPEEDYBEE_F745_AIO"
+
+#define FC_TARGET_MCU     STM32F745     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S745"  // generic ID
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_MAX7456
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16    // 16MB Micron M25P16 and others (ref: https://github.com/betaflight/betaflight/blob/master/src/main/drivers/flash_m25p16.c)
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PA2
+#define LED_STRIP_PIN        PD12
+#define USE_BEEPER
+#define BEEPER_PIN           PD15
+#define BEEPER_INVERTED
+#define CAMERA_CONTROL_PIN   PB3
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN         PE2
+#define SPI4_MISO_PIN        PE5
+#define SPI4_MOSI_PIN        PE6
+
+#define USE_SPI_GYRO
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define GYRO_1_ALIGN         CW90_DEG
+#define ACC_1_ALIGN          CW90_DEG
+#define GYRO_1_CS_PIN        PE4
+#define GYRO_1_EXTI_PIN      PE1
+#define GYRO_1_SPI_INSTANCE  SPI4
+#define MPU_INT_EXTI         PE1
+
+#define ACC_MPU6000_ALIGN         CW90_DEG
+#define GYRO_MPU6000_ALIGN        CW90_DEG
+#define MPU6000_CS_PIN            PE4
+#define MPU6000_SPI_INSTANCE      SPI4
+
+#define USE_UART1
+#define UART1_TX_PIN         PA9
+#define UART1_RX_PIN         PA10
+#define USE_UART2
+#define UART2_TX_PIN         PD5
+#define UART2_RX_PIN         PD6
+#define USE_UART3
+#define UART3_TX_PIN         PB10
+#define UART3_RX_PIN         PB11
+#define USE_UART4
+#define UART4_TX_PIN         PA0
+#define UART4_RX_PIN         PA1
+#define USE_UART6
+#define UART6_TX_PIN         PC6
+#define UART6_RX_PIN         PC7
+#define SERIAL_PORT_COUNT 6
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE        (I2CDEV_1)
+#define MAG_I2C_INSTANCE  (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define I2C1_SCL PB6
+#define I2C1_SDA PB7
+
+#define FLASH_CS_PIN         PA4
+#define FLASH_SPI_INSTANCE SPI1
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define MAX7456_SPI_CS_PIN   PB12
+#define MAX7456_SPI_INSTANCE SPI2
+
+#define USE_ADC
+#define VBAT_ADC_PIN PC3
+#define CURRENT_METER_ADC_PIN PC2
+#define ADC1_DMA_OPT        0
+#define ADC1_DMA_STREAM DMA2_Stream0 //# ADC 1: DMA2 Stream 0 Channel 0
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 256
+
+#define ENABLE_DSHOT_DMAR true
+
+#define PINIO1_PIN           PC4
+#define PINIO1_CONFIG 129
+#define PINIO1_BOX 0
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/SPEEDYBEE_F745_AIO/target.mk b/src/main/target/SPEEDYBEE_F745_AIO/target.mk
new file mode 100644
index 0000000000..324d360002
--- /dev/null
+++ b/src/main/target/SPEEDYBEE_F745_AIO/target.mk
@@ -0,0 +1,20 @@
+F7X5XG_TARGETS += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_mpu6000.c \
+drivers/barometer/barometer_bmp280.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/pinio.c \
+drivers/max7456.c \
+drivers/barometer/barometer_bmp085.c \
+drivers/barometer/barometer_bmp280.c \
+drivers/barometer/barometer_fake.c \
+drivers/barometer/barometer_lps.c \
+drivers/barometer/barometer_ms5611.c \
+drivers/barometer/barometer_qmp6988.c \
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: 4cb7ad1 
diff --git a/src/main/target/STM32F7X2/config/CLRACINGF7.config b/src/main/target/STM32F7X2/config/CLRACINGF7.config
deleted file mode 100644
index 2675de0d93..0000000000
--- a/src/main/target/STM32F7X2/config/CLRACINGF7.config
+++ /dev/null
@@ -1,89 +0,0 @@
-# Betaflight / STM32F745 (S745) 4.0.0 Mar 10 2019 / 21:49:53 (d6138c41e) MSP API: 1.41
-
-board_name CLRACINGF7
-manufacturer_id CLRC
-
-# BEEPER
-resource BEEPER 1 PB4
-set beeper_inversion = ON
-set beeper_od = OFF
-
-# INDICATOR LED
-resource LED 1 B00
-
-#MOTOR AND LED
-resource MOTOR 1 B06
-resource MOTOR 2 B07
-resource MOTOR 3 B08
