diff --git a/.gitignore b/.gitignore
index 9b72fa8305a..6d7138e6bd5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -46,3 +46,7 @@ launch.json
 # Assitnow token and files for test script
 tokens.yaml
 *.ubx
+
+# Local development files
+.semgrepignore
+build_sitl/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index dc34f9da32b..14db3259720 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,7 +52,7 @@ else()
 endif()
 
 
-project(INAV VERSION 9.0.0)
+project(INAV VERSION 9.0.1)
 
 
 enable_language(ASM)
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 0cf6240771f..11bbd6cf3cc 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -946,7 +946,12 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
 
     processPilotAndFailSafeActions(dT);
 
-    updateArmingStatus();
+    // Check battery, GPS signal, arming status etc @ 200 Hz
+    static uint8_t armingStatusDivider = 0;
+    if (++armingStatusDivider >= 10) {
+        armingStatusDivider = 0;
+        updateArmingStatus();
+    }
 
     if (rxConfig()->rcFilterFrequency) {
         rcInterpolationApply(isRXDataNew, currentTimeUs);
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 455d5f20897..45379d1caa4 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1550,6 +1550,12 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
                 sbufWriteU8(dst, vtxDevice->capability.bandCount);
                 sbufWriteU8(dst, vtxDevice->capability.channelCount);
                 sbufWriteU8(dst, vtxDevice->capability.powerCount);
+
+                uint8_t minPowerIndex = 1;
+                if (deviceType == VTXDEV_MSP) {
+                    minPowerIndex = 0;
+                }
+                sbufWriteU8(dst, minPowerIndex);
             }
             else {
                 sbufWriteU8(dst, VTXDEV_UNKNOWN); // no VTX configured
diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
index f0899aa69d5..82e1a4f655d 100755
--- a/src/main/io/gps_ublox.c
+++ b/src/main/io/gps_ublox.c
@@ -1231,11 +1231,9 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
                 if (gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN)
                 {
                     pollVersion();
-                    ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);
                 }
 
                 pollGnssCapabilities();
-                ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);
             }
         }
     }
diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c
index 35245d9f7f0..4252b952c27 100644
--- a/src/main/navigation/navigation_pos_estimator.c
+++ b/src/main/navigation/navigation_pos_estimator.c
@@ -228,6 +228,7 @@ void onNewGPSData(void)
             /* If not the first update - calculate velocities */
             if (!isFirstGPSUpdate) {
                 float dT = US2S(getGPSDeltaTimeFilter(currentTimeUs - lastGPSNewDataTime));
+                posEstimator.gps.updateDt = dT;
 
                 /* Use VELNED provided by GPS if available, calculate from coordinates otherwise */
                 float gpsScaleLonDown = constrainf(cos_approx((ABS(gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f), 0.01f, 1.0f);
@@ -298,12 +299,15 @@ void updatePositionEstimator_BaroTopic(timeUs_t currentTimeUs)
         posEstimator.baro.epv = positionEstimationConfig()->baro_epv;
         posEstimator.baro.lastUpdateTime = currentTimeUs;
 
-        if (baroDtUs <= MS2US(INAV_BARO_TIMEOUT_MS)) {
-            posEstimator.baro.alt = pt1FilterApply3(&posEstimator.baro.avgFilter, posEstimator.baro.alt, US2S(baroDtUs));
+        if (baroDtUs > 0 && baroDtUs <= MS2US(INAV_BARO_TIMEOUT_MS)) {
+            const float baroDtSec = US2S(baroDtUs);
+            posEstimator.baro.updateDt = baroDtSec;
+
+            posEstimator.baro.alt = pt1FilterApply3(&posEstimator.baro.avgFilter, posEstimator.baro.alt, baroDtSec);
 
             // baro altitude rate
             static float baroAltPrevious = 0;
-            posEstimator.baro.baroAltRate = (posEstimator.baro.alt - baroAltPrevious) / US2S(baroDtUs);
+            posEstimator.baro.baroAltRate = (posEstimator.baro.alt - baroAltPrevious) / baroDtSec;
             baroAltPrevious = posEstimator.baro.alt;
             updateBaroAltitudeRate(posEstimator.baro.baroAltRate);
         }
@@ -354,7 +358,7 @@ static bool gravityCalibrationComplete(void)
 static void updateIMUEstimationWeight(const float dt)
 {
     static float acc_clip_factor = 1.0f;
-    // If accelerometer measurement is clipped - drop the acc weight to 0.3
+    // If accelerometer measurement is clipped - drop the acc weight to 0.5
     // and gradually restore weight back to 1.0 over time
     if (accIsClipped()) {
         acc_clip_factor = 0.5f;
@@ -576,72 +580,84 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
     }
 
     if (ctx->newFlags & EST_BARO_VALID && wBaro) {
-        bool isAirCushionEffectDetected = false;
-        static float baroGroundAlt = 0.0f;
+        if (posEstimator.baro.updateDt) {   // only update corrections once every sensor update
+            ctx->applyCorrections = true;
+            const float dT = posEstimator.baro.updateDt;
 
-        if (STATE(MULTIROTOR)) {
-            static bool isBaroGroundValid = false;
+            bool isAirCushionEffectDetected = false;
+            static float baroGroundAlt = 0.0f;
 
-            if (!ARMING_FLAG(ARMED)) {
-                baroGroundAlt = posEstimator.baro.alt;
-                isBaroGroundValid = true;
-            }
-            else if (isBaroGroundValid) {
-                // We might be experiencing air cushion effect during takeoff - use sonar or baro ground altitude to detect it
-                if (isMulticopterThrottleAboveMidHover()) {
-                    // Disable ground effect detection at lift off when est alt and baro alt converge. Always disable if baro alt > 1m.
-                    isBaroGroundValid = fabsf(posEstimator.est.pos.z - posEstimator.baro.alt) > 20.0f && posEstimator.baro.alt < 100.0f;
-                }
+            if (STATE(MULTIROTOR)) {
+                static bool isBaroGroundValid = false;
 
-                isAirCushionEffectDetected = (isEstimatedAglTrusted() && posEstimator.surface.alt < 20.0f) || posEstimator.baro.alt < baroGroundAlt + 20.0f;
+                if (!ARMING_FLAG(ARMED)) {
+                    baroGroundAlt = posEstimator.baro.alt;
+                    isBaroGroundValid = true;
+                }
+                else if (isBaroGroundValid) {
+                    // We might be experiencing air cushion effect during takeoff - use sonar or baro ground altitude to detect it
+                    if (isMulticopterThrottleAboveMidHover()) {
+                        // Disable ground effect detection at lift off when est alt and baro alt converge. Always disable if baro alt > 1m.
+                        isBaroGroundValid = fabsf(posEstimator.est.pos.z - posEstimator.baro.alt) > 20.0f && posEstimator.baro.alt < 100.0f;
+                    }
+
+                    isAirCushionEffectDetected = (isEstimatedAglTrusted() && posEstimator.surface.alt < 20.0f) ||
+                                                 posEstimator.baro.alt < baroGroundAlt + 20.0f;
+                }
             }
-        }
 
-        // Altitude
-        float baroAltResidual = wBaro * ((isAirCushionEffectDetected ? baroGroundAlt : posEstimator.baro.alt) - posEstimator.est.pos.z);
+            // Altitude
+            float baroAltResidual = wBaro * ((isAirCushionEffectDetected ? baroGroundAlt : posEstimator.baro.alt) - posEstimator.est.pos.z);
 
-        // Disable alt pos correction at point of lift off if ground effect active
-        if (isAirCushionEffectDetected && isMulticopterThrottleAboveMidHover()) {
-            baroAltResidual = 0.0f;
-        }
+            // Disable alt pos correction at point of lift off if ground effect active
+            if (isAirCushionEffectDetected && isMulticopterThrottleAboveMidHover()) {
+                baroAltResidual = 0.0f;
+            }
 
