diff --git a/baseflight.uvopt b/baseflight.uvopt
index f06c5760b..e9ea8e709 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -73,7 +73,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>255</CpuCode>
       <Books>
@@ -317,7 +317,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
+        <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>255</CpuCode>
       <Books>
@@ -383,7 +383,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>(106=-1,-1,-1,-1,0)(107=-1,-1,-1,-1,0)</Name>
+          <Name>(105=-1,-1,-1,-1,0)(106=-1,-1,-1,-1,0)(107=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -400,9 +400,9 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>254</LineNumber>
+          <LineNumber>71</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134227724</Address>
+          <Address>134232388</Address>
           <ByteObject>0</ByteObject>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
@@ -410,7 +410,7 @@
           <BreakIfRCount>1</BreakIfRCount>
           <Filename></Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\baseflight\drv_bmp085.c\254</Expression>
+          <Expression>\\baseflight\src/spektrum.c\71</Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>
@@ -469,6 +469,12 @@
           <WinNumber>1</WinNumber>
           <ItemText>rawMagADC,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>spekChannelData
+</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
@@ -526,10 +532,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>37</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>523</TopLine>
-      <CurrentLine>523</CurrentLine>
+      <TopLine>1</TopLine>
+      <CurrentLine>1</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\cli.c</PathWithFileName>
       <FilenameWithoutPath>cli.c</FilenameWithoutPath>
@@ -540,10 +546,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>20</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>149</TopLine>
-      <CurrentLine>162</CurrentLine>
+      <TopLine>102</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\config.c</PathWithFileName>
       <FilenameWithoutPath>config.c</FilenameWithoutPath>
@@ -556,8 +562,8 @@
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       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>50</TopLine>
-      <CurrentLine>62</CurrentLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\imu.c</PathWithFileName>
       <FilenameWithoutPath>imu.c</FilenameWithoutPath>
@@ -568,10 +574,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>43</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>35</TopLine>
-      <CurrentLine>51</CurrentLine>
+      <TopLine>43</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
@@ -582,10 +588,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>284</TopLine>
-      <CurrentLine>302</CurrentLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mixer.c</PathWithFileName>
       <FilenameWithoutPath>mixer.c</FilenameWithoutPath>
@@ -596,10 +602,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>21</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>560</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.c</PathWithFileName>
       <FilenameWithoutPath>mw.c</FilenameWithoutPath>
@@ -610,10 +616,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>31</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>281</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\sensors.c</PathWithFileName>
       <FilenameWithoutPath>sensors.c</FilenameWithoutPath>
@@ -626,8 +632,8 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>205</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\serial.c</PathWithFileName>
       <FilenameWithoutPath>serial.c</FilenameWithoutPath>
@@ -638,10 +644,10 @@
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-      <ColumnNumber>18</ColumnNumber>
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@@ -654,8 +660,8 @@
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-      <TopLine>248</TopLine>
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@@ -666,19 +672,33 @@
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-      <ColumnNumber>1</ColumnNumber>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\gps.c</PathWithFileName>
       <FilenameWithoutPath>gps.c</FilenameWithoutPath>
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+    <File>
+      <GroupNumber>1</GroupNumber>
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+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <Focus>0</Focus>
+      <ColumnNumber>14</ColumnNumber>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <TopLine>53</TopLine>
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+      <bDave2>0</bDave2>
+      <PathWithFileName>.\src\spektrum.c</PathWithFileName>
+      <FilenameWithoutPath>spektrum.c</FilenameWithoutPath>
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   </Group>
 
   <Group>
     <GroupName>Drivers</GroupName>
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+    <tvExp>0</tvExp>
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     <File>
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-      <ColumnNumber>42</ColumnNumber>
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       <PathWithFileName>.\src\drv_hmc5883l.c</PathWithFileName>
       <FilenameWithoutPath>drv_hmc5883l.c</FilenameWithoutPath>
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       <PathWithFileName>.\src\drv_i2c.c</PathWithFileName>
       <FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
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diff --git a/baseflight.uvproj b/baseflight.uvproj
index 74169686d..7f6d50f24 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -441,6 +441,11 @@
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               <FilePath>.\src\gps.c</FilePath>
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+              <FileType>1</FileType>
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+              <FileName>spektrum.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\spektrum.c</FilePath>
+            </File>
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         <Group>
diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 83c8b7f98..9f447cca7 100644
--- a/obj/baseflight.hex
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+:109930006F70006D617070696E67206F6620726372
+:10994000206368616E6E656C206F72646572006D75
+:1099500069786572006163635F6C70665F666163FE
+:10996000746F72007370656B7472756D5F68697285
+:1099700065730064656661756C74730073686F77F6
+:109980002073797374656D207374617475730073DB
+:1099900065740065786974007361766520616E6432
+:1099A000207265626F6F7400726573657420746FE6
+:1099B0002064656661756C747320616E64207265E5
+:1099C000626F6F74006D69786572206E616D6520DD
+:1099D0006F72206C697374006E616D653D76616CA9
+:1099E0007565206F7220626C616E6B20666F7220ED
+:1099F0006C69737400645F79617700695F7961777E
+:109A000000705F796177007472695F7961775F6D6B
+:109A100061780000349A0008000000202C03000048
+:109A2000C47F0008209B00082C0300208414000041
+:109A3000A8820008411345971B088F041ACA041A0C
+:109A400042041A490413EF961B08EA041A360C1A4A
+:109A5000E7081AC4081AF2081AA0081AD0041AFD56
+:109A60000C1A61081A0A041AE00C411A6F0C1AB495
+:109A7000041A50041A81041A95041AB9041A160417
+:109A80001A1E041A2D041AB0041A7304411AF93864
+:109A90001A7C0C1A06045AAA1C417207021C010304
+:109AA00045093D7204CBDC050201920914A202248F
+:109AB000030238018B803F04012613380502182069
+:109AC000D9AC22403A020812043A040812083A08B3
+:109AD00008120C22105A04201908392019083920BC
+:109AE000190829201E342C014040041334081B405F
+:109AF00038041A3C0419211B4034201A38041A3C3B
+:109B00000419391944011F3BA24A7D41380C010256
+:109B10000304060708090204068929106914410094
 :04000005080000ED02
 :00000001FF
diff --git a/src/board.h b/src/board.h
index 0d3f4c414..f2a0736e7 100755
--- a/src/board.h
+++ b/src/board.h
@@ -11,6 +11,10 @@
 #include "stm32f10x_conf.h"
 #include "core_cm3.h"
 
+#ifndef M_PI
+#define M_PI       3.14159265358979323846
+#endif /* M_PI */
+
 typedef enum {
     SENSOR_ACC = 1 << 0,
     SENSOR_BARO = 1 << 1,
@@ -30,10 +34,13 @@ typedef enum {
     FEATURE_GYRO_SMOOTHING = 1 << 7,
     FEATURE_LED_RING = 1 << 8,
     FEATURE_GPS = 1 << 9,
+    FEATURE_SPEKTRUM = 1 << 10,
 } AvailableFeatures;
 
-typedef void (* sensorInitFuncPtr)(void);
-typedef void (* sensorReadFuncPtr)(int16_t *data);
+typedef void (* sensorInitFuncPtr)(void);                   // sensor init prototype
+typedef void (* sensorReadFuncPtr)(int16_t *data);          // sensor read and align prototype
+typedef void (* uartReceiveCallbackPtr)(uint16_t data);     // used by uart2 driver to return frames to app
+typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan);        // used by receiver driver to return channel data
 
 typedef struct sensor_t
 {
diff --git a/src/cli.c b/src/cli.c
index 70618117d..31a4703d7 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -36,6 +36,7 @@ const char *mixerNames[] = {
 const char *featureNames[] = {
     "PPM", "VBAT", "INFLIGHT_ACC_CAL", "DIGITAL_SERVO", "MOTOR_STOP",
     "SERVO_TILT", "CAMTRIG", "GYRO_SMOOTHING", "LED_RING", "GPS",
+    "SPEKTRUM",
     NULL
 };
 
@@ -88,6 +89,7 @@ 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 },
+    { "spektrum_hires", VAR_UINT8, &cfg.spektrum_hires, 0, 1 },
     { "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
     { "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
     { "vbatmincellvoltage", VAR_UINT8, &cfg.vbatmincellvoltage, 10, 50 },
@@ -99,6 +101,8 @@ const clivalue_t valueTable[] = {
     { "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
     { "tilt_pitch_prop", VAR_INT8, &cfg.tilt_pitch_prop, -100, 100 },
     { "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 },
     { "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},
@@ -252,10 +256,10 @@ static void cliHelp(char *cmdline)
     uartPrint("Available commands:\r\n");    
 
     for (i = 0; i < CMD_COUNT; i++) {
-    	uartPrint(cmdTable[i].name);
-    	uartWrite(' ');
-    	uartPrint(cmdTable[i].param);
-    	uartPrint("\r\n");
+        uartPrint(cmdTable[i].name);
+        uartWrite(' ');
+        uartPrint(cmdTable[i].param);
+        uartPrint("\r\n");
     }
 }
 
