diff --git a/baseflight.uvopt b/baseflight.uvopt
index d74368888..8a67e7140 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -161,9 +161,9 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>35</LineNumber>
+          <LineNumber>58</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134236980</Address>
+          <Address>134240618</Address>
           <ByteObject>0</ByteObject>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
@@ -171,7 +171,7 @@
           <BreakIfRCount>1</BreakIfRCount>
           <Filename></Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\baseflight\src/drv_mpu3050.c\35</Expression>
+          <Expression>\\baseflight\src/drv_mpu6050.c\58</Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>
@@ -202,7 +202,7 @@
         <Mm>
           <WinNumber>1</WinNumber>
           <SubType>0</SubType>
-          <ItemText>cmdline</ItemText>
+          <ItemText>buf</ItemText>
         </Mm>
       </MemoryWindow1>
       <MemoryWindow2>
@@ -244,7 +244,7 @@
   </Target>
 
   <Target>
-    <TargetName>STM32-FreeFlight</TargetName>
+    <TargetName>STM32-Release</TargetName>
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
@@ -519,10 +519,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>26</ColumnNumber>
+      <ColumnNumber>15</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>92</TopLine>
-      <CurrentLine>110</CurrentLine>
+      <TopLine>116</TopLine>
+      <CurrentLine>131</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\config.c</PathWithFileName>
       <FilenameWithoutPath>config.c</FilenameWithoutPath>
@@ -535,8 +535,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>229</TopLine>
-      <CurrentLine>238</CurrentLine>
+      <TopLine>320</TopLine>
+      <CurrentLine>340</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\imu.c</PathWithFileName>
       <FilenameWithoutPath>imu.c</FilenameWithoutPath>
@@ -547,10 +547,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>13</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>11</TopLine>
+      <CurrentLine>25</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
@@ -563,8 +563,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>268</TopLine>
-      <CurrentLine>268</CurrentLine>
+      <TopLine>37</TopLine>
+      <CurrentLine>68</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mixer.c</PathWithFileName>
       <FilenameWithoutPath>mixer.c</FilenameWithoutPath>
@@ -575,10 +575,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>20</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>124</TopLine>
-      <CurrentLine>129</CurrentLine>
+      <TopLine>359</TopLine>
+      <CurrentLine>376</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.c</PathWithFileName>
       <FilenameWithoutPath>mw.c</FilenameWithoutPath>
@@ -589,10 +589,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>41</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>216</TopLine>
-      <CurrentLine>231</CurrentLine>
+      <TopLine>276</TopLine>
+      <CurrentLine>298</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\sensors.c</PathWithFileName>
       <FilenameWithoutPath>sensors.c</FilenameWithoutPath>
@@ -603,10 +603,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>18</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>237</TopLine>
-      <CurrentLine>237</CurrentLine>
+      <TopLine>199</TopLine>
+      <CurrentLine>233</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\serial.c</PathWithFileName>
       <FilenameWithoutPath>serial.c</FilenameWithoutPath>
@@ -617,10 +617,10 @@
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>20</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>54</TopLine>
-      <CurrentLine>72</CurrentLine>
+      <TopLine>1</TopLine>
+      <CurrentLine>29</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\board.h</PathWithFileName>
       <FilenameWithoutPath>board.h</FilenameWithoutPath>
@@ -631,10 +631,10 @@
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>14</ColumnNumber>
+      <ColumnNumber>32</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>241</TopLine>
-      <CurrentLine>249</CurrentLine>
+      <TopLine>248</TopLine>
+      <CurrentLine>262</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.h</PathWithFileName>
       <FilenameWithoutPath>mw.h</FilenameWithoutPath>
@@ -652,10 +652,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>1</TopLine>
+      <CurrentLine>1</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_adc.c</PathWithFileName>
       <FilenameWithoutPath>drv_adc.c</FilenameWithoutPath>
@@ -666,10 +666,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
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-      <TopLine>54</TopLine>
-      <CurrentLine>72</CurrentLine>
+      <TopLine>11</TopLine>
+      <CurrentLine>15</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_adxl345.c</PathWithFileName>
       <FilenameWithoutPath>drv_adxl345.c</FilenameWithoutPath>
@@ -696,8 +696,8 @@
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       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>33</TopLine>
-      <CurrentLine>51</CurrentLine>
+      <TopLine>0</TopLine>
+      <CurrentLine>0</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_hmc5883l.c</PathWithFileName>
       <FilenameWithoutPath>drv_hmc5883l.c</FilenameWithoutPath>
@@ -708,10 +708,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>29</ColumnNumber>
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-      <TopLine>101</TopLine>
-      <CurrentLine>101</CurrentLine>
+      <TopLine>0</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_i2c.c</PathWithFileName>
       <FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
@@ -722,10 +722,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>15</ColumnNumber>
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-      <CurrentLine>35</CurrentLine>
+      <TopLine>1</TopLine>
+      <CurrentLine>1</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_mpu3050.c</PathWithFileName>
       <FilenameWithoutPath>drv_mpu3050.c</FilenameWithoutPath>
@@ -738,8 +738,8 @@
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       <ColumnNumber>5</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>71</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_pwm.c</PathWithFileName>
       <FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath>
@@ -752,8 +752,8 @@
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       <ColumnNumber>51</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_system.c</PathWithFileName>
       <FilenameWithoutPath>drv_system.c</FilenameWithoutPath>
@@ -778,14 +778,42 @@
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       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>1</ColumnNumber>
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-      <TopLine>1</TopLine>
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+      <CurrentLine>0</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_ledring.c</PathWithFileName>
       <FilenameWithoutPath>drv_ledring.c</FilenameWithoutPath>
     </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>0</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <Focus>0</Focus>
+      <ColumnNumber>21</ColumnNumber>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <TopLine>3</TopLine>
+      <CurrentLine>3</CurrentLine>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\src\drv_mpu6050.c</PathWithFileName>
+      <FilenameWithoutPath>drv_mpu6050.c</FilenameWithoutPath>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>0</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <Focus>0</Focus>
+      <ColumnNumber>0</ColumnNumber>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <TopLine>1</TopLine>
+      <CurrentLine>4</CurrentLine>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\src\drv_mpu6050.h</PathWithFileName>
+      <FilenameWithoutPath>drv_mpu6050.h</FilenameWithoutPath>
+    </File>
   </Group>
 
