diff --git a/baseflight.uvgui.timecop b/baseflight.uvgui.timecop
index 9a6fac964..ffb27267b 100755
--- a/baseflight.uvgui.timecop
+++ b/baseflight.uvgui.timecop
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           <Len>1423</Len>
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         <Name>Debug</Name>
         <Buttons>
           <Len>2290</Len>
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           <Len>968</Len>
@@ -7623,7 +8043,7 @@
       <Name>D:\fly_122\projects\baseflight\drv_system.h</Name>
       <ColumnNumber>0</ColumnNumber>
       <TopLine>1</TopLine>
-      <CurrentLine>16</CurrentLine>
+      <CurrentLine>15</CurrentLine>
     </Doc>
   </AlienFiles>
 
@@ -7633,47 +8053,95 @@
     <MDIGroup>
       <Size>100</Size>
       <ActiveTab>3</ActiveTab>
+      <Doc>
+        <Name>.\drv_pwm.c</Name>
+        <ColumnNumber>8</ColumnNumber>
+        <TopLine>96</TopLine>
+        <CurrentLine>96</CurrentLine>
+      </Doc>
       <Doc>
         <Name>.\config.c</Name>
-        <ColumnNumber>4</ColumnNumber>
-        <TopLine>107</TopLine>
-        <CurrentLine>120</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>103</TopLine>
+        <CurrentLine>115</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\drv_system.c</Name>
-        <ColumnNumber>22</ColumnNumber>
-        <TopLine>139</TopLine>
-        <CurrentLine>169</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>1</CurrentLine>
       </Doc>
       <Doc>
         <Name>mw.h</Name>
-        <ColumnNumber>27</ColumnNumber>
-        <TopLine>115</TopLine>
-        <CurrentLine>124</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>225</TopLine>
+        <CurrentLine>253</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\main.c</Name>
-        <ColumnNumber>37</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>26</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>4</TopLine>
+        <CurrentLine>20</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\mixer.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>11</CurrentLine>
+        <ColumnNumber>63</ColumnNumber>
+        <TopLine>110</TopLine>
+        <CurrentLine>119</CurrentLine>
       </Doc>
       <Doc>
         <Name>.\serial.c</Name>
-        <ColumnNumber>26</ColumnNumber>
-        <TopLine>200</TopLine>
-        <CurrentLine>215</CurrentLine>
+        <ColumnNumber>12</ColumnNumber>
+        <TopLine>190</TopLine>
+        <CurrentLine>208</CurrentLine>
       </Doc>
       <Doc>
         <Name>drv_system.h</Name>
         <ColumnNumber>0</ColumnNumber>
         <TopLine>1</TopLine>
-        <CurrentLine>16</CurrentLine>
+        <CurrentLine>15</CurrentLine>
+      </Doc>
+      <Doc>
+        <Name>.\drv_bmp085.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>246</TopLine>
+        <CurrentLine>264</CurrentLine>
+      </Doc>
+      <Doc>
+        <Name>.\drv_i2c.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>122</TopLine>
+        <CurrentLine>131</CurrentLine>
+      </Doc>
+      <Doc>
+        <Name>.\imu.c</Name>
+        <ColumnNumber>4</ColumnNumber>
+        <TopLine>55</TopLine>
+        <CurrentLine>73</CurrentLine>
+      </Doc>
+      <Doc>
+        <Name>.\startup_stm32f10x_md.s</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>133</TopLine>
+        <CurrentLine>133</CurrentLine>
+      </Doc>
+      <Doc>
+        <Name>.\drv_mpu3050.c</Name>
+        <ColumnNumber>34</ColumnNumber>
+        <TopLine>26</TopLine>
+        <CurrentLine>44</CurrentLine>
+      </Doc>
+      <Doc>
+        <Name>.\sensors.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>1</CurrentLine>
+      </Doc>
+      <Doc>
+        <Name>.\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_flash.c</Name>
+        <ColumnNumber>34</ColumnNumber>
+        <TopLine>852</TopLine>
+        <CurrentLine>858</CurrentLine>
       </Doc>
     </MDIGroup>
   </MDIGroups>
diff --git a/baseflight.uvopt b/baseflight.uvopt
index 8b89d4ef1..8c59134a8 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -112,7 +112,7 @@
         <tRbox>1</tRbox>
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
-        <nTsel>1</nTsel>
