diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index ddb37a75c..ce19fac6a 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
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diff --git a/src/board.h b/src/board.h
index dc4ca80db..b94fa240c 100755
--- a/src/board.h
+++ b/src/board.h
@@ -192,6 +192,7 @@ typedef struct baro_t
 // OLIMEXINO
 #include "drv_adc.h"
 #include "drv_i2c.h"
+#include "drv_spi.h"
 #include "drv_adxl345.h"
 #include "drv_mpu3050.h"
 #include "drv_mpu6050.h"
diff --git a/src/cli.c b/src/cli.c
index 4b689bf44..7ff8ace24 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -33,7 +33,7 @@ static float _atof(const char *p);
 static char *ftoa(float x, char *floatString);
 
 // sync this with MultiType enum from mw.h
-const char * const mixerNames[] = {
+static const char * const mixerNames[] = {
     "TRI", "QUADP", "QUADX", "BI",
     "GIMBAL", "Y6", "HEX6",
     "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
@@ -41,7 +41,7 @@ const char * const mixerNames[] = {
 };
 
 // sync this with AvailableFeatures enum from board.h
-const char * const featureNames[] = {
+static const char * const featureNames[] = {
     "PPM", "VBAT", "INFLIGHT_ACC_CAL", "SPEKTRUM", "MOTOR_STOP",
     "SERVO_TILT", "GYRO_SMOOTHING", "LED_RING", "GPS",
     "FAILSAFE", "SONAR", "TELEMETRY", "POWERMETER", "VARIO", "3D",
@@ -49,17 +49,17 @@ const char * const featureNames[] = {
 };
 
 // sync this with AvailableSensors enum from board.h
-const char * const sensorNames[] = {
+static const char * const sensorNames[] = {
     "ACC", "BARO", "MAG", "SONAR", "GPS", NULL
 };
 
-const char * const accNames[] = {
+static const char * const accNames[] = {
     "", "ADXL345", "MPU6050", "MMA845x", NULL
 };
 
 typedef struct {
-    char *name;
-    char *param;
+    const char *name;
+    const char *param;
     void (*func)(char *cmdline);
 } clicmd_t;
 
@@ -80,7 +80,7 @@ const clicmd_t cmdTable[] = {
     { "status", "show system status", cliStatus },
     { "version", "", cliVersion },
 };
-#define CMD_COUNT (sizeof(cmdTable) / sizeof(cmdTable[0]))
+#define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
 
 typedef enum {
     VAR_UINT8,
@@ -140,6 +140,7 @@ const clivalue_t valueTable[] = {
     { "deadband", VAR_UINT8, &cfg.deadband, 0, 32 },
     { "yawdeadband", VAR_UINT8, &cfg.yawdeadband, 0, 100 },
     { "alt_hold_throttle_neutral", VAR_UINT8, &cfg.alt_hold_throttle_neutral, 1, 250 },
+    { "alt_hold_fast_change", VAR_UINT8, &cfg.alt_hold_fast_change, 0, 1 },
     { "throttle_angle_correction", VAR_UINT8, &cfg.throttle_angle_correction, 0, 100 },
     { "rc_rate", VAR_UINT8, &cfg.rcRate8, 0, 250 },
     { "rc_expo", VAR_UINT8, &cfg.rcExpo8, 0, 100 },
@@ -216,7 +217,7 @@ const clivalue_t valueTable[] = {
     { "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200 },
 };
 
-#define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
+#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
 
 static void cliSetVar(const clivalue_t *var, const int32_t value);
 static void cliPrintVar(const clivalue_t *var, uint32_t full);
@@ -241,7 +242,7 @@ static void cliWrite(uint8_t ch);
 
 static char *i2a(unsigned i, char *a, unsigned r)
 {
-    if (i / r > 0) 
+    if (i / r > 0)
         a = i2a(i / r, a, r);
     *a = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"[i % r];
     return a + 1;
@@ -254,10 +255,10 @@ char *itoa(int i, char *a, int r)
     if (i < 0) {
         *a = '-';
         *i2a(-(unsigned)i, a + 1, r) = 0;
-    } else 
+    } else
         *i2a(i, a, r) = 0;
     return a;
-} 
+}
 
