Merge remote-tracking branch 'origin/master' into osd-support

38 files changed, 900 insertions, 629 deletions

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 7bcc0b52..5d7bd001 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -622,10 +622,16 @@
         "message": "Magnetometer Declination [deg]"
     },
     "configurationAutoDisarmDelay": {
-        "message": "Disarm motors after set delay(Seconds) (Requires MOTOR_STOP feature)"
+        "message": "Disarm delay [Seconds]"
+    },
+    "configurationAutoDisarmDelayHelp": {
+        "message": "Requires MOTOR_STOP feature"
     },
     "configurationDisarmKillSwitch": {
-        "message": "Disarm motors regardless of throttle value (When arming via AUX channel)"
+        "message": "Disarm regardless of throttle value"
+    },
+    "configurationDisarmKillSwitchHelp": {
+        "message": "When arming via AUX channel"
     },
     "configurationThrottleMinimum": {
         "message": "Minimum Throttle"
@@ -693,9 +699,6 @@
     "configurationCalculatedCyclesSec": {
         "message": "Cycles/Sec (Hz)"
     },
-    "configurationLoopTimeHelp": {
-        "message": "<strong>Note:</strong> Changing this may require PID re-tuning."
-    },
     "configurationGPS": {
         "message": "GPS"
     },
@@ -1811,6 +1814,36 @@
     "pidTuningTPABreakPointHelp": {
         "message": "Throttle PID Attenuation begins when Throttle position exceeds this value. "
     },
+    "configurationAsyncMode": {
+        "message": "Asynchronous mode"
+    },
+    "configurationGyroFrequencyTitle": {
+        "message": "Gyroscope task frequency"
+    },
+    "configurationAccelerometerFrequencyTitle": {
+        "message": "Accelerometer task frequency"
+    },
+    "configurationAttitudeFrequencyTitle": {
+        "message": "Attitude task frequency"
+    },
+    "configurationGyroLpfHelp": {
+        "message": "Hardware based cutoff frequency for gyroscope. In general, bigger value is better but makes UAV more sensitive to vibrations"
+    },
+    "configurationAsyncModeHelp": {
+        "message": "See Firmware \"Looptime\" documentation for details"
+    },
+    "configurationGyroFrequencyHelp": {
+        "message": "In general, higher value is better but makes UAV more sensitive to vibrations. Should be kept above 'Flight Controller Loop Time' frequency. Maximal practical value is hardware dependant. If set too high, board might not run properly. Observe CPU usage."
+    },
+    "configurationAccelerometerFrequencyHelp": {
+        "message": "For Acro purposes, this value can be lowered from default"
+    },
+    "configurationAttitudeFrequencyHelp": {
+        "message": "For Acro purposes, this value can be lowered from default"
+    },
+    "configurationLoopTimeHelp": {
+        "message": "In general, higher value is better. With asynchronous gyroscope, should be kept below gyro update frequency. Maximal practical value is hardware dependant. If set too high, board might not run properly. Observe CPU usage."
+    },
     "tabOSD": {
         "message": "OSD"
     }
diff --git a/images/icons/sensor_acc_error.png b/images/icons/sensor_acc_error.png
new file mode 100644
index 00000000..15db4ebb
--- /dev/null
+++ b/images/icons/sensor_acc_error.png
diff --git a/images/icons/sensor_airspeed_.psd b/images/icons/sensor_airspeed_.psd
new file mode 100644
index 00000000..abc22802
--- /dev/null
+++ b/images/icons/sensor_airspeed_.psd
diff --git a/images/icons/sensor_airspeed_error.png b/images/icons/sensor_airspeed_error.png
new file mode 100644
index 00000000..ce3a6063
--- /dev/null
+++ b/images/icons/sensor_airspeed_error.png
diff --git a/images/icons/sensor_airspeed_off.png b/images/icons/sensor_airspeed_off.png
new file mode 100644
index 00000000..63cdd3af
--- /dev/null
+++ b/images/icons/sensor_airspeed_off.png
diff --git a/images/icons/sensor_airspeed_on.png b/images/icons/sensor_airspeed_on.png
new file mode 100644
index 00000000..72e13765
--- /dev/null
+++ b/images/icons/sensor_airspeed_on.png
diff --git a/images/icons/sensor_baro_error.png b/images/icons/sensor_baro_error.png
new file mode 100644
index 00000000..32208391
--- /dev/null
+++ b/images/icons/sensor_baro_error.png
diff --git a/images/icons/sensor_flow_off.psd b/images/icons/sensor_flow_.psd
index f0ea6c7e..f0ea6c7e 100644
--- a/images/icons/sensor_flow_off.psd
+++ b/images/icons/sensor_flow_.psd
diff --git a/images/icons/sensor_flow_error.png b/images/icons/sensor_flow_error.png
new file mode 100644
index 00000000..8be9d61d
--- /dev/null
+++ b/images/icons/sensor_flow_error.png
diff --git a/images/icons/sensor_flow_on.psd b/images/icons/sensor_flow_on.psd
deleted file mode 100644
index e94f7fe0..00000000
--- a/images/icons/sensor_flow_on.psd
+++ /dev/null
diff --git a/images/icons/sensor_gyro_error.png b/images/icons/sensor_gyro_error.png
new file mode 100644
index 00000000..ff7eb83f
--- /dev/null
+++ b/images/icons/sensor_gyro_error.png
diff --git a/images/icons/sensor_mag_error.png b/images/icons/sensor_mag_error.png
new file mode 100644
index 00000000..3f080279
--- /dev/null
+++ b/images/icons/sensor_mag_error.png
diff --git a/images/icons/sensor_sat_error.png b/images/icons/sensor_sat_error.png
new file mode 100644
index 00000000..a9e51437
--- /dev/null
+++ b/images/icons/sensor_sat_error.png
diff --git a/images/icons/sensor_sonar_error.png b/images/icons/sensor_sonar_error.png
new file mode 100644
index 00000000..847a1651
--- /dev/null
+++ b/images/icons/sensor_sonar_error.png
diff --git a/js/fc.js b/js/fc.js
index 4e6c5748..be4b6098 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -41,43 +41,52 @@ var ADVANCED_CONFIG;
 var INAV_PID_CONFIG;
 var PID_ADVANCED;
 var FILTER_CONFIG;
+var SENSOR_STATUS;
 
 var FC = {
     isRatesInDps: function () {
-        if (typeof CONFIG != "undefined" && CONFIG.flightControllerIdentifier == "INAV" && semver.gt(CONFIG.flightControllerVersion, "1.1.0")) {
-            return true;
-        } else {
-            return false;
-        }
+        return !!(typeof CONFIG != "undefined" && CONFIG.flightControllerIdentifier == "INAV" && semver.gt(CONFIG.flightControllerVersion, "1.1.0"));
     },
     resetState: function() {
+        SENSOR_STATUS = {
+            isHardwareHealthy:  0,
+            gyroHwStatus:       0,
+            accHwStatus:        0,
+            magHwStatus:        0,
+            baroHwStatus:       0,
+            gpsHwStatus:        0,
+            rangeHwStatus:      0,
+            speedHwStatus:      0,
+            flowHwStatus:       0
+        };
+
         CONFIG = {
-            apiVersion:    "0.0.0",
+            apiVersion: "0.0.0",
             flightControllerIdentifier: '',
             flightControllerVersion: '',
-            version:       0,
-            buildInfo:     '',
-            multiType:     0,
-            msp_version:   0, // not specified using semantic versioning
-            capability:    0,
-            cycleTime:     0,
-            i2cError:      0,
+            version: 0,
+            buildInfo: '',
+            multiType: 0,
+            msp_version: 0, // not specified using semantic versioning
+            capability: 0,
+            cycleTime: 0,
+            i2cError: 0,
             activeSensors: 0,
-            mode:          0,
-            profile:       0,
-            uid:           [0, 0, 0],
+            mode: 0,
+            profile: 0,
+            uid: [0, 0, 0],
             accelerometerTrims: [0, 0]
         };
 
         BF_CONFIG = {
-            mixerConfiguration:     0,
-            features:               0,
-            serialrx_type:          0,
-            board_align_roll:       0,
-            board_align_pitch:      0,
-            board_align_yaw:        0,
-            currentscale:           0,
-            currentoffset:          0
+            mixerConfiguration: 0,
+            features: 0,
+            serialrx_type: 0,
+            board_align_roll: 0,
+            board_align_pitch: 0,
+            board_align_yaw: 0,
+            currentscale: 0,
+            currentoffset: 0
         };
 
         LED_STRIP = [];
@@ -103,17 +112,17 @@ var FC = {
         };
 
         RC_tuning = {
-            RC_RATE:         0,
-            RC_EXPO:         0,
+            RC_RATE: 0,
+            RC_EXPO: 0,
             roll_pitch_rate: 0, // pre 1.7 api only
-            roll_rate:       0,
-            pitch_rate:      0,
-            yaw_rate:        0,
+            roll_rate: 0,
+            pitch_rate: 0,
+            yaw_rate: 0,
             dynamic_THR_PID: 0,
-            throttle_MID:    0,
-            throttle_EXPO:   0,
+            throttle_MID: 0,
+            throttle_EXPO: 0,
             dynamic_THR_breakpoint: 0,
-        	RC_YAW_EXPO:         0
+            RC_YAW_EXPO: 0
         };
 
         AUX_CONFIG = [];
@@ -132,52 +141,52 @@ var FC = {
             mspBaudRate: 0,
             gpsBaudRate: 0,
             gpsPassthroughBaudRate: 0,
-            cliBaudRate: 0,
+            cliBaudRate: 0
         };
 
         SENSOR_DATA = {
-            gyroscope:     [0, 0, 0],
+            gyroscope: [0, 0, 0],
             accelerometer: [0, 0, 0],
-            magnetometer:  [0, 0, 0],
-            altitude:      0,
-            sonar:         0,
-            kinematics:    [0.0, 0.0, 0.0],
-            debug:         [0, 0, 0, 0]
+            magnetometer: [0, 0, 0],
+            altitude: 0,
+            sonar: 0,
+            kinematics: [0.0, 0.0, 0.0],
+            debug: [0, 0, 0, 0]
         };
 
         MOTOR_DATA = new Array(8);
         SERVO_DATA = new Array(8);
 
         GPS_DATA = {
-            fix:             0,
-            numSat:          0,
-            lat:             0,
-            lon:             0,
-            alt:             0,
-            speed:           0,
-            ground_course:   0,
-            distanceToHome:  0,
+            fix: 0,
+            numSat: 0,
+            lat: 0,
+            lon: 0,
+            alt: 0,
+            speed: 0,
+            ground_course: 0,
+            distanceToHome: 0,
             ditectionToHome: 0,
-            update:          0,
-            hdop:            0,
-            eph:             0,
-            epv:             0,
-            messageDt:       0,
-            errors:          0,
-            timeouts:        0,
-            packetCount:     0
+            update: 0,
+            hdop: 0,
+            eph: 0,
+            epv: 0,
+            messageDt: 0,
+            errors: 0,
+            timeouts: 0,
+            packetCount: 0
         };
 
         ANALOG = {
-            voltage:    0,
-            mAhdrawn:   0,
-            rssi:       0,
-            amperage:   0
+            voltage: 0,
+            mAhdrawn: 0,
+            rssi: 0,
+            amperage: 0
         };
 
         ARMING_CONFIG = {
-            auto_disarm_delay:      0,
-            disarm_kill_switch:     0
+            auto_disarm_delay: 0,
+            disarm_kill_switch: 0
         };
 
         FC_CONFIG = {
@@ -185,21 +194,21 @@ var FC = {
         };
 
