diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index bcfb158bc..24c2d9202 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,2499 +1,2505 @@
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+:049C50006914410052
 :04000005080000ED02
 :00000001FF
diff --git a/src/board.h b/src/board.h
index f2a0736e7..1437f97c9 100755
--- a/src/board.h
+++ b/src/board.h
@@ -27,14 +27,13 @@ typedef enum {
     FEATURE_PPM = 1 << 0,
     FEATURE_VBAT = 1 << 1,
     FEATURE_INFLIGHT_ACC_CAL = 1 << 2,
-    FEATURE_DIGITAL_SERVO = 1 << 3,
+    FEATURE_SPEKTRUM = 1 << 3,
     FEATURE_MOTOR_STOP = 1 << 4,
     FEATURE_SERVO_TILT = 1 << 5,
     FEATURE_CAMTRIG = 1 << 6,
     FEATURE_GYRO_SMOOTHING = 1 << 7,
     FEATURE_LED_RING = 1 << 8,
-    FEATURE_GPS = 1 << 9,
-    FEATURE_SPEKTRUM = 1 << 10,
+    FEATURE_GPS = 1 << 9
 } AvailableFeatures;
 
 typedef void (* sensorInitFuncPtr)(void);                   // sensor init prototype
diff --git a/src/cli.c b/src/cli.c
index 7e4e162ef..660096929 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -34,9 +34,8 @@ const char *mixerNames[] = {
 
 // sync this with AvailableFeatures enum from board.h
 const char *featureNames[] = {
-    "PPM", "VBAT", "INFLIGHT_ACC_CAL", "DIGITAL_SERVO", "MOTOR_STOP",
+    "PPM", "VBAT", "INFLIGHT_ACC_CAL", "SPEKTRUM", "MOTOR_STOP",
     "SERVO_TILT", "CAMTRIG", "GYRO_SMOOTHING", "LED_RING", "GPS",
-    "SPEKTRUM",
     NULL
 };
 
@@ -91,6 +90,8 @@ const clivalue_t valueTable[] = {
     { "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 },
     { "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
     { "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
+    { "motor_pwm_rate", VAR_UINT16, &cfg.motor_pwm_rate, 50, 498 },
+    { "servo_pwm_rate", VAR_UINT16, &cfg.servo_pwm_rate, 50, 498 },
     { "spektrum_hires", VAR_UINT8, &cfg.spektrum_hires, 0, 1 },
     { "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
     { "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
@@ -261,9 +262,10 @@ static void cliHelp(char *cmdline)
 
     for (i = 0; i < CMD_COUNT; i++) {
         uartPrint(cmdTable[i].name);
-        uartWrite(' ');
+        uartWrite('\t');
         uartPrint(cmdTable[i].param);
         uartPrint("\r\n");
+        while (!uartTransmitEmpty());
     }
 }
 
@@ -410,7 +412,7 @@ static void cliSet(char *cmdline)
             uartPrint(" = ");
             cliPrintVar(val);
             uartPrint("\r\n");
-            delay(10);
+            while (!uartTransmitEmpty());
         }
     } else if ((eqptr = strstr(cmdline, "="))) {
         // has equal, set var
diff --git a/src/config.c b/src/config.c
index eda12782f..1de5fc460 100755
--- a/src/config.c
+++ b/src/config.c
@@ -13,12 +13,12 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 10;
+static uint8_t checkNewConf = 11;
 
 void parseRcChannels(const char *input)
 {
     const char *c, *s;
- 
+
     for (c = input; *c; c++) {
         s = strchr(rcChannelLetters, *c);
         if (s)                          
@@ -39,7 +39,7 @@ void readEEPROM(void)
 
     for (i = 0; i < 7; i++)
         lookupRX[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 1250;
-        
+
     cfg.wing_left_mid = constrain(cfg.wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX);     //LEFT 
     cfg.wing_right_mid = constrain(cfg.wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
     cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
@@ -49,7 +49,7 @@ void writeParams(void)
 {
     FLASH_Status status;
     uint32_t i;
-    
+
     FLASH_Unlock();
 
     FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
@@ -124,7 +124,7 @@ void checkFirstTime(bool reset)
     cfg.vbatmaxcellvoltage = 43;
     cfg.vbatmincellvoltage = 33;
 
-    // Radio/ESC
+    // Radio
     parseRcChannels("AETR1234");
     cfg.deadband = 0;
     cfg.yawdeadband = 0;
@@ -132,9 +132,13 @@ void checkFirstTime(bool reset)
     cfg.midrc = 1500;
     cfg.mincheck = 1100;
     cfg.maxcheck = 1900;
+
+    // Motor/ESC/Servo
     cfg.minthrottle = 1150;
     cfg.maxthrottle = 1850;
     cfg.mincommand = 1000;
+    cfg.motor_pwm_rate = 400;
+    cfg.servo_pwm_rate = 50;
 
     // servos
     cfg.yaw_direction = 1;
diff --git a/src/drv_adc.c b/src/drv_adc.c
index 23af84319..f10a46ef2 100755
--- a/src/drv_adc.c
+++ b/src/drv_adc.c
@@ -6,7 +6,7 @@ void adcInit(void)
 {
     ADC_InitTypeDef ADC_InitStructure;
     DMA_InitTypeDef DMA_InitStructure;
-    
+
     // ADC assumes all the GPIO was already placed in 'AIN' mode
 
     DMA_DeInit(DMA1_Channel1);
@@ -37,7 +37,7 @@ void adcInit(void)
     ADC_DMACmd(ADC1, ENABLE);
 
     ADC_Cmd(ADC1, ENABLE);
-    
+
     // Calibrate ADC
     ADC_ResetCalibration(ADC1);
     while(ADC_GetResetCalibrationStatus(ADC1));
@@ -52,4 +52,3 @@ uint16_t adcGetBattery(void)
 {
     return adc1Ch4Value;
 }
-
diff --git a/src/drv_adxl345.c b/src/drv_adxl345.c
index 83a08b8ce..58291c2f2 100755
--- a/src/drv_adxl345.c
+++ b/src/drv_adxl345.c
@@ -23,11 +23,11 @@ bool adxl345Detect(sensor_t *acc)
 {
     bool ack = false;
     uint8_t sig = 0;
-    
+
     ack = i2cRead(ADXL345_ADDRESS, 0x00, 1, &sig);
     if (!ack || sig != 0xE5)
         return false;
-        
+
     acc->init = adxl345Init;
     acc->read = adxl345Read;
     acc->align = adxl345Align;
diff --git a/src/drv_bmp085.c b/src/drv_bmp085.c
index 82beca666..659018061 100755
--- a/src/drv_bmp085.c
+++ b/src/drv_bmp085.c
@@ -24,55 +24,49 @@ typedef struct {
     int16_t b2;
     int16_t mb;
     int16_t mc;
-    int16_t md;      		   
+    int16_t md;
 } bmp085_smd500_calibration_param_t;
 
-typedef struct  {	
-	bmp085_smd500_calibration_param_t cal_param;	
-	uint8_t mode;
-	uint8_t chip_id, ml_version, al_version;
-	uint8_t dev_addr;	
-	uint8_t sensortype;
-
-	int32_t param_b5;
-	int16_t oversampling_setting;
-	int16_t smd500_t_resolution, smd500_masterclock;
-
-	// BMP085_BUS_WR_RETURN_TYPE (*bus_write)( BMP085_BUS_WR_PARAM_TYPES );
-	// BMP085_BUS_RD_RETURN_TYPE (*bus_read)( BMP085_BUS_RD_PARAM_TYPES );
-	// BMP085_MDELAY_RETURN_TYPE (*delay_msec)( BMP085_MDELAY_DATA_TYPE );
-
+typedef struct  {
+    bmp085_smd500_calibration_param_t cal_param;
+    uint8_t mode;
+    uint8_t chip_id, ml_version, al_version;
+    uint8_t dev_addr;
+    uint8_t sensortype;
+    int32_t param_b5;
+    int16_t oversampling_setting;
+    int16_t smd500_t_resolution, smd500_masterclock;
 } bmp085_t;
 