   <Group>
diff --git a/baseflight.uvproj b/baseflight.uvproj
index 6cf1721f5..a37435e76 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -491,10 +491,74 @@
               <FileType>1</FileType>
               <FilePath>.\src\drv_ledring.c</FilePath>
             </File>
+            <File>
+              <FileName>drv_mpu6050.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\drv_mpu6050.c</FilePath>
+            </File>
+            <File>
+              <FileName>drv_mpu6050.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\src\drv_mpu6050.h</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
           <GroupName>System</GroupName>
+          <GroupOption>
+            <CommonProperty>
+              <UseCPPCompiler>0</UseCPPCompiler>
+              <RVCTCodeConst>0</RVCTCodeConst>
+              <RVCTZI>0</RVCTZI>
+              <RVCTOtherData>0</RVCTOtherData>
+              <ModuleSelection>0</ModuleSelection>
+              <IncludeInBuild>2</IncludeInBuild>
+              <AlwaysBuild>2</AlwaysBuild>
+              <GenerateAssemblyFile>2</GenerateAssemblyFile>
+              <AssembleAssemblyFile>2</AssembleAssemblyFile>
+              <PublicsOnly>2</PublicsOnly>
+              <StopOnExitCode>11</StopOnExitCode>
+              <CustomArgument></CustomArgument>
+              <IncludeLibraryModules></IncludeLibraryModules>
+            </CommonProperty>
+            <GroupArmAds>
+              <Cads>
+                <interw>2</interw>
+                <Optim>4</Optim>
+                <oTime>2</oTime>
+                <SplitLS>2</SplitLS>
+                <OneElfS>2</OneElfS>
+                <Strict>2</Strict>
+                <EnumInt>2</EnumInt>
+                <PlainCh>2</PlainCh>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <wLevel>0</wLevel>
+                <uThumb>2</uThumb>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Cads>
+              <Aads>
+                <interw>2</interw>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <thumb>2</thumb>
+                <SplitLS>2</SplitLS>
+                <SwStkChk>2</SwStkChk>
+                <NoWarn>2</NoWarn>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Aads>
+            </GroupArmAds>
+          </GroupOption>
           <Files>
             <File>
               <FileName>core_cm3.c</FileName>
@@ -566,7 +630,7 @@
       </Groups>
     </Target>
     <Target>
-      <TargetName>STM32-FreeFlight</TargetName>
+      <TargetName>STM32-Release</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
       <TargetOption>
@@ -767,7 +831,7 @@
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
-            <useUlib>0</useUlib>
+            <useUlib>1</useUlib>
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             <uLtcg>0</uLtcg>
             <RoSelD>3</RoSelD>
@@ -1050,6 +1114,16 @@
               <FileType>1</FileType>
               <FilePath>.\src\drv_ledring.c</FilePath>
             </File>
+            <File>
+              <FileName>drv_mpu6050.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\drv_mpu6050.c</FilePath>
+            </File>
+            <File>
+              <FileName>drv_mpu6050.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\src\drv_mpu6050.h</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index ad0062318..d0d255066 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,54 +1,54 @@
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diff --git a/src/board.h b/src/board.h
index af63c37c1..a872baa8e 100755
--- a/src/board.h
+++ b/src/board.h
@@ -9,17 +9,6 @@
 #include "stm32f10x_conf.h"
 #include "core_cm3.h"
 
-#include "drv_system.h"         // timers, delays, etc
-#include "drv_adc.h"
-#include "drv_adxl345.h"
-#include "drv_bmp085.h"
-#include "drv_hmc5883l.h"
-#include "drv_i2c.h"
-#include "drv_ledring.h"
-#include "drv_mpu3050.h"
-#include "drv_pwm.h"
-#include "drv_uart.h"
-
 typedef enum {
     SENSOR_ACC = 1 << 0,
     SENSOR_BARO = 1 << 1,
@@ -38,8 +27,19 @@ typedef enum {
     FEATURE_CAMTRIG = 1 << 6,
     FEATURE_GYRO_SMOOTHING = 1 << 7,
     FEATURE_LED_RING = 1 << 8,
+    FEATURE_INFLIGHT_ACC_CAL = 1 << 9,
 } AvailableFeatures;
 
+typedef void (* sensorInitFuncPtr)(void);
+typedef void (* sensorReadFuncPtr)(int16_t *data);
+
+typedef struct sensor_t
+{
+    sensorInitFuncPtr init;
+    sensorReadFuncPtr read;
+    sensorReadFuncPtr orient;
+} sensor_t;
+
 #define digitalHi(p, i)     { p->BSRR = i; }
 #define digitalLo(p, i)     { p->BRR = i; }
 #define digitalToggle(p, i) { p->ODR ^= i; }
@@ -69,3 +69,15 @@ typedef enum {
 
 #define BARO_OFF                 digitalLo(BARO_GPIO, BARO_PIN);
 #define BARO_ON                  digitalHi(BARO_GPIO, BARO_PIN);
+
+#include "drv_system.h"         // timers, delays, etc
+#include "drv_adc.h"
+#include "drv_adxl345.h"
+#include "drv_bmp085.h"
+#include "drv_hmc5883l.h"
+#include "drv_i2c.h"
+#include "drv_ledring.h"
+#include "drv_mpu3050.h"
+#include "drv_mpu6050.h"
+#include "drv_pwm.h"
+#include "drv_uart.h"
diff --git a/src/drv_adxl345.c b/src/drv_adxl345.c
index c62ea2308..db9a28f94 100755
--- a/src/drv_adxl345.c
+++ b/src/drv_adxl345.c
@@ -15,7 +15,11 @@
 #define ADXL345_FULL_RANGE  0x08
 #define ADXL345_RANGE_16G   0x03
 
