diff --git a/Makefile b/Makefile
index f415d80fe..9988ce818 100644
--- a/Makefile
+++ b/Makefile
@@ -88,6 +88,7 @@ HSE_VALUE       ?= 8000000
 FEATURES        =
 
 OFFICIAL_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO STM32F3DISCOVERY
+SKIP_TARGETS     := ALIENWHOOP
 ALT_TARGETS       = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
 OPBL_TARGETS      = $(filter %_OPBL, $(ALT_TARGETS))
 OSD_SLAVE_TARGETS = SPRACINGF3OSD
@@ -96,6 +97,7 @@ VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
 VALID_TARGETS  := $(sort $(VALID_TARGETS))
+VALID_TARGETS  := $(filter-out $(SKIP_TARGETS), $(VALID_TARGETS))
 
 GROUP_1_TARGETS := \
 	AFROMINI \
@@ -108,13 +110,15 @@ GROUP_1_TARGETS := \
 	ALIENFLIGHTF3 \
 	ALIENFLIGHTF4 \
 	ALIENFLIGHTNGF7 \
+	ALIENWHOOPF4 \
+	ALIENWHOOPF7 \
 	ANYFCF7 \
 	BEEBRAIN \
 	BEEROTORF4 \
 	BETAFLIGHTF3 \
 	BLUEJAYF4 \
 	CC3D \
-	CC3D_OPBL \
+	CC3D_OPBL
 
 GROUP_2_TARGETS := \
 	CHEBUZZF3 \
@@ -141,7 +145,7 @@ GROUP_2_TARGETS := \
 	FURYF7 \
 	IMPULSERCF3 \
 	IRCFUSIONF3 \
-	ISHAPEDF3 \
+	ISHAPEDF3
 
 GROUP_3_TARGETS := \
 	KAKUTEF4 \
@@ -160,6 +164,7 @@ GROUP_3_TARGETS := \
 	OMNIBUSF4SD \
 	PLUMF4 \
 	PODIUMF4 \
+	DYSF4PRO
 
 GROUP_4_TARGETS := \
 	RCEXPLORERF3 \
@@ -181,7 +186,7 @@ GROUP_4_TARGETS := \
 	SPRACINGF4EVO \
 	SPRACINGF4NEO \
 	STM32F3DISCOVERY \
-	TINYBEEF3 \
+	TINYBEEF3
 
 GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
 
diff --git a/src/main/build/debug.c b/src/main/build/debug.c
index c218c40bd..a3e963c2e 100644
--- a/src/main/build/debug.c
+++ b/src/main/build/debug.c
@@ -26,3 +26,28 @@ uint8_t debugMode;
 #ifdef DEBUG_SECTION_TIMES
 uint32_t sectionTimes[2][4];
 #endif
+
+const char * const debugModeNames[DEBUG_COUNT] = {
+    "NONE",
+    "CYCLETIME",
+    "BATTERY",
+    "GYRO",
+    "ACCELEROMETER",
+    "MIXER",
+    "AIRMODE",
+    "PIDLOOP",
+    "NOTCH",
+    "RC_INTERPOLATION",
+    "VELOCITY",
+    "DFILTER",
+    "ANGLERATE",
+    "ESC_SENSOR",
+    "SCHEDULER",
+    "STACK",
+    "ESC_SENSOR_RPM",
+    "ESC_SENSOR_TMP",
+    "ALTITUDE",
+    "FFT",
+    "FFT_TIME",
+    "FFT_FREQ"
+};
diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index 6df4163ee..120c3b810 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -70,3 +70,5 @@ typedef enum {
     DEBUG_FFT_FREQ,
     DEBUG_COUNT
 } debugType_e;
+
+extern const char * const debugModeNames[DEBUG_COUNT];
diff --git a/src/main/cms/cms.c b/src/main/cms/cms.c
index bd6039eb3..00fe8d2d3 100644
--- a/src/main/cms/cms.c
+++ b/src/main/cms/cms.c
@@ -41,6 +41,7 @@
 #include "cms/cms_menu_builtin.h"
 #include "cms/cms_types.h"
 
+#include "common/maths.h"
 #include "common/typeconversion.h"
 
 #include "drivers/system.h"
@@ -260,7 +261,8 @@ static void cmsPadToSize(char *buf, int size)
 
 static int cmsDrawMenuEntry(displayPort_t *pDisplay, OSD_Entry *p, uint8_t row)
 {
-    char buff[10];
+    #define CMS_DRAW_BUFFER_LEN 10
+    char buff[CMS_DRAW_BUFFER_LEN];
     int cnt = 0;
 
     switch (p->type) {
@@ -306,8 +308,10 @@ static int cmsDrawMenuEntry(displayPort_t *pDisplay, OSD_Entry *p, uint8_t row)
     case OME_TAB:
         if (IS_PRINTVALUE(p)) {
             OSD_TAB_t *ptr = p->data;
-            //cnt = displayWrite(pDisplay, RIGHT_MENU_COLUMN(pDisplay) - 5, row, (char *)ptr->names[*ptr->val]);
-            cnt = displayWrite(pDisplay, RIGHT_MENU_COLUMN(pDisplay), row, (char *)ptr->names[*ptr->val]);
+            char * str = (char *)ptr->names[*ptr->val];
+            memcpy(buff, str, MAX(CMS_DRAW_BUFFER_LEN, strlen(str)));
+            cmsPadToSize(buff, CMS_DRAW_BUFFER_LEN);
+            cnt = displayWrite(pDisplay, RIGHT_MENU_COLUMN(pDisplay), row, buff);
             CLR_PRINTVALUE(p);
         }
         break;
diff --git a/src/main/cms/cms_menu_misc.c b/src/main/cms/cms_menu_misc.c
index 4a7c18561..c0bc5cb4a 100644
--- a/src/main/cms/cms_menu_misc.c
+++ b/src/main/cms/cms_menu_misc.c
@@ -24,6 +24,7 @@
 
 #ifdef CMS
 
+#include "build/debug.h"
 #include "build/version.h"
 
 #include "drivers/time.h"
@@ -38,6 +39,7 @@
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
+#include "fc/config.h"
 #include "fc/rc_controls.h"
 
 #include "flight/mixer.h"
@@ -92,6 +94,7 @@ static uint16_t motorConfig_minthrottle;
 static uint8_t motorConfig_digitalIdleOffsetValue;
 static uint8_t voltageSensorADCConfig_vbatscale;
 static uint8_t batteryConfig_vbatmaxcellvoltage;
+static debugType_e systemConfig_debug_mode;
 
 static long cmsx_menuMiscOnEnter(void)
 {
@@ -99,6 +102,8 @@ static long cmsx_menuMiscOnEnter(void)
     motorConfig_digitalIdleOffsetValue = motorConfig()->digitalIdleOffsetValue / 10;
     voltageSensorADCConfig_vbatscale = voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale;
     batteryConfig_vbatmaxcellvoltage = batteryConfig()->vbatmaxcellvoltage;
+    systemConfig_debug_mode = systemConfig()->debug_mode;
+
     return 0;
 }
 
@@ -110,6 +115,8 @@ static long cmsx_menuMiscOnExit(const OSD_Entry *self)
     motorConfigMutable()->digitalIdleOffsetValue = 10 * motorConfig_digitalIdleOffsetValue;
     voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = voltageSensorADCConfig_vbatscale;
     batteryConfigMutable()->vbatmaxcellvoltage = batteryConfig_vbatmaxcellvoltage;
+    systemConfigMutable()->debug_mode = systemConfig_debug_mode;
+
     return 0;
 }
 
