diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 2941f14da..4ac5f63ce 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
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diff --git a/obj/baseflight_fy90q.hex b/obj/baseflight_fy90q.hex
index 6baecdfa7..cda41b43e 100644
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 :04000005080000ED02
 :00000001FF
diff --git a/src/buzzer.c b/src/buzzer.c
index c112e75d8..d58e2acfa 100644
--- a/src/buzzer.c
+++ b/src/buzzer.c
@@ -25,12 +25,12 @@ void buzzer(uint8_t warn_vbat)
     }
     //===================== Beeps for failsafe =====================
     if (feature(FEATURE_FAILSAFE)) {
-        if (failsafeCnt > (5 * cfg.failsafe_delay) && armed == 1) {
+        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 (failsafeCnt > (5 * cfg.failsafe_delay) && armed == 0)
+        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
@@ -38,7 +38,7 @@ void buzzer(uint8_t warn_vbat)
 
     //===================== GPS fix notification handling =====================
     if (sensors(SENSOR_GPS)) {
-        if ((GPSModeHome || GPSModeHold) && !GPS_fix) {     //if no fix and gps funtion is activated: do warning beeps.
+        if ((f.GPS_HOME_MODE || f.GPS_HOLD_MODE) && !f.GPS_FIX) {     //if no fix and gps funtion is activated: do warning beeps.
             warn_noGPSfix = 1;
         } else {
             warn_noGPSfix = 0;
diff --git a/src/drv_ledring.c b/src/drv_ledring.c
index e7e1e552e..fba6f1b0a 100644
--- a/src/drv_ledring.c
+++ b/src/drv_ledring.c
@@ -34,7 +34,7 @@ void ledringState(void)
     } else if (state == 2) {
         b[0] = 'd';		// all unicolor GREEN 
         b[1] = 1;
-        if (armed)
+        if (f.ARMED)
             b[2] = 1;
         else
             b[2] = 0;
diff --git a/src/gps.c b/src/gps.c
index 1dcc3cee9..1409a4f66 100644
--- a/src/gps.c
+++ b/src/gps.c
@@ -212,12 +212,12 @@ void GPS_NewData(uint16_t c)
             GPS_update = 0;
         else
             GPS_update = 1;
-        if (GPS_fix == 1 && GPS_numSat >= 5) {
-            if (armed == 0) {
-                GPS_fix_home = 0;
+        if (f.GPS_FIX && GPS_numSat >= 5) {
+            if (!f.ARMED) {
+                f.GPS_FIX_HOME = 0;
             }
-            if (GPS_fix_home == 0 && armed) {
-                GPS_fix_home = 1;
+            if (!f.GPS_FIX_HOME && f.ARMED) {
+                f.GPS_FIX_HOME = 1;
                 GPS_home[LAT] = GPS_coord[LAT];
                 GPS_home[LON] = GPS_coord[LON];
                 GPS_calc_longitude_scaling(GPS_coord[LAT]); // need an initial value for distance and bearing calc
@@ -259,7 +259,7 @@ void GPS_NewData(uint16_t c)
             //calculate the current velocity based on gps coordinates continously to get a valid speed at the moment when we start navigating
             GPS_calc_velocity();
 
-            if (GPSModeHold == 1 || GPSModeHome == 1) { // ok we are navigating
+            if (f.GPS_HOLD_MODE || f.GPS_HOME_MODE) { // ok we are navigating
                 // do gps nav calculations here, these are common for nav and poshold
                 GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_WP[LAT], &GPS_WP[LON], &wp_distance, &target_bearing);
                 GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &GPS_coord[LAT], &GPS_coord[LON]);
@@ -691,7 +691,7 @@ static bool GPS_newFrame(char c)
             } else if (param == 5 && string[0] == 'W')
                 GPS_coord[LON] = -GPS_coord[LON];
             else if (param == 6) {
-                GPS_fix = string[0] > '0';
+                f.GPS_FIX = string[0] > '0';
             } else if (param == 7) {
                 GPS_numSat = grab_fields(string, 0);
             } else if (param == 9) {
diff --git a/src/imu.c b/src/imu.c
index e7e963d50..006af20d4 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -17,7 +17,6 @@ float magneticDeclination = 0.0f; // calculated at startup from config
 int16_t gyroData[3] = { 0, 0, 0 };
 int16_t gyroZero[3] = { 0, 0, 0 };
 int16_t angle[2] = { 0, 0 };     // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
-int8_t smallAngle25 = 1;
 
 static void getEstimatedAttitude(void);
 
@@ -222,14 +221,14 @@ static void getEstimatedAttitude(void)
         rotateV(&EstM.V, deltaGyroAngle);
 
     if (abs(accSmooth[ROLL]) < acc_25deg && abs(accSmooth[PITCH]) < acc_25deg && accSmooth[YAW] > 0)
-        smallAngle25 = 1;
+        f.SMALL_ANGLES_25 = 1;
     else
-        smallAngle25 = 0;
+        f.SMALL_ANGLES_25 = 0;
 
     // Apply complimentary filter (Gyro drift correction)
     // If accel magnitude >1.4G or <0.6G and ACC vector outside of the limit range => we neutralize the effect of accelerometers in the angle estimation.
     // To do that, we just skip filter, as EstV already rotated by Gyro
-    if ((36 < accMag && accMag < 196) || smallAngle25) {
+    if ((36 < accMag && accMag < 196) || f.SMALL_ANGLES_25) {
         for (axis = 0; axis < 3; axis++)
             EstG.A[axis] = (EstG.A[axis] * (float)cfg.gyro_cmpf_factor + accSmooth[axis]) * INV_GYR_CMPF_FACTOR;
     }
diff --git a/src/mixer.c b/src/mixer.c
index e3d598f20..ad0a1d0ac 100755
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -218,7 +218,7 @@ void mixTable(void)
 
         case MULTITYPE_FLYING_WING:
             motor[0] = rcCommand[THROTTLE];
-            if (passThruMode) { // do not use sensors for correction, simple 2 channel mixing
+            if (f.PASSTHRU_MODE) { // do not use sensors for correction, simple 2 channel mixing
                 servo[0]  = PITCH_DIRECTION_L * (rcData[PITCH] - cfg.midrc) + ROLL_DIRECTION_L * (rcData[ROLL] - cfg.midrc);
                 servo[1]  = PITCH_DIRECTION_R * (rcData[PITCH] - cfg.midrc) + ROLL_DIRECTION_R * (rcData[ROLL] - cfg.midrc);
             } else {                    // use sensors to correct (gyro only or gyro+acc according to aux1/aux2 configuration
@@ -289,7 +289,7 @@ void mixTable(void)
             else
                 motor[i] = cfg.mincommand;
         }
-        if (armed == 0)
+        if (!f.ARMED)
             motor[i] = cfg.mincommand;
     }
 }
diff --git a/src/mw.c b/src/mw.c
index 8e413dad6..14fedc688 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -1,22 +1,18 @@
 #include "board.h"
 #include "mw.h"
 