-#define BMP085_I2C_ADDR		    0x77
-#define BMP085_CHIP_ID			0x55
-#define BOSCH_PRESSURE_BMP085	85
-#define BMP085_CHIP_ID_REG		0xD0
-#define BMP085_VERSION_REG		0xD1
+#define BMP085_I2C_ADDR         0x77
+#define BMP085_CHIP_ID          0x55
+#define BOSCH_PRESSURE_BMP085   85
+#define BMP085_CHIP_ID_REG      0xD0
+#define BMP085_VERSION_REG      0xD1
 #define E_SENSOR_NOT_DETECTED   (char) 0
-#define BMP085_PROM_START__ADDR	0xaa
-#define BMP085_PROM_DATA__LEN	22
-#define BMP085_T_MEASURE        0x2E				// temperature measurent 
-#define BMP085_P_MEASURE        0x34				// pressure measurement
-#define BMP085_CTRL_MEAS_REG	0xF4
-#define BMP085_ADC_OUT_MSB_REG	0xF6
-#define BMP085_ADC_OUT_LSB_REG	0xF7
-#define BMP085_CHIP_ID__POS		0
-#define BMP085_CHIP_ID__MSK		0xFF
-#define BMP085_CHIP_ID__LEN		8
-#define BMP085_CHIP_ID__REG		BMP085_CHIP_ID_REG
-
-#define BMP085_ML_VERSION__POS		0
-#define BMP085_ML_VERSION__LEN		4
-#define BMP085_ML_VERSION__MSK		0x0F
-#define BMP085_ML_VERSION__REG		BMP085_VERSION_REG
-
-
-
-#define BMP085_AL_VERSION__POS  	4
-#define BMP085_AL_VERSION__LEN  	4
-#define BMP085_AL_VERSION__MSK		0xF0
-#define BMP085_AL_VERSION__REG		BMP085_VERSION_REG
+#define BMP085_PROM_START__ADDR 0xaa
+#define BMP085_PROM_DATA__LEN   22
+#define BMP085_T_MEASURE        0x2E                // temperature measurent 
+#define BMP085_P_MEASURE        0x34                // pressure measurement
+#define BMP085_CTRL_MEAS_REG    0xF4
+#define BMP085_ADC_OUT_MSB_REG  0xF6
+#define BMP085_ADC_OUT_LSB_REG  0xF7
+#define BMP085_CHIP_ID__POS     0
+#define BMP085_CHIP_ID__MSK     0xFF
+#define BMP085_CHIP_ID__LEN     8
+#define BMP085_CHIP_ID__REG     BMP085_CHIP_ID_REG
+
+#define BMP085_ML_VERSION__POS      0
+#define BMP085_ML_VERSION__LEN      4
+#define BMP085_ML_VERSION__MSK      0x0F
+#define BMP085_ML_VERSION__REG      BMP085_VERSION_REG
+
+
+
+#define BMP085_AL_VERSION__POS      4
+#define BMP085_AL_VERSION__LEN      4
+#define BMP085_AL_VERSION__MSK      0xF0
+#define BMP085_AL_VERSION__REG      BMP085_VERSION_REG
 
 #define BMP085_GET_BITSLICE(regvar, bitname) (regvar & bitname##__MSK) >> bitname##__POS
 #define BMP085_SET_BITSLICE(regvar, bitname, val) (regvar & ~bitname##__MSK) | ((val<<bitname##__POS)&bitname##__MSK)
@@ -93,7 +87,7 @@ bool bmp085Init(void)
     EXTI_InitTypeDef   EXTI_InitStructure;
     NVIC_InitTypeDef   NVIC_InitStructure;
     uint8_t data;
-    
+
     if (bmp085InitDone)
         return true;
 
