diff --git a/Makefile b/Makefile
index 3a112775b..3d3b7d277 100644
--- a/Makefile
+++ b/Makefile
@@ -47,6 +47,7 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   boardalignment.c \
 		   buzzer.c \
 		   config.c \
+		   failsafe.c \
 		   main.c \
 		   mw.c \
 		   printf.c \
@@ -68,6 +69,8 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   flight_imu.c \
 		   flight_mixer.c \
 		   gps_common.c \
+		   runtime_config.c \
+		   rx_common.c \
 		   rx_sbus.c \
 		   rx_sumd.c \
 		   rx_spektrum.c \
diff --git a/src/buzzer.c b/src/buzzer.c
index c13130743..2de97b262 100644
--- a/src/buzzer.c
+++ b/src/buzzer.c
@@ -1,16 +1,37 @@
-#include "board.h"
-#include "mw.h"
+#include "stdbool.h"
+#include "stdint.h"
+
+#include "platform.h"
+#include "drivers/sound_beeper.h"
+#include "drivers/system_common.h"
+#include "drivers/serial_common.h" // FIXME this file should not have a dependency on serial ports, see core_t from runtime_config.h
+#include "failsafe.h"
+#include "sensors_common.h"
+#include "runtime_config.h"
+#include "config.h"
+
+#include "buzzer.h"
+
+#define LONG_PAUSE_DELAY 50
 
 static uint8_t buzzerIsOn = 0, beepDone = 0;
 static uint32_t buzzerLastToggleTime;
 static void beep(uint16_t pulse);
 static void beep_code(char first, char second, char third, char pause);
 
+uint8_t toggleBeep = 0;
+
+typedef enum {
+    FAILSAFE_IDLE = 0,
+    FAILSAFE_LANDING,
+    FAILSAFE_FIND_ME
+} failsafeBuzzerWarnings_e;
+
 void buzzer(bool warn_vbat)
 {
     static uint8_t beeperOnBox;
     static uint8_t warn_noGPSfix = 0;
-    static uint8_t warn_failsafe = 0;
+    static failsafeBuzzerWarnings_e warn_failsafe = FAILSAFE_IDLE;
     static uint8_t warn_runtime = 0;
 
     //=====================  BeeperOn via rcOptions =====================
@@ -21,15 +42,21 @@ void buzzer(bool warn_vbat)
     }
     //===================== Beeps for failsafe =====================
     if (feature(FEATURE_FAILSAFE)) {
-        if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) {
-            warn_failsafe = 1;      //set failsafe warning level to 1 while landing
-            if (failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay))
-                warn_failsafe = 2;  //start "find me" signal after landing
+        if (shouldFailsafeForceLanding(f.ARMED)) {
+            warn_failsafe = FAILSAFE_LANDING;
+
+            if (shouldFailsafeHaveCausedLandingByNow()) {
+                warn_failsafe = FAILSAFE_FIND_ME;
+            }
+        }
+
+        if (hasFailsafeTimerElapsed() && !f.ARMED) {
+            warn_failsafe = FAILSAFE_FIND_ME;
+        }
+
+        if (isFailsafeIdle()) {
+            warn_failsafe = FAILSAFE_IDLE;      // turn off alarm if TX is okay
         }
-        if (failsafeCnt > (5 * cfg.failsafe_delay) && !f.ARMED)
-            warn_failsafe = 2;      // tx turned off while motors are off: start "find me" signal
-        if (failsafeCnt == 0)
-            warn_failsafe = 0;      // turn off alarm if TX is okay
     }
 
     //===================== GPS fix notification handling =====================
@@ -88,7 +115,7 @@ void beep_code(char first, char second, char third, char pause)
             Duration = 0;
             break;
         default:
-            Duration = 50;
+            Duration = LONG_PAUSE_DELAY;
             break;
     }
 
@@ -109,7 +136,7 @@ void beep_code(char first, char second, char third, char pause)
 
 static void beep(uint16_t pulse)
 {
-    if (!buzzerIsOn && (millis() >= (buzzerLastToggleTime + 50))) {         // Buzzer is off and long pause time is up -> turn it on
+    if (!buzzerIsOn && (millis() >= (buzzerLastToggleTime + LONG_PAUSE_DELAY))) {         // Buzzer is off and long pause time is up -> turn it on
         buzzerIsOn = 1;
         BEEP_ON;
         buzzerLastToggleTime = millis();      // save the time the buzer turned on
diff --git a/src/buzzer.h b/src/buzzer.h
new file mode 100644
index 000000000..6218b56fb
--- /dev/null
+++ b/src/buzzer.h
@@ -0,0 +1,3 @@
+#pragma once
+
+void buzzer(bool warn_vbat);
diff --git a/src/config.c b/src/config.c
index d747eba19..5116ee3e8 100755
--- a/src/config.c
+++ b/src/config.c
@@ -1,6 +1,6 @@
 #include "board.h"
+#include "flight_common.h"
 #include "mw.h"
-#include "config.h"
 
 #include <string.h>
 
@@ -8,6 +8,9 @@
 #include "telemetry_common.h"
 #include "gps_common.h"
 
+#include "config_storage.h"
+#include "config.h"
+
 
 #ifndef FLASH_PAGE_COUNT
 #define FLASH_PAGE_COUNT 128
@@ -21,7 +24,6 @@ config_t cfg;   // profile config struct
 const char rcChannelLetters[] = "AERT1234";
 
 static const uint8_t EEPROM_CONF_VERSION = 62;
-static uint32_t enabledSensors = 0;
 static void resetConf(void);
 
 void parseRcChannels(const char *input)
@@ -31,7 +33,7 @@ void parseRcChannels(const char *input)
     for (c = input; *c; c++) {
         s = strchr(rcChannelLetters, *c);
         if (s)
-            mcfg.rcmap[s - rcChannelLetters] = c - input;
+            mcfg.rxConfig.rcmap[s - rcChannelLetters] = c - input;
     }
 }
 
@@ -198,13 +200,13 @@ static void resetConf(void)
     mcfg.batteryConfig.vbatmaxcellvoltage = 43;
     mcfg.batteryConfig.vbatmincellvoltage = 33;
     mcfg.power_adc_channel = 0;
-    mcfg.serialrx_type = 0;
     mcfg.telemetry_provider = TELEMETRY_PROVIDER_FRSKY;
     mcfg.telemetry_port = TELEMETRY_PORT_UART;
     mcfg.telemetry_switch = 0;
-    mcfg.midrc = 1500;
-    mcfg.mincheck = 1100;
-    mcfg.maxcheck = 1900;
+    mcfg.rxConfig.serialrx_type = 0;
+    mcfg.rxConfig.midrc = 1500;
+    mcfg.rxConfig.mincheck = 1100;
+    mcfg.rxConfig.maxcheck = 1900;
     mcfg.retarded_arm = 0;       // disable arm/disarm on roll left/right
     mcfg.flaps_speed = 0;
     mcfg.fixedwing_althold_dir = 1;
@@ -330,25 +332,6 @@ static void resetConf(void)
         memcpy(&mcfg.profile[i], &cfg, sizeof(config_t));
 }
 
-bool sensors(uint32_t mask)
-{
-    return enabledSensors & mask;
-}
-
-void sensorsSet(uint32_t mask)
-{
-    enabledSensors |= mask;
-}
-
-void sensorsClear(uint32_t mask)
-{
-    enabledSensors &= ~(mask);
-}
-
-uint32_t sensorsMask(void)
-{
-    return enabledSensors;
-}
 
 bool feature(uint32_t mask)
 {
@@ -374,3 +357,4 @@ uint32_t featureMask(void)
 {
     return mcfg.enabledFeatures;
 }
+
diff --git a/src/config.h b/src/config.h
index 481074630..3a92d9af1 100644
--- a/src/config.h
+++ b/src/config.h
@@ -17,171 +17,27 @@ enum {
     PID_ITEM_COUNT
 };
 