-// March  2012     V2.0
+// June  2012     V2-dev
 
-int16_t debug1, debug2, debug3, debug4;
+flags_t f;
+int16_t debug[4];
 uint8_t buzzerState = 0;
 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
-uint8_t GPSModeHome = 0;        // if GPS RTH is activated
-uint8_t GPSModeHold = 0;        // if GPS PH is activated
-uint8_t headFreeMode = 0;       // if head free mode is a activated
-uint8_t passThruMode = 0;       // if passthrough mode is activated
 int16_t headFreeModeHold;
 
 int16_t annex650_overrun_count = 0;
-uint8_t armed = 0;
 uint8_t vbat;                   // battery voltage in 0.1V steps
 
 int16_t failsafeCnt = 0;
@@ -29,10 +25,6 @@ rcReadRawDataPtr rcReadRawFunc = NULL;  // receive data from default (pwm/ppm) o
 
 uint8_t dynP8[3], dynI8[3], dynD8[3];
 uint8_t rcOptions[CHECKBOXITEMS];
-uint8_t okToArm = 0;
-uint8_t accMode = 0;            // if level mode is a activated
-uint8_t magMode = 0;            // if compass heading hold is a activated
-uint8_t baroMode = 0;           // if altitude hold is activated
 
 int16_t axisPID[3];
 
@@ -42,7 +34,6 @@ int16_t axisPID[3];
 int32_t GPS_coord[2];
 int32_t GPS_home[2];
 int32_t GPS_hold[2];
-uint8_t GPS_fix, GPS_fix_home = 0;
 uint8_t GPS_numSat;
 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
@@ -145,7 +136,7 @@ void annexCode(void)
     tmp2 = tmp / 100;
     rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100;    // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
 
-    if (headFreeMode) {
+    if(f.HEADFREE_MODE) {
         float radDiff = (heading - headFreeModeHold) * M_PI / 180.0f;
         float cosDiff = cosf(radDiff);
         float sinDiff = sinf(radDiff);
@@ -176,10 +167,10 @@ void annexCode(void)
     if ((calibratingA > 0 && sensors(SENSOR_ACC)) || (calibratingG > 0)) {      // Calibration phasis
         LED0_TOGGLE;
     } else {
-        if (calibratedACC == 1) {
+        if (f.ACC_CALIBRATED) {
             LED0_OFF;
         }
-        if (armed) {
+        if (f.ARMED) {
             LED0_ON;
         }
     }
@@ -195,12 +186,13 @@ void annexCode(void)
 #endif
 
     if (currentTime > calibratedAccTime) {
-        if (smallAngle25 == 0) {
-            calibratedACC = 0;  //the multi uses ACC and is not calibrated or is too much inclinated
+        if (!f.SMALL_ANGLES_25) {
+            f.ACC_CALIBRATED = 0; // the multi uses ACC and is not calibrated or is too much inclinated
             LED0_TOGGLE;
             calibratedAccTime = currentTime + 500000;
-        } else
-            calibratedACC = 1;
+        } else {
+            f.ACC_CALIBRATED = 1;
+        }
     }
 
     serialCom();
@@ -283,16 +275,20 @@ void loop(void)
 
         // Failsafe routine
         if (feature(FEATURE_FAILSAFE)) {
-            if (failsafeCnt > (5 * cfg.failsafe_delay) && armed == 1) { // Stabilize, and set Throttle to specified level
+            if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level
                 for (i = 0; i < 3; i++)
                     rcData[i] = cfg.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)
-                    armed = 0;  // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
-                    okToArm = 0;        // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
+                    f.ARMED = 0;  // 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
+                f.ARMED = 0;        // 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++;
         }
 
@@ -303,13 +299,13 @@ void loop(void)
             errorAngleI[ROLL] = 0;
             errorAngleI[PITCH] = 0;
             rcDelayCommand++;
-            if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && armed == 0) {
+            if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && !f.ARMED) {
                 if (rcDelayCommand == 20) {
                     calibratingG = 1000;
                     if (feature(FEATURE_GPS))
                         GPS_reset_home_position();
                 }
-            } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && rcData[ROLL] > cfg.maxcheck)) {
+            } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (!f.ARMED && rcData[YAW] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && rcData[ROLL] > cfg.maxcheck)) {
                 if (rcDelayCommand == 20) {
                     if (AccInflightCalibrationMeasurementDone) {        // trigger saving into eeprom after landing
                         AccInflightCalibrationMeasurementDone = 0;
@@ -324,30 +320,31 @@ void loop(void)
                     }
                 }
             } else if (cfg.activate[BOXARM] > 0) {
-                if (rcOptions[BOXARM] && okToArm) {
-                    armed = 1;
+                if (rcOptions[BOXARM] && f.OK_TO_ARM) {
+                    // TODO: feature(FEATURE_FAILSAFE) && failsafeCnt == 0
+                    f.ARMED = 1;
                     headFreeModeHold = heading;
-                } else if (armed)
-                    armed = 0;
+                } else if (f.ARMED)
+                    f.ARMED = 0;
                 rcDelayCommand = 0;
-            } else if ((rcData[YAW] < cfg.mincheck || (cfg.retarded_arm == 1 && rcData[ROLL] < cfg.mincheck)) && armed == 1) {
+            } else if ((rcData[YAW] < cfg.mincheck || (cfg.retarded_arm == 1 && rcData[ROLL] < cfg.mincheck)) && f.ARMED) {
                 if (rcDelayCommand == 20)
-                    armed = 0;  // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
-            } else if ((rcData[YAW] > cfg.maxcheck || (rcData[ROLL] > cfg.maxcheck && cfg.retarded_arm == 1)) && rcData[PITCH] < cfg.maxcheck && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
+                    f.ARMED = 0;  // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
+            } else if ((rcData[YAW] > cfg.maxcheck || (rcData[ROLL] > cfg.maxcheck && cfg.retarded_arm == 1)) && rcData[PITCH] < cfg.maxcheck && !f.ARMED && calibratingG == 0 && f.ACC_CALIBRATED) {
                 if (rcDelayCommand == 20) {
-                    armed = 1;
+                    f.ARMED = 1;
                     headFreeModeHold = heading;
                 }
             } else
                 rcDelayCommand = 0;
-        } else if (rcData[THROTTLE] > cfg.maxcheck && armed == 0) {
+        } else if (rcData[THROTTLE] > cfg.maxcheck && !f.ARMED) {
             if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck) {   // throttle=max, yaw=left, pitch=min
                 if (rcDelayCommand == 20)
                     calibratingA = 400;
                 rcDelayCommand++;
             } else if (rcData[YAW] > cfg.maxcheck && rcData[PITCH] < cfg.mincheck) {    // throttle=max, yaw=right, pitch=min
                 if (rcDelayCommand == 20)
-                    calibratingM = 1;   // MAG calibration request
+                    f.CALIBRATE_MAG = 1;   // MAG calibration request
                 rcDelayCommand++;
             } else if (rcData[PITCH] > cfg.maxcheck) {
                 cfg.accTrim[PITCH] += 2;
@@ -383,7 +380,7 @@ void loop(void)
         }
 