@@ -121,6 +128,7 @@ static OSD_Entry menuMiscEntries[]=
     { "DIGITAL IDLE", OME_UINT8,   NULL,          &(OSD_UINT8_t) { &motorConfig_digitalIdleOffsetValue,      0,  200, 1 },      0 },
     { "VBAT SCALE",   OME_UINT8,   NULL,          &(OSD_UINT8_t) { &voltageSensorADCConfig_vbatscale,        1,  250, 1 },      0 },
     { "VBAT CLMAX",   OME_UINT8,   NULL,          &(OSD_UINT8_t) { &batteryConfig_vbatmaxcellvoltage,       10,   50, 1 },      0 },
+    { "DEBUG MODE",   OME_TAB,     NULL,          &(OSD_TAB_t) { &systemConfig_debug_mode, DEBUG_COUNT - 1, debugModeNames },      0 },
     { "RC PREV",      OME_Submenu, cmsMenuChange, &cmsx_menuRcPreview, 0},
 
     { "BACK", OME_Back, NULL, NULL, 0},
diff --git a/src/main/drivers/display_ug2864hsweg01.c b/src/main/drivers/display_ug2864hsweg01.c
index b337d4998..0d82c5eb8 100644
--- a/src/main/drivers/display_ug2864hsweg01.c
+++ b/src/main/drivers/display_ug2864hsweg01.c
@@ -186,9 +186,8 @@ static bool i2c_OLED_send_cmd(busDevice_t *bus, uint8_t command)
 static bool i2c_OLED_send_cmdarray(busDevice_t *bus, const uint8_t *commands, size_t len)
 {
     for (size_t i = 0 ; i < len ; i++) {
-        if (i2c_OLED_send_cmd(bus, commands[i])) {
-            // XXX Funny, i2cWrite is returning errors!?
-            // return;
+        if (!i2c_OLED_send_cmd(bus, commands[i])) {
+            return false;
         }
     }
 
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 01c0eb8e9..dd8018e9a 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -480,10 +480,9 @@ void pwmToggleBeeper(void)
         pwmWriteBeeper(!beeperPwm.enabled);
 }
 
-void beeperPwmInit(IO_t io, uint16_t frequency)
+void beeperPwmInit(const ioTag_t tag, uint16_t frequency)
 {
-        const ioTag_t tag=IO_TAG(BEEPER);
-        beeperPwm.io = io;
+        beeperPwm.io = IOGetByTag(tag);
         const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_BEEPER);
         if (beeperPwm.io && timer) {
             IOInit(beeperPwm.io, OWNER_BEEPER, RESOURCE_INDEX(0));
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 9dcea1edb..619dd2952 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -179,7 +179,7 @@ void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
 #ifdef BEEPER
 void pwmWriteBeeper(bool onoffBeep);
 void pwmToggleBeeper(void);
-void beeperPwmInit(IO_t io, uint16_t frequency);
+void beeperPwmInit(const ioTag_t tag, uint16_t frequency);
 #endif
 
 void pwmWriteMotor(uint8_t index, float value);
diff --git a/src/main/drivers/sound_beeper.c b/src/main/drivers/sound_beeper.c
index ebef30d1d..2e47104ef 100644
--- a/src/main/drivers/sound_beeper.c
+++ b/src/main/drivers/sound_beeper.c
@@ -69,8 +69,8 @@ void beeperInit(const beeperDevConfig_t *config)
         }
         systemBeep(false);
     } else {
-        beeperIO = IOGetByTag(config->ioTag);
-        beeperPwmInit(beeperIO, beeperFrequency);
+        const ioTag_t beeperTag = config->ioTag;
+        beeperPwmInit(beeperTag, beeperFrequency);
     }
 #else
     UNUSED(config);
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index a6581f745..4ef9e8104 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -299,13 +299,34 @@ static void cliPrintLinef(const char *format, ...)
     va_end(va);
 }
 
+
 static void printValuePointer(const clivalue_t *var, const void *valuePointer, bool full)
 {
     if ((var->type & VALUE_MODE_MASK) == MODE_ARRAY) {
         for (int i = 0; i < var->config.array.length; i++) {
-            uint8_t value = ((uint8_t *)valuePointer)[i];
+            switch (var->type & VALUE_TYPE_MASK) {
+            default:
+            case VAR_UINT8:
+                // uint8_t array
+                cliPrintf("%d", ((uint8_t *)valuePointer)[i]);
+                break;
+
+            case VAR_INT8:
+                // int8_t array
+                cliPrintf("%d", ((int8_t *)valuePointer)[i]);
+                break;
+
+            case VAR_UINT16:
+                // uin16_t array
+                cliPrintf("%d", ((uint16_t *)valuePointer)[i]);
+                break;
+
+            case VAR_INT16:
+                // int16_t array
+                cliPrintf("%d", ((int16_t *)valuePointer)[i]);
+                break;
+            }
 
-            cliPrintf("%d", value);
             if (i < var->config.array.length - 1) {
                 cliPrint(",");
             }
@@ -376,7 +397,7 @@ static uint16_t getValueOffset(const clivalue_t *value)
     return 0;
 }
 
-static void *getValuePointer(const clivalue_t *value)
+STATIC_UNIT_TESTED void *getValuePointer(const clivalue_t *value)
 {
     const pgRegistry_t* rec = pgFind(value->pgn);
     return CONST_CAST(void *, rec->address + getValueOffset(value));
@@ -2637,7 +2658,7 @@ static void cliDefaults(char *cmdline)
     cliReboot();
 }
 
-static void cliGet(char *cmdline)
+STATIC_UNIT_TESTED void cliGet(char *cmdline)
 {
     const clivalue_t *val;
     int matchedCommands = 0;
@@ -2681,7 +2702,7 @@ static uint8_t getWordLength(char *bufBegin, char *bufEnd)
     return bufEnd - bufBegin;
 }
 
-static void cliSet(char *cmdline)
+STATIC_UNIT_TESTED void cliSet(char *cmdline)
 {
     const uint32_t len = strlen(cmdline);
     char *eqptr;
@@ -2706,16 +2727,17 @@ static void cliSet(char *cmdline)
 
         for (uint32_t i = 0; i < valueTableEntryCount; i++) {
             const clivalue_t *val = &valueTable[i];
+
             // ensure exact match when setting to prevent setting variables with shorter names
-            if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
+            if (strncasecmp(cmdline, val->name, strlen(val->name)) == 0 && variableNameLength == strlen(val->name)) {
 
                 bool valueChanged = false;
                 int16_t value  = 0;
-                switch (valueTable[i].type & VALUE_MODE_MASK) {
+                switch (val->type & VALUE_MODE_MASK) {
                     case MODE_DIRECT: {
                         int16_t value = atoi(eqptr);
 