         MISC = {
-            midrc:                  0,
-            minthrottle:            0,
-            maxthrottle:            0,
-            mincommand:             0,
-            failsafe_throttle:      0,
-            gps_type:               0,
-            gps_baudrate:           0,
-            gps_ubx_sbas:           0,
-            multiwiicurrentoutput:  0,
-            rssi_channel:           0,
-            placeholder2:           0,
-            mag_declination:        0, // not checked
-            vbatscale:              0,
-            vbatmincellvoltage:     0,
-            vbatmaxcellvoltage:     0,
+            midrc: 0,
+            minthrottle: 0,
+            maxthrottle: 0,
+            mincommand: 0,
+            failsafe_throttle: 0,
+            gps_type: 0,
+            gps_baudrate: 0,
+            gps_ubx_sbas: 0,
+            multiwiicurrentoutput: 0,
+            rssi_channel: 0,
+            placeholder2: 0,
+            mag_declination: 0, // not checked
+            vbatscale: 0,
+            vbatmincellvoltage: 0,
+            vbatmaxcellvoltage: 0,
             vbatwarningcellvoltage: 0
         };
 
@@ -217,7 +226,7 @@ var FC = {
             gyroSoftLpfHz: null,
             dtermLpfHz: null,
             yawLpfHz: null
-        }
+        };
 
         PID_ADVANCED = {
             rollPitchItermIgnoreRate: null,
@@ -225,7 +234,7 @@ var FC = {
             yawPLimit: null,
             axisAccelerationLimitRollPitch: null,
             axisAccelerationLimitYaw: null
-        }
+        };
 
         INAV_PID_CONFIG = {
             asynchronousMode: null,
@@ -236,13 +245,13 @@ var FC = {
             yawJumpPreventionLimit: null,
             gyroscopeLpf: null,
             accSoftLpfHz: null
-        }
+        };
 
         _3D = {
-            deadband3d_low:         0,
-            deadband3d_high:        0,
-            neutral3d:              0,
-            deadband3d_throttle:    0
+            deadband3d_low: 0,
+            deadband3d_high: 0,
+            neutral3d: 0,
+            deadband3d_throttle: 0
         };
 
         DATAFLASH = {
@@ -258,7 +267,7 @@ var FC = {
             state: 0,
             filesystemLastError: 0,
             freeSizeKB: 0,
-            totalSizeKB: 0,
+            totalSizeKB: 0
         };
 
         BLACKBOX = {
@@ -274,36 +283,36 @@ var FC = {
         };
 
         RC_deadband = {
-            deadband:               0,
-            yaw_deadband:           0,
-            alt_hold_deadband:      0
+            deadband: 0,
+            yaw_deadband: 0,
+            alt_hold_deadband: 0
         };
 
         SENSOR_ALIGNMENT = {
-            align_gyro:             0,
-            align_acc:              0,
-            align_mag:              0
+            align_gyro: 0,
+            align_acc: 0,
+            align_mag: 0
         };
 
         RX_CONFIG = {
-            serialrx_provider:      0,
-            maxcheck:               0,
-            midrc:                  0,
-            mincheck:               0,
-            spektrum_sat_bind:      0,
-            rx_min_usec:            0,
-            rx_max_usec:            0,
-            nrf24rx_protocol:       0,
-            nrf24rx_id:             0
+            serialrx_provider: 0,
+            maxcheck: 0,
+            midrc: 0,
+            mincheck: 0,
+            spektrum_sat_bind: 0,
+            rx_min_usec: 0,
+            rx_max_usec: 0,
+            nrf24rx_protocol: 0,
+            nrf24rx_id: 0
         };
 
         FAILSAFE_CONFIG = {
-            failsafe_delay:                 0,
-            failsafe_off_delay:             0,
-            failsafe_throttle:              0,
-            failsafe_kill_switch:           0,
-            failsafe_throttle_low_delay:    0,
-            failsafe_procedure:             0
+            failsafe_delay: 0,
+            failsafe_off_delay: 0,
+            failsafe_throttle: 0,
+            failsafe_kill_switch: 0,
+            failsafe_throttle_low_delay: 0,
+            failsafe_procedure: 0
         };
 
         RXFAIL_CONFIG = [];
@@ -371,7 +380,7 @@ var FC = {
         }
         return features;
     },
-    isFeatureEnabled: function(featureName, features) {
+    isFeatureEnabled: function (featureName, features) {
         for (var i = 0; i < features.length; i++) {
             if (features[i].name == featureName && bit_check(BF_CONFIG.features, features[i].bit)) {
                 return true;
@@ -384,56 +393,237 @@ var FC = {
     },
     getLooptimes: function () {
         return {
-               125: {
-                   defaultLooptime: 2000,
-                   looptimes: {
-                       4000: "250Hz",
-                       3000: "334Hz",
-                       2000: "500Hz",
-                       1500: "667Hz",
-                       1000: "1kHz",
-                       500: "2kHz",
-                       250: "4kHz",
-                       125: "8kHz"
-                   }
-               },
-               1000: {
-                   defaultLooptime: 2000,
-                   looptimes: {
-                       4000: "250Hz",
-                       2000: "500Hz",
-                       1000: "1kHz"
-                   }
-               }
-       };
-   },
-   getGyroLpfValues: function () {
-       return [
-           {
-               tick: 125,
-               defaultDenominator: 16,
-               label: "256Hz"
-           }, {
-               tick: 1000,
-               defaultDenominator: 2,
-               label: "188Hz"
-           }, {
-               tick: 1000,
-               defaultDenominator: 2,
-               label: "98Hz"
-           }, {
-               tick: 1000,
-               defaultDenominator: 2,
-               label: "42Hz"
-           }, {
-               tick: 1000,
-               defaultDenominator: 2,
-               label: "20Hz"
-           }, {
-               tick: 1000,
-               defaultDenominator: 2,
-               label: "10Hz"
-           }
-       ];
-   }
+            125: {
+                defaultLooptime: 2000,
+                looptimes: {
+                    4000: "250Hz",
+                    3000: "334Hz",
+                    2000: "500Hz",
+                    1500: "667Hz",
+                    1000: "1kHz",
+                    500: "2kHz",
+                    250: "4kHz",
+                    125: "8kHz"
+                }
+            },
+            1000: {
+                defaultLooptime: 2000,
+                looptimes: {
+                    4000: "250Hz",
+                    2000: "500Hz",
+                    1000: "1kHz"
+                }
+            }
+        };
+    },
+    getGyroFrequencies: function () {
+        return {
+            125: {
+                defaultLooptime: 1000,
+                looptimes: {
+                    4000: "250Hz",
+                    3000: "334Hz",
+                    2000: "500Hz",
+                    1500: "667Hz",
+                    1000: "1kHz",
+                    500: "2kHz",
+                    250: "4kHz",
+                    125: "8kHz"
+                }
+            },
+            1000: {
+                defaultLooptime: 1000,
+                looptimes: {
+                    4000: "250Hz",
+                    2000: "500Hz",
+                    1000: "1kHz"
+                }
+            }
+        };
+    },
+    getGyroLpfValues: function () {
+        return [
+            {
+                tick: 125,
+                defaultDenominator: 16,
+                label: "256Hz"
+            },
+            {
+                tick: 1000,
+                defaultDenominator: 2,
+                label: "188Hz"
+            },
+            {
+                tick: 1000,
+                defaultDenominator: 2,
+                label: "98Hz"
+            },
+            {
+                tick: 1000,
+                defaultDenominator: 2,
+                label: "42Hz"
+            },
+            {
+                tick: 1000,
+                defaultDenominator: 2,
+                label: "20Hz"
+            },
+            {
+                tick: 1000,
+                defaultDenominator: 2,
+                label: "10Hz"
+            }
+        ];
+    },
+    getGpsProtocols: function () {
+        return [
+            'NMEA',
+            'UBLOX',
+            'I2C-NAV',
+            'DJI NAZA'
+        ]
+    },
+    getGpsBaudRates: function () {
+        return [
+            '115200',
+            '57600',
+            '38400',
+            '19200',
+            '9600'
+        ];
+    },
+    getGpsSbasProviders: function () {
+        return [
+            'Autodetect',
+            'European EGNOS',
+            'North American WAAS',
+            'Japanese MSAS',
+            'Indian GAGAN',
+            'Disabled'
+        ];
+    },
+    getSerialRxTypes: function () {
+        return [
+            'SPEKTRUM1024',
+            'SPEKTRUM2048',
+            'SBUS',
+            'SUMD',
+            'SUMH',
+            'XBUS_MODE_B',
+            'XBUS_MODE_B_RJ01',
+            'IBUS'
+        ];
+    },
+    getNrf24ProtocolTypes: function () {
+        return [
+            'V202 250Kbps',
+            'V202 1Mbps',
+            'Syma X',
+            'Syma X5C',
+            'Cheerson CX10',
+            'Cheerson CX10A',
+            'JJRC H8_3D',
+            'iNav Reference protocol'
+        ];
+    },
+    getSensorAlignments: function () {
+        return [
+            'CW 0°',
+            'CW 90°',
+            'CW 180°',
+            'CW 270°',
+            'CW 0° flip',
+            'CW 90° flip',
+            'CW 180° flip',
+            'CW 270° flip'
+        ];
+    },
+    getEscProtocols: function () {
+        return {
+            0: {
+                name: "STANDARD",
+                defaultRate: 400,
+                rates: {
+                    50: "50Hz",
+                    400: "400Hz"
+                }
+            },
+            1: {
+                name: "ONESHOT125",
+                defaultRate: 1000,
+                rates: {
+                    400: "400Hz",
+                    1000: "1kHz",
+                    2000: "2kHz"
+                }
+            },
+            2: {
+                name: "ONESHOT42",
+                defaultRate: 2000,
+                rates: {
+                    400: "400Hz",
+                    1000: "1kHz",
+                    2000: "2kHz",
+                    4000: "4kHz",
+                    8000: "8kHz"
+                }
+            },
+            3: {
+                name: "MULTISHOT",
+                defaultRate: 2000,
+                rates: {
+                    400: "400Hz",
+                    1000: "1kHz",
+                    2000: "2kHz",
+                    4000: "4kHz",
+                    8000: "8kHz"
+                }
+            },
+            4: {
+                name: "BRUSHED",
+                defaultRate: 8000,
+                rates: {
+                    8000: "8kHz",
+                    16000: "16kHz",
+                    32000: "32kHz"
+                }
+            }
+        };
+    },
+    getServoRates: function () {
+        return {
+            50: "50Hz",
+            60: "60Hz",
+            100: "100Hz",
+            200: "200Hz",
+            400: "400Hz"
+        };
+    },
+    getAsyncModes: function () {
+        return [
+            'Disabled',
+            'Gyro',
+            'All'
+        ]
+    },
+    getAccelerometerTaskFrequencies: function () {
+        return {
+            100: '100Hz',
+            200: '200Hz',
+            250: '250Hz',
+            500: '500Hz',
+            750: '750Hz',
+            1000: '1kHz'
+        }
+    },
+    getAttitudeTaskFrequencies: function () {
+        return {
+            100: '100Hz',
+            200: '200Hz',
+            250: '250Hz',
+            500: '500Hz',
+            750: '750Hz',
+            1000: '1kHz'
+        }
+    }
 };
diff --git a/js/localization.js b/js/localization.js
index a0a11391..3d309392 100644
--- a/js/localization.js
+++ b/js/localization.js
@@ -9,28 +9,42 @@ function localize() {
         return chrome.i18n.getMessage(messageID);
     };
 
-    $('[i18n]:not(.i18n-replaced').each(function() {
+    $('[i18n]:not(.i18n-replaced)').each(function() {
         var element = $(this);
 
         element.html(translate(element.attr('i18n')));
         element.addClass('i18n-replaced');
     });
 
-    $('[i18n_title]:not(.i18n_title-replaced').each(function() {
+    $('[data-i18n]:not(.i18n-replaced)').each(function() {
+        var element = $(this);
+
+        element.html(translate(element.data('i18n')));
+        element.addClass('i18n-replaced');
+    });
+
+    $('[i18n_title]:not(.i18n_title-replaced)').each(function() {
         var element = $(this);
 
         element.attr('title', translate(element.attr('i18n_title')));
         element.addClass('i18n_title-replaced');
     });
 