-bool adxl345Detect(void)
+static void adxl345Init(void);
+static void adxl345Read(int16_t *accelData);
+static void adxl345Align(int16_t *accelData);
+
+bool adxl345Detect(sensor_t *acc)
 {
     bool ack = false;
     uint8_t sig = 0;
@@ -23,6 +27,10 @@ bool adxl345Detect(void)
     ack = i2cRead(ADXL345_ADDRESS, 0x00, 1, &sig);
     if (!ack || sig != 0xE5)
         return false;
+        
+    acc->init = adxl345Init;
+    acc->read = adxl345Read;
+    acc->orient = adxl345Align;
     return true;
 }
 
@@ -38,7 +46,7 @@ bool adxl345Detect(void)
 #define ADXL_RANGE_8G      0x02
 #define ADXL_RANGE_16G     0x03
 
-void adxl345Init(void)
+static void adxl345Init(void)
 {
 #ifdef FREEFLIGHT
     i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_BW_RATE_200);
@@ -60,12 +68,17 @@ void adxl345Init(void)
 #endif /* FreeFlight */
 }
 
-void adxl345Read(int16_t *accelData)
+static void adxl345Read(int16_t *accelData)
 {
     static uint8_t buf[6];
-    
+
     i2cRead(ADXL345_ADDRESS, ADXL345_DATA_OUT, 6, buf);
     accelData[0] = buf[0] + (buf[1] << 8);
     accelData[1] = buf[2] + (buf[3] << 8);
     accelData[2] = buf[4] + (buf[5] << 8);
 }
+
+static void adxl345Align(int16_t *accData)
+{
+    // official direction is RPY, nothing to change here.
+}
diff --git a/src/drv_adxl345.h b/src/drv_adxl345.h
index cf4e09560..d526ba043 100755
--- a/src/drv_adxl345.h
+++ b/src/drv_adxl345.h
@@ -1,5 +1,3 @@
 #pragma once
 
-bool adxl345Detect(void);
-void adxl345Init(void);
-void adxl345Read(int16_t *accelData);
+bool adxl345Detect(sensor_t *acc);
diff --git a/src/drv_mpu3050.c b/src/drv_mpu3050.c
index 92106c2e7..348958874 100755
--- a/src/drv_mpu3050.c
+++ b/src/drv_mpu3050.c
@@ -25,7 +25,28 @@
 
 static uint8_t mpuLowPassFliter = MPU3050_DLPF_42HZ;
 
-void mpu3050Init(void)
+static void mpu3050Init(void);
+static void mpu3050Read(int16_t *gyroData);
+static void mpu3050Align(int16_t *gyroData);
+
+bool mpu3050Detect(sensor_t *gyro)
+{
+    bool ack;
+
+    delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
+
+    ack = i2cWrite(MPU3050_ADDRESS, MPU3050_SMPLRT_DIV, 0);
+    if (!ack)
+        return false;
+
+    gyro->init = mpu3050Init;
+    gyro->read = mpu3050Read;
+    gyro->orient = mpu3050Align;
+
+    return true;
+}
+
+static void mpu3050Init(void)
 {
     bool ack;
 
@@ -41,17 +62,25 @@ void mpu3050Init(void)
     i2cWrite(MPU3050_ADDRESS, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
 }
 
+static void mpu3050Align(int16_t *gyroData)
+{
+    // official direction is RPY
+    gyroData[0] = gyroData[0] / 4;
+    gyroData[1] = gyroData[1] / 4;
+    gyroData[2] = -gyroData[2] / 4;
+}
+
 // Read 3 gyro values into user-provided buffer. No overrun checking is done.
-void mpu3050Read(int16_t *gyroData)
+static void mpu3050Read(int16_t *gyroData)
 {
     uint8_t buf[6];
     i2cRead(MPU3050_ADDRESS, MPU3050_GYRO_OUT, 6, buf);
-    gyroData[0] = buf[0] << 8 | buf[1];
-    gyroData[1] = buf[2] << 8 | buf[3];
-    gyroData[2] = buf[4] << 8 | buf[5];
+    gyroData[0] = (buf[0] << 8) | buf[1];
+    gyroData[1] = (buf[2] << 8) | buf[3];
+    gyroData[2] = (buf[4] << 8) | buf[5];
 }
 
-int16_t mpu3050ReadTemp(void)
+static int16_t mpu3050ReadTemp(void)
 {
     uint8_t buf[2];
     i2cRead(MPU3050_ADDRESS, MPU3050_TEMP_OUT, 2, buf);
diff --git a/src/drv_mpu3050.h b/src/drv_mpu3050.h
index a197c6c00..a8e36412e 100755
--- a/src/drv_mpu3050.h
+++ b/src/drv_mpu3050.h
@@ -1,5 +1,3 @@
 #pragma once
 
