diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 7b2c4a833..33c49fc9e 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,80 +1,80 @@
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diff --git a/src/baseflight_startups/startup_stm32f10x_md_gcc.s b/src/baseflight_startups/startup_stm32f10x_md_gcc.S
similarity index 100%
rename from src/baseflight_startups/startup_stm32f10x_md_gcc.s
rename to src/baseflight_startups/startup_stm32f10x_md_gcc.S
diff --git a/src/cli.c b/src/cli.c
index 05cba35e9..a28497cc7 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -104,6 +104,7 @@ const clivalue_t valueTable[] = {
     { "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
     { "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 32 },
     { "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
+    { "gps_baudrate", VAR_UINT16, &cfg.gps_baudrate, 1200, 57600 },
     { "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
     { "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200},
     { "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200},
diff --git a/src/config.c b/src/config.c
index 64720afc3..55c5877e3 100755
--- a/src/config.c
+++ b/src/config.c
@@ -2,14 +2,18 @@
 #include "mw.h"
 #include <string.h>
 
+#ifndef FLASH_PAGE_COUNT
+#define FLASH_PAGE_COUNT 64
+#endif
+
 #define FLASH_PAGE_SIZE                 ((uint16_t)0x400)
-#define FLASH_WRITE_ADDR                (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * 63)    // use the last KB for storage
+#define FLASH_WRITE_ADDR                (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - 1))    // use the last KB for storage
 
 config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 8;
+static uint8_t checkNewConf = 9;
 
 void parseRcChannels(const char *input)
 {
@@ -144,6 +148,9 @@ void checkFirstTime(bool reset)
     cfg.tilt_pitch_prop = 10;
     cfg.tilt_roll_prop = 10;
 
+    // gps baud-rate
+    cfg.gps_baudrate = 9600;    
+
     writeParams();
 }
 
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 91b4c4a99..2e63cd2e3 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -71,13 +71,13 @@ static void ppmIRQHandler(TIM_TypeDef *tim)
     static uint16_t last = 0;
     static uint8_t chan = 0;
 
-    if (TIM_GetITStatus(TIM2, TIM_IT_CC1) == SET) {
+    if (TIM_GetITStatus(tim, TIM_IT_CC1) == SET) {
         last = now;
-        now = TIM_GetCapture1(TIM2);
+        now = TIM_GetCapture1(tim);
         rcActive = true;
     }
 
-    TIM_ClearITPendingBit(TIM2, TIM_IT_CC1);
+    TIM_ClearITPendingBit(tim, TIM_IT_CC1);
 
     if (now > last) {
         diff = (now - last);
diff --git a/src/gps.c b/src/gps.c
index a876fa7cb..b26a3b3a1 100644
--- a/src/gps.c
+++ b/src/gps.c
@@ -9,7 +9,7 @@ static void GPS_NewData(uint16_t c);
 static bool GPS_newFrame(char c);
 static void GPS_distance(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2, uint16_t * dist, int16_t * bearing);
 
-void gpsInit(void)
+void gpsInit(uint32_t baudrate)
 {
     uart2Init(9600, GPS_NewData);
     sensorsSet(SENSOR_GPS);
diff --git a/src/main.c b/src/main.c
index 9a32acbd8..64f9bc09e 100755
--- a/src/main.c
+++ b/src/main.c
@@ -87,7 +87,7 @@ int main(void)
         // spektrum and GPS are mutually exclusive
         // Optional GPS - available only when using PPM, otherwise required pins won't be usable
         if (feature(FEATURE_PPM) && feature(FEATURE_GPS))
-           gpsInit();
+           gpsInit(cfg.gps_baudrate);
     }
 
     previousTime = micros();
diff --git a/src/mw.c b/src/mw.c
index d1103ef3f..1aa8dede4 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -279,7 +279,7 @@ uint16_t pwmReadRawRC(uint8_t chan)
     failsafeCnt = 0;
     data = pwmRead(cfg.rcmap[chan]);
     if (data < 750 || data > 2250)
-        data = 1500;
+        data = cfg.midrc;
 
     return data;
 }
diff --git a/src/mw.h b/src/mw.h
index d753c48c5..c8919b567 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -178,7 +178,10 @@ typedef struct config_t {
     // gimbal-related configuration
     int8_t tilt_pitch_prop;                 // servo proportional (tied to angle) ; can be negative to invert movement
     int8_t tilt_roll_prop;                  // servo proportional (tied to angle) ; can be negative to invert movement
-    
+
+    // gps baud-rate
+    uint16_t gps_baudrate;    
+
 } config_t;
 
 extern int16_t gyroZero[3];
@@ -292,4 +295,4 @@ bool spektrumFrameComplete(void);
 void cliProcess(void);
 
 // gps
-void gpsInit(void);
+void gpsInit(uint32_t baudrate);