-                        if (value >= valueTable[i].config.minmax.min && value <= valueTable[i].config.minmax.max) {
+                        if (value >= val->config.minmax.min && value <= val->config.minmax.max) {
                             cliSetVar(val, value);
                             valueChanged = true;
                         }
@@ -2723,7 +2745,7 @@ static void cliSet(char *cmdline)
 
                     break;
                     case MODE_LOOKUP: {
-                        const lookupTableEntry_t *tableEntry = &lookupTables[valueTable[i].config.lookup.tableIndex];
+                        const lookupTableEntry_t *tableEntry = &lookupTables[val->config.lookup.tableIndex];
                         bool matched = false;
                         for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
                             matched = strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
@@ -2739,41 +2761,67 @@ static void cliSet(char *cmdline)
 
                     break;
                     case MODE_ARRAY: {
-                        const uint8_t arrayLength = valueTable[i].config.array.length;
+                        const uint8_t arrayLength = val->config.array.length;
                         char *valPtr = eqptr;
-                        uint8_t array[256];
-                        char curVal[4];
+
                         for (int i = 0; i < arrayLength; i++) {
+                            // skip spaces
                             valPtr = skipSpace(valPtr);
-                            char *valEnd = strstr(valPtr, ",");
-                            if ((valEnd != NULL) && (i < arrayLength - 1)) {
-                                uint8_t varLength = getWordLength(valPtr, valEnd);
-                                if (varLength <= 3) {
-                                    strncpy(curVal, valPtr, getWordLength(valPtr, valEnd));
-                                    curVal[varLength] = '\0';
-                                    array[i] = (uint8_t)atoi((const char *)curVal);
-                                    valPtr = valEnd + 1;
-                                } else {
+                            // find next comma (or end of string)
+                            char *valEndPtr = strchr(valPtr, ',');
+
+                            // comma found or last item?
+                            if ((valEndPtr != NULL) || (i == arrayLength - 1)){
+                                // process substring [valPtr, valEndPtr[
+                                // note: no need to copy substrings for atoi()
+                                //       it stops at the first character that cannot be converted...
+                                switch (val->type & VALUE_TYPE_MASK) {
+                                default:
+                                case VAR_UINT8: {
+                                    // fetch data pointer
+                                    uint8_t *data = (uint8_t *)getValuePointer(val) + i;
+                                    // store value
+                                    *data = (uint8_t)atoi((const char*) valPtr);
+                                    }
+                                    break;
+
+                                case VAR_INT8: {
+                                    // fetch data pointer
+                                    int8_t *data = (int8_t *)getValuePointer(val) + i;
+                                    // store value
+                                    *data = (int8_t)atoi((const char*) valPtr);
+                                    }
+                                    break;
+
+                                case VAR_UINT16: {
+                                    // fetch data pointer
+                                    uint16_t *data = (uint16_t *)getValuePointer(val) + i;
+                                    // store value
+                                    *data = (uint16_t)atoi((const char*) valPtr);
+                                    }
+                                    break;
+
+                                case VAR_INT16: {
+                                    // fetch data pointer
+                                    int16_t *data = (int16_t *)getValuePointer(val) + i;
+                                    // store value
+                                    *data = (int16_t)atoi((const char*) valPtr);
+                                    }
                                     break;
                                 }
-                            } else if ((valEnd == NULL) && (i == arrayLength - 1)) {
-                                array[i] = atoi(valPtr);
-
-                                uint8_t *ptr = getValuePointer(val);
-                                memcpy(ptr, array, arrayLength);
+                                // mark as changed
                                 valueChanged = true;
-                            } else {
-                                break;
+
+                                // prepare to parse next item
+                                valPtr = valEndPtr + 1;
                             }
                         }
                     }
-
                     break;
-
                 }
 
                 if (valueChanged) {
-                    cliPrintf("%s set to ", valueTable[i].name);
+                    cliPrintf("%s set to ", val->name);
                     cliPrintVar(val, 0);
                 } else {
                     cliPrintLine("Invalid value");
diff --git a/src/main/fc/settings.c b/src/main/fc/settings.c
index e430840f6..c1c8353ab 100644
--- a/src/main/fc/settings.c
+++ b/src/main/fc/settings.c
@@ -195,31 +195,6 @@ static const char * const lookupTableGyroLpf[] = {
     "EXPERIMENTAL"
 };
 