-    $('[i18n_value]:not(.i18n_value-replaced').each(function() {
+    $('[data-i18n_title]:not(.i18n_title-replaced)').each(function() {
+        var element = $(this);
+
+        element.attr('title', translate(element.data('i18n_title')));
+        element.addClass('i18n_title-replaced');
+    });
+
+    $('[i18n_value]:not(.i18n_value-replaced)').each(function() {
         var element = $(this);
 
         element.val(translate(element.attr('i18n_value')));
         element.addClass('i18n_value-replaced');
     });
 
-    $('[i18n_placeholder]:not(.i18n_placeholder-replaced').each(function() {
+    $('[i18n_placeholder]:not(.i18n_placeholder-replaced)').each(function() {
         var element = $(this);
 
         element.attr('placeholder', translate(element.attr('i18n_placeholder')));
diff --git a/js/msp/MSPCodes.js b/js/msp/MSPCodes.js
index ada2535c..f5c2362d 100644
--- a/js/msp/MSPCodes.js
+++ b/js/msp/MSPCodes.js
@@ -82,6 +82,7 @@ var MSPCodes = {
     MSP_SENSOR_ALIGNMENT:   126,
     MSP_LED_STRIP_MODECOLOR:127,
     MSP_STATUS_EX:          150,
+    MSP_SENSOR_STATUS:      151,
 
     MSP_SET_RAW_RC:         200,
     MSP_SET_RAW_GPS:        201,
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index cc7cb787..782301f0 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -69,6 +69,19 @@ var mspHelper = (function (gui) {
                 gui.updateStatusBar();
                 break;
 
+            case MSPCodes.MSP_SENSOR_STATUS:
+                SENSOR_STATUS.isHardwareHealthy = data.getUint8(0);
+                SENSOR_STATUS.gyroHwStatus      = data.getUint8(1);
+                SENSOR_STATUS.accHwStatus       = data.getUint8(2);
+                SENSOR_STATUS.magHwStatus       = data.getUint8(3);
+                SENSOR_STATUS.baroHwStatus      = data.getUint8(4);
+                SENSOR_STATUS.gpsHwStatus       = data.getUint8(5);
+                SENSOR_STATUS.rangeHwStatus     = data.getUint8(6);
+                SENSOR_STATUS.speedHwStatus     = data.getUint8(7);
+                SENSOR_STATUS.flowHwStatus      = data.getUint8(8);
+                sensor_status_ex(SENSOR_STATUS);
+                break;
+
             case MSPCodes.MSP_RAW_IMU:
                 // 512 for mpu6050, 256 for mma
                 // currently we are unable to differentiate between the sensor types, so we are goign with 512
diff --git a/js/serial_backend.js b/js/serial_backend.js
index 3530b219..265f2930 100755
--- a/js/serial_backend.js
+++ b/js/serial_backend.js
@@ -308,79 +308,72 @@ function read_serial(info) {
     }
 }
 
-//FIXME move it into GUI
-function sensor_status(sensors_detected) {
-    // initialize variable (if it wasn't)
-    if (!sensor_status.previous_sensors_detected) {
-        sensor_status.previous_sensors_detected = -1; // Otherwise first iteration will not be run if sensors_detected == 0
-    }
+function sensor_status_ex(hw_status)
+{
+    var statusHash = sensor_status_hash(hw_status);
 
-    // update UI (if necessary)
-    if (sensor_status.previous_sensors_detected == sensors_detected) {
+    if (sensor_status_ex.previousHash == statusHash) {
         return;
     }
 
-    // set current value
-    sensor_status.previous_sensors_detected = sensors_detected;
+    sensor_status_ex.previousHash = statusHash;
 
-    var e_sensor_status = $('#sensor-status');
+    sensor_status_update_icon('.gyro',      '.gyroicon',        hw_status.gyroHwStatus);
+    sensor_status_update_icon('.accel',     '.accicon',         hw_status.accHwStatus);
+    sensor_status_update_icon('.mag',       '.magicon',         hw_status.magHwStatus);
+    sensor_status_update_icon('.baro',      '.baroicon',        hw_status.baroHwStatus);
+    sensor_status_update_icon('.gps',       '.gpsicon',         hw_status.gpsHwStatus);
+    sensor_status_update_icon('.sonar',     '.sonaricon',       hw_status.rangeHwStatus);
+    sensor_status_update_icon('.airspeed',  '.airspeedicon',    hw_status.speedHwStatus);
+    sensor_status_update_icon('.opflow',    '.opflowicon',      hw_status.flowHwStatus);
+}
 
-    if (have_sensor(sensors_detected, 'acc')) {
-        $('.accel', e_sensor_status).addClass('on');
-        $('.accicon', e_sensor_status).addClass('active');
+function sensor_status_update_icon(sensId, sensIconId, status)
+{
+    var e_sensor_status = $('#sensor-status');
 
-    } else {
-        $('.accel', e_sensor_status).removeClass('on');
-        $('.accicon', e_sensor_status).removeClass('active');
+    if (status == 0) {
+        $(sensId, e_sensor_status).removeClass('on');
+        $(sensIconId, e_sensor_status).removeClass('active');
+        $(sensIconId, e_sensor_status).removeClass('error');
     }
-
-    if (have_sensor(sensors_detected, 'gyro')) {
-        $('.gyro', e_sensor_status).addClass('on');
-        $('.gyroicon', e_sensor_status).addClass('active');
-    } else {
-        $('.gyro', e_sensor_status).removeClass('on');
-        $('.gyroicon', e_sensor_status).removeClass('active');
+    else if (status == 1) {
+        $(sensId, e_sensor_status).addClass('on');
+        $(sensIconId, e_sensor_status).addClass('active');
+        $(sensIconId, e_sensor_status).removeClass('error');
     }
-
-    if (have_sensor(sensors_detected, 'baro')) {
-        $('.baro', e_sensor_status).addClass('on');
-        $('.baroicon', e_sensor_status).addClass('active');
-    } else {
-        $('.baro', e_sensor_status).removeClass('on');
-        $('.baroicon', e_sensor_status).removeClass('active');
-    }
-
-    if (have_sensor(sensors_detected, 'mag')) {
-        $('.mag', e_sensor_status).addClass('on');
-        $('.magicon', e_sensor_status).addClass('active');
-    } else {
-        $('.mag', e_sensor_status).removeClass('on');
-        $('.magicon', e_sensor_status).removeClass('active');
-    }
-
-    if (have_sensor(sensors_detected, 'gps')) {
-        $('.gps', e_sensor_status).addClass('on');
-        $('.gpsicon', e_sensor_status).addClass('active');
-    } else {
-        $('.gps', e_sensor_status).removeClass('on');
-        $('.gpsicon', e_sensor_status).removeClass('active');
+    else {
+        $(sensId, e_sensor_status).removeClass('on');
+        $(sensIconId, e_sensor_status).removeClass('active');
+        $(sensIconId, e_sensor_status).addClass('error');
     }
+}
 
-    if (have_sensor(sensors_detected, 'sonar')) {
-        $('.sonar', e_sensor_status).addClass('on');
-        $('.sonaricon', e_sensor_status).addClass('active');
-    } else {
-        $('.sonar', e_sensor_status).removeClass('on');
-        $('.sonaricon', e_sensor_status).removeClass('active');
-    }
+function sensor_status_hash(hw_status)
+{
+    return "S" +
+           hw_status.isHardwareHealthy +
+           hw_status.gyroHwStatus +
+           hw_status.accHwStatus +
+           hw_status.magHwStatus +
+           hw_status.baroHwStatus +
+           hw_status.gpsHwStatus +
+           hw_status.rangeHwStatus +
+           hw_status.speedHwStatus +
+           hw_status.flowHwStatus;
+}
 
-    if (have_sensor(sensors_detected, 'opflow')) {
-        $('.opflow', e_sensor_status).addClass('on');
-        $('.opflowicon', e_sensor_status).addClass('active');
-    } else {
-        $('.opflow', e_sensor_status).removeClass('on');
-        $('.opflowicon', e_sensor_status).removeClass('active');
-    }
+function sensor_status(sensors_detected) {
+    SENSOR_STATUS.isHardwareHealthy = 1;
+    SENSOR_STATUS.gyroHwStatus      = have_sensor(sensors_detected, 'gyro') ? 1 : 0;
+    SENSOR_STATUS.accHwStatus       = have_sensor(sensors_detected, 'acc') ? 1 : 0;
+    SENSOR_STATUS.magHwStatus       = have_sensor(sensors_detected, 'mag') ? 1 : 0;
+    SENSOR_STATUS.baroHwStatus      = have_sensor(sensors_detected, 'baro') ? 1 : 0;
+    SENSOR_STATUS.gpsHwStatus       = have_sensor(sensors_detected, 'gps') ? 1 : 0;
+    SENSOR_STATUS.rangeHwStatus     = have_sensor(sensors_detected, 'sonar') ? 1 : 0;
+    SENSOR_STATUS.speedHwStatus     = have_sensor(sensors_detected, 'airspeed') ? 1 : 0;
+    SENSOR_STATUS.flowHwStatus      = have_sensor(sensors_detected, 'opflow') ? 1 : 0;
+    sensor_status_ex(SENSOR_STATUS);
 }
 
 function have_sensor(sensors_detected, sensor_code) {
@@ -398,6 +391,8 @@ function have_sensor(sensors_detected, sensor_code) {
             return bit_check(sensors_detected, 4);
         case 'opflow':
             return bit_check(sensors_detected, 5);
+        case 'airspeed':
+            return bit_check(sensors_detected, 6);
     }
     return false;
 }
diff --git a/main.css b/main.css
index b9fec063..48835151 100644
--- a/main.css
+++ b/main.css
@@ -243,7 +243,6 @@ input[type="number"]::-webkit-inner-spin-button {
 
 .gyroicon.active {
     background-image: url(images/icons/sensor_gyro_on.png);
-    color: #61d514;
     color: #818181;
 }
 
@@ -262,10 +261,14 @@ input[type="number"]::-webkit-inner-spin-button {
 
 .accicon.active {
     background-image: url(images/icons/sensor_acc_on.png);
-    color: #61d514;
     color: #818181;
 }
 
+.accicon.error {
+    background-image: url(images/icons/sensor_acc_error.png);
+    color: #d40000;
+}
+
 .magicon {
     background-image: url(images/icons/sensor_mag_off.png);
     background-size: 42px;
@@ -283,6 +286,10 @@ input[type="number"]::-webkit-inner-spin-button {
     background-image: url(images/icons/sensor_mag_on.png);
     color: #818181;
 }
+.magicon.error {
+    background-image: url(images/icons/sensor_mag_error.png);
+    color: #d40000;
+}
 
 .gpsicon {
     background-image: url(images/icons/sensor_sat_off.png);
@@ -302,6 +309,11 @@ input[type="number"]::-webkit-inner-spin-button {
     color: #818181;
 }
 
+.gpsicon.error {
+    background-image: url(images/icons/sensor_sat_error.png);
+    color: #d40000;
+}
+
 .opflowicon {
     background-image: url(images/icons/sensor_flow_off.png);
     background-size: 42px;
@@ -320,6 +332,11 @@ input[type="number"]::-webkit-inner-spin-button {
     color: #818181;
 }
 
+.opflowicon.error {
+    background-image: url(images/icons/sensor_flow_error.png);
+    color: #d40000;
+}
+
 .baroicon {
     background-image: url(images/icons/sensor_baro_off.png);
     background-size: 40px;
@@ -338,6 +355,11 @@ input[type="number"]::-webkit-inner-spin-button {
     color: #818181;
 }
 
+.baroicon.error {
+    background-image: url(images/icons/sensor_baro_error.png);
+    color: #d40000;
+}
+
 .sonaricon {
     background-image: url(images/icons/sensor_sonar_off.png);
     background-size: 41px;
@@ -356,6 +378,34 @@ input[type="number"]::-webkit-inner-spin-button {
     color: #818181;
 }
 