 #endif
 
@@ -536,7 +537,6 @@ static void cliDefaults(char *cmdline)
 
 static void cliDump(char *cmdline)
 {
-    
     int i;
     char buf[16];
     float thr, roll, pitch, yaw;
@@ -561,16 +561,16 @@ static void cliDump(char *cmdline)
             pitch = mcfg.customMixer[i].pitch;
             yaw = mcfg.customMixer[i].yaw;
             printf("cmix %d", i + 1);
-            if (thr < 0) 
+            if (thr < 0)
                 printf(" ");
             printf("%s", ftoa(thr, buf));
-            if (roll < 0) 
+            if (roll < 0)
                 printf(" ");
             printf("%s", ftoa(roll, buf));
-            if (pitch < 0) 
+            if (pitch < 0)
                 printf(" ");
             printf("%s", ftoa(pitch, buf));
-            if (yaw < 0) 
+            if (yaw < 0)
                 printf(" ");
             printf("%s\r\n", ftoa(yaw, buf));
         }   
@@ -692,7 +692,7 @@ static void cliMap(char *cmdline)
     if (len == 8) {
         // uppercase it
         for (i = 0; i < 8; i++)
-            cmdline[i] = toupper(cmdline[i]);
+            cmdline[i] = toupper((unsigned char)cmdline[i]);
         for (i = 0; i < 8; i++) {
             if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
                 continue;
@@ -862,7 +862,7 @@ static void cliSet(char *cmdline)
             cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
             cliPrint("\r\n");
         }
-    } else if ((eqptr = strstr(cmdline, "="))) {
+    } else if ((eqptr = strstr(cmdline, "=")) != NULL) {
         // has equal, set var
         eqptr++;
         len--;
diff --git a/src/config.c b/src/config.c
index ab29a21a1..27cd927fc 100755
--- a/src/config.c
+++ b/src/config.c
@@ -255,7 +255,7 @@ static void resetConf(void)
     cfg.baro_tab_size = 21;
     cfg.baro_noise_lpf = 0.6f;
     cfg.baro_cf_vel = 0.995f;
-    cfg.baro_cf_alt = 0.900f;
+    cfg.baro_cf_alt = 0.950f;
     cfg.acc_unarmedcal = 1;
 
     // Radio
diff --git a/src/drv_bmp085.c b/src/drv_bmp085.c
index 7f27bdeb3..029e6aa48 100755
--- a/src/drv_bmp085.c
+++ b/src/drv_bmp085.c
@@ -47,7 +47,7 @@ typedef struct  {
 #define E_SENSOR_NOT_DETECTED   (char) 0
 #define BMP085_PROM_START__ADDR 0xaa
 #define BMP085_PROM_DATA__LEN   22
-#define BMP085_T_MEASURE        0x2E                // temperature measurent 
+#define BMP085_T_MEASURE        0x2E                // temperature measurent
 #define BMP085_P_MEASURE        0x34                // pressure measurement
 #define BMP085_CTRL_MEAS_REG    0xF4
 #define BMP085_ADC_OUT_MSB_REG  0xF6
@@ -110,7 +110,9 @@ bool bmp085Detect(baro_t *baro)
     gpio.pin = Pin_14;
     gpio.mode = Mode_IN_FLOATING;
     gpioInit(GPIOC, &gpio);
+#ifdef BARO
     BARO_ON;
+#endif
 
     // EXTI interrupt for barometer EOC
     GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
@@ -148,7 +150,9 @@ bool bmp085Detect(baro_t *baro)
         baro->calculate = bmp085_calculate;
         return true;
     }
+#ifdef BARO
     BARO_OFF;
+#endif
     return false;
 }
 
@@ -188,11 +192,11 @@ static int32_t bmp085_get_pressure(uint32_t up)
     x2 = (bmp085.cal_param.b1 * ((b6 * b6) >> 12) ) >> 16;
     x3 = ((x1 + x2) + 2) >> 2;
     b4 = (bmp085.cal_param.ac4 * (uint32_t) (x3 + 32768)) >> 15;
-     
+
     b7 = ((uint32_t)(up - b3) * (50000 >> bmp085.oversampling_setting));
     if (b7 < 0x80000000) {
         pressure = (b7 << 1) / b4;
-    } else { 
+    } else {
         pressure = (b7 / b4) << 1;
     }
 