-static const char * const lookupTableDebug[DEBUG_COUNT] = {
-    "NONE",
-    "CYCLETIME",
-    "BATTERY",
-    "GYRO",
-    "ACCELEROMETER",
-    "MIXER",
-    "AIRMODE",
-    "PIDLOOP",
-    "NOTCH",
-    "RC_INTERPOLATION",
-    "VELOCITY",
-    "DFILTER",
-    "ANGLERATE",
-    "ESC_SENSOR",
-    "SCHEDULER",
-    "STACK",
-    "ESC_SENSOR_RPM",
-    "ESC_SENSOR_TMP",
-    "ALTITUDE",
-    "FFT",
-    "FFT_TIME",
-    "FFT_FREQ"
-};
-
 #ifdef OSD
 static const char * const lookupTableOsdType[] = {
     "AUTO",
@@ -290,7 +265,7 @@ const lookupTableEntry_t lookupTables[] = {
 #ifdef MAG
     { lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
 #endif
-    { lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
+    { debugModeNames, sizeof(debugModeNames) / sizeof(char *) },
     { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
     { lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
     { lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
diff --git a/src/main/target/ALIENWHOOP/ALIENWHOOPF4.mk b/src/main/target/ALIENWHOOP/ALIENWHOOPF4.mk
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/main/target/ALIENWHOOP/ALIENWHOOPF7.mk b/src/main/target/ALIENWHOOP/ALIENWHOOPF7.mk
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/main/target/ALIENWHOOP/config.c b/src/main/target/ALIENWHOOP/config.c
new file mode 100644
index 000000000..c430cc689
--- /dev/null
+++ b/src/main/target/ALIENWHOOP/config.c
@@ -0,0 +1,86 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+/*
+
+
+
+      
+         \   |   _ _| __|  \ |\ \      /|  |  _ \  _ \ _ \
+        _ \  |     |  _|  .  | \ \ \  / __ | (   |(   |__/
+      _/  _\____|___|___|_|\_|  \_/\_/ _| _|\___/\___/_|
+      
+      
+              Take me to your leader-board...
+      
+
+
+*/
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#ifdef TARGET_CONFIG
+
+#include "common/axis.h"
+#include "config/feature.h"
+#include "drivers/pwm_esc_detect.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "io/serial.h"
+#include "rx/rx.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/compass.h"
+
+#ifdef BRUSHED_MOTORS_PWM_RATE
+#undef BRUSHED_MOTORS_PWM_RATE
+#endif
+
+#define BRUSHED_MOTORS_PWM_RATE 666           // 666Hz };-)>~ low PWM rate seems to give better power and cooler motors...
+
+
+void targetConfiguration(void)
+{
+    if (hardwareMotorType == MOTOR_BRUSHED) {
+        motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
+	motorConfigMutable()->minthrottle = 1080;
+	motorConfigMutable()->maxthrottle = 2000;
+        pidConfigMutable()->pid_process_denom = 1;
+    }
+
+    rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
+#if defined(ALIENWHOOPF4)
+    rxConfigMutable()->sbus_inversion = 0; // TODO: what to do about F4 inversion?
+#else
+    rxConfigMutable()->sbus_inversion = 1; // invert on F7
+#endif
+
+/* Breadboard-specific settings for development purposes only
+ */
+#if defined(BREADBOARD)
+    boardAlignmentMutable()->pitchDegrees = 90; // vertical breakout board
+    barometerConfigMutable()->baro_hardware = BARO_DEFAULT; // still testing not on V1 or V2 pcb
+#endif
+
+    compassConfigMutable()->mag_hardware =  MAG_DEFAULT;
+}
+#endif
+
diff --git a/src/main/target/ALIENWHOOP/target.c b/src/main/target/ALIENWHOOP/target.c
new file mode 100644
index 000000000..c6ca4816e
--- /dev/null
+++ b/src/main/target/ALIENWHOOP/target.c
@@ -0,0 +1,53 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+/*
+
+
+
+      
+         \   |   _ _| __|  \ |\ \      /|  |  _ \  _ \ _ \
+        _ \  |     |  _|  .  | \ \ \  / __ | (   |(   |__/
+      _/  _\____|___|___|_|\_|  \_/\_/ _| _|\___/\___/_|
+      
+      
+              Take me to your leader-board...
+      
+
+
+*/
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+#include "drivers/dma.h"
+
+/* Currently only supporting brushed quad configuration e.g. Tiny Whoop. Care must be
+ * taken to ensure functionality on both F4 and F7 (STM32F405RGT and STM32F722RET)
+ */
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
+    DEF_TIM(TIM3, CH3, PC8, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
+    DEF_TIM(TIM3, CH2, PC7, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
+    DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
+};
+
diff --git a/src/main/target/ALIENWHOOP/target.h b/src/main/target/ALIENWHOOP/target.h
new file mode 100644
index 000000000..7b1747192
--- /dev/null
+++ b/src/main/target/ALIENWHOOP/target.h
@@ -0,0 +1,240 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+/*
+
+
+
+      
+         \   |   _ _| __|  \ |\ \      /|  |  _ \  _ \ _ \
+        _ \  |     |  _|  .  | \ \ \  / __ | (   |(   |__/
+      _/  _\____|___|___|_|\_|  \_/\_/ _| _|\___/\___/_|
+      
+      
+              Take me to your leader-board...
+      
+
+
+*/
+
+#pragma once
+
+/* Multi-Arch Support for 168MHz or 216MHz ARM Cortex processors - STM32F405RGT or STM32F7RET
+ */
+#if defined(ALIENWHOOPF4)
+#define TARGET_BOARD_IDENTIFIER "AWF4"
+#define USBD_PRODUCT_STRING     "AlienWhoopF4"
+#else
+#define TARGET_BOARD_IDENTIFIER "AWF7"
+#define USBD_PRODUCT_STRING     "AlienWhoopF7"
+#endif
+
+#define TARGET_CONFIG // see config.c for target specific customizations
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
+#define BRUSHED_MOTORS
+#define BRUSHED_ESC_AUTODETECT
+
+/* Visual Alerts - SMD LEDs
+ */
+#define LED0_PIN                PC12 // conflicts UART5
+#define LED1_PIN                PD2  // conflicts UART5
+
+/* Lost Quad Mode and Alerts - RCX03-787 Low Voltage Active Buzzer
+ */
+#if defined(V2DRAFT) // a few boards exist with older pinout
+#define BEEPER                 PC13 // PC13... limited... current (3 mA)... 
+#else
+#define BEEPER                 PA2 // PC13... limited... current (3 mA)... 
+#endif
+#define BEEPER_INVERTED             // [and] must not be used [to drive LED etc]
+
+/* Serial Peripheral Interface (SPI) - Up to 50 Mbit/s on F7
+ */
+#define USE_SPI
+#define USE_SPI_DEVICE_1 // SPI1 can communicate at up to 42 Mbits/s on F4
+#define USE_SPI_DEVICE_2 // SPI2 and SPI3 can communicate at up to 21 Mbit/s on F4
+#define USE_SPI_DEVICE_3 // All SPIs can be served by the DMA controller.
+#if defined(ALIENWHOOPF7)
+//TODO:
+//#define USE_SPI_DEVICE_4
+//#define USE_SPI_DEVICE_5
+#endif
+
+#define SPI1_NSS_PIN            PA4 // LQFP64 pin 20 (PA4)
+#define SPI1_SCK_PIN            PA5 // LQFP64 pin 21 (PA5)
+#define SPI1_MISO_PIN           PA6 // LQFP64 pin 22 (PA6)
+#define SPI1_MOSI_PIN           PA7 // LQFP64 pin 23 (PA7)
+
+#define SPI2_NSS_PIN            PB12 // LQFP64 pin 33 (PB12)
+#define SPI2_SCK_PIN            PB13 // LQFP64 pin 34 (PB13)
+#define SPI2_MISO_PIN           PB14 // LQFP64 pin 35 (PB14)
+#define SPI2_MOSI_PIN           PB15 // LQFP64 pin 36 (PB15)
+
+#define SPI3_NSS_PIN            PA15 // LQFP64 pin 50 (PA15)
+//#define SPI3_SCK_PIN            PC10 // LQFP64 pin 51 (PC10)
+//#define SPI3_MISO_PIN           PC11 // LQFP64 pin 52 (PC11)
+//#define SPI3_MOSI_PIN           PC12 // LQFP64 pin 53 (PC12)
+#define SPI3_SCK_PIN            PB3  // LQFP64 pin 55 (PB3)
+#define SPI3_MISO_PIN           PB4  // LQFP64 pin 56 (PB4)
+#define SPI3_MOSI_PIN           PB5  // LQFP64 pin 57 (PB5)
+
+#if defined(ALIENWHOOPF7)
+//TODO: define SPI4 and SPI5 for F7 target
+//#define SPI4_NSS_PIN
+//#define SPI4_SCK_PIN
+//#define SPI4_MISO_PIN
+//#define SPI4_MOSI_PIN
+//#define SPI5_NSS_PIN
+//#define SPI5_SCK_PIN
+//#define SPI5_MISO_PIN
+//#define SPI5_MOSI_PIN
+#endif
+
+/* Motion Processing Unit (MPU) - Invensense 6-axis MPU-6500 or 9-axis MPU-9250 
+ */
+// Interrupt
+#define USE_EXTI
+#define MPU_INT_EXTI            PC14
+// MPU
+#define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_SPI_INSTANCE    SPI1
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+// MAG
+#define MAG
+#define USE_MAG_AK8963
+#define MAG_AK8963_ALIGN        CW0_DEG
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+// GYRO
+#define GYRO
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW0_DEG
+// ACC
+#define ACC
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW0_DEG
+
+/* Optional Digital Pressure Sensor (barometer) - Bosch BMP280 
+ * TODO: not implemented on V1 or V2 pcb
+ */
+#define BARO
+#define USE_BARO_BMP280
+#define USE_BARO_SPI_BMP280
+#define BMP280_SPI_INSTANCE     SPI3
+#define BMP280_CS_PIN           SPI3_NSS_PIN
+
+/* Serial ports etc.
+ */
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+
+#define SERIAL_PORT_COUNT       6
+
+// USART1
+#define UART1_TX_PIN            PA9 // PB1 INCOMPAT F4 -> F7
+#define UART1_RX_PIN            PA10 // PB0 INCOMPAT F4 -> F7
+
+// USART2
+#define UART2_TX_PIN            PA2 //PA12
+#define UART2_RX_PIN            PA3 //PA13
+
+// USART3
+#define UART3_TX_PIN            PC10 // PB10 INCOMPAT F4 -> F7
+#define UART3_RX_PIN            PC11 // PB11 INCOMPAT F4 -> F7
+
+// UART4 async only on F4
+#define UART4_TX_PIN            PA0 // PC10 currently used by USART3
+#define UART4_RX_PIN            PA1 // PC11 currently used by USART3
+
+// UART5 async only on F4
+//#define UART5_TX_PIN            PB3 // PC12
+//#define UART5_RX_PIN            PB4 // PD2
+
+/* Receiver - e.g. FrSky XM/XM+ or Spektrum/Lemon DSM/DSMX capable of 3.3V
+ */
+/* Assume Spektrum following defines inherited from common_fc_pre.h:
+//#define USE_SERIALRX_SPEKTRUM
+//#define USE_SPEKTRUM_BIND
+//#define USE_SPEKTRUM_BIND_PLUG
+*/
+#if defined(V2DRAFT) // a few of these boards still exist
+#define BINDPLUG_PIN            PB14
+#define SPEKTRUM_BIND_PIN       PA3
+#define SERIALRX_UART           SERIAL_PORT_USART2
+#define RX_CHANNELS_AETR	// FrSky AETR TAER SpektrumRC
+#else
+#define BINDPLUG_PIN          	PC13 // formerly used for beeper (erroneously) on V1 pcb
+#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
+#define SERIALRX_UART           SERIAL_PORT_USART3
+#define RX_CHANNELS_TAER 	//RX_CHANNELS_AETR
+#endif
+#define SERIALRX_PROVIDER       SERIALRX_SPEKTRUM1024 //SERIALRX_SBUS
+
+/* Defaults - What do we want out of the box?
+ */
+#if defined(BREADBOARD)
+#define DEFAULT_FEATURES        (FEATURE_RX_SERIAL | FEATURE_MOTOR_STOP )
+#else
+#define DEFAULT_FEATURES        (FEATURE_RX_SERIAL | FEATURE_MOTOR_STOP | FEATURE_FAILSAFE) // FEATURE_TELEMETRY changes bind pin from rx to tx
+#endif
+
+#undef VTX_COMMON
+#undef VTX_CONTROL
+#undef VTX_SMARTAUDIO
+#undef VTX_TRAMP
+
+/* OLED Support
+ */
+#if defined(BREADBOARD)
+#define CMS
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE              (I2CDEV_1)
+#define USE_I2C_PULLUP
+#define I2C1_SCL                PB6
+#define I2C1_SDA                PB7 
+#else
+#undef CMS
+#undef USE_I2C
+#endif
+
+/* MCU Pin Mapping - LPFQ64 Flags 
+ */
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#if defined(ALIENWHOOPF4)
+// STM32F405RGT
+#define TARGET_IO_PORTD         (BIT(2))
+#else
+// STM32F722RET
+#define TARGET_IO_PORTD         0xffff
+#define TARGET_IO_PORTE         0xffff
+#endif
+
+/* Timers
+ */
+#define USABLE_TIMER_CHANNEL_COUNT 4
+#define USED_TIMERS             ( TIM_N(3) | TIM_N(8) )
+
diff --git a/src/main/target/ALIENWHOOP/target.mk b/src/main/target/ALIENWHOOP/target.mk
new file mode 100644
index 000000000..2eec8ed06
--- /dev/null
+++ b/src/main/target/ALIENWHOOP/target.mk
@@ -0,0 +1,25 @@
+#  
+#  
+#     \   |   _ _| __|  \ |\ \      /|  |  _ \  _ \ _ \
+#    _ \  |     |  _|  .  | \ \ \  / __ | (   |(   |__/
+#  _/  _\____|___|___|_|\_|  \_/\_/ _| _|\___/\___/_|
+#  
+#  
+ifeq ($(TARGET), ALIENWHOOPF4)
+F405_TARGETS    += $(TARGET) # STM32F405RGT
+else
+ifeq ($(TARGET), ALIENWHOOPF7)
+F7X2RE_TARGETS  += $(TARGET) # STM32F722RET
+else
+# Nothing to do for generic ALIENWHOOP... an MCU arch should be specified
+endif
+endif
+
+FEATURES    += VCP
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_spi_bmp280.c \
+            drivers/compass/compass_ak8963.c
diff --git a/src/main/target/ANYFCF7/target.h b/src/main/target/ANYFCF7/target.h
index 9a7567665..1ada7767c 100644
--- a/src/main/target/ANYFCF7/target.h
+++ b/src/main/target/ANYFCF7/target.h
@@ -44,13 +44,16 @@
 #define USE_EXTI
 