-resource MOTOR 4 B09
-resource MOTOR 5 B01
-resource LED_STRIP 1 B01
-
-# UARTS 
-resource SERIAL_TX 1 A09
-resource SERIAL_TX 2 A02
-resource SERIAL_TX 3 B10
-resource SERIAL_TX 4 A00
-resource SERIAL_TX 5 C12
-resource SERIAL_TX 6 C06
-resource SERIAL_RX 1 A10
-resource SERIAL_RX 2 A03
-resource SERIAL_RX 3 B11
-resource SERIAL_RX 4 A01
-resource SERIAL_RX 5 D02
-resource SERIAL_RX 6 C07
-
-#SPI BUS
-resource SPI_SCK 1 A05
-resource SPI_SCK 2 B13
-resource SPI_SCK 3 C10
-resource SPI_MISO 1 A06
-resource SPI_MISO 2 B14
-resource SPI_MISO 3 C11
-resource SPI_MOSI 1 A07
-resource SPI_MOSI 2 B15
-resource SPI_MOSI 3 B05
-
-#ADC
-resource ADC_BATT 1 C02
-resource ADC_RSSI 1 C03
-resource ADC_CURR 1 C01
-set current_meter = ADC
-set battery_meter = ADC
-
-#SPI FLASH
-resource FLASH_CS 1 B03
-set flash_spi_bus = 2
-
-#OSD
-resource OSD_CS 1 A15
-set max7456_spi_bus = 3
-
-#GYRO
-resource GYRO_EXTI 1 C04
-resource GYRO_CS 1 A04
-set gyro_1_bustype = SPI
-set gyro_1_spibus = 1
-set gyro_1_sensor_align = CW0
-
-# timer
-timer B03 0
-timer B06 0
-timer B07 0
-timer B08 0
-timer B09 0
-timer B01 1
-
-# dma
-dma ADC 1 1        # ADC 1: DMA2 Stream 4 Channel 0
-dma pin B03 0      # pin B03: DMA1 Stream 6 Channel 3
-dma pin B06 0      # pin B06: DMA1 Stream 0 Channel 2
-dma pin B07 0      # pin B07: DMA1 Stream 3 Channel 2
-dma pin B08 0      # pin B08: DMA1 Stream 7 Channel 2
-dma pin B01 0      # pin B01: DMA1 Stream 2 Channel 5
-
-# master
-set system_hse_mhz = 8
-set dashboard_i2c_bus = 1
-resource RX_BIND_PLUG 1 B02
-resource CAMERA_CONTROL 1 B03
diff --git a/src/main/target/STM32F7X2/config/NERO.config b/src/main/target/STM32F7X2/config/NERO.config
deleted file mode 100644
index 48672e785d..0000000000
--- a/src/main/target/STM32F7X2/config/NERO.config
+++ /dev/null
@@ -1,88 +0,0 @@
-# Usual lawyer stuff here?
-
-# Name: NERO
-# Description: NERO Standard target configuration
-# XXX We need something that remembers which config was loaded
-
-defaults nosave
-
-# Basic I/O
-resource LED 1 B06
-resource LED 2 B05
-resource LED 3 B04
-resource beeper C1
-set beeper_inversion = ON
-set beeper_od = OFF
-
-# Buses
-resource I2C_SCL 1 B08
-resource I2C_SDA 1 B09
-
-resource SPI_SCK 1 A05
-resource SPI_MISO 1 A06
-resource SPI_MOSI 1 A07
-
-resource SPI_SCK 2 B13
-resource SPI_MISO 2 B14
-resource SPI_MOSI 2 B15
-
-resource SPI_SCK 3 C10
-resource SPI_MISO 3 C11
-resource SPI_MOSI 3 C12
-
-# SPI CS pins to pre-initialize
-resource SPI_PREINIT_IPU 1 C04 // MPU6500
-resource SPI_PREINIT_IPU 2 A15 // SDCARD
-
-# Timers
-# First four timers
-# timer is zero origin
-timer A0 1
-timer A1 1
-timer A2 1
-timer A3 1
-resource MOTOR 1 A0
-resource MOTOR 2 A1
-resource MOTOR 3 A2
-resource MOTOR 4 A3
-
-# DMA stream conflict if burst mode is not used
-# XXX Need a mechanism to specify dmaopt
-set dshot_burst = ON
-
-# Remaining timers
-timer B0 1
-timer B1 1
-timer C7 1
-timer C8 1
-timer C9 1
-resource LED_STRIP B0
-resource PPM C7
-
-# Serial ports
-
-resource SERIAL_TX 1 A9
-resource SERIAL_RX 1 A10
-
-resource SERIAL_TX 3 B10
-resource SERIAL_RX 3 B11
-
-resource SERIAL_TX 6 C6
-resource SERIAL_RX 6 C7
-
-# ADC
-
-resource ADC_BATT 1 C03
-
-# Remaining
-
-resource ESCSERIAL 1 C07
-resource SDCARD_CS 1 A15
-resource SDCARD_DETECT 1 D02
-
-# Some configs
-
-FEATURE RX_SERIAL
-set serialrx_provider = SBUS
-serial 5 64 115200 57600 0 115200
-set battery_meter = ADC
diff --git a/src/main/target/HENA_TALONF7DJIHD/config.c b/src/main/target/TALONF7DJIHD/config.c
similarity index 100%
rename from src/main/target/HENA_TALONF7DJIHD/config.c
rename to src/main/target/TALONF7DJIHD/config.c
diff --git a/src/main/target/HENA_TALONF7DJIHD/target.c b/src/main/target/TALONF7DJIHD/target.c
similarity index 100%
