diff --git a/src/main/target/BETAFPVF722/target.c b/src/main/target/BETAFPVF722/target.c
index 1af98e92f5..b2aeb61ba6 100644
--- a/src/main/target/BETAFPVF722/target.c
+++ b/src/main/target/BETAFPVF722/target.c
@@ -28,8 +28,7 @@
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 // FILO arrangement for motor assignments, Motor 1 starts at 2nd DECLARATION
-    DEF_TIM(TIM8,  CH3,  PC8, TIM_USE_ANY,               0, 0), // USE FOR CAMERA CONTROL
-
+ 
     DEF_TIM(TIM3,  CH3,  PB0, TIM_USE_MOTOR,             0, 0), // D1-ST0                   MOTOR1
     DEF_TIM(TIM3,  CH4,  PB1, TIM_USE_MOTOR,             0, 0), // D1-ST3                   MOTOR2
     DEF_TIM(TIM2,  CH2,  PA1, TIM_USE_MOTOR,             0, 0), // D1-ST7                   MOTOR3
@@ -38,5 +37,4 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_MOTOR,             0, 0), // NONE  TIM4_UP_D1-ST6     MOTOR6
 
     DEF_TIM(TIM1,  CH1,  PA8, TIM_USE_LED,               0, 0), // D1-ST2                   LED/MOTOR5
-
 };
diff --git a/src/main/target/BETAFPVF722/target.h b/src/main/target/BETAFPVF722/target.h
index 31821bc7b2..595a08c5f2 100644
--- a/src/main/target/BETAFPVF722/target.h
+++ b/src/main/target/BETAFPVF722/target.h
@@ -33,7 +33,7 @@
 #define BEEPER_INVERTED
 
 //define camera control
-#define CAMERA_CONTROL_PIN                               PC8
+// N/A
 
 //MPU-6000
 #define USE_GYRO
@@ -49,6 +49,16 @@
 #define GYRO_MPU6000_ALIGN                               CW180_DEG
 #define ACC_MPU6000_ALIGN                                CW180_DEG
 
+
+// ICM42688P
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define ICM42688P_CS_PIN                                PA4
+#define ICM42688P_SPI_INSTANCE                          SPI1
+#define GYRO_ICM42688P_ALIGN                            CW180_DEG
+#define ACC_ICM42688P_ALIGN                             CW180_DEG
+
+
 // OSD
 #define USE_MAX7456
 #define MAX7456_SPI_INSTANCE                             SPI3
@@ -120,6 +130,7 @@
 #define VBAT_ADC_PIN                                     PC0
 #define RSSI_ADC_PIN                                     PC2
 #define CURRENT_METER_SCALE_DEFAULT                      450                   // 3.3/120A  = 25mv/A
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // SPI devices
 #define USE_SPI
@@ -154,5 +165,5 @@
 #define TARGET_IO_PORTD                                 (BIT(2))
 