         if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
-            if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > cfg.mincheck && !rcOptions[BOXARM]) {   // Copter is airborne and you are turning it off via boxarm : start measurement
+            if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > cfg.mincheck && !rcOptions[BOXARM]) {   // Copter is airborne and you are turning it off via boxarm : start measurement
                 InflightcalibratingA = 50;
                 AccInflightCalibrationArmed = 0;
             }
@@ -392,7 +389,7 @@ void loop(void)
                     AccInflightCalibrationArmed = 1;
                     InflightcalibratingA = 50;
                 }
-            } else if (AccInflightCalibrationMeasurementDone && armed == 0) {
+            } else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
                 AccInflightCalibrationArmed = 0;
                 AccInflightCalibrationMeasurementDone = 0;
                 AccInflightCalibrationSavetoEEProm = 1;
@@ -407,17 +404,17 @@ void loop(void)
         // note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false
         if ((rcOptions[BOXACC] || (failsafeCnt > 5 * cfg.failsafe_delay)) && (sensors(SENSOR_ACC))) {
             // bumpless transfer to Level mode
-            if (!accMode) {
+            if (!f.ACC_MODE) {
                 errorAngleI[ROLL] = 0;
                 errorAngleI[PITCH] = 0;
-                accMode = 1;
+                f.ACC_MODE = 1;
             }
         } else
-            accMode = 0;        // failsave support
+            f.ACC_MODE = 0;        // failsave support
 
         if ((rcOptions[BOXARM]) == 0)
-            okToArm = 1;
-        if (accMode == 1) {
+            f.OK_TO_ARM = 1;
+        if (f.ACC_MODE) {
             LED1_ON;
         } else {
             LED1_OFF;
@@ -426,62 +423,63 @@ void loop(void)
 #ifdef BARO
         if (sensors(SENSOR_BARO)) {
             if (rcOptions[BOXBARO]) {
-                if (baroMode == 0) {
-                    baroMode = 1;
+                if (!f.BARO_MODE) {
+                    f.BARO_MODE = 1;
                     AltHold = EstAlt;
                     initialThrottleHold = rcCommand[THROTTLE];
                     errorAltitudeI = 0;
                     BaroPID = 0;
                 }
             } else
-                baroMode = 0;
+                f.BARO_MODE = 0;
         }
 #endif
 
 #ifdef  MAG
         if (sensors(SENSOR_MAG)) {
             if (rcOptions[BOXMAG]) {
-                if (magMode == 0) {
-                    magMode = 1;
+                if (!f.MAG_MODE) {
+                    f.MAG_MODE = 1;
                     magHold = heading;
                 }
             } else
-                magMode = 0;
+                f.MAG_MODE = 0;
             if (rcOptions[BOXHEADFREE]) {
-                if (headFreeMode == 0) {
-                    headFreeMode = 1;
+                if (!f.HEADFREE_MODE) {
+                    f.HEADFREE_MODE = 1;
                 }
             } else
-                headFreeMode = 0;
+                f.HEADFREE_MODE = 0;
         }
 #endif
 
         if (sensors(SENSOR_GPS)) {
             if (rcOptions[BOXGPSHOME]) {
-                if (GPSModeHome == 0) {
-                    GPSModeHome = 1;
+                if (!f.GPS_HOME_MODE) {
+                    f.GPS_HOME_MODE = 1;
                     GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
                     nav_mode = NAV_MODE_WP;
                 }
-            } else
-                GPSModeHome = 0;
+            } else {
+                f.GPS_HOME_MODE = 0;
+            }
             if (rcOptions[BOXGPSHOLD]) {
-                if (GPSModeHold == 0) {
-                    GPSModeHold = 1;
+                if (!f.GPS_HOLD_MODE) {
+                    f.GPS_HOLD_MODE = 1;
                     GPS_hold[LAT] = GPS_coord[LAT];
                     GPS_hold[LON] = GPS_coord[LON];
                     GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
                     nav_mode = NAV_MODE_POSHOLD;
                 }
             } else {
-                GPSModeHold = 0;
+                f.GPS_HOLD_MODE = 0;
             }
         }
 
         if (rcOptions[BOXPASSTHRU]) {
-            passThruMode = 1;
+            f.PASSTHRU_MODE = 1;
         } else
-            passThruMode = 0;
+            f.PASSTHRU_MODE = 0;
     } else {                    // not in rc loop
         static int8_t taskOrder = 0;    // never call all function in the same loop, to avoid high delay spikes
         switch (taskOrder++ % 4) {
@@ -507,7 +505,7 @@ void loop(void)
 #ifdef SONAR
             if (sensors(SENSOR_SONAR)) {
                 Sonar_update();
-                debug3 = sonarAlt;
+                debug[2] = sonarAlt;
             }
 #endif
             break;
@@ -529,13 +527,13 @@ void loop(void)
 