-enum {
-    BOXARM = 0,
-    BOXANGLE,
-    BOXHORIZON,
-    BOXBARO,
-    BOXVARIO,
-    BOXMAG,
-    BOXHEADFREE,
-    BOXHEADADJ,
-    BOXCAMSTAB,
-    BOXCAMTRIG,
-    BOXGPSHOME,
-    BOXGPSHOLD,
-    BOXPASSTHRU,
-    BOXBEEPERON,
-    BOXLEDMAX,
-    BOXLEDLOW,
-    BOXLLIGHTS,
-    BOXCALIB,
-    BOXGOV,
-    BOXOSD,
-    BOXTELEMETRY,
-    CHECKBOX_ITEM_COUNT
-};
+typedef enum {
+    FEATURE_PPM = 1 << 0,
+    FEATURE_VBAT = 1 << 1,
+    FEATURE_INFLIGHT_ACC_CAL = 1 << 2,
+    FEATURE_SERIALRX = 1 << 3,
+    FEATURE_MOTOR_STOP = 1 << 4,
+    FEATURE_SERVO_TILT = 1 << 5,
+    FEATURE_SOFTSERIAL = 1 << 6,
+    FEATURE_LED_RING = 1 << 7,
+    FEATURE_GPS = 1 << 8,
+    FEATURE_FAILSAFE = 1 << 9,
+    FEATURE_SONAR = 1 << 10,
+    FEATURE_TELEMETRY = 1 << 11,
+    FEATURE_POWERMETER = 1 << 12,
+    FEATURE_VARIO = 1 << 13,
+    FEATURE_3D = 1 << 14,
+} AvailableFeatures;
 
-
-typedef struct config_t {
-    uint8_t pidController;                  // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671
-    uint8_t P8[PID_ITEM_COUNT];
-    uint8_t I8[PID_ITEM_COUNT];
-    uint8_t D8[PID_ITEM_COUNT];
-
-    uint8_t rcRate8;
-    uint8_t rcExpo8;
-    uint8_t thrMid8;
-    uint8_t thrExpo8;
-
-    uint8_t rollPitchRate;
-    uint8_t yawRate;
-
-    uint8_t dynThrPID;
-    uint16_t tpaBreakPoint;                  // Breakpoint where TPA is activated
-    int16_t mag_declination;                // Get your magnetic decliniation from here : http://magnetic-declination.com/
-    int16_t angleTrim[2];                   // accelerometer trim
-
-    // sensor-related stuff
-    uint8_t acc_lpf_factor;                 // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
-    uint8_t accz_deadband;                  // set the acc deadband for z-Axis, this ignores small accelerations
-    uint8_t accxy_deadband;                 // set the acc deadband for xy-Axis
-    uint8_t baro_tab_size;                  // size of baro filter array
-    float baro_noise_lpf;                   // additional LPF to reduce baro noise
-    float baro_cf_vel;                      // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)
-    float baro_cf_alt;                      // apply CF to use ACC for height estimation
-    uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
-
-    uint16_t activate[CHECKBOX_ITEM_COUNT]; // activate switches
-
-    // Radio/ESC-related configuration
-    uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
-    uint8_t yawdeadband;                    // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
-    uint8_t alt_hold_throttle_neutral;      // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
-    uint8_t alt_hold_fast_change;           // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_throttle_neutral; when enabled, altitude changes slowly proportional to stick movement
-    uint16_t throttle_correction_angle;     // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
-    uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.
-
-    // Servo-related stuff
-    servoParam_t servoConf[MAX_SUPPORTED_SERVOS]; // servo configuration
-
-    // Failsafe related configuration
-    uint8_t failsafe_delay;                 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
-    uint8_t failsafe_off_delay;             // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
-    uint16_t failsafe_throttle;             // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
-    uint16_t failsafe_detect_threshold;     // Update controls channel only if pulse is above failsafe_detect_threshold. below this trigger failsafe.
-
-    // mixer-related configuration
-    int8_t yaw_direction;
-    uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
-
-    // gimbal-related configuration
-    uint8_t gimbal_flags;                   // in servotilt mode, various things that affect stuff
-
-    // gps-related stuff
-    uint16_t gps_wp_radius;                 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
-    uint8_t gps_lpf;                        // Low pass filter cut frequency for derivative calculation (default 20Hz)
-    uint8_t nav_slew_rate;                  // Adds a rate control to nav output, will smoothen out nav angle spikes
-    uint8_t nav_controls_heading;           // copter faces toward the navigation point, maghold must be enabled for it
-    uint16_t nav_speed_min;                 // cm/sec
-    uint16_t nav_speed_max;                 // cm/sec
-    uint16_t ap_mode;                       // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
-} config_t;
-
-// System-wide
-typedef struct master_t {
-    uint8_t version;
-    uint16_t size;
-    uint8_t magic_be;                       // magic number, should be 0xBE
-
-    uint8_t mixerConfiguration;
-    uint32_t enabledFeatures;
-    uint16_t looptime;                      // imu loop time in us
-    motorMixer_t customMixer[MAX_SUPPORTED_MOTORS]; // custom mixtable
-
-    // motor/esc/servo related stuff
-    uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
-    uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
-    uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
-    uint16_t deadband3d_low;                // min 3d value
-    uint16_t deadband3d_high;               // max 3d value
-    uint16_t neutral3d;                     // center 3d value
-    uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
-    uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
-    uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
-
-    // global sensor-related stuff
-    sensor_align_e gyro_align;              // gyro alignment
-    sensor_align_e acc_align;               // acc alignment
-    sensor_align_e mag_align;               // mag alignment
-    boardAlignment_t boardAlignment;
-    int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
-    uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
-    uint16_t gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
-    uint16_t gyro_cmpf_factor;              // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
-    uint16_t gyro_cmpfm_factor;             // Set the Gyro Weight for Gyro/Magnetometer complementary filter. Increasing this value would reduce and delay Magnetometer influence on the output of the filter
-    uint8_t moron_threshold;                // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
-    uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
-    int16_t accZero[3];
-    int16_t magZero[3];
-
-    batteryConfig_t batteryConfig;
-
-    uint8_t power_adc_channel;              // which channel is used for current sensor. Right now, only 2 places are supported: RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9)
-
-    // Radio/ESC-related configuration
-    uint8_t rcmap[8];                       // mapping of radio channels to internal RPYTA+ order
-    uint8_t serialrx_type;                  // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_SERIALRX first.
-    uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
-    uint16_t mincheck;                      // minimum rc end
-    uint16_t maxcheck;                      // maximum rc end
-    uint8_t retarded_arm;                   // allow disarsm/arm on throttle down + roll left/right
-    uint8_t flaps_speed;                    // airplane mode flaps, 0 = no flaps, > 0 = flap speed, larger = faster
-    int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
-
-    uint8_t rssi_aux_channel;               // Read rssi from channel. 1+ = AUX1+, 0 to disable.
-
-    // gps-related stuff
-    uint8_t gps_type;                       // See GPSHardware enum.
-    int8_t gps_baudrate;                    // See GPSBaudRates enum.
-
-    uint32_t serial_baudrate;
-
-    uint32_t softserial_baudrate;             // shared by both soft serial ports
-    uint8_t softserial_1_inverted;            // use inverted softserial input and output signals on port 1
-    uint8_t softserial_2_inverted;            // use inverted softserial input and output signals on port 2
-
-    uint8_t telemetry_provider;             // See TelemetryProvider enum.
-    uint8_t telemetry_port;                 // See TelemetryPort enum.
-    uint8_t telemetry_switch;               // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
-    config_t profile[3];                    // 3 separate profiles
-    uint8_t current_profile;                // currently loaded profile
-    uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
-
-    uint8_t magic_ef;                       // magic number, should be 0xEF
-    uint8_t chk;                            // XOR checksum
-} master_t;
-
-extern master_t mcfg;
-extern config_t cfg;
+bool feature(uint32_t mask);
+void featureSet(uint32_t mask);
+void featureClear(uint32_t mask);
+void featureClearAll(void);
+uint32_t featureMask(void);
 