-        const float baroVelZResidual = isAirCushionEffectDetected ? 0.0f : wBaro * (posEstimator.baro.baroAltRate - posEstimator.est.vel.z);
-        const float w_z_baro_p = positionEstimationConfig()->w_z_baro_p;
-        const float w_z_baro_v = positionEstimationConfig()->w_z_baro_v;
+            const float baroVelZResidual = isAirCushionEffectDetected ? 0.0f : wBaro * (posEstimator.baro.baroAltRate - posEstimator.est.vel.z);
+            const float w_z_baro_p = positionEstimationConfig()->w_z_baro_p;
+            const float w_z_baro_v = positionEstimationConfig()->w_z_baro_v;
 
-        ctx->estPosCorr.z += baroAltResidual * w_z_baro_p * ctx->dt;
-        ctx->estVelCorr.z += baroVelZResidual * w_z_baro_v * ctx->dt;
+            ctx->estPosCorr.z = baroAltResidual * w_z_baro_p * dT;
+            ctx->estVelCorr.z = baroVelZResidual * w_z_baro_v * dT;
 
-        ctx->newEPV = updateEPE(posEstimator.est.epv, ctx->dt, MAX(posEstimator.baro.epv, fabsf(baroAltResidual)), w_z_baro_p);
+            ctx->newEPV = updateEPE(posEstimator.est.epv, dT, MAX(posEstimator.baro.epv, fabsf(baroAltResidual)), w_z_baro_p);
 
-        // Accelerometer bias
-        if (!isAirCushionEffectDetected) {
-            ctx->accBiasCorr.z += (baroAltResidual * sq(w_z_baro_p) + baroVelZResidual * sq(w_z_baro_v));
+            // Accelerometer bias
+            if (!isAirCushionEffectDetected) {
+                ctx->accBiasCorr.z = dT * (baroAltResidual * sq(w_z_baro_p) + baroVelZResidual * sq(w_z_baro_v));
+            }
         }
 
         correctOK = ARMING_FLAG(WAS_EVER_ARMED);    // No correction until first armed
     }
 
     if (ctx->newFlags & EST_GPS_Z_VALID && (wGps || !(ctx->newFlags & EST_Z_VALID))) {
-        // Reset current estimate to GPS altitude if estimate not valid (used for GPS and Baro)
-        if (!(ctx->newFlags & EST_Z_VALID)) {
-            posEstimator.est.pos.z = posEstimator.gps.pos.z;
-            posEstimator.est.vel.z = posEstimator.gps.vel.z;
-            ctx->newEPV = posEstimator.gps.epv;
-        }
-        else {
-            // Altitude
-            const float gpsAltResidual = wGps * (posEstimator.gps.pos.z - posEstimator.est.pos.z);
-            const float gpsVelZResidual = wGps * (posEstimator.gps.vel.z - posEstimator.est.vel.z);
-            const float w_z_gps_p = positionEstimationConfig()->w_z_gps_p;
-            const float w_z_gps_v = positionEstimationConfig()->w_z_gps_v;
+        if (posEstimator.gps.updateDt) {    // only update corrections once every sensor update
+            // Reset current estimate to GPS altitude if estimate not valid (used for GPS and Baro)
+            if (!(ctx->newFlags & EST_Z_VALID)) {
+                posEstimator.est.pos.z = posEstimator.gps.pos.z;
+                posEstimator.est.vel.z = posEstimator.gps.vel.z;
+                ctx->newEPV = posEstimator.gps.epv;
+            }
+            else {
+                ctx->applyCorrections = true;
+                const float dT = posEstimator.gps.updateDt;
 
-            ctx->estPosCorr.z += gpsAltResidual * w_z_gps_p * ctx->dt;
-            ctx->estVelCorr.z += gpsVelZResidual * w_z_gps_v * ctx->dt;
-            ctx->newEPV = updateEPE(posEstimator.est.epv, ctx->dt, MAX(posEstimator.gps.epv, fabsf(gpsAltResidual)), w_z_gps_p);
+                // Altitude
+                const float gpsAltResidual = wGps * (posEstimator.gps.pos.z - posEstimator.est.pos.z);
+                const float gpsVelZResidual = wGps * (posEstimator.gps.vel.z - posEstimator.est.vel.z);
+                const float w_z_gps_p = positionEstimationConfig()->w_z_gps_p;
+                const float w_z_gps_v = positionEstimationConfig()->w_z_gps_v;
 
-            // Accelerometer bias
-            ctx->accBiasCorr.z += (gpsAltResidual * sq(w_z_gps_p) + gpsVelZResidual * sq(w_z_gps_v));
+                ctx->estPosCorr.z += gpsAltResidual * w_z_gps_p * dT;
+                ctx->estVelCorr.z += gpsVelZResidual * w_z_gps_v * dT;
+
+                ctx->newEPV = updateEPE(ctx->newEPV, dT, MAX(posEstimator.gps.epv, fabsf(gpsAltResidual)), w_z_gps_p);
+
+                // Accelerometer bias
+                ctx->accBiasCorr.z += dT * (gpsAltResidual * sq(w_z_gps_p) + gpsVelZResidual * sq(w_z_gps_v));
+            }
         }
 
         correctOK = ARMING_FLAG(WAS_EVER_ARMED);    // No correction until first armed
@@ -658,6 +674,9 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
 static bool estimationCalculateCorrection_XY_GPS(estimationContext_t * ctx)
 {
     if (ctx->newFlags & EST_GPS_XY_VALID) {
+        if (!posEstimator.gps.updateDt) {   // only update corrections once every sensor update
+            return true;
+        }
         /* If GPS is valid and our estimate is NOT valid - reset it to GPS coordinates and velocity */
         if (!(ctx->newFlags & EST_XY_VALID)) {
             posEstimator.est.pos.x = posEstimator.gps.pos.x;
@@ -667,6 +686,9 @@ static bool estimationCalculateCorrection_XY_GPS(estimationContext_t * ctx)
             ctx->newEPH = posEstimator.gps.eph;
         }
         else {
+            ctx->applyCorrections = true;
+            const float dT = posEstimator.gps.updateDt;
+
             const float gpsPosXResidual = posEstimator.gps.pos.x - posEstimator.est.pos.x;
             const float gpsPosYResidual = posEstimator.gps.pos.y - posEstimator.est.pos.y;
             const float gpsVelXResidual = posEstimator.gps.vel.x - posEstimator.est.vel.x;
@@ -680,19 +702,19 @@ static bool estimationCalculateCorrection_XY_GPS(estimationContext_t * ctx)
             const float w_xy_gps_v = positionEstimationConfig()->w_xy_gps_v * sq(gpsWeightScaler);
 
             // Coordinates
-            ctx->estPosCorr.x += gpsPosXResidual * w_xy_gps_p * ctx->dt;
-            ctx->estPosCorr.y += gpsPosYResidual * w_xy_gps_p * ctx->dt;
+            ctx->estPosCorr.x = gpsPosXResidual * w_xy_gps_p * dT;
+            ctx->estPosCorr.y = gpsPosYResidual * w_xy_gps_p * dT;
 
             // Velocity from direct measurement
-            ctx->estVelCorr.x += gpsVelXResidual * w_xy_gps_v * ctx->dt;
-            ctx->estVelCorr.y += gpsVelYResidual * w_xy_gps_v * ctx->dt;
+            ctx->estVelCorr.x = gpsVelXResidual * w_xy_gps_v * dT;
+            ctx->estVelCorr.y = gpsVelYResidual * w_xy_gps_v * dT;
 
             // Accelerometer bias
-            ctx->accBiasCorr.x += (gpsPosXResidual * sq(w_xy_gps_p) + gpsVelXResidual * sq(w_xy_gps_v));
-            ctx->accBiasCorr.y += (gpsPosYResidual * sq(w_xy_gps_p) + gpsVelYResidual * sq(w_xy_gps_v));
+            ctx->accBiasCorr.x = dT * (gpsPosXResidual * sq(w_xy_gps_p) + gpsVelXResidual * sq(w_xy_gps_v));
+            ctx->accBiasCorr.y = dT * (gpsPosYResidual * sq(w_xy_gps_p) + gpsVelYResidual * sq(w_xy_gps_v));
 