+.sonaricon.error {
+    background-image: url(images/icons/sensor_sonar_error.png);
+    color: #d40000;
+}
+
+.airspeedicon {
+    background-image: url(images/icons/sensor_airspeed_off.png);
+    background-size: 41px;
+    background-position: -4px 1px;
+    background-repeat: no-repeat;
+    height: 30px;
+    margin-top: 3px;
+    width: 100%;
+    padding-top: 40px;
+    color: #4f4f4f;
+    text-align: center;
+}
+
+.airspeedicon.active {
+    background-image: url(images/icons/sensor_airspeed_on.png);
+    color: #818181;
+}
+
+.airspeedicon.error {
+    background-image: url(images/icons/sensor_airspeed_error.png);
+    color: #d40000;
+}
+
 #sensor-status li:last-child {
     border-right: 0px solid #c0c0c0;
     border-top-right-radius: 5px;
diff --git a/main.html b/main.html
index 700c7f4e..fe8805ae 100755
--- a/main.html
+++ b/main.html
@@ -181,6 +181,9 @@
                         <li class="sonar" title="Sonar / Range finder">
                             <div class="sonaricon">Sonar</div>
                         </li>
+                        <li class="airspeed" title="Airspeed">
+                            <div class="airspeedicon">Speed</div>
+                        </li>
                     </ul>
                 </div>
                 <div id="quad-status_wrapper">
diff --git a/manifest.json b/manifest.json
index 45437805..3de82ba6 100644
--- a/manifest.json
+++ b/manifest.json
@@ -1,7 +1,7 @@
 {
     "manifest_version": 2,
     "minimum_chrome_version": "38",
-    "version": "1.4.1",
+    "version": "1.5.0",
     "author": "Several",
     "name": "INAV - Configurator",
     "short_name": "INAV",
diff --git a/tabs/adjustments.js b/tabs/adjustments.js
index c87f2e3f..93c58471 100644
--- a/tabs/adjustments.js
+++ b/tabs/adjustments.js
@@ -280,6 +280,10 @@ TABS.adjustments.initialize = function (callback) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function () {
             MSP.send_message(MSPCodes.MSP_STATUS);
+            
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
         GUI.content_ready(callback);
diff --git a/tabs/auxiliary.js b/tabs/auxiliary.js
index 0071dd9a..ac128028 100644
--- a/tabs/auxiliary.js
+++ b/tabs/auxiliary.js
@@ -293,6 +293,10 @@ TABS.auxiliary.initialize = function (callback) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function () {
             MSP.send_message(MSPCodes.MSP_STATUS);
+            
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
         GUI.content_ready(callback);
diff --git a/tabs/configuration.css b/tabs/configuration.css
index 3757fafd..795d0ba7 100644
--- a/tabs/configuration.css
+++ b/tabs/configuration.css
@@ -25,7 +25,7 @@
 }
 
 .tab-configuration table td {
-    padding: 5px 3px;
+    padding: 5px 0;
 }
 
 .tab-configuration table thead tr:first-child {
@@ -203,6 +203,7 @@
 
 .tab-configuration .number,
 .tab-configuration .select,
+.tab-configuration .checkbox,
 hr
  {
     margin-bottom: 5px;
@@ -214,7 +215,8 @@ hr
 }
 
 .tab-configuration .number:last-child,
-.tab-configuration .select:last-child {
+.tab-configuration .select:last-child,
+.tab-configuration .checkbox:last-child{
     border-bottom: none;
     padding-bottom: 0;
     margin-bottom: 0;
@@ -492,6 +494,9 @@ hr
 
 #esc-protocols .select,
 #servo-rate-container .select,
+.motorstop .select,
+.motorstop .checkbox,
+.motorstop .number,
 .system .select,
 .system .checkbox,
 .system .number {
@@ -500,7 +505,13 @@ hr
 
 #esc-protocols label,
 #servo-rate-container label,
+.motorstop label,
 .system label {
     position: absolute;
     left: 10em;
 }
+
+.esc-priority label,
+.features.esc label{
+    position: inherit;
+}
\ No newline at end of file
diff --git a/tabs/configuration.html b/tabs/configuration.html
index 6b505490..a542f8e2 100644
--- a/tabs/configuration.html
+++ b/tabs/configuration.html
@@ -1,18 +1,18 @@
 <div class="tab-configuration toolbar_fixed_bottom">
     <div class="content_wrapper">
-        <div class="tab_title" i18n="tabConfiguration">Configuration</div>
+        <div class="tab_title" data-i18n="tabConfiguration">Configuration</div>
         <div class="cf_doc_version_bt">
             <a id="button-documentation" href="https://github.com/iNavFlight/inav/releases" target="_blank"></a>
         </div>
         <div class="note" style="margin-bottom: 20px;">
             <div class="note_spacer">
-                <p i18n="configurationFeaturesHelp"></p>
+                <p data-i18n="configurationFeaturesHelp"></p>
             </div>
         </div>
         <div class="leftWrapper mixer">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationMixer"></div>
+                    <div class="spacer_box_title" data-i18n="configurationMixer"></div>
                 </div>
                 <div class="spacer_box">
                     <div class="mixerPreview half">
@@ -29,7 +29,7 @@
         <div class="rightWrapper motorstop">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationEscFeatures"></div>
+                    <div class="spacer_box_title" data-i18n="configurationEscFeatures"></div>
                 </div>
                 <div class="spacer_box">
 
@@ -42,15 +42,17 @@
                     <div id="esc-protocols">
                         <div class="select">
                             <select name="esc-protocol" id="esc-protocol"></select>
-                            <label for="esc-protocol"> <span class="freelabel"
-                                i18n="escProtocol"></span></label>
-                                <div class="helpicon cf_tip" i18n_title="escProtocolHelp"></div>
+                            <label for="esc-protocol">
+                                <span data-i18n="escProtocol"></span>
+                            </label>
+                            <div class="helpicon cf_tip" data-i18n_title="escProtocolHelp"></div>
                         </div>
                         <div class="select">
                             <select name="esc-rate" id="esc-rate"></select>
-                            <label for="esc-refresh-rate"> <span class="freelabel"
-                                i18n="escRefreshRate"></span></label>
-                                <div class="helpicon cf_tip" i18n_title="escRefreshRatelHelp"></div>
+                            <label for="esc-rate">
+                                <span data-i18n="escRefreshRate"></span>
+                            </label>
+                            <div class="helpicon cf_tip" data-i18n_title="escRefreshRatelHelp"></div>
                         </div>
                         <div class="clear-both"></div>
                     </div>
@@ -58,9 +60,10 @@
                     <div id="servo-rate-container">
                         <div class="select">
                             <select name="servo-rate" id="servo-rate"></select>
-                            <label for="servo-rate"> <span class="freelabel"
-                                i18n="servoRefreshRate"></span></label>
-                                <div class="helpicon cf_tip" i18n_title="servoRefreshRatelHelp"></div>
+                            <label for="servo-rate">
+                                <span data-i18n="servoRefreshRate"></span>
+                            </label>
+                            <div class="helpicon cf_tip" data-i18n_title="servoRefreshRatelHelp"></div>
                         </div>
                         <div class="clear-both"></div>
                     </div>
@@ -72,55 +75,45 @@
                     </table>
                     <!--   -->
 
-                    <div class="disarm">
-                        <div class="checkbox">
-                            <div style="float: left; height: 20px; margin-right: 15px; margin-left: 3px;">
-                                <input type="checkbox" name="disarmkillswitch" class="toggle" />
-                            </div>
-                            <label for="disarmkillswitch"> <span class="freelabel"
-                                i18n="configurationDisarmKillSwitch"></span>
-                            </label>
-                        </div>
-                        <div class="number disarmdelay" style="display: none; margin-bottom: 5px;">
-                            <label>
-                                <div class="numberspacer">
-                                    <input type="number" name="autodisarmdelay" min="0" max="60" />
-                                </div>
-                                <span i18n="configurationAutoDisarmDelay"></span>
-                            </label>
-                        </div>
+                    <div class="checkbox">
+                            <input type="checkbox" id="disarmkillswitch" name="disarmkillswitch" class="toggle" />
+                        <label for="disarmkillswitch">
+                            <span data-i18n="configurationDisarmKillSwitch"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationDisarmKillSwitchHelp"></div>
                     </div>
+
+                    <div class="number disarmdelay" style="display: none; margin-bottom: 5px;">
+                        <input type="number" name="autodisarmdelay" min="0" max="60" />
+                        <label>
+                            <span data-i18n="configurationAutoDisarmDelay"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationAutoDisarmDelayHelp"></div>
+                    </div>
+
                     <!--   -->
                     <div class="number">
+                        <input type="number" name="minthrottle" min="0" max="2000" />
                         <label>
-                            <div class="numberspacer">
-                                <input type="number" name="minthrottle" min="0" max="2000" />
-                            </div>
-                            <span i18n="configurationThrottleMinimum"></span>
+                            <span data-i18n="configurationThrottleMinimum"></span>
                         </label>
                     </div>
                     <div class="number">
+                        <input type="number" name="midthrottle" min="0" max="2000" />
                         <label>
-                            <div class="numberspacer">
-                                <input type="number" name="midthrottle" min="0" max="2000" />
-                            </div>
-                            <span i18n="configurationThrottleMid"></span>
+                            <span data-i18n="configurationThrottleMid"></span>
                         </label>
                     </div>
                     <div class="number">
+                        <input type="number" name="maxthrottle" min="0" max="2000" />
                         <label>
-                            <div class="numberspacer">
-                                <input type="number" name="maxthrottle" min="0" max="2000" />
-                            </div>
-                            <span i18n="configurationThrottleMaximum"></span>
+                            <span data-i18n="configurationThrottleMaximum"></span>
                         </label>
                     </div>
                     <div class="number">
+                        <input type="number" name="mincommand" min="0" max="2000" />
                         <label>
-                            <div class="numberspacer">
-                                <input type="number" name="mincommand" min="0" max="2000" />
-                            </div>
-                            <span i18n="configurationThrottleMinimumCommand"></span>
+                            <span data-i18n="configurationThrottleMinimumCommand"></span>
                         </label>
                     </div>
                 </div>
@@ -130,26 +123,26 @@
         <div class="leftWrapper board">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationBoardAlignment"></div>
-                    <div class="helpicon cf_tip" i18n_title="configHelp2"></div>
+                    <div class="spacer_box_title" data-i18n="configurationBoardAlignment"></div>
+                    <div class="helpicon cf_tip" data-i18n_title="configHelp2"></div>
                 </div>
                 <div class="spacer_box">
                     <div class="board_align_content">
                         <div class="number">
                             <label> <input type="number" name="board_align_roll" step="0.1" min="-180" max="360" /> <span
-                                i18n="configurationBoardAlignmentRoll"></span>
+                                data-i18n="configurationBoardAlignmentRoll"></span>
                             </label>
                             <div class="alignicon roll"></div>
                         </div>
                         <div class="number">
                             <label> <input type="number" name="board_align_pitch" step="0.1" min="-180" max="360" />
-                            <span i18n="configurationBoardAlignmentPitch"></span>
+                            <span data-i18n="configurationBoardAlignmentPitch"></span>
                             </label>
                             <div class="alignicon pitch"></div>
                         </div>
                         <div class="number">
                             <label> <input type="number" name="board_align_yaw" step="0.1" min="-180" max="360" /> <span
-                                i18n="configurationBoardAlignmentYaw"></span>
+                                data-i18n="configurationBoardAlignmentYaw"></span>
                             </label>
                             <div class="alignicon yaw"></div>
                         </div>
@@ -157,7 +150,7 @@
                     <div class="sensoralignment">
                         <div class="select">
                             <label>
-                                <span i18n="configurationSensorAlignmentGyro"></span>
+                                <span data-i18n="configurationSensorAlignmentGyro"></span>
                                 <select class="gyroalign">
                                     <option value="0">Default</option>
                                     <!-- list generated here -->
@@ -166,7 +159,7 @@
                         </div>
                         <div class="select">
                             <label>
-                                <span i18n="configurationSensorAlignmentAcc"></span>
+                                <span data-i18n="configurationSensorAlignmentAcc"></span>
                                 <select class="accalign">
                                     <option value="0">Default</option>
                                     <!-- list generated here -->
@@ -175,7 +168,7 @@
                         </div>
                         <div class="select">
                             <label>
-                                <span i18n="configurationSensorAlignmentMag"></span>
+                                <span data-i18n="configurationSensorAlignmentMag"></span>
                                 <select class="magalign">
                                     <option value="0">Default</option>
                                     <!-- list generated here -->
@@ -189,30 +182,59 @@
         <div class="rightWrapper system">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationSystem"></div>
+                    <div class="spacer_box_title" data-i18n="configurationSystem"></div>
                 </div>
                 <div class="spacer_box">
 