-void mpu3050Init(void);
-void mpu3050Read(int16_t *gyroData);
-int16_t mpu3050ReadTemp(void);
+bool mpu3050Detect(sensor_t *gyro);
diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c
new file mode 100644
index 000000000..dc627d9f9
--- /dev/null
+++ b/src/drv_mpu6050.c
@@ -0,0 +1,100 @@
+#include "board.h"
+
+// MPU6050, Standard address 0x68
+#define MPU6050_ADDRESS         0x68
+#define MPU6050_WHO_AM_I        0x75
+#define MPU6050_SMPLRT_DIV      0  //8000Hz
+#define MPU6050_DLPF_CFG        0
+#define MPU6050_GYRO_OUT        0x43
+#define MPU6050_ACC_OUT         0x3B
+
+static void mpu6050AccInit(void);
+static void mpu6050AccRead(int16_t *accData);
+static void mpu6050AccAlign(int16_t *accData);
+static void mpu6050GyroInit(void);
+static void mpu6050GyroRead(int16_t *gyroData);
+static void mpu6050GyroAlign(int16_t *gyroData);
+
+extern uint16_t acc_1G;
+
+bool mpu6050Detect(sensor_t *acc, sensor_t *gyro)
+{
+    bool ack;
+    uint8_t sig;
+
+    delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
+
+    ack = i2cRead(MPU6050_ADDRESS, MPU6050_WHO_AM_I, 1, &sig);
+    if (!ack)
+        return false;
+    
+    if (sig != 0x68)
+        return false;
+
+    acc->init = mpu6050AccInit;
+    acc->read = mpu6050AccRead;
+    acc->orient = mpu6050AccAlign;
+    gyro->init = mpu6050GyroInit;
+    gyro->read = mpu6050GyroRead;
+    gyro->orient = mpu6050GyroAlign;
+
+    return true;
+}
+
+static void mpu6050AccInit(void)
+{
+    i2cWrite(MPU6050_ADDRESS, 0x1C, 0x10);             // ACCEL_CONFIG  -- AFS_SEL=2 (Full Scale = +/-8G)  ; ACCELL_HPF=0   //note something is wrong in the spec.
+    // note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256)
+    // confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480
+    // seems to be not a problem on MPU6000 lol
+    acc_1G = 1023;
+}
+
+static void mpu6050AccRead(int16_t *accData)
+{
+    uint8_t buf[6];
+    
+    i2cRead(MPU6050_ADDRESS, MPU6050_ACC_OUT, 6, buf);
+    accData[0] = (buf[0] << 8) | buf[1];
+    accData[1] = (buf[2] << 8) | buf[3];
+    accData[2] = (buf[4] << 8) | buf[5];
+}
+
+static void mpu6050AccAlign(int16_t *accData)
+{
+    int16_t temp[2];
+    temp[0] = accData[0];
+    temp[1] = accData[1];
+
+    // official direction is RPY
+    accData[0] = temp[1] / 8;
+    accData[1] = -temp[0] / 8;
+    accData[2] = accData[2] / 8;
+}
+
+static void mpu6050GyroInit(void)
+{
+    i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80);             //PWR_MGMT_1    -- DEVICE_RESET 1
+    delay(5);
+    i2cWrite(MPU6050_ADDRESS, 0x19, 0x00);             //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+    i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
+    i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03);             //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
+    i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18);             //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
+}
+
+static void mpu6050GyroRead(int16_t *gyroData)
+{
+    uint8_t buf[6];
+    i2cRead(MPU6050_ADDRESS, MPU6050_GYRO_OUT, 6, buf);
+    gyroData[0] = (buf[0] << 8) | buf[1];
+    gyroData[1] = (buf[2] << 8) | buf[3];
+    gyroData[2] = (buf[4] << 8) | buf[5];
+}
+
+static void mpu6050GyroAlign(int16_t *gyroData)
+{
+    // official direction is RPY
+    gyroData[0] = gyroData[0] / 4;
+    gyroData[1] = gyroData[1] / 4;
+    gyroData[2] = -gyroData[2] / 4;
+}
diff --git a/src/drv_mpu6050.h b/src/drv_mpu6050.h
new file mode 100644
index 000000000..ea3b1899d
--- /dev/null
+++ b/src/drv_mpu6050.h
@@ -0,0 +1,3 @@
+#pragma once
+
+bool mpu6050Detect(sensor_t *acc, sensor_t *gyro);
diff --git a/src/imu.c b/src/imu.c
index 864196897..7a39dac7b 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -336,8 +336,8 @@ void getEstimatedAltitude(void)
     EstAlt = BaroHigh * 10 / (BARO_TAB_SIZE / 2);
 
     temp32 = AltHold - EstAlt;
-    if (abs(temp32) < 10 && BaroPID < 10)
-        BaroPID = 0;  // remove small D parametr to reduce noise near zoro position
+    if (abs(temp32) < 10 && abs(BaroPID) < 10)
+        BaroPID = 0;  // remove small D parameter to reduce noise near zero position
     // P
     BaroPID += cfg.P8[PIDALT] * constrain(temp32, (-2) * cfg.P8[PIDALT], 2 * cfg.P8[PIDALT]) / 100;
     BaroPID = constrain(BaroPID, -150, +150); // sum of P and D should be in range 150
diff --git a/src/main.c b/src/main.c
index dfbeacc7c..fe150e08c 100755
--- a/src/main.c
+++ b/src/main.c
@@ -31,24 +31,15 @@ int main(void)
         LED1_TOGGLE;
         LED0_TOGGLE;
         delay(25);
-        BEEP_ON
+        BEEP_ON;
         delay(25);
         BEEP_OFF;
     }
     LED0_OFF;
     LED1_OFF;
 
-    // drop out any sensors that don't seem to work
-     sensorsAutodetect();
-
-    // Init sensors
-    if (sensors(SENSOR_BARO))
-        bmp085Init();
-    if (sensors(SENSOR_ACC))
-        adxl345Init();
-    // if this fails, we get a beep + blink pattern. we're doomed.
-    mpu3050Init();
-
+    // drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
+    sensorsAutodetect();
     imuInit(); // Mag is initialized inside imuInit
 
     previousTime = micros();
diff --git a/src/mw.c b/src/mw.c
index 2abe8ff52..f8e24abc9 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -1,7 +1,7 @@
 #include "board.h"
 #include "mw.h"
 