@@ -214,16 +218,11 @@ static void bmp085_start_ut(void)
 static void bmp085_get_ut(void)
 {
     uint8_t data[2];    
-    uint16_t timeout = 10000;
 
     // wait in case of cockup
     if (!convDone)
         convOverrun++;
-#if 0
-    while (!convDone && timeout-- > 0) {
-        __NOP();
-    }
-#endif
+
     i2cRead(BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 2, data);
     bmp085_ut = (data[0] << 8) | data[1];
 }
@@ -244,16 +243,11 @@ static void bmp085_start_up(void)
 static void bmp085_get_up(void)
 {
     uint8_t data[3];
-    uint16_t timeout = 10000;
     
     // wait in case of cockup
     if (!convDone)
         convOverrun++;
-#if 0
-    while (!convDone && timeout-- > 0) {
-        __NOP();
-    }
-#endif
+
     i2cRead(BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 3, data);
     bmp085_up = (((uint32_t) data[0] << 16) | ((uint32_t) data[1] << 8) | (uint32_t) data[2]) >> (8 - bmp085.oversampling_setting);
 }
diff --git a/src/drv_i2c.c b/src/drv_i2c.c
index f701f8ae7..fac54dfa6 100755
--- a/src/drv_i2c.c
+++ b/src/drv_i2c.c
@@ -47,31 +47,31 @@ static volatile uint8_t* read_p;
 
 static void i2c_er_handler(void)
 {
-    volatile uint32_t SR1Register, SR2Register;
-    /* Read the I2C1 status register */
+    volatile uint32_t SR1Register;
+    // Read the I2C1 status register
     SR1Register = I2Cx->SR1;
     if (SR1Register & 0x0F00) { //an error
         error = true;
         // I2C1error.error = ((SR1Register & 0x0F00) >> 8);        //save error
         // I2C1error.job = job;    //the task
     }
-    /* If AF, BERR or ARLO, abandon the current job and commence new if there are jobs */
+    // If AF, BERR or ARLO, abandon the current job and commence new if there are jobs
     if (SR1Register & 0x0700) {
-        SR2Register = I2Cx->SR2;        //read second status register to clear ADDR if it is set (note that BTF will not be set after a NACK)
-        I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE);        //disable the RXNE/TXE interrupt - prevent the ISR tailchaining onto the ER (hopefully)
-        if (!(SR1Register & 0x0200) && !(I2Cx->CR1 & 0x0200)) {  //if we dont have an ARLO error, ensure sending of a stop
-            if (I2Cx->CR1 & 0x0100) {   //We are currently trying to send a start, this is very bad as start,stop will hang the peripheral
-                while (I2Cx->CR1 & 0x0100);     //wait for any start to finish sending
-                I2C_GenerateSTOP(I2Cx, ENABLE); //send stop to finalise bus transaction
-                while (I2Cx->CR1 & 0x0200);     //wait for stop to finish sending
-                i2cInit(I2Cx);   //reset and configure the hardware
+        (void)I2Cx->SR2;                                // read second status register to clear ADDR if it is set (note that BTF will not be set after a NACK)
+        I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE);        // disable the RXNE/TXE interrupt - prevent the ISR tailchaining onto the ER (hopefully)
+        if (!(SR1Register & 0x0200) && !(I2Cx->CR1 & 0x0200)) {  // if we dont have an ARLO error, ensure sending of a stop
+            if (I2Cx->CR1 & 0x0100) {                   // We are currently trying to send a start, this is very bad as start,stop will hang the peripheral
+                while (I2Cx->CR1 & 0x0100);             // wait for any start to finish sending
+                I2C_GenerateSTOP(I2Cx, ENABLE);         // send stop to finalise bus transaction
+                while (I2Cx->CR1 & 0x0200);             // wait for stop to finish sending
+                i2cInit(I2Cx);                          // reset and configure the hardware
             } else {
-                I2C_GenerateSTOP(I2Cx, ENABLE); //stop to free up the bus
-                I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE);   //Disable EVT and ERR interrupts while bus inactive
+                I2C_GenerateSTOP(I2Cx, ENABLE);         // stop to free up the bus
+                I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE);   // Disable EVT and ERR interrupts while bus inactive
             }
         }
     }
-    I2Cx->SR1 &= ~0x0F00;       //reset all the error bits to clear the interrupt
+    I2Cx->SR1 &= ~0x0F00;                               // reset all the error bits to clear the interrupt
     busy = 0;
 }
 
