diff --git a/docs/SITL/RealFlight.md b/docs/SITL/RealFlight.md
index a30963af025..6124b1e7b57 100644
--- a/docs/SITL/RealFlight.md
+++ b/docs/SITL/RealFlight.md
@@ -3,8 +3,15 @@
 Supported are RealFlight 9.5S and RealFlight Evolution, NOT RealFlight-X.
 
 RealFlight is very well suited to simulate the model flight specific aspects. Autolaunch and the mixers can be used.
-However, since the sceneries do not correspond to a real environment, the GPS data must be "faked". The position is always shown somewhere in southern Nevada ;).
-GPS data and flight modes work fine though, only for missions with waypoints it is of course not ideal. 
+
+The RealFlight 3D sceneries are based on real topographic data of the Sierra Nevada in Southern Spain.
+INAV uses as reference the scenery "RealFlight Ranch" which is located at the coordinates Lat: 37.118949°, Lon: -2.772960.
+Use these scenery to use the mission planner and other GPS features.
+
+> [!CAUTION]:
+> The immediate surroundings of the airfield have been levelled in the scenery.  If, for example, Autoland is to be tested here, do not use "Sea level ref" and the automatically determined heights of the Configurator. 
+> Either use relarive elevations or correct the elevation manually.
+> The altitude of the airfield is exactly 1300 metres. 
 
 ## Joystick 
 In the settings, calibrate the joystick, set it up and assign the axes in the same order as in INAV.
diff --git a/docs/Settings.md b/docs/Settings.md
index 4f641ca9db6..61e3fdfe4ab 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1948,7 +1948,7 @@ Weight of barometer measurements in estimated altitude and climb rate. Setting i
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.4 | 0 | 10 |
+| 0.35 | 0 | 10 |
 
 ---
 
@@ -1958,7 +1958,7 @@ Weight of GPS altitude measurements in estimated altitude. Setting is used on bo
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.4 | 0 | 10 |
+| 0.2 | 0 | 10 |
 
 ---
 
@@ -1968,7 +1968,7 @@ Weight of GPS climb rate measurements in estimated climb rate. Setting is used o
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.8 | 0 | 10 |
+| 0.1 | 0 | 10 |
 
 ---
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 57e288c2a99..ea0eae533ac 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2377,19 +2377,19 @@ groups:
         field: w_z_baro_p
         min: 0
         max: 10
-        default_value: 0.4
+        default_value: 0.35
       - name: inav_w_z_gps_p
         description: "Weight of GPS altitude measurements in estimated altitude. Setting is used on both airplanes and multirotors."
         field: w_z_gps_p
         min: 0
         max: 10
-        default_value: 0.4
+        default_value: 0.2
       - name: inav_w_z_gps_v
         description: "Weight of GPS climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors."
         field: w_z_gps_v
         min: 0
         max: 10
-        default_value: 0.8
+        default_value: 0.1
       - name: inav_w_xy_gps_p
         description: "Weight of GPS coordinates in estimated UAV position and speed."
         default_value: 1.0
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index e1ece1b1457..7bf18716913 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -4398,11 +4398,12 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(bool launchBypass)
         if (posControl.flags.forcedRTHActivated) {
             return NAV_FSM_EVENT_SWITCH_TO_RTH;
         }
-        // CR115
+
         /* WP mission activation control:
          * canActivateWaypoint & waypointWasActivated are used to prevent WP mission
          * auto restarting after interruption by Manual or RTH modes.
-         * WP mode must be deselected before it can be reactivated again. */
+         * WP mode must be deselected before it can be reactivated again
+         * WP Mode also inhibited when Mission Planner is active */
         static bool waypointWasActivated = false;
         bool canActivateWaypoint = isWaypointMissionValid();
         bool wpRthFallbackIsActive = false;
@@ -4412,16 +4413,17 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(bool launchBypass)
         } else {
             if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) {
                 canActivateWaypoint = false;
+
                 if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
                     canActivateWaypoint = true;
                     waypointWasActivated = false;
                 }
             }
+
             wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint;
         }
 