+        <nTsel>7</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -123,7 +123,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>BIN\UL2CM3.DLL</pMon>
+        <pMon>Segger\JL2CM3.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -144,12 +144,12 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>(105=-1,-1,-1,-1,0)(106=-1,-1,-1,-1,0)(107=-1,-1,-1,-1,0)</Name>
+          <Name>(106=-1,-1,-1,-1,0)(107=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
-          <Name>-U5800306 -O110 -S8 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO3 -TC72000000 -TP21 -TDS800B -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO11 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000</Name>
+          <Name>-U5800306 -O110 -S8 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO2 -TC72000000 -TP21 -TDS800B -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO11 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -157,11 +157,72 @@
           <Name>-UV0168AVR -O238 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>114</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134231124</Address>
+          <ByteObject>0</ByteObject>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename></Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\baseflight\config.c\114</Expression>
+        </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
+          <LineNumber>19</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134217988</Address>
+          <ByteObject>0</ByteObject>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename></Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\baseflight\main.c\19</Expression>
+        </Bp>
+        <Bp>
+          <Number>2</Number>
+          <Type>0</Type>
+          <LineNumber>77</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134230968</Address>
+          <ByteObject>0</ByteObject>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename></Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\baseflight\config.c\77</Expression>
+        </Bp>
+      </Breakpoint>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>tri_yaw_middle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>enabledFeatures
+</ItemText>
+        </Ww>
+      </WatchWindow1>
       <MemoryWindow1>
         <Mm>
           <WinNumber>1</WinNumber>
           <SubType>0</SubType>
-          <ItemText>buf</ItemText>
+          <ItemText>&amp;enabledFeatures
+</ItemText>
         </Mm>
       </MemoryWindow1>
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@@ -464,10 +525,10 @@
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       <tvExp>0</tvExp>
       <Focus>0</Focus>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
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+      <TopLine>4</TopLine>
+      <CurrentLine>20</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\main.c</PathWithFileName>
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@@ -492,10 +553,10 @@
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-      <ColumnNumber>26</ColumnNumber>
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+      <TopLine>55</TopLine>
+      <CurrentLine>73</CurrentLine>
       <bDave2>0</bDave2>
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       <bDave2>0</bDave2>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\sensors.c</PathWithFileName>
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@@ -548,10 +609,10 @@
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       <bDave2>0</bDave2>
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       <bDave2>0</bDave2>
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@@ -576,10 +637,10 @@
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-      <CurrentLine>120</CurrentLine>
+      <TopLine>103</TopLine>
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       <bDave2>0</bDave2>
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+      <CurrentLine>131</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_i2c.c</PathWithFileName>
       <FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
@@ -611,10 +672,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>8</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>96</TopLine>