rename from src/main/target/HENA_TALONF7DJIHD/target.c
rename to src/main/target/TALONF7DJIHD/target.c
diff --git a/src/main/target/HENA_TALONF7DJIHD/target.h b/src/main/target/TALONF7DJIHD/target.h
similarity index 100%
rename from src/main/target/HENA_TALONF7DJIHD/target.h
rename to src/main/target/TALONF7DJIHD/target.h
diff --git a/src/main/target/CRASHTESTF7/target.mk b/src/main/target/TALONF7DJIHD/target.mk
similarity index 100%
rename from src/main/target/CRASHTESTF7/target.mk
rename to src/main/target/TALONF7DJIHD/target.mk
diff --git a/src/main/target/TMTR_TMOTORF4/config.c b/src/main/target/TMOTORF4/config.c
similarity index 100%
rename from src/main/target/TMTR_TMOTORF4/config.c
rename to src/main/target/TMOTORF4/config.c
diff --git a/src/main/target/TMTR_TMOTORF4/target.c b/src/main/target/TMOTORF4/target.c
similarity index 100%
rename from src/main/target/TMTR_TMOTORF4/target.c
rename to src/main/target/TMOTORF4/target.c
diff --git a/src/main/target/TMTR_TMOTORF4/target.h b/src/main/target/TMOTORF4/target.h
similarity index 100%
rename from src/main/target/TMTR_TMOTORF4/target.h
rename to src/main/target/TMOTORF4/target.h
diff --git a/src/main/target/TMTR_TMOTORF4/target.mk b/src/main/target/TMOTORF4/target.mk
similarity index 100%
rename from src/main/target/TMTR_TMOTORF4/target.mk
rename to src/main/target/TMOTORF4/target.mk
diff --git a/src/main/target/TMTR_TMOTORF4HD/config.c b/src/main/target/TMOTORF4HD/config.c
similarity index 100%
rename from src/main/target/TMTR_TMOTORF4HD/config.c
rename to src/main/target/TMOTORF4HD/config.c
diff --git a/src/main/target/TMTR_TMOTORF4HD/target.c b/src/main/target/TMOTORF4HD/target.c
similarity index 100%
rename from src/main/target/TMTR_TMOTORF4HD/target.c
rename to src/main/target/TMOTORF4HD/target.c
diff --git a/src/main/target/TMTR_TMOTORF4HD/target.h b/src/main/target/TMOTORF4HD/target.h
similarity index 100%
rename from src/main/target/TMTR_TMOTORF4HD/target.h
rename to src/main/target/TMOTORF4HD/target.h
diff --git a/src/main/target/TMTR_TMOTORF4HD/target.mk b/src/main/target/TMOTORF4HD/target.mk
similarity index 100%
rename from src/main/target/TMTR_TMOTORF4HD/target.mk
rename to src/main/target/TMOTORF4HD/target.mk
diff --git a/src/main/target/TMOTORF7/target.c b/src/main/target/TMOTORF7/target.c
new file mode 100644
index 0000000000..ecaa7704b1
--- /dev/null
+++ b/src/main/target/TMOTORF7/target.c
@@ -0,0 +1,40 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3, CH1, PC6, TIM_USE_MOTOR, 0, 0),  // motor 1
+    DEF_TIM(TIM3, CH2, PC7, TIM_USE_MOTOR, 0, 0),  // motor 2
+    DEF_TIM(TIM8, CH2N, PB0, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0),  // motor 4
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MOTOR, 0, 0),  // motor 5
+    DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, 0, 0),  // motor 6
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 0, 0),  // motor 7
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0),  // motor 8
+
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_PPM, 0, 0),   // ppm
+    DEF_TIM(TIM11, CH1, PB9, TIM_USE_ANY, 0, 0),   // cam ctrl
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0),    // led
+};
diff --git a/src/main/target/TMTR_TMOTORF7/target.h b/src/main/target/TMOTORF7/target.h
similarity index 75%
rename from src/main/target/TMTR_TMOTORF7/target.h
rename to src/main/target/TMOTORF7/target.h
index 1353cbead9..20ce09a1c2 100644
--- a/src/main/target/TMTR_TMOTORF7/target.h
+++ b/src/main/target/TMOTORF7/target.h
@@ -20,9 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "TMR7"
-#define USBD_PRODUCT_STRING     "TMOTORF7"
 #define TARGET_MANUFACTURER_IDENTIFIER "TMTR"
+#define USBD_PRODUCT_STRING "TMOTORF7"
+
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
 