@@ -344,15 +348,15 @@ static void cliPrintVar(const clivalue_t *var)
         case VAR_UINT8:
             value = *(uint8_t *)var->ptr;
             break;
-            
+
         case VAR_INT8:
             value = *(int8_t *)var->ptr;
             break;
-            
+
         case VAR_UINT16:
             value = *(uint16_t *)var->ptr;
             break;
-            
+
         case VAR_INT16:
             value = *(int16_t *)var->ptr;
             break;
@@ -389,7 +393,7 @@ static void cliSet(char *cmdline)
     const clivalue_t *val;
     char *eqptr = NULL;
     int32_t value = 0;
-    
+
     len = strlen(cmdline);
 
     if (len == 0) {
@@ -525,7 +529,7 @@ void cliProcess(void)
             // enter pressed
             clicmd_t *cmd = NULL;
             clicmd_t target;
-    		uartPrint("\r\n");
+            uartPrint("\r\n");
             cliBuffer[bufferIndex] = 0; // null terminate
             
             target.name = cliBuffer;
@@ -542,7 +546,7 @@ void cliProcess(void)
 
             // 'exit' will reset this flag, so we don't need to print prompt again
             if (!cliMode)
-    	        return;
+                return;
             cliPrompt();
         } else if (c == 127) {
             // backspace
diff --git a/src/config.c b/src/config.c
index 31071351d..b9f2c14e2 100755
--- a/src/config.c
+++ b/src/config.c
@@ -9,7 +9,7 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 6;
+static uint8_t checkNewConf = 7;
 
 void parseRcChannels(const char *input)
 {
@@ -112,6 +112,8 @@ void checkFirstTime(bool reset)
     }
     cfg.accTrim[0] = 0;
     cfg.accTrim[1] = 0;
+    cfg.acc_lpf_factor = 4;
+    cfg.gyro_lpf = 42;
     cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
     cfg.powerTrigger1 = 0;
     cfg.vbatscale = 110;
@@ -120,8 +122,8 @@ void checkFirstTime(bool reset)
 
     // Radio/ESC
     parseRcChannels("AETR1234");
-    // parseRcChannels("ATER1234");
     cfg.deadband = 0;
+    cfg.spektrum_hires = 0;
     cfg.midrc = 1500;
     cfg.mincheck = 1100;
     cfg.maxcheck = 1900;
diff --git a/src/drv_adxl345.c b/src/drv_adxl345.c
index 3b14ca2f6..83a08b8ce 100755
--- a/src/drv_adxl345.c
+++ b/src/drv_adxl345.c
@@ -57,14 +57,8 @@ static void adxl345Init(void)
 #else
     // MWC defaults
     i2cWrite(ADXL345_ADDRESS, ADXL345_POWER_CTL, 1 << 3);        //  register: Power CTRL  -- value: Set measure bit 3 on
-#if 1
     i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, 0x0B);  //  register: DATA_FORMAT -- value: Set bits 3(full range) and 1 0 on (+/- 16g-range)
     i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, 0x09);  //  register: BW_RATE     -- value: rate=50hz, bw=20hz
-#else
-    // testing    
-    i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, (ADXL_RANGE_8G & 0x03) | ADXL_FULL_RES);  //  register: DATA_FORMAT -- value: Set bits 3(full range) and 1 0 on (+/- 16g-range)
-    i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL_RATE_800);  //  register: BW_RATE     -- value: rate=50hz, bw=20hz
-#endif   
 #endif /* FreeFlight */
 }
 
diff --git a/src/drv_bmp085.c b/src/drv_bmp085.c
index a17cd9e3a..82beca666 100755
--- a/src/drv_bmp085.c
+++ b/src/drv_bmp085.c
@@ -35,7 +35,6 @@ typedef struct  {
 	uint8_t sensortype;
 
 	int32_t param_b5;
-	int32_t number_of_samples;
 	int16_t oversampling_setting;
 	int16_t smd500_t_resolution, smd500_masterclock;
 
@@ -129,7 +128,6 @@ bool bmp085Init(void)
     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->number_of_samples = 1;
     p_bmp085->oversampling_setting = 2;
     
     if (p_bmp085->chip_id == BMP085_CHIP_ID) {            /* get bitslice */
@@ -162,11 +160,15 @@ int32_t bmp085_read_pressure(void)
     return bmp085_get_pressure(bmp085_get_up());
 }
 
+// #define BMP_TEMP_OSS 4
 
 int16_t bmp085_get_temperature(uint32_t ut)
 {
     int16_t temperature;
     int32_t x1, x2;
+#ifdef BMP_TEMP_OSS    
+    static uint32_t temp;
+#endif
 
     if (p_bmp085->sensortype == BOSCH_PRESSURE_BMP085) {
         x1 = (((int32_t) ut - (int32_t) p_bmp085->cal_param.ac6) * (int32_t) p_bmp085->cal_param.ac5) >> 15;
@@ -175,7 +177,14 @@ int16_t bmp085_get_temperature(uint32_t ut)
     }
     temperature = ((p_bmp085->param_b5 + 8) >> 4);  // temperature in 0.1°C
 
+#ifdef BMP_TEMP_OSS    
+    temp *= (1 << BMP_TEMP_OSS) - 1;        // multiply the temperature variable by 3 - we have tau == 1/4
+    temp += ((uint32_t)temperature) << 8;   // add on the buffer
+    temp >>= BMP_TEMP_OSS;                  // divide by 4
+    return (int16_t)temp;
+#else
     return temperature;
+#endif
 }
 
 int32_t bmp085_get_pressure(uint32_t up)
@@ -266,7 +275,6 @@ uint32_t bmp085_get_up(void)
     
    	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);
-    p_bmp085->number_of_samples = 1;
 
     return up;
 }
diff --git a/src/drv_hmc5883l.c b/src/drv_hmc5883l.c
index 351e436fd..c4a05741a 100755
--- a/src/drv_hmc5883l.c
+++ b/src/drv_hmc5883l.c
@@ -9,12 +9,11 @@ bool hmc5883lDetect(void)
 {
     bool ack = false;
     uint8_t sig = 0;
-    
+
     ack = i2cRead(MAG_ADDRESS, 0x0A, 1, &sig);
     if (!ack || sig != 'H')
         return false;
-        
-        
+
     return true;
 }
 
@@ -22,28 +21,28 @@ void hmc5883lInit(void)
 {
     delay(100);
     // force positiveBias
-    i2cWrite(MAG_ADDRESS, 0x00, 0x71);      //Configuration Register A  -- 0 11 100 01  num samples: 8 ; output rate: 15Hz ; positive bias
+    i2cWrite(MAG_ADDRESS, 0x00, 0x71);      // Configuration Register A  -- 0 11 100 01  num samples: 8 ; output rate: 15Hz ; positive bias
     delay(50);
     // set gains for calibration
-    i2cWrite(MAG_ADDRESS, 0x01, 0x60);      //Configuration Register B  -- 011 00000    configuration gain 2.5Ga
-    i2cWrite(MAG_ADDRESS, 0x02, 0x01);      //Mode register             -- 000000 01    single Conversion Mode
+    i2cWrite(MAG_ADDRESS, 0x01, 0x60);      // Configuration Register B  -- 011 00000    configuration gain 2.5Ga
+    i2cWrite(MAG_ADDRESS, 0x02, 0x01);      // Mode register             -- 000000 01    single Conversion Mode
     // this enters test mode
 }
 
 void hmc5883lFinishCal(void)
 {
     // leave test mode
-    i2cWrite(MAG_ADDRESS, 0x00, 0x70);      //Configuration Register A  -- 0 11 100 00  num samples: 8 ; output rate: 15Hz ; normal measurement mode
-    i2cWrite(MAG_ADDRESS, 0x01, 0x20);      //Configuration Register B  -- 001 00000    configuration gain 1.3Ga
-    i2cWrite(MAG_ADDRESS, 0x02, 0x00);      //Mode register             -- 000000 00    continuous Conversion Mode
+    i2cWrite(MAG_ADDRESS, 0x00, 0x70);      // Configuration Register A  -- 0 11 100 00  num samples: 8 ; output rate: 15Hz ; normal measurement mode
+    i2cWrite(MAG_ADDRESS, 0x01, 0x20);      // Configuration Register B  -- 001 00000    configuration gain 1.3Ga
+    i2cWrite(MAG_ADDRESS, 0x02, 0x00);      // Mode register             -- 000000 00    continuous Conversion Mode
 }
 
 void hmc5883lRead(int16_t *magData)
 {
     uint8_t buf[6];
-    
+
     i2cRead(MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
-    
+
     magData[0] = buf[0] << 8 | buf[1];
     magData[1] = buf[2] << 8 | buf[3];
     magData[2] = buf[4] << 8 | buf[5];
diff --git a/src/drv_mpu3050.c b/src/drv_mpu3050.c
index 22a5c3001..f48213a97 100755
--- a/src/drv_mpu3050.c
+++ b/src/drv_mpu3050.c
@@ -14,6 +14,7 @@
 