+      <CurrentLine>96</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_pwm.c</PathWithFileName>
       <FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath>
@@ -639,10 +700,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>8</ColumnNumber>
+      <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>246</TopLine>
+      <CurrentLine>264</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_bmp085.c</PathWithFileName>
       <FilenameWithoutPath>drv_bmp085.c</FilenameWithoutPath>
@@ -667,10 +728,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>13</ColumnNumber>
+      <ColumnNumber>34</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>26</TopLine>
+      <CurrentLine>44</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_mpu3050.c</PathWithFileName>
       <FilenameWithoutPath>drv_mpu3050.c</FilenameWithoutPath>
@@ -693,12 +754,12 @@
       <GroupNumber>2</GroupNumber>
       <FileNumber>17</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>22</ColumnNumber>
+      <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>139</TopLine>
-      <CurrentLine>169</CurrentLine>
+      <TopLine>1</TopLine>
+      <CurrentLine>1</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_system.c</PathWithFileName>
       <FilenameWithoutPath>drv_system.c</FilenameWithoutPath>
@@ -884,10 +945,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>34</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>852</TopLine>
+      <CurrentLine>858</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_flash.c</PathWithFileName>
       <FilenameWithoutPath>stm32f10x_flash.c</FilenameWithoutPath>
@@ -900,8 +961,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>133</TopLine>
+      <CurrentLine>133</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\startup_stm32f10x_md.s</PathWithFileName>
       <FilenameWithoutPath>startup_stm32f10x_md.s</FilenameWithoutPath>
diff --git a/baseflight.uvproj b/baseflight.uvproj
index f0db64f8b..b0f24fc45 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -136,7 +136,7 @@
             <RestoreToolbox>1</RestoreToolbox>
           </Target>
           <RunDebugAfterBuild>0</RunDebugAfterBuild>
-          <TargetSelection>1</TargetSelection>
+          <TargetSelection>7</TargetSelection>
           <SimDlls>
             <CpuDll></CpuDll>
             <CpuDllArguments></CpuDllArguments>
@@ -150,7 +150,7 @@
             <PeripheralDll></PeripheralDll>
             <PeripheralDllArguments></PeripheralDllArguments>
             <InitializationFile></InitializationFile>
-            <Driver>BIN\UL2CM3.DLL</Driver>
+            <Driver>Segger\JL2CM3.dll</Driver>
           </TargetDlls>
         </DebugOption>
         <Utilities>
@@ -160,9 +160,9 @@
             <RunIndependent>0</RunIndependent>
             <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
             <Capability>1</Capability>
-            <DriverSelection>4096</DriverSelection>
+            <DriverSelection>4099</DriverSelection>
           </Flash1>
-          <Flash2>BIN\UL2CM3.DLL</Flash2>
+          <Flash2>Segger\JL2CM3.dll</Flash2>
           <Flash3>"" ()</Flash3>
           <Flash4></Flash4>
         </Utilities>
@@ -331,7 +331,7 @@
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
-            <Optim>4</Optim>
+            <Optim>1</Optim>
             <oTime>0</oTime>
             <SplitLS>0</SplitLS>
             <OneElfS>0</OneElfS>
@@ -346,7 +346,7 @@
               <MiscControls></MiscControls>
               <Define>STM32F10X_MD,USE_STDPERIPH_DRIVER</Define>
               <Undefine></Undefine>
-              <IncludePath>CoOS\portable;CoOS\kernel;lib\CMSIS\CM3\CoreSupport;lib\CMSIS\CM3\DeviceSupport\ST\STM32F10x;lib\STM32F10x_StdPeriph_Driver\inc</IncludePath>
+              <IncludePath>lib\CMSIS\CM3\CoreSupport;lib\CMSIS\CM3\DeviceSupport\ST\STM32F10x;lib\STM32F10x_StdPeriph_Driver\inc</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
diff --git a/config.c b/config.c
index 133d14cbc..f7cb0b5e3 100755
--- a/config.c
+++ b/config.c
@@ -5,8 +5,8 @@
 #define FLASH_PAGE_SIZE                 ((uint16_t)0x400)
 #define FLASH_WRITE_ADDR                (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * 63)    // use the last KB for storage
 
