diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index c74185d1b..90bb4df6b 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,3092 +1,3095 @@
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+:10C10000083039602A1E454910396099102940AA23
+:10C11000081019611A0C1013E8B71B08DC0413038C
+:10C12000B81B08F7080144B94584A24A04380C0139
+:10C13000020304060708090204062329106914C132
 :04000005080000ED02
 :00000001FF
diff --git a/src/config.c b/src/config.c
index 9190f172f..220b62128 100755
--- a/src/config.c
+++ b/src/config.c
@@ -12,7 +12,7 @@
 config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
-static uint8_t EEPROM_CONF_VERSION = 32;
+static uint8_t EEPROM_CONF_VERSION = 33;
 static uint32_t enabledSensors = 0;
 static void resetConf(void);
 
@@ -123,6 +123,8 @@ void checkFirstTime(bool reset)
 static void resetConf(void)
 {
     int i;
+    const int8_t default_align[3][3] = { /* GYRO */ { 0, 0, 0 }, /* ACC */ { 0, 0, 0 }, /* MAG */ { -2, -3, 1 } };
+
     memset(&cfg, 0, sizeof(config_t));
 
     cfg.version = EEPROM_CONF_VERSION;
@@ -130,7 +132,7 @@ static void resetConf(void)
     featureClearAll();
     featureSet(FEATURE_VBAT);
 
-    cfg.looptime = 0;
+    // cfg.looptime = 0;
     cfg.P8[ROLL] = 40;
     cfg.I8[ROLL] = 30;
     cfg.D8[ROLL] = 23;
@@ -139,13 +141,13 @@ static void resetConf(void)
     cfg.D8[PITCH] = 23;
     cfg.P8[YAW] = 85;
     cfg.I8[YAW] = 45;
-    cfg.D8[YAW] = 0;
+    // cfg.D8[YAW] = 0;
     cfg.P8[PIDALT] = 16;
     cfg.I8[PIDALT] = 15;
     cfg.D8[PIDALT] = 7;
     cfg.P8[PIDPOS] = 11; // POSHOLD_P * 100;
-    cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100;
-    cfg.D8[PIDPOS] = 0;
+    // cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100;
+    // cfg.D8[PIDPOS] = 0;
     cfg.P8[PIDPOSR] = 20; // POSHOLD_RATE_P * 10;
     cfg.I8[PIDPOSR] = 8; // POSHOLD_RATE_I * 100;
     cfg.D8[PIDPOSR] = 45; // POSHOLD_RATE_D * 1000;
@@ -156,24 +158,25 @@ static void resetConf(void)
     cfg.I8[PIDLEVEL] = 10;
     cfg.D8[PIDLEVEL] = 20;
     cfg.P8[PIDMAG] = 40;
-    cfg.P8[PIDVEL] = 0;
-    cfg.I8[PIDVEL] = 0;
-    cfg.D8[PIDVEL] = 0;
+    // cfg.P8[PIDVEL] = 0;
+    // cfg.I8[PIDVEL] = 0;
+    // cfg.D8[PIDVEL] = 0;
     cfg.rcRate8 = 90;
     cfg.rcExpo8 = 65;
-    cfg.rollPitchRate = 0;
-    cfg.yawRate = 0;
-    cfg.dynThrPID = 0;
+    // cfg.rollPitchRate = 0;
+    // cfg.yawRate = 0;
+    // cfg.dynThrPID = 0;
     cfg.thrMid8 = 50;
-    cfg.thrExpo8 = 0;
-    for (i = 0; i < CHECKBOXITEMS; i++)
-        cfg.activate[i] = 0;
-    cfg.angleTrim[0] = 0;
-    cfg.angleTrim[1] = 0;
-    cfg.accZero[0] = 0;
-    cfg.accZero[1] = 0;
-    cfg.accZero[2] = 0;
-    cfg.mag_declination = 0;    // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
+    // cfg.thrExpo8 = 0;
+    // for (i = 0; i < CHECKBOXITEMS; i++)
+    //     cfg.activate[i] = 0;
+    // cfg.angleTrim[0] = 0;
+    // cfg.angleTrim[1] = 0;
+    // cfg.accZero[0] = 0;
+    // cfg.accZero[1] = 0;
+    // cfg.accZero[2] = 0;
+    // cfg.mag_declination = 0;    // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
+    memcpy(&cfg.align, default_align, sizeof(cfg.align));
     cfg.acc_hardware = ACC_DEFAULT;     // default/autodetect
     cfg.acc_lpf_factor = 4;
     cfg.acc_lpf_for_velocity = 10;
@@ -191,14 +194,14 @@ static void resetConf(void)
 