 // Bits
 #define MPU3050_FS_SEL_2000DPS  0x18
+#define MPU3050_DLPF_10HZ       0x05
 #define MPU3050_DLPF_20HZ       0x04
 #define MPU3050_DLPF_42HZ       0x03
 #define MPU3050_DLPF_98HZ       0x02
@@ -23,7 +24,7 @@
 #define MPU3050_USER_RESET      0x01
 #define MPU3050_CLK_SEL_PLL_GX  0x01
 
-static uint8_t mpuLowPassFliter = MPU3050_DLPF_42HZ;
+static uint8_t mpuLowPassFilter = MPU3050_DLPF_42HZ;
 
 static void mpu3050Init(void);
 static void mpu3050Read(int16_t *gyroData);
@@ -46,6 +47,32 @@ bool mpu3050Detect(sensor_t *gyro)
     return true;
 }
 
+void mpu3050Config(uint16_t lpf)
+{
+    switch (lpf) {
+        case 256:
+            mpuLowPassFilter = MPU3050_DLPF_256HZ;
+            break;
+        case 188:
+            mpuLowPassFilter = MPU3050_DLPF_188HZ;
+            break;
+        case 98:
+            mpuLowPassFilter = MPU3050_DLPF_98HZ;
+            break;
+        case 42:
+            mpuLowPassFilter = MPU3050_DLPF_42HZ;
+            break;
+        case 20:
+            mpuLowPassFilter = MPU3050_DLPF_20HZ;
+            break;
+        case 10:
+            mpuLowPassFilter = MPU3050_DLPF_10HZ;
+            break;
+    }
+
+    i2cWrite(MPU3050_ADDRESS, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | mpuLowPassFilter);
+}
+
 static void mpu3050Init(void)
 {
     bool ack;
@@ -56,7 +83,7 @@ static void mpu3050Init(void)
     if (!ack)
         failureMode(3);
 
-    i2cWrite(MPU3050_ADDRESS, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | mpuLowPassFliter);
+    i2cWrite(MPU3050_ADDRESS, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | mpuLowPassFilter);
     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/src/drv_mpu3050.h b/src/drv_mpu3050.h
index a8e36412e..1ae321e23 100755
--- a/src/drv_mpu3050.h
+++ b/src/drv_mpu3050.h
@@ -1,3 +1,4 @@
 #pragma once
 
 bool mpu3050Detect(sensor_t *gyro);
+void mpu3050Config(uint16_t lpf);
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 5193deaad..a3e2167b9 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -154,67 +154,14 @@ static void pwmIRQHandler(TIM_TypeDef *tim)
     }
 }
 
-bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
+static void pwmInitializeInput(bool usePPM)
 {
     GPIO_InitTypeDef GPIO_InitStructure;
     TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
-    TIM_OCInitTypeDef TIM_OCInitStructure;
     NVIC_InitTypeDef NVIC_InitStructure;
+    uint8_t i;
 
-    uint8_t i, val;
-    uint16_t c;
-    bool throttleCal = false;
-
-    // Inputs
-
-    // RX1  TIM2_CH1 PA0 [also PPM] [also used for throttle calibration]
-    // RX2  TIM2_CH2 PA1
-    // RX3  TIM2_CH3 PA2 [also UART2_TX]
-    // RX4  TIM2_CH4 PA3 [also UART2_RX]
-    // RX5  TIM3_CH1 PA6 [also ADC_IN6]
-    // RX6  TIM3_CH2 PA7 [also ADC_IN7]
-    // RX7  TIM3_CH3 PB0 [also ADC_IN8]
-    // RX8  TIM3_CH4 PB1 [also ADC_IN9]
-
-    // Outputs
-    // PWM1 TIM1_CH1 PA8
-    // PWM2 TIM1_CH4 PA11
-    // PWM3 TIM4_CH1 PB6 [also I2C1_SCL]
-    // PWM4 TIM4_CH2 PB7 [also I2C1_SDA]
-    // PWM5 TIM4_CH3 PB8
-    // PWM6 TIM4_CH4 PB9
-
-    // automatic throttle calibration detection: PA0 to ground via bindplug
-    // Configure TIM2_CH1 for input
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-    GPIO_Init(GPIOA, &GPIO_InitStructure);
-    
-#if 0
-    // wait a while
-    delay(100);
-
-    for (c = 0; c < 50000; c++) {
-        val = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0);
-        if (val) {
-            throttleCal = false;
-            break;
-        }
-    }
-#endif
-
-    // use PPM or PWM input
-    usePPMFlag = usePPM;
-
-    // preset channels to center    
-    for (i = 0; i < 8; i++)
-        Inputs[i].capture = 1500;
-        
-    // Timers run at 1mhz.
-    // TODO: clean this shit up. Make it all dynamic etc.
-
-    // Input pins
+   // Input pins
     if (usePPM) {
         // Configure TIM2_CH1 for PPM input
         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
@@ -295,7 +242,69 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
         // In PWM input mode, all 8 channels are wasted
         numOutputChannels = 6;
     }
+}
+
+bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServos)
+{
+    GPIO_InitTypeDef GPIO_InitStructure;
+    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
+    TIM_OCInitTypeDef TIM_OCInitStructure;
+
+    uint8_t i, val;
+    uint16_t c;
+    bool throttleCal = false;
+
+    // Inputs
+
+    // RX1  TIM2_CH1 PA0 [also PPM] [also used for throttle calibration]
+    // RX2  TIM2_CH2 PA1
+    // RX3  TIM2_CH3 PA2 [also UART2_TX]
+    // RX4  TIM2_CH4 PA3 [also UART2_RX]
+    // RX5  TIM3_CH1 PA6 [also ADC_IN6]
+    // RX6  TIM3_CH2 PA7 [also ADC_IN7]
+    // RX7  TIM3_CH3 PB0 [also ADC_IN8]
+    // RX8  TIM3_CH4 PB1 [also ADC_IN9]
+
+    // Outputs
+    // PWM1 TIM1_CH1 PA8
+    // PWM2 TIM1_CH4 PA11
+    // PWM3 TIM4_CH1 PB6 [also I2C1_SCL]
+    // PWM4 TIM4_CH2 PB7 [also I2C1_SDA]
+    // PWM5 TIM4_CH3 PB8
+    // PWM6 TIM4_CH4 PB9
+
+    // automatic throttle calibration detection: PA0 to ground via bindplug
+    // Configure TIM2_CH1 for input
+    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+    GPIO_Init(GPIOA, &GPIO_InitStructure);
+    
+#if 0
+    // wait a while
+    delay(100);
+
+    for (c = 0; c < 50000; c++) {
+        val = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0);
+        if (val) {
+            throttleCal = false;
+            break;
+        }
+    }
+#endif
+
+    // use PPM or PWM input
+    usePPMFlag = usePPM;
 
+    // preset channels to center    
+    for (i = 0; i < 8; i++)
+        Inputs[i].capture = 1500;
+        
+    // Timers run at 1mhz.
+    // TODO: clean this shit up. Make it all dynamic etc.
+    if (pwmppmInput)
+        pwmInitializeInput(usePPMFlag);
+ 
     // Output pins
     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_11;
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@@ -327,7 +336,7 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
     TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
     TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
 
-    // PWM1,2    
+    // PWM1,2
     TIM_OC1Init(TIM1, &TIM_OCInitStructure);
     TIM_OC4Init(TIM1, &TIM_OCInitStructure);
     // PWM3,4,5,6
@@ -341,7 +350,8 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
     TIM_CtrlPWMOutputs(TIM1, ENABLE);
     TIM_CtrlPWMOutputs(TIM4, ENABLE);
 
-    if (usePPM) {
+    // turn on more motor outputs if we're using ppm / not using pwm input
+    if (!pwmppmInput || usePPM) {
         // PWM 7,8,9,10
         TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
         TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
diff --git a/src/drv_pwm.h b/src/drv_pwm.h
index e4fd69d83..ff5be80c9 100755
--- a/src/drv_pwm.h
+++ b/src/drv_pwm.h
@@ -1,6 +1,6 @@
 #pragma once
 
-bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos); // returns whether driver is asking to calibrate throttle or not
+bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServos); // 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_uart.c b/src/drv_uart.c
index 9474525ae..df5e67172 100755
--- a/src/drv_uart.c
+++ b/src/drv_uart.c
@@ -18,11 +18,11 @@ static void uartTxDMA(void)
 {
     DMA1_Channel4->CMAR = (uint32_t)&txBuffer[txBufferTail];
     if (txBufferHead > txBufferTail) {
-	    DMA1_Channel4->CNDTR = txBufferHead - txBufferTail;
-	    txBufferTail = txBufferHead;
+        DMA1_Channel4->CNDTR = txBufferHead - txBufferTail;
+        txBufferTail = txBufferHead;
     } else {
-	    DMA1_Channel4->CNDTR = UART_BUFFER_SIZE - txBufferTail;
-	    txBufferTail = 0;
+        DMA1_Channel4->CNDTR = UART_BUFFER_SIZE - txBufferTail;
+        txBufferTail = 0;
     }
 
     DMA_Cmd(DMA1_Channel4, ENABLE);
@@ -34,7 +34,7 @@ void DMA1_Channel4_IRQHandler(void)
     DMA_Cmd(DMA1_Channel4, DISABLE);
 
     if (txBufferHead != txBufferTail)
-	    uartTxDMA();
+        uartTxDMA();
 }
 
 void uartInit(void)
@@ -47,7 +47,7 @@ void uartInit(void)
     // UART
     // USART1_TX    PA9
     // USART1_RX    PA10
-    
+
     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@@ -119,7 +119,7 @@ uint8_t uartRead(void)
     ch = rxBuffer[UART_BUFFER_SIZE - rxDMAPos];
     // go back around the buffer
     if (--rxDMAPos == 0)
-	    rxDMAPos = UART_BUFFER_SIZE;
+        rxDMAPos = UART_BUFFER_SIZE;
 
     return ch;
 }
@@ -137,11 +137,53 @@ void uartWrite(uint8_t ch)
 
     // if DMA wasn't enabled, fire it up
     if (!(DMA1_Channel4->CCR & 1))
-	    uartTxDMA();
+        uartTxDMA();
 }
 
 void uartPrint(char *str)
 {
     while (*str)
-	    uartWrite(*(str++));
+        uartWrite(*(str++));
+}
+
+/* -------------------------- UART2 (Spektrum, GPS) ----------------------------- */
+uartReceiveCallbackPtr uart2Callback = NULL;
+
+void uart2Init(uint32_t speed, uartReceiveCallbackPtr func)
+{
+    NVIC_InitTypeDef NVIC_InitStructure;
+    GPIO_InitTypeDef GPIO_InitStructure;
+    USART_InitTypeDef USART_InitStructure;
+
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
+
+    NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
+    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
+    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
+    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+    NVIC_Init(&NVIC_InitStructure);
+
+    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+    GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+    USART_InitStructure.USART_BaudRate = speed;
+    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
+    USART_InitStructure.USART_StopBits = USART_StopBits_1;
+    USART_InitStructure.USART_Parity = USART_Parity_No;
+    USART_InitStructure.USART_Mode = USART_Mode_Rx;
+    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
+    USART_Init(USART2, &USART_InitStructure);
+
+    USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
+    USART_Cmd(USART2, ENABLE);
+    uart2Callback = func;
+}
+
+void USART2_IRQHandler(void)
+{
+    if (USART_GetITStatus(USART2, USART_IT_RXNE) == SET) {
+        if (uart2Callback)
+            uart2Callback(USART_ReceiveData(USART2));
+    }
 }
diff --git a/src/drv_uart.h b/src/drv_uart.h
index 54e163a05..c81550de8 100755
--- a/src/drv_uart.h
+++ b/src/drv_uart.h
@@ -6,3 +6,4 @@ uint8_t uartRead(void);
 uint8_t uartReadPoll(void);
 void uartWrite(uint8_t ch);
 void uartPrint(char *str);
+void uart2Init(uint32_t speed, uartReceiveCallbackPtr func);
diff --git a/src/gps.c b/src/gps.c
index 50bc46f01..a876fa7cb 100644
--- a/src/gps.c
+++ b/src/gps.c
@@ -1,10 +1,6 @@
 #include "board.h"
 #include "mw.h"
 
-#ifndef PI
-#define PI 3.14159265358979323846
-#endif
-
 #ifndef sq
 #define sq(x) ((x)*(x))
 #endif
@@ -13,52 +9,9 @@ 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);
 
-/*-----------------------------------------------------------
- *
- * GPS low level routines
- *
- *-----------------------------------------------------------*/
-
-void USART2_IRQHandler(void)
-{
-    if (USART_GetITStatus(USART2, USART_IT_RXNE) == SET) {
-        GPS_NewData(USART_ReceiveData(USART2));
-    }
-}
-
-static void uart2Init(void)
-{
-    NVIC_InitTypeDef NVIC_InitStructure;
-    GPIO_InitTypeDef GPIO_InitStructure;
-    USART_InitTypeDef USART_InitStructure;
-    
-    RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
-
-    NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
-    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
-    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
-    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-    NVIC_Init(&NVIC_InitStructure);
-
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
-    GPIO_Init(GPIOA, &GPIO_InitStructure);
-
-    USART_InitStructure.USART_BaudRate = 9600;
-    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
-    USART_InitStructure.USART_StopBits = USART_StopBits_1;
-    USART_InitStructure.USART_Parity = USART_Parity_No;
-    USART_InitStructure.USART_Mode = USART_Mode_Rx;
-    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
-    USART_Init(USART2, &USART_InitStructure);
-
-    USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
-    USART_Cmd(USART2, ENABLE);
-}
-
 void gpsInit(void)
 {
-    uart2Init();
+    uart2Init(9600, GPS_NewData);
     sensorsSet(SENSOR_GPS);
 }
 
@@ -98,9 +51,9 @@ static void GPS_NewData(uint16_t c)
 static void GPS_distance(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2, uint16_t * dist, int16_t * bearing)
 {
     float dLat = (lat2 - lat1); // difference of latitude in 1/100000 degrees
-    float dLon = (lon2 - lon1) * cos(lat1 * (PI / 180 / 100000.0));     // difference of longitude in 1/100000 degrees
-    *dist = 6372795 / 100000.0 * PI / 180 * (sqrt(sq(dLat) + sq(dLon)));
-    *bearing = 180 / PI * (atan2(dLon, dLat));
+    float dLon = (lon2 - lon1) * cosf(lat1 * (M_PI / 180 / 100000.0));     // difference of longitude in 1/100000 degrees
+    *dist = 6372795.0 / 100000.0 * M_PI / 180.0 * (sqrtf(sq(dLat) + sq(dLon)));
+    *bearing = 180.0 / M_PI * (atan2f(dLon, dLat));
 }
 
 /* The latitude or longitude is coded this way in NMEA frames
@@ -231,7 +184,7 @@ static bool GPS_newFrame(char c)
         else
             parity ^= c;
     } else if (c == '\r' || c == '\n') {
-        if (checksum_param) {   //parity checksum
+        if (checksum_param) {   // parity checksum
             uint8_t checksum = hex_c(string[0]);
             checksum <<= 4;
             checksum += hex_c(string[1]);
diff --git a/src/imu.c b/src/imu.c
index 7a39dac7b..2c5e6598a 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -1,8 +1,6 @@
 #include "board.h"
 #include "mw.h"
 
-#define M_PI       3.14159265358979323846
-
 int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
 int16_t acc_25deg = 0;
 int32_t  BaroAlt;
@@ -23,7 +21,7 @@ static void getEstimatedAttitude(void);
 
 void imuInit(void)
 {
-    acc_25deg = acc_1G * 0.423;
+    acc_25deg = acc_1G * 0.423f;
 
     // if mag sensor is enabled, use it
     if (sensors(SENSOR_MAG))
@@ -53,7 +51,7 @@ void computeIMU(void)
     if ((micros() - timeInterleave) > 650) {
         annex650_overrun_count++;
     } else {
-        while ((micros() - timeInterleave) < 650);  //empirical, interleaving delay between 2 consecutive reads
+        while ((micros() - timeInterleave) < 650);  // empirical, interleaving delay between 2 consecutive reads
     }
 
     Gyro_getADC();
@@ -108,11 +106,6 @@ void computeIMU(void)
 // **************************************************
 
 //******  advanced users settings *******************
-/* Set the Low Pass Filter factor for ACC */
-/* Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time*/
-/* Comment this if  you do not want filter at all.*/
-/* Default WMC value: 8*/
-#define ACC_LPF_FACTOR 4
 
 /* Set the Low Pass Filter factor for Magnetometer */
 /* Increasing this value would reduce Magnetometer noise (not visible in GUI), but would increase Magnetometer lag time*/
@@ -176,9 +169,7 @@ static void getEstimatedAttitude(void)
 #if defined(MG_LPF_FACTOR)
     static int16_t mgSmooth[3];
 #endif
-#if defined(ACC_LPF_FACTOR)
     static int16_t accTemp[3];  //projection of smoothed and normalized magnetic vector on x/y/z axis, as measured by magnetometer
-#endif
     static uint32_t previousT;
     uint32_t currentT = micros();
     float scale, deltaGyroAngle[3];
@@ -189,16 +180,15 @@ static void getEstimatedAttitude(void)
     // Initialization
     for (axis = 0; axis < 3; axis++) {
         deltaGyroAngle[axis] = gyroADC[axis] * scale;
-#if defined(ACC_LPF_FACTOR)
-        accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> ACC_LPF_FACTOR)) + accADC[axis];
-        accSmooth[axis] = accTemp[axis] >> ACC_LPF_FACTOR;
-#define ACC_VALUE accSmooth[axis]
-#else
-        accSmooth[axis] = accADC[axis];
-#define ACC_VALUE accADC[axis]
-#endif
-        accMag += (int32_t) ACC_VALUE * ACC_VALUE;
         