-static uint32_t enabledSensors = 0;
-static uint32_t enabledFeatures = 0;
+uint32_t enabledSensors = 0;
+uint32_t enabledFeatures = 0;
 
 static uint8_t checkNewConf = 152;
 
@@ -111,6 +111,7 @@ void checkFirstTime(void)
 
     // Default settings
     mixerConfiguration = MULTITYPE_QUADX;
+    featureClearAll();
     featureSet(FEATURE_VBAT | FEATURE_PPM);
 
     P8[ROLL] = 40;
@@ -184,3 +185,8 @@ void featureClear(uint32_t mask)
 {
     enabledFeatures &= ~(mask);
 }
+
+void featureClearAll()
+{
+    enabledFeatures = 0;
+}
diff --git a/drv_bmp085.c b/drv_bmp085.c
index 116760f43..806bd3021 100755
--- a/drv_bmp085.c
+++ b/drv_bmp085.c
@@ -224,10 +224,6 @@ void bmp085_start_ut(void)
     i2cWrite(p_bmp085->dev_addr, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
 }
 
-#ifdef __GNUC__
-    #define __nop() asm("mov r0,r0");
-#endif
-
 uint16_t bmp085_get_ut(void)
 {
     uint16_t ut;
@@ -236,7 +232,7 @@ uint16_t bmp085_get_ut(void)
 
     // wait in case of cockup
     while (!convDone && timeout-- > 0) {
-        __nop();
+        __NOP();
     }
 
     i2cRead(p_bmp085->dev_addr, BMP085_ADC_OUT_MSB_REG, 2, data);
@@ -265,7 +261,7 @@ uint32_t bmp085_get_up(void)
     
     // wait in case of cockup
     while (!convDone && timeout-- > 0) {
-        __nop();
+        __NOP();
     }
     
    	i2cRead(p_bmp085->dev_addr, BMP085_ADC_OUT_MSB_REG, 3, data);
diff --git a/drv_i2c.c b/drv_i2c.c
index 92a1e46bd..f032b535c 100755
--- a/drv_i2c.c
+++ b/drv_i2c.c
@@ -4,10 +4,6 @@
 // SCL  PB10
 // SDA  PB11
 
-#ifdef __GNUC__ // TODO check this
-#define __DMB() asm volatile ("dmb":::"memory")
-#endif
-
 static I2C_TypeDef *I2Cx;
 static void i2c_er_handler(void);
 static void i2c_ev_handler(void);
diff --git a/drv_mpu3050.c b/drv_mpu3050.c
index 3ed8c857c..239d28364 100755
--- a/drv_mpu3050.c
+++ b/drv_mpu3050.c
@@ -15,9 +15,16 @@
 // Bits
 #define MPU3050_FS_SEL_2000DPS  0x18
 #define MPU3050_DLPF_20HZ       0x04
+#define MPU3050_DLPF_42HZ       0x03
+#define MPU3050_DLPF_98HZ       0x02
+#define MPU3050_DLPF_188HZ      0x01
+#define MPU3050_DLPF_256HZ      0x00
+
 #define MPU3050_USER_RESET      0x01
 #define MPU3050_CLK_SEL_PLL_GX  0x01
 
+static uint8_t mpuLowPassFliter = MPU3050_DLPF_42HZ;
+
 void mpu3050Init(void)
 {
     bool ack;
@@ -28,12 +35,7 @@ void mpu3050Init(void)
     if (!ack)
         failureMode(3);
 
-    #if FREEFLIGHT
-    i2cWrite(MPU3050_ADDRESS, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | MPU3050_DLPF_20HZ);
-    #else
-    // MWC more likely
-    i2cWrite(MPU3050_ADDRESS, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS);
-    #endif
+    i2cWrite(MPU3050_ADDRESS, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | mpuLowPassFliter);
     i2cWrite(MPU3050_ADDRESS, MPU3050_INT_CFG, 0);
     i2cWrite(MPU3050_ADDRESS, MPU3050_USER_CTRL, MPU3050_USER_RESET);
     i2cWrite(MPU3050_ADDRESS, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
diff --git a/main.c b/main.c
index 951e90e98..dfbeacc7c 100755
--- a/main.c
+++ b/main.c
@@ -19,8 +19,7 @@ int main(void)
     readEEPROM();
     checkFirstTime();
 
-    // configure features (TODO: pull them from eeprom)
-    featureSet(FEATURE_VBAT | FEATURE_PPM);
+    // We have these sensors
     sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
 
     mixerInit(); // this will configure FEATURE_SERVO depending on mixer type
diff --git a/mw.h b/mw.h
index 1ca09cf29..4815eac06 100755
--- a/mw.h
+++ b/mw.h
@@ -249,3 +249,4 @@ void sensorsClear(uint32_t mask);
 bool feature(uint32_t mask);
 void featureSet(uint32_t mask);
 void featureClear(uint32_t mask);
+void featureClearAll(void);