             /* Adjust EPH */
-            ctx->newEPH = updateEPE(posEstimator.est.eph, ctx->dt, MAX(posEstimator.gps.eph, gpsPosResidualMag), w_xy_gps_p);
+            ctx->newEPH = updateEPE(posEstimator.est.eph, dT, MAX(posEstimator.gps.eph, gpsPosResidualMag), w_xy_gps_p);
         }
 
         return true;
@@ -736,9 +758,9 @@ static void updateEstimatedTopic(timeUs_t currentTimeUs)
         return;
     }
 
-    /* Calculate new EPH and EPV for the case we didn't update position */
-    ctx.newEPH = posEstimator.est.eph * ((posEstimator.est.eph <= max_eph_epv) ? 1.0f + ctx.dt : 1.0f);
-    ctx.newEPV = posEstimator.est.epv * ((posEstimator.est.epv <= max_eph_epv) ? 1.0f + ctx.dt : 1.0f);
+    /* Calculate new degraded EPH and EPV for the case we didn't update estimation from sensors - linear degradation in max 10s */
+    ctx.newEPH = posEstimator.est.eph + ((posEstimator.est.eph <= max_eph_epv) ? 100.0f * ctx.dt : 0.0f);
+    ctx.newEPV = posEstimator.est.epv + ((posEstimator.est.epv <= max_eph_epv) ? 100.0f * ctx.dt : 0.0f);
 
     ctx.newFlags = calculateCurrentValidityFlags(currentTimeUs);
     vectorZero(&ctx.estPosCorr);
@@ -760,40 +782,53 @@ static void updateEstimatedTopic(timeUs_t currentTimeUs)
 
     // If we can't apply correction or accuracy is off the charts - decay velocity to zero
     if (!estXYCorrectOk || ctx.newEPH > max_eph_epv) {
-        ctx.estVelCorr.x = -posEstimator.est.vel.x * positionEstimationConfig()->w_xy_res_v * ctx.dt;
-        ctx.estVelCorr.y = -posEstimator.est.vel.y * positionEstimationConfig()->w_xy_res_v * ctx.dt;
+        const float w_xy_res_v = positionEstimationConfig()->w_xy_res_v;
+        posEstimator.est.vel.x -= posEstimator.est.vel.x * w_xy_res_v * ctx.dt;
+        posEstimator.est.vel.y -= posEstimator.est.vel.y * w_xy_res_v * ctx.dt;
     }
 
     if (!estZCorrectOk || ctx.newEPV > max_eph_epv) {
-        ctx.estVelCorr.z = -posEstimator.est.vel.z * positionEstimationConfig()->w_z_res_v * ctx.dt;
+        posEstimator.est.vel.z -= posEstimator.est.vel.z * positionEstimationConfig()->w_z_res_v * ctx.dt;
     }
 
-    // Boost the corrections based on accWeight
-    vectorScale(&ctx.estPosCorr, &ctx.estPosCorr, 1.0f / posEstimator.imu.accWeightFactor);
-    vectorScale(&ctx.estVelCorr, &ctx.estVelCorr, 1.0f / posEstimator.imu.accWeightFactor);
+    // Only apply corrections if new sensor update available
+    if (ctx.applyCorrections) {
+        ctx.applyCorrections = false;
 
-    // Constrain corrections to prevent instability
-    const float corrLimit = INAV_EST_CORR_LIMIT_VALUE * ctx.dt;
-    for (uint8_t axis = 0; axis < 3; axis++) {
-        ctx.estPosCorr.v[axis] = constrainf(ctx.estPosCorr.v[axis], -corrLimit, corrLimit);
-        ctx.estVelCorr.v[axis] = constrainf(ctx.estVelCorr.v[axis], -corrLimit, corrLimit);
-    }
+        // Boost the corrections based on accWeight
+        vectorScale(&ctx.estPosCorr, &ctx.estPosCorr, 1.0f / posEstimator.imu.accWeightFactor);
+        vectorScale(&ctx.estVelCorr, &ctx.estVelCorr, 1.0f / posEstimator.imu.accWeightFactor);
 
-    // Apply corrections
-    vectorAdd(&posEstimator.est.pos, &posEstimator.est.pos, &ctx.estPosCorr);
-    vectorAdd(&posEstimator.est.vel, &posEstimator.est.vel, &ctx.estVelCorr);
+        // Constrain corrections to prevent instability
+        float maxUpdateDt = MAX(posEstimator.gps.updateDt, posEstimator.baro.updateDt);
+        maxUpdateDt = MAX(maxUpdateDt, posEstimator.flow.updateDt);
+        const float correctionLimit = INAV_EST_CORR_LIMIT_VALUE * maxUpdateDt;
+        for (uint8_t axis = 0; axis < 3; axis++) {
+            ctx.estPosCorr.v[axis] = constrainf(ctx.estPosCorr.v[axis], -correctionLimit, correctionLimit);
+            ctx.estVelCorr.v[axis] = constrainf(ctx.estVelCorr.v[axis], -correctionLimit, correctionLimit);
+        }
 
-    /* Correct accelerometer bias */
-    const float w_acc_bias = positionEstimationConfig()->w_acc_bias;
-    if (w_acc_bias > 0.0f) {
-        /* Correct accel bias */
-        posEstimator.imu.accelBias.x += ctx.accBiasCorr.x * w_acc_bias * ctx.dt;
-        posEstimator.imu.accelBias.y += ctx.accBiasCorr.y * w_acc_bias * ctx.dt;
-        posEstimator.imu.accelBias.z += ctx.accBiasCorr.z * w_acc_bias * ctx.dt;
+        // Apply corrections
+        vectorAdd(&posEstimator.est.pos, &posEstimator.est.pos, &ctx.estPosCorr);
+        vectorAdd(&posEstimator.est.vel, &posEstimator.est.vel, &ctx.estVelCorr);
+
+        /* Correct accelerometer bias */
+        const float w_acc_bias = positionEstimationConfig()->w_acc_bias;
+        if (w_acc_bias > 0.0f) {
+            /* Correct accel bias */
+            posEstimator.imu.accelBias.x += ctx.accBiasCorr.x * w_acc_bias;
+            posEstimator.imu.accelBias.y += ctx.accBiasCorr.y * w_acc_bias;
+            posEstimator.imu.accelBias.z += ctx.accBiasCorr.z * w_acc_bias;
+
+            posEstimator.imu.accelBias.x = constrainf(posEstimator.imu.accelBias.x, -INAV_ACC_BIAS_ACCEPTANCE_VALUE, INAV_ACC_BIAS_ACCEPTANCE_VALUE);
+            posEstimator.imu.accelBias.y = constrainf(posEstimator.imu.accelBias.y, -INAV_ACC_BIAS_ACCEPTANCE_VALUE, INAV_ACC_BIAS_ACCEPTANCE_VALUE);
+            posEstimator.imu.accelBias.z = constrainf(posEstimator.imu.accelBias.z, -INAV_ACC_BIAS_ACCEPTANCE_VALUE, INAV_ACC_BIAS_ACCEPTANCE_VALUE);
+        }
 
-        posEstimator.imu.accelBias.x = constrainf(posEstimator.imu.accelBias.x, -INAV_ACC_BIAS_ACCEPTANCE_VALUE, INAV_ACC_BIAS_ACCEPTANCE_VALUE);
-        posEstimator.imu.accelBias.y = constrainf(posEstimator.imu.accelBias.y, -INAV_ACC_BIAS_ACCEPTANCE_VALUE, INAV_ACC_BIAS_ACCEPTANCE_VALUE);
-        posEstimator.imu.accelBias.z = constrainf(posEstimator.imu.accelBias.z, -INAV_ACC_BIAS_ACCEPTANCE_VALUE, INAV_ACC_BIAS_ACCEPTANCE_VALUE);
+        // Reset sensor update time deltas once sensor corrections applied after sensor update
+        posEstimator.gps.updateDt = 0.0f;
+        posEstimator.baro.updateDt = 0.0f;
+        posEstimator.flow.updateDt = 0.0f;
     }
 