     // Radio
     parseRcChannels("AETR1234");
-    cfg.deadband = 0;
-    cfg.yawdeadband = 0;
+    // cfg.deadband = 0;
+    // cfg.yawdeadband = 0;
     cfg.alt_hold_throttle_neutral = 20;
-    cfg.spektrum_hires = 0;
+    // cfg.spektrum_hires = 0;
     cfg.midrc = 1500;
     cfg.mincheck = 1100;
     cfg.maxcheck = 1900;
-    cfg.retarded_arm = 0;       // disable arm/disarm on roll left/right
+    // cfg.retarded_arm = 0;       // disable arm/disarm on roll left/right
 
     // Failsafe Variables
     cfg.failsafe_delay = 10;            // 1sec
diff --git a/src/drv_l3g4200d.c b/src/drv_l3g4200d.c
index f701994e1..6cd09d01d 100644
--- a/src/drv_l3g4200d.c
+++ b/src/drv_l3g4200d.c
@@ -82,9 +82,9 @@ static void l3g4200dInit(void)
 
 static void l3g4200dAlign(int16_t *gyroData)
 {
-    gyroData[0] = -gyroData[0] / 4;
-    gyroData[1] = gyroData[1] / 4;
-    gyroData[2] = -gyroData[2] / 4;
+    gyroData[0] = -gyroData[0];
+    gyroData[1] = gyroData[1];
+    gyroData[2] = -gyroData[2];
 }
 
 // Read 3 gyro values into user-provided buffer. No overrun checking is done.
@@ -92,7 +92,7 @@ static void l3g4200dRead(int16_t *gyroData)
 {
     uint8_t buf[6];
     i2cRead(L3G4200D_ADDRESS, L3G4200D_GYRO_OUT, 6, buf);
-    gyroData[1] = (buf[0] << 8) | buf[1];
-    gyroData[0] = (buf[2] << 8) | buf[3];
-    gyroData[2] = (buf[4] << 8) | buf[5];
+    gyroData[1] = (int16_t)((buf[0] << 8) | buf[1]) / 4;
+    gyroData[0] = (int16_t)((buf[2] << 8) | buf[3]) / 4;
+    gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]) / 4;
 }
diff --git a/src/drv_mma845x.c b/src/drv_mma845x.c
index f9e9bde21..6affd61d2 100644
--- a/src/drv_mma845x.c
+++ b/src/drv_mma845x.c
@@ -97,18 +97,14 @@ static void mma8452Read(int16_t *accelData)
     uint8_t buf[6];
 
     i2cRead(MMA8452_ADDRESS, MMA8452_OUT_X_MSB, 6, buf);
-    accelData[0] = (buf[0] << 8) | buf[1];
-    accelData[1] = (buf[2] << 8) | buf[3];
-    accelData[2] = (buf[4] << 8) | buf[5];
-    
-    accelData[0] >>= 2;
-    accelData[1] >>= 2;
-    accelData[2] >>= 2;
+    accelData[0] = ((int16_t)((buf[0] << 8) | buf[1]) >> 2) / 4;
+    accelData[1] = ((int16_t)((buf[2] << 8) | buf[3]) >> 2) / 4;
+    accelData[2] = ((int16_t)((buf[4] << 8) | buf[5]) >> 2) / 4;
 }
 
 static void mma8452Align(int16_t *accelData)
 {
-    accelData[0] = -accelData[0] / 4;
-    accelData[1] = -accelData[1] / 4;
-    accelData[2] = accelData[2] / 4;
+    accelData[0] = -accelData[0];
+    accelData[1] = -accelData[1];
+    accelData[2] = accelData[2];
 }
diff --git a/src/drv_mpu3050.c b/src/drv_mpu3050.c
index 6451b91ed..8aca692c9 100755
--- a/src/drv_mpu3050.c
+++ b/src/drv_mpu3050.c
@@ -94,9 +94,9 @@ static void mpu3050Init(void)
 static void mpu3050Align(int16_t *gyroData)
 {
     // official direction is RPY
-    gyroData[0] = gyroData[0] / 4;
-    gyroData[1] = gyroData[1] / 4;
-    gyroData[2] = -gyroData[2] / 4;
+    gyroData[0] = gyroData[0];
+    gyroData[1] = gyroData[1];
+    gyroData[2] = -gyroData[2];
 }
 