 #define LED0_PIN                PB2
 
@@ -35,7 +37,7 @@
 #define USE_PINIO
 #define PINIO1_PIN                PC14
 #define USE_PINIOBOX
-
+#define PINIO1_BOX 40
 
 #define ENABLE_DSHOT_DMAR       true
 
@@ -44,21 +46,44 @@
 #define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
+#define USE_ACC
+
 #define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6000
+#define USE_ACCGYRO_BMI270
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_MPU6500
+#define USE_ACC_SPI_MPU6500
+
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_INSTANCE    SPI1
-#define ACC_MPU6000_ALIGN           CW0_DEG
-#define GYRO_MPU6000_ALIGN           CW0_DEG
+#define ACC_MPU6000_ALIGN       CW0_DEG
+#define GYRO_MPU6000_ALIGN      CW0_DEG
 
-#define USE_ACC
-#define USE_ACC_SPI_MPU6000
-#define USE_ACC_SPI_MPU6500
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
+#define ACC_MPU6500_ALIGN       CW0_DEG
+#define GYRO_MPU6500_ALIGN      CW0_DEG
+
+#define USE_SPI_GYRO
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
+#define ACC_BMI270_ALIGN        CW0_DEG
+#define GYRO_BMI270_ALIGN       CW0_DEG
+
+#define ICM42688P_CS_PIN        PA4
+#define ICM42688P_SPI_INSTANCE  SPI1
+#define ACC_ICM42688P_ALIGN     CW0_DEG
+#define GYRO_ICM42688P_ALIGN    CW0_DEG
 
 #define USE_BARO
 #define USE_BARO_SPI_BMP280
 #define DEFAULT_BARO_SPI_BMP280
 #define BMP280_SPI_INSTANCE     SPI3
 #define BMP280_CS_PIN           PC15
+#define BARO_SPI_INSTANCE       SPI3
+#define BARO_CS_PIN             PC15
 