@@ -167,18 +167,17 @@ void i2c_ev_handler(void)
                 index = -1;     //send a subaddress
         }
     } else if (SReg_1 & 0x0002) {       //we just sent the address - EV6 in ref manual
-        //Read SR1,2 to clear ADDR
-        volatile uint8_t a;
+        // Read SR1,2 to clear ADDR
         __DMB(); // memory fence to control hardware
-        if (bytes == 1 && reading && subaddress_sent) { //we are receiving 1 byte - EV6_3
-            I2C_AcknowledgeConfig(I2Cx, DISABLE);       //turn off ACK
+        if (bytes == 1 && reading && subaddress_sent) {     // we are receiving 1 byte - EV6_3
+            I2C_AcknowledgeConfig(I2Cx, DISABLE);           // turn off ACK
             __DMB();
-            a = I2Cx->SR2;      //clear ADDR after ACK is turned off
-            I2C_GenerateSTOP(I2Cx, ENABLE);     //program the stop
+            (void)I2Cx->SR2;                                // clear ADDR after ACK is turned off
+            I2C_GenerateSTOP(I2Cx, ENABLE);                 // program the stop
             final_stop = 1;
-            I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE);     //allow us to have an EV7
-        } else {                //EV6 and EV6_1
-            a = I2Cx->SR2;      //clear the ADDR here
+            I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE);         // allow us to have an EV7
+        } else {                    // EV6 and EV6_1
+            (void)I2Cx->SR2;        // clear the ADDR here
             __DMB();
             if (bytes == 2 && reading && subaddress_sent) {     //rx 2 bytes - EV6_1
                 I2C_AcknowledgeConfig(I2Cx, DISABLE);   //turn off ACK
@@ -220,7 +219,7 @@ void i2c_ev_handler(void)
             }
         }
         //we must wait for the start to clear, otherwise we get constant BTF
-        while (I2Cx->CR1 & 0x0100) { ; }                       
+        while (I2Cx->CR1 & 0x0100) { ; }
     } else if (SReg_1 & 0x0040) {       //Byte received - EV7
         read_p[index++] = I2C_ReceiveData(I2Cx);
         if (bytes == (index + 3))
diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c
index 7dc6e9eff..4a69ff41f 100644
--- a/src/drv_mpu6050.c
+++ b/src/drv_mpu6050.c
@@ -490,7 +490,7 @@ const uint8_t dmp_updates[29][9] = {
     {0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00}, //D_1_236 inv_apply_endian_accel
     {0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97},     //FCFG_2 inv_set_mpu_sensors
     {0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D},       //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
-    {0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D}, //FCFG_5 inv_set_bias_update 
+    {0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D}, //FCFG_5 inv_set_bias_update
     {0x00, 0xA3, 0x01, 0x00},   //D_0_163 inv_set_dead_zone
     //SET INT_ENABLE at i=22
     {0x07, 0x86, 0x01, 0xFE},   //CFG_6 inv_set_fifo_interupt
@@ -560,13 +560,13 @@ void mpu6050DmpLoop(void)
         if (dmp_firstPacket) {
             delay(1);
             mpu6050DmpBankSelect(0x00);
-            
+
             mpu6050DmpBankSelect(0x00); // bank
             i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60);
             i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x04\x00\x00\x00"); // data
 
             mpu6050DmpBankSelect(0x01);
-            
+
             i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x62);
             i2cRead(MPU6050_ADDRESS, DMP_MEM_R_W, 2, buf);
             dmp_firstPacket = false;
@@ -593,20 +593,20 @@ static void mpu6050DmpProcessQuat(void)
     quatl2 = dmp_quatTake32(dmp_received_packet, 2);
     quatl3 = dmp_quatTake32(dmp_received_packet, 3);
 