 // Read 3 gyro values into user-provided buffer. No overrun checking is done.
@@ -104,9 +104,9 @@ static void mpu3050Read(int16_t *gyroData)
 {
     uint8_t buf[6];
     i2cRead(MPU3050_ADDRESS, MPU3050_GYRO_OUT, 6, buf);
-    gyroData[0] = (buf[0] << 8) | buf[1];
-    gyroData[1] = (buf[2] << 8) | buf[3];
-    gyroData[2] = (buf[4] << 8) | buf[5];
+    gyroData[0] = (int16_t)((buf[0] << 8) | buf[1]) / 4;
+    gyroData[1] = (int16_t)((buf[2] << 8) | buf[3]) / 4;
+    gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]) / 4;
 }
 
 static void mpu3050ReadTemp(int16_t *tempData)
diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c
index c04c9e6cb..d5b6383d0 100644
--- a/src/drv_mpu6050.c
+++ b/src/drv_mpu6050.c
@@ -189,30 +189,30 @@ static void mpu6050AccInit(void)
     acc_1G = 1023;
 }
 
-static void mpu6050AccRead(int16_t * accData)
+static void mpu6050AccRead(int16_t *accData)
 {
     uint8_t buf[6];
 
 #ifndef MPU6050_DMP
     i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
-    accData[0] = (buf[0] << 8) | buf[1];
-    accData[1] = (buf[2] << 8) | buf[3];
-    accData[2] = (buf[4] << 8) | buf[5];
+    accData[0] = (int16_t)((buf[0] << 8) | buf[1]) / 8;
+    accData[1] = (int16_t)((buf[2] << 8) | buf[3]) / 8;
+    accData[2] = (int16_t)((buf[4] << 8) | buf[5]) / 8;
 #else
     accData[0] = accData[1] = accData[2] = 0;
 #endif
 }
 
-static void mpu6050AccAlign(int16_t * accData)
+static void mpu6050AccAlign(int16_t *accData)
 {
     int16_t temp[2];
     temp[0] = accData[0];
     temp[1] = accData[1];
 
     // official direction is RPY
-    accData[0] = temp[1] / 8;
-    accData[1] = -temp[0] / 8;
-    accData[2] = accData[2] / 8;
+    accData[0] = temp[1];
+    accData[1] = -temp[0];
+    accData[2] = accData[2];
 }
 
 static void mpu6050GyroInit(void)
@@ -251,22 +251,22 @@ static void mpu6050GyroRead(int16_t * gyroData)
     uint8_t buf[6];
 #ifndef MPU6050_DMP
     i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf);
-    gyroData[0] = (buf[0] << 8) | buf[1];
-    gyroData[1] = (buf[2] << 8) | buf[3];
-    gyroData[2] = (buf[4] << 8) | buf[5];
+    gyroData[0] = (int16_t)((buf[0] << 8) | buf[1]) / 4;
+    gyroData[1] = (int16_t)((buf[2] << 8) | buf[3]) / 4;
+    gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]) / 4;
 #else
-    gyroData[0] = dmpGyroData[0];
-    gyroData[1] = dmpGyroData[1];
-    gyroData[2] = dmpGyroData[2];
+    gyroData[0] = dmpGyroData[0] / 4 ;
+    gyroData[1] = dmpGyroData[1] / 4;
+    gyroData[2] = dmpGyroData[2] / 4;
 #endif
 }
 
 static void mpu6050GyroAlign(int16_t * gyroData)
 {
     // official direction is RPY
-    gyroData[0] = gyroData[0] / 4;
-    gyroData[1] = gyroData[1] / 4;
-    gyroData[2] = -gyroData[2] / 4;
+    gyroData[0] = gyroData[0];
+    gyroData[1] = gyroData[1];
+    gyroData[2] = -gyroData[2];
 }
 