 #define USE_MAG
 #define USE_MAG_HMC5883
@@ -133,20 +158,21 @@
 #define VBAT_ADC_PIN            PC1
 #define CURRENT_METER_ADC_PIN   PC2
 #define RSSI_ADC_PIN            PC3
+#define ADC1_DMA_STREAM DMA2_Stream4 //# ADC 1: DMA2 Stream 4 Channel 0
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 
-#define SERIALRX_PROVIDER       SERIALRX_SBUS
+//#define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_UART5
-//#define SBUS_TELEMETRY_UART     SERIAL_PORT_USART1
+#define SBUS_TELEMETRY_UART     SERIAL_PORT_USART1 // soft UART??
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES        ( FEATURE_OSD  )
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
 
 #define TARGET_IO_PORTA         ( 0xffff )
 #define TARGET_IO_PORTB         ( 0xffff )
 #define TARGET_IO_PORTC         ( 0xffff )
 #define TARGET_IO_PORTD         ( 0x0004 )
 
-#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USABLE_TIMER_CHANNEL_COUNT 11
 #define USED_TIMERS              ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(11) )
diff --git a/src/main/target/TMTR_TMOTORF7/target.mk b/src/main/target/TMOTORF7/target.mk
similarity index 61%
rename from src/main/target/TMTR_TMOTORF7/target.mk
rename to src/main/target/TMOTORF7/target.mk
index 15077cfbd3..c023c93328 100644
--- a/src/main/target/TMTR_TMOTORF7/target.mk
+++ b/src/main/target/TMOTORF7/target.mk
@@ -1,10 +1,15 @@
 F7X2RE_TARGETS   += $(TARGET)
 FEATURES       = VCP ONBOARDFLASH
 TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
-            drivers/max7456.c
+            drivers/light_led.h \
+            drivers/light_ws2811strip.c \
+            drivers/pinio.c \
+            drivers/max7456.c \
diff --git a/src/main/target/TMTR_TMPACERF7/target.c b/src/main/target/TMPACERF7/target.c
similarity index 100%
rename from src/main/target/TMTR_TMPACERF7/target.c
rename to src/main/target/TMPACERF7/target.c
diff --git a/src/main/target/TMTR_TMPACERF7/target.h b/src/main/target/TMPACERF7/target.h
similarity index 100%
rename from src/main/target/TMTR_TMPACERF7/target.h
rename to src/main/target/TMPACERF7/target.h
diff --git a/src/main/target/TMTR_TMPACERF7/target.mk b/src/main/target/TMPACERF7/target.mk
similarity index 100%
rename from src/main/target/TMTR_TMPACERF7/target.mk
rename to src/main/target/TMPACERF7/target.mk
diff --git a/src/main/target/TMTR_TMVELOX/config.c b/src/main/target/TMVELOX/config.c
similarity index 100%
rename from src/main/target/TMTR_TMVELOX/config.c
rename to src/main/target/TMVELOX/config.c
diff --git a/src/main/target/TMTR_TMVELOX/target.c b/src/main/target/TMVELOX/target.c
similarity index 100%
rename from src/main/target/TMTR_TMVELOX/target.c
rename to src/main/target/TMVELOX/target.c
diff --git a/src/main/target/TMTR_TMVELOX/target.h b/src/main/target/TMVELOX/target.h
similarity index 100%
rename from src/main/target/TMTR_TMVELOX/target.h
rename to src/main/target/TMVELOX/target.h
diff --git a/src/main/target/TMTR_TMVELOX/target.mk b/src/main/target/TMVELOX/target.mk
similarity index 100%
rename from src/main/target/TMTR_TMVELOX/target.mk
rename to src/main/target/TMVELOX/target.mk
diff --git a/src/main/target/TUNERCF405/target.c b/src/main/target/TUNERCF405/target.c
new file mode 100644
index 0000000000..7621a11ebf
--- /dev/null
+++ b/src/main/target/TUNERCF405/target.c
@@ -0,0 +1,44 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: bacae61
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0), // motor 5
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), // motor 6
+    DEF_TIM(TIM3, CH2, PC7, TIM_USE_MOTOR, 0, 0), // motor 7
+    DEF_TIM(TIM3, CH1, PC6, TIM_USE_MOTOR, 0, 0), // motor 8
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_LED, 0, 0), // led
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/TUNERCF405/target.h b/src/main/target/TUNERCF405/target.h
new file mode 100644
index 0000000000..23595650b8
--- /dev/null
+++ b/src/main/target/TUNERCF405/target.h