-// March  2012     V2.0_pre_version_1
+// March  2012     V2.0_pre_version_3
 
 #define CHECKBOXITEMS 11
 #define PIDITEMS 8
@@ -56,6 +56,7 @@ uint16_t GPS_distanceToHome;     // in meters
 int16_t GPS_directionToHome = 0; // in degrees
 uint16_t GPS_distanceToHome, GPS_distanceToHold;       // distance to home or hold point in meters
 int16_t  GPS_directionToHome, GPS_directionToHold;     // direction to home or hol point in degrees
+uint16_t GPS_altitude, GPS_speed;                      // altitude in 0.1m and speed in 0.1m/s - Added by Mis
 uint8_t GPS_update = 0;  // it's a binary toogle to distinct a GPS position update
 int16_t GPS_angle[2];    // it's the angles that must be applied for GPS correction
 
@@ -72,7 +73,7 @@ uint16_t AccInflightCalibrationActive = 0;
 // power meter
 // **********************
 #define PMOTOR_SUM 8            // index into pMeter[] for sum
-uint32_t pMeter[PMOTOR_SUM + 1]; //we use [0:7] for eight motors,one extra for sum
+uint32_t pMeter[PMOTOR_SUM + 1]; // we use [0:7] for eight motors,one extra for sum
 uint8_t pMeterV;         // dummy to satisfy the paramStruct logic in ConfigurationLoop()
 uint32_t pAlarm;         // we scale the eeprom value from [0:255] to this value we can directly compare to the sum in pMeter[6]
 // uint8_t powerTrigger1 = 0;       
@@ -94,8 +95,9 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
     }
 }
 
+// this code is executed at each loop and won't interfere with control loop if it lasts less than 650 microseconds
 void annexCode(void)
-{                               //this code is excetuted at each loop and won't interfere with control loop if it lasts less than 650 microseconds
+{                               
     static uint32_t buzzerTime, calibratedAccTime;
 #if defined(LCD_TELEMETRY)
     static uint16_t telemetryTimer = 0, telemetryAutoTimer = 0, psensorTimer = 0;
@@ -173,19 +175,12 @@ void annexCode(void)
     }
 #endif
 
-#define ADC_REF_VOLTAGE         3.3f
-#define ADC_TO_VOLTAGE		(ADC_REF_VOLTAGE / (1<<12)) // 12 bit ADC resolution
-#define ADC_VOLTS_PRECISION	12
-#define ADC_VOLTS_SLOPE		((10.0f + 1.0f) / 1.0f)    // Rtop = 10K, Rbot = 1.0K
-#define ADC_TO_VOLTS		((ADC_TO_VOLTAGE / ((1<<(ADC_VOLTS_PRECISION))+1)) * ADC_VOLTS_SLOPE)
-
     if (feature(FEATURE_VBAT)) {
         if (!(++vbatTimer % VBATFREQ)) {
-        	// avgVolts = adcAvgVolts * ADC_TO_VOLTS;
             vbatRawArray[(ind++) % 8] = adcGetBattery();
             for (i = 0; i < 8; i++)
                 vbatRaw += vbatRawArray[i];
-            vbat = vbatRaw / (VBATSCALE / 2);       // result is Vbatt in 0.1V steps
+            vbat = (((vbatRaw / 8) * 3.3f) / 4095) * 110;       // result is Vbatt in 0.1V steps
         }
         if (rcOptions[BOXBEEPERON]) {       // unconditional beeper on via AUXn switch 
             buzzerFreq = 7;
@@ -232,13 +227,13 @@ void annexCode(void)
         }
     }
 
-#if defined(LED_RING)
-    static uint32_t LEDTime;
-    if (currentTime > LEDTime) {
-        LEDTime = currentTime + 50000;
-        i2CLedRingState();
+    if (feature(FEATURE_LED_RING)) {
+        static uint32_t LEDTime;
+        if (currentTime > LEDTime) {
+            LEDTime = currentTime + 50000;
+            ledringState();
+        }
     }
-#endif
 
     if (currentTime > calibratedAccTime) {
         if (smallAngle25 == 0) {
@@ -369,16 +364,20 @@ void loop(void)
                     calibratingG = 400;
             } else if (rcData[YAW] > MAXCHECK && rcData[PITCH] > MAXCHECK && armed == 0) {
                 if (rcDelayCommand == 20) {
-                    servo[0] = 1500;    //we center the yaw gyro in conf mode
-                    writeServos();
+                    if (cfg.mixerConfiguration == MULTITYPE_TRI) {
+                        servo[5] = 1500; // we center the yaw servo in conf mode
+                        writeServos();
+                    } else if (cfg.mixerConfiguration == MULTITYPE_FLYING_WING) {
+                        servo[0]  = cfg.wing_left_mid;
+                        servo[1]  = cfg.wing_right_mid;
+                        writeServos();
+                    }
 #if defined(LCD_CONF)
                     configurationLoop();        //beginning LCD configuration
 #endif
                     previousTime = micros();
                 }
-            }
-#if defined(InflightAccCalibration)
-            else if (armed == 0 && rcData[YAW] < MINCHECK && rcData[PITCH] > MAXCHECK && rcData[ROLL] > MAXCHECK) {
+            } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < MINCHECK && rcData[PITCH] > MAXCHECK && rcData[ROLL] > MAXCHECK)) {
                 if (rcDelayCommand == 20) {
                     if (AccInflightCalibrationMeasurementDone) {        //trigger saving into eeprom after landing
                         AccInflightCalibrationMeasurementDone = 0;
@@ -392,9 +391,7 @@ void loop(void)
                         }
                     }
                 }
-            }
-#endif
-            else if ((cfg.activate1[BOXARM] > 0) || (cfg.activate2[BOXARM] > 0)) {
+            } else if ((cfg.activate1[BOXARM] > 0) || (cfg.activate2[BOXARM] > 0)) {
                 if (rcOptions[BOXARM] && okToArm) {
                     armed = 1;
                     headFreeModeHold = heading;
@@ -435,27 +432,23 @@ void loop(void)
             } else if (rcData[PITCH] > MAXCHECK) {
                 cfg.accTrim[PITCH] += 2;
                 writeParams();
-#if defined(LED_RING)
-                blinkLedRing();
-#endif
+                if (feature(FEATURE_LED_RING))
+                    ledringBlink();
             } else if (rcData[PITCH] < MINCHECK) {
                 cfg.accTrim[PITCH] -= 2;
                 writeParams();
-#if defined(LED_RING)
-                blinkLedRing();
-#endif
+                if (feature(FEATURE_LED_RING))
+                    ledringBlink();
             } else if (rcData[ROLL] > MAXCHECK) {
                 cfg.accTrim[ROLL] += 2;
                 writeParams();
-#if defined(LED_RING)
-                blinkLedRing();
-#endif
+                if (feature(FEATURE_LED_RING))
+                    ledringBlink();
             } else if (rcData[ROLL] < MINCHECK) {
                 cfg.accTrim[ROLL] -= 2;
                 writeParams();
-#if defined(LED_RING)
-                blinkLedRing();
-#endif
+                if (feature(FEATURE_LED_RING))
+                    ledringBlink();
             } else {
                 rcDelayCommand = 0;
             }
@@ -467,22 +460,22 @@ void loop(void)
             cycleTimeMin = cycleTime;   // remember lowscore
 #endif
 