 #ifdef MPU6050_DMP
diff --git a/src/mw.h b/src/mw.h
index 2e920140f..fc6a60cd2 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -113,6 +113,12 @@ typedef struct mixer_t {
     const motorMixer_t *motor;
 } mixer_t;
 
+enum {
+    ALIGN_GYRO = 0,
+    ALIGN_ACCEL = 1,
+    ALIGN_MAG = 2
+};
+
 typedef struct config_t {
     uint8_t version;
     uint16_t size;
@@ -141,11 +147,12 @@ typedef struct config_t {
     int16_t angleTrim[2];                   // accelerometer trim
 
     // sensor-related stuff
+    int8_t align[3][3];                     // acc, gyro, mag alignment (ex: with sensor output of X, Y, Z, align of 1 -3 2 would return X, -Z, Y)
     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     uint8_t acc_lpf_factor;                 // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
     uint8_t acc_lpf_for_velocity;           // ACC lowpass for AccZ height hold
     uint8_t accz_deadband;                  // ??
-    uint16_t gyro_lpf;                      // mpuX050 LPF setting
+    uint16_t gyro_lpf;                      // mpuX050 LPF setting (TODO make it work on L3GD as well)
     uint16_t gyro_cmpf_factor;              // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
     uint32_t gyro_smoothing_factor;         // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
     uint8_t mpu6050_scale;                  // seems es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. fucking invenshit won't release chip IDs so I can't autodetect it.
diff --git a/src/sensors.c b/src/sensors.c
index bc012911e..6d8c3bd41 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -152,6 +152,28 @@ void batteryInit(void)
     batteryWarningVoltage = i * cfg.vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
 }
 
+// ALIGN_GYRO = 0,
+// ALIGN_ACCEL = 1,
+// ALIGN_MAG = 2
+static void alignSensors(uint8_t type, int16_t *data)
+{
+    int i;
+    int16_t tmp[3];
+
+    // make a copy :(
+    tmp[0] = data[0];
+    tmp[1] = data[1];
+    tmp[2] = data[2];
+
+    for (i = 0; i < 3; i++) {
+        int8_t axis = cfg.align[type][i];
+        if (axis > 0)
+            data[axis - 1] = tmp[i];
+        else
+            data[-axis - 1] = -tmp[i];
+    }
+}
+
 static void ACC_Common(void)
 {
     static int32_t a[3];
@@ -237,7 +259,11 @@ static void ACC_Common(void)
 void ACC_getADC(void)
 {
     acc.read(accADC);
-    acc.align(accADC);
+    // if we have CUSTOM alignment configured, user is "assumed" to know what they're doing
+    if (cfg.align[ALIGN_ACCEL][0])
+        alignSensors(ALIGN_ACCEL, accADC);
+    else
+        acc.align(accADC);
 
     ACC_Common();
 }
@@ -316,7 +342,11 @@ void Gyro_getADC(void)
 {
     // range: +/- 8192; +/- 2000 deg/sec
     gyro.read(gyroADC);
-    gyro.align(gyroADC);
+    // if we have CUSTOM alignment configured, user is "assumed" to know what they're doing
+    if (cfg.align[ALIGN_GYRO][0])
+        alignSensors(ALIGN_GYRO, gyroADC);
+    else
+        gyro.align(gyroADC);
 
     GYRO_Common();
 }
@@ -327,13 +357,14 @@ static uint8_t magInit = 0;
 
 static void Mag_getRawADC(void)
 {
-    static int16_t rawADC[3];
-    hmc5883lRead(rawADC);
+    hmc5883lRead(magADC);
 
+    // Default mag orientation is -2, -3, 1 or
     // no way? is THIS finally the proper orientation?? (by GrootWitBaas)
-    magADC[ROLL] = rawADC[2]; // X
-    magADC[PITCH] = -rawADC[0]; // Y
-    magADC[YAW] = -rawADC[1]; // Z
+    // magADC[ROLL] = rawADC[2]; // X
+    // magADC[PITCH] = -rawADC[0]; // Y
+    // magADC[YAW] = -rawADC[1]; // Z
+    alignSensors(ALIGN_MAG, magADC);
 }
 
 void Mag_init(void)