     /* Update ground course */
diff --git a/src/main/navigation/navigation_pos_estimator_agl.c b/src/main/navigation/navigation_pos_estimator_agl.c
index 03b5bd8ccf0..38788e20a77 100644
--- a/src/main/navigation/navigation_pos_estimator_agl.c
+++ b/src/main/navigation/navigation_pos_estimator_agl.c
@@ -149,7 +149,7 @@ void estimationCalculateAGL(estimationContext_t * ctx)
         // Update estimate
         posEstimator.est.aglAlt += posEstimator.est.aglVel * ctx->dt;
         posEstimator.est.aglAlt += posEstimator.imu.accelNEU.z * sq(ctx->dt) / 2.0f * posEstimator.imu.accWeightFactor;
-        posEstimator.est.aglVel += posEstimator.imu.accelNEU.z * ctx->dt * sq(posEstimator.imu.accWeightFactor);
+        posEstimator.est.aglVel += posEstimator.imu.accelNEU.z * ctx->dt * posEstimator.imu.accWeightFactor;
 
         // Apply correction
         if (posEstimator.est.aglQual == SURFACE_QUAL_HIGH) {
diff --git a/src/main/navigation/navigation_pos_estimator_flow.c b/src/main/navigation/navigation_pos_estimator_flow.c
index 8656c4919f4..36325f5dc1a 100644
--- a/src/main/navigation/navigation_pos_estimator_flow.c
+++ b/src/main/navigation/navigation_pos_estimator_flow.c
@@ -73,6 +73,13 @@ bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx)
         return false;
     }
 
+    if (!opflow.updateDt) {
+        return true;
+    }
+    posEstimator.flow.updateDt = opflow.updateDt;
+    opflow.updateDt = 0.0f;
+    const float dt = posEstimator.flow.updateDt;
+
     // Calculate linear velocity based on angular velocity and altitude
     // Technically we should calculate arc length here, but for fast sampling this is accurate enough
     fpVector3_t flowVel = {
@@ -88,8 +95,9 @@ bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx)
     const float flowVelXInnov = flowVel.x - posEstimator.est.vel.x;
     const float flowVelYInnov = flowVel.y - posEstimator.est.vel.y;
 
-    ctx->estVelCorr.x = flowVelXInnov * positionEstimationConfig()->w_xy_flow_v * ctx->dt;
-    ctx->estVelCorr.y = flowVelYInnov * positionEstimationConfig()->w_xy_flow_v * ctx->dt;
+    const float w_xy_flow_v = positionEstimationConfig()->w_xy_flow_v;
+    ctx->estVelCorr.x = flowVelXInnov * w_xy_flow_v * dt;
+    ctx->estVelCorr.y = flowVelYInnov * w_xy_flow_v * dt;
 
     // Calculate position correction if possible/allowed
     if ((ctx->newFlags & EST_GPS_XY_VALID)) {
@@ -98,16 +106,17 @@ bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx)
         posEstimator.est.flowCoordinates[Y] = posEstimator.gps.pos.y;
     }
     else if (positionEstimationConfig()->allow_dead_reckoning) {
-        posEstimator.est.flowCoordinates[X] += flowVel.x * ctx->dt;
-        posEstimator.est.flowCoordinates[Y] += flowVel.y * ctx->dt;
+        posEstimator.est.flowCoordinates[X] += flowVel.x * dt;
+        posEstimator.est.flowCoordinates[Y] += flowVel.y * dt;
 
         const float flowResidualX = posEstimator.est.flowCoordinates[X] - posEstimator.est.pos.x;
         const float flowResidualY = posEstimator.est.flowCoordinates[Y] - posEstimator.est.pos.y;
 
-        ctx->estPosCorr.x = flowResidualX * positionEstimationConfig()->w_xy_flow_p * ctx->dt;
-        ctx->estPosCorr.y = flowResidualY * positionEstimationConfig()->w_xy_flow_p * ctx->dt;
+        const float w_xy_flow_p = positionEstimationConfig()->w_xy_flow_p;
+        ctx->estPosCorr.x = flowResidualX * w_xy_flow_p * dt;
+        ctx->estPosCorr.y = flowResidualY * w_xy_flow_p * dt;
 
-        ctx->newEPH = updateEPE(posEstimator.est.eph, ctx->dt, calc_length_pythagorean_2D(flowResidualX, flowResidualY), positionEstimationConfig()->w_xy_flow_p);
+        ctx->newEPH = updateEPE(posEstimator.est.eph, dt, calc_length_pythagorean_2D(flowResidualX, flowResidualY), w_xy_flow_p);
     }
 
     DEBUG_SET(DEBUG_FLOW, 0, RADIANS_TO_DEGREES(posEstimator.flow.flowRate[X]));
@@ -115,7 +124,7 @@ bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx)
     DEBUG_SET(DEBUG_FLOW, 2, posEstimator.est.flowCoordinates[X]);
     DEBUG_SET(DEBUG_FLOW, 3, posEstimator.est.flowCoordinates[Y]);
 
-    return true;
+    return ctx->applyCorrections = true;
 #else
     UNUSED(ctx);
     return false;
diff --git a/src/main/navigation/navigation_pos_estimator_private.h b/src/main/navigation/navigation_pos_estimator_private.h
index fc824eb534e..8a91afe268b 100644
--- a/src/main/navigation/navigation_pos_estimator_private.h
+++ b/src/main/navigation/navigation_pos_estimator_private.h
@@ -71,6 +71,7 @@ typedef struct {
     fpVector3_t vel;            // GPS velocity (cms)
     float       eph;
     float       epv;
+    float       updateDt;
 } navPositionEstimatorGPS_t;
 
 typedef struct {
@@ -79,6 +80,7 @@ typedef struct {
     float       alt;            // Raw barometric altitude (cm)
     float       epv;
     float       baroAltRate;    // Baro altitude rate of change (cm/s)
+    float       updateDt;
 } navPositionEstimatorBARO_t;
 
 typedef struct {
@@ -105,6 +107,7 @@ typedef struct {
     float       quality;
     float       flowRate[2];
     float       bodyRate[2];
+    float       updateDt;
 } navPositionEstimatorFLOW_t;
 
 typedef struct {
@@ -180,6 +183,7 @@ typedef struct {
     fpVector3_t estPosCorr;
     fpVector3_t estVelCorr;
     fpVector3_t accBiasCorr;
+    bool applyCorrections;
 } estimationContext_t;
 
 extern navigationPosEstimator_t posEstimator;
diff --git a/src/main/sensors/opflow.c b/src/main/sensors/opflow.c
index f82d8f16a58..024c5d403cf 100755
--- a/src/main/sensors/opflow.c
+++ b/src/main/sensors/opflow.c
@@ -171,6 +171,7 @@ void opflowUpdate(timeUs_t currentTimeUs)
     if (opflow.dev.updateFn(&opflow.dev)) {
         // Indicate valid update
         opflow.isHwHealty = true;
+        opflow.updateDt = US2S(currentTimeUs - opflow.lastValidUpdate);
         opflow.lastValidUpdate = currentTimeUs;
         opflow.rawQuality = opflow.dev.rawData.quality;
 
diff --git a/src/main/sensors/opflow.h b/src/main/sensors/opflow.h
index afe94ec79ac..a2f82745816 100755
--- a/src/main/sensors/opflow.h
+++ b/src/main/sensors/opflow.h
@@ -53,6 +53,7 @@ typedef struct opflow_s {
 