-    if (quatl0 > 32767) 
+    if (quatl0 > 32767)
         quatl0 -= 65536;
-    if (quatl1 > 32767) 
+    if (quatl1 > 32767)
         quatl1 -= 65536;
-    if (quatl2 > 32767) 
+    if (quatl2 > 32767)
         quatl2 -= 65536;
-    if (quatl3 > 32767) 
+    if (quatl3 > 32767)
         quatl3 -= 65536;
 
     quat0 = ((float) quatl0) / 16384.0f;
     quat1 = ((float) quatl1) / 16384.0f;
     quat2 = ((float) quatl2) / 16384.0f;
     quat3 = ((float) quatl3) / 16384.0f;
-    
+
     dmpdata[0] = atan2f(2 * ((quat0 * quat1) + (quat2 * quat3)), 1.0 - (2 * ((quat1 * quat1) + (quat2 * quat2)))) * (180.0f / M_PI);
     dmpdata[1] = asinf(2 * ((quat0 * quat2) - (quat3 * quat1))) * (180.0f / M_PI);
     angle[0] = dmpdata[0] * 10;
@@ -620,7 +620,7 @@ static void mpu6050DmpProcessQuat(void)
 void mpu6050DmpResetFifo(void)
 {
     uint8_t ctrl;
-    
+
     i2cRead(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 1, &ctrl);
     ctrl |= 0x04;
     i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, ctrl);
@@ -632,7 +632,7 @@ static void mpu6050DmpGetPacket(void)
         dmp_fifoCountL2 = dmp_fifoCountL - 32;
         dmp_longPacket = true;
     }
-    
+
     if (dmp_longPacket) {
         i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, 32, dmp_received_packet);
         i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, dmp_fifoCountL, dmp_received_packet + 32);
@@ -652,7 +652,7 @@ static bool mpu6050DmpFifoReady(void)
     
     dmp_fifoCountL = buf[1];
     dmpFifoLevel = buf[0] << 8 | buf[1];
-    
+
     if (dmp_fifoCountL == 42 || dmp_fifoCountL == 44)
         return true;
     else {
@@ -769,7 +769,7 @@ static void mpu6050DmpMemInit(void)
     delay(2);
 
     i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 1, &temp);
-    i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 0x00); 
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 0x00);
     i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 1, &temp);
 
     i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 0x00); // full scale range +/- 2g
diff --git a/src/gps.c b/src/gps.c
index e74b738c0..424066642 100644
--- a/src/gps.c
+++ b/src/gps.c
@@ -330,7 +330,7 @@ void GPS_NewData(uint16_t c)
             GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_home[LAT], &GPS_home[LON], &dist, &dir);
             GPS_distanceToHome = dist / 100;
             GPS_directionToHome = dir / 100;
-            
+
             if (!f.GPS_FIX_HOME) {      // If we don't have home set, do not display anything
                 GPS_distanceToHome = 0;
                 GPS_directionToHome = 0;
@@ -713,7 +713,7 @@ uint32_t GPS_coord_to_degrees(char* s)
     int i;
 
     // scan for decimal point or end of field
-    for (p = s; isdigit(*p); p++)
+    for (p = s; isdigit((unsigned char)*p); p++)
         ;
     q = s;
 
@@ -736,7 +736,7 @@ uint32_t GPS_coord_to_degrees(char* s)
         q = p + 1;
         for (i = 0; i < 4; i++) {
             frac_min *= 10;
-            if (isdigit(*q))
+            if (isdigit((unsigned char)*q))
                 frac_min += *q++ - '0';
         }
     }
@@ -1002,8 +1002,6 @@ static bool _new_position;
 // do we have new speed information?
 static bool _new_speed;
 