 // timers
-#define USABLE_TIMER_CHANNEL_COUNT                      8
-#define USED_TIMERS ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) |  TIM_N(8) )
+#define USABLE_TIMER_CHANNEL_COUNT                      7
+#define USED_TIMERS ( TIM_N(1) |TIM_N(2) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/BETAFPVF722/target.mk b/src/main/target/BETAFPVF722/target.mk
index 56beeaedad..0da79a44b5 100644
--- a/src/main/target/BETAFPVF722/target.mk
+++ b/src/main/target/BETAFPVF722/target.mk
@@ -4,6 +4,7 @@ FEATURES       = VCP ONBOARDFLASH
 TARGET_SRC = \
 drivers/accgyro/accgyro_spi_mpu6000.c \
 drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
 drivers/barometer/barometer_bmp280.c \
 drivers/barometer/barometer_ms5611.c \
 drivers/compass/compass_hmc5883l.c \
diff --git a/src/main/target/DIAT_MAMBAF405_2022B/target.c b/src/main/target/DIAT_MAMBAF405_2022B/target.c
new file mode 100644
index 0000000000..37e46483ec
--- /dev/null
+++ b/src/main/target/DIAT_MAMBAF405_2022B/target.c
@@ -0,0 +1,41 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This software is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM2, CH2, PB3,  TIM_USE_LED,                  0, 0 ), // LED_STRIP,
+    DEF_TIM(TIM4, CH3, PB8,  TIM_USE_ANY,                  0, 0),  // baro/mag // no dps310 in EmuFlight,
+    DEF_TIM(TIM11, CH1, PB9,  TIM_USE_ANY,                 0, 0),  // baro/mag // no dps310 in EmuFlight,
+    DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_MOTOR,               0, 0 ), // M1
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MOTOR,               0, 0 ), // M2
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_MOTOR,               0, 0 ), // M3
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_MOTOR,               0, 0 ), // M4
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR,               0, 0 ), // M5
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR,               0, 0 ), // M6
+};
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/DIAT_MAMBAF405_2022B/target.h b/src/main/target/DIAT_MAMBAF405_2022B/target.h
new file mode 100644
index 0000000000..2e8faaa864
--- /dev/null
+++ b/src/main/target/DIAT_MAMBAF405_2022B/target.h
@@ -0,0 +1,164 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This software is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "DIAT"
+#define USBD_PRODUCT_STRING "MAMBAF405_2022B"
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define USE_BARO_DPS310
+#define USE_FLASH
+#define USE_FLASH_M25P16
+#define USE_MAX7456
+#define USE_BARO
+#define USE_ADC
+#define USE_SPI_GYRO
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16  //testing
+#define USE_FLASH_W25M    //testing
+#define USE_FLASH_W25M512 //testing
+#define USE_FLASH_W25Q    //testing
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PC15
+#define LED1_PIN             PC14
+#define LED_STRIP_PIN        PB3
+#define USE_BEEPER
+#define BEEPER_PIN           PC13
+#define BEEPER_INVERTED
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PC10
+#define SPI3_MISO_PIN        PC11
+#define SPI3_MOSI_PIN        PB5
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define MPU_INT_EXTI               PC4
+
+#define ACC_MPU6000_ALIGN          CW270_DEG
+#define GYRO_MPU6000_ALIGN         CW270_DEG
+#define MPU6000_CS_PIN             PA4
+#define MPU6000_SPI_INSTANCE       SPI1
+
+#define ACC_MPU6500_ALIGN          CW270_DEG
+#define GYRO_MPU6500_ALIGN         CW270_DEG
+#define MPU6500_CS_PIN             PA4
+#define MPU6500_SPI_INSTANCE       SPI1
+
+#define ACC_ICM42688P_ALIGN        CW270_DEG
+#define GYRO_ICM42688P_ALIGN       CW270_DEG
+#define ICM42688P_CS_PIN           PA4
+#define ICM42688P_SPI_INSTANCE     SPI1
+
+#define MAG_I2C_INSTANCE (I2CDEV_1)
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE        (I2CDEV_1)
+#define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+// notice - this file was programmatically generated and likely needs MAG/BARO manually added and/or verified.
+
+#define FLASH_CS_PIN         PA15
+#define FLASH_SPI_INSTANCE   SPI3
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define MAX7456_SPI_CS_PIN   PB12
+#define MAX7456_SPI_INSTANCE SPI2
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+#define UART1_TX_PIN         PB6
+#define UART2_TX_PIN         PA2
+#define UART3_TX_PIN         PB10
+#define UART4_TX_PIN         PA0
+#define UART5_TX_PIN         PC12
+#define UART6_TX_PIN         PC6
+#define UART1_RX_PIN         PB7
+#define UART2_RX_PIN         PA3
+#define UART3_RX_PIN         PB11
+#define UART4_RX_PIN         PA1
+#define UART5_RX_PIN         PD2
+#define UART6_RX_PIN         PC7
+#define INVERTER_PIN_UART1   PC0
+#define SERIAL_PORT_COUNT 7
+// notice - UART/USART were programmatically generated
+
+#define VBAT_ADC_PIN PC1
+#define CURRENT_METER_ADC_PIN PC3
+#define ADC3_DMA_STREAM DMA2_Stream0 // # ADC 3: DMA2 Stream 0 Channel 2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 183
+#define ADC_INSTANCE ADC3
+// notice - DMA conversion were programmatically generated and may be incomplete.
+
+#define ENABLE_DSHOT_DMAR true
+
+#define PINIO1_PIN           PC2
+#define PINIO2_PIN           PC5
+#define PINIO1_CONFIG 129
+#define PINIO2_CONFIG 129
+#define PINIO1_BOX 0
+#define PINIO2_BOX 40
+// notice - this file was programmatically generated and may not have accounted for any config instance of "#define TLM_INVERTED ON", etc.