     opflowQuality_e flowQuality;
     timeUs_t        lastValidUpdate;
+    float           updateDt;
     bool            isHwHealty;
     float           flowRate[2];    // optical flow angular rate in rad/sec measured about the X and Y body axis
     float           bodyRate[2];    // body inertial angular rate in rad/sec measured about the X and Y body axis
diff --git a/src/main/target/DYSF4/CMakeLists.txt b/src/main/target/DYSF4/CMakeLists.txt
new file mode 100644
index 00000000000..ec00b5acc49
--- /dev/null
+++ b/src/main/target/DYSF4/CMakeLists.txt
@@ -0,0 +1,2 @@
+target_stm32f405xg(DYSF4PRO)
+target_stm32f405xg(DYSF4PROV2)
diff --git a/src/main/target/DYSF4/target.c b/src/main/target/DYSF4/target.c
new file mode 100644
index 00000000000..d6de2e9bf25
--- /dev/null
+++ b/src/main/target/DYSF4/target.c
@@ -0,0 +1,47 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,               0, 0), // S1_OUT D1_ST7
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO,               0, 0), // S2_OUT D1_ST2
+    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,               0, 1), // S3_OUT D1_ST6
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,               0, 0), // S4_OUT D1_ST1
+
+    // { TIM9,  IO_TAG(PA3),  TIM_Channel_2, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9, TIM_USE_OUTPUT_AUTO }, // MOTOR_3
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,  0, 0), // S5_OUT MOTOR, SERVO or LED
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO,                0, 0), // S6_OUT
+
+
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PPM,                  0, 0), // PPM
+    DEF_TIM(TIM12, CH2, PB15, TIM_USE_ANY,                  0, 0), // S2_IN
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY,                 0, 0), // S3_IN, UART6_TX
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_ANY,                 0, 0), // S4_IN, UART6_RX
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_ANY,                 0, 0), // S5_IN
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_ANY,                 0, 0), // S6_IN
+
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/DYSF4/target.h b/src/main/target/DYSF4/target.h
new file mode 100644
index 00000000000..76e79106afa
--- /dev/null
+++ b/src/main/target/DYSF4/target.h
@@ -0,0 +1,159 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// This directory contains: DYSF4PRO, DYSF4PROV2
+
+#if defined(DYSF4PRO)
+#define TARGET_BOARD_IDENTIFIER "DYS4"
+#elif defined(DYSF4PROV2)
+#define TARGET_BOARD_IDENTIFIER "DY42"
+#endif
+
+#define USBD_PRODUCT_STRING "DysF4Pro"
+
+#define LED0                    PB5
+
+#define BEEPER                  PB4
+#define BEEPER_INVERTED
+
+#if defined(DYSF4PROV2)
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+#define I2C_EXT_BUS BUS_I2C1
+#else
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
+#define I2C_EXT_BUS BUS_I2C2
+#endif
+
+#define UG2864_I2C_BUS I2C_EXT_BUS
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG
+
+#define USE_MAG
+#define MAG_I2C_BUS             I2C_EXT_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     I2C_EXT_BUS
+
+#define USE_BARO
+#define BARO_I2C_BUS          I2C_EXT_BUS
+#define USE_BARO_BMP085
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+
+#define PITOT_I2C_BUS           I2C_EXT_BUS
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     I2C_EXT_BUS
+
+#define USE_VCP
+#define VBUS_SENSING_PIN        PC5
+#define VBUS_SENSING_ENABLED
+
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_RX_PIN     PC8
+#define SOFTSERIAL_1_TX_PIN     PC9
+
+#define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN          PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI3
+#define MAX7456_CS_PIN          PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define M25P16_SPI_BUS          BUS_SPI3
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC1
+#define ADC_CHANNEL_2_PIN               PC2
+
+#ifdef DYSF4PRO
+    #define ADC_CHANNEL_3_PIN               PC3
+#else
+    #define ADC_CHANNEL_3_PIN               PA0
+#endif
+
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
+#define VBAT_ADC_CHANNEL                ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+
+#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
+
+#define USE_LED_STRIP
+#define WS2811_PIN                   PA1
+
+#define DISABLE_RX_PWM_FEATURE
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT | FEATURE_OSD)
+
+#define USE_SPEKTRUM_BIND
+#define BIND_PIN                PB11 // USART3 RX
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// Number of available PWM outputs
+#define MAX_PWM_OUTPUT_PORTS    6
+#define TARGET_MOTOR_COUNT      6
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
diff --git a/src/main/target/NEXUSX/target.h b/src/main/target/NEXUSX/target.h
index 24c035b4cae..abe7bbaef28 100644
--- a/src/main/target/NEXUSX/target.h
+++ b/src/main/target/NEXUSX/target.h
@@ -32,7 +32,7 @@
 #define SPI1_MOSI_PIN           PA7
 
 #define USE_IMU_ICM42605 // is actually ICM42688P
-#define IMU_ICM42605_ALIGN     CW180_DEG
+#define IMU_ICM42605_ALIGN     CW0_DEG
 #define ICM42605_CS_PIN        PA4
 #define ICM42605_EXTI_PIN      PB8
 #define ICM42605_SPI_BUS       BUS_SPI1
diff --git a/src/main/target/OMNIBUSF4/CMakeLists.txt b/src/main/target/OMNIBUSF4/CMakeLists.txt
index 0e2bf2002c0..28f13c7cd5b 100644
--- a/src/main/target/OMNIBUSF4/CMakeLists.txt
+++ b/src/main/target/OMNIBUSF4/CMakeLists.txt
@@ -1,12 +1 @@
-target_stm32f405xg(DYSF4PRO)
-target_stm32f405xg(DYSF4PROV2)
 target_stm32f405xg(OMNIBUSF4)
-# the OMNIBUSF4SD has an SDCARD instead of flash, a BMP280 baro and therefore a slightly different ppm/pwm and SPI mapping
-target_stm32f405xg(OMNIBUSF4PRO)
-target_stm32f405xg(OMNIBUSF4V3_S5_S6_2SS)
-target_stm32f405xg(OMNIBUSF4V3_S5S6_SS)
-target_stm32f405xg(OMNIBUSF4V3_S6_SS)
-# OMNIBUSF4V3 is a (almost identical) variant of OMNIBUSF4PRO target,
-# except for an inverter on UART6.
-target_stm32f405xg(OMNIBUSF4V3)
-target_stm32f405xg(OMNIBUSF4V3_ICM SKIP_RELEASES)
diff --git a/src/main/target/OMNIBUSF4/target.c b/src/main/target/OMNIBUSF4/target.c
index be85e9fbce3..d6de2e9bf25 100644
--- a/src/main/target/OMNIBUSF4/target.c
+++ b/src/main/target/OMNIBUSF4/target.c
@@ -31,36 +31,16 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,               0, 0), // S4_OUT D1_ST1
 
     // { TIM9,  IO_TAG(PA3),  TIM_Channel_2, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9, TIM_USE_OUTPUT_AUTO }, // MOTOR_3
-#if (defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3)) && !(defined(OMNIBUSF4PRO_LEDSTRIPM5) || defined(OMNIBUSF4V3_S6_SS) || defined(OMNIBUSF4V3_S5S6_SS) || defined(OMNIBUSF4V3_S5_S6_2SS))
-
-    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,                0, 0), // S5_OUT
-    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO,                0, 0), // S6_OUT
-#elif defined(OMNIBUSF4V3_S5S6_SS) || defined(OMNIBUSF4V3_S5_S6_2SS)
-    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_ANY,                                                           0, 0), // S5_OUT SOFTSERIAL
-    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_ANY,                                                           0, 0), // S6_OUT SOFTSERIAL
-#elif defined(OMNIBUSF4V3_S6_SS)
-    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,                0, 0), // S5_OUT
-    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_ANY,                                                           0, 0), // S6_OUT SOFTSERIAL
-#else
     DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,  0, 0), // S5_OUT MOTOR, SERVO or LED
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO,                0, 0), // S6_OUT
-#endif
 
-#if (defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3))
-    DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED,                                                           0, 0), // LED strip for F4 V2 / F4-Pro-0X and later (RCD_CS for F4)
-#endif
 
-#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3)
-    // DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,                  0, 0), // PPM
-    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_ANY,                  0, 0), // S2_IN
-#else
     // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PPM,                  0, 0), // PPM
     DEF_TIM(TIM12, CH2, PB15, TIM_USE_ANY,                  0, 0), // S2_IN
-#endif
     DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY,                 0, 0), // S3_IN, UART6_TX
     DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_ANY,                 0, 0), // S4_IN, UART6_RX
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_ANY,                 0, 0), // S5_IN // pad labelled CH5 on OMNIBUSF4PRO
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_ANY,                 0, 0), // S6_IN // pad labelled CH6 on OMNIBUSF4PRO
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_ANY,                 0, 0), // S5_IN
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_ANY,                 0, 0), // S6_IN
 
