diff --git a/.gitignore b/.gitignore
index 34dd269dd..245d33be9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,8 @@
 *.dep
 *.bak
 *.uvgui.*
+*.swp
+*.save
 .project
 .settings
 .cproject
diff --git a/src/main/config/config.c b/src/main/config/config.c
index e18f3dba8..db8a7425d 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -75,7 +75,12 @@
 #include "config/config_master.h"
 
 #define BRUSHED_MOTORS_PWM_RATE 16000
+#ifdef STM32F4
+#define BRUSHLESS_MOTORS_PWM_RATE 2600
+#else
 #define BRUSHLESS_MOTORS_PWM_RATE 400
+#endif // STM32F4
+
 
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
 
@@ -200,7 +205,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->dterm_lpf_hz = 0;    // filtering ON by default
     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
 
-#if defined(STM32F411xE) || defined(STM32F40_41xxx)
+#if defined(STM32F4)
     pidProfile->dterm_lpf_hz = 60;   // filtering ON by default
     pidProfile->P_f[ROLL] = 5.012f;     // new PID for raceflight. test carefully
     pidProfile->I_f[ROLL] = 1.021f;
@@ -451,6 +456,10 @@ static void resetConf(void)
     featureSet(FEATURE_FAILSAFE);
     featureSet(FEATURE_ONESHOT125);
     featureSet(FEATURE_SBUS_INVERTER);
+    
+#ifdef STM32F4
+    featureSet(FEATURE_USE_PWM_RATE);
+#endif
 
     // global settings
     masterConfig.current_profile_index = 0;     // default profile
diff --git a/src/main/drivers/light_ws2811strip_stm32f30x.c b/src/main/drivers/light_ws2811strip_stm32f30x.c
index 853f81b81..1685dcb1f 100644
--- a/src/main/drivers/light_ws2811strip_stm32f30x.c
+++ b/src/main/drivers/light_ws2811strip_stm32f30x.c
@@ -39,7 +39,6 @@
 #define WS2811_IRQ                      DMA1_Channel3_IRQn
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH3_HANDLER
-
 #endif
 
 void ws2811DMAHandler(DMA_Channel_TypeDef *channel) {
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index ab6b58893..fade65b1c 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -36,8 +36,8 @@
 #define MAX_INPUTS  8
 
 #define PWM_TIMER_MHZ 1
-#define ONESHOT_TIMER_MHZ 24
 //these three have to be the same because of the ppmAvoidPWMTimerClash functions
+#define ONESHOT_TIMER_MHZ 12
 #define MULTISHOT_TIMER_MHZ 12
 #define PWM_BRUSHED_TIMER_MHZ 12
 
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 6f95ef59a..ba1ec28cf 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -28,7 +28,6 @@
 #include "flight/failsafe.h" // FIXME dependency into the main code from a driver
 
 #include "pwm_mapping.h"
-
 #include "pwm_output.h"
 
 typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value);  // function pointer used to write motors
@@ -99,7 +98,6 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
     configTimeBase(timerHardware->tim, period, mhz);
     pwmGPIOConfig(timerHardware->gpio, timerHardware->pin, Mode_AF_PP);
 
-
     pwmOCConfig(timerHardware->tim, timerHardware->channel, value);
     if (timerHardware->outputEnable)
         TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
@@ -134,6 +132,7 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
 {
     *motors[index]->ccr = value;
 }
+
 #if defined(STM32F10X) && !defined(CC3D)
 static void pwmWriteOneshot125(uint8_t index, uint16_t value)
 {
@@ -147,7 +146,7 @@ static void pwmWriteOneshot42(uint8_t index, uint16_t value)
 #else
 static void pwmWriteOneshot125(uint8_t index, uint16_t value)
 {
-    *motors[index]->ccr = value * 3;  // 24Mhz -> 8Mhz
+    *motors[index]->ccr = value * 3;
 }
 
 static void pwmWriteOneshot42(uint8_t index, uint16_t value)
@@ -158,7 +157,7 @@ static void pwmWriteOneshot42(uint8_t index, uint16_t value)
 