diff --git a/src/config_storage.h b/src/config_storage.h
new file mode 100644
index 000000000..f610ba240
--- /dev/null
+++ b/src/config_storage.h
@@ -0,0 +1,139 @@
+#pragma once
+
+typedef struct config_t {
+    uint8_t pidController;                  // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671
+    uint8_t P8[PID_ITEM_COUNT];
+    uint8_t I8[PID_ITEM_COUNT];
+    uint8_t D8[PID_ITEM_COUNT];
+
+    uint8_t rcRate8;
+    uint8_t rcExpo8;
+    uint8_t thrMid8;
+    uint8_t thrExpo8;
+
+    uint8_t rollPitchRate;
+    uint8_t yawRate;
+
+    uint8_t dynThrPID;
+    uint16_t tpaBreakPoint;                  // Breakpoint where TPA is activated
+    int16_t mag_declination;                // Get your magnetic decliniation from here : http://magnetic-declination.com/
+    int16_t angleTrim[ANGLE_INDEX_COUNT];   // accelerometer trim
+
+    // sensor-related stuff
+    uint8_t acc_lpf_factor;                 // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
+    uint8_t accz_deadband;                  // set the acc deadband for z-Axis, this ignores small accelerations
+    uint8_t accxy_deadband;                 // set the acc deadband for xy-Axis
+    uint8_t baro_tab_size;                  // size of baro filter array
+    float baro_noise_lpf;                   // additional LPF to reduce baro noise
+    float baro_cf_vel;                      // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)
+    float baro_cf_alt;                      // apply CF to use ACC for height estimation
+    uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
+
+    uint16_t activate[CHECKBOX_ITEM_COUNT]; // activate switches
+
+    // Radio/ESC-related configuration
+    uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
+    uint8_t yawdeadband;                    // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
+    uint8_t alt_hold_throttle_neutral;      // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
+    uint8_t alt_hold_fast_change;           // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_throttle_neutral; when enabled, altitude changes slowly proportional to stick movement
+    uint16_t throttle_correction_angle;     // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
+    uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.
+
+    // Servo-related stuff
+    servoParam_t servoConf[MAX_SUPPORTED_SERVOS]; // servo configuration
+
+    // Failsafe related configuration
+    uint8_t failsafe_delay;                 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
+    uint8_t failsafe_off_delay;             // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
+    uint16_t failsafe_throttle;             // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
+    uint16_t failsafe_detect_threshold;     // Update controls channel only if pulse is above failsafe_detect_threshold. below this trigger failsafe.
+
+    // mixer-related configuration
+    int8_t yaw_direction;
+    uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
+
+    // gimbal-related configuration
+    uint8_t gimbal_flags;                   // in servotilt mode, various things that affect stuff
+
+    // gps-related stuff
+    uint16_t gps_wp_radius;                 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
+    uint8_t gps_lpf;                        // Low pass filter cut frequency for derivative calculation (default 20Hz)
+    uint8_t nav_slew_rate;                  // Adds a rate control to nav output, will smoothen out nav angle spikes
+    uint8_t nav_controls_heading;           // copter faces toward the navigation point, maghold must be enabled for it
+    uint16_t nav_speed_min;                 // cm/sec
+    uint16_t nav_speed_max;                 // cm/sec
+    uint16_t ap_mode;                       // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
+} config_t;
+
+
+// System-wide
+typedef struct master_t {
+    uint8_t version;
+    uint16_t size;
+    uint8_t magic_be;                       // magic number, should be 0xBE
+
+    uint8_t mixerConfiguration;
+    uint32_t enabledFeatures;
+    uint16_t looptime;                      // imu loop time in us
+    motorMixer_t customMixer[MAX_SUPPORTED_MOTORS]; // custom mixtable
+
+    // motor/esc/servo related stuff
+    uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
+    uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
+    uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
+    uint16_t deadband3d_low;                // min 3d value
+    uint16_t deadband3d_high;               // max 3d value
+    uint16_t neutral3d;                     // center 3d value
+    uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
+    uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
+    uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
+
+    // global sensor-related stuff
+    sensor_align_e gyro_align;              // gyro alignment
+    sensor_align_e acc_align;               // acc alignment
+    sensor_align_e mag_align;               // mag alignment
+    boardAlignment_t boardAlignment;
+    int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
+    uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
+    uint16_t gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
+    uint16_t gyro_cmpf_factor;              // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
+    uint16_t gyro_cmpfm_factor;             // Set the Gyro Weight for Gyro/Magnetometer complementary filter. Increasing this value would reduce and delay Magnetometer influence on the output of the filter
+    uint8_t moron_threshold;                // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
+    uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
+    int16_t accZero[3];
+    int16_t magZero[3];
+
+    batteryConfig_t batteryConfig;
+
+    uint8_t power_adc_channel;              // which channel is used for current sensor. Right now, only 2 places are supported: RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9)
+
+    rxConfig_t rxConfig;
+    uint8_t retarded_arm;                   // allow disarsm/arm on throttle down + roll left/right
+    uint8_t flaps_speed;                    // airplane mode flaps, 0 = no flaps, > 0 = flap speed, larger = faster
+    int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
+
+    uint8_t rssi_aux_channel;               // Read rssi from channel. 1+ = AUX1+, 0 to disable.
+
+    // gps-related stuff
+    uint8_t gps_type;                       // See GPSHardware enum.
+    int8_t gps_baudrate;                    // See GPSBaudRates enum.
+
+    uint32_t serial_baudrate;
+
+    uint32_t softserial_baudrate;             // shared by both soft serial ports
+    uint8_t softserial_1_inverted;            // use inverted softserial input and output signals on port 1
+    uint8_t softserial_2_inverted;            // use inverted softserial input and output signals on port 2
+
+    uint8_t telemetry_provider;             // See TelemetryProvider enum.
+    uint8_t telemetry_port;                 // See TelemetryPort enum.
+    uint8_t telemetry_switch;               // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
+    config_t profile[3];                    // 3 separate profiles
+    uint8_t current_profile;                // currently loaded profile
+    uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
+
+    uint8_t magic_ef;                       // magic number, should be 0xEF
+    uint8_t chk;                            // XOR checksum
+} master_t;
+
+extern master_t mcfg;
+extern config_t cfg;
diff --git a/src/drivers/pwm_common.c b/src/drivers/pwm_common.c
index 0e8232963..f2ba17f99 100755
--- a/src/drivers/pwm_common.c
+++ b/src/drivers/pwm_common.c
@@ -10,6 +10,8 @@
 #include "timer_common.h"
 #include "pwm_common.h"
 
+#include "failsafe.h" // FIXME for external global variables
+
 /*
     Configuration maps:
 
@@ -72,8 +74,6 @@ static uint8_t numMotors = 0;
 static uint8_t numServos = 0;
 static uint8_t  numInputs = 0;
 static uint16_t failsafeThreshold = 985;
-// external vars (ugh)
-extern int16_t failsafeCnt;
 
 static const uint8_t multiPPM[] = {
     PWM1 | TYPE_IP,     // PPM input
diff --git a/src/failsafe.c b/src/failsafe.c
new file mode 100644
index 000000000..bc0955b8f
--- /dev/null
+++ b/src/failsafe.c
@@ -0,0 +1,73 @@
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "rx_common.h"
+
+
+#include "drivers/serial_common.h" // FIXME this file should not have a dependency on serial ports, see core_t from runtime_config.h
+#include "flight_mixer.h" // FIXME this file should not have a dependency on the flight mixer, see config_t, servoParam_t, etc from config_storage.h
+#include "axis.h" // FIXME this file should not have a dependency axis
+#include "flight_common.h" // FIXME this file should not have a dependency on the flight common, see config_t from config_storage.h
+#include "sensors_common.h" // FIXME this file should not have a dependency on the sensors, see sensor_align_e from config_storage.h
+#include "boardalignment.h" // FIXME this file should not have a dependency on board alignment
+#include "battery.h" // FIXME this file should not have a dependency on battery, see batteryConfig_t from config_storage.h
+
+#include "runtime_config.h"
+#include "config.h"
+#include "config_storage.h"
+
+int16_t failsafeCnt = 0;
+int16_t failsafeEvents = 0;
+
+bool isFailsafeIdle(void)
+{
+    return failsafeCnt == 0;
+}
+
+bool hasFailsafeTimerElapsed(void)
+{
+    return failsafeCnt > (5 * cfg.failsafe_delay);
+}
+
+bool shouldFailsafeForceLanding(bool armed)
+{
+    return hasFailsafeTimerElapsed() && armed;
+}
+
+bool shouldFailsafeHaveCausedLandingByNow(void)
+{
+    return failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay);
+}
+
+void failsafeAvoidRearm(void)
+{
+    mwDisarm();             // This will prevent the automatic rearm if failsafe shuts it down and prevents
+    f.OK_TO_ARM = 0;        // to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
+}
+
+
+void updateFailsafeState(void)
+{
+    uint8_t i;
+
+    if (!feature(FEATURE_FAILSAFE)) {
+        return;
+    }
+
+    if (hasFailsafeTimerElapsed()) {
+
+        if (shouldFailsafeForceLanding(f.ARMED)) { // Stabilize, and set Throttle to specified level
+            for (i = 0; i < 3; i++) {
+                rcData[i] = mcfg.rxConfig.midrc;      // after specified guard time after RC signal is lost (in 0.1sec)
+            }
+            rcData[THROTTLE] = cfg.failsafe_throttle;
+            failsafeEvents++;
+        }
+
+        if (shouldFailsafeHaveCausedLandingByNow() || !f.ARMED) {
+            failsafeAvoidRearm();
+        }
+    }
+    failsafeCnt++;
+}
+
diff --git a/src/failsafe.h b/src/failsafe.h
new file mode 100644
index 000000000..d7deea42a
--- /dev/null
+++ b/src/failsafe.h
@@ -0,0 +1,10 @@
+#pragma once
+
+extern int16_t failsafeCnt;
+extern int16_t failsafeEvents;
+
+bool isFailsafeIdle(void);
+bool hasFailsafeTimerElapsed(void);
+bool shouldFailsafeForceLanding(bool armed);
+bool shouldFailsafeHaveCausedLandingByNow(void);
+void updateFailsafeState(void);
diff --git a/src/flight_imu.c b/src/flight_imu.c
index f41d280bb..45098d531 100644
--- a/src/flight_imu.c
+++ b/src/flight_imu.c
@@ -1,10 +1,10 @@
 #include "board.h"
+#include "flight_common.h"
 #include "mw.h"
 