 #ifdef MAG
     if (sensors(SENSOR_MAG)) {
-        if (abs(rcCommand[YAW]) < 70 && magMode) {
+        if (abs(rcCommand[YAW]) < 70 && f.MAG_MODE) {
             int16_t dif = heading - magHold;
             if (dif <= -180)
                 dif += 360;
             if (dif >= +180)
                 dif -= 360;
-            if (smallAngle25)
+            if (f.SMALL_ANGLES_25)
                 rcCommand[YAW] -= dif * cfg.P8[PIDMAG] / 30;    // 18 deg
         } else
             magHold = heading;
@@ -544,9 +542,9 @@ void loop(void)
 
 #ifdef BARO
     if (sensors(SENSOR_BARO)) {
-        if (baroMode) {
+        if (f.BARO_MODE) {
             if (abs(rcCommand[THROTTLE] - initialThrottleHold) > 20) {
-                baroMode = 0;   // so that a new althold reference is defined
+                f.BARO_MODE = 0;   // so that a new althold reference is defined
             }
             rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
         }
@@ -555,7 +553,7 @@ void loop(void)
 
     if (sensors(SENSOR_GPS)) {
         // Check that we really need to navigate ?
-        if ((GPSModeHome == 0 && GPSModeHold == 0) || (GPS_fix_home == 0)) {
+        if ((!f.GPS_HOME_MODE && !f.GPS_HOLD_MODE) || (!f.GPS_FIX_HOME)) {
             // If not. Reset nav loops and all nav related parameters
             GPS_reset_nav();
         } else {
@@ -567,7 +565,7 @@ void loop(void)
     }
     // **** PITCH & ROLL & YAW PID ****    
     for (axis = 0; axis < 3; axis++) {
-        if (accMode == 1 && axis < 2) { // LEVEL MODE
+        if (f.ACC_MODE == 1 && axis < 2) { // LEVEL MODE
             // 50 degrees max inclination
             errorAngle = constrain(2 * rcCommand[axis] - GPS_angle[axis], -500, +500) - angle[axis] + cfg.accTrim[axis];        //16 bits is ok here
 #ifdef LEVEL_PDF
diff --git a/src/mw.h b/src/mw.h
index 8a79e5d74..f78b7c0a5 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -94,9 +94,15 @@ typedef enum GimbalFlags {
 #define BOXPASSTHRU  8
 #define BOXHEADFREE  9
 #define BOXBEEPERON  10
+/* we want maximum illumination */
+#define BOXLEDMAX    11
+/* enable landing lights at any altitude */
+#define BOXLLIGHTS   12
+/* acquire heading for HEADFREE mode */
+#define BOXHEADADJ   13
 
-#define CHECKBOXITEMS 11
 #define PIDITEMS 10
+#define CHECKBOXITEMS 14
 
 #define min(a, b) ((a) < (b) ? (a) : (b))
 #define max(a, b) ((a) > (b) ? (a) : (b))
@@ -191,6 +197,24 @@ typedef struct config_t {
     uint32_t serial_baudrate;
 } config_t;
 
+typedef struct flags_t {
+    uint8_t OK_TO_ARM :1;
+    uint8_t ARMED :1;
+    uint8_t I2C_INIT_DONE :1; // For i2c gps we have to now when i2c init is done, so we can update parameters to the i2cgps from eeprom (at startup it is done in setup())
+    uint8_t ACC_CALIBRATED :1;
+    uint8_t ACC_MODE :1;
+    uint8_t MAG_MODE :1;
+    uint8_t BARO_MODE :1;
+    uint8_t GPS_HOME_MODE :1;
+    uint8_t GPS_HOLD_MODE :1;
+    uint8_t HEADFREE_MODE :1;
+    uint8_t PASSTHRU_MODE :1;
+    uint8_t GPS_FIX :1;
+    uint8_t GPS_FIX_HOME :1;
+    uint8_t SMALL_ANGLES_25 :1;
+    uint8_t CALIBRATE_MAG :1;
+} flags_t;
+
 extern int16_t gyroZero[3];
 extern int16_t gyroData[3];
 extern int16_t angle[2];
@@ -199,16 +223,13 @@ extern int16_t rcCommand[4];
 extern uint8_t rcOptions[CHECKBOXITEMS];
 extern int16_t failsafeCnt;
 
-extern int16_t debug1, debug2, debug3, debug4;
-extern uint8_t armed;
+extern int16_t debug[4];
 extern int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
 extern uint16_t acc_1G;
 extern uint32_t currentTime;
 extern uint32_t previousTime;
 extern uint16_t cycleTime;
-extern uint8_t calibratedACC;
 extern uint16_t calibratingA;
-extern uint8_t calibratingM;
 extern uint16_t calibratingG;
 extern int16_t heading;
 extern int16_t annex650_overrun_count;
@@ -219,24 +240,21 @@ extern int32_t EstAlt;
 extern int32_t  AltHold;
 extern int16_t  errorAltitudeI;
 extern int16_t  BaroPID;
-extern uint8_t headFreeMode;
 extern int16_t headFreeModeHold;
-extern uint8_t passThruMode;
-extern int8_t smallAngle25;
 extern int16_t zVelocity;
 extern int16_t heading, magHold;
 extern int16_t motor[8];
 extern int16_t servo[8];
 extern int16_t rcData[8];
-extern uint8_t accMode;
-extern uint8_t magMode;
-extern uint8_t baroMode;
-extern uint8_t  GPSModeHome;
-extern uint8_t  GPSModeHold;
+extern uint8_t vbat;
+extern int16_t lookupPitchRollRC[6];   // lookup table for expo & RC rate PITCH+ROLL
+extern int16_t lookupThrottleRC[11];   // lookup table for expo & mid THROTTLE
+extern uint8_t toggleBeep;
+
+// GPS stuff
 extern int32_t  GPS_coord[2];
 extern int32_t  GPS_home[2];
 extern int32_t  GPS_hold[2];
-extern uint8_t  GPS_fix , GPS_fix_home;
 extern uint8_t  GPS_numSat;
 extern uint16_t GPS_distanceToHome,GPS_distanceToHold;       // distance to home or hold point in meters
 extern int16_t  GPS_directionToHome,GPS_directionToHold;     // direction to home or hol point in degrees
@@ -246,14 +264,11 @@ extern int16_t  GPS_angle[2];                                // it's the angles
 extern uint16_t GPS_ground_course;                           // degrees*10
 extern uint8_t  GPS_Present;                                 // Checksum from Gps serial
 extern uint8_t  GPS_Enable;
-extern int16_t	nav[2];
+extern int16_t  nav[2];
 extern int8_t   nav_mode;                                    // Navigation mode
-extern uint8_t vbat;
-extern int16_t lookupPitchRollRC[6];   // lookup table for expo & RC rate PITCH+ROLL
-extern int16_t lookupThrottleRC[11];   // lookup table for expo & mid THROTTLE
-extern uint8_t toggleBeep;
 