+        if (cfg.acc_lpf_factor > 0) {
+            accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> cfg.acc_lpf_factor)) + accADC[axis];
+            accSmooth[axis] = accTemp[axis] >> cfg.acc_lpf_factor;
+        } else {
+            accSmooth[axis] = accADC[axis];
+        }
+        accMag += (int32_t)accSmooth[axis] * accSmooth[axis];
+
         if (sensors(SENSOR_MAG)) {
 #if defined(MG_LPF_FACTOR)
             mgSmooth[axis] = (mgSmooth[axis] * (MG_LPF_FACTOR - 1) + magADC[axis]) / MG_LPF_FACTOR; // LPF for Magnetometer values
@@ -208,7 +198,7 @@ static void getEstimatedAttitude(void)
 #endif
         }
     }
-    accMag = accMag * 100 / ((int32_t) acc_1G * acc_1G);
+    accMag = accMag * 100 / ((int32_t)acc_1G * acc_1G);
 
     rotateV(&EstG.V, deltaGyroAngle);
     if (sensors(SENSOR_MAG)) {
@@ -223,18 +213,12 @@ static void getEstimatedAttitude(void)
     // Apply complimentary filter (Gyro drift correction)
     // If accel magnitude >1.4G or <0.6G and ACC vector outside of the limit range => we neutralize the effect of accelerometers in the angle estimation.
     // To do that, we just skip filter, as EstV already rotated by Gyro
-    if ((36 < accMag && accMag < 196) || smallAngle25)
+    if ((36 < accMag && accMag < 196) || smallAngle25) {
         for (axis = 0; axis < 3; axis++) {
-            int16_t acc = ACC_VALUE;
-#if !defined(TRUSTED_ACCZ)
-            if (smallAngle25 && axis == YAW)
-                //We consider ACCZ = acc_1G when the acc on other axis is small.
-                //It's a tweak to deal with some configs where ACC_Z tends to a value < acc_1G when high throttle is applied.
-                //This tweak applies only when the multi is not in inverted position
-                acc = acc_1G;
-#endif
+            int16_t acc = accSmooth[axis];
             EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + acc) * INV_GYR_CMPF_FACTOR;
         }
+    }
 
     if (sensors(SENSOR_MAG)) {
         for (axis = 0; axis < 3; axis++)
@@ -246,53 +230,8 @@ static void getEstimatedAttitude(void)
     angle[PITCH] = _atan2f(EstG.V.Y, EstG.V.Z);
 
     if (sensors(SENSOR_MAG)) {
-#define GHETTO    
-    
-#ifdef GHETTO
         // Attitude of the cross product vector GxM
         heading = _atan2f(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z) / 10;
-#else
-        static float Cos_Roll, Sin_Roll, Cos_Pitch, Sin_Pitch;
-    	static float Mx1, My1, Mz1, xh, yh;
-    	static float rollRadians;
-      	static float pitchRadians;
-
-        // proper tilt compensation
-		// Get pitch and roll in radians
-		rollRadians	= angle[ROLL] / 1800.0 * M_PI;
-		pitchRadians = angle[PITCH] /1800.0 * M_PI;
-
-		//rollRadians	= _atan2f(accADC[ROLL], accADC[YAW])/1800.0*M_PI;
-		//pitchRadians = _atan2f(accADC[PITCH], accADC[YAW])/1800.0*M_PI;
-
-		// Mx2 and My2 are the corrected values
-		// Mx1, My1 and Mz1 are the floating point values from the mag sensor
-		//Mx1 = magADC[ROLL];
-		//My1 = magADC[PITCH];
-		//Mz1 = magADC[YAW];
-
-		Mx1 = EstM.V.X;
-		My1 = EstM.V.Y;
-		Mz1 = EstM.V.Z;
-
-		// These are used more than once, so pre-calculate for efficiency
-		Cos_Roll = cosf(rollRadians);
-		Cos_Pitch = cosf(pitchRadians);
-		Sin_Roll = sinf(rollRadians);
-		Sin_Pitch = sinf(pitchRadians);
-
-		// The tilt-compensation equations are as follows
-		//X_h=X*cos(pitch)+Y*sin(roll)sin(pitch)-Z*cos(roll)*sin(pitch) 
-		//Y_h=Y*cos(roll)+Z*sin(roll)
-		xh = (Mx1 * Cos_Pitch) + (My1 * Sin_Roll * Sin_Pitch) - (Mz1 * Sin_Pitch * Cos_Roll); // Correct x axis
-		yh = (My1 * Cos_Roll) + (Mz1 * Sin_Roll);	// Correct y axis
-
-		// Tilt-adjusted heading in degrees
-	    heading = _atan2f(yh, xh) / 10; 
-
-
-
-#endif        
     }
 }
 
@@ -332,7 +271,7 @@ void getEstimatedAltitude(void)
     //D
     temp32 = cfg.D8[PIDALT] * (BaroHigh - BaroLow) / 40;
     BaroPID -= temp32;
-    
+
     EstAlt = BaroHigh * 10 / (BARO_TAB_SIZE / 2);
 
     temp32 = AltHold - EstAlt;
@@ -341,7 +280,7 @@ void getEstimatedAltitude(void)
     // P
     BaroPID += cfg.P8[PIDALT] * constrain(temp32, (-2) * cfg.P8[PIDALT], 2 * cfg.P8[PIDALT]) / 100;
     BaroPID = constrain(BaroPID, -150, +150); // sum of P and D should be in range 150
-    
+
     // I
     errorAltitudeI += temp32 * cfg.I8[PIDALT] / 50;
     errorAltitudeI = constrain(errorAltitudeI, -30000, 30000);
diff --git a/src/main.c b/src/main.c
index 56d361852..9a32acbd8 100755
--- a/src/main.c
+++ b/src/main.c
@@ -2,6 +2,11 @@
 #include "mw.h"
 
 extern uint8_t useServo;
+extern rcReadRawDataPtr rcReadRawFunc;
+
+// two receiver read functions
+extern uint16_t pwmReadRawRC(uint8_t chan);
+extern uint16_t spektrumReadRawRC(uint8_t chan);
 
 void throttleCalibration(void)
 {
@@ -48,9 +53,12 @@ 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), useServo, feature(FEATURE_DIGITAL_SERVO)))
+    if (pwmInit(feature(FEATURE_PPM), !feature(FEATURE_SPEKTRUM), useServo, feature(FEATURE_DIGITAL_SERVO)))
         throttleCalibration(); // noreturn
 
+    // configure PWM/CPPM read function. spektrum will override that
+    rcReadRawFunc = pwmReadRawRC;
+
     LED1_ON;
     LED0_OFF;
     for (i = 0; i < 10; i++) {
@@ -72,9 +80,15 @@ int main(void)
     if (feature(FEATURE_VBAT))
         batteryInit();
 
-    // Optional GPS - available only when using PPM, otherwise required pins won't be usable
-    if (feature(FEATURE_PPM) && feature(FEATURE_GPS))
-       gpsInit();
+    if (feature(FEATURE_SPEKTRUM)) {
+        spektrumInit();
+        rcReadRawFunc = spektrumReadRawRC;
+    } else {
+        // 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();
+    }
 
     previousTime = micros();
     calibratingG = 400;
diff --git a/src/mixer.c b/src/mixer.c
index 4759b851a..b9b81b026 100755
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -101,7 +101,7 @@ void mixTable(void)
     static uint8_t camCycle = 0;
     static uint8_t camState = 0;
     static uint32_t camTime = 0;
-    
+
     if (numberMotor > 3) {
         //prevent "yaw jump" during yaw correction
         axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
@@ -115,7 +115,7 @@ void mixTable(void)
             servo[4] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000);   //LEFT
             servo[5] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000);   //RIGHT
             break;
-    
+
         case MULTITYPE_TRI:
             motor[0] = PIDMIX(0, +4 / 3, 0);    //REAR
             motor[1] = PIDMIX(-1, -2 / 3, 0);   //RIGHT
@@ -143,7 +143,7 @@ void mixTable(void)
             motor[2] = PIDMIX(+0, +1, +1);      //REAR_2 CCW
             motor[3] = PIDMIX(+1, -1, 0);       //FRONT_L CW
             break;
-            
+
         case MULTITYPE_Y6:
             motor[0] = PIDMIX(+0, +4 / 3, +1);  //REAR
             motor[1] = PIDMIX(-1, -2 / 3, -1);  //RIGHT
@@ -229,7 +229,7 @@ void mixTable(void)
             servo[1]  = constrain(servo[1] + cfg.wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX);
             break;
     }
-        
+
     // do camstab
     if (feature(FEATURE_SERVO_TILT)) {
         servo[0] = TILT_PITCH_MIDDLE + rcData[AUX3] - 1500;
diff --git a/src/mw.c b/src/mw.c
index 9bab82005..e54f8e63d 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -1,7 +1,7 @@
 #include "board.h"
 #include "mw.h"
 