-#if defined(InflightAccCalibration)
-        if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > MINCHECK && !rcOptions[BOXARM]) {      // Copter is airborne and you are turning it off via boxarm : start measurement
-            InflightcalibratingA = 50;
-            AccInflightCalibrationArmed = 0;
-        }
-        if (rcOptions[BOXPASSTHRU]) {   //Use the Passthru Option to activate : Passthru = TRUE Meausrement started, Land and passtrhu = 0 measurement stored
-            if (!AccInflightCalibrationArmed) {
-                AccInflightCalibrationArmed = 1;
+        if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
+            if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > MINCHECK && !rcOptions[BOXARM]) {      // Copter is airborne and you are turning it off via boxarm : start measurement
                 InflightcalibratingA = 50;
+                AccInflightCalibrationArmed = 0;
+            }
+            if (rcOptions[BOXPASSTHRU]) {   //Use the Passthru Option to activate : Passthru = TRUE Meausrement started, Land and passtrhu = 0 measurement stored
+                if (!AccInflightCalibrationArmed) {
+                    AccInflightCalibrationArmed = 1;
+                    InflightcalibratingA = 50;
+                }
+            } else if (AccInflightCalibrationMeasurementDone && armed == 0) {
+                AccInflightCalibrationArmed = 0;
+                AccInflightCalibrationMeasurementDone = 0;
+                AccInflightCalibrationSavetoEEProm = 1;
             }
-        } else if (AccInflightCalibrationMeasurementDone && armed == 0) {
-            AccInflightCalibrationArmed = 0;
-            AccInflightCalibrationMeasurementDone = 0;
-            AccInflightCalibrationSavetoEEProm = 1;
         }
-#endif
 
         for(i = 0; i < CHECKBOXITEMS; i++) {
             rcOptions[i] = (((rcData[AUX1] < 1300) | (1300 < rcData[AUX1] && rcData[AUX1] < 1700) << 1 | (rcData[AUX1] > 1700) << 2 | (rcData[AUX2] < 1300) << 3 | (1300 < rcData[AUX2] && rcData[AUX2] < 1700) << 4 | (rcData[AUX2] > 1700) << 5) & cfg.activate1[i]) || (((rcData[AUX3] < 1300) | (1300 < rcData[AUX3] && rcData[AUX3] < 1700) << 1 | (rcData[AUX3] > 1700) << 2 | (rcData[AUX4] < 1300) << 3 | (1300 < rcData[AUX4] && rcData[AUX4] < 1700) << 4 | (rcData[AUX4] > 1700) << 5) & cfg.activate2[i]);
@@ -599,7 +592,7 @@ void loop(void)
             if (dif >= +180)
                 dif -= 360;
             if (smallAngle25)
-                rcCommand[YAW] -= dif * cfg.P8[PIDMAG] / 30;        //18 deg
+                rcCommand[YAW] -= dif * cfg.P8[PIDMAG] / 30;        // 18 deg
         } else
             magHold = heading;
     }
diff --git a/src/mw.h b/src/mw.h
index 375457f7f..595c5fe81 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -62,7 +62,7 @@
    with R1=33k and R2=51k
    vbat = [0;1023]*16/VBATSCALE */
 #define VBATFREQ 6        // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing
-#define VBATSCALE     151 // change this value if readed Battery voltage is different than real voltage
+#define VBATSCALE     160 // change this value if readed Battery voltage is different than real voltage
 #define VBATLEVEL1_3S 107 // 10,7V
 #define VBATLEVEL2_3S 103 // 10,3V
 #define VBATLEVEL3_3S 99  // 9.9V
@@ -75,7 +75,7 @@
 //#define MMSERVOGIMBAL                  // Active Output Moving Average Function for Servos Gimbal
 //#define MMSERVOGIMBALVECTORLENGHT 32   // Lenght of Moving Average Vector
 
-#define   VERSION  201
+#define   VERSION  203
 
 // Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
 typedef enum MultiType
@@ -230,10 +230,14 @@ extern int16_t GPS_directionToHome;
 extern uint8_t GPS_update;
 extern uint8_t GPSModeHome;
 extern uint8_t GPSModeHold;
+extern uint16_t GPS_altitude;
+extern uint16_t GPS_speed;                      // altitude in 0.1m and speed in 0.1m/s - Added by Mis
 extern uint8_t vbat;
 extern int16_t lookupRX[7];     //  lookup table for expo & RC rate
 
 extern config_t cfg;
+extern sensor_t acc;
+extern sensor_t gyro;
 
 // main
 void loop(void);
@@ -257,6 +261,7 @@ void Mag_getADC(void);
 void mixerInit(void);
 void writeServos(void);
 void writeMotors(void);
+void writeAllMotors(int16_t mc);
 void mixTable(void);
 