 extern config_t cfg;
+extern flags_t f;
 extern sensor_t acc;
 extern sensor_t gyro;
 
diff --git a/src/sensors.c b/src/sensors.c
index 7cb1535fa..72660c830 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -1,10 +1,8 @@
 #include "board.h"
 #include "mw.h"
 
-uint8_t calibratedACC = 0;
 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.
 uint16_t calibratingG = 0;
-uint8_t calibratingM = 0;
 uint16_t acc_1G = 256;         // this is the 1G measured acceleration.
 int16_t heading, magHold;
 
@@ -420,14 +418,14 @@ void Mag_getADC(void)
     magADC[PITCH] = magADC[PITCH] * magCal[PITCH];
     magADC[YAW]   = magADC[YAW]   * magCal[YAW];
 
-    if (calibratingM == 1) {
+    if (f.CALIBRATE_MAG) {
         tCal = t;
         for (axis = 0; axis < 3; axis++) {
             cfg.magZero[axis] = 0;
             magZeroTempMin[axis] = magADC[axis];
             magZeroTempMax[axis] = magADC[axis];
         }
-        calibratingM = 0;
+        f.CALIBRATE_MAG = 0;
     }
 
     if (magInit) {              // we apply offset only once mag calibration is done
diff --git a/src/serial.c b/src/serial.c
index a8563ede4..3515a2c6b 100755
--- a/src/serial.c
+++ b/src/serial.c
@@ -1,6 +1,10 @@
 #include "board.h"
 #include "mw.h"
 
+// Multiwii Serial Protocol 0 
+#define MSP_VERSION              0
+#define PLATFORM_32BIT           0x80000000
+
 #define MSP_IDENT                100    //out message         multitype + version
 #define MSP_STATUS               101    //out message         cycletime & errors_count & sensor present & box activation
 #define MSP_RAW_IMU              102    //out message         9 DOF
@@ -17,6 +21,8 @@
 #define MSP_BOX                  113    //out message         up to 16 checkbox (11 are used)
 #define MSP_MISC                 114    //out message         powermeter trig + 8 free for future use
 #define MSP_MOTOR_PINS           115    //out message         which pins are in use for motors & servos, for GUI
+#define MSP_BOXNAMES             116    //out message         the aux switch names
+#define MSP_PIDNAMES             117    //out message         the PID names
 
 #define MSP_SET_RAW_RC           200    //in message          8 rc chan
 #define MSP_SET_RAW_GPS          201    //in message          fix, numsat, lat, lon, alt, speed
@@ -32,7 +38,38 @@
 
 #define MSP_DEBUG                254    //out message         debug1,debug2,debug3,debug4
 
-static uint8_t checksum, stateMSP, indRX, inBuf[64];
+#define INBUF_SIZE 64
+
+static const char boxnames[] =
+    "ACC;"
+    "BARO;"
+    "MAG;"
+    "CAMSTAB;"
+    "CAMTRIG;"
+    "ARM;"
+    "GPS HOME;"
+    "GPS HOLD;"
+    "PASSTHRU;"
+    "HEADFREE;"
+    "BEEPER;"
+    "LEDMAX;"
+    "LLIGHTS;"
+    "HEADADJ;";
+
+static const char pidnames[] =
+    "ROLL;"
+    "PITCH;"
+    "YAW;"
+    "ALT;"
+    "Pos;"
+    "PosR;"
+    "NavR;"
+    "LEVEL;"
+    "MAG;"
+    "VEL;";
+
+static uint8_t checksum, indRX, inBuf[INBUF_SIZE];
+static uint8_t cmdMSP;
 
 void serialize32(uint32_t a)
 {
@@ -68,35 +105,43 @@ void serialize8(uint8_t a)
     checksum ^= a;
 }
 
-uint32_t read32(void)
-{
-    uint32_t t = inBuf[indRX++];
-    t += inBuf[indRX++] << 8;
-    t += (uint32_t) inBuf[indRX++] << 16;
-    t += (uint32_t) inBuf[indRX++] << 24;
-    return t;
-}
-
-uint16_t read16(void)
-{
-    uint16_t t = inBuf[indRX++];
-    t += inBuf[indRX++] << 8;
-    return t;
-}
-
 uint8_t read8(void)
 {
     return inBuf[indRX++] & 0xff;
 }
 
-void headSerialReply(uint8_t c, uint8_t s)
+uint16_t read16(void)
+{
+    uint16_t t = read8();
+    t += (uint16_t) read8() << 8;
+    return t;
+}
+
+uint32_t read32(void)
+{
+    uint32_t t = read16();
+    t += (uint32_t) read16() << 16;
+    return t;
+}
+
+void headSerialResponse(uint8_t err, uint8_t s)
 {
     serialize8('$');
     serialize8('M');
-    serialize8('>');
+    serialize8(err ? '!' : '>');
+    checksum = 0;               // start calculating a new checksum
     serialize8(s);
-    serialize8(c);
-    checksum = 0;
+    serialize8(cmdMSP);
+}
+
+void headSerialReply(uint8_t s)
+{
+    headSerialResponse(0, s);
+}
+
+void headSerialError(uint8_t s)
+{
+    headSerialResponse(1, s);
 }
 
 void tailSerialReply(void)
@@ -106,6 +151,13 @@ void tailSerialReply(void)
     // UartSendData();
 }
 