 static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 {
-    *motors[index]->ccr = (uint16_t)((float)(value-1000) / 4.1666f)+ 60;
+    *motors[index]->ccr = (uint16_t)((float)(value-1000) / 4.1666f) + 60;
 }
 
 void pwmWriteMotor(uint8_t index, uint16_t value)
@@ -235,7 +234,6 @@ void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
     } else {
         motors[motorIndex]->pwmWritePtr = pwmWriteOneshot125;
     }
-
 }
 
 void pwmMultiShotPwmRateMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index 14c937155..31aed125b 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -17,6 +17,13 @@
 
 #pragma once
 
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+#include "gpio.h"
+#include "system.h"
+
 #if !defined(USABLE_TIMER_CHANNEL_COUNT)
 #define USABLE_TIMER_CHANNEL_COUNT 14
 #endif
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index a11832bbe..27c0b4679 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -828,18 +828,18 @@ void mixTable(void)
     int16_t throttleMin, throttleMax;
     static int16_t throttlePrevious = 0;   // Store the last throttle direction for deadband transitions
 
-    // Find min and max throttle based on condition. Use rcData for 3D to prevent loss of power due to min_check
+    // Find min and max throttle based on condition.
     if (feature(FEATURE_3D)) {
         if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
 
-        if ((rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
+        if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
             throttleMax = flight3DConfig->deadband3d_low;
             throttleMin = escAndServoConfig->minthrottle;
-            throttlePrevious = throttle = rcData[THROTTLE];
-        } else if (rcData[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
+            throttlePrevious = throttle = rcCommand[THROTTLE];
+        } else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
             throttleMax = escAndServoConfig->maxthrottle;
             throttleMin = flight3DConfig->deadband3d_high;
-            throttlePrevious = throttle = rcData[THROTTLE];
+            throttlePrevious = throttle = rcCommand[THROTTLE];
         } else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)))  { // Deadband handling from negative to positive
             throttle = throttleMax = flight3DConfig->deadband3d_low;
             throttleMin = escAndServoConfig->minthrottle;
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index c89c50bef..03a108d6f 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -34,6 +34,7 @@
 #include "drivers/system.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
+#include "drivers/gyro_sync.h"
 
 #include "sensors/barometer.h"
 #include "sensors/battery.h"
@@ -215,7 +216,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
 
     if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
         // GYRO calibration
-        gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
+        gyroSetCalibrationCycles(calculateCalibratingCycles());
 
 #ifdef GPS
         if (feature(FEATURE_GPS)) {
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index d89f59f33..50b1cff30 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -49,12 +49,13 @@ typedef enum {
     BOXBLACKBOX,
     BOXFAILSAFE,
     BOXAIRMODE,
-	BOXACROPLUS,
-	BOXALWAYSSTABILIZED,
-	BOXTEST1,
-	BOXTEST2,
-	BOXTEST3,
-	CHECKBOX_ITEM_COUNT
+    BOXACROPLUS,
+    BOX3DDISABLESWITCH,
+    BOXALWAYSSTABILIZED,
+    BOXTEST1,
+    BOXTEST2,
+    BOXTEST3,
+    CHECKBOX_ITEM_COUNT
 } boxId_e;
 
 extern uint32_t rcModeActivationMask;
diff --git a/src/main/io/rc_curves.c b/src/main/io/rc_curves.c
index 9429d59ea..2068c9fba 100644
--- a/src/main/io/rc_curves.c
+++ b/src/main/io/rc_curves.c
@@ -24,6 +24,8 @@
 
 #include "io/rc_curves.h"
 