@@ -0,0 +1,133 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ * This software 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 this software.
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: bacae61
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "TURC"
+#define USBD_PRODUCT_STRING "TUNERCF405"
+
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
+
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_GYRO
+#define USE_ACC
+#define USE_ACCGYRO_BMI270
+#define USE_MAX7456
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16    // 16MB Micron M25P16 and others (ref: https://github.com/betaflight/betaflight/blob/master/src/main/drivers/flash_m25p16.c)
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PB9
+#define LED_STRIP_PIN        PB1
+#define USE_BEEPER
+#define BEEPER_PIN           PB2
+#define BEEPER_INVERTED
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PB3
+#define SPI3_MISO_PIN        PB4
+#define SPI3_MOSI_PIN        PB5
+
+#define USE_EXTI // notice - REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+
+#define GYRO_1_ALIGN         CW180_DEG
+#define ACC_1_ALIGN          CW180_DEG
+#define GYRO_1_CS_PIN        PA4
+#define GYRO_1_EXTI_PIN      PC4
+#define GYRO_1_SPI_INSTANCE  SPI1
+#define MPU_INT_EXTI         PC4
+
+#define USE_SPI_GYRO
+#define ACC_BMI270_ALIGN     CW180_DEG
+#define GYRO_BMI270_ALIGN    CW180_DEG
+#define BMI270_CS_PIN        PA4
+#define BMI270_SPI_INSTANCE  SPI1
+
+#define USE_UART1
+#define UART1_TX_PIN         PA9
+#define UART1_RX_PIN         PA10
+#define USE_UART2
+#define UART2_TX_PIN         PA2
+#define UART2_RX_PIN         PA3
+#define USE_UART3
+#define UART3_TX_PIN         PC10
+#define UART3_RX_PIN         PC11
+#define USE_UART4
+#define UART4_TX_PIN         PA0
+#define UART4_RX_PIN         PA1
+#define USE_UART5
+#define UART5_TX_PIN         PC12
+#define UART5_RX_PIN         PD2
+#define SERIAL_PORT_COUNT 6
+
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE        (I2CDEV_2)
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+
+#define FLASH_CS_PIN         PB6
+#define FLASH_SPI_INSTANCE   SPI3
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define MAX7456_SPI_CS_PIN   PB12
+#define MAX7456_SPI_INSTANCE SPI2
+
+#define USE_ADC
+#define VBAT_ADC_PIN          PC0
+#define CURRENT_METER_ADC_PIN PC1
+#define ADC1_DMA_OPT        0
+#define ADC3_DMA_OPT        1
+#define ADC1_DMA_STREAM DMA2_Stream0 //# ADC 1: DMA2 Stream 0 Channel 0
+#define ADC3_DMA_STREAM DMA2_Stream1 //# ADC 3: DMA2 Stream 1 Channel 2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 453
+
+#define ENABLE_DSHOT_DMAR true
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/TUNERCF405/target.mk b/src/main/target/TUNERCF405/target.mk
new file mode 100644
index 0000000000..088b5e5562
--- /dev/null
+++ b/src/main/target/TUNERCF405/target.mk
@@ -0,0 +1,12 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_bmi270.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/max7456.c \
+
+# This resource file generated using https://github.com/nerdCopter/target-convert
+# Commit: bacae61
diff --git a/src/main/target/common_fc_pre.h b/src/main/target/common_fc_pre.h
index 2345ab8aba..1da8a2399c 100644
--- a/src/main/target/common_fc_pre.h
+++ b/src/main/target/common_fc_pre.h
@@ -170,6 +170,7 @@
 #define MSP_OVER_CLI
 #define USE_OSD
 #define USE_OSD_OVER_MSP_DISPLAYPORT
+#define USE_HDZERO_OSD
 #define USE_PINIO
 #define USE_PINIOBOX
 #define USE_RCDEVICE
@@ -228,3 +229,6 @@
 #define USE_CMS_FAILSAFE_MENU
 #define USE_CMS_GPS_RESCUE_MENU
 #endif
+
+// ICM42688P & BMI270 experimental define 
+#define USE_GYRO_DLPF_EXPERIMENTAL
diff --git a/src/main/telemetry/ghst.c b/src/main/telemetry/ghst.c
index b8dad14b4a..22b76681cb 100644
--- a/src/main/telemetry/ghst.c
+++ b/src/main/telemetry/ghst.c
@@ -82,9 +82,12 @@ static void ghstInitializeFrame(sbuf_t *dst)
     sbufWriteU8(dst, GHST_ADDR_RX);
 }
 