-                    <div class="checkbox requires-v1_4">
-                        <div class="numberspacer">
-                            <input type="checkbox" id="gyro-sync-checkbox" class="toggle" />
-                        </div>
-                        <label> <span i18n="configurationGyroSyncTitle"></span>
+                    <div class="select requires-v1_4">
+                        <select id="gyro-lpf"></select>
+                        <label for="gyro-lpf"> <span data-i18n="configurationGyroLpfTitle"></span></label>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationGyroLpfHelp"></div>
+                    </div>
+
+                    <div class="select requires-v1_4">
+                        <select id="async-mode"></select>
+                        <label for="async-mode"> <span data-i18n="configurationAsyncMode"></span></label>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationAsyncModeHelp"></div>
+                    </div>
+
+                    <div id="gyro-sync-wrapper" class="checkbox requires-v1_4">
+                        <input type="checkbox" id="gyro-sync-checkbox" class="toggle" />
+                        <label for="gyro-sync-checkbox">
+                            <span data-i18n="configurationGyroSyncTitle"></span>
                         </label>
                     </div>
 
-                    <hr class="requires-v1_4" />
+                    <div id="gyro-frequency-wrapper" class="checkbox requires-v1_4">
+                        <select id="gyro-frequency"></select>
+                        <label for="gyro-frequency">
+                            <span data-i18n="configurationGyroFrequencyTitle"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationGyroFrequencyHelp"></div>
+                    </div>
 
-                    <div class="select requires-v1_4">
-                        <select id="gyro-lpf"></select>
-                        <label for="gyro-lpf"> <span i18n="configurationGyroLpfTitle"></span></label>
+                    <div id="accelerometer-frequency-wrapper" class="checkbox requires-v1_4">
+                        <select id="accelerometer-frequency"></select>
+                        <label for="accelerometer-frequency">
+                            <span data-i18n="configurationAccelerometerFrequencyTitle"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationAccelerometerFrequencyHelp"></div>
+                    </div>
+
+                    <div id="attitude-frequency-wrapper" class="checkbox requires-v1_4">
+                        <select id="attitude-frequency"></select>
+                        <label for="attitude-frequency">
+                            <span data-i18n="configurationAttitudeFrequencyTitle"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationAttitudeFrequencyHelp"></div>
                     </div>
 
                     <div class="select">
                         <select id="looptime"></select>
-                        <label for="looptime"> <span
-                            i18n="configurationLoopTime"></span>
+                        <label for="looptime">
+                            <span data-i18n="configurationLoopTime"></span>
                         </label>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationLoopTimeHelp"></div>
                     </div>
                 </div>
             </div>
@@ -221,15 +243,15 @@
         <div class="leftWrapper">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationReceiver"></div>
+                    <div class="spacer_box_title" data-i18n="configurationReceiver"></div>
                 </div>
                 <div class="spacer_box">
                     <table cellpadding="0" cellspacing="0">
                         <thead>
                             <tr>
-                                <th i18n="configurationFeatureEnabled"></th>
-                                <th i18n="configurationFeatureDescription"></th>
-                                <th i18n="configurationFeatureName"></th>
+                                <th data-i18n="configurationFeatureEnabled"></th>
+                                <th data-i18n="configurationFeatureDescription"></th>
+                                <th data-i18n="configurationFeatureName"></th>
                             </tr>
                         </thead>
                         <tbody class="features rxMode">
@@ -240,25 +262,25 @@
             </div>
             <div class="gui_box grey rxprovider">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationSerialRX"></div>
+                    <div class="spacer_box_title" data-i18n="configurationSerialRX"></div>
                 </div>
                 <div class="spacer_box">
                     <div class="note">
                         <div class="note_spacer">
-                            <p i18n="configurationSerialRXHelp"></p>
+                            <p data-i18n="configurationSerialRXHelp"></p>
                         </div>
                     </div>
-                    <select class="serialRX" size="8">
+                    <select class="serialRX" size="4">
                         <!-- list generated here -->
                     </select>
                 </div>
             </div>
             <div class="gui_box grey nrf24provider">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationNrf24Protocol"></div>
+                    <div class="spacer_box_title" data-i18n="configurationNrf24Protocol"></div>
                 </div>
                 <div class="spacer_box">
-                    <select class="nrf24Protocol" size="8">
+                    <select class="nrf24Protocol" size="4">
                         <!-- list generated here -->
                     </select>
                 </div>
@@ -267,15 +289,15 @@
         <div class="rightWrapper current voltage">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationBatteryVoltage"></div>
+                    <div class="spacer_box_title" data-i18n="configurationBatteryVoltage"></div>
                 </div>
                 <div class="spacer_box">
                     <table cellpadding="0" cellspacing="0">
                         <thead>
                             <tr>
-                                <th i18n="configurationFeatureEnabled"></th>
-                                <th i18n="configurationFeatureDescription"></th>
-                                <th i18n="configurationFeatureName"></th>
+                                <th data-i18n="configurationFeatureEnabled"></th>
+                                <th data-i18n="configurationFeatureDescription"></th>
+                                <th data-i18n="configurationFeatureName"></th>
                             </tr>
                         </thead>
                         <tbody class="features batteryVoltage">
@@ -284,42 +306,42 @@
                     </table>
                     <div class="number">
                         <label> <input type="number" name="mincellvoltage" step="0.1" min="1" max="5" /> <span
-                            i18n="configurationBatteryMinimum"></span>
+                            data-i18n="configurationBatteryMinimum"></span>
                         </label>
                     </div>
                     <div class="number">
                         <label> <input type="number" name="maxcellvoltage" step="0.1" min="1" max="5" /> <span
-                            i18n="configurationBatteryMaximum"></span>
+                            data-i18n="configurationBatteryMaximum"></span>
                         </label>
                     </div>
                     <div class="number">
                         <label> <input type="number" name="warningcellvoltage" step="0.1" min="1" max="5" /> <span
-                            i18n="configurationBatteryWarning"></span>
+                            data-i18n="configurationBatteryWarning"></span>
                         </label>
                     </div>
                     <div class="number">
                         <label> <input type="number" name="voltagescale" step="1" min="10" max="255" /> <span
-                            i18n="configurationBatteryScale"></span>
+                            data-i18n="configurationBatteryScale"></span>
                         </label>
                     </div>
                      <div class="number">
                         <label> <input type="text" name="batteryvoltage" readonly class="disabled" /> <span
-                            i18n="configurationBatteryVoltage"></span>
+                            data-i18n="configurationBatteryVoltage"></span>
                         </label>
                     </div>
                 </div>
             </div>
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationCurrent"></div>
+                    <div class="spacer_box_title" data-i18n="configurationCurrent"></div>
                 </div>
                 <div class="spacer_box">
                     <table cellpadding="0" cellspacing="0">
                         <thead>
                             <tr>
-                                <th i18n="configurationFeatureEnabled"></th>
-                                <th i18n="configurationFeatureDescription"></th>
-                                <th i18n="configurationFeatureName"></th>
+                                <th data-i18n="configurationFeatureEnabled"></th>
+                                <th data-i18n="configurationFeatureDescription"></th>
+                                <th data-i18n="configurationFeatureName"></th>
                             </tr>
                         </thead>
                         <tbody class="features batteryCurrent">
@@ -328,23 +350,24 @@
                     </table>
                     <div class="number">
                         <label> <input type="number" name="currentscale" step="1" min="-1000" max="1000" /> <span
-                            i18n="configurationCurrentScale"></span>
+                            data-i18n="configurationCurrentScale"></span>
                         </label>
                     </div>
                     <div class="number">
                         <label> <input type="number" name="currentoffset" step="1" min="0" max="3300" /> <span
-                            i18n="configurationCurrentOffset"></span>
+                            data-i18n="configurationCurrentOffset"></span>
                         </label>
                     </div>
                     <div class="number">
                         <label> <input type="text" name="batterycurrent" readonly class="disabled" /> <span
-                            i18n="configurationBatteryCurrent"></span>
+                            data-i18n="configurationBatteryCurrent"></span>
+                        </label>
                     </div>
                     <div class="checkbox">
                         <div class="numberspacer">
                             <input type="checkbox" name="multiwiicurrentoutput" class="toggle" />
                         </div>
-                        <label> <span i18n="configurationBatteryMultiwiiCurrent"></span>
+                        <label> <span data-i18n="configurationBatteryMultiwiiCurrent"></span>
                         </label>
                     </div>
                 </div>
@@ -354,20 +377,20 @@
         <div class="leftWrapper gps">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationGPS"></div>
+                    <div class="spacer_box_title" data-i18n="configurationGPS"></div>
                 </div>
                 <div class="spacer_box">
                     <div class="note">
                         <div class="note_spacer">
-                            <p i18n="configurationGPSHelp"></p>
+                            <p data-i18n="configurationGPSHelp"></p>
                         </div>
                     </div>
                     <table cellpadding="0" cellspacing="0">
                         <thead>
                             <tr>
-                                <th i18n="configurationFeatureEnabled"></th>
-                                <th i18n="configurationFeatureDescription"></th>
-                                <th i18n="configurationFeatureName"></th>
+                                <th data-i18n="configurationFeatureEnabled"></th>
+                                <th data-i18n="configurationFeatureDescription"></th>
+                                <th data-i18n="configurationFeatureName"></th>
                             </tr>
                         </thead>
                         <tbody class="features gps">
@@ -378,23 +401,17 @@
                         <select class="gps_protocol">
                             <!-- list generated here -->
                         </select>
-                        <span i18n="configurationGPSProtocol"></span>
-                    </div>
-                    <div class="line">
-                        <select class="gps_baudrate">
-                            <!-- list generated here -->
-                        </select>
-                        <span i18n="configurationGPSBaudrate"></span>
+                        <span data-i18n="configurationGPSProtocol"></span>
                     </div>
                     <div class="line">
                         <select class="gps_ubx_sbas">
                             <!-- list generated here -->
                         </select>
-                        <span i18n="configurationGPSubxSbas"></span>
+                        <span data-i18n="configurationGPSubxSbas"></span>
                     </div>
                     <div class="number">
                         <label> <input type="number" name="mag_declination" step="0.1" min="-180" max="180" />
-                        <span i18n="configurationMagDeclination"></span>
+                        <span data-i18n="configurationMagDeclination"></span>
                         </label>
                     </div>
                 </div>
@@ -403,15 +420,15 @@
         <div class="rightWrapper other">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationFeatures"></div>
+                    <div class="spacer_box_title" data-i18n="configurationFeatures"></div>
                 </div>
                 <div class="spacer_box">
                     <table cellpadding="0" cellspacing="0">
                         <thead>
                             <tr>
-                                <th i18n="configurationFeatureEnabled"></th>
-                                <th i18n="configurationFeatureDescription"></th>
-                                <th i18n="configurationFeatureName"></th>
+                                <th data-i18n="configurationFeatureEnabled"></th>
+                                <th data-i18n="configurationFeatureDescription"></th>
+                                <th data-i18n="configurationFeatureName"></th>
                             </tr>
                         </thead>
                         <tbody class="features other" id="noline">
@@ -424,16 +441,16 @@
         <div class="leftWrapper rssi">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configurationRSSI"></div>
-                        <div class="helpicon cf_tip" i18n_title="configurationRSSIHelp"></div>
+                    <div class="spacer_box_title" data-i18n="configurationRSSI"></div>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationRSSIHelp"></div>
                     </div>
                 <div class="spacer_box">
                     <table cellpadding="0" cellspacing="0">
                         <thead>
                             <tr>
-                                <th i18n="configurationFeatureEnabled"></th>
-                                <th i18n="configurationFeatureDescription"></th>
-                                <th i18n="configurationFeatureName"></th>
+                                <th data-i18n="configurationFeatureEnabled"></th>
+                                <th data-i18n="configurationFeatureDescription"></th>
+                                <th data-i18n="configurationFeatureName"></th>
                             </tr>
                         </thead>
                         <tbody class="features rssi">
@@ -446,27 +463,27 @@
         <div class="rightWrapper 3d">
             <div class="gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" i18n="configuration3d"></div>
+                    <div class="spacer_box_title" data-i18n="configuration3d"></div>
                 </div>
                 <div class="spacer_box">
                     <div class="number">
                         <label> <input type="number" name="3ddeadbandlow" step="1" min="1425" max="1500" /> <span
-                            i18n="configuration3dDeadbandLow"></span>
+                            data-i18n="configuration3dDeadbandLow"></span>
                         </label>
                     </div>
                     <div class="number">
                         <label> <input type="number" name="3ddeadbandhigh" step="1" min="1500" max="1575" /> <span
-                            i18n="configuration3dDeadbandHigh"></span>
+                            data-i18n="configuration3dDeadbandHigh"></span>
                         </label>
                     </div>
                     <div class="number">
                         <label> <input type="number" name="3dneutral" step="1" min="1475" max="1525" /> <span
-                            i18n="configuration3dNeutral"></span>
+                            data-i18n="configuration3dNeutral"></span>
                         </label>
                     </div>
                     <div class="number 3ddeadbandthrottle" >
                         <label> <input type="number" name="3ddeadbandthrottle" step="1" min="0" max="1000" /> <span
-                            i18n="configuration3dDeadbandThrottle"></span>
+                            data-i18n="configuration3dDeadbandThrottle"></span>
                         </label>
                     </div>
                 </div>
@@ -476,7 +493,7 @@
     </div>
     <div class="content_toolbar">
         <div class="btn save_btn">
-            <a class="save" href="#" i18n="configurationButtonSave"></a>
+            <a class="save" href="#" data-i18n="configurationButtonSave"></a>
         </div>
     </div>
 </div>
diff --git a/tabs/configuration.js b/tabs/configuration.js
index 32b81fdc..9dfdd473 100644
--- a/tabs/configuration.js
+++ b/tabs/configuration.js
@@ -3,7 +3,6 @@
 TABS.configuration = {};
 