-// March  2012     V2.0_pre_version_3
+// March  2012     V2.0
 
 #define CHECKBOXITEMS 11
 #define PIDITEMS 8
@@ -22,19 +22,12 @@ uint8_t vbat;                   // battery voltage in 0.1V steps
 
 volatile int16_t failsafeCnt = 0;
 int16_t failsafeEvents = 0;
-int16_t rcData[8];              // interval [1000;2000]
+int16_t rcData[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };              // interval [1000;2000]
 int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW 
-//uint8_t rcRate8;
-//uint8_t rcExpo8;
-int16_t lookupRX[7];            //  lookup table for expo & RC rate
+int16_t lookupRX[7];            // lookup table for expo & RC rate
+rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
 
-// uint8_t P8[8], I8[8], D8[8];     //8 bits is much faster and the code is much shorter
 uint8_t dynP8[3], dynI8[3], dynD8[3];
-// uint8_t rollPitchRate;
-// uint8_t yawRate;
-// uint8_t dynThrPID;
-// uint8_t activate1[CHECKBOXITEMS];
-// uint8_t activate2[CHECKBOXITEMS];
 uint8_t rcOptions[CHECKBOXITEMS];
 uint8_t okToArm = 0;
 uint8_t accMode = 0;            // if level mode is a activated
@@ -42,7 +35,6 @@ uint8_t magMode = 0;            // if compass heading hold is a activated
 uint8_t baroMode = 0;           // if altitude hold is activated
 
 int16_t axisPID[3];
-volatile uint16_t rcValue[18] = { 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502 }; // interval [1000;2000]
 
 // **********************
 // GPS
@@ -60,7 +52,6 @@ uint16_t GPS_altitude, GPS_speed;       // altitude in 0.1m and speed in 0.1m/s
 uint8_t GPS_update = 0;         // it's a binary toogle to distinct a GPS position update
 int16_t GPS_angle[2];           // it's the angles that must be applied for GPS correction
 
-
 //Automatic ACC Offset Calibration
 // **********************
 uint16_t InflightcalibratingA = 0;
@@ -76,7 +67,6 @@ uint16_t AccInflightCalibrationActive = 0;
 uint32_t pMeter[PMOTOR_SUM + 1];        // we use [0:7] for eight motors,one extra for sum
 uint8_t pMeterV;                // dummy to satisfy the paramStruct logic in ConfigurationLoop()
 uint32_t pAlarm;                // we scale the eeprom value from [0:255] to this value we can directly compare to the sum in pMeter[6]
-// uint8_t powerTrigger1 = 0;       
 uint16_t powerValue = 0;        // last known current
 uint16_t intPowerMeterSum, intPowerTrigger1;
 uint8_t batteryCellCount = 3;   // cell count
@@ -119,7 +109,7 @@ void annexCode(void)
     static uint16_t vbatRawArray[8];
     uint8_t i;
 
-    //PITCH & ROLL only dynamic PID adjustemnt,  depending on throttle value
+    // PITCH & ROLL only dynamic PID adjustemnt,  depending on throttle value
     if (rcData[THROTTLE] < 1500) {
         prop2 = 100;
     } else if (rcData[THROTTLE] < 2000) {
@@ -141,20 +131,20 @@ void annexCode(void)
             uint16_t tmp2 = tmp / 100;
             rcCommand[axis] = lookupRX[tmp2] + (tmp - tmp2 * 100) * (lookupRX[tmp2 + 1] - lookupRX[tmp2]) / 100;
             prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500;
-            prop1 = (uint16_t) prop1 *prop2 / 100;
+            prop1 = (uint16_t)prop1 * prop2 / 100;
         } else {                //YAW
             rcCommand[axis] = tmp;
-            prop1 = 100 - (uint16_t) cfg.yawRate * tmp / 500;
+            prop1 = 100 - (uint16_t)cfg.yawRate * tmp / 500;
         }
-        dynP8[axis] = (uint16_t) cfg.P8[axis] * prop1 / 100;
-        dynD8[axis] = (uint16_t) cfg.D8[axis] * prop1 / 100;
+        dynP8[axis] = (uint16_t)cfg.P8[axis] * prop1 / 100;
+        dynD8[axis] = (uint16_t)cfg.D8[axis] * prop1 / 100;
         if (rcData[axis] < cfg.midrc)
             rcCommand[axis] = -rcCommand[axis];
     }
-    rcCommand[THROTTLE] = cfg.minthrottle + (int32_t) (cfg.maxthrottle - cfg.minthrottle) * (rcData[THROTTLE] - cfg.mincheck) / (2000 - cfg.mincheck);
+    rcCommand[THROTTLE] = cfg.minthrottle + (int32_t)(cfg.maxthrottle - cfg.minthrottle) * (rcData[THROTTLE] - cfg.mincheck) / (2000 - cfg.mincheck);
 
     if (headFreeMode) {
-        float radDiff = (heading - headFreeModeHold) * 0.0174533f;      // where PI/180 ~= 0.0174533
+        float radDiff = (heading - headFreeModeHold) * M_PI / 180.0f;
         float cosDiff = cosf(radDiff);
         float sinDiff = sinf(radDiff);
         int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
@@ -274,7 +264,7 @@ void annexCode(void)
     }
 }
 
-uint16_t readRawRC(uint8_t chan)
+uint16_t pwmReadRawRC(uint8_t chan)
 {
     uint16_t data;
 
@@ -292,12 +282,9 @@ void computeRC(void)
     static uint8_t rc4ValuesIndex = 0;
     uint8_t chan, a;
 
-#if defined(SBUS)
-    readSBus();
-#endif
     rc4ValuesIndex++;
     for (chan = 0; chan < 8; chan++) {
-        rcData4Values[chan][rc4ValuesIndex % 4] = readRawRC(chan);
+        rcData4Values[chan][rc4ValuesIndex % 4] = rcReadRawFunc(chan);
         rcDataMean[chan] = 0;
         for (a = 0; a < 4; a++)
             rcDataMean[chan] += rcData4Values[chan][a];
@@ -324,16 +311,15 @@ void loop(void)
     static uint32_t rcTime = 0;
     static int16_t initialThrottleHold;
 
-#if defined(SPEKTRUM)
-    if (rcFrameComplete)
+    // this will return false if spektrum is disabled. shrug.
+    if (spektrumFrameComplete())
         computeRC();
-#endif
 