 #define MAG
-//#define USE_MAG_HMC5883
-//#define HMC5883_BUS I2C_DEVICE_EXT
+#define USE_MAG_HMC5883
+#define MAG_I2C_INSTANCE           (I2CDEV_2)
+
 //#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
 //#define MAG_HMC5883_ALIGN CW90_DEG
 
 #define BARO
 #define USE_BARO_MS5611
+#define USE_BARO_BMP280
+#define BARO_I2C_INSTANCE           (I2CDEV_2)
 
 #define USABLE_TIMER_CHANNEL_COUNT 16
 
@@ -128,8 +131,9 @@
 #define SDCARD_DMA_CHANNEL                  DMA_CHANNEL_4
 
 #define USE_I2C
-#define USE_I2C_DEVICE_4
-#define I2C_DEVICE                  (I2CDEV_4)
+#define USE_I2C_DEVICE_2  // External I2C
+#define USE_I2C_DEVICE_4  // Onboard I2C
+#define I2C_DEVICE                  (I2CDEV_2)
 
 #define USE_ADC
 #define VBAT_ADC_PIN                PC0
diff --git a/src/main/target/ANYFCF7/target.mk b/src/main/target/ANYFCF7/target.mk
index bdc188d40..9069b243f 100644
--- a/src/main/target/ANYFCF7/target.mk
+++ b/src/main/target/ANYFCF7/target.mk
@@ -4,6 +4,8 @@ FEATURES       += SDCARD VCP
 TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/compass/compass_hmc5883l.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c
 
diff --git a/src/main/target/BETAFLIGHTF3/target.c b/src/main/target/BETAFLIGHTF3/target.c
index 421d5297c..1bd73fffb 100755
--- a/src/main/target/BETAFLIGHTF3/target.c
+++ b/src/main/target/BETAFLIGHTF3/target.c
@@ -26,25 +26,22 @@
 #include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM,                 TIMER_INPUT_ENABLED),                          // PPM
-    DEF_TIM(TIM16,CH1, PA6, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM1 (1,4)
-    DEF_TIM(TIM8, CH1N,PA7, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2 (2,3)
-    DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM3 (2,5)
-    DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM4 (1,1)
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM,                 TIMER_INPUT_ENABLED),                          // PPM  DMA(1,4)
 
-#ifdef BFF3_USE_HEXA_DSHOT
-    // For HEXA dshot
-    DEF_TIM(TIM1, CH2N,PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5 (1,3)
-    DEF_TIM(TIM8, CH3N,PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6 (2,1)
-#else
-    // For softserial
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5 (1,2) !LED
-    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6 (1,3)
-#endif
+    // Motors 1-4
+    DEF_TIM(TIM16,CH1, PA6, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM1 DMA(1,6)
+    DEF_TIM(TIM8, CH1N,PA7, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2 DMA(2,3)
+    DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM3 DMA(2,5)
+    DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM4 DMA(1,7)
 
+    // Motors 5-6 or SoftSerial
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM5 DMA(1,2) !LED
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM6 DMA(1,3)
+
+    // Motors 7-8 or UART2
     DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM7/UART2_RX
     DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM8/UART2_TX
 
-    // When using softserial config, LED will have DMA conflict with PB0 (SOFTSERIAL1_RX).
-    DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED),                         // LED  (1,2)
+    // No LED for Hexa-Dshot; DMA conflict with Motor 5 (PB0); consider PPM if not used.
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED),                         // LED  DMA(1,2)
 };
diff --git a/src/main/target/OMNIBUSF4/DYSF4PRO.mk b/src/main/target/OMNIBUSF4/DYSF4PRO.mk
new file mode 100644
index 000000000..290de85f1
--- /dev/null
+++ b/src/main/target/OMNIBUSF4/DYSF4PRO.mk
@@ -0,0 +1 @@
+#DYSF4PRO
\ No newline at end of file
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index 8f328b51f..55162736d 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -19,12 +19,16 @@
 #define TARGET_BOARD_IDENTIFIER "OBSD"
 #elif defined(LUXF4OSD)
 #define TARGET_BOARD_IDENTIFIER "LUX4"
+#elif defined(DYSF4PRO)
+#define TARGET_BOARD_IDENTIFIER "DYS4"
 #else
 #define TARGET_BOARD_IDENTIFIER "OBF4"
 #endif
 