 // Serial
diff --git a/src/sensors.c b/src/sensors.c
index 2de2f48c9..8776e80de 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -8,14 +8,41 @@ uint8_t calibratingM = 0;
 uint16_t acc_1G = 256;         // this is the 1G measured acceleration
 int16_t heading, magHold;
 
+extern uint16_t InflightcalibratingA;
+extern int16_t AccInflightCalibrationArmed;
+extern uint16_t AccInflightCalibrationMeasurementDone;
+extern uint16_t AccInflightCalibrationSavetoEEProm;
+extern uint16_t AccInflightCalibrationActive;
+
+sensor_t acc;                   // acc access functions
+sensor_t gyro;                  // gyro access functions
+
 void sensorsAutodetect(void)
 {
-    if (!adxl345Detect())
+    // Detect what's available
+    if (!adxl345Detect(&acc))
         sensorsClear(SENSOR_ACC);
     if (!bmp085Init())
         sensorsClear(SENSOR_BARO);
     if (!hmc5883lDetect())
         sensorsClear(SENSOR_MAG);
+
+    // Init sensors
+    if (sensors(SENSOR_ACC))
+        acc.init();
+    if (sensors(SENSOR_BARO))
+        bmp085Init();
+
+    // special case for supported gyros - MPU3050 and MPU6050
+    if (mpu6050Detect(&acc, &gyro)) { // first, try MPU6050, and re-enable acc (if ADXL345 is missing) since this chip has it built in
+        sensorsSet(SENSOR_ACC);
+        acc.init();
+    } else if (!mpu3050Detect(&gyro)) {
+        // if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
+        failureMode(3);
+    }
+    // this is safe because either mpu6050 or mpu3050 sets it, and in case of fail, none do.
+    gyro.init();
 }
 
 static void ACC_Common(void)
@@ -45,54 +72,57 @@ static void ACC_Common(void)
         }
         calibratingA--;
     }
-#if defined(InflightAccCalibration)
-    static int32_t b[3];
-    static int16_t accZero_saved[3] = { 0, 0, 0 };
-    static int16_t accTrim_saved[2] = { 0, 0 };
-    //Saving old zeropoints before measurement
-    if (InflightcalibratingA == 50) {
-        accZero_saved[ROLL] = accZero[ROLL];
-        accZero_saved[PITCH] = accZero[PITCH];
-        accZero_saved[YAW] = accZero[YAW];
-        accTrim_saved[ROLL] = accTrim[ROLL];
-        accTrim_saved[PITCH] = accTrim[PITCH];
-    }
-    if (InflightcalibratingA > 0) {
-        for (uint8_t axis = 0; axis < 3; axis++) {
-            // Reset a[axis] at start of calibration
-            if (InflightcalibratingA == 50)
-                b[axis] = 0;
-            // Sum up 50 readings
-            b[axis] += accADC[axis];
-            // Clear global variables for next reading
-            accADC[axis] = 0;
-            accZero[axis] = 0;
+    
+    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
+        static int32_t b[3];
+        static int16_t accZero_saved[3] = { 0, 0, 0 };
+        static int16_t accTrim_saved[2] = { 0, 0 };
+        //Saving old zeropoints before measurement
+        if (InflightcalibratingA == 50) {
+            accZero_saved[ROLL] = cfg.accZero[ROLL];
+            accZero_saved[PITCH] = cfg.accZero[PITCH];
+            accZero_saved[YAW] = cfg.accZero[YAW];
+            accTrim_saved[ROLL] = cfg.accTrim[ROLL];
+            accTrim_saved[PITCH] = cfg.accTrim[PITCH];
         }
-        //all values are measured
-        if (InflightcalibratingA == 1) {
-            AccInflightCalibrationActive = 0;
-            AccInflightCalibrationMeasurementDone = 1;
-            blinkLED(10, 10, 2);        //buzzer for indicatiing the start inflight
-            // recover saved values to maintain current flight behavior until new values are transferred
-            accZero[ROLL] = accZero_saved[ROLL];
-            accZero[PITCH] = accZero_saved[PITCH];
-            accZero[YAW] = accZero_saved[YAW];
-            accTrim[ROLL] = accTrim_saved[ROLL];
-            accTrim[PITCH] = accTrim_saved[PITCH];
+        if (InflightcalibratingA > 0) {
+            uint8_t axis;
+            for (axis = 0; axis < 3; axis++) {
+                // Reset a[axis] at start of calibration
+                if (InflightcalibratingA == 50)
+                    b[axis] = 0;
+                // Sum up 50 readings
+                b[axis] += accADC[axis];
+                // Clear global variables for next reading
+                accADC[axis] = 0;
+                cfg.accZero[axis] = 0;
+            }
+            //all values are measured
+            if (InflightcalibratingA == 1) {
+                AccInflightCalibrationActive = 0;
+                AccInflightCalibrationMeasurementDone = 1;
+                blinkLED(10, 10, 2);        //buzzer for indicatiing the start inflight
+                // recover saved values to maintain current flight behavior until new values are transferred
+                cfg.accZero[ROLL] = accZero_saved[ROLL];
+                cfg.accZero[PITCH] = accZero_saved[PITCH];
+                cfg.accZero[YAW] = accZero_saved[YAW];
+                cfg.accTrim[ROLL] = accTrim_saved[ROLL];
+                cfg.accTrim[PITCH] = accTrim_saved[PITCH];
+            }
+            InflightcalibratingA--;
+        }
+        // Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
+        if (AccInflightCalibrationSavetoEEProm == 1) {      //the copter is landed, disarmed and the combo has been done again
+            AccInflightCalibrationSavetoEEProm = 0;
+            cfg.accZero[ROLL] = b[ROLL] / 50;
+            cfg.accZero[PITCH] = b[PITCH] / 50;
+            cfg.accZero[YAW] = b[YAW] / 50 - acc_1G;    // for nunchuk 200=1G
+            cfg.accTrim[ROLL] = 0;
+            cfg.accTrim[PITCH] = 0;
+            writeParams();          // write accZero in EEPROM
         }
-        InflightcalibratingA--;
     }
-    // Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
-    if (AccInflightCalibrationSavetoEEProm == 1) {      //the copter is landed, disarmed and the combo has been done again
-        AccInflightCalibrationSavetoEEProm = 0;
-        accZero[ROLL] = b[ROLL] / 50;
-        accZero[PITCH] = b[PITCH] / 50;
-        accZero[YAW] = b[YAW] / 50 - acc_1G;    // for nunchuk 200=1G
-        accTrim[ROLL] = 0;
-        accTrim[PITCH] = 0;
-        writeParams();          // write accZero in EEPROM
-    }
-#endif
+
     accADC[ROLL] -= cfg.accZero[ROLL];
     accADC[PITCH] -= cfg.accZero[PITCH];
     accADC[YAW] -= cfg.accZero[YAW];
@@ -101,11 +131,9 @@ static void ACC_Common(void)
 
