diff --git a/Makefile b/Makefile
index a91fdf7f4..8786617fd 100644
--- a/Makefile
+++ b/Makefile
@@ -752,7 +752,9 @@ SPRACINGF3MINI_SRC	 = \
 SIRINFPV_SRC	= \
 		   $(STM32F30x_COMMON_SRC) \
 		   drivers/accgyro_mpu.c \
+		   drivers/accgyro_mpu6500.c \
 		   drivers/accgyro_spi_mpu6000.c \
+		   drivers/accgyro_spi_mpu6500.c \
 		   drivers/serial_usb_vcp.c \
 		   drivers/sdcard.c \
 		   drivers/sdcard_standard.c \
diff --git a/src/main/drivers/rtc6705.c b/src/main/drivers/rtc6705.c
index ceb525fae..319430f52 100644
--- a/src/main/drivers/rtc6705.c
+++ b/src/main/drivers/rtc6705.c
@@ -142,7 +142,7 @@ void rtc6705_set_channel(uint16_t channel_freq) {
     uint32_t freq = (uint32_t)channel_freq * 1000;
     uint32_t N, A;
 
-    freq /= 40; // TODO check all channels for the R value
+    freq /= 40;
     N = freq / 64;
     A = freq % 64;
     rtc6705_write_register(0, 400);
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 7cb01c4fd..52d0a8a65 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -397,8 +397,6 @@ void print_batt_voltage(uint16_t pos, uint8_t col) {
     { "rc_yaw_expo",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0,  100 } },
     { "thr_mid",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0,  100 } },
     { "thr_expo",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrExpo8, .config.minmax = { 0,  100 } },
-    { "tpa_rate",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].dynThrPID, .config.minmax = { 0,  CONTROL_RATE_CONFIG_TPA_MAX} },
-    { "tpa_breakpoint",             VAR_UINT16 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN,  PWM_RANGE_MAX} },
     { "acro_plus_factor",           VAR_UINT8  | MASTER_VALUE, &masterConfig.rxConfig.acroPlusFactor, .config.minmax = {1, 100 } },
     { "acro_plus_offset",           VAR_UINT8  | MASTER_VALUE, &masterConfig.rxConfig.acroPlusOffset, .config.minmax = {1, 90 } },
 */
@@ -460,7 +458,7 @@ page_t menu_pages[] = {
     {
         .title       = "PID SETTINGS",
         .cols_number = 3,
-        .rows_number = 6,
+        .rows_number = 8,
         .cols = { 
             {
                 .title = "P",
diff --git a/src/main/target/SIRINFPV/target.h b/src/main/target/SIRINFPV/target.h
index daccbe276..2f9168891 100644
--- a/src/main/target/SIRINFPV/target.h
+++ b/src/main/target/SIRINFPV/target.h
@@ -17,7 +17,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "FPVR"
+#define TARGET_BOARD_IDENTIFIER "SIRF"
+
+#define LED0_GPIO   GPIOB
+#define LED0_PIN    Pin_2
+#define LED0_PERIPHERAL RCC_AHBPeriph_GPIOB
 
 #define BEEP_GPIO   GPIOA
 #define BEEP_PIN    Pin_1
@@ -25,18 +29,20 @@
 
 #define USABLE_TIMER_CHANNEL_COUNT 6
 
-#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU_INT
 
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
-//#define USE_GYRO_SPI_MPU6500
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
 
 #define ACC
 #define USE_ACC_SPI_MPU6000
-//#define USE_ACC_SPI_MPU6500
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
 
 // MPU6000
 #define ACC_MPU6000_ALIGN CW180_DEG
@@ -47,8 +53,8 @@
 #define MPU6000_SPI_INSTANCE SPI1
 
 // MPU6500
-#define ACC_MPU6500_ALIGN CW180_DEG
-#define GYRO_MPU6500_ALIGN CW180_DEG
+#define ACC_MPU6500_ALIGN CW90_DEG
+#define GYRO_MPU6500_ALIGN CW90_DEG
 
 #define MPU6500_CS_GPIO GPIOA
 #define MPU6500_CS_PIN GPIO_Pin_4
@@ -59,11 +65,11 @@
 #define BEEPER
 
 #define USB_IO
-#define USB_CABLE_DETECTION
 
-#define USB_DETECT_PIN                   GPIO_Pin_2
-#define USB_DETECT_GPIO_PORT             GPIOB
-#define USB_DETECT_GPIO_CLK              RCC_AHBPeriph_GPIOB
+//#define USB_CABLE_DETECTION
+//#define USB_DETECT_PIN                   GPIO_Pin_2
+//#define USB_DETECT_GPIO_PORT             GPIOB
+//#define USB_DETECT_GPIO_CLK              RCC_AHBPeriph_GPIOB
 
 #define USE_VCP
 #define USE_USART1
@@ -175,7 +181,6 @@
 #define USE_ADC
 #define BOARD_HAS_VOLTAGE_DIVIDER
 
-
 #define ADC_INSTANCE                ADC1
 #define ADC_DMA_CHANNEL             DMA1_Channel1
 #define ADC_AHB_PERIPHERAL          RCC_AHBPeriph_DMA1
@@ -192,11 +197,7 @@
 #define GTUNE
 #define USE_CLI
 #define OSD
-
-//#define SPEKTRUM_BIND
-// USART3,
-//#define BIND_PORT  GPIOB
-//#define BIND_PIN   Pin_11
+#define LED0
 
 #define USE_SERIAL_1WIRE