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+// notice - incomplete; may need additional DEFAULT_FEATURES; e.g. FEATURE_SOFTSERIAL | FEATURE_RX_SPI
+
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS ( TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(4)|TIM_N(8)|TIM_N(11) )
+
+// notice - this file was programmatically generated and may be incomplete.
diff --git a/src/main/target/DIAT_MAMBAF405_2022B/target.mk b/src/main/target/DIAT_MAMBAF405_2022B/target.mk
new file mode 100644
index 0000000000..775a554519
--- /dev/null
+++ b/src/main/target/DIAT_MAMBAF405_2022B/target.mk
@@ -0,0 +1,16 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_mpu6000.c \
+drivers/accgyro/accgyro_mpu6500.c \
+drivers/accgyro/accgyro_spi_mpu6500.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
+drivers/light_led.h \
+drivers/light_ws2811strip.c \
+drivers/pinio.c \
+drivers/max7456.c \
+
+# notice - this file was programmatically generated and may be incomplete.
+#  eg: flash, compass, barometer, vtx6705, ledstrip, pinio, etc.
diff --git a/src/main/target/GEPRC_F722_AIO/target.c b/src/main/target/GEPRC_F722_AIO/target.c
new file mode 100644
index 0000000000..5fdda10d02
--- /dev/null
+++ b/src/main/target/GEPRC_F722_AIO/target.c
@@ -0,0 +1,45 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+DEF_TIM(TIM5, CH1, PA0, TIM_USE_ANY, 0, 0),	//CAMERA CONTROL
+DEF_TIM(TIM9, CH2, PA3, TIM_USE_ANY, 0, 0),	//PPM
+
+DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0),	//MOTOR 1
+DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 1),	//MOTOR 2
+DEF_TIM(TIM8, CH2, PC7, TIM_USE_MOTOR, 0, 1),	//MOTOR 3
+DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, 0, 0),	//MOTOR 4
+
+//DEF_TIM(TIM4, CH1, PB6, TIM_USE_ANY, 0, 0),	//in config but match no pins
+//DEF_TIM(TIM4, CH2, PB7, TIM_USE_ANY, 0, 0),   //pretty sure left over from
+//DEF_TIM(TIM3, CH4, PB1, TIM_USE_ANY, 0, 0),	//geprc_f722_bthd target/config
+//DEF_TIM(TIM3, CH3, PB0, TIM_USE_ANY, 0, 0),   //as match motors 5-8
+
+DEF_TIM(TIM2, CH2, PA1, TIM_USE_LED, 0, 0)	//LED
+};
diff --git a/src/main/target/GEPRC_F722_AIO/target.h b/src/main/target/GEPRC_F722_AIO/target.h
new file mode 100644
index 0000000000..2cb368bae7
--- /dev/null
+++ b/src/main/target/GEPRC_F722_AIO/target.h
@@ -0,0 +1,158 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Prepared by Kaio
+ */
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "S7X2"
+#define USBD_PRODUCT_STRING "GEPRC_F722_AIO"
+#define TARGET_MANUFACTURER_IDENTIFIER "GEPR"
+
+#define LED0_PIN PC4
+
+#define USE_BEEPER
+#define BEEPER_PIN PC15
+#define BEEPER_INVERTED
+
+#define ENABLE_DSHOT_DMAR  true
+
+#define USE_EXTI
+#define MPU_INT_EXTI PA8
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define USE_GYRO
+
+#define USE_GYRO_SPI_ICM42688P
+#define ICM42688P_CS_PIN        PA15
+#define ICM42688P_SPI_INSTANCE  SPI1
+#define GYRO_ICM42688P_ALIGN  CW90_DEG
+
+#define USE_GYRO_SPI_MPU6000
+#define MPU6000_CS_PIN PA15
+#define MPU6000_SPI_INSTANCE SPI1
+#define GYRO_MPU6000_ALIGN CW90_DEG
+
+#define USE_ACC
+
+#define USE_ACC_SPI_ICM42688P
+#define ACC_ICM42688P_ALIGN CW90_DEG
+
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6000_ALIGN CW90_DEG
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_BMP085
+#define USE_BARO_MS5611
+#define BARO_I2C_INSTANCE (I2CDEV_2)
+
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define MAG_I2C_INSTANCE (I2CDEV_2)
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE SPI2
+#define MAX7456_SPI_CS_PIN PB12
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_SPI_INSTANCE SPI3
+#define FLASH_CS_PIN PB9
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define USE_VCP
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_RX_PIN PA10
+#define UART1_TX_PIN PA9
+
+#define USE_UART2
+#define UART2_RX_PIN PA3
+#define UART2_TX_PIN PA2
+
+#define USE_UART3
+#define UART3_RX_PIN PB11
+#define UART3_TX_PIN PB10
+
+#define USE_UART4
+#define UART4_RX_PIN PC11
+#define UART4_TX_PIN PC10
+
+#define USE_UART5
+#define UART5_RX_PIN PD2
+#define UART5_TX_PIN PC12
+
+#define SERIAL_PORT_COUNT 6     //USB + 5 UARTS
+
+#define USE_ESCSERIAL                  //PPM
+#define ESCSERIAL_TIMER_TX_PIN PA3
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PB3
+#define SPI3_MISO_PIN PB4
+#define SPI3_MOSI_PIN PB5
+
+//#define USE_I2C
+//#define USE_I2C_DEVICE_1
+//#define I2C1_SCL PB8
+//#define I2C1_SDA PB9
+//#define I2C_DEVICE (I2CDEV_1)
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+#define I2C_DEVICE (I2CDEV_2)
+
+#define USE_ADC
+#define ADC3_DMA_STREAM DMA2_Stream0
+#define VBAT_ADC_PIN PC2
+#define CURRENT_METER_ADC_PIN PC1
+//#define RSSI_ADC_PIN PC2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 100
+
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+//#define SERIALRX_UART SERIAL_PORT_USART2
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES ( FEATURE_OSD | FEATURE_TELEMETRY )
+
+#define TARGET_IO_PORTA ( 0xffff )
+#define TARGET_IO_PORTB ( 0xffff )
+#define TARGET_IO_PORTC ( 0xffff )
+#define TARGET_IO_PORTD ( 0xffff )
+
+#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USED_TIMERS ( TIM_N(2) | TIM_N(5) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/GEPRC_F722_AIO/target.mk b/src/main/target/GEPRC_F722_AIO/target.mk
new file mode 100644
index 0000000000..ed078d59ff
--- /dev/null
+++ b/src/main/target/GEPRC_F722_AIO/target.mk
@@