 void ACC_getADC(void)
 {
-    int16_t rawADC[3];
-    
-    adxl345Read(rawADC);
+    acc.read(accADC);
+    acc.orient(accADC);
 
-    ACC_ORIENTATION(-(rawADC[1]), (rawADC[0]), (rawADC[2]));
     ACC_Common();
 }
 
@@ -207,15 +235,9 @@ static void GYRO_Common(void)
 
 void Gyro_getADC(void)
 {
-    int16_t rawADC[3];
-    
-    mpu3050Read(rawADC);
-    
     // range: +/- 8192; +/- 2000 deg/sec
-    GYRO_ORIENTATION(+((rawADC[1]) / 4), -((rawADC[0]) / 4), -((rawADC[2]) / 4));
-    gyroADC[ROLL] = rawADC[0] / 4;
-    gyroADC[PITCH] = rawADC[1] / 4;
-    gyroADC[YAW] = -rawADC[2] / 4;
+    gyro.read(gyroADC);
+    gyro.orient(gyroADC);
 
     GYRO_Common();
 }
@@ -228,17 +250,10 @@ static void Mag_getRawADC(void)
     static int16_t rawADC[3];
     hmc5883lRead(rawADC);
 
-#if 0
-    // no way? is this finally the proper orientation?? (seems -180 swapped)
-    magADC[ROLL] = -rawADC[2]; // X
-    magADC[PITCH] = rawADC[0]; // Y
-    magADC[YAW] = rawADC[1]; // Z
-#else
     // no way? is THIS finally the proper orientation?? (by GrootWitBaas)
     magADC[ROLL] = rawADC[2]; // X
     magADC[PITCH] = -rawADC[0]; // Y
     magADC[YAW] = -rawADC[1]; // Z
-#endif
 }
 
 void Mag_init(void)
@@ -271,12 +286,16 @@ void Mag_getADC(void)
     // Read mag sensor
     Mag_getRawADC();
 
+    magADC[ROLL]  = magADC[ROLL]  * magCal[ROLL];
+    magADC[PITCH] = magADC[PITCH] * magCal[PITCH];
+    magADC[YAW]   = magADC[YAW]   * magCal[YAW];
+
     if (calibratingM == 1) {
         tCal = t;
         for (axis = 0; axis < 3; axis++) {
             cfg.magZero[axis] = 0;
-            magZeroTempMin[axis] = 0;
-            magZeroTempMax[axis] = 0;
+            magZeroTempMin[axis] = magADC[axis];
+            magZeroTempMax[axis] = magADC[axis];
         }
         calibratingM = 0;
     }
diff --git a/src/serial.c b/src/serial.c
index 088f42be5..48c3fdc70 100755
--- a/src/serial.c
+++ b/src/serial.c
@@ -185,7 +185,7 @@ void serialCom(void)
 
             }
             serialize16(GPS_distanceToHome);
-            serialize16(GPS_directionToHome);
+            serialize16(GPS_directionToHome + 180);
             serialize8(GPS_numSat);
             serialize8(GPS_fix);
             serialize8(GPS_update);
@@ -214,17 +214,24 @@ void serialCom(void)
             for (i = 0; i < 6; i++) {
                 serialize16(rcData[i]);
             }                   //44
-            serialize8(sensors(SENSOR_ACC) << 1 | sensors(SENSOR_BARO) << 2 | sensors(SENSOR_MAG) << 3);
-            serialize8(accMode | baroMode << 1 | magMode << 2);
+            serialize8(sensors(SENSOR_ACC) << 1 | sensors(SENSOR_BARO) << 2 | sensors(SENSOR_MAG) << 3 | sensors(SENSOR_GPS) << 4);
+            serialize8(accMode | baroMode << 1 | magMode << 2 | GPSModeHome << 3 | GPSModeHold << 4 | armed << 5);
             serialize8(vbat);   // Vbatt 47
             serialize8(VERSION);        // MultiWii Firmware version
-            serialize8('O');    //49
-            // UartSendData();
+            serialize8(GPS_fix);        // Fix indicator for OSD
+            serialize8(GPS_numSat);
+            serialize16(GPS_latitude);
+            serialize16(GPS_latitude >> 16);
+            serialize16(GPS_longitude);
+            serialize16(GPS_longitude >> 16);
+            serialize16(GPS_altitude);
+            serialize16(GPS_speed);            // Speed for OSD
+            serialize8('O');    // NOT 49 anymore
             break;
         case 'R':               // reboot to bootloader (oops, apparently this w as used for other trash, fix later)
             systemReset(true);
             break;
-            
+
         case 'X':               // dynamic mixer
             i = uartReadPoll();
             if (i > 64 && i < 64 + MULTITYPE_LAST) {