+void serializeNames(const char *s)
+{
+    const char *c;
+    for (c = s; *c; c++)
+        serialize8(*c);
+}
+
 // signal that we're in cli mode
 uint8_t cliMode = 0;
 
@@ -114,10 +166,203 @@ void serialInit(uint32_t baudrate)
     uartInit(baudrate);
 }
 
+static void evaluateCommand(void)
+{
+    uint8_t i;
+    
+    switch (cmdMSP) {
+    case MSP_SET_RAW_RC:
+        for (i = 0; i < 8; i++)
+            rcData[i] = read16();
+        headSerialReply(0);
+        break;
+    case MSP_SET_RAW_GPS:
+        f.GPS_FIX = read8();
+        GPS_numSat = read8();
+        GPS_coord[LAT] = read32();
+        GPS_coord[LON] = read32();
+        GPS_altitude = read16();
+        GPS_speed = read16();
+        GPS_update |= 2;        // New data signalisation to GPS functions
+        headSerialReply(0);
+        break;
+    case MSP_SET_PID:
+        for (i = 0; i < PIDITEMS; i++) {
+            cfg.P8[i] = read8();
+            cfg.I8[i] = read8();
+            cfg.D8[i] = read8();
+        }
+        headSerialReply(0);
+        break;
+    case MSP_SET_BOX:
+        for (i = 0; i < CHECKBOXITEMS; i++)
+            cfg.activate[i] = read16();
+        headSerialReply(0);
+        break;
+    case MSP_SET_RC_TUNING:
+        cfg.rcRate8 = read8();
+        cfg.rcExpo8 = read8();
+        cfg.rollPitchRate = read8();
+        cfg.yawRate = read8();
+        cfg.dynThrPID = read8();
+        cfg.thrMid8 = read8();
+        cfg.thrExpo8 = read8();
+        headSerialReply(0);
+        break;
+    case MSP_SET_MISC:
+        headSerialReply(0);
+        break;
+    case MSP_IDENT:
+        headSerialReply(7);
+        serialize8(VERSION);                // multiwii version
+        serialize8(cfg.mixerConfiguration); // type of multicopter
+        serialize8(MSP_VERSION);            // MultiWii Serial Protocol Version
+        serialize32(PLATFORM_32BIT);        // "capability"
+        break;
+    case MSP_STATUS:
+        headSerialReply(10);
+        serialize16(cycleTime);
+        serialize16(i2cGetErrorCounter());
+        serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
+        serialize32(f.ACC_MODE << BOXACC | f.BARO_MODE << BOXBARO | f.MAG_MODE << BOXMAG | f.ARMED << BOXARM | rcOptions[BOXCAMSTAB] << BOXCAMSTAB | rcOptions[BOXCAMTRIG] << BOXCAMTRIG | f.GPS_HOME_MODE << BOXGPSHOME | f.GPS_HOLD_MODE << BOXGPSHOLD | f.HEADFREE_MODE << BOXHEADFREE | f.PASSTHRU_MODE << BOXPASSTHRU | rcOptions[BOXBEEPERON] << BOXBEEPERON | rcOptions[BOXLEDMAX] << BOXLEDMAX | rcOptions[BOXLLIGHTS] << BOXLLIGHTS | rcOptions[BOXHEADADJ] << BOXHEADADJ);
+        break;
+    case MSP_RAW_IMU:
+        headSerialReply(18);
+        for (i = 0; i < 3; i++)
+            serialize16(accSmooth[i]);
+        for (i = 0; i < 3; i++)
+            serialize16(gyroData[i]);
+        for (i = 0; i < 3; i++)
+            serialize16(magADC[i]);
+        break;
+    case MSP_SERVO:
+        headSerialReply(16);
+        for (i = 0; i < 8; i++)
+            serialize16(servo[i]);
+        break;
+    case MSP_MOTOR:
+        headSerialReply(16);
+        for (i = 0; i < 8; i++)
+            serialize16(motor[i]);
+        break;
+    case MSP_RC:
+        headSerialReply(16);
+        for (i = 0; i < 8; i++)
+            serialize16(rcData[i]);
+        break;
+    case MSP_RAW_GPS:
+        headSerialReply(14);
+        serialize8(f.GPS_FIX);
+        serialize8(GPS_numSat);
+        serialize32(GPS_coord[LAT]);
+        serialize32(GPS_coord[LON]);
+        serialize16(GPS_altitude);
+        serialize16(GPS_speed);
+        break;
+    case MSP_COMP_GPS:
+        headSerialReply(5);
+        serialize16(GPS_distanceToHome);
+        serialize16(GPS_directionToHome);
+        serialize8(GPS_update & 1);
+        break;
+    case MSP_ATTITUDE:
+        headSerialReply(8);
+        for (i = 0; i < 2; i++)
+            serialize16(angle[i]);
+        serialize16(heading);
+        serialize16(headFreeModeHold);
+        break;
+    case MSP_ALTITUDE:
+        headSerialReply(4);
+        serialize32(EstAlt);
+        break;
+    case MSP_BAT:
+        headSerialReply(3);
+        serialize8(vbat);
+        serialize16(0); // power meter trash
+        break;
+    case MSP_RC_TUNING:
+        headSerialReply(7);
+        serialize8(cfg.rcRate8);
+        serialize8(cfg.rcExpo8);
+        serialize8(cfg.rollPitchRate);
+        serialize8(cfg.yawRate);
+        serialize8(cfg.dynThrPID);
+        serialize8(cfg.thrMid8);
+        serialize8(cfg.thrExpo8);
+        break;
+    case MSP_PID:
+        headSerialReply(3 * PIDITEMS);
+        for (i = 0; i < PIDITEMS; i++) {
+            serialize8(cfg.P8[i]);
+            serialize8(cfg.I8[i]);
+            serialize8(cfg.D8[i]);
+        }
+        break;
+    case MSP_BOX:
+        headSerialReply(2 * CHECKBOXITEMS);
+        for (i = 0; i < CHECKBOXITEMS; i++)
+            serialize16(cfg.activate[i]);
+        break;
+    case MSP_BOXNAMES:
+        headSerialReply(sizeof(boxnames) - 1);
+        serializeNames(boxnames);
+        break;
+    case MSP_PIDNAMES:
+        headSerialReply(sizeof(pidnames) - 1);
+        serializeNames(pidnames);
+        break;
+    case MSP_MISC:
+        headSerialReply(2);
+        serialize16(0); // intPowerTrigger1
+        break;
+    case MSP_MOTOR_PINS:
+        headSerialReply(8);
+        for (i = 0; i < 8; i++)
+            serialize8(i + 1);
+        break;
+    case MSP_RESET_CONF:
+        checkFirstTime(true);
+        headSerialReply(0);
+        break;
+    case MSP_ACC_CALIBRATION:
+        calibratingA = 400;
+        headSerialReply(0);
+        break;
+    case MSP_MAG_CALIBRATION:
+        f.CALIBRATE_MAG = 1;
+        headSerialReply(0);
+        break;
+    case MSP_EEPROM_WRITE:
+        writeParams(0);
+        headSerialReply(0);
+        break;
+    case MSP_DEBUG:
+        headSerialReply(8);
+        for (i = 0; i < 4; i++)
+            serialize16(debug[i]);      // 4 variables are here for general monitoring purpose
+        break;
+    default:                   // we do not know how to handle the (valid) message, indicate error MSP $M!
+        headSerialError(0);
+        break;
+    }
+    tailSerialReply();
+}
+
+
 void serialCom(void)
 {
-    uint8_t i, c;
-    static uint8_t offset, dataSize;
+    uint8_t c;
+    static uint8_t offset;
+    static uint8_t dataSize;
+    static enum _serial_state {
+        IDLE,
+        HEADER_START,
+        HEADER_M,
+        HEADER_ARROW,
+        HEADER_SIZE,
+        HEADER_CMD,
+    } c_state = IDLE;
 