@@ -106,7 +100,7 @@ bool bmp085Init(void)
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
     GPIO_Init(GPIOC, &GPIO_InitStructure);
     BARO_ON;
-    
+
     // EXTI interrupt for barometer EOC
     GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
     EXTI_InitStructure.EXTI_Line = EXTI_Line14;
@@ -123,16 +117,16 @@ bool bmp085Init(void)
     NVIC_Init(&NVIC_InitStructure);
 
     delay(12); // datasheet says 10ms, we'll be careful and do 12.
-    
+
     p_bmp085->sensortype = E_SENSOR_NOT_DETECTED;
     p_bmp085->dev_addr = BMP085_I2C_ADDR;                   /* preset BMP085 I2C_addr */
     i2cRead(p_bmp085->dev_addr, BMP085_CHIP_ID__REG, 1, &data);  /* read Chip Id */
     p_bmp085->chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID);
     p_bmp085->oversampling_setting = 2;
-    
+
     if (p_bmp085->chip_id == BMP085_CHIP_ID) {            /* get bitslice */
         p_bmp085->sensortype = BOSCH_PRESSURE_BMP085;
-    
+
         i2cRead(p_bmp085->dev_addr, BMP085_VERSION_REG, 1, &data); /* read Version reg */
         p_bmp085->ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION);        /* get ML Version */
         p_bmp085->al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION);        /* get AL Version */
@@ -140,7 +134,7 @@ bool bmp085Init(void)
         bmp085InitDone = true;
         return true;
     }
-    
+
     return false;
 }
 
@@ -191,20 +185,20 @@ int32_t bmp085_get_pressure(uint32_t up)
 {
     int32_t pressure, x1, x2, x3, b3, b6;
     uint32_t b4, b7;
-    
+
     b6 = p_bmp085->param_b5 - 4000;
     // *****calculate B3************
-    x1 = (b6 * b6) >> 12;	 	 
+    x1 = (b6 * b6) >> 12;
     x1 *= p_bmp085->cal_param.b2;
     x1 >>= 11;
-    
+
     x2 = (p_bmp085->cal_param.ac2 * b6);
     x2 >>= 11;
-    
+
     x3 = x1 + x2;
-    
+
     b3 = (((((int32_t)p_bmp085->cal_param.ac1) * 4 + x3) << p_bmp085->oversampling_setting) + 2) >> 2;
-    
+
     // *****calculate B4************
     x1 = (p_bmp085->cal_param.ac3 * b6) >> 13;
     x2 = (p_bmp085->cal_param.b1 * ((b6 * b6) >> 12) ) >> 16;
@@ -217,13 +211,13 @@ int32_t bmp085_get_pressure(uint32_t up)
     } else { 
         pressure = (b7 / b4) << 1;
     }
-    
+
     x1 = pressure >> 8;
     x1 *= x1;
     x1 = (x1 * SMD500_PARAM_MG) >> 16;
     x2 = (pressure * SMD500_PARAM_MH) >> 16;
-    pressure += (x1 + x2 + SMD500_PARAM_MI) >> 4;	// pressure in Pa  
-    
+    pressure += (x1 + x2 + SMD500_PARAM_MI) >> 4;   // pressure in Pa
+
     return pressure;
 }
 
@@ -272,9 +266,9 @@ uint32_t bmp085_get_up(void)
     while (!convDone && timeout-- > 0) {
         __NOP();
     }
-    
-   	i2cRead(p_bmp085->dev_addr, BMP085_ADC_OUT_MSB_REG, 3, data);
-	up = (((uint32_t) data[0] << 16) | ((uint32_t) data[1] << 8) | (uint32_t) data[2]) >> (8 - p_bmp085->oversampling_setting);
+
+    i2cRead(p_bmp085->dev_addr, BMP085_ADC_OUT_MSB_REG, 3, data);
+    up = (((uint32_t) data[0] << 16) | ((uint32_t) data[1] << 8) | (uint32_t) data[2]) >> (8 - p_bmp085->oversampling_setting);
 