-        /* Pilot-triggered RTH, also fall-back for WP if there is no mission loaded.
-         * WP prevented from falling back to RTH if WP mission planner is active.
+        /* Pilot-triggered RTH, also fall-back for WP if no mission is loaded.
          * Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
          * Without this loss of any of the canActivateNavigation && canActivateAltHold
          * will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
@@ -4431,7 +4433,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(bool launchBypass)
                 return NAV_FSM_EVENT_SWITCH_TO_RTH;
             }
         }
-        // CR115
+
         // MANUAL mode has priority over WP/PH/AH
         if (IS_RC_MODE_ACTIVE(BOXMANUAL)) {
             return NAV_FSM_EVENT_SWITCH_TO_IDLE;
@@ -4440,11 +4442,11 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(bool launchBypass)
         // Pilot-activated waypoint mission. Fall-back to RTH if no mission loaded.
         // Also check multimission mission change status before activating WP mode.
 #ifdef USE_MULTI_MISSION
-        if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP)) {  // CR115
+        if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP)) {
 #else
-        if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {  // CR115
+        if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {
 #endif
-            if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateWaypoint && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {  // CR115
+            if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateWaypoint && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
                 waypointWasActivated = true;
                 return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
             }
diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index 2457b7df566..e8c1965be3d 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -483,8 +483,9 @@ static int logicConditionCompute(
             }
             break;
 
-#ifdef LED_PIN
+#ifdef USE_LED_STRIP
         case LOGIC_CONDITION_LED_PIN_PWM:
+
             if (operandA >=0 && operandA <= 100) {
                 ledPinStartPWM((uint8_t)operandA);
             } else {
diff --git a/src/main/target/FURYF4OSD/target.h b/src/main/target/FURYF4OSD/target.h
index 79c26d178ae..71abc9a8c68 100644
--- a/src/main/target/FURYF4OSD/target.h
+++ b/src/main/target/FURYF4OSD/target.h
@@ -45,6 +45,12 @@
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
+// ICM42605/ICM42688P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW180_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 #define USE_SPI_DEVICE_3
 #define SPI3_SCK_PIN            PC10
@@ -112,10 +118,7 @@
 
 #define USE_BARO
 #define BARO_I2C_BUS                DEFAULT_I2C_BUS
-#define USE_BARO_BMP280
-#define USE_BARO_MS5611
-#define USE_BARO_BMP085
-#define USE_BARO_DPS310
+#define USE_BARO_ALL
 