+#include "config/config.h"
+
 int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH];     // lookup table for expo & RC rate PITCH+ROLL
 int16_t lookupYawRC[YAW_LOOKUP_LENGTH];     // lookup table for expo & RC rate YAW
 int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];   // lookup table for expo & mid THROTTLE
@@ -48,6 +50,7 @@ void generateYawCurve(controlRateConfig_t *controlRateConfig)
 void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig)
 {
     uint8_t i;
+    uint16_t minThrottle = (feature(FEATURE_3D && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) ? PWM_RANGE_MIN : escAndServoConfig->minthrottle);
 
     for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
         int16_t tmp = 10 * i - controlRateConfig->thrMid8;
@@ -57,6 +60,6 @@ void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoCo
         if (tmp < 0)
             y = controlRateConfig->thrMid8;
         lookupThrottleRC[i] = 10 * controlRateConfig->thrMid8 + tmp * (100 - controlRateConfig->thrExpo8 + (int32_t) controlRateConfig->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
-        lookupThrottleRC[i] = escAndServoConfig->minthrottle + (int32_t) (escAndServoConfig->maxthrottle - escAndServoConfig->minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
+        lookupThrottleRC[i] = minThrottle + (int32_t) (escAndServoConfig->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
     }
 }
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index f758f61c7..9e88e8178 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -110,6 +110,8 @@ static void cliAdjustmentRange(char *cmdline);
 static void cliMotorMix(char *cmdline);
 static void cliDefaults(char *cmdline);
 static void cliDump(char *cmdLine);
+void cliDumpProfile(uint8_t profileIndex);
+void cliDumpRateProfile(uint8_t rateProfileIndex) ;
 static void cliExit(char *cmdline);
 static void cliFeature(char *cmdline);
 static void cliMotor(char *cmdline);
@@ -1841,8 +1843,6 @@ typedef enum {
     DUMP_RATES = (1 << 2),
 } dumpFlags_e;
 
-#define DUMP_ALL (DUMP_MASTER | DUMP_PROFILE | DUMP_RATES)
-
 
 static const char* const sectionBreak = "\r\n";
 
@@ -1858,7 +1858,7 @@ static void cliDump(char *cmdline)
     float thr, roll, pitch, yaw;
 #endif
 
-    uint8_t dumpMask = DUMP_ALL;
+    uint8_t dumpMask = DUMP_MASTER;
     if (strcasecmp(cmdline, "master") == 0) {
         dumpMask = DUMP_MASTER; // only
     }
@@ -1953,7 +1953,7 @@ static void cliDump(char *cmdline)
             if (mask & (1 << i))
                 cliPrintf("beeper -%s\r\n", beeperNameForTableIndex(i));
             else
-                cliPrintf("beeper  %s\r\n", beeperNameForTableIndex(i));
+                cliPrintf("beeper %s\r\n", beeperNameForTableIndex(i));
         }
 #endif
 
@@ -2010,27 +2010,57 @@ static void cliDump(char *cmdline)
 
         cliPrint("\r\n# rxfail\r\n");
         cliRxFail("");
+        
+        uint8_t activeProfile = masterConfig.current_profile_index;
+        uint8_t i;
+        for (i=0; i<MAX_PROFILE_COUNT;i++) 
+            cliDumpProfile(i);
+        
+        changeProfile(activeProfile);
+        
     }
 
     if (dumpMask & DUMP_PROFILE) {
-        cliPrint("\r\n# dump profile\r\n");
+        cliDumpProfile(masterConfig.current_profile_index);
+    }
+    
+    if (dumpMask & DUMP_RATES) {				
+        cliDumpRateProfile(currentProfile->activeRateProfile);
+    }
+    
+}
 
+void cliDumpProfile(uint8_t profileIndex) {
+        if (profileIndex >= MAX_PROFILE_COUNT) // Faulty values
+            return;
+        
+        changeProfile(profileIndex);
         cliPrint("\r\n# profile\r\n");
         cliProfile("");
-
         printSectionBreak();
-
         dumpValues(PROFILE_VALUE);
-
-        cliPrint("\r\n# rateprofile\r\n");		
-        cliRateProfile("");		
-
-        printSectionBreak();		
-
-        dumpValues(PROFILE_RATE_VALUE);
-    }
+        uint8_t currentRateIndex = currentProfile->activeRateProfile;
+        uint8_t i;
+        for (i=0; i<MAX_RATEPROFILES; i++)
+            cliDumpRateProfile(i);
+        
+        changeControlRateProfile(currentRateIndex);
+        cliPrintf("\r\n# Active rateprofile for profile %d, \r\n", profileIndex);	// output rateprofile again to mark "active rateprofile" 
+        cliRateProfile("");
 }
 