 #if defined(LUXF4OSD)
 #define USBD_PRODUCT_STRING "LuxF4osd"
+#elif defined(DYSF4PRO)
+#define USBD_PRODUCT_STRING "DysF4Pro"
 #else
 #define USBD_PRODUCT_STRING "OmnibusF4"
 #endif
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index 6950cbd1b..6a776e993 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -190,11 +190,11 @@
 #define UART3_RX_PIN            PB11
 #define UART3_TX_PIN            PB10
 
-#if defined(REVOLT)
+#if defined(REVOLT) || defined(REVO)
 #define USE_UART4
 #define UART4_RX_PIN            PA1
 #define UART4_TX_PIN            PA0
-#endif // REVOLT
+#endif // REVOLT || REVO
 
 #define USE_UART6
 #define UART6_RX_PIN            PC7
@@ -203,7 +203,7 @@
 #define USE_SOFTSERIAL1
 #define USE_SOFTSERIAL2
 
-#if defined(REVOLT)
+#if defined(REVOLT) || defined(REVO)
 #define SERIAL_PORT_COUNT       7 //VCP, USART1, USART3, UART4,  USART6, SOFTSERIAL x 2
 #else
 #define SERIAL_PORT_COUNT       6 //VCP, USART1, USART3, USART6, SOFTSERIAL x 2
diff --git a/src/main/target/YUPIF4/config.c b/src/main/target/YUPIF4/config.c
index e680f323e..a72a10e1f 100644
--- a/src/main/target/YUPIF4/config.c
+++ b/src/main/target/YUPIF4/config.c
@@ -21,19 +21,39 @@
 #include <platform.h>
 
 #ifdef TARGET_CONFIG
+#include "blackbox/blackbox.h"
+
+#include "fc/config.h"
 
 #include "flight/pid.h"
 
+#include "hardware_revision.h"
+
+
 // alternative defaults settings for YuPiF4 targets
 void targetConfiguration(void)
 {
-    pidProfilesMutable(0)->pid[PID_ROLL].P = 35;
+    /* Changes depending on versions */
+    if (hardwareRevision == YUPIF4_RACE2) {
+        beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
+    } else if (hardwareRevision == YUPIF4_MINI) {
+        beeperDevConfigMutable()->frequency = 0;
+        blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
+        adcConfigMutable()->current.enabled = 0;
+    } else if (hardwareRevision == YUPIF4_NAV) {
+        beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
+    } else {
+        adcConfigMutable()->current.enabled = 0;
+    }
+
+    /* Specific PID values for YupiF4 */
+    pidProfilesMutable(0)->pid[PID_ROLL].P = 30;
     pidProfilesMutable(0)->pid[PID_ROLL].I = 45;
-    pidProfilesMutable(0)->pid[PID_ROLL].D = 30;
-    pidProfilesMutable(0)->pid[PID_PITCH].P = 40;
+    pidProfilesMutable(0)->pid[PID_ROLL].D = 20;
+    pidProfilesMutable(0)->pid[PID_PITCH].P = 30;
     pidProfilesMutable(0)->pid[PID_PITCH].I = 50;
-    pidProfilesMutable(0)->pid[PID_PITCH].D = 30;
-    pidProfilesMutable(0)->pid[PID_YAW].P = 50;
+    pidProfilesMutable(0)->pid[PID_PITCH].D = 20;
+    pidProfilesMutable(0)->pid[PID_YAW].P = 40;
     pidProfilesMutable(0)->pid[PID_YAW].I = 50;
 }
 #endif
diff --git a/src/main/target/YUPIF4/hardware_revision.c b/src/main/target/YUPIF4/hardware_revision.c
new file mode 100644
index 000000000..c14035520
--- /dev/null
+++ b/src/main/target/YUPIF4/hardware_revision.c
@@ -0,0 +1,70 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "drivers/io.h"
+#include "drivers/time.h"
+
+#include "hardware_revision.h"
+
+uint8_t hardwareRevision = UNKNOWN;
+
+void detectHardwareRevision(void)
+{
+    IO_t pin1 = IOGetByTag(IO_TAG(PC13));
+    IOInit(pin1, OWNER_SYSTEM, 1);
+    IOConfigGPIO(pin1, IOCFG_IPU);
+
+    IO_t pin2 = IOGetByTag(IO_TAG(PC14));
+    IOInit(pin2, OWNER_SYSTEM, 1);
+    IOConfigGPIO(pin2, IOCFG_IPU);
+
+    IO_t pin3 = IOGetByTag(IO_TAG(PC15));
+    IOInit(pin3, OWNER_SYSTEM, 1);
+    IOConfigGPIO(pin3, IOCFG_IPU);
+
+    // Check hardware revision
+    delayMicroseconds(10);  // allow configuration to settle
+
+    /*
+        Hardware pins : Pin1 = PC13 / Pin2 = PC14 / Pin3 = PC15
+        no Hardware pins tied to ground => Race V1
+        if Pin 1 is the only one tied to ground => Mini
+        if Pin 2 is the only one tied to ground => Race V2
+        if Pin 3 is the only one tied to ground => Navigation
+        Other combinations available for potential evolutions
+    */
+    if (!IORead(pin1)) {
+        hardwareRevision = YUPIF4_MINI;
+    } else if (!IORead(pin2)) {
+        hardwareRevision = YUPIF4_RACE2;
+    } else if (!IORead(pin3)) {
+        hardwareRevision = YUPIF4_NAV;
+    } else {
+        hardwareRevision = YUPIF4_RACE1;
+    }
+}
+
+void updateHardwareRevision(void) {
+}
diff --git a/src/main/target/YUPIF4/hardware_revision.h b/src/main/target/YUPIF4/hardware_revision.h
new file mode 100644
index 000000000..83d58c160
--- /dev/null
+++ b/src/main/target/YUPIF4/hardware_revision.h
@@ -0,0 +1,30 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+typedef enum yupif4HardwareRevision_t {
+    UNKNOWN = 0,
+    YUPIF4_RACE1,       // Race V1
+    YUPIF4_RACE2,       // Race V2
+    YUPIF4_MINI,        // Mini
+    YUPIF4_NAV,         // Navigation
+} yupif4HardwareRevision_e;
+
+extern uint8_t hardwareRevision;
+
+void detectHardwareRevision(void);
+void updateHardwareRevision(void);
diff --git a/src/main/target/YUPIF4/target.c b/src/main/target/YUPIF4/target.c
index 8f7f49277..77cf5aafc 100644
--- a/src/main/target/YUPIF4/target.c
+++ b/src/main/target/YUPIF4/target.c
@@ -25,13 +25,15 @@
 
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    DEF_TIM(TIM8, CH3, PC8, TIM_USE_PPM,                 TIMER_INPUT_ENABLED,  0 ), // PPM IN
-    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S1_OUT - DMA1_ST2
-    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S2_OUT - DMA1_ST4
-    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S3_OUT - DMA1_ST1
-    DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 1 ), // S4_OUT - DMA1_ST6
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0 ), // S5_OUT - DMA1_ST7
-    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S6_OUT - DMA1_ST2
-    DEF_TIM(TIM3, CH4, PC9, TIM_USE_BEEPER,              TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM
+    DEF_TIM(TIM8, CH3, PC8,   TIM_USE_PPM,                 TIMER_INPUT_ENABLED,  0 ), // PPM IN
+    DEF_TIM(TIM5, CH1, PA0,   TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S1_OUT - DMA1_ST2
+    DEF_TIM(TIM5, CH2, PA1,   TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S2_OUT - DMA1_ST4
+    DEF_TIM(TIM2, CH3, PA2,   TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S3_OUT - DMA1_ST1
+    DEF_TIM(TIM2, CH4, PA3,   TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 1 ), // S4_OUT - DMA1_ST6
+    DEF_TIM(TIM3, CH3, PB0,   TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0 ), // S5_OUT - DMA1_ST7
+    DEF_TIM(TIM4, CH2, PB7,   TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S6_OUT - DMA1_ST3
+    DEF_TIM(TIM3, CH4, PB1,   TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S7_OUT
+    DEF_TIM(TIM3, CH4, PC9,   TIM_USE_BEEPER,              TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM
+    DEF_TIM(TIM12, CH1, PB14, TIM_USE_BEEPER,              TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM OPT
 };
 
diff --git a/src/main/target/YUPIF4/target.h b/src/main/target/YUPIF4/target.h
index e5a457aa8..59e47b5b8 100644
--- a/src/main/target/YUPIF4/target.h
+++ b/src/main/target/YUPIF4/target.h
@@ -21,12 +21,15 @@
 