-static uint8_t _disable_counter;
-
 // Receive buffer
 static union {
     ubx_nav_posllh posllh;
diff --git a/src/imu.c b/src/imu.c
index 5adf86fb3..e11b28958 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -372,7 +372,6 @@ int getEstimatedAltitude(void)
     int32_t baroVel;
     int32_t vel_tmp;
     int32_t BaroAlt_tmp;
-    float vel_calc;
     static float vel = 0.0f;
     static float accAlt = 0.0f;
     static int32_t lastBaroAlt;
@@ -396,8 +395,7 @@ int getEstimatedAltitude(void)
     BaroAlt = BaroAlt * cfg.baro_noise_lpf + BaroAlt_tmp * (1.0f - cfg.baro_noise_lpf); // additional LPF to reduce baro noise
     
     // Integrator - velocity, cm/sec
-    vel_calc = (float) accSum[2] * accVelScale * (float) accTimeSum / (float) accSumCount;
-    vel += vel_calc;
+    vel += (float)accSum[2] * accVelScale * (float)accTimeSum / (float)accSumCount;
 
     // Integrator - Altitude in cm
     accAlt += vel * ((float) accTimeSum * 0.0000005f);                                  // integrate velocity to get distance (x= a/2 * t^2)
diff --git a/src/mixer.c b/src/mixer.c
index 28f13cdfd..fc4be84d7 100755
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -6,7 +6,6 @@ int16_t motor[MAX_MOTORS];
 int16_t servo[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
 
 static motorMixer_t currentMixer[MAX_MOTORS];
-static servoParam_t currentServo[MAX_SERVOS];
 
 static const motorMixer_t mixerTri[] = {
     { 1.0f,  0.0f,  1.333333f,  0.0f },     // REAR
diff --git a/src/mw.c b/src/mw.c
index dffb084de..c6ecc71e2 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -18,7 +18,7 @@ int16_t telemTemperature1;      // gyro sensor temperature
 int16_t failsafeCnt = 0;
 int16_t failsafeEvents = 0;
 int16_t rcData[8] = { 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502 }; // interval [1000;2000]
-int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW 
+int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
 int16_t lookupPitchRollRC[6];   // lookup table for expo & RC rate PITCH+ROLL
 int16_t lookupThrottleRC[11];   // lookup table for expo & mid THROTTLE
 uint16_t rssi;                  // range: [0;1023]
@@ -275,7 +275,7 @@ static void mwDisarm(void)
 
 static void mwVario(void)
 {
-    
+
 }
 
 static int32_t errorGyroI[3] = { 0, 0, 0 };
@@ -285,7 +285,7 @@ static void pidMultiWii(void)
 {
     int axis, prop;
     int32_t error, errorAngle;
-    int32_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
+    int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
     static int16_t lastGyro[3] = { 0, 0, 0 };
     static int32_t delta1[3], delta2[3];
     int32_t deltaSum;
@@ -310,7 +310,7 @@ static void pidMultiWii(void)
             PTermGYRO = rcCommand[axis];
 
             errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
-            if (abs(gyroData[axis]) > 640) 
+            if (abs(gyroData[axis]) > 640)
                 errorGyroI[axis] = 0;
             ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
         }
@@ -404,7 +404,7 @@ static void pidRewrite(void)
         delta1[axis] = delta;
         DTerm = (deltaSum * cfg.D8[axis]) >> 8;
 
-        // -----calculate total PID output     
+        // -----calculate total PID output
         axisPID[axis] = PTerm + ITerm + DTerm;
     }
 }
@@ -429,7 +429,9 @@ void loop(void)
     uint8_t stTmp = 0;
     int i;
     static uint32_t rcTime = 0;
+#ifdef BARO
     static int16_t initialThrottleHold;
+#endif
     static uint32_t loopTime;
     uint16_t auxState = 0;
     static uint8_t GPSNavReset = 1;
@@ -621,7 +623,7 @@ void loop(void)
         if (rcOptions[BOXHORIZON]) {
             f.ANGLE_MODE = 0;
             if (!f.HORIZON_MODE) {
-                errorAngleI[ROLL] = 0; 
+                errorAngleI[ROLL] = 0;
                 errorAngleI[PITCH] = 0;
                 f.HORIZON_MODE = 1;
             }