+void cliDumpRateProfile(uint8_t rateProfileIndex) {
+    if (rateProfileIndex >= MAX_RATEPROFILES) // Faulty values
+            return;
+    
+    changeControlRateProfile(rateProfileIndex);
+    cliPrint("\r\n# rateprofile\r\n");		
+    cliRateProfile("");		
+    printSectionBreak();		
+
+    dumpValues(PROFILE_RATE_VALUE);
+            
+}
 void cliEnter(serialPort_t *serialPort)
 {
     cliMode = 1;
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 53fa65a73..11113add3 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -223,9 +223,10 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { BOXFAILSAFE, "FAILSAFE;", 27 },
     { BOXAIRMODE, "AIR MODE;", 28 },
     { BOXACROPLUS, "ACRO PLUS;", 29 },
-    { BOXALWAYSSTABILIZED, "ALWAYS STABILIZED;", 30 },
-    { BOXTEST1, "TEST 1;", 31 },
-    { BOXTEST2, "TEST 2;", 32 },
+    { BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 30},
+    { BOXALWAYSSTABILIZED, "ALWAYS STABILIZED;", 31 },
+    { BOXTEST1, "TEST 1;", 32 },
+    { BOXTEST2, "TEST 2;", 33 },
     { CHECKBOX_ITEM_COUNT, NULL, 0xFF }
 };
 
@@ -554,7 +555,7 @@ void mspInit(serialConfig_t *serialConfig)
 
 #ifdef BARO
     activeBoxIds[activeBoxIdCount++] = BOXACROPLUS;
-
+    activeBoxIds[activeBoxIdCount++] = BOX3DDISABLESWITCH;
     if (sensors(SENSOR_BARO)) {
         activeBoxIds[activeBoxIdCount++] = BOXBARO;
     }
@@ -670,8 +671,7 @@ static uint32_t packFlightModeFlags(void)
         IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE|
         IS_ENABLED(IS_RC_MODE_ACTIVE(BOXACROPLUS)) << BOXACROPLUS|
 		IS_ENABLED(IS_RC_MODE_ACTIVE(BOXALWAYSSTABILIZED)) << BOXALWAYSSTABILIZED|
-       	IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTEST1)) << BOXTEST1|
-        IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTEST2)) << BOXTEST2;
+       	IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTEST1)) << BOXTEST1;
 
     for (i = 0; i < activeBoxIdCount; i++) {
         int flag = (tmp & (1 << activeBoxIds[i]));
diff --git a/src/main/main.c b/src/main/main.c
index 3642fc1b8..cd6ed909d 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -629,7 +629,7 @@ void init(void)
     if (masterConfig.mixerMode == MIXER_GIMBAL) {
         accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
     }
-    gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
+    gyroSetCalibrationCycles(calculateCalibratingCycles());
 #ifdef BARO
     baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
 #endif
diff --git a/src/main/mw.c b/src/main/mw.c
index ff6250646..7b4235f01 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -288,11 +288,21 @@ void annexCode(void)
             rcCommand[axis] = -rcCommand[axis];
     }
 
-    tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
-    tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
+    if (feature(FEATURE_3D)) {
+        tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
+        tmp = (uint32_t)(tmp - PWM_RANGE_MIN);
+    } else {
+        tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
+        tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
+    }
     tmp2 = tmp / 100;
     rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100;    // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
 
+    if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
+        fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
+        rcCommand[THROTTLE] = masterConfig.rxConfig.midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - masterConfig.rxConfig.midrc);
+    }
+
     if (FLIGHT_MODE(HEADFREE_MODE)) {
         float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
         float cosDiff = cos_approx(radDiff);
@@ -763,6 +773,14 @@ void taskMotorUpdate(void) {
 