 };
 
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index fcd89fb0e46..af906bb8b12 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -17,86 +17,27 @@
 
 #pragma once
 
-//Same target as OMNIBUSF4PRO with LED strip in M5
-#ifdef OMNIBUSF4PRO_LEDSTRIPM5
-#define OMNIBUSF4PRO
-#endif
-//Same target as OMNIBUSF4V3 with softserial in M5 and M6
-#if defined(OMNIBUSF4V3_S6_SS) || defined(OMNIBUSF4V3_S5S6_SS) || defined(OMNIBUSF4V3_S5_S6_2SS)
-#define OMNIBUSF4V3
-#endif
-
-#ifdef OMNIBUSF4PRO
-#define TARGET_BOARD_IDENTIFIER "OBSD"
-#elif defined(OMNIBUSF4V3)
-#define TARGET_BOARD_IDENTIFIER "OB43"
-#elif defined(OMNIBUSF4V3_ICM)
-#define TARGET_BOARD_IDENTIFIER "OB4I"
-#elif defined(DYSF4PRO)
-#define TARGET_BOARD_IDENTIFIER "DYS4"
-#elif defined(DYSF4PROV2)
-#define TARGET_BOARD_IDENTIFIER "DY42"
-#else
 #define TARGET_BOARD_IDENTIFIER "OBF4"
-#endif
 
-#if defined(DYSF4PRO) || defined(DYSF4PROV2)
-#define USBD_PRODUCT_STRING "DysF4Pro"
-#else
 #define USBD_PRODUCT_STRING "Omnibus F4"
-#endif
 
 #define LED0                    PB5
 
 #define BEEPER                  PB4
 #define BEEPER_INVERTED
 
-#if defined(DYSF4PROV2)
-#define USE_I2C
-#define USE_I2C_DEVICE_1
-#define I2C1_SCL PB8
-#define I2C1_SDA PB9
-#define I2C_EXT_BUS BUS_I2C1
-#else
 #define USE_I2C
 #define USE_I2C_DEVICE_2
 #define I2C_DEVICE_2_SHARES_UART3
 #define I2C_EXT_BUS BUS_I2C2
-#endif
 
 #define UG2864_I2C_BUS I2C_EXT_BUS
 
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
-#if defined(OMNIBUSF4V3_ICM)
-  #define USE_IMU_ICM42605
-  #define IMU_ICM42605_ALIGN      CW180_DEG
-  #define ICM42605_CS_PIN         PA4
-  #define ICM42605_SPI_BUS        BUS_SPI1
-#endif
-
-#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)
-  #define USE_IMU_MPU6000
-  #define IMU_MPU6000_ALIGN       CW270_DEG
-#else
-  #define USE_IMU_MPU6000
-  #define IMU_MPU6000_ALIGN       CW180_DEG
-#endif
-
-// Support for OMNIBUS F4 PRO CORNER - it has MPU6500/ICM20608 instead of MPU6000
-#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)
-  #define MPU6500_CS_PIN          MPU6000_CS_PIN
-  #define MPU6500_SPI_BUS         MPU6000_SPI_BUS
-  #define USE_IMU_MPU6500
-  #define IMU_MPU6500_ALIGN       IMU_MPU6000_ALIGN
-
-  //BMI270
-  #define USE_IMU_BMI270
-  #define IMU_BMI270_ALIGN        IMU_MPU6000_ALIGN
-  #define BMI270_SPI_BUS          MPU6000_SPI_BUS
-  #define BMI270_CS_PIN           MPU6000_CS_PIN
-#endif
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG
 
 #define USE_MAG
 #define MAG_I2C_BUS             I2C_EXT_BUS
@@ -105,21 +46,10 @@
 #define TEMPERATURE_I2C_BUS     I2C_EXT_BUS
 
 #define USE_BARO
-
-#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)
-  #define USE_BARO_BMP280
-  #define BMP280_SPI_BUS        BUS_SPI3
-  #define BMP280_CS_PIN         PB3 // v1
-  // Support external barometers
-  #define BARO_I2C_BUS          I2C_EXT_BUS
-  #define USE_BARO_BMP085
-  #define USE_BARO_MS5611
-#else
-  #define BARO_I2C_BUS          I2C_EXT_BUS
-  #define USE_BARO_BMP085
-  #define USE_BARO_BMP280
-  #define USE_BARO_MS5611
-#endif
+#define BARO_I2C_BUS          I2C_EXT_BUS
+#define USE_BARO_BMP085
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
 
 #define PITOT_I2C_BUS           I2C_EXT_BUS
 
@@ -130,17 +60,11 @@
 #define VBUS_SENSING_PIN        PC5
 #define VBUS_SENSING_ENABLED
 
-#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)
-#define USE_UART_INVERTER
-#endif
 
 #define USE_UART1
 #define UART1_RX_PIN            PA10
 #define UART1_TX_PIN            PA9
 #define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
-#if defined(OMNIBUSF4PRO)
-#define INVERTER_PIN_UART1_RX PC0 // PC0 has never been used as inverter control on genuine OMNIBUS F4 variants, but leave it as is since some clones actually implement it.
-#endif
 
 #define USE_UART3
 #define UART3_RX_PIN            PB11
@@ -149,51 +73,13 @@
 #define USE_UART6
 #define UART6_RX_PIN            PC7
 #define UART6_TX_PIN            PC6
-#if defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)
-  #define INVERTER_PIN_UART6_RX PC8
-  #define INVERTER_PIN_UART6_TX PC9
-#endif
-
-#if (defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)) && !(defined(OMNIBUSF4V3_S6_SS) || defined(OMNIBUSF4V3_S5S6_SS) || defined(OMNIBUSF4V3_S5_S6_2SS))
-#define USE_SOFTSERIAL1
-#define SOFTSERIAL_1_RX_PIN     PC6     // shared with UART6 TX
-#define SOFTSERIAL_1_TX_PIN     PC6     // shared with UART6 TX
-
-#define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
 
-#elif defined(OMNIBUSF4V3_S6_SS)        // one softserial on S6
 #define USE_SOFTSERIAL1
-#define SOFTSERIAL_1_RX_PIN     PA8     // S6 output
-#define SOFTSERIAL_1_TX_PIN     PA8     // S6 output
+#define SOFTSERIAL_1_RX_PIN     PC8
+#define SOFTSERIAL_1_TX_PIN     PC9
 
 #define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
 
-#elif defined(OMNIBUSF4V3_S5S6_SS)      // one softserial on S5/RX S6/TX
-#define USE_SOFTSERIAL1
-#define SOFTSERIAL_1_RX_PIN     PA1     // S5 output
-#define SOFTSERIAL_1_TX_PIN     PA8     // S6 output
-
-#define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
-
-#elif defined(OMNIBUSF4V3_S5_S6_2SS)    // two softserials, one on S5 and one on S6
-#define USE_SOFTSERIAL1
-#define SOFTSERIAL_1_RX_PIN     PA1     // S5 output
-#define SOFTSERIAL_1_TX_PIN     PA1     // S5 output
-
-#define USE_SOFTSERIAL2
-#define SOFTSERIAL_2_RX_PIN     PA8     // S6 output
-#define SOFTSERIAL_2_TX_PIN     PA8     // S6 output
-
-#define SERIAL_PORT_COUNT       6       // VCP, USART1, USART3, USART6, SOFTSERIAL1, SOFTSERIAL2
-
-#else                                   // One softserial on versions other than OMNIBUSF4V3
-#define USE_SOFTSERIAL1
-#define SOFTSERIAL_1_RX_PIN     PC8     // pad labelled CH5 on OMNIBUSF4PRO
-#define SOFTSERIAL_1_TX_PIN     PC9     // pad labelled CH6 on OMNIBUSF4PRO
-
-#define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
-#endif
-
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART1
@@ -202,20 +88,8 @@
 