 #include "maths.h"
 
 #include "sensors_compass.h"
-#include "flight_common.h"
 
 int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
 int32_t accSum[XYZ_AXIS_COUNT];
@@ -167,9 +167,9 @@ void rotateAnglesV(struct fp_vector *v, fp_angles_t *delta)
 // deprecated - it uses legacy indices for ROLL/PITCH/YAW, see rc_alias_e - use rotateAnglesV instead
 void rotateV(struct fp_vector *v, float *delta) {
     fp_angles_t temp;
-    temp.roll = delta[ROLL];
-    temp.pitch = delta[PITCH];
-    temp.yaw = delta[YAW];
+    temp.roll = delta[GI_ROLL];
+    temp.pitch = delta[GI_PITCH];
+    temp.yaw = delta[GI_YAW];
 
     rotateAnglesV(v, &temp);
 }
diff --git a/src/flight_mixer.c b/src/flight_mixer.c
index ac95129b3..4eb6ddafc 100755
--- a/src/flight_mixer.c
+++ b/src/flight_mixer.c
@@ -1,7 +1,8 @@
 #include "board.h"
+#include "flight_common.h"
 #include "mw.h"
 
-#include "flight_common.h"
+#include "rx_common.h"
 
 #include "maths.h"
 
@@ -351,14 +352,14 @@ static void airplaneMixer(void)
         int16_t lFlap = servoMiddle(2);
 
         lFlap = constrain(lFlap, cfg.servoConf[2].min, cfg.servoConf[2].max);
-        lFlap = mcfg.midrc - lFlap; // shouldn't this be servoConf[2].middle?
+        lFlap = mcfg.rxConfig.midrc - lFlap; // shouldn't this be servoConf[2].middle?
         if (slow_LFlaps < lFlap)
             slow_LFlaps += mcfg.flaps_speed;
         else if (slow_LFlaps > lFlap)
             slow_LFlaps -= mcfg.flaps_speed;
 
         servo[2] = ((int32_t)cfg.servoConf[2].rate * slow_LFlaps) / 100L;
-        servo[2] += mcfg.midrc;
+        servo[2] += mcfg.rxConfig.midrc;
     }
 
     if (f.PASSTHRU_MODE) {   // Direct passthru from RX
@@ -498,7 +499,7 @@ void mixTable(void)
             }
         } else {
             motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle);
-            if ((rcData[THROTTLE]) < mcfg.mincheck) {
+            if ((rcData[THROTTLE]) < mcfg.rxConfig.mincheck) {
                 if (!feature(FEATURE_MOTOR_STOP))
                     motor[i] = mcfg.minthrottle;
                 else
diff --git a/src/gps_common.c b/src/gps_common.c
index 59e7d9896..02ab05aba 100644
--- a/src/gps_common.c
+++ b/src/gps_common.c
@@ -1,4 +1,5 @@
 #include "board.h"
+#include "flight_common.h"
 #include "mw.h"
 
 #include "maths.h"
diff --git a/src/main.c b/src/main.c
index 1cf84bc2f..feb2d8dac 100755
--- a/src/main.c
+++ b/src/main.c
@@ -1,10 +1,13 @@
 #include "board.h"
+#include "flight_common.h"
 #include "mw.h"
 
-#include "rx.h"
+#include "rx_sbus.h"
+#include "rx_common.h"
 #include "telemetry_common.h"
 #include "boardalignment.h"
 #include "config.h"
+#include "config_storage.h"
 
 #include "build_config.h"
 
@@ -12,9 +15,6 @@ core_t core;
 
 extern rcReadRawDataPtr rcReadRawFunc;
 
-// receiver read function
-extern uint16_t pwmReadRawRC(uint8_t chan);
-
 int main(void)
 {
     uint8_t i;
@@ -63,7 +63,7 @@ int main(void)
         pwm_params.idlePulse = mcfg.neutral3d;
     if (pwm_params.motorPwmRate > 500)
         pwm_params.idlePulse = 0; // brushed motors
-    pwm_params.servoCenterPulse = mcfg.midrc;
+    pwm_params.servoCenterPulse = mcfg.rxConfig.midrc;
     pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
     switch (mcfg.power_adc_channel) {
         case 1:
@@ -86,13 +86,13 @@ int main(void)
     core.numRCChannels = MAX_INPUTS;
 
     if (feature(FEATURE_SERIALRX)) {
-        switch (mcfg.serialrx_type) {
+        switch (mcfg.rxConfig.serialrx_type) {
             case SERIALRX_SPEKTRUM1024:
             case SERIALRX_SPEKTRUM2048:
                 spektrumInit(&rcReadRawFunc);
                 break;
             case SERIALRX_SBUS:
-                sbusInit(&rcReadRawFunc);
+                sbusInit(&rcReadRawFunc, &mcfg.rxConfig);
                 break;
             case SERIALRX_SUMD:
                 sumdInit(&rcReadRawFunc);
diff --git a/src/mw.c b/src/mw.c
index 43b2befbf..7a0ef3944 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -1,18 +1,18 @@
 #include "board.h"
+#include "flight_common.h"
 #include "mw.h"
 
 #include "serial_cli.h"
 #include "telemetry_common.h"
-#include "flight_common.h"
 #include "typeconversion.h"
-#include "rx.h"
+#include "rx_common.h"
+#include "rx_sbus.h"
+#include "failsafe.h"
 #include "maths.h"
 
 // June 2013     V2.2-dev
 
-flags_t f;
 int16_t debug[4];
-uint8_t toggleBeep = 0;
 uint32_t currentTime = 0;
 uint32_t previousTime = 0;
 uint16_t cycleTime = 0;         // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
@@ -20,21 +20,16 @@ int16_t headFreeModeHold;
 
 int16_t telemTemperature1;      // gyro sensor temperature
 
-int16_t failsafeCnt = 0;
-int16_t failsafeEvents = 0;
-int16_t rcData[RC_CHANS];       // interval [1000;2000]
 int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
 int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH];     // lookup table for expo & RC rate PITCH+ROLL
 int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];   // lookup table for expo & mid THROTTLE
 uint16_t rssi;                  // range: [0;1023]
-rcReadRawDataPtr rcReadRawFunc = NULL;  // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
 
 static void pidMultiWii(void);
 static void pidRewrite(void);
 pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
 
 uint8_t dynP8[3], dynI8[3], dynD8[3];
-uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
 
 int16_t axisPID[3];
 
@@ -104,7 +99,7 @@ void annexCode(void)
     }
 
     for (axis = 0; axis < 3; axis++) {
-        tmp = min(abs(rcData[axis] - mcfg.midrc), 500);
+        tmp = min(abs(rcData[axis] - mcfg.rxConfig.midrc), 500);
         if (axis != 2) {        // ROLL & PITCH
             if (cfg.deadband) {
                 if (tmp > cfg.deadband) {
@@ -132,12 +127,12 @@ void annexCode(void)
         dynP8[axis] = (uint16_t)cfg.P8[axis] * prop1 / 100;
         dynI8[axis] = (uint16_t)cfg.I8[axis] * prop1 / 100;
         dynD8[axis] = (uint16_t)cfg.D8[axis] * prop1 / 100;
-        if (rcData[axis] < mcfg.midrc)
+        if (rcData[axis] < mcfg.rxConfig.midrc)
             rcCommand[axis] = -rcCommand[axis];
     }
 
-    tmp = constrain(rcData[THROTTLE], mcfg.mincheck, 2000);
-    tmp = (uint32_t)(tmp - mcfg.mincheck) * 1000 / (2000 - mcfg.mincheck);       // [MINCHECK;2000] -> [0;1000]
+    tmp = constrain(rcData[THROTTLE], mcfg.rxConfig.mincheck, 2000);
+    tmp = (uint32_t)(tmp - mcfg.rxConfig.mincheck) * 1000 / (2000 - mcfg.rxConfig.mincheck);       // [MINCHECK;2000] -> [0;1000]
     tmp2 = tmp / 100;
     rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100;    // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
 