     if (currentTime > rcTime) { // 50Hz
         rcTime = currentTime + 20000;
-#if !(defined(SPEKTRUM) ||defined(BTSERIAL))
-        computeRC();
-#endif
+        // TODO clean this up. computeRC should handle this check
+        if (!feature(FEATURE_SPEKTRUM))
+            computeRC();
         // Failsafe routine - added by MIS
 #if defined(FAILSAFE)
         if (failsafeCnt > (5 * FAILSAVE_DELAY) && armed == 1) { // Stabilize, and set Throttle to specified level
@@ -376,7 +362,7 @@ void loop(void)
                 }
             } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && rcData[ROLL] > cfg.maxcheck)) {
                 if (rcDelayCommand == 20) {
-                    if (AccInflightCalibrationMeasurementDone) {        //trigger saving into eeprom after landing
+                    if (AccInflightCalibrationMeasurementDone) {        // trigger saving into eeprom after landing
                         AccInflightCalibrationMeasurementDone = 0;
                         AccInflightCalibrationSavetoEEProm = 1;
                     } else {
@@ -395,12 +381,10 @@ void loop(void)
                 } else if (armed)
                     armed = 0;
                 rcDelayCommand = 0;
-            } else if ((rcData[YAW] < cfg.mincheck || rcData[ROLL] < cfg.mincheck)
-                       && armed == 1) {
+            } else if ((rcData[YAW] < cfg.mincheck || rcData[ROLL] < cfg.mincheck) && armed == 1) {
                 if (rcDelayCommand == 20)
                     armed = 0;  // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
-            } else if ((rcData[YAW] > cfg.maxcheck || rcData[ROLL] > cfg.maxcheck)
-                       && rcData[PITCH] < cfg.maxcheck && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
+            } else if ((rcData[YAW] > cfg.maxcheck || rcData[ROLL] > cfg.maxcheck) && rcData[PITCH] < cfg.maxcheck && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
                 if (rcDelayCommand == 20) {
                     armed = 1;
                     headFreeModeHold = heading;
@@ -418,11 +402,11 @@ void loop(void)
             } else
                 rcDelayCommand = 0;
         } else if (rcData[THROTTLE] > cfg.maxcheck && armed == 0) {
-            if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck) {   //throttle=max, yaw=left, pitch=min
+            if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck) {   // throttle=max, yaw=left, pitch=min
                 if (rcDelayCommand == 20)
                     calibratingA = 400;
                 rcDelayCommand++;
-            } else if (rcData[YAW] > cfg.maxcheck && rcData[PITCH] < cfg.mincheck) {    //throttle=max, yaw=right, pitch=min  
+            } else if (rcData[YAW] > cfg.maxcheck && rcData[PITCH] < cfg.mincheck) {    // throttle=max, yaw=right, pitch=min
                 if (rcDelayCommand == 20)
                     calibratingM = 1;   // MAG calibration request
                 rcDelayCommand++;
@@ -462,7 +446,7 @@ void loop(void)
                 InflightcalibratingA = 50;
                 AccInflightCalibrationArmed = 0;
             }
-            if (rcOptions[BOXPASSTHRU]) {       //Use the Passthru Option to activate : Passthru = TRUE Meausrement started, Land and passtrhu = 0 measurement stored
+            if (rcOptions[BOXPASSTHRU]) {       // Use the Passthru Option to activate : Passthru = TRUE Meausrement started, Land and passtrhu = 0 measurement stored
                 if (!AccInflightCalibrationArmed) {
                     AccInflightCalibrationArmed = 1;
                     InflightcalibratingA = 50;
@@ -479,7 +463,7 @@ void loop(void)
                 || (((rcData[AUX3] < 1300) | (1300 < rcData[AUX3] && rcData[AUX3] < 1700) << 1 | (rcData[AUX3] > 1700) << 2 | (rcData[AUX4] < 1300) << 3 | (1300 < rcData[AUX4] && rcData[AUX4] < 1700) << 4 | (rcData[AUX4] > 1700) << 5) & cfg.activate2[i]);
         }
 
-        //note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false
+        // note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false
         if ((rcOptions[BOXACC] || (failsafeCnt > 5 * FAILSAVE_DELAY)) && (sensors(SENSOR_ACC))) {
             // bumpless transfer to Level mode
             if (!accMode) {
@@ -547,7 +531,7 @@ void loop(void)
         } else
             passThruMode = 0;
     } else {                    // not in rc loop
-        static int8_t taskOrder = 0;    //never call all function in the same loop, to avoid high delay spikes
+        static int8_t taskOrder = 0;    // never call all function in the same loop, to avoid high delay spikes
         switch (taskOrder) {
         case 0:
             taskOrder++;
@@ -570,7 +554,6 @@ void loop(void)
             GPS_NewData();
 #endif
             break;
-
         default:
             taskOrder = 0;
             break;
@@ -578,12 +561,11 @@ void loop(void)
     }
 
     computeIMU();
-
     // Measure loop rate just afer reading the sensors
     currentTime = micros();
     cycleTime = currentTime - previousTime;
     previousTime = currentTime;
-    
+
     mpu6050DmpLoop();
 
     if (sensors(SENSOR_MAG)) {
@@ -625,37 +607,38 @@ void loop(void)
                 GPS_dist = GPS_distanceToHold;
                 GPS_dir = GPS_directionToHold;
             }
-            radDiff = (GPS_dir - heading) * 0.0174533f;
-            GPS_angle[ROLL] = constrain(cfg.P8[PIDGPS] * sin(radDiff) * GPS_dist / 10, -cfg.D8[PIDGPS] * 10, +cfg.D8[PIDGPS] * 10);     // with P=5.0, a distance of 1 meter = 0.5deg inclination
-            GPS_angle[PITCH] = constrain(cfg.P8[PIDGPS] * cos(radDiff) * GPS_dist / 10, -cfg.D8[PIDGPS] * 10, +cfg.D8[PIDGPS] * 10);    // max inclination = D deg
+            radDiff = (GPS_dir - heading) * M_PI / 180.0f;
+            GPS_angle[ROLL] = constrain(cfg.P8[PIDGPS] * sinf(radDiff) * GPS_dist / 10, -cfg.D8[PIDGPS] * 10, +cfg.D8[PIDGPS] * 10);     // with P=5.0, a distance of 1 meter = 0.5deg inclination
+            GPS_angle[PITCH] = constrain(cfg.P8[PIDGPS] * cosf(radDiff) * GPS_dist / 10, -cfg.D8[PIDGPS] * 10, +cfg.D8[PIDGPS] * 10);    // max inclination = D deg
         }
     }
-    //**** PITCH & ROLL & YAW PID ****    
+
+    // **** PITCH & ROLL & YAW PID ****    
     for (axis = 0; axis < 3; axis++) {
-        if (accMode == 1 && axis < 2) { //LEVEL MODE
+        if (accMode == 1 && axis < 2) { // LEVEL MODE
             // 50 degrees max inclination
             errorAngle = constrain(2 * rcCommand[axis] - GPS_angle[axis], -500, +500) - angle[axis] + cfg.accTrim[axis];        //16 bits is ok here
 #ifdef LEVEL_PDF
-            PTerm = -(int32_t) angle[axis] * cfg.P8[PIDLEVEL] / 100;
+            PTerm = -(int32_t)angle[axis] * cfg.P8[PIDLEVEL] / 100;
 #else
-            PTerm = (int32_t) errorAngle * cfg.P8[PIDLEVEL] / 100;       //32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768   16 bits is ok for result
+            PTerm = (int32_t)errorAngle * cfg.P8[PIDLEVEL] / 100;       //32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768   16 bits is ok for result
 #endif
             PTerm = constrain(PTerm, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
 
-            errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000);      //WindUp     //16 bits is ok here
-            ITerm = ((int32_t) errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;     //32 bits is needed for calculation:10000*I8 could exceed 32768   16 bits is ok for result
-        } else {                //ACRO MODE or YAW axis
-            error = (int32_t) rcCommand[axis] * 10 * 8 / cfg.P8[axis];  //32 bits is needed for calculation: 500*5*10*8 = 200000   16 bits is ok for result if P8>2 (P>0.2)
+            errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000);      // WindUp     // 16 bits is ok here
+            ITerm = ((int32_t)errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;     // 32 bits is needed for calculation:10000*I8 could exceed 32768   16 bits is ok for result
+        } else {                // ACRO MODE or YAW axis
+            error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];  //32 bits is needed for calculation: 500*5*10*8 = 200000   16 bits is ok for result if P8>2 (P>0.2)
             error -= gyroData[axis];
 
             PTerm = rcCommand[axis];
 
-            errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000);     //WindUp //16 bits is ok here
+            errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000);     // WindUp // 16 bits is ok here
             if (abs(gyroData[axis]) > 640)
                 errorGyroI[axis] = 0;
             ITerm = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;       // 16 bits is ok here 16000/125 = 128 ; 128*250 = 32000
         }
-        PTerm -= (int32_t) gyroData[axis] * dynP8[axis] / 10 / 8;       // 32 bits is needed for calculation
+        PTerm -= (int32_t)gyroData[axis] * dynP8[axis] / 10 / 8;       // 32 bits is needed for calculation
 
         delta = gyroData[axis] - lastGyro[axis];        //16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
         lastGyro[axis] = gyroData[axis];
@@ -663,7 +646,7 @@ void loop(void)
         delta2[axis] = delta1[axis];
         delta1[axis] = delta;
 
-        DTerm = ((int32_t) deltaSum * dynD8[axis]) >> 5;        //32 bits is needed for calculation
+        DTerm = ((int32_t)deltaSum * dynD8[axis]) >> 5;        //32 bits is needed for calculation
 
         axisPID[axis] = PTerm + ITerm - DTerm;
     }
diff --git a/src/mw.h b/src/mw.h
index 6d0cffa21..5b2cb132b 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -60,7 +60,7 @@
 //#define MMSERVOGIMBAL                  // Active Output Moving Average Function for Servos Gimbal
 //#define MMSERVOGIMBALVECTORLENGHT 32   // Lenght of Moving Average Vector
 
-#define   VERSION  203
+#define  VERSION  20
 
 // Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
 typedef enum MultiType
@@ -142,6 +142,10 @@ typedef struct config_t {
     int16_t accZero[3];
     int16_t magZero[3];
     int16_t accTrim[2];
+    
+    // sensor-related stuff
+    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
+    uint16_t gyro_lpf;                      // mpuX050 LPF setting
     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 activate1[CHECKBOXITEMS];
@@ -154,6 +158,7 @@ typedef struct config_t {
     // Radio/ESC-related configuration
     uint8_t rcmap[8];                       // mapping of radio channels to internal RPYTA+ order
     uint8_t deadband;                       // introduce a deadband around the stick center. Must be greater than zero
+    uint8_t spektrum_hires;                 // spektrum high-resolution y/n (1024/2048bit)
     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
@@ -278,6 +283,10 @@ void featureClear(uint32_t mask);
 void featureClearAll(void);
 uint32_t featureMask(void);
 