 #define USBD_PRODUCT_STRING     "YupiF4"
 
+#define USE_HARDWARE_REVISION_DETECTION
+
 #define LED0_PIN                PB6
 #define LED1_PIN                PB4
 #define LED2_PIN                PB5
 
 #define BEEPER                  PC9
-#define BEEPER_PWM_HZ           2200 // Beeper PWM frequency in Hz
+#define BEEPER_OPT              PB14
+#define BEEPER_PWM_HZ           3150 // Beeper PWM frequency in Hz
 
 #define INVERTER_PIN_UART6      PB15
 
@@ -36,16 +39,16 @@
 #define MPU_INT_EXTI            PC4
 
 //ICM 20689
-#define ICM20689_CS_PIN          PA4
-#define ICM20689_SPI_INSTANCE    SPI1
+#define ICM20689_CS_PIN         PA4
+#define ICM20689_SPI_INSTANCE   SPI1
 
 #define ACC
 #define USE_ACC_SPI_ICM20689
-#define ACC_ICM20689_ALIGN       CW90_DEG
+#define ACC_ICM20689_ALIGN      CW90_DEG
 
 #define GYRO
 #define USE_GYRO_SPI_ICM20689
-#define GYRO_ICM20689_ALIGN      CW90_DEG
+#define GYRO_ICM20689_ALIGN     CW90_DEG
 
 // MPU 6500
 #define MPU6500_CS_PIN          PA4
@@ -78,6 +81,9 @@
 #define UART6_TX_PIN            PC6
 
 #define USE_SOFTSERIAL1
+#define SOFTSERIAL1_RX_PIN      PB0 // PWM5
+#define SOFTSERIAL1_TX_PIN      PB1 // PWM7
+
 #define USE_SOFTSERIAL2
 
 #define SERIAL_PORT_COUNT       6 // VCP, UART1, UART3, UART6, SOFTSERIAL x 2
@@ -103,7 +109,6 @@
 #define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
 #define SDCARD_DMA_CHANNEL                  DMA_Channel_0
 
-
 // SPI Ports
 #define USE_SPI
 
@@ -127,18 +132,18 @@
 #define MAX7456_SPI_CLK         (SPI_CLOCK_STANDARD*2)
 #define MAX7456_RESTORE_CLK     (SPI_CLOCK_FAST)
 
-
 // ADC inputs
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define USE_ADC
-#define VBAT_ADC_PIN            PC1
 #define RSSI_ADC_GPIO_PIN       PC0
+#define VBAT_ADC_PIN            PC1
+#define CURRENT_METER_ADC_PIN   PC2
 
 // Default configuration
-#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART6
+#define DEFAULT_FEATURES        (FEATURE_OSD)
 
 // Target IO and timers
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
@@ -148,5 +153,5 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
-#define USABLE_TIMER_CHANNEL_COUNT 8
-#define USED_TIMERS             (TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8))
+#define USABLE_TIMER_CHANNEL_COUNT 10
+#define USED_TIMERS             (TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(12))
diff --git a/src/test/Makefile b/src/test/Makefile
index 1575e7236..106cdb5fb 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -52,6 +52,16 @@ blackbox_encoding_unittest_SRC :=  \
 		$(USER_DIR)/common/printf.c \
 		$(USER_DIR)/common/typeconversion.c
 
+cli_unittest_SRC := \
+		$(USER_DIR)/fc/cli.c \
+		$(USER_DIR)/config/feature.c \
+		$(USER_DIR)/config/parameter_group.c \
+                $(USER_DIR)/common/typeconversion.c 
+
+cli_unittest_DEFINES := \
+		USE_CLI \
+		SystemCoreClock=1000000 \
+		OSD
 