@@ -213,44 +208,6 @@ void annexCode(void)
     }
 }
 
-uint16_t pwmReadRawRC(uint8_t chan)
-{
-    uint16_t data;
-
-    data = pwmRead(mcfg.rcmap[chan]);
-    if (data < 750 || data > 2250)
-        data = mcfg.midrc;
-
-    return data;
-}
-
-void computeRC(void)
-{
-    uint8_t chan;
-
-    if (feature(FEATURE_SERIALRX)) {
-        for (chan = 0; chan < 8; chan++)
-            rcData[chan] = rcReadRawFunc(chan);
-    } else {
-        static int16_t rcData4Values[8][4], rcDataMean[8];
-        static uint8_t rc4ValuesIndex = 0;
-        uint8_t a;
-
-        rc4ValuesIndex++;
-        for (chan = 0; chan < 8; chan++) {
-            rcData4Values[chan][rc4ValuesIndex % 4] = rcReadRawFunc(chan);
-            rcDataMean[chan] = 0;
-            for (a = 0; a < 4; a++)
-                rcDataMean[chan] += rcData4Values[chan][a];
-
-            rcDataMean[chan] = (rcDataMean[chan] + 2) / 4;
-            if (rcDataMean[chan] < rcData[chan] - 3)
-                rcData[chan] = rcDataMean[chan] + 2;
-            if (rcDataMean[chan] > rcData[chan] + 3)
-                rcData[chan] = rcDataMean[chan] - 2;
-        }
-    }
-}
 
 static void mwArm(void)
 {
@@ -266,12 +223,6 @@ static void mwArm(void)
     }
 }
 
-static void mwDisarm(void)
-{
-    if (f.ARMED)
-        f.ARMED = 0;
-}
-
 static void mwVario(void)
 {
 
@@ -439,7 +390,7 @@ void loop(void)
 
     // calculate rc stuff from serial-based receivers (spek/sbus)
     if (feature(FEATURE_SERIALRX)) {
-        switch (mcfg.serialrx_type) {
+        switch (mcfg.rxConfig.serialrx_type) {
             case SERIALRX_SPEKTRUM1024:
             case SERIALRX_SPEKTRUM2048:
                 rcReady = spektrumFrameComplete();
@@ -456,7 +407,7 @@ void loop(void)
     if (((int32_t)(currentTime - rcTime) >= 0) || rcReady) { // 50Hz or data driven
         rcReady = false;
         rcTime = currentTime + 20000;
-        computeRC();
+        computeRC(&mcfg.rxConfig);
 
         // in 3D mode, we need to be able to disarm by switch at any time
         if (feature(FEATURE_3D)) {
@@ -472,33 +423,15 @@ void loop(void)
             rssi = (uint16_t)((constrain(rssiChannelData - 1000, 0, 1000) / 1000.0f) * 1023.0f);
         }
 
-        // Failsafe routine
-        if (feature(FEATURE_FAILSAFE)) {
-            if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level
-                for (i = 0; i < 3; i++)
-                    rcData[i] = mcfg.midrc;      // after specified guard time after RC signal is lost (in 0.1sec)
-                rcData[THROTTLE] = cfg.failsafe_throttle;
-                if (failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay)) {  // Turn OFF motors after specified Time (in 0.1sec)
-                    mwDisarm();             // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
-                    f.OK_TO_ARM = 0;        // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
-                }
-                failsafeEvents++;
-            }
-            if (failsafeCnt > (5 * cfg.failsafe_delay) && !f.ARMED) {  // Turn off "Ok To arm to prevent the motors from spinning after repowering the RX with low throttle and aux to arm
-                mwDisarm();         // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
-                f.OK_TO_ARM = 0;    // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
-            }
-            failsafeCnt++;
-        }
-        // end of failsafe routine - next change is made with RcOptions setting
+        updateFailsafeState();
 
         // ------------------ STICKS COMMAND HANDLER --------------------
         // checking sticks positions
         for (i = 0; i < 4; i++) {
             stTmp >>= 2;
-            if (rcData[i] > mcfg.mincheck)
+            if (rcData[i] > mcfg.rxConfig.mincheck)
                 stTmp |= 0x80;  // check for MIN
-            if (rcData[i] < mcfg.maxcheck)
+            if (rcData[i] < mcfg.rxConfig.maxcheck)
                 stTmp |= 0x40;  // check for MAX
         }
         if (stTmp == rcSticks) {
@@ -509,9 +442,9 @@ void loop(void)
         rcSticks = stTmp;
 
         // perform actions
-        if (feature(FEATURE_3D) && (rcData[THROTTLE] > (mcfg.midrc - mcfg.deadband3d_throttle) && rcData[THROTTLE] < (mcfg.midrc + mcfg.deadband3d_throttle)))
+        if (feature(FEATURE_3D) && (rcData[THROTTLE] > (mcfg.rxConfig.midrc - mcfg.deadband3d_throttle) && rcData[THROTTLE] < (mcfg.rxConfig.midrc + mcfg.deadband3d_throttle)))
             isThrottleLow = true;
-        else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < mcfg.mincheck))
+        else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < mcfg.rxConfig.mincheck))
             isThrottleLow = true;
         if (isThrottleLow) {
             errorGyroI[ROLL] = 0;
@@ -610,7 +543,7 @@ void loop(void)
         }
 
         if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
-            if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > mcfg.mincheck && !rcOptions[BOXARM]) {   // Copter is airborne and you are turning it off via boxarm : start measurement
+            if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > mcfg.rxConfig.mincheck && !rcOptions[BOXARM]) {   // Copter is airborne and you are turning it off via boxarm : start measurement
                 InflightcalibratingA = 50;
                 AccInflightCalibrationArmed = false;
             }
@@ -630,8 +563,8 @@ void loop(void)
         for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
             rcOptions[i] = (auxState & cfg.activate[i]) > 0;
 
-        // note: if FAILSAFE is disable, failsafeCnt > 5 * FAILSAVE_DELAY is always false
-        if ((rcOptions[BOXANGLE] || (failsafeCnt > 5 * cfg.failsafe_delay)) && (sensors(SENSOR_ACC))) {
+        // note: if FAILSAFE is disable, hasFailsafeTimerElapsed() is always false
+        if ((rcOptions[BOXANGLE] || hasFailsafeTimerElapsed()) && (sensors(SENSOR_ACC))) {
             // bumpless transfer to Level mode
             if (!f.ANGLE_MODE) {
                 errorAngleI[ROLL] = 0;
diff --git a/src/mw.h b/src/mw.h
index f6115a7c5..56d472c0f 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "runtime_config.h"
+#include "flight_common.h"
 
 /* for VBAT monitoring frequency */
 #define VBATFREQ 6        // to read battery voltage - nth number of loop iterations
@@ -11,8 +12,6 @@
 #define LAT  0
 #define LON  1
 
-#define RC_CHANS    (18)
-
 // Serial GPS only variables
 // navigation mode
 typedef enum NavigationMode
@@ -56,31 +55,6 @@ typedef enum GimbalFlags {
     GIMBAL_FORWARDAUX = 1 << 2,
 } GimbalFlags;
 
-/*********** RC alias *****************/
-typedef enum rc_alias {
-    ROLL = 0,
-    PITCH,
-    YAW,
-    THROTTLE,
-    AUX1,
-    AUX2,
-    AUX3,
-    AUX4
-} rc_alias_e;
-
-#define ROL_LO (1 << (2 * ROLL))
-#define ROL_CE (3 << (2 * ROLL))
-#define ROL_HI (2 << (2 * ROLL))
-#define PIT_LO (1 << (2 * PITCH))
-#define PIT_CE (3 << (2 * PITCH))
-#define PIT_HI (2 << (2 * PITCH))
-#define YAW_LO (1 << (2 * YAW))
-#define YAW_CE (3 << (2 * YAW))
-#define YAW_HI (2 << (2 * YAW))
-#define THR_LO (1 << (2 * THROTTLE))
-#define THR_CE (3 << (2 * THROTTLE))
-#define THR_HI (2 << (2 * THROTTLE))
-
 #include "flight_mixer.h"
 
 enum {
@@ -93,31 +67,12 @@ enum {
 #define CALIBRATING_ACC_CYCLES              400
 #define CALIBRATING_BARO_CYCLES             200
 
