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 dd602fab3c..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 \
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_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/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/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/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/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 684b85e213..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);
@@ -2219,7 +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;
     }
@@ -2231,7 +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 9cedcd3a45..3b7d50938c 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -245,7 +245,7 @@ static const char * const lookupTableRxSpi[] = {
     "FLYSKY",
     "FLYSKY_2A",
     "KN",
-    "SFHSS", 
+    "SFHSS",
     "REDPINE"
 };
 #endif
@@ -368,7 +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
 
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/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/gyro.c b/src/main/sensors/gyro.c
index 9ec6a642fc..37bf1856cf 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -627,6 +627,8 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor) {
     case GYRO_MPU6000:
     case GYRO_MPU6500:
     case GYRO_MPU9250:
+    case GYRO_ICM42688P:
+    case GYRO_ICM42605:
         gyroSensor->gyroDev.gyroHasOverflowProtection = true;
         break;
     case GYRO_ICM20601:
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/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/config.c b/src/main/target/CRASHTESTF7/config.c
deleted file mode 100644
index b9c6b5aea5..0000000000
--- a/src/main/target/CRASHTESTF7/config.c
+++ /dev/null
@@ -1,36 +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/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <string.h>
-
-#include "platform.h"
-
-#include "pg/pinio.h"
-#include "pg/piniobox.h"
-
-#ifdef USE_TARGET_CONFIG
-
-
-void targetConfiguration(void) {
-    pinioBoxConfigMutable()->permanentId[0] = 40;
-}
-#endif
diff --git a/src/main/target/CRASHTESTF7/target.c b/src/main/target/CRASHTESTF7/target.c
deleted file mode 100644
index c2489acc41..0000000000
--- a/src/main/target/CRASHTESTF7/target.c
+++ /dev/null
@@ -1,44 +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/>.
- */
-#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] = {
-// 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(TIM3,  CH4, PB1, TIM_USE_MOTOR | TIM_USE_LED,  0, 0), // D1-ST2                   LED/MOTOR5
-
-
-};
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/CRASHTESTF7/target.mk b/src/main/target/CRASHTESTF7/target.mk
deleted file mode 100644
index 8626fa065d..0000000000
--- a/src/main/target/CRASHTESTF7/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/FLWO_FLYWOOF411FR/target.h b/src/main/target/FLWO_FLYWOOF411FR/target.h
index 42724e2881..3e95bdc8cf 100644
--- a/src/main/target/FLWO_FLYWOOF411FR/target.h
+++ b/src/main/target/FLWO_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/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/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/MATEKF405SE/target.h b/src/main/target/MATEKF405SE/target.h
index 006cbe36cd..5be9894d2b 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
@@ -88,7 +91,7 @@
 #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)
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/NBDHMBF41S/config.c b/src/main/target/NBDHMBF41S/config.c
index 92fe2d8b70..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;
@@ -113,13 +114,17 @@ void targetConfiguration(void)
     strcpy(pilotConfigMutable()->name, "Humming Bird");
 
     gyroConfigMutable()->gyro_lowpass_type = FILTER_PT1;
-    gyroConfigMutable()->gyro_lowpass_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 = 200;
+    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;
@@ -127,32 +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;
@@ -168,16 +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;
@@ -186,25 +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/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/SPBE_SPEEDYBEEF7V3/target.c b/src/main/target/SPBE_SPEEDYBEEF7V3/target.c
new file mode 100644
index 0000000000..2e21c085f3
--- /dev/null
+++ b/src/main/target/SPBE_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/SPBE_SPEEDYBEEF7V3/target.h b/src/main/target/SPBE_SPEEDYBEEF7V3/target.h
new file mode 100644
index 0000000000..8de845f81d
--- /dev/null
+++ b/src/main/target/SPBE_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/SPBE_SPEEDYBEEF7V3/target.mk b/src/main/target/SPBE_SPEEDYBEEF7V3/target.mk
new file mode 100644
index 0000000000..c97ce2f4ed
--- /dev/null
+++ b/src/main/target/SPBE_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/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/common_fc_pre.h b/src/main/target/common_fc_pre.h
index 4d378c10ac..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
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/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);