+// spektrum
+void spektrumInit(void);
+bool spektrumFrameComplete(void);
+
 // cli
 void cliProcess(void);
 
diff --git a/src/sensors.c b/src/sensors.c
index 113dccd5b..69f8c2eb8 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -45,6 +45,8 @@ void sensorsAutodetect(void)
     }
     // this is safe because either mpu6050 or mpu3050 sets it, and in case of fail, none do.
     gyro.init();
+    // todo: this is driver specific :(
+    mpu3050Config(cfg.gyro_lpf);
 }
 
 uint16_t batteryAdcToVoltage(uint16_t src)
@@ -59,6 +61,7 @@ void batteryInit(void)
     uint8_t i;
     uint32_t voltage = 0;
 
+    // average up some voltage readings
     for (i = 0; i < 32; i++) {
         voltage += adcGetBattery();
         delay(10);
@@ -68,8 +71,8 @@ void batteryInit(void)
 
     // autodetect cell count, going from 2S..6S
     for (i = 2; i < 6; i++) {
-    	if (voltage < i * cfg.vbatmaxcellvoltage)
-    	    break;
+        if (voltage < i * cfg.vbatmaxcellvoltage)
+            break;
     }
     batteryCellCount = i;
     batteryWarningVoltage = i * cfg.vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
@@ -102,12 +105,12 @@ static void ACC_Common(void)
         }
         calibratingA--;
     }
-    
+
     if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
         static int32_t b[3];
         static int16_t accZero_saved[3] = { 0, 0, 0 };
         static int16_t accTrim_saved[2] = { 0, 0 };
-        //Saving old zeropoints before measurement
+        // Saving old zeropoints before measurement
         if (InflightcalibratingA == 50) {
             accZero_saved[ROLL] = cfg.accZero[ROLL];
             accZero_saved[PITCH] = cfg.accZero[PITCH];
@@ -127,7 +130,7 @@ static void ACC_Common(void)
                 accADC[axis] = 0;
                 cfg.accZero[axis] = 0;
             }
-            //all values are measured
+            // all values are measured
             if (InflightcalibratingA == 1) {
                 AccInflightCalibrationActive = 0;
                 AccInflightCalibrationMeasurementDone = 1;
@@ -142,7 +145,7 @@ static void ACC_Common(void)
             InflightcalibratingA--;
         }
         // Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
-        if (AccInflightCalibrationSavetoEEProm == 1) {      //the copter is landed, disarmed and the combo has been done again
+        if (AccInflightCalibrationSavetoEEProm == 1) {      // the copter is landed, disarmed and the combo has been done again
             AccInflightCalibrationSavetoEEProm = 0;
             cfg.accZero[ROLL] = b[ROLL] / 50;
             cfg.accZero[PITCH] = b[PITCH] / 50;
@@ -158,7 +161,6 @@ static void ACC_Common(void)
     accADC[YAW] -= cfg.accZero[YAW];
 }
 
-
 void ACC_getADC(void)
 {
     acc.read(accADC);
@@ -171,12 +173,11 @@ static uint32_t baroDeadline = 0;
 static uint8_t baroState = 0;
 static uint16_t baroUT = 0;
 static uint32_t baroUP = 0;
-static int16_t baroTemp = 0;
 
 void Baro_update(void)
 {
     int32_t pressure;
-    
+
     if (currentTime < baroDeadline)
         return;
 
@@ -199,9 +200,8 @@ void Baro_update(void)
             break;
         case 3:
             baroUP = bmp085_get_up();
-            baroTemp = bmp085_get_temperature(baroUT);
+            bmp085_get_temperature(baroUT);
             pressure = bmp085_get_pressure(baroUP);
-
             BaroAlt = (1.0f - pow(pressure / 101325.0f, 0.190295f)) * 4433000.0f; // centimeter
             baroState = 0;
             baroDeadline += 5000;
@@ -214,7 +214,7 @@ static void GYRO_Common(void)
     static int16_t previousGyroADC[3] = { 0, 0, 0 };
     static int32_t g[3];
     uint8_t axis;
-    
+
 #if defined MMGYRO       
     // Moving Average Gyros by Magnetron1
     //---------------------------------------------------
@@ -242,7 +242,7 @@ static void GYRO_Common(void)
         calibratingG--;
     }
 
-#ifdef MMGYRO       
+#ifdef MMGYRO
     mediaMobileGyroIDX = ++mediaMobileGyroIDX % MMGYROVECTORLENGTH;
     for (axis = 0; axis < 3; axis++) {
         gyroADC[axis]  -= gyroZero[axis];
@@ -329,9 +329,7 @@ void Mag_getADC(void)
         }
         calibratingM = 0;
     }
-    magADC[ROLL] = magADC[ROLL] * magCal[ROLL];
-    magADC[PITCH] = magADC[PITCH] * magCal[PITCH];
-    magADC[YAW] = magADC[YAW] * magCal[YAW];
+
     if (magInit) {              // we apply offset only once mag calibration is done
         magADC[ROLL] -= cfg.magZero[ROLL];
         magADC[PITCH] -= cfg.magZero[PITCH];
diff --git a/src/spektrum.c b/src/spektrum.c
new file mode 100644
index 000000000..be7196073
--- /dev/null
+++ b/src/spektrum.c
@@ -0,0 +1,90 @@
+#include "board.h"
+#include "mw.h"
+
+// driver for spektrum satellite receiver / sbus using UART2 (freeing up more motor outputs for stuff)
+
+#define SPEK_MAX_CHANNEL 7
+#define SPEK_FRAME_SIZE 16
+static uint8_t spek_chan_shift;
+static uint8_t spek_chan_mask;
+static bool rcFrameComplete = false;
+static bool spekDataIncoming = false;
+volatile uint8_t spekFrame[SPEK_FRAME_SIZE];
+
+static void spektrumDataReceive(uint16_t c);
+
+void spektrumInit(void)
+{
+    if (cfg.spektrum_hires) {
+        // 11 bit frames
+        spek_chan_shift = 3;
+        spek_chan_mask = 0x07;
+    } else {
+        // 10 bit frames
+        spek_chan_shift = 2;
+        spek_chan_mask = 0x03;
+    }
+
+    uart2Init(115200, spektrumDataReceive);
+}
+
+// UART2 Receive ISR callback
+static void spektrumDataReceive(uint16_t c)
+{
+    uint32_t spekTime;
+    static uint32_t spekTimeLast, spekTimeInterval;
+    static uint8_t  spekFramePosition;
+
+    spekDataIncoming = true;
+    spekTime = micros();
+    spekTimeInterval = spekTime - spekTimeLast;
+    spekTimeLast = spekTime;
+    if (spekTimeInterval > 5000) 
+        spekFramePosition = 0;
+    spekFrame[spekFramePosition] = (uint8_t)c;
+    if (spekFramePosition == SPEK_FRAME_SIZE - 1) {
+        rcFrameComplete = true;
+#if defined(FAILSAFE)
+        if(failsafeCnt > 20) 
+            failsafeCnt -= 20; 
+        else 
+            failsafeCnt = 0;   // clear FailSafe counter
+#endif
+    } else {
+        spekFramePosition++;
+    }
+}
+
+bool spektrumFrameComplete(void)
+{
+    return rcFrameComplete;
+}
+
+static const uint8_t spekRcChannelMap[SPEK_MAX_CHANNEL] = {1, 2, 3, 0, 4, 5, 6};
+
+uint16_t spektrumReadRawRC(uint8_t chan)
+{
+    uint16_t data;
+    static uint32_t spekChannelData[SPEK_MAX_CHANNEL];
+    uint8_t b;
+
+    if (rcFrameComplete) {
+        for (b = 3; b < SPEK_FRAME_SIZE; b += 2) {
+            uint8_t spekChannel = 0x0F & (spekFrame[b - 1] >> spek_chan_shift);
+            if (spekChannel < SPEK_MAX_CHANNEL) 
+                spekChannelData[spekChannel] = ((uint32_t)(spekFrame[b - 1] & spek_chan_mask) << 8) + spekFrame[b];
+        }
+        rcFrameComplete = false;
+    }
+
+    if (chan >= SPEK_MAX_CHANNEL || !spekDataIncoming) {
+        data = 1500;
+    } else {
+        if (cfg.spektrum_hires)
+            data = 988 + (spekChannelData[spekRcChannelMap[chan]] >> 1);   // 2048 mode
+        else
+            data = 988 + spekChannelData[spekRcChannelMap[chan]];          // 1024 mode
+    }
+    
+    return data;
+}