 TABS.configuration.initialize = function (callback, scrollPosition) {
-    var self = this;
 
     if (GUI.active_tab != 'configuration') {
         GUI.active_tab = 'configuration';
@@ -11,20 +10,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
     }
 
     function load_config() {
-        MSP.send_message(MSPCodes.MSP_BF_CONFIG, false, false, load_serial_config);
-    }
-
-    function load_serial_config() {
-        var next_callback = load_rc_map;
-        if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
-            MSP.send_message(MSPCodes.MSP_CF_SERIAL_CONFIG, false, false, next_callback);
-        } else {
-            next_callback();
-        }
-    }
-
-    function load_rc_map() {
-        MSP.send_message(MSPCodes.MSP_RX_MAP, false, false, load_misc);
+        MSP.send_message(MSPCodes.MSP_BF_CONFIG, false, false, load_misc);
     }
 
     function load_misc() {
@@ -32,21 +18,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
     }
 
     function load_arming_config() {
-        var next_callback = load_loop_time;
-        if (semver.gte(CONFIG.apiVersion, "1.8.0")) {
-            MSP.send_message(MSPCodes.MSP_ARMING_CONFIG, false, false, next_callback);
-        } else {
-            next_callback();
-        }
+        MSP.send_message(MSPCodes.MSP_ARMING_CONFIG, false, false, load_loop_time);
     }
 
     function load_loop_time() {
-        var next_callback = load_rx_config;
-        if (semver.gte(CONFIG.apiVersion, "1.8.0")) {
-            MSP.send_message(MSPCodes.MSP_LOOP_TIME, false, false, next_callback);
-        } else {
-            next_callback();
-        }
+        MSP.send_message(MSPCodes.MSP_LOOP_TIME, false, false, load_rx_config);
     }
 
     function load_rx_config() {
@@ -59,21 +35,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
     }
 
     function load_3d() {
-        var next_callback = load_sensor_alignment;
-        if (semver.gte(CONFIG.apiVersion, "1.14.0")) {
-            MSP.send_message(MSPCodes.MSP_3D, false, false, next_callback);
-        } else {
-            next_callback();
-        }
+        MSP.send_message(MSPCodes.MSP_3D, false, false, load_sensor_alignment);
     }
 
     function load_sensor_alignment() {
-        var next_callback = loadAdvancedConfig;
-        if (semver.gte(CONFIG.apiVersion, "1.15.0")) {
-            MSP.send_message(MSPCodes.MSP_SENSOR_ALIGNMENT, false, false, next_callback);
-        } else {
-            next_callback();
-        }
+        MSP.send_message(MSPCodes.MSP_SENSOR_ALIGNMENT, false, false, loadAdvancedConfig);
     }
 
     function loadAdvancedConfig() {
@@ -110,13 +76,15 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
     function process_html() {
 
+        var i;
+
         var mixer_list_e = $('select.mixerList');
-        for (var i = 0; i < mixerList.length; i++) {
+        for (i = 0; i < mixerList.length; i++) {
             mixer_list_e.append('<option value="' + (i + 1) + '">' + mixerList[i].name + '</option>');
         }
 
         mixer_list_e.change(function () {
-            var val = parseInt($(this).val());
+            var val = parseInt($(this).val(), 10);
 
             BF_CONFIG.mixerConfiguration = val;
 
@@ -132,7 +100,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         var radioGroups = [];
 
         var features_e = $('.features');
-        for (var i = 0; i < features.length; i++) {
+        for (i = 0; i < features.length; i++) {
             var row_e;
 
             var feature_tip_html = '';
@@ -153,7 +121,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
                         + i
                         + '">'
                         + features[i].name
-                        + '</label></td><td><span i18n="feature' + features[i].name + '"></span>'
+                        + '</label></td><td><span data-i18n="feature' + features[i].name + '"></span>'
                         + feature_tip_html + '</td></tr>');
                 radioGroups.push(features[i].group);
             } else {
@@ -167,7 +135,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
                         + i
                         + '">'
                         + features[i].name
-                        + '</label></td><td><span i18n="feature' + features[i].name + '"></span>'
+                        + '</label></td><td><span data-i18n="feature' + features[i].name + '"></span>'
                         + feature_tip_html + '</td></tr>');
 
                 var feature_e = row_e.find('input.feature');
@@ -186,7 +154,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         // translate to user-selected language
         localize();
 
-        for (var i = 0; i < radioGroups.length; i++) {
+        for (i = 0; i < radioGroups.length; i++) {
             var group = radioGroups[i];
             var controls_e = $('input[name="' + group + '"].feature');
 
@@ -200,62 +168,27 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         }
 
 
-        var alignments = [
-            'CW 0°',
-            'CW 90°',
-            'CW 180°',
-            'CW 270°',
-            'CW 0° flip',
-            'CW 90° flip',
-            'CW 180° flip',
-            'CW 270° flip'
-        ];
+        var alignments = FC.getSensorAlignments();
 
         var orientation_gyro_e = $('select.gyroalign');
         var orientation_acc_e = $('select.accalign');
         var orientation_mag_e = $('select.magalign');
 
-        if (semver.lt(CONFIG.apiVersion, "1.15.0")) {
-            $('.tab-configuration .sensoralignment').hide();
-        } else {
-            for (var i = 0; i < alignments.length; i++) {
-                orientation_gyro_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
-                orientation_acc_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
-                orientation_mag_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
-            }
-            orientation_gyro_e.val(SENSOR_ALIGNMENT.align_gyro);
-            orientation_acc_e.val(SENSOR_ALIGNMENT.align_acc);
-            orientation_mag_e.val(SENSOR_ALIGNMENT.align_mag);
+        for (i = 0; i < alignments.length; i++) {
+            orientation_gyro_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
+            orientation_acc_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
+            orientation_mag_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
         }
-
+        orientation_gyro_e.val(SENSOR_ALIGNMENT.align_gyro);
+        orientation_acc_e.val(SENSOR_ALIGNMENT.align_acc);
+        orientation_mag_e.val(SENSOR_ALIGNMENT.align_mag);
 
         // generate GPS
-        var gpsProtocols = [
-            'NMEA',
-            'UBLOX',
-            'I2C-NAV',
-            'DJI NAZA',
-        ];
-
-        var gpsBaudRates = [
-            '115200',
-            '57600',
-            '38400',
-            '19200',
-            '9600'
-        ];
-
-        var gpsSbas = [
-            'Autodetect',
-            'European EGNOS',
-            'North American WAAS',
-            'Japanese MSAS',
-            'Indian GAGAN',
-            'Disabled',
-        ];
+        var gpsProtocols = FC.getGpsProtocols();
+        var gpsSbas = FC.getGpsSbasProviders();
 
         var gps_protocol_e = $('select.gps_protocol');
-        for (var i = 0; i < gpsProtocols.length; i++) {
+        for (i = 0; i < gpsProtocols.length; i++) {
             gps_protocol_e.append('<option value="' + i + '">' + gpsProtocols[i] + '</option>');
         }
 
@@ -265,24 +198,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
         gps_protocol_e.val(MISC.gps_type);
 
-
-        var gps_baudrate_e = $('select.gps_baudrate');
-        for (var i = 0; i < gpsBaudRates.length; i++) {
-            gps_baudrate_e.append('<option value="' + gpsBaudRates[i] + '">' + gpsBaudRates[i] + '</option>');
-        }
-
-        if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
-            gps_baudrate_e.change(function () {
-                SERIAL_CONFIG.gpsBaudRate = parseInt($(this).val());
-            });
-            gps_baudrate_e.val(SERIAL_CONFIG.gpsBaudRate);
-        } else {
-            gps_baudrate_e.prop("disabled", true);
-            gps_baudrate_e.parent().hide();
-        }
-
         var gps_ubx_sbas_e = $('select.gps_ubx_sbas');
-        for (var i = 0; i < gpsSbas.length; i++) {
+        for (i = 0; i < gpsSbas.length; i++) {
             gps_ubx_sbas_e.append('<option value="' + i + '">' + gpsSbas[i] + '</option>');
         }
 
@@ -294,20 +211,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
 
         // generate serial RX
-        var serialRXtypes = [
-            'SPEKTRUM1024',
-            'SPEKTRUM2048',
-            'SBUS',
-            'SUMD',
-            'SUMH',
-            'XBUS_MODE_B',
-            'XBUS_MODE_B_RJ01',
-            'IBUS'
-        ];
+        var serialRxTypes = FC.getSerialRxTypes();
 
         var serialRX_e = $('select.serialRX');
-        for (var i = 0; i < serialRXtypes.length; i++) {
-            serialRX_e.append('<option value="' + i + '">' + serialRXtypes[i] + '</option>');
+        for (i = 0; i < serialRxTypes.length; i++) {
+            serialRX_e.append('<option value="' + i + '">' + serialRxTypes[i] + '</option>');
         }
 
         serialRX_e.change(function () {
@@ -320,22 +228,14 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         // for some odd reason chrome 38+ changes scroll according to the touched select element
         // i am guessing this is a bug, since this wasn't happening on 37
         // code below is a temporary fix, which we will be able to remove in the future (hopefully)
+        //noinspection JSValidateTypes
         $('#content').scrollTop((scrollPosition) ? scrollPosition : 0);
 