 #define USE_SPI_DEVICE_1
 
-#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)
-  #define USE_SPI_DEVICE_2
-  #define SPI2_NSS_PIN          PB12
-  #define SPI2_SCK_PIN          PB13
-  #define SPI2_MISO_PIN         PB14
-  #define SPI2_MOSI_PIN         PB15
-#endif
-
 #define USE_SPI_DEVICE_3
-#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)
-  #define SPI3_NSS_PIN          PA15
-#else
-  #define SPI3_NSS_PIN          PB3
-#endif
+#define SPI3_NSS_PIN          PB3
 #define SPI3_SCK_PIN            PC10
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PC12
@@ -224,33 +98,16 @@
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
 
-#if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)
-  #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-  #define USE_SDCARD
-  #define USE_SDCARD_SPI
-
-  #define SDCARD_SPI_BUS        BUS_SPI2
-  #define SDCARD_CS_PIN         SPI2_NSS_PIN
-
-  #define SDCARD_DETECT_PIN     PB7
-  #define SDCARD_DETECT_INVERTED
-#else
-  #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-  #define M25P16_CS_PIN           SPI3_NSS_PIN
-  #define M25P16_SPI_BUS          BUS_SPI3
-  #define USE_FLASHFS
-  #define USE_FLASH_M25P16
-#endif
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define M25P16_SPI_BUS          BUS_SPI3
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
 
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PC1
 #define ADC_CHANNEL_2_PIN               PC2
-
-#ifdef DYSF4PRO
-    #define ADC_CHANNEL_3_PIN               PC3
-#else
-    #define ADC_CHANNEL_3_PIN               PA0
-#endif
+#define ADC_CHANNEL_3_PIN               PA0
 
 #define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
 #define VBAT_ADC_CHANNEL                ADC_CHN_2
@@ -259,11 +116,7 @@
 #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
 
 #define USE_LED_STRIP
-#if (defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)) && !defined(OMNIBUSF4PRO_LEDSTRIPM5)
-  #define WS2811_PIN                   PB6
-#else
-  #define WS2811_PIN                   PA1
-#endif
+#define WS2811_PIN                   PA1
 