     return up;
 }
@@ -283,7 +277,7 @@ static void bmp085_get_cal_param(void)
 {
     uint8_t data[22];
     i2cRead(p_bmp085->dev_addr, BMP085_PROM_START__ADDR, BMP085_PROM_DATA__LEN, data);
-    
+
     /*parameters AC1-AC6*/
     p_bmp085->cal_param.ac1 =  (data[0] <<8) | data[1];
     p_bmp085->cal_param.ac2 =  (data[2] <<8) | data[3];
@@ -291,11 +285,11 @@ static void bmp085_get_cal_param(void)
     p_bmp085->cal_param.ac4 =  (data[6] <<8) | data[7];
     p_bmp085->cal_param.ac5 =  (data[8] <<8) | data[9];
     p_bmp085->cal_param.ac6 = (data[10] <<8) | data[11];
-    
+
     /*parameters B1,B2*/
     p_bmp085->cal_param.b1 =  (data[12] <<8) | data[13];
     p_bmp085->cal_param.b2 =  (data[14] <<8) | data[15];
-    
+
     /*parameters MB,MC,MD*/
     p_bmp085->cal_param.mb =  (data[16] <<8) | data[17];
     p_bmp085->cal_param.mc =  (data[18] <<8) | data[19];
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 2e63cd2e3..7581f2584 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -1,9 +1,9 @@
 #include "board.h"
 
 #define PULSE_1MS       (1000) // 1ms pulse width
-#define PULSE_PERIOD    (2500) // pulse period (400Hz)
-#define PULSE_PERIOD_SERVO_DIGITAL  (5000) // pulse period for digital servo (200Hz)
-#define PULSE_PERIOD_SERVO_ANALOG  (20000) // pulse period for analog servo (50Hz)
+// #define PULSE_PERIOD    (2500) // pulse period (400Hz)
+// #define PULSE_PERIOD_SERVO_DIGITAL  (5000) // pulse period for digital servo (200Hz)
+// #define PULSE_PERIOD_SERVO_ANALOG  (20000) // pulse period for analog servo (50Hz)
 
 // Forward declaration
 static void pwmIRQHandler(TIM_TypeDef *tim);
@@ -244,7 +244,7 @@ static void pwmInitializeInput(bool usePPM)
     }
 }
 
-bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServos)
+bool pwmInit(drv_pwm_config_t *init)
 {
     GPIO_InitTypeDef GPIO_InitStructure = { 0, };
     TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure = { 0, };
@@ -294,7 +294,7 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
 #endif
 
     // use PPM or PWM input
-    usePPMFlag = usePPM;
+    usePPMFlag = init->usePPM;
 
     // preset channels to center    
     for (i = 0; i < 8; i++)
@@ -302,7 +302,7 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
         
     // Timers run at 1mhz.
     // TODO: clean this shit up. Make it all dynamic etc.
-    if (pwmppmInput)
+    if (init->enableInput)
         pwmInitializeInput(usePPMFlag);
 
     // Output pins
@@ -317,17 +317,14 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
     TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
     TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1);
 
-    if (useServos) {
-        // 50Hz/200Hz period on ch1, 2 for servo
-        if (useDigitalServos)
-            TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD_SERVO_DIGITAL - 1;
-        else
-            TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD_SERVO_ANALOG - 1;
+    if (init->useServos) {
+        // ch1, 2 for servo
+        TIM_TimeBaseStructure.TIM_Period = (1000000 / init->servoPwmRate) - 1;
         TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
-        TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
+        TIM_TimeBaseStructure.TIM_Period = (1000000 / init->motorPwmRate) - 1;
         TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
     } else {
-        TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
+        TIM_TimeBaseStructure.TIM_Period = (1000000 / init->motorPwmRate) - 1;
         TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
         TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
     }
@@ -354,9 +351,9 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
     TIM_CtrlPWMOutputs(TIM4, ENABLE);
 
     // turn on more motor outputs if we're using ppm / not using pwm input
-    if (!pwmppmInput || usePPM) {
+    if (!init->enableInput || init->usePPM) {
         // PWM 7,8,9,10
-        TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
+        TIM_TimeBaseStructure.TIM_Period = (1000000 / init->motorPwmRate) - 1;
         TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
 
         TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
diff --git a/src/drv_pwm.h b/src/drv_pwm.h
index ff5be80c9..03f7005b6 100755
--- a/src/drv_pwm.h
+++ b/src/drv_pwm.h
@@ -1,6 +1,14 @@
 #pragma once
 
-bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServos); // returns whether driver is asking to calibrate throttle or not
+typedef struct drv_pwm_config_t {
+    bool enableInput;
+    bool usePPM;
+    bool useServos;
+    uint16_t motorPwmRate;
+    uint16_t servoPwmRate;
+} drv_pwm_config_t;
+
+bool pwmInit(drv_pwm_config_t *init); // returns whether driver is asking to calibrate throttle or not
 void pwmWrite(uint8_t channel, uint16_t value);
 uint16_t pwmRead(uint8_t channel);
 uint8_t pwmGetNumOutputChannels(void);
diff --git a/src/drv_system.c b/src/drv_system.c
index 2b61c154b..90d817b80 100755
--- a/src/drv_system.c
+++ b/src/drv_system.c
@@ -1,9 +1,9 @@
 #include "board.h"
 
 // Cycle counter stuff - these should be defined by CMSIS, but they aren't
-#define DWT_CTRL	(*(volatile uint32_t *)0xE0001000)
-#define DWT_CYCCNT	((volatile uint32_t *)0xE0001004)
-#define CYCCNTENA	(1 << 0)
+#define DWT_CTRL    (*(volatile uint32_t *)0xE0001000)
+#define DWT_CYCCNT  ((volatile uint32_t *)0xE0001004)
+#define CYCCNTENA   (1 << 0)
 
 // cycles per microsecond
 static volatile uint32_t usTicks = 0;
@@ -13,14 +13,14 @@ static volatile uint32_t sysTickCycleCounter = 0;
 
 static void cycleCounterInit(void)
 {
-	RCC_ClocksTypeDef clocks;
-	RCC_GetClocksFreq(&clocks);
-	usTicks = clocks.SYSCLK_Frequency / 1000000;
+    RCC_ClocksTypeDef clocks;
+    RCC_GetClocksFreq(&clocks);
+    usTicks = clocks.SYSCLK_Frequency / 1000000;
 
     // enable DWT access
     CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
-	// enable the CPU cycle counter
-	DWT_CTRL |= CYCCNTENA;
+    // enable the CPU cycle counter
+    DWT_CTRL |= CYCCNTENA;
 }
 
 
@@ -75,9 +75,9 @@ void systemInit(void)
     
     // Turn off JTAG port 'cause we're using the GPIO for leds
     GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
-    
+
     // Configure gpio
-    
+
     // PB3, PB4 (LEDs)
     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4;
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
@@ -95,48 +95,48 @@ void systemInit(void)
 
     // Init cycle counter
     cycleCounterInit();
-    
+
     // SysTick
     SysTick_Config(SystemCoreClock / 1000);
 
     // Configure the rest of the stuff
     adcInit();
     i2cInit(I2C2);
-    
+
     // sleep for 100ms
     delay(100);
 }
 
 void delayMicroseconds(uint32_t us)
 {
-	uint32_t elapsed = 0;
-	uint32_t lastCount = *DWT_CYCCNT;
+    uint32_t elapsed = 0;
+    uint32_t lastCount = *DWT_CYCCNT;
 
-	for (;;) {
-		register uint32_t current_count = *DWT_CYCCNT;
-		uint32_t elapsed_us;
+    for (;;) {
+        register uint32_t current_count = *DWT_CYCCNT;
+        uint32_t elapsed_us;
 
-		// measure the time elapsed since the last time we checked
-		elapsed += current_count - lastCount;
-		lastCount = current_count;
+        // measure the time elapsed since the last time we checked
+        elapsed += current_count - lastCount;
+        lastCount = current_count;
 
-		// convert to microseconds
-		elapsed_us = elapsed / usTicks;
-		if (elapsed_us >= us)
-			break;
+        // convert to microseconds
+        elapsed_us = elapsed / usTicks;
+        if (elapsed_us >= us)
+            break;
 
-		// reduce the delay by the elapsed time
-		us -= elapsed_us;
+        // reduce the delay by the elapsed time
+        us -= elapsed_us;
 