+#include "rx_common.h"
 #include "config.h"
-
-typedef struct flags_t {
-    uint8_t OK_TO_ARM;
-    uint8_t ARMED;
-    uint8_t ACC_CALIBRATED;
-    uint8_t ANGLE_MODE;
-    uint8_t HORIZON_MODE;
-    uint8_t MAG_MODE;
-    uint8_t BARO_MODE;
-    uint8_t GPS_HOME_MODE;
-    uint8_t GPS_HOLD_MODE;
-    uint8_t HEADFREE_MODE;
-    uint8_t PASSTHRU_MODE;
-    uint8_t GPS_FIX;
-    uint8_t GPS_FIX_HOME;
-    uint8_t SMALL_ANGLES_25;
-    uint8_t CALIBRATE_MAG;
-    uint8_t VARIO_MODE;
-    uint8_t FIXED_WING;                     // set when in flying_wing or airplane mode. currently used by althold selection code
-} flags_t;
+#include "config_storage.h"
 
 extern int16_t axisPID[3];
 extern int16_t rcCommand[4];
-extern uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
 extern int16_t failsafeCnt;
 
 extern int16_t debug[4];
@@ -146,7 +101,6 @@ extern int16_t headFreeModeHold;
 extern int16_t heading, magHold;
 extern int16_t motor[MAX_MOTORS];
 extern int16_t servo[MAX_SERVOS];
-extern int16_t rcData[RC_CHANS];
 extern uint16_t rssi;                  // range: [0;1023]
 extern uint8_t vbat;
 extern int16_t telemTemperature1;      // gyro sensor temperature
@@ -221,24 +175,11 @@ void parseRcChannels(const char *input);
 void readEEPROM(void);
 void writeEEPROM(uint8_t b, uint8_t updateProfile);
 void checkFirstTime(bool reset);
-bool sensors(uint32_t mask);
-void sensorsSet(uint32_t mask);
-void sensorsClear(uint32_t mask);
-uint32_t sensorsMask(void);
-bool feature(uint32_t mask);
-void featureSet(uint32_t mask);
-void featureClear(uint32_t mask);
-void featureClearAll(void);
-uint32_t featureMask(void);
 
 // spektrum
 void spektrumInit(rcReadRawDataPtr *callback);
 bool spektrumFrameComplete(void);
 
-// sbus
-void sbusInit(rcReadRawDataPtr *callback);
-bool sbusFrameComplete(void);
-
 // sumd
 void sumdInit(rcReadRawDataPtr *callback);
 bool sumdFrameComplete(void);
diff --git a/src/runtime_config.c b/src/runtime_config.c
new file mode 100644
index 000000000..be106362a
--- /dev/null
+++ b/src/runtime_config.c
@@ -0,0 +1,37 @@
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "drivers/serial_common.h"
+
+#include "runtime_config.h"
+
+flags_t f;
+uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
+
+static uint32_t enabledSensors = 0;
+
+bool sensors(uint32_t mask)
+{
+    return enabledSensors & mask;
+}
+
+void sensorsSet(uint32_t mask)
+{
+    enabledSensors |= mask;
+}
+
+void sensorsClear(uint32_t mask)
+{
+    enabledSensors &= ~(mask);
+}
+
+uint32_t sensorsMask(void)
+{
+    return enabledSensors;
+}
+
+void mwDisarm(void)
+{
+    if (f.ARMED)
+        f.ARMED = 0;
+}
diff --git a/src/runtime_config.h b/src/runtime_config.h
index 73b49bbb8..4f4e0668c 100644
--- a/src/runtime_config.h
+++ b/src/runtime_config.h
@@ -1,22 +1,51 @@
 #pragma once
 
-typedef enum {
-    FEATURE_PPM = 1 << 0,
-    FEATURE_VBAT = 1 << 1,
-    FEATURE_INFLIGHT_ACC_CAL = 1 << 2,
-    FEATURE_SERIALRX = 1 << 3,
-    FEATURE_MOTOR_STOP = 1 << 4,
-    FEATURE_SERVO_TILT = 1 << 5,
-    FEATURE_SOFTSERIAL = 1 << 6,
-    FEATURE_LED_RING = 1 << 7,
-    FEATURE_GPS = 1 << 8,
-    FEATURE_FAILSAFE = 1 << 9,
-    FEATURE_SONAR = 1 << 10,
-    FEATURE_TELEMETRY = 1 << 11,
-    FEATURE_POWERMETER = 1 << 12,
-    FEATURE_VARIO = 1 << 13,
-    FEATURE_3D = 1 << 14,
-} AvailableFeatures;
+enum {
+    BOXARM = 0,
+    BOXANGLE,
+    BOXHORIZON,
+    BOXBARO,
+    BOXVARIO,
+    BOXMAG,
+    BOXHEADFREE,
+    BOXHEADADJ,
+    BOXCAMSTAB,
+    BOXCAMTRIG,
+    BOXGPSHOME,
+    BOXGPSHOLD,
+    BOXPASSTHRU,
+    BOXBEEPERON,
+    BOXLEDMAX,
+    BOXLEDLOW,
+    BOXLLIGHTS,
+    BOXCALIB,
+    BOXGOV,
+    BOXOSD,
+    BOXTELEMETRY,
+    CHECKBOX_ITEM_COUNT
+};
+
+extern uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
+
+typedef struct flags_t {
+    uint8_t OK_TO_ARM;
+    uint8_t ARMED;
+    uint8_t ACC_CALIBRATED;
+    uint8_t ANGLE_MODE;
+    uint8_t HORIZON_MODE;
+    uint8_t MAG_MODE;
+    uint8_t BARO_MODE;
+    uint8_t GPS_HOME_MODE;
+    uint8_t GPS_HOLD_MODE;
+    uint8_t HEADFREE_MODE;
+    uint8_t PASSTHRU_MODE;
+    uint8_t GPS_FIX;
+    uint8_t GPS_FIX_HOME;
+    uint8_t SMALL_ANGLES_25;
+    uint8_t CALIBRATE_MAG;
+    uint8_t VARIO_MODE;
+    uint8_t FIXED_WING;                     // set when in flying_wing or airplane mode. currently used by althold selection code
+} flags_t;
 
 // Core runtime settings
 typedef struct core_t {
@@ -29,7 +58,14 @@ typedef struct core_t {
     bool useServo;                          // feature SERVO_TILT or wing/airplane mixers will enable this
 } core_t;
 
-typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan);        // used by receiver driver to return channel data
 typedef void (* pidControllerFuncPtr)(void);                // pid controller function prototype
 
 extern core_t core;
+extern flags_t f;
+
+bool sensors(uint32_t mask);
+void sensorsSet(uint32_t mask);
+void sensorsClear(uint32_t mask);
+uint32_t sensorsMask(void);
+
+void mwDisarm(void);
diff --git a/src/rx_common.c b/src/rx_common.c
new file mode 100644
index 000000000..120ecf5c8
--- /dev/null
+++ b/src/rx_common.c
@@ -0,0 +1,59 @@
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "rx_common.h"
+#include "config.h"
+
+// FIXME all includes below are just for pwmReadRawRC because it uses mcfg
+#ifdef FY90Q
+#include "drivers/pwm_fy90q.h"
+#else
+#include "drivers/pwm_common.h"
+#endif
+
+
+int16_t rcData[RC_CHANS];       // interval [1000;2000]
+
+rcReadRawDataPtr rcReadRawFunc = NULL;  // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
+
+uint16_t pwmReadRawRC(rxConfig_t *rxConfig, uint8_t chan)
+{
+    uint16_t data;
+
+    data = pwmRead(rxConfig->rcmap[chan]);
+    if (data < 750 || data > 2250)
+        data = rxConfig->midrc;
+
+    return data;
+}
+
+void computeRC(rxConfig_t *rxConfig)
+{
+    uint8_t chan;
+
+    if (feature(FEATURE_SERIALRX)) {
+        for (chan = 0; chan < 8; chan++)
+            rcData[chan] = rcReadRawFunc(rxConfig, chan);
+    } else {
+        static int16_t rcData4Values[8][4], rcDataMean[8];
+        static uint8_t rc4ValuesIndex = 0;
+        uint8_t a;
+
+        rc4ValuesIndex++;
+        for (chan = 0; chan < 8; chan++) {
+            rcData4Values[chan][rc4ValuesIndex % 4] = rcReadRawFunc(rxConfig, chan);
+            rcDataMean[chan] = 0;
+            for (a = 0; a < 4; a++)
+                rcDataMean[chan] += rcData4Values[chan][a];
+
+            rcDataMean[chan] = (rcDataMean[chan] + 2) / 4;
+            if (rcDataMean[chan] < rcData[chan] - 3)
+                rcData[chan] = rcDataMean[chan] + 2;
+            if (rcDataMean[chan] > rcData[chan] + 3)
+                rcData[chan] = rcDataMean[chan] - 2;
+        }
+    }
+}
diff --git a/src/rx_common.h b/src/rx_common.h
index ae48d91b1..085cf57c4 100644
--- a/src/rx_common.h
+++ b/src/rx_common.h
@@ -1,8 +1,50 @@
 #pragma once
 
