diff --git a/src/main/target/BETAFLIGHTF4/target.h b/src/main/target/BETAFLIGHTF4/target.h
index c3508959a8..2c46a633a5 100644
--- a/src/main/target/BETAFLIGHTF4/target.h
+++ b/src/main/target/BETAFLIGHTF4/target.h
@@ -20,8 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "BFF4"
-#define USBD_PRODUCT_STRING     "BetaFlightF4"
+#define TARGET_MANUFACTURER_IDENTIFIER "FPVM"
+#define USBD_PRODUCT_STRING "BETAFLIGHTF4"
+
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
 
 #define LED0_PIN                PB5
 
@@ -32,18 +35,24 @@
 // PC13 used as inverter select GPIO for UART2
 #define INVERTER_PIN_UART2      PC13
 
-#define MPU6000_CS_PIN          PA4
-#define MPU6000_SPI_INSTANCE    SPI1
-
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
-#define GYRO_MPU6000_ALIGN      CW180_DEG
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
-#define ACC_MPU6000_ALIGN       CW180_DEG
 
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+
+#define ACC_MPU6000_ALIGN       CW180_DEG
+#define GYRO_MPU6000_ALIGN      CW180_DEG
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_INSTANCE    SPI1
 
+#define ACC_BMI270_ALIGN        CW180_DEG
+#define GYRO_BMI270_ALIGN       CW180_DEG
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
 
 // MPU6000 interrupts
 #define USE_EXTI
@@ -122,6 +131,9 @@
 #define I2C2_SCL                NONE // PB10, UART3_TX
 #define I2C2_SDA                NONE // PB11, UART3_RX
 #define I2C_DEVICE              (I2CDEV_2)
+#define MAG_I2C_INSTANCE        (I2CDEV_2)
+#define BARO_I2C_INSTANCE       (I2CDEV_2)
+#define DASHBOARD_I2C_INSTANCE  (I2CDEV_2)
 
 #define USE_ADC
 #define CURRENT_METER_ADC_PIN   PC1
@@ -133,7 +145,7 @@
 #define SBUS_TELEMETRY_UART     SERIAL_PORT_USART2
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-#define DEFAULT_FEATURES        ( FEATURE_TELEMETRY | FEATURE_OSD )
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
 
 #define TARGET_IO_PORTA (0xffff & ~(BIT(14)|BIT(13)))
 #define TARGET_IO_PORTB (0xffff & ~(BIT(2)))
diff --git a/src/main/target/BETAFLIGHTF4/target.mk b/src/main/target/BETAFLIGHTF4/target.mk
index ca33021603..cd44e934c4 100644
--- a/src/main/target/BETAFLIGHTF4/target.mk
+++ b/src/main/target/BETAFLIGHTF4/target.mk
@@ -5,6 +5,7 @@ FEATURES       += VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
diff --git a/src/main/target/MATEKF411RX/target.h b/src/main/target/MATEKF411RX/target.h
index 25b100780c..832ad67e72 100644
--- a/src/main/target/MATEKF411RX/target.h
+++ b/src/main/target/MATEKF411RX/target.h
@@ -21,19 +21,22 @@
 #pragma once
 
 #if defined(CRAZYBEEF4FR)
-#define TARGET_BOARD_IDENTIFIER "C4FR"
-#define USBD_PRODUCT_STRING     "CrazyBee F4 FR"
+#define TARGET_MANUFACTURER_IDENTIFIER "HAMO"
+#define USBD_PRODUCT_STRING            "CRAZYBEEF4FR"
 #elif defined(CRAZYBEEF4FS)
-#define TARGET_BOARD_IDENTIFIER "C4FS"
-#define USBD_PRODUCT_STRING     "CrazyBee F4 FS"
+#define TARGET_MANUFACTURER_IDENTIFIER "HAMO"
+#define USBD_PRODUCT_STRING            "CRAZYBEEF4FS"
 #elif defined(CRAZYBEEF4DX)
-#define TARGET_BOARD_IDENTIFIER "C4DX"
-#define USBD_PRODUCT_STRING     "CrazyBee F4 DX"
+#define TARGET_MANUFACTURER_IDENTIFIER "HAMO"
+#define USBD_PRODUCT_STRING            "CRAZYBEEF4DX"
 #else
-#define TARGET_BOARD_IDENTIFIER "M41R"
-#define USBD_PRODUCT_STRING     "MATEKF411RX"
+#define TARGET_MANUFACTURER_IDENTIFIER "MTKS"
+#define USBD_PRODUCT_STRING            "MATEKF411RX"
 #endif
 