-		// keep fractional microseconds for the next iteration
-		elapsed %= usTicks;
-	}
+        // keep fractional microseconds for the next iteration
+        elapsed %= usTicks;
+    }
 }
 
 void delay(uint32_t ms)
 {
-	while (ms--)
-		delayMicroseconds(1000);
+    while (ms--)
+        delayMicroseconds(1000);
 }
 
 void failureMode(uint8_t mode)
diff --git a/src/drv_uart.c b/src/drv_uart.c
index 6b9e6245c..91d345ee4 100755
--- a/src/drv_uart.c
+++ b/src/drv_uart.c
@@ -112,6 +112,11 @@ uint16_t uartAvailable(void)
     return (DMA_GetCurrDataCounter(DMA1_Channel5) != rxDMAPos) ? true : false;
 }
 
+bool uartTransmitEmpty(void)
+{
+    return (txBufferTail == txBufferHead);
+}
+
 uint8_t uartRead(void)
 {
     uint8_t ch;
diff --git a/src/drv_uart.h b/src/drv_uart.h
index b6610e765..97c3c74ee 100755
--- a/src/drv_uart.h
+++ b/src/drv_uart.h
@@ -2,6 +2,7 @@
 
 void uartInit(uint32_t speed);
 uint16_t uartAvailable(void);
+bool uartTransmitEmpty(void);
 uint8_t uartRead(void);
 uint8_t uartReadPoll(void);
 void uartWrite(uint8_t ch);
diff --git a/src/gps.c b/src/gps.c
index 24bee8a04..7d78cc920 100644
--- a/src/gps.c
+++ b/src/gps.c
@@ -11,7 +11,7 @@ static void GPS_distance(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2,
 
 void gpsInit(uint32_t baudrate)
 {
-    uart2Init(cfg.gps_baudrate, GPS_NewData);
+    uart2Init(baudrate, GPS_NewData);
     sensorsSet(SENSOR_GPS);
 }
 
diff --git a/src/main.c b/src/main.c
index 5779b57ff..cc78f9bb7 100755
--- a/src/main.c
+++ b/src/main.c
@@ -33,6 +33,7 @@ void throttleCalibration(void)
 int main(void)
 {
     uint8_t i;
+    drv_pwm_config_t pwm_params;
 
 #if 0
     // using this to write asm for bootloader :)
@@ -55,7 +56,13 @@ int main(void)
 
     mixerInit(); // this will set useServo var depending on mixer type
     // pwmInit returns true if throttle calibration is requested. if so, do it here. throttleCalibration() does NOT return - for safety.
-    if (pwmInit(feature(FEATURE_PPM), !feature(FEATURE_SPEKTRUM), useServo, feature(FEATURE_DIGITAL_SERVO)))
+    pwm_params.usePPM = feature(FEATURE_PPM);
+    pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
+    pwm_params.useServos = useServo;
+    pwm_params.motorPwmRate = cfg.motor_pwm_rate;
+    pwm_params.servoPwmRate = cfg.servo_pwm_rate;
+
+    if (pwmInit(&pwm_params))
         throttleCalibration(); // noreturn
 
     // configure PWM/CPPM read function. spektrum will override that
diff --git a/src/mw.h b/src/mw.h
index 99712d981..35ce59eb1 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -163,9 +163,13 @@ typedef struct config_t {
     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end
+
+    // motor/esc/servo related stuff
     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
+    uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
+    uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
 
     // mixer-related configuration
     int8_t yaw_direction;
diff --git a/support/stmloader/stmbootloader.c b/support/stmloader/stmbootloader.c
index 869f60c7f..75fd18785 100644
--- a/support/stmloader/stmbootloader.c
+++ b/support/stmloader/stmbootloader.c
@@ -320,7 +320,7 @@ void stmLoader(serialStruct_t *s, FILE *fp, unsigned char overrideParity) {
 	printf("Flashing device...\n");
 	jumpAddress = stmHexLoader(s, fp);
 	if (jumpAddress) {
-		printf("\nFlash complete, cylce power\n");
+		printf("\nFlash complete, cycle power\n");
 
 		go:
 		// send GO command