+//compiler reports unused
+/*
 STATIC_UNIT_TESTED uint8_t *getGhstFrame(){
     return ghstFrame;
 }
+*/
 
 static void ghstFinalize(sbuf_t *dst)
 {
diff --git a/src/main/vcp_hal/usbd_desc.c b/src/main/vcp_hal/usbd_desc.c
index ab850449dc..42a38d7b80 100644
--- a/src/main/vcp_hal/usbd_desc.c
+++ b/src/main/vcp_hal/usbd_desc.c
@@ -66,10 +66,10 @@
 #define USBD_MANUFACTURER_STRING      FC_FIRMWARE_NAME
 #define USBD_PRODUCT_HS_STRING        "STM32 Virtual ComPort in HS Mode"
 #define USBD_PRODUCT_FS_STRING        "STM32 Virtual ComPort in FS Mode"
-#define USBD_CONFIGURATION_HS_STRING  "VCP Config"
-#define USBD_INTERFACE_HS_STRING      "VCP Interface"
-#define USBD_CONFIGURATION_FS_STRING  "VCP Config"
-#define USBD_INTERFACE_FS_STRING      "VCP Interface"
+#define USBD_CONFIGURATION_HS_STRING  "VCP Config in HS Mode"
+#define USBD_INTERFACE_HS_STRING      "VCP Interface in HS Mode"
+#define USBD_CONFIGURATION_FS_STRING  "VCP Config in FS Mode"
+#define USBD_INTERFACE_FS_STRING      "VCP Interface in FS Mode"
 
 /* Private macro -------------------------------------------------------------*/
 /* Private function prototypes -----------------------------------------------*/
diff --git a/src/test/unit/rx_ibus_unittest.cc b/src/test/unit/rx_ibus_unittest.cc
index 5f1ca6571f..ffd3f6bf9f 100644
--- a/src/test/unit/rx_ibus_unittest.cc
+++ b/src/test/unit/rx_ibus_unittest.cc
@@ -90,7 +90,7 @@ static serialPortStub_t serialWriteStub;
 static bool portIsShared = false;
 
 bool isSerialPortShared(const serialPortConfig_t *portConfig,
-                        uint16_t functionMask,
+                        uint32_t functionMask,
                         serialPortFunction_e sharedWithFunction)
 {
     EXPECT_EQ(portConfig, findSerialPortConfig_stub_retval);
diff --git a/src/test/unit/sensor_gyro_unittest.cc b/src/test/unit/sensor_gyro_unittest.cc
index fc2dbc20e4..0ee0877b84 100644
--- a/src/test/unit/sensor_gyro_unittest.cc
+++ b/src/test/unit/sensor_gyro_unittest.cc
@@ -116,7 +116,9 @@ TEST(SensorGyro, Update)
     pgResetAll();
     // turn off filters
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 0;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 0;
+#endif
     gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
     gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
     gyroInit();
diff --git a/src/test/unit/telemetry_ibus_unittest.cc b/src/test/unit/telemetry_ibus_unittest.cc
index e1c093b0c5..1637180768 100644
--- a/src/test/unit/telemetry_ibus_unittest.cc
+++ b/src/test/unit/telemetry_ibus_unittest.cc
@@ -185,7 +185,7 @@ bool telemetryDetermineEnabledState(portSharing_e portSharing)
 
 
 bool isSerialPortShared(const serialPortConfig_t *portConfig,
-                        uint16_t functionMask,
+                        uint32_t functionMask,
                         serialPortFunction_e sharedWithFunction)
 {
     EXPECT_EQ(findSerialPortConfig_stub_retval, portConfig);