 #define USE_MAG
 #define MAG_I2C_BUS                 DEFAULT_I2C_BUS
diff --git a/src/main/target/IFLIGHT_BLITZ_H7_PRO/CMakeLists.txt b/src/main/target/IFLIGHT_BLITZ_H7_PRO/CMakeLists.txt
new file mode 100644
index 00000000000..b8fc79235d4
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_H7_PRO/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32h743xi(IFLIGHT_BLITZ_H7_PRO)
\ No newline at end of file
diff --git a/src/main/target/IFLIGHT_BLITZ_H7_PRO/config.c b/src/main/target/IFLIGHT_BLITZ_H7_PRO/config.c
new file mode 100644
index 00000000000..1065971614a
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_H7_PRO/config.c
@@ -0,0 +1,32 @@
+/*
+ * 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 "fc/fc_msp_box.h"
+#include "fc/config.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+    beeperConfigMutable()->pwmMode = true;
+}
diff --git a/src/main/target/IFLIGHT_BLITZ_H7_PRO/target.c b/src/main/target/IFLIGHT_BLITZ_H7_PRO/target.c
new file mode 100644
index 00000000000..23dd0e0c37a
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_H7_PRO/target.c
@@ -0,0 +1,49 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0),   // S1
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1),   // S2
+
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2),   // S3  
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 3),   // S4
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4),   // S5
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5),   // S6
+
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6),   // S7
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7),   // S8
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0),   // S9
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0),   // S10 DMA_NONE
+
+    DEF_TIM(TIM15, CH1, PE5, TIM_USE_OUTPUT_AUTO, 0, 0),   // S11
+    DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 0),   // S12 DMA_NONE
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 9),    // LED_2812
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/IFLIGHT_BLITZ_H7_PRO/target.h b/src/main/target/IFLIGHT_BLITZ_H7_PRO/target.h
new file mode 100644
index 00000000000..23fde63466c
--- /dev/null
+++ b/src/main/target/IFLIGHT_BLITZ_H7_PRO/target.h
@@ -0,0 +1,176 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "IB7P"
+
+#define USBD_PRODUCT_STRING     "IFLIGHT_BLITZ_H7_PRO"
+
+#define USE_TARGET_CONFIG
+
+#define LED0                    PE3
+#define LED1                    PE4
+
+#define BEEPER                  PA15
+#define BEEPER_INVERTED
+
+// SPI1
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PD7
+
+// SPI2
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+// SPI3 - not connected
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+// SPI4 - GYRO2 not used in INAV
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE12
+#define SPI4_MISO_PIN           PE13
+#define SPI4_MOSI_PIN           PE14
+
+// ICM42605
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PC15
+
+// OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// I2C
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB6
+#define I2C1_SDA                PB7
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL                PB10
+#define I2C2_SDA                PB11
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C2
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C2
+#define PITOT_I2C_BUS           BUS_I2C2
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PD5
+#define UART2_RX_PIN            PD6
+
+#define USE_UART3
+#define UART3_TX_PIN            PD8
+#define UART3_RX_PIN            PD9
+
+#define USE_UART4
+#define UART4_TX_PIN            PB9
+#define UART4_RX_PIN            PB8
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define USE_UART7
+#define UART7_TX_PIN            PE8
+#define UART7_RX_PIN            PE7
+
+#define USE_UART8
+#define UART8_TX_PIN            PE1
+#define UART8_RX_PIN            PE0
+
+#define SERIAL_PORT_COUNT       8
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_CRSF
+#define SERIALRX_UART           SERIAL_PORT_USART6
+
+// *************** SDIO SD BLACKBOX*******************
+#define USE_SDCARD
+#define USE_SDCARD_SDIO
+#define SDCARD_SDIO_DEVICE      SDIODEV_1
+#define SDCARD_SDIO_4BIT
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+
+#define ADC_CHANNEL_1_PIN           PC0  //ADC123 VBAT1
+#define ADC_CHANNEL_2_PIN           PC1  //ADC123 CURR1
+#define ADC_CHANNEL_3_PIN           PC5  //ADC12  RSSI
+#define ADC_CHANNEL_4_PIN           PC4  //ADC12  AirS
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL        ADC_CHN_4
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PD10  // VTX power switcher
+#define PINIO2_PIN                  PD11  // 2xCamera switcher
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE         212
+#define VBAT_SCALE_DEFAULT          1135
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        12
+#define USE_DSHOT
+#define USE_ESC_SENSOR
\ No newline at end of file
diff --git a/src/main/target/SITL/sim/realFlight.c b/src/main/target/SITL/sim/realFlight.c
index a1d7b692902..a8d241425d1 100644
--- a/src/main/target/SITL/sim/realFlight.c
+++ b/src/main/target/SITL/sim/realFlight.c
@@ -58,12 +58,11 @@
 
 #define RF_PORT 18083
 #define RF_MAX_CHANNEL_COUNT 12
-// RealFlight scenerys doesn't represent real landscapes, so fake some nice coords: Area 51 ;)
-//#define FAKE_LAT 37.277127f
-//#define FAKE_LON -115.799669f
 
-#define FAKE_LAT 0
-#define FAKE_LON 0
+// "RealFlight Ranch" is located in Sierra Nevada, southern Spain
+// This is not the Position of the Ranch, it's the Point of 0,0 in the Map (bottom left corner)
+#define FAKE_LAT  36.910610f
+#define FAKE_LON  -2.876605f
 
 static uint8_t pwmMapping[RF_MAX_PWM_OUTS];
 static uint8_t mappingCount;
@@ -402,9 +401,9 @@ static void exchangeData(void)
     computeQuaternionFromRPY(&quat, roll_inav, pitch_inav, yaw_inav);
     transformVectorEarthToBody(&north, &quat);
     fakeMagSet(
-        constrainToInt16(north.x * 1024.0f),
-        constrainToInt16(north.y * 1024.0f),
-        constrainToInt16(north.z * 1024.0f)
+        constrainToInt16(north.x * 16000.0f),
+        constrainToInt16(north.y * 16000.0f),
+        constrainToInt16(north.z * 16000.0f)
     );
 