+typedef enum rc_alias {
+    ROLL = 0,
+    PITCH,
+    YAW,
+    THROTTLE,
+    AUX1,
+    AUX2,
+    AUX3,
+    AUX4
+} rc_alias_e;
+
+#define ROL_LO (1 << (2 * ROLL))
+#define ROL_CE (3 << (2 * ROLL))
+#define ROL_HI (2 << (2 * ROLL))
+#define PIT_LO (1 << (2 * PITCH))
+#define PIT_CE (3 << (2 * PITCH))
+#define PIT_HI (2 << (2 * PITCH))
+#define YAW_LO (1 << (2 * YAW))
+#define YAW_CE (3 << (2 * YAW))
+#define YAW_HI (2 << (2 * YAW))
+#define THR_LO (1 << (2 * THROTTLE))
+#define THR_CE (3 << (2 * THROTTLE))
+#define THR_HI (2 << (2 * THROTTLE))
+
 typedef enum {
     SERIALRX_SPEKTRUM1024 = 0,
     SERIALRX_SPEKTRUM2048 = 1,
     SERIALRX_SBUS = 2,
     SERIALRX_SUMD = 3,
 } SerialRXType;
+
+#define RC_CHANS    (18)
+
+extern int16_t rcData[RC_CHANS];       // interval [1000;2000]
+
+typedef struct rxConfig_s {
+    uint8_t rcmap[8];                       // mapping of radio channels to internal RPYTA+ order
+    uint8_t serialrx_type;                  // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_SERIALRX first.
+    uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
+    uint16_t mincheck;                      // minimum rc end
+    uint16_t maxcheck;                      // maximum rc end
+} rxConfig_t;
+
+typedef uint16_t (* rcReadRawDataPtr)(rxConfig_t *rxConfig, uint8_t chan);        // used by receiver driver to return channel data
+
+uint16_t pwmReadRawRC(rxConfig_t *rxConfig, uint8_t chan);
+void computeRC(rxConfig_t *rxConfig);
+
diff --git a/src/rx_sbus.c b/src/rx_sbus.c
index 7fda225dc..0a6fa600b 100644
--- a/src/rx_sbus.c
+++ b/src/rx_sbus.c
@@ -1,5 +1,17 @@
-#include "board.h"
-#include "mw.h"
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "rx_common.h"
+
+#include "drivers/system_common.h"
+
+#include "drivers/serial_common.h"
+#include "drivers/serial_uart.h"
+#include "runtime_config.h"
+
+#include "rx_sbus.h"
 
 // driver for SBUS receiver using UART2
 
@@ -10,18 +22,23 @@
 
 static bool sbusFrameDone = false;
 static void sbusDataReceive(uint16_t c);
-static uint16_t sbusReadRawRC(uint8_t chan);
+static uint16_t sbusReadRawRC(rxConfig_t *rxConfig, uint8_t chan);
 
 // external vars (ugh)
 extern int16_t failsafeCnt;
 
 static uint32_t sbusChannelData[SBUS_MAX_CHANNEL];
 
-void sbusInit(rcReadRawDataPtr *callback)
+//rxConfig_t *rxConfig;
+
+void sbusInit(rcReadRawDataPtr *callback, rxConfig_t *rxConfig)
 {
     int b;
+
+    //rxConfig = initialRxConfig;
+
     for (b = 0; b < SBUS_MAX_CHANNEL; b++)
-        sbusChannelData[b] = 2 * (mcfg.midrc - SBUS_OFFSET);
+        sbusChannelData[b] = 2 * (rxConfig->midrc - SBUS_OFFSET);
     core.rcvrport = uartOpen(USART2, sbusDataReceive, 100000, (portMode_t)(MODE_RX | MODE_SBUS));
     if (callback)
         *callback = sbusReadRawRC;
@@ -101,7 +118,8 @@ bool sbusFrameComplete(void)
     return false;
 }
 
-static uint16_t sbusReadRawRC(uint8_t chan)
+static uint16_t sbusReadRawRC(rxConfig_t *rxConfig, uint8_t chan)
 {
-    return sbusChannelData[mcfg.rcmap[chan]] / 2 + SBUS_OFFSET;
+    return sbusChannelData[rxConfig->rcmap[chan]] / 2 + SBUS_OFFSET;
 }
+
diff --git a/src/rx_sbus.h b/src/rx_sbus.h
new file mode 100644
index 000000000..ec2ea846d
--- /dev/null
+++ b/src/rx_sbus.h
@@ -0,0 +1,4 @@
+#pragma once
+
+void sbusInit(rcReadRawDataPtr *callback, rxConfig_t *initialRxConfig);
+bool sbusFrameComplete(void);
diff --git a/src/rx_spektrum.c b/src/rx_spektrum.c
index c076e9cbf..30025f490 100644
--- a/src/rx_spektrum.c
+++ b/src/rx_spektrum.c
@@ -1,27 +1,30 @@
 #include "board.h"
 #include "mw.h"
 
-#include "rx.h"
+#include "rx_common.h"
 
 // driver for spektrum satellite receiver / sbus using UART2 (freeing up more motor outputs for stuff)
 
 #define SPEK_MAX_CHANNEL 7
 #define SPEK_FRAME_SIZE 16
+
 static uint8_t spek_chan_shift;
 static uint8_t spek_chan_mask;
 static bool rcFrameComplete = false;
 static bool spekHiRes = false;
 static bool spekDataIncoming = false;
+
 volatile uint8_t spekFrame[SPEK_FRAME_SIZE];
+
 static void spektrumDataReceive(uint16_t c);
-static uint16_t spektrumReadRawRC(uint8_t chan);
+static uint16_t spektrumReadRawRC(rxConfig_t *rxConfig, uint8_t chan);
 
 // external vars (ugh)
 extern int16_t failsafeCnt;
 
 void spektrumInit(rcReadRawDataPtr *callback)
 {
-    switch (mcfg.serialrx_type) {
+    switch (mcfg.rxConfig.serialrx_type) {
         case SERIALRX_SPEKTRUM2048:
             // 11 bit frames
             spek_chan_shift = 3;
@@ -69,7 +72,7 @@ bool spektrumFrameComplete(void)
     return rcFrameComplete;
 }
 
-static uint16_t spektrumReadRawRC(uint8_t chan)
+static uint16_t spektrumReadRawRC(rxConfig_t*rxConfig, uint8_t chan)
 {
     uint16_t data;
     static uint32_t spekChannelData[SPEK_MAX_CHANNEL];
@@ -85,12 +88,12 @@ static uint16_t spektrumReadRawRC(uint8_t chan)
     }
 
     if (chan >= SPEK_MAX_CHANNEL || !spekDataIncoming) {
-        data = mcfg.midrc;
+        data = rxConfig->midrc;
     } else {
         if (spekHiRes)
-            data = 988 + (spekChannelData[mcfg.rcmap[chan]] >> 1);   // 2048 mode
+            data = 988 + (spekChannelData[rxConfig->rcmap[chan]] >> 1);   // 2048 mode
         else
-            data = 988 + spekChannelData[mcfg.rcmap[chan]];          // 1024 mode
+            data = 988 + spekChannelData[rxConfig->rcmap[chan]];          // 1024 mode
     }
 
     return data;
diff --git a/src/rx_sumd.c b/src/rx_sumd.c
index 77bcfe8ea..4c006a857 100644
--- a/src/rx_sumd.c
+++ b/src/rx_sumd.c
@@ -9,7 +9,7 @@
 
 static bool sumdFrameDone = false;
 static void sumdDataReceive(uint16_t c);
-static uint16_t sumdReadRawRC(uint8_t chan);
+static uint16_t sumdReadRawRC(rxConfig_t *rxConfig, uint8_t chan);
 
 static uint32_t sumdChannelData[SUMD_MAX_CHANNEL];
 
@@ -70,7 +70,7 @@ bool sumdFrameComplete(void)
     return false;
 }
 
-static uint16_t sumdReadRawRC(uint8_t chan)
+static uint16_t sumdReadRawRC(rxConfig_t *rxConfig, uint8_t chan)
 {
-    return sumdChannelData[mcfg.rcmap[chan]] / 8;
+    return sumdChannelData[rxConfig->rcmap[chan]] / 8;
 }
diff --git a/src/sensors_acceleration.c b/src/sensors_acceleration.c
index b5e006770..e605e8f36 100644
--- a/src/sensors_acceleration.c
+++ b/src/sensors_acceleration.c
@@ -1,8 +1,10 @@
 #include "board.h"
-#include "mw.h"
 