+#define FC_TARGET_MCU     STM32F411     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S411"  // generic ID
+
 #define LED0_PIN                PC13
 
 #define USE_BEEPER
@@ -43,6 +46,16 @@
 #define USE_SPI
 
 // *************** SPI1 Gyro & ACC **********************
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_ICM20689
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_ICM20689
+#define USE_ACC_SPI_ICM42688P
+#define USE_ACCGYRO_BMI270
+
 #define USE_SPI_DEVICE_1
 #define SPI1_SCK_PIN            PA5
 #define SPI1_MISO_PIN           PA6
@@ -57,27 +70,36 @@
 #define MPU_INT_EXTI            PA1
 #define USE_MPU_DATA_READY_SIGNAL
 
-#define USE_GYRO
-#define USE_GYRO_SPI_MPU6000
-#define USE_GYRO_SPI_ICM20689
+#define ICM42688P_CS_PIN         PA4
+#define ICM42688P_SPI_INSTANCE   SPI1
+
+#define BMI270_CS_PIN            PA4
+#define BMI270_SPI_INSTANCE      SPI1
 
 #if defined(CRAZYBEEF4FS) || defined(CRAZYBEEF4FR) || defined(CRAZYBEEF4DX)
-#define GYRO_MPU6000_ALIGN      CW90_DEG
+#define GYRO_MPU6000_ALIGN       CW90_DEG
 #define GYRO_ICM20689_ALIGN      CW90_DEG
+#define GYRO_ICM42688P_ALIGN     CW90_DEG
+#define GYRO_BMI270_ALIGN        CW90_DEG
 #else
-#define GYRO_MPU6000_ALIGN      CW180_DEG
+#define GYRO_MPU6000_ALIGN       CW180_DEG
 #define GYRO_ICM20689_ALIGN      CW180_DEG
+#define GYRO_ICM42688P_ALIGN     CW180_DEG
+#define GYRO_BMI270_ALIGN        CW180_DEG
 #endif
-#define USE_ACC
-#define USE_ACC_SPI_MPU6000
-#define USE_ACC_SPI_ICM20689
+
 #if defined(CRAZYBEEF4FS) || defined(CRAZYBEEF4FR) || defined(CRAZYBEEF4DX)
-#define ACC_MPU6000_ALIGN       CW90_DEG
+#define ACC_MPU6000_ALIGN        CW90_DEG
 #define ACC_ICM20689_ALIGN       CW90_DEG
+#define ACC_ICM42688P_ALIGN      CW90_DEG
+#define ACC_BMI270_ALIGN         CW90_DEG
 #else
-#define ACC_MPU6000_ALIGN       CW180_DEG
+#define ACC_MPU6000_ALIGN        CW180_DEG
 #define ACC_ICM20689_ALIGN       CW180_DEG
+#define ACC_ICM42688P_ALIGN      CW180_DEG
+#define ACC_BMI270_ALIGN         CW180_DEG
 #endif
+
 // *************** SPI2 OSD *****************************
 #define USE_SPI_DEVICE_2
 #define SPI2_SCK_PIN            PB13
diff --git a/src/main/target/MATEKF411RX/target.mk b/src/main/target/MATEKF411RX/target.mk
index df79c2e027..e7b567997d 100644
--- a/src/main/target/MATEKF411RX/target.mk
+++ b/src/main/target/MATEKF411RX/target.mk
@@ -4,14 +4,16 @@ FEATURES        += VCP SDCARD
 
 TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/max7456.c \
             drivers/rx/rx_cc2500.c \
-						rx/cc2500_common.c \
+            rx/cc2500_common.c \
             rx/cc2500_frsky_shared.c \
             rx/cc2500_frsky_d.c \
-						rx/cc2500_frsky_x.c \
-						rx/cc2500_redpine.c \
+            rx/cc2500_frsky_x.c \
+            rx/cc2500_redpine.c \
             rx/cc2500_sfhss.c
 ifeq ($(TARGET), CRAZYBEEF4FS)
 TARGET_SRC += \