 #define DISABLE_RX_PWM_FEATURE
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT | FEATURE_OSD)
@@ -283,7 +136,3 @@
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         0xffff
-
-#ifdef OMNIBUSF4PRO
-#define CURRENT_METER_SCALE   265
-#endif
diff --git a/src/main/target/OMNIBUSF4PRO/CMakeLists.txt b/src/main/target/OMNIBUSF4PRO/CMakeLists.txt
new file mode 100644
index 00000000000..e09984ac0a9
--- /dev/null
+++ b/src/main/target/OMNIBUSF4PRO/CMakeLists.txt
@@ -0,0 +1,5 @@
+# OMNIBUSF4PRO has SD card, BMP280 baro
+target_stm32f405xg(OMNIBUSF4PRO)
+# OMNIBUSF4V3 is similar to PRO but with UART6 inverter
+target_stm32f405xg(OMNIBUSF4V3)
+target_stm32f405xg(OMNIBUSF4V3_ICM SKIP_RELEASES)
diff --git a/src/main/target/OMNIBUSF4PRO/target.c b/src/main/target/OMNIBUSF4PRO/target.c
new file mode 100644
index 00000000000..29cb945af85
--- /dev/null
+++ b/src/main/target/OMNIBUSF4PRO/target.c
@@ -0,0 +1,48 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,               0, 0), // S1_OUT D1_ST7
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO,               0, 0), // S2_OUT D1_ST2
+    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,               0, 1), // S3_OUT D1_ST6
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,               0, 0), // S4_OUT D1_ST1
+
+    // { TIM9,  IO_TAG(PA3),  TIM_Channel_2, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9, TIM_USE_OUTPUT_AUTO }, // MOTOR_3
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,                0, 0), // S5_OUT
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO,                0, 0), // S6_OUT
+
+    DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED,                                                           0, 0), // LED strip for F4 V2 / F4-Pro-0X and later (RCD_CS for F4)
+
+    // DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,                  0, 0), // PPM
+    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_ANY,                  0, 0), // S2_IN
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY,                 0, 0), // S3_IN, UART6_TX
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_ANY,                 0, 0), // S4_IN, UART6_RX
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_ANY,                 0, 0), // S5_IN // pad labelled CH5 on OMNIBUSF4PRO
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_ANY,                 0, 0), // S6_IN // pad labelled CH6 on OMNIBUSF4PRO
+
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/OMNIBUSF4PRO/target.h b/src/main/target/OMNIBUSF4PRO/target.h
new file mode 100644
index 00000000000..f9d7e3af4de
--- /dev/null
+++ b/src/main/target/OMNIBUSF4PRO/target.h
@@ -0,0 +1,202 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// This directory contains: OMNIBUSF4PRO, OMNIBUSF4V3, OMNIBUSF4V3_ICM
+// Softserial variants are in separate OMNIBUSF4V3_SS/ directory
+
+#ifdef OMNIBUSF4V3_ICM
+#define OMNIBUSF4V3
+#endif
+
+#ifdef OMNIBUSF4PRO
+#define TARGET_BOARD_IDENTIFIER "OBSD"
+#elif defined(OMNIBUSF4V3)
+#define TARGET_BOARD_IDENTIFIER "OB43"
+#endif
+
+#define USBD_PRODUCT_STRING "Omnibus F4"
+
+#define LED0                    PB5
+
+#define BEEPER                  PB4
+#define BEEPER_INVERTED
+
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
+#define I2C_EXT_BUS BUS_I2C2
+
+#define UG2864_I2C_BUS I2C_EXT_BUS
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW270_DEG
+
+// Support for OMNIBUS F4 PRO CORNER - it has ICM20608 instead of MPU6000
+#define MPU6500_CS_PIN          MPU6000_CS_PIN
+#define MPU6500_SPI_BUS         MPU6000_SPI_BUS
+#define USE_IMU_MPU6500
+#define IMU_MPU6500_ALIGN       IMU_MPU6000_ALIGN
+
+//BMI270
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        IMU_MPU6000_ALIGN
+#define BMI270_SPI_BUS          MPU6000_SPI_BUS
+#define BMI270_CS_PIN           MPU6000_CS_PIN
+
+#ifdef OMNIBUSF4V3_ICM
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW180_DEG
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_SPI_BUS        BUS_SPI1
+#endif
+
+#define USE_MAG
+#define MAG_I2C_BUS             I2C_EXT_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     I2C_EXT_BUS
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define BMP280_SPI_BUS        BUS_SPI3
+#define BMP280_CS_PIN         PB3 // v1
+// Support external barometers
+#define BARO_I2C_BUS          I2C_EXT_BUS
+#define USE_BARO_BMP085
+#define USE_BARO_MS5611
+
+#define PITOT_I2C_BUS           I2C_EXT_BUS
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     I2C_EXT_BUS
+
+#define USE_VCP
+#define VBUS_SENSING_PIN        PC5
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART_INVERTER
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+#if defined(OMNIBUSF4PRO)
+#define INVERTER_PIN_UART1_RX PC0 // PC0 has never been used as inverter control on genuine OMNIBUS F4 variants, but leave it as is since some clones actually implement it.
+#endif
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+#if defined(OMNIBUSF4V3)
+  #define INVERTER_PIN_UART6_RX PC8
+  #define INVERTER_PIN_UART6_TX PC9
+#endif
+
+#if defined(OMNIBUSF4V3)
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_RX_PIN     PC6     // shared with UART6 TX
+#define SOFTSERIAL_1_TX_PIN     PC6     // shared with UART6 TX
+
+#define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
+
+#else                                   // OMNIBUSF4PRO
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_RX_PIN     PC8     // pad labelled CH5 on OMNIBUSF4PRO
+#define SOFTSERIAL_1_TX_PIN     PC9     // pad labelled CH6 on OMNIBUSF4PRO
+
+#define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
+#endif
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN          PB12
+#define SPI2_SCK_PIN          PB13
+#define SPI2_MISO_PIN         PB14
+#define SPI2_MOSI_PIN         PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN          PA15
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI3
+#define MAX7456_CS_PIN          PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+
+#define SDCARD_SPI_BUS        BUS_SPI2
+#define SDCARD_CS_PIN         SPI2_NSS_PIN
+
+#define SDCARD_DETECT_PIN     PB7
+#define SDCARD_DETECT_INVERTED
+
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC1
+#define ADC_CHANNEL_2_PIN               PC2
+#define ADC_CHANNEL_3_PIN               PA0
+
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
+#define VBAT_ADC_CHANNEL                ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+
+#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
+
+#define USE_LED_STRIP
+#define WS2811_PIN                   PB6
+
+#define DISABLE_RX_PWM_FEATURE
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT | FEATURE_OSD)
+
+#define USE_SPEKTRUM_BIND
+#define BIND_PIN                PB11 // USART3 RX
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// Number of available PWM outputs
+#define MAX_PWM_OUTPUT_PORTS    6
+#define TARGET_MOTOR_COUNT      6
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
+#ifdef OMNIBUSF4PRO
+#define CURRENT_METER_SCALE   265
+#endif
diff --git a/src/main/target/OMNIBUSF4V3_SS/CMakeLists.txt b/src/main/target/OMNIBUSF4V3_SS/CMakeLists.txt
new file mode 100644
index 00000000000..321eeb211d1
--- /dev/null
+++ b/src/main/target/OMNIBUSF4V3_SS/CMakeLists.txt
@@ -0,0 +1,4 @@
+# OMNIBUSF4V3 softserial variants with different S5/S6 timer configurations
+target_stm32f405xg(OMNIBUSF4V3_S6_SS)
+target_stm32f405xg(OMNIBUSF4V3_S5S6_SS)
+target_stm32f405xg(OMNIBUSF4V3_S5_S6_2SS)
diff --git a/src/main/target/OMNIBUSF4V3_SS/target.c b/src/main/target/OMNIBUSF4V3_SS/target.c
new file mode 100644
index 00000000000..95b496e8bfb
--- /dev/null
+++ b/src/main/target/OMNIBUSF4V3_SS/target.c
@@ -0,0 +1,53 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,               0, 0), // S1_OUT D1_ST7
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO,               0, 0), // S2_OUT D1_ST2
+    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,               0, 1), // S3_OUT D1_ST6
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,               0, 0), // S4_OUT D1_ST1
+
+    // { TIM9,  IO_TAG(PA3),  TIM_Channel_2, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9, TIM_USE_OUTPUT_AUTO }, // MOTOR_3
+#if defined(OMNIBUSF4V3_S5S6_SS) || defined(OMNIBUSF4V3_S5_S6_2SS)
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_ANY,                                                           0, 0), // S5_OUT SOFTSERIAL
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_ANY,                                                           0, 0), // S6_OUT SOFTSERIAL
+#elif defined(OMNIBUSF4V3_S6_SS)
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,                0, 0), // S5_OUT
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_ANY,                                                           0, 0), // S6_OUT SOFTSERIAL
+#endif
+
+    DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED,                                                           0, 0), // LED strip for F4 V2 / F4-Pro-0X and later (RCD_CS for F4)
+
+    // DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,                  0, 0), // PPM
+    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_ANY,                  0, 0), // S2_IN
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY,                 0, 0), // S3_IN, UART6_TX
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_ANY,                 0, 0), // S4_IN, UART6_RX
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_ANY,                 0, 0), // S5_IN
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_ANY,                 0, 0), // S6_IN
+
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/OMNIBUSF4V3_SS/target.h b/src/main/target/OMNIBUSF4V3_SS/target.h
new file mode 100644
index 00000000000..f3cbf6c4a49
--- /dev/null
+++ b/src/main/target/OMNIBUSF4V3_SS/target.h
@@ -0,0 +1,193 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// This directory contains: OMNIBUSF4V3_S6_SS, OMNIBUSF4V3_S5S6_SS, OMNIBUSF4V3_S5_S6_2SS
+// Softserial variants of OMNIBUSF4V3 with different S5/S6 timer configurations
+#if defined(OMNIBUSF4V3_S6_SS) || defined(OMNIBUSF4V3_S5S6_SS) || defined(OMNIBUSF4V3_S5_S6_2SS)
+#define OMNIBUSF4V3
+#endif
+
+#define TARGET_BOARD_IDENTIFIER "OB43"
+
+#define USBD_PRODUCT_STRING "Omnibus F4"
+
+#define LED0                    PB5
+
+#define BEEPER                  PB4
+#define BEEPER_INVERTED
+
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
+#define I2C_EXT_BUS BUS_I2C2
+
+#define UG2864_I2C_BUS I2C_EXT_BUS
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW270_DEG
+
+// Support for OMNIBUS F4 PRO CORNER - it has ICM20608 instead of MPU6000
+#define MPU6500_CS_PIN          MPU6000_CS_PIN
+#define MPU6500_SPI_BUS         MPU6000_SPI_BUS
+#define USE_IMU_MPU6500
+#define IMU_MPU6500_ALIGN       IMU_MPU6000_ALIGN
+
+//BMI270
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        IMU_MPU6000_ALIGN
+#define BMI270_SPI_BUS          MPU6000_SPI_BUS
+#define BMI270_CS_PIN           MPU6000_CS_PIN
+
+#define USE_MAG
+#define MAG_I2C_BUS             I2C_EXT_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     I2C_EXT_BUS
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define BMP280_SPI_BUS        BUS_SPI3
+#define BMP280_CS_PIN         PB3 // v1
+// Support external barometers
+#define BARO_I2C_BUS          I2C_EXT_BUS
+#define USE_BARO_BMP085
+#define USE_BARO_MS5611
+
+#define PITOT_I2C_BUS           I2C_EXT_BUS
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     I2C_EXT_BUS
+
+#define USE_VCP
+#define VBUS_SENSING_PIN        PC5
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART_INVERTER
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+#define INVERTER_PIN_UART6_RX PC8
+#define INVERTER_PIN_UART6_TX PC9
+
+#if defined(OMNIBUSF4V3_S6_SS)        // one softserial on S6
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_RX_PIN     PA8     // S6 output
+#define SOFTSERIAL_1_TX_PIN     PA8     // S6 output
+
+#define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
+
+#elif defined(OMNIBUSF4V3_S5S6_SS)      // one softserial on S5/RX S6/TX
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_RX_PIN     PA1     // S5 output
+#define SOFTSERIAL_1_TX_PIN     PA8     // S6 output
+
+#define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
+
+#elif defined(OMNIBUSF4V3_S5_S6_2SS)    // two softserials, one on S5 and one on S6
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_RX_PIN     PA1     // S5 output
+#define SOFTSERIAL_1_TX_PIN     PA1     // S5 output
+
+#define USE_SOFTSERIAL2
+#define SOFTSERIAL_2_RX_PIN     PA8     // S6 output
+#define SOFTSERIAL_2_TX_PIN     PA8     // S6 output
+
+#define SERIAL_PORT_COUNT       6       // VCP, USART1, USART3, USART6, SOFTSERIAL1, SOFTSERIAL2
+#endif
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN          PB12
+#define SPI2_SCK_PIN          PB13
+#define SPI2_MISO_PIN         PB14
+#define SPI2_MOSI_PIN         PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN          PA15
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI3
+#define MAX7456_CS_PIN          PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+
+#define SDCARD_SPI_BUS        BUS_SPI2
+#define SDCARD_CS_PIN         SPI2_NSS_PIN
+
+#define SDCARD_DETECT_PIN     PB7
+#define SDCARD_DETECT_INVERTED
+
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC1
+#define ADC_CHANNEL_2_PIN               PC2
+#define ADC_CHANNEL_3_PIN               PA0
+
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
+#define VBAT_ADC_CHANNEL                ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+
+#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
+
+#define USE_LED_STRIP
+#define WS2811_PIN                   PB6
+
+#define DISABLE_RX_PWM_FEATURE
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT | FEATURE_OSD)
+
+#define USE_SPEKTRUM_BIND
+#define BIND_PIN                PB11 // USART3 RX
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// Number of available PWM outputs
+#define MAX_PWM_OUTPUT_PORTS    6
+#define TARGET_MOTOR_COUNT      6
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+