     // in cli mode, all uart stuff goes to here. enter cli mode by sending #
     if (cliMode) {
@@ -128,238 +373,41 @@ void serialCom(void)
     while (uartAvailable()) {
         c = uartRead();
 
-        if (stateMSP > 99) {    // a message with a length indication, indicating a non null payload
-            if (offset <= dataSize) {   // there are still some octets to read (including checksum) to complete a full message
-                if (offset < dataSize)
-                    checksum ^= c;      // the checksum is computed, except for the last octet
-                inBuf[offset++] = c;
-            } else {            // we have read all the payload
-                if (checksum == inBuf[dataSize]) {      // we check is the computed checksum is ok
-                    switch (stateMSP) { // if yes, then we execute different code depending on the message code. read8/16/32 will look into the inBuf buffer
-                    case MSP_SET_RAW_RC:
-                        for (i = 0; i < 8; i++) {
-                            rcData[i] = read16();
-                        }
-                        break;
-                    case MSP_SET_RAW_GPS:
-                        GPS_fix = read8();
-                        GPS_numSat = read8();
-                        GPS_coord[LAT] = read32();
-                        GPS_coord[LON] = read32();
-                        GPS_altitude = read16();
-                        GPS_speed = read16();
-                        GPS_update = 1;
-                        break;
-                    case MSP_SET_PID:
-                        for (i = 0; i < PIDITEMS; i++) {
-                            cfg.P8[i] = read8();
-                            cfg.I8[i] = read8();
-                            cfg.D8[i] = read8();
-                        }
-                        break;
-                    case MSP_SET_BOX:
-                        for (i = 0; i < CHECKBOXITEMS; i++) {
-                            cfg.activate[i] = read16();
-                        }
-                        break;
-                    case MSP_SET_RC_TUNING:
-                        cfg.rcRate8 = read8();
-                        cfg.rcExpo8 = read8();
-                        cfg.rollPitchRate = read8();
-                        cfg.yawRate = read8();
-                        cfg.dynThrPID = read8();
-                        cfg.thrMid8 = read8();
-                        cfg.thrExpo8 = read8();
-                        break;
-                    case MSP_SET_MISC:
-                        break;
-                    }
-                }
-                stateMSP = 0;   // in any case we reset the MSP state
-            }
-        }
-
-        if (stateMSP < 5) {
-            if (stateMSP == 4) {        // this protocol state indicates we have a message with a lenght indication, and we read here the message code (fifth octet) 
-                if (c > 99) {   // we check if it's a valid code (should be >99)
-                    stateMSP = c;       // the message code is then reuse to feed the protocol state
-                    offset = 0;
-                    checksum = 0;
-                    indRX = 0;  // and we init some values which will be used in the next loops to grasp the payload
-                } else {
-                    stateMSP = 0;       // the message code seems to be invalid. this should not happen => we reset the protocol state
-                }
-            }
-            if (stateMSP == 3) {        // here, we need to check if the fourth octet indicates a code indication (>99) or a payload lenght indication (<100)
-                if (c < 100) {  // a message with a length indication, indicating a non null payload
-                    stateMSP++; // we update the protocol state to read the next octet
-                    dataSize = c;       // we store the payload lenght
-                    if (dataSize > 63)
-                        dataSize = 63;  // in order to avoid overflow, we limit the size. this should not happen
-                } else {
-                    switch (c) {        // if we are here, the fourth octet indicates a code message
-                    case MSP_IDENT:    // and we check message code to execute the relative code
-                        headSerialReply(c, 2);  // we reply with an header indicating a payload lenght of 2 octets
-                        serialize8(VERSION);    // the first octet. serialize8/16/32 is used also to compute a checksum
-                        serialize8(cfg.mixerConfiguration);     // the second one
-                        tailSerialReply();
-                        break;  // mainly to send the last octet which is the checksum
-                    case MSP_STATUS:
-                        headSerialReply(c, 8);
-                        serialize16(cycleTime);
-                        serialize16(i2cGetErrorCounter());
-                        serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
-                        serialize16(accMode << BOXACC | baroMode << BOXBARO | magMode << BOXMAG | armed << BOXARM | GPSModeHome << BOXGPSHOME | GPSModeHold << BOXGPSHOLD | headFreeMode << BOXHEADFREE);
-                        tailSerialReply();
-                        break;
-                    case MSP_RAW_IMU:
-                        headSerialReply(c, 18);
-                        for (i = 0; i < 3; i++)
-                            serialize16(accSmooth[i]);
-                        for (i = 0; i < 3; i++)
-                            serialize16(gyroData[i]);
-                        for (i = 0; i < 3; i++)
-                            serialize16(magADC[i]);
-                        tailSerialReply();
-                        break;
-                    case MSP_SERVO:
-                        headSerialReply(c, 16);
-                        for (i = 0; i < 8; i++)
-                            serialize16(servo[i]);
-                        tailSerialReply();
-                        break;
-                    case MSP_MOTOR:
-                        headSerialReply(c, 16);
-                        for (i = 0; i < 8; i++)
-                            serialize16(motor[i]);
-                        tailSerialReply();
-                        break;
-                    case MSP_RC:
-                        headSerialReply(c, 16);
-                        for (i = 0; i < 8; i++)
-                            serialize16(rcData[i]);
-                        tailSerialReply();
-                        break;
-                    case MSP_RAW_GPS:
