diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
index d8d1a94b6..998d10758 100644
--- a/src/main/target/BLUEJAYF4/target.c
+++ b/src/main/target/BLUEJAYF4/target.c
@@ -25,24 +25,16 @@
 #include "drivers/timer_def.h"
 
 /*
-const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM_USE_PPM,                 0, GPIO_AF_TIM8, NULL,         0,             0  }, // PPM IN
-    { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM_USE_MOTOR,               1, GPIO_AF_TIM5, DMA1_Stream2, DMA_Channel_6, DMA1_ST2_HANDLER }, // S1_OUT
-    { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM_USE_MOTOR,               1, GPIO_AF_TIM5, DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER }, // S2_OUT
-    { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM_USE_MOTOR,               1, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // S3_OUT
-    { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM_USE_MOTOR,               1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // S4_OUT
-    { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM_USE_MOTOR | TIM_USE_LED, 1, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // S5_OUT
-    { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM_USE_MOTOR,               1, GPIO_AF_TIM3, DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER }, // S6_OUT
-};
-*/
-
+ * - Support HEXA-Dshot
+ * - S5_OUT, S6_OUT and DEBUG can be assigned to any combination of LED, software serial and servos
+ */
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM3, CH2, PC7, TIM_USE_PPM,                 TIMER_OUTPUT_STANDARD, 0 ), // PPM IN
     DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ), // S1_OUT - DMA1_ST2
     DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ), // S2_OUT - DMA1_ST4
-    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ), // S3_OUT - DMA1_ST1
-    DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 1 ), // S4_OUT - DMA1_ST6
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_STANDARD, 0 ), // S5_OUT - DMA1_ST7
-    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ), // S6_OUT - DMA1_ST2
-    DEF_TIM(TIM2, CH2, PB3, 0,                           TIMER_OUTPUT_STANDARD, 0 ), // DEBUG_OUT
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0 ), // S3_OUT - DMA1_ST0
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 1 ), // S4_OUT - DMA1_ST3 (Could be DMA1_ST1 with dmaopt=0)
+    DEF_TIM(TIM1, CH2N,PB0, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_INVERTED, 0 ), // S5_OUT - DMA2_ST6
+    DEF_TIM(TIM8, CH3N,PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_INVERTED, 0 ), // S6_OUT - DMA2_ST2
+    DEF_TIM(TIM2, CH2, PB3, TIM_USE_NONE,                TIMER_OUTPUT_STANDARD, 0 ), // DEBUG  - DMA1_ST6
 };
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index d61b8e1f4..e1370650a 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -60,8 +60,10 @@
 #define USE_GYRO_SPI_MPU6500
 #define GYRO_MPU6500_ALIGN      CW0_DEG
 
-//#define MAG
+#define MAG
+#define USE_MAG_HMC5883
 //#define USE_MAG_AK8963
+#define HMC5883_I2C_INSTANCE    I2CDEV_1
 
 #define BARO
 #define USE_BARO_MS5611
diff --git a/src/main/target/BLUEJAYF4/target.mk b/src/main/target/BLUEJAYF4/target.mk
index f08ab8ba1..babf74f2a 100644
--- a/src/main/target/BLUEJAYF4/target.mk
+++ b/src/main/target/BLUEJAYF4/target.mk
@@ -4,5 +4,6 @@ FEATURES        += SDCARD VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_mpu6500.c \
-            drivers/barometer/barometer_ms5611.c 
+            drivers/barometer/barometer_ms5611.c \
+            drivers/compass/compass_hmc5883l.c