     free(rfValues.m_currentAircraftStatus);
diff --git a/src/main/target/TMOTORVELOXF7V2/CMakeLists.txt b/src/main/target/TMOTORVELOXF7V2/CMakeLists.txt
new file mode 100644
index 00000000000..15160ea350d
--- /dev/null
+++ b/src/main/target/TMOTORVELOXF7V2/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(TMOTORVELOXF7V2)
diff --git a/src/main/target/TMOTORVELOXF7V2/config.c b/src/main/target/TMOTORVELOXF7V2/config.c
new file mode 100644
index 00000000000..8134059c38d
--- /dev/null
+++ b/src/main/target/TMOTORVELOXF7V2/config.c
@@ -0,0 +1,32 @@
+/*
+ * 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/pwm_mapping.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+#include "io/serial.h"
+
+void targetConfiguration(void)
+{
+    
+}
diff --git a/src/main/target/TMOTORVELOXF7V2/target.c b/src/main/target/TMOTORVELOXF7V2/target.c
new file mode 100644
index 00000000000..7d9ae0d3292
--- /dev/null
+++ b/src/main/target/TMOTORVELOXF7V2/target.c
@@ -0,0 +1,43 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH1, PB4,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S1   UP1-2   D(1, 4, 5)
+    DEF_TIM(TIM3, CH2, PB5,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S2   UP1-2   D(1, 5, 5)
+    DEF_TIM(TIM3, CH3, PB0,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S3   UP1-2   D(1, 7, 5)
+    DEF_TIM(TIM3, CH4, PB1,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S4   UP1-2   D(1, 2, 5)
+
+    DEF_TIM(TIM2, CH1, PA15,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S5   UP1-7   D(1, 5, 3) - clash with S2
+    DEF_TIM(TIM2, CH2, PB3,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S6   UP1-7   D(1, 6, 3)
+    DEF_TIM(TIM4, CH1, PB6,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S7   UP1-6   D(1, 0, 2) // used to be fw motor
+    DEF_TIM(TIM4, CH2, PB7,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S8   UP1-6   D(1, 3, 2) // used to be fw motor
+
+    DEF_TIM(TIM1, CH1, PA8,     TIM_USE_LED,    0,  1), // LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/TMOTORVELOXF7V2/target.h b/src/main/target/TMOTORVELOXF7V2/target.h
new file mode 100644
index 00000000000..09f30857ec8
--- /dev/null
+++ b/src/main/target/TMOTORVELOXF7V2/target.h
@@ -0,0 +1,147 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "TVF7"
+
+#define USBD_PRODUCT_STRING  "TMOTORVELOXF7V2"
+
+#define LED0                    PA14
+#define LED1                    PA13
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+
+// SPI
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+//GYRO
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_CS_PIN         PB2
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** SPI2 OSD ***********************
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** SPI3 SD BLACKBOX*******************
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS          BUS_SPI3
+#define M25P16_CS_PIN           PD2
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define SERIAL_PORT_COUNT       6
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+
+#define ADC_CHANNEL_1_PIN           PC2
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC0
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE     250
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        8
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_DSHOT_DMAR
+#define USE_ESC_SENSOR
+
diff --git a/src/main/telemetry/srxl.c b/src/main/telemetry/srxl.c
index c341363f160..ae3dcf9b7f1 100644
--- a/src/main/telemetry/srxl.c
+++ b/src/main/telemetry/srxl.c
@@ -165,11 +165,13 @@ typedef struct
     INT8 dBm_A, // Average signal for A antenna in dBm
     INT8 dBm_B; // Average signal for B antenna in dBm.
     // If only 1 antenna, set B = A
+    UINT16 spare[2];
+    UINT16 fastbootUptime; // bit 15 = fastboot flag.  Bits 0-14= uptime in seconds.  0x0000 --> no data
 } STRU_TELE_RPM;
 */
 
 #define STRU_TELE_RPM_EMPTY_FIELDS_COUNT 8
-#define STRU_TELE_RPM_EMPTY_FIELDS_VALUE 0xff
+#define STRU_TELE_RPM_EMPTY_FIELDS_VALUE 0x00
 
 #define SPEKTRUM_RPM_UNUSED 0xffff
 #define SPEKTRUM_TEMP_UNUSED 0x7fff