-                        headSerialReply(c, 14);
-                        serialize8(GPS_fix);
-                        serialize8(GPS_numSat);
-                        serialize32(GPS_coord[LAT]);
-                        serialize32(GPS_coord[LON]);
-                        serialize16(GPS_altitude);
-                        serialize16(GPS_speed);
-                        tailSerialReply();
-                        break;
-                    case MSP_COMP_GPS:
-                        headSerialReply(c, 5);
-                        serialize16(GPS_distanceToHome);
-                        serialize16(GPS_directionToHome + 180);
-                        serialize8(GPS_update);
-                        tailSerialReply();
-                        break;
-                    case MSP_ATTITUDE:
-                        headSerialReply(c, 6);
-                        for (i = 0; i < 2; i++)
-                            serialize16(angle[i]);
-                        serialize16(heading);
-                        tailSerialReply();
-                        break;
-                    case MSP_ALTITUDE:
-                        headSerialReply(c, 4);
-                        serialize32(EstAlt);
-                        tailSerialReply();
-                        break;
-                    case MSP_BAT:
-                        headSerialReply(c, 3);
-                        serialize8(vbat);
-                        serialize16(0);
-                        tailSerialReply();
-                        break;
-                    case MSP_RC_TUNING:
-                        headSerialReply(c, 7);
-                        serialize8(cfg.rcRate8);
-                        serialize8(cfg.rcExpo8);
-                        serialize8(cfg.rollPitchRate);
-                        serialize8(cfg.yawRate);
-                        serialize8(cfg.dynThrPID);
-                        serialize8(cfg.thrMid8);
-                        serialize8(cfg.thrExpo8);
-                        tailSerialReply();
-                        break;
-                    case MSP_PID:
-                        headSerialReply(c, 3 * PIDITEMS);
-                        for (i = 0; i < PIDITEMS; i++) {
-                            serialize8(cfg.P8[i]);
-                            serialize8(cfg.I8[i]);
-                            serialize8(cfg.D8[i]);
-                        }
-                        tailSerialReply();
-                        break;
-                    case MSP_BOX:
-                        headSerialReply(c, 2 * CHECKBOXITEMS);
-                        for (i = 0; i < CHECKBOXITEMS; i++) {
-                            serialize16(cfg.activate[i]);
-                        }
-                        tailSerialReply();
-                        break;
-                    case MSP_MISC:
-                        headSerialReply(c, 2);
-                        serialize16(0);
-                        tailSerialReply();
-                        break;
-                    case MSP_MOTOR_PINS:
-                        headSerialReply(c, 8);
-                        for (i = 0; i < 8; i++)
-                            serialize8(i + 1);
-                        tailSerialReply();
-                        break;
-                    case MSP_RESET_CONF:
-                        checkFirstTime(true);
-                        break;
-                    case MSP_ACC_CALIBRATION:
-                        calibratingA = 400;
-                        calibratingG = 1000; // hit gyro too
-                        break;
-                    case MSP_MAG_CALIBRATION:
-                        calibratingM = 1;
-                        break;
-                    case MSP_EEPROM_WRITE:
-                        writeParams(0);
-                        break;
-                    case MSP_DEBUG:
-                        headSerialReply(c, 8);
-                        serialize16(debug1);    // 4 variables are here for general monitoring purpose
-                        serialize16(debug2);
-                        serialize16(debug3);
-                        serialize16(debug4);
-                        tailSerialReply();
-                        break;
-                    }
-                    stateMSP = 0;       // we reset the protocol state for the next loop
-                }
-            } else {
-                switch (c) {    // header detection $MW<
-                case '$':
-                    if (stateMSP == 0)
-                        stateMSP++;
-                    break;      // first octet ok, no need to go further
-                case 'M':
-                    if (stateMSP == 1)
-                        stateMSP++;
-                    break;      // second octet ok, no need to go further
-                case '<':
-                    if (stateMSP == 2)
-                        stateMSP++;
-                    break;      // third octet ok, no need to go further
-                }
-            }
-        }
-        if (stateMSP == 0) {    // still compliant with older single octet command
+        if (c_state == IDLE) {
+            // still compliant with older single octet command
             // enable CLI
             if (c == '#')
                 cliProcess();
             else if (c == 'R')
                 systemReset(true);      // reboot to bootloader
+            c_state = (c == '$') ? HEADER_START : IDLE;
+        } else if (c_state == HEADER_START) {
+            c_state = (c == 'M') ? HEADER_M : IDLE;
+        } else if (c_state == HEADER_M) {
+            c_state = (c == '<') ? HEADER_ARROW : IDLE;
+        } else if (c_state == HEADER_ARROW) {
+            if (c > INBUF_SIZE) {       // now we are expecting the payload size
+                c_state = IDLE;
+                continue;
+            }
+            dataSize = c;
+            offset = 0;
+            checksum = 0;
+            indRX = 0;
+            checksum ^= c;
+            c_state = HEADER_SIZE;      // the command is to follow
+        } else if (c_state == HEADER_SIZE) {
+            cmdMSP = c;
+            checksum ^= c;
+            c_state = HEADER_CMD;
+        } else if (c_state == HEADER_CMD && offset < dataSize) {
+            checksum ^= c;
+            inBuf[offset++] = c;
+        } else if (c_state == HEADER_CMD && offset >= dataSize) {
+            if (checksum == c) {        // compare calculated and transferred checksum
+                evaluateCommand();      // we got a valid packet, evaluate it
+            }
+            c_state = IDLE;
         }
     }
 }