 }
 
+uint8_t setPidUpdateCountDown(void) {
+    if (masterConfig.gyro_soft_lpf_hz) {
+	    return masterConfig.pid_process_denom - 1;
+    } else {
+        return 1;
+    }
+}
+
 // Check for oneshot125 protection. With fast looptimes oneshot125 pulse duration gets more near the pid looptime
 bool shouldUpdateMotorsAfterPIDLoop(void) {
     if (targetPidLooptime > 375 ) {
@@ -804,7 +822,7 @@ void taskMainPidLoopCheck(void) {
             if (pidUpdateCountdown) {
                 pidUpdateCountdown--;
             } else {
-                pidUpdateCountdown = masterConfig.pid_process_denom - 1;
+                pidUpdateCountdown = setPidUpdateCountDown();
                 taskMainPidLoop();
                 if (shouldUpdateMotorsAfterPIDLoop()) taskMotorUpdate();
                 runTaskMainSubprocesses = true;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 5fe75d281..de3412760 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -77,9 +77,13 @@ bool isOnFinalGyroCalibrationCycle(void)
     return calibratingG == 1;
 }
 
+uint16_t calculateCalibratingCycles(void) {
+    return (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
+}
+
 bool isOnFirstGyroCalibrationCycle(void)
 {
-    return calibratingG == CALIBRATING_GYRO_CYCLES;
+    return calibratingG == calculateCalibratingCycles();
 }
 
 static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
@@ -108,10 +112,10 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
             float dev = devStandardDeviation(&var[axis]);
             // check deviation and startover in case the model was moved
             if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
-                gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
+                gyroSetCalibrationCycles(calculateCalibratingCycles());
                 return;
             }
-            gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
+            gyroZero[axis] = (g[axis] + (calculateCalibratingCycles() / 2)) / calculateCalibratingCycles();
         }
     }
 
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 065a06f65..d801f0cf0 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -44,4 +44,5 @@ void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz);
 void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 void gyroUpdate(void);
 bool isGyroCalibrationComplete(void);
+uint16_t calculateCalibratingCycles(void);
 
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index 32255ac6b..4b3a7b816 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -149,9 +149,9 @@
 
 
 #define LED_STRIP
-#define LED_STRIP_TIMER TIM3
-#define WS2811_DMA_TC_FLAG           DMA1_FLAG_TC6
-#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
+#define LED_STRIP_TIMER                 TIM3
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC6
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH6_HANDLER
 
 //#define GPS
 //#define GTUNE
diff --git a/src/main/version.h b/src/main/version.h
index 6a2daac27..574cc8896 100644
--- a/src/main/version.h
+++ b/src/main/version.h
@@ -15,6 +15,12 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#define FC_VERSION_MAJOR            16  // build year
+#define FC_VERSION_MINOR            03  // build month
+#define FC_VERSION_PATCH_LEVEL      15  // build day
+#define FC_VERSION_LETTER           "a" // build of day
+
+#define FC_VERSION_COMMENT          "RaceFlight Release 1 RC6.2 - New filters"
 
 
 // Example of __DATE__ string: "Jul 27 2012"
@@ -63,14 +69,6 @@
 #define BUILD_DAY_CH0 ((__DATE__[4] >= '0') ? (__DATE__[4]) : '0')
 #define BUILD_DAY_CH1 (__DATE__[ 5])
 
-
-#define FC_VERSION_MAJOR            16  // build year
-#define FC_VERSION_MINOR            02  // build month
-#define FC_VERSION_PATCH_LEVEL      15  // build day
-#define FC_VERSION_LETTER           "a" // build of day
-
-#define FC_VERSION_COMMENT          "RaceFlight Release 1 RC6.2 - New filters"
-
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)
 #define FC_VERSION_STRING STR(FC_VERSION_MAJOR) "." STR(FC_VERSION_MINOR) "." STR(FC_VERSION_PATCH_LEVEL)