-        var nrf24Protocoltypes = [
-            'V202 250Kbps',
-            'V202 1Mbps',
-            'Syma X',
-            'Syma X5C',
-            'Cheerson CX10',
-            'Cheerson CX10A',
-            'JJRC H8_3D',
-            'iNav Reference protocol'
-        ];
+        var nrf24ProtocolTypes = FC.getNrf24ProtocolTypes();
 
         var nrf24Protocol_e = $('select.nrf24Protocol');
-        for (var i = 0; i < nrf24Protocoltypes.length; i++) {
-            nrf24Protocol_e.append('<option value="' + i + '">' + nrf24Protocoltypes[i] + '</option>');
+        for (i = 0; i < nrf24ProtocolTypes.length; i++) {
+            nrf24Protocol_e.append('<option value="' + i + '">' + nrf24ProtocolTypes[i] + '</option>');
         }
 
         nrf24Protocol_e.change(function () {
@@ -355,15 +255,13 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         $('input[name="mag_declination"]').val(MISC.mag_declination);
 
         //fill motor disarm params and FC loop time
-        if(semver.gte(CONFIG.apiVersion, "1.8.0")) {
-            $('input[name="autodisarmdelay"]').val(ARMING_CONFIG.auto_disarm_delay);
-            $('input[name="disarmkillswitch"]').prop('checked', ARMING_CONFIG.disarm_kill_switch);
-            $('div.disarm').show();
-            if(bit_check(BF_CONFIG.features, 4))//MOTOR_STOP
-                $('div.disarmdelay').show();
-            else
-                $('div.disarmdelay').hide();
-
+        $('input[name="autodisarmdelay"]').val(ARMING_CONFIG.auto_disarm_delay);
+        $('input[name="disarmkillswitch"]').prop('checked', ARMING_CONFIG.disarm_kill_switch);
+        $('div.disarm').show();
+        if(bit_check(BF_CONFIG.features, 4)) {//MOTOR_STOP
+            $('div.disarmdelay').show();
+        } else {
+            $('div.disarmdelay').hide();
         }
 
         // fill throttle
@@ -383,64 +281,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         $('input[name="currentoffset"]').val(BF_CONFIG.currentoffset);
         $('input[name="multiwiicurrentoutput"]').prop('checked', MISC.multiwiicurrentoutput);
 
-        var escProtocols = {
-            0: {
-                name: "STANDARD",
-                defaultRate: 400,
-                rates: {
-                    50: "50Hz",
-                    400: "400Hz"
-                }
-            },
-            1: {
-                name: "ONESHOT125",
-                defaultRate: 1000,
-                rates: {
-                    400: "400Hz",
-                    1000: "1kHz",
-                    2000: "2kHz"
-                }
-            },
-            2: {
-                name: "ONESHOT42",
-                defaultRate: 2000,
-                rates: {
-                    400: "400Hz",
-                    1000: "1kHz",
-                    2000: "2kHz",
-                    4000: "4kHz",
-                    8000: "8kHz"
-                }
-            },
-            3: {
-                name: "MULTISHOT",
-                defaultRate: 2000,
-                rates: {
-                    400: "400Hz",
-                    1000: "1kHz",
-                    2000: "2kHz",
-                    4000: "4kHz",
-                    8000: "8kHz"
-                }
-            },
-            4: {
-                name: "BRUSHED",
-                defaultRate: 8000,
-                rates: {
-                    8000: "8kHz",
-                    16000: "16kHz",
-                    32000: "32kHz"
-                }
-            }
-        };
-
-        var servoRates = {
-            50: "50Hz",
-            60: "60Hz",
-            100: "100Hz",
-            200: "200Hz",
-            400: "400Hz"
-        };
+        var escProtocols = FC.getEscProtocols();
+        var servoRates = FC.getServoRates();
 
         function buildMotorRates() {
             var protocolData = escProtocols[ADVANCED_CONFIG.motorPwmProtocol];
@@ -466,7 +308,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
             var $escProtocol = $('#esc-protocol');
             var $escRate = $('#esc-rate');
-            for (var i in escProtocols) {
+            for (i in escProtocols) {
                 if (escProtocols.hasOwnProperty(i)) {
                     var protocolData = escProtocols[i];
                     $escProtocol.append('<option value="' + i + '">' + protocolData.name + '</option>');
@@ -492,7 +334,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
             var $servoRate = $('#servo-rate');
 
-            for (var i in servoRates) {
+            for (i in servoRates) {
                 if (servoRates.hasOwnProperty(i)) {
                     $servoRate.append('<option value="' + i + '">' + servoRates[i] + '</option>');
                 }
@@ -512,18 +354,46 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             $('#servo-rate-container').show();
         }
 
-        var gyroLpfValues = FC.getGyroLpfValues();
-        var looptimes = FC.getLooptimes();
         var $looptime = $("#looptime");
 
+        //TODO move this up and use in more places
+        var fillSelect = function ($element, values, currentValue, unit) {
+            if (unit == null) {
+                unit = '';
+            }
+
+            $element.find("*").remove();
+
+            for (i in values) {
+                if (values.hasOwnProperty(i)) {
+                    $element.append('<option value="' + i + '">' + values[i] + '</option>');
+                }
+            }
+
+            /*
+             *  If current Value is not on the list, add a new entry
+             */
+            if (currentValue != null && $element.find('[value="' + currentValue + '"]').length == 0) {
+                $element.append('<option value="' + currentValue + '">' + currentValue + unit + '</option>');
+            }
+        };
+
         if (semver.gte(CONFIG.flightControllerVersion, "1.4.0")) {
+            $(".requires-v1_4").show();
 
             var $gyroLpf = $("#gyro-lpf"),
-                $gyroSync = $("#gyro-sync-checkbox");
-
-            for (var i in gyroLpfValues) {
-                if (gyroLpfValues.hasOwnProperty(i)) {
-                    $gyroLpf.append('<option value="' + i + '">' + gyroLpfValues[i].label + '</option>');
+                $gyroSync = $("#gyro-sync-checkbox"),
+                $asyncMode = $('#async-mode'),
+                $gyroFrequency = $('#gyro-frequency'),
+                $accelerometerFrequency = $('#accelerometer-frequency'),
+                $attitudeFrequency = $('#attitude-frequency');
+
+            var values = FC.getGyroLpfValues();
+
+            for (i in values) {
+                if (values.hasOwnProperty(i)) {
+                    //noinspection JSUnfilteredForInLoop
+                    $gyroLpf.append('<option value="' + i + '">' + values[i].label + '</option>');
                 }
             }
 
@@ -533,34 +403,38 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             $gyroLpf.change(function () {
                 INAV_PID_CONFIG.gyroscopeLpf = $gyroLpf.val();
 
-                $looptime.find("*").remove();
-                var looptimeOptions = looptimes[gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick];
-                for (var i in looptimeOptions.looptimes) {
-                    if (looptimeOptions.looptimes.hasOwnProperty(i)) {
-                        $looptime.append('<option value="' + i + '">' + looptimeOptions.looptimes[i] + '</option>');
-                    }
-                }
-                $looptime.val(looptimeOptions.defaultLooptime);
+                fillSelect(
+                    $looptime,
+                    FC.getLooptimes()[FC.getGyroLpfValues()[INAV_PID_CONFIG.gyroscopeLpf].tick].looptimes,
+                    FC_CONFIG.loopTime,
+                    'Hz'
+                );
+                $looptime.val(FC.getLooptimes()[FC.getGyroLpfValues()[INAV_PID_CONFIG.gyroscopeLpf].tick].defaultLooptime);
                 $looptime.change();
+
+                fillSelect($gyroFrequency, FC.getGyroFrequencies()[FC.getGyroLpfValues()[INAV_PID_CONFIG.gyroscopeLpf].tick].looptimes);
+                $gyroFrequency.val(FC.getLooptimes()[FC.getGyroLpfValues()[INAV_PID_CONFIG.gyroscopeLpf].tick].defaultLooptime);
+                $gyroFrequency.change();
             });
 
-            $gyroLpf.change()
-            $looptime.val(FC_CONFIG.loopTime);
+            $gyroLpf.change();
 
+            $looptime.val(FC_CONFIG.loopTime);
             $looptime.change(function () {
+                FC_CONFIG.loopTime = $(this).val();
+
                 if (INAV_PID_CONFIG.asynchronousMode == 0) {
                     //All task running together
-                    FC_CONFIG.loopTime = $(this).val();
-                    ADVANCED_CONFIG.gyroSyncDenominator = Math.floor(FC_CONFIG.loopTime / gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick);
-                } else {
-                    //FIXME this is temporaty fix that gives the same functionality to ASYNC_MODE=GYRO and ALL
-                    FC_CONFIG.loopTime = $(this).val();
-                    ADVANCED_CONFIG.gyroSyncDenominator = Math.floor(FC_CONFIG.loopTime / gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick);
+                    ADVANCED_CONFIG.gyroSyncDenominator = Math.floor(FC_CONFIG.loopTime / FC.getGyroLpfValues()[INAV_PID_CONFIG.gyroscopeLpf].tick);
                 }
             });
-
             $looptime.change();
 
+            $gyroFrequency.val(ADVANCED_CONFIG.gyroSyncDenominator * FC.getGyroLpfValues()[INAV_PID_CONFIG.gyroscopeLpf].tick);
+            $gyroFrequency.change(function () {
+                ADVANCED_CONFIG.gyroSyncDenominator = Math.floor($gyroFrequency.val() / FC.getGyroLpfValues()[INAV_PID_CONFIG.gyroscopeLpf].tick);
+            });
+
             $gyroSync.change(function () {
                 if ($(this).is(":checked")) {
                     ADVANCED_CONFIG.gyroSync = 1;
@@ -571,14 +445,50 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
             $gyroSync.change();
 
-            $(".requires-v1_4").show();
-        } else {
-            var looptimeOptions = looptimes[125];
-            for (var i in looptimeOptions.looptimes) {
-                if (looptimeOptions.looptimes.hasOwnProperty(i)) {
-                    $looptime.append('<option value="' + i + '">' + looptimeOptions.looptimes[i] + '</option>');
+            /*
+             * Async mode select
+             */
+            fillSelect($asyncMode, FC.getAsyncModes());
+            $asyncMode.val(INAV_PID_CONFIG.asynchronousMode);
+            $asyncMode.change(function () {
+                INAV_PID_CONFIG.asynchronousMode = $asyncMode.val();
+
+                if (INAV_PID_CONFIG.asynchronousMode == 0) {
+                    $('#gyro-sync-wrapper').show();
+                    $('#gyro-frequency-wrapper').hide();
+                    $('#accelerometer-frequency-wrapper').hide();
+                    $('#attitude-frequency-wrapper').hide();
+                } else if (INAV_PID_CONFIG.asynchronousMode == 1) {
+                    $('#gyro-sync-wrapper').hide();
+                    $('#gyro-frequency-wrapper').show();
+                    $('#accelerometer-frequency-wrapper').hide();
+                    $('#attitude-frequency-wrapper').hide();
+                    ADVANCED_CONFIG.gyroSync = 1;
+                } else {
+                    $('#gyro-sync-wrapper').hide();
+                    $('#gyro-frequency-wrapper').show();
+                    $('#accelerometer-frequency-wrapper').show();
+                    $('#attitude-frequency-wrapper').show();
+                    ADVANCED_CONFIG.gyroSync = 1;
                 }
-            }
+            });
+            $asyncMode.change();
+
+            fillSelect($accelerometerFrequency, FC.getAccelerometerTaskFrequencies(), INAV_PID_CONFIG.accelerometerTaskFrequency, 'Hz');
+            $accelerometerFrequency.val(INAV_PID_CONFIG.accelerometerTaskFrequency);
+            $accelerometerFrequency.change(function () {
+                INAV_PID_CONFIG.accelerometerTaskFrequency = $accelerometerFrequency.val();
+            });
+
+            fillSelect($attitudeFrequency, FC.getAttitudeTaskFrequencies(), INAV_PID_CONFIG.attitudeTaskFrequency, 'Hz');
+            $attitudeFrequency.val(INAV_PID_CONFIG.attitudeTaskFrequency);
+            $attitudeFrequency.change(function () {
+                INAV_PID_CONFIG.attitudeTaskFrequency = $attitudeFrequency.val();
+            });
+
+        } else {
+            fillSelect($looptime, FC.getLooptimes()[125].looptimes, FC_CONFIG.loopTime, 'Hz');
+
             $looptime.val(FC_CONFIG.loopTime);
             $looptime.change(function () {
                 FC_CONFIG.loopTime = $(this).val();
@@ -587,18 +497,14 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             $(".requires-v1_4").hide();
         }
 