 cms_unittest_SRC := \
 		$(USER_DIR)/cms/cms.c \
diff --git a/src/test/unit/cli_unittest.cc b/src/test/unit/cli_unittest.cc
new file mode 100644
index 000000000..565023837
--- /dev/null
+++ b/src/test/unit/cli_unittest.cc
@@ -0,0 +1,267 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+#include <limits.h>
+
+#include <math.h>
+
+extern "C" {
+    #include "platform.h"
+    #include "target.h"
+    #include "fc/runtime_config.h"
+    #include "fc/fc_msp.h"
+    #include "config/parameter_group.h"
+    #include "config/feature.h"
+    #include "config/parameter_group_ids.h"
+    #include "sensors/battery.h"
+    #include "drivers/buf_writer.h"
+    #include "flight/mixer.h"
+    #include "flight/servos.h"
+    #include "flight/pid.h"
+    #include "io/ledstrip.h"
+    #include "io/serial.h"
+    #include "io/osd.h"
+    #include "fc/settings.h"
+    #include "rx/rx.h"
+    #include "io/beeper.h"
+    #include "fc/rc_adjustments.h"
+    #include "scheduler/scheduler.h"
+    #include "fc/runtime_config.h"
+    #include "build/version.h"
+    #include "fc/config.h"
+    #include "drivers/buf_writer.h"
+    #include "fc/cli.h"
+
+    void cliSet(char *cmdline);
+    void cliGet(char *cmdline);
+    void *getValuePointer(const clivalue_t *value);
+
+    const clivalue_t valueTable[] = {
+        { "array_unit_test",             VAR_INT8  | MODE_ARRAY | MASTER_VALUE, .config.array.length = 3, PG_RESERVED_FOR_TESTING_1, 0 }
+    };
+    const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);
+    const lookupTableEntry_t lookupTables[] = {};
+  
+
+    PG_REGISTER(osdConfig_t, osdConfig, PG_OSD_CONFIG, 0);
+    PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
+    PG_REGISTER(ledStripConfig_t, ledStripConfig, PG_LED_STRIP_CONFIG, 0);
+    PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
+    PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 0);
+    PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
+    PG_REGISTER(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
+    PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
+    PG_REGISTER_ARRAY(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams, PG_SERVO_PARAMS, 0);
+    PG_REGISTER_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers, PG_SERVO_MIXER, 0);
+    PG_REGISTER(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
+    PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
+    PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
+    PG_REGISTER(serialConfig_t, serialConfig, PG_SERIAL_CONFIG, 0);
+    PG_REGISTER_ARRAY(rxChannelRangeConfig_t, NON_AUX_CHANNEL_COUNT, rxChannelRangeConfigs, PG_RX_CHANNEL_RANGE_CONFIG, 0);
+    PG_REGISTER_ARRAY(rxFailsafeChannelConfig_t, MAX_SUPPORTED_RC_CHANNEL_COUNT, rxFailsafeChannelConfigs, PG_RX_FAILSAFE_CHANNEL_CONFIG, 0);
+    PG_REGISTER(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
+
+    PG_REGISTER_WITH_RESET_FN(int8_t, unitTestData, PG_RESERVED_FOR_TESTING_1, 0); 
+}
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+TEST(CLIUnittest, TestCliSet)
+{
+
+    cliSet((char *)"array_unit_test    =   123,  -3  , 1");
+
+    const clivalue_t cval = {
+        .name = "array_unit_test",
+        .type = MODE_ARRAY | MASTER_VALUE | VAR_INT8,
+        .pgn = PG_RESERVED_FOR_TESTING_1,
+        .offset = 0
+    };
+
+    printf("\n===============================\n");
+    int8_t *data = (int8_t *)getValuePointer(&cval);
+    for(int i=0; i<3; i++){
+        printf("data[%d] = %d\n", i, data[i]);
+    }
+    printf("\n===============================\n");
+
+
+    EXPECT_EQ(123, data[0]);
+    EXPECT_EQ( -3, data[1]);
+    EXPECT_EQ(  1, data[2]);
+
+
+    //cliGet((char *)"osd_item_vbat");
+    //EXPECT_EQ(false, false);
+}
+
+// STUBS
+extern "C" {
+
+float motor_disarmed[MAX_SUPPORTED_MOTORS];
+
+uint16_t batteryWarningVoltage;
+uint8_t useHottAlarmSoundPeriod (void) { return 0; }
+const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000, 400000}; // see baudRate_e
+
+uint32_t micros(void) {return 0;}
+
+int32_t getAmperage(void) {
+    return 100;
+}
+
+uint16_t getBatteryVoltage(void) {
+    return 42;
+}
+
+batteryState_e getBatteryState(void) {
+    return BATTERY_OK;
+}
+
+uint8_t calculateBatteryPercentageRemaining(void) {
+    return 67;
+}
+
+uint8_t getMotorCount() {
+    return 4;
+}
+
+
+void setPrintfSerialPort(struct serialPort_s) {}
+
+void tfp_printf(const char * expectedFormat, ...) {
+    va_list args;
+
+    va_start(args, expectedFormat);
+    vprintf(expectedFormat, args);
+    va_end(args);
+}
+
+
+void tfp_format(void *, void (*) (void *, char), const char * expectedFormat, va_list va) {
+    vprintf(expectedFormat, va);
+}
+
+static const box_t boxes[] = { { 0, "DUMMYBOX", 0 } };
+const box_t *findBoxByPermanentId(uint8_t) { return &boxes[0]; }
+const box_t *findBoxByBoxId(boxId_e) { return &boxes[0]; }
+
+int8_t unitTestDataArray[3];
+
+void pgResetFn_unitTestData(int8_t *ptr) {
+    ptr = &unitTestDataArray[0];
+}
+
+uint32_t getBeeperOffMask(void) { return 0; }
+uint32_t getPreferredBeeperOffMask(void) { return 0; }
+
+void beeper(beeperMode_e) {}
+void beeperSilence(void) {}
+void beeperConfirmationBeeps(uint8_t) {}
+void beeperWarningBeeps(uint8_t) {}
+void beeperUpdate(timeUs_t) {}
+uint32_t getArmingBeepTimeMicros(void) {return 0;}
+beeperMode_e beeperModeForTableIndex(int) {return BEEPER_SILENCE;}
+const char *beeperNameForTableIndex(int) {return NULL;}
+int beeperTableEntryCount(void) {return 0;}
+bool isBeeperOn(void) {return false;}
+void beeperOffSetAll(uint8_t) {}
+void setBeeperOffMask(uint32_t) {}
+void setPreferredBeeperOffMask(uint32_t) {}
+
+void beeperOffSet(uint32_t) {}
+void beeperOffClear(uint32_t) {}
+void beeperOffClearAll(void) {}
+bool parseColor(int, const char *) {return false; }
+void resetEEPROM(void) {}
+void bufWriterFlush(bufWriter_t *) {}
+void mixerResetDisarmedMotors(void) {}
+void gpsEnablePassthrough(struct serialPort_s *) {}
+bool parseLedStripConfig(int, const char *){return false; }
+const char rcChannelLetters[] = "AERT12345678abcdefgh";
+
+void parseRcChannels(const char *, rxConfig_t *){}
+void mixerLoadMix(int, motorMixer_t *) {}
+bool setModeColor(ledModeIndex_e, int, int) { return false; }
+float convertExternalToMotor(uint16_t ){ return 1.0; }
+uint8_t getCurrentPidProfileIndex(void){ return 1; }
+uint8_t getCurrentControlRateProfileIndex(void){ return 1; }
+void changeControlRateProfile(uint8_t) {}
+void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *) {}
+void writeEEPROM() {}
+serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e) {return NULL; }
+baudRate_e lookupBaudRateIndex(uint32_t){return BAUD_9600; }
+serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e){ return NULL; }
+serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, uint32_t, portMode_t, portOptions_t) { return NULL; }
+void serialSetBaudRate(serialPort_t *, uint32_t) {}
+void serialSetMode(serialPort_t *, portMode_t) {}
+void serialPassthrough(serialPort_t *, serialPort_t *, serialConsumer *, serialConsumer *) {}
+uint32_t millis(void) { return 0; }
+uint8_t getBatteryCellCount(void) { return 1; }
+void servoMixerLoadMix(int) {}
+const char * getBatteryStateString(void){ return "_getBatteryStateString_"; }
+
+uint32_t stackTotalSize(void) { return 0x4000; }
+uint32_t stackHighMem(void) { return 0x80000000; }
+uint16_t getEEPROMConfigSize(void) { return 1024; }
+
+uint8_t __config_start = 0x00;
+uint8_t __config_end = 0x10;
+uint16_t averageSystemLoadPercent = 0;
+
+timeDelta_t getTaskDeltaTime(cfTaskId_e){ return 0; }
+armingDisableFlags_e getArmingDisableFlags(void) { return ARMING_DISABLED_NO_GYRO; }
+
+const char *armingDisableFlagNames[]= {
+"DUMMYDISABLEFLAGNAME"
+};
+
+void getTaskInfo(cfTaskId_e, cfTaskInfo_t *) {}
+void getCheckFuncInfo(cfCheckFuncInfo_t *) {}
+
+const char * const targetName = "UNITTEST";
+const char* const buildDate = "Jan 01 2017";
+const char * const buildTime = "00:00:00";
+const char * const shortGitRevision = "MASTER";
+
+uint32_t serialRxBytesWaiting(const serialPort_t *) {return 0;}
+uint8_t serialRead(serialPort_t *){return 0;}
+
+void bufWriterAppend(bufWriter_t *, uint8_t ch){ printf("%c", ch); }
+void serialWriteBufShim(void *, const uint8_t *, int) {}
+bufWriter_t *bufWriterInit(uint8_t *, int, bufWrite_t, void *) {return NULL;}
+void schedulerSetCalulateTaskStatistics(bool) {}
+void setArmingDisabled(armingDisableFlags_e) {}
+
+void waitForSerialPortToFinishTransmitting(serialPort_t *) {}
+void stopPwmAllMotors(void) {}
+void systemResetToBootloader(void) {}
+void resetConfigs(void) {}
+void systemReset(void) {}
+
+void changePidProfile(uint8_t) {}
+bool serialIsPortAvailable(serialPortIdentifier_e) { return false; }
+void generateLedConfig(ledConfig_t *, char *, size_t) {}
+bool isSerialTransmitBufferEmpty(const serialPort_t *) {return true; }
+void serialWrite(serialPort_t *, uint8_t ch) { printf("%c", ch);}
+
+
+}