 #include "flight_common.h"
 
+#include "mw.h"
+
+
 uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
 
 extern uint16_t InflightcalibratingA;
@@ -29,11 +31,11 @@ void ACC_Common(void)
         }
         // Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
         if (calibratingA == 1) {
-            mcfg.accZero[ROLL] = (a[ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
-            mcfg.accZero[PITCH] = (a[PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
-            mcfg.accZero[YAW] = (a[YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
-            cfg.angleTrim[ROLL] = 0;
-            cfg.angleTrim[PITCH] = 0;
+            mcfg.accZero[GI_ROLL] = (a[GI_ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
+            mcfg.accZero[GI_PITCH] = (a[GI_PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
+            mcfg.accZero[GI_YAW] = (a[GI_YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
+            cfg.angleTrim[AI_ROLL] = 0;
+            cfg.angleTrim[AI_PITCH] = 0;
             writeEEPROM(1, true);      // write accZero in EEPROM
         }
         calibratingA--;
@@ -45,11 +47,11 @@ void ACC_Common(void)
         static int16_t angleTrim_saved[2] = { 0, 0 };
         // Saving old zeropoints before measurement
         if (InflightcalibratingA == 50) {
-            accZero_saved[ROLL] = mcfg.accZero[ROLL];
-            accZero_saved[PITCH] = mcfg.accZero[PITCH];
-            accZero_saved[YAW] = mcfg.accZero[YAW];
-            angleTrim_saved[ROLL] = cfg.angleTrim[ROLL];
-            angleTrim_saved[PITCH] = cfg.angleTrim[PITCH];
+            accZero_saved[GI_ROLL] = mcfg.accZero[GI_ROLL];
+            accZero_saved[GI_PITCH] = mcfg.accZero[GI_PITCH];
+            accZero_saved[GI_YAW] = mcfg.accZero[GI_YAW];
+            angleTrim_saved[AI_ROLL] = cfg.angleTrim[AI_ROLL];
+            angleTrim_saved[AI_PITCH] = cfg.angleTrim[AI_PITCH];
         }
         if (InflightcalibratingA > 0) {
             for (axis = 0; axis < 3; axis++) {
@@ -68,29 +70,29 @@ void ACC_Common(void)
                 AccInflightCalibrationMeasurementDone = true;
                 toggleBeep = 2;      // buzzer for indicatiing the end of calibration
                 // recover saved values to maintain current flight behavior until new values are transferred
-                mcfg.accZero[ROLL] = accZero_saved[ROLL];
-                mcfg.accZero[PITCH] = accZero_saved[PITCH];
-                mcfg.accZero[YAW] = accZero_saved[YAW];
-                cfg.angleTrim[ROLL] = angleTrim_saved[ROLL];
-                cfg.angleTrim[PITCH] = angleTrim_saved[PITCH];
+                mcfg.accZero[GI_ROLL] = accZero_saved[GI_ROLL];
+                mcfg.accZero[GI_PITCH] = accZero_saved[GI_PITCH];
+                mcfg.accZero[GI_YAW] = accZero_saved[GI_YAW];
+                cfg.angleTrim[AI_ROLL] = angleTrim_saved[AI_ROLL];
+                cfg.angleTrim[AI_PITCH] = angleTrim_saved[AI_PITCH];
             }
             InflightcalibratingA--;
         }
         // Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
         if (AccInflightCalibrationSavetoEEProm) {      // the copter is landed, disarmed and the combo has been done again
             AccInflightCalibrationSavetoEEProm = false;
-            mcfg.accZero[ROLL] = b[ROLL] / 50;
-            mcfg.accZero[PITCH] = b[PITCH] / 50;
-            mcfg.accZero[YAW] = b[YAW] / 50 - acc_1G;    // for nunchuk 200=1G
-            cfg.angleTrim[ROLL] = 0;
-            cfg.angleTrim[PITCH] = 0;
+            mcfg.accZero[GI_ROLL] = b[GI_ROLL] / 50;
+            mcfg.accZero[GI_PITCH] = b[GI_PITCH] / 50;
+            mcfg.accZero[GI_YAW] = b[GI_YAW] / 50 - acc_1G;    // for nunchuk 200=1G
+            cfg.angleTrim[AI_ROLL] = 0;
+            cfg.angleTrim[AI_PITCH] = 0;
             writeEEPROM(1, true);          // write accZero in EEPROM
         }
     }
 
-    accADC[ROLL] -= mcfg.accZero[ROLL];
-    accADC[PITCH] -= mcfg.accZero[PITCH];
-    accADC[YAW] -= mcfg.accZero[YAW];
+    accADC[GI_ROLL] -= mcfg.accZero[GI_ROLL];
+    accADC[GI_PITCH] -= mcfg.accZero[GI_PITCH];
+    accADC[GI_YAW] -= mcfg.accZero[GI_YAW];
 }
 
 void ACC_getADC(void)
diff --git a/src/serial_cli.c b/src/serial_cli.c
index 12a05af06..b1deb16a0 100644
--- a/src/serial_cli.c
+++ b/src/serial_cli.c
@@ -121,12 +121,12 @@ typedef struct {
 
 const clivalue_t valueTable[] = {
     { "looptime", VAR_UINT16, &mcfg.looptime, 0, 9000 },
-    { "midrc", VAR_UINT16, &mcfg.midrc, 1200, 1700 },
+    { "midrc", VAR_UINT16, &mcfg.rxConfig.midrc, 1200, 1700 },
     { "minthrottle", VAR_UINT16, &mcfg.minthrottle, 0, 2000 },
     { "maxthrottle", VAR_UINT16, &mcfg.maxthrottle, 0, 2000 },
     { "mincommand", VAR_UINT16, &mcfg.mincommand, 0, 2000 },
-    { "mincheck", VAR_UINT16, &mcfg.mincheck, 0, 2000 },
-    { "maxcheck", VAR_UINT16, &mcfg.maxcheck, 0, 2000 },
+    { "mincheck", VAR_UINT16, &mcfg.rxConfig.mincheck, 0, 2000 },
+    { "maxcheck", VAR_UINT16, &mcfg.rxConfig.maxcheck, 0, 2000 },
     { "deadband3d_low", VAR_UINT16, &mcfg.deadband3d_low, 0, 2000 },
     { "deadband3d_high", VAR_UINT16, &mcfg.deadband3d_high, 0, 2000 },
     { "neutral3d", VAR_UINT16, &mcfg.neutral3d, 0, 2000 },
@@ -143,7 +143,7 @@ const clivalue_t valueTable[] = {
     { "softserial_2_inverted", VAR_UINT8, &mcfg.softserial_2_inverted, 0, 1 },
     { "gps_type", VAR_UINT8, &mcfg.gps_type, 0, GPS_HARDWARE_MAX },
     { "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, 0, GPS_BAUD_MAX },
-    { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 3 },
+    { "serialrx_type", VAR_UINT8, &mcfg.rxConfig.serialrx_type, 0, 3 },
     { "telemetry_provider", VAR_UINT8, &mcfg.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
     { "telemetry_port", VAR_UINT8, &mcfg.telemetry_port, 0, TELEMETRY_PORT_MAX },
     { "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 },
@@ -615,7 +615,7 @@ static void cliDump(char *cmdline)
 
     // print RC MAPPING
     for (i = 0; i < 8; i++)
-        buf[mcfg.rcmap[i]] = rcChannelLetters[i];
+        buf[mcfg.rxConfig.rcmap[i]] = rcChannelLetters[i];
     buf[i] = '\0';
     printf("map %s\r\n", buf);
 
@@ -735,7 +735,7 @@ static void cliMap(char *cmdline)
     }
     cliPrint("Current assignment: ");
     for (i = 0; i < 8; i++)
-        out[mcfg.rcmap[i]] = rcChannelLetters[i];
+        out[mcfg.rxConfig.rcmap[i]] = rcChannelLetters[i];
     out[i] = '\0';
     printf("%s\r\n", out);
 }
diff --git a/src/typeconversion.c b/src/typeconversion.c
index 376dd3726..7918e353d 100644
--- a/src/typeconversion.c
+++ b/src/typeconversion.c
@@ -1,6 +1,3 @@
-#include "board.h"
-#include "mw.h"
-
 #include "build_config.h"
 
 #ifdef REQUIRE_PRINTF_LONG_SUPPORT