-        //fill 3D
-        if (semver.lt(CONFIG.apiVersion, "1.14.0")) {
-            $('.tab-configuration .3d').hide();
+
+        $('input[name="3ddeadbandlow"]').val(_3D.deadband3d_low);
+        $('input[name="3ddeadbandhigh"]').val(_3D.deadband3d_high);
+        $('input[name="3dneutral"]').val(_3D.neutral3d);
+        if (semver.lt(CONFIG.apiVersion, "1.17.0")) {
+            $('input[name="3ddeadbandthrottle"]').val(_3D.deadband3d_throttle);
         } else {
-            $('input[name="3ddeadbandlow"]').val(_3D.deadband3d_low);
-            $('input[name="3ddeadbandhigh"]').val(_3D.deadband3d_high);
-            $('input[name="3dneutral"]').val(_3D.neutral3d);
-            if (semver.lt(CONFIG.apiVersion, "1.17.0")) {
-                $('input[name="3ddeadbandthrottle"]').val(_3D.deadband3d_throttle);
-            } else {
-                $('.3ddeadbandthrottle').hide();
-            }
+            $('.3ddeadbandthrottle').hide();
         }
 
         $('input[type="checkbox"].feature', features_e).change(function () {
@@ -647,11 +553,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
             MISC.mag_declination = parseFloat($('input[name="mag_declination"]').val());
 
-            // motor disarm
-            if(semver.gte(CONFIG.apiVersion, "1.8.0")) {
-                ARMING_CONFIG.auto_disarm_delay = parseInt($('input[name="autodisarmdelay"]').val());
-                ARMING_CONFIG.disarm_kill_switch = ~~$('input[name="disarmkillswitch"]').is(':checked'); // ~~ boolean to decimal conversion
-            }
+            ARMING_CONFIG.auto_disarm_delay = parseInt($('input[name="autodisarmdelay"]').val());
+            ARMING_CONFIG.disarm_kill_switch = ~~$('input[name="disarmkillswitch"]').is(':checked'); // ~~ boolean to decimal conversion
 
             MISC.minthrottle = parseInt($('input[name="minthrottle"]').val());
             MISC.midrc = parseInt($('input[name="midthrottle"]').val());
@@ -681,12 +584,12 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
             // track feature usage
             if (FC.isFeatureEnabled('RX_SERIAL', features)) {
-                googleAnalytics.sendEvent('Setting', 'SerialRxProvider', serialRXtypes[RX_CONFIG.serialrx_provider]);
+                googleAnalytics.sendEvent('Setting', 'SerialRxProvider', serialRxTypes[RX_CONFIG.serialrx_provider]);
             }
 
             // track feature usage
             if (FC.isFeatureEnabled('RX_NRF24', features)) {
-                googleAnalytics.sendEvent('Setting', 'nrf24Protocol', nrf24Protocoltypes[RX_CONFIG.nrf24rx_protocol]);
+                googleAnalytics.sendEvent('Setting', 'nrf24Protocol', nrf24ProtocolTypes[RX_CONFIG.nrf24rx_protocol]);
             }
 
             if (FC.isFeatureEnabled('GPS', features)) {
@@ -705,40 +608,20 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
                 }
             }
 
-
-            function save_serial_config() {
-                if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
-                    MSP.send_message(MSPCodes.MSP_SET_CF_SERIAL_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_CF_SERIAL_CONFIG), false, save_misc);
-                } else {
-                    save_misc();
-                }
-            }
-
             function save_misc() {
                 MSP.send_message(MSPCodes.MSP_SET_MISC, mspHelper.crunch(MSPCodes.MSP_SET_MISC), false, save_3d);
             }
 
             function save_3d() {
-                var next_callback = save_sensor_alignment;
-                if(semver.gte(CONFIG.apiVersion, "1.14.0")) {
-                   MSP.send_message(MSPCodes.MSP_SET_3D, mspHelper.crunch(MSPCodes.MSP_SET_3D), false, next_callback);
-                } else {
-                   next_callback();
-                }
+               MSP.send_message(MSPCodes.MSP_SET_3D, mspHelper.crunch(MSPCodes.MSP_SET_3D), false, save_sensor_alignment);
             }
 
             function save_sensor_alignment() {
-                var next_callback = save_acc_trim;
-                if(semver.gte(CONFIG.apiVersion, "1.15.0")) {
-                   MSP.send_message(MSPCodes.MSP_SET_SENSOR_ALIGNMENT, mspHelper.crunch(MSPCodes.MSP_SET_SENSOR_ALIGNMENT), false, next_callback);
-                } else {
-                   next_callback();
-                }
+               MSP.send_message(MSPCodes.MSP_SET_SENSOR_ALIGNMENT, mspHelper.crunch(MSPCodes.MSP_SET_SENSOR_ALIGNMENT), false, save_acc_trim);
             }
 
             function save_acc_trim() {
-                MSP.send_message(MSPCodes.MSP_SET_ACC_TRIM, mspHelper.crunch(MSPCodes.MSP_SET_ACC_TRIM), false
-                                , semver.gte(CONFIG.apiVersion, "1.8.0") ? save_arming_config : save_to_eeprom);
+                MSP.send_message(MSPCodes.MSP_SET_ACC_TRIM, mspHelper.crunch(MSPCodes.MSP_SET_ACC_TRIM), false, save_arming_config);
             }
 
             function save_arming_config() {
@@ -781,6 +664,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             }
 
             function reboot() {
+                //noinspection JSUnresolvedVariable
                 GUI.log(chrome.i18n.getMessage('configurationEepromSaved'));
 
                 GUI.tab_switch_cleanup(function() {
@@ -789,6 +673,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             }
 
             function reinitialize() {
+                //noinspection JSUnresolvedVariable
                 GUI.log(chrome.i18n.getMessage('deviceRebooting'));
 
                 if (BOARD.find_board_definition(CONFIG.boardIdentifier).vcp) { // VCP-based flight controls may crash old drivers, we catch and reconnect
@@ -800,19 +685,25 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
                     GUI.timeout_add('waiting_for_bootup', function waiting_for_bootup() {
                         MSP.send_message(MSPCodes.MSP_IDENT, false, false, function () {
+                            //noinspection JSUnresolvedVariable
                             GUI.log(chrome.i18n.getMessage('deviceReady'));
+                            //noinspection JSValidateTypes
                             TABS.configuration.initialize(false, $('#content').scrollTop());
                         });
                     },1500); // 1500 ms seems to be just the right amount of delay to prevent data request timeouts
                 }
             }
 
-            MSP.send_message(MSPCodes.MSP_SET_BF_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_BF_CONFIG), false, save_serial_config);
+            MSP.send_message(MSPCodes.MSP_SET_BF_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_BF_CONFIG), false, save_misc);
         });
 
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function status_pull() {
             MSP.send_message(MSPCodes.MSP_STATUS);
+            
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
         GUI.interval_add('config_load_analog', load_analog, 250, true); // 4 fps
         GUI.content_ready(callback);
diff --git a/tabs/failsafe.js b/tabs/failsafe.js
index 8fbebaec..c076f74d 100644
--- a/tabs/failsafe.js
+++ b/tabs/failsafe.js
@@ -375,6 +375,10 @@ TABS.failsafe.initialize = function (callback, scrollPosition) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function status_pull() {
             MSP.send_message(MSPCodes.MSP_STATUS);
+            
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
         GUI.content_ready(callback);
diff --git a/tabs/gps.js b/tabs/gps.js
index 65dc4764..93c8e1c1 100644
--- a/tabs/gps.js
+++ b/tabs/gps.js
@@ -114,6 +114,10 @@ TABS.gps.initialize = function (callback) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function status_pull() {
             MSP.send_message(MSPCodes.MSP_STATUS);
+            
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
 
diff --git a/tabs/modes.js b/tabs/modes.js
index c934f91b..55d4dd77 100644
--- a/tabs/modes.js
+++ b/tabs/modes.js
@@ -147,6 +147,10 @@ TABS.modes.initialize = function (callback) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function status_pull() {
             MSP.send_message(MSPCodes.MSP_STATUS);
+            
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
         GUI.content_ready(callback);
diff --git a/tabs/motors.js b/tabs/motors.js
index af5729d0..4a26995b 100644
--- a/tabs/motors.js
+++ b/tabs/motors.js
@@ -456,6 +456,15 @@ TABS.motors.initialize = function (callback) {
         
         function get_status() {
             // status needed for arming flag
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_STATUS, false, false, get_sensor_status);
+            }
+            else {
+                MSP.send_message(MSPCodes.MSP_STATUS, false, false, get_motor_data);
+            }
+        }
+        
+        function get_sensor_status() {
             MSP.send_message(MSPCodes.MSP_STATUS, false, false, get_motor_data);
         }
 
diff --git a/tabs/ports.js b/tabs/ports.js
index 11ae95ec..782df265 100644
--- a/tabs/ports.js
+++ b/tabs/ports.js
@@ -222,6 +222,10 @@ TABS.ports.initialize = function (callback, scrollPosition) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function status_pull() {
             MSP.send_message(MSPCodes.MSP_STATUS);
+
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
         GUI.content_ready(callback);
diff --git a/tabs/receiver.js b/tabs/receiver.js
index a605f818..a7a8ce42 100644
--- a/tabs/receiver.js
+++ b/tabs/receiver.js
@@ -486,6 +486,10 @@ TABS.receiver.initialize = function (callback) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function status_pull() {
             MSP.send_message(MSPCodes.MSP_STATUS);
+
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
         GUI.content_ready(callback);
diff --git a/tabs/sensors.js b/tabs/sensors.js
index 65c69bbb..d810b734 100644
--- a/tabs/sensors.js
+++ b/tabs/sensors.js
@@ -446,6 +446,10 @@ TABS.sensors.initialize = function (callback) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function status_pull() {
             MSP.send_message(MSPCodes.MSP_STATUS);
+
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
         GUI.content_ready(callback);
diff --git a/tabs/servos.js b/tabs/servos.js
index 6a73c186..13973ac4 100755
--- a/tabs/servos.js
+++ b/tabs/servos.js
@@ -191,6 +191,10 @@ TABS.servos.initialize = function (callback) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function () {
             MSP.send_message(MSPCodes.MSP_STATUS);
+
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
         GUI.content_ready(callback);
diff --git a/tabs/setup.css b/tabs/setup.css
index c0073b98..66962b8f 100644
--- a/tabs/setup.css
+++ b/tabs/setup.css
@@ -67,9 +67,9 @@
     height: 100%;
     top: 0;
     left: 0;
-    background-size: 100%;
     background: url(../images/paper.jpg) center;
     border-radius: 5px;
+    background-size: contain;
 }
 
 #canvas {
diff --git a/tabs/setup.js b/tabs/setup.js
index 207f9c47..79b4ed9b 100755
--- a/tabs/setup.js
+++ b/tabs/setup.js
@@ -172,6 +172,10 @@ TABS.setup.initialize = function (callback) {
         function get_slow_data() {
             MSP.send_message(MSPCodes.MSP_STATUS);
 
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
+
             MSP.send_message(MSPCodes.MSP_ANALOG, false, false, function () {
                 bat_voltage_e.text(chrome.i18n.getMessage('initialSetupBatteryValue', [ANALOG.voltage]));
                 bat_mah_drawn_e.text(chrome.i18n.getMessage('initialSetupBatteryMahValue', [ANALOG.mAhdrawn]));
diff --git a/tabs/transponder.js b/tabs/transponder.js
index 438320cc..9f7aec73 100644
--- a/tabs/transponder.js
+++ b/tabs/transponder.js
@@ -94,6 +94,10 @@ TABS.transponder.initialize = function (callback, scrollPosition) {
         // status data pulled via separate timer with static speed
         GUI.interval_add('status_pull', function status_pull() {
             MSP.send_message(MSPCodes.MSP_STATUS);
+
+            if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
+            }
         }, 250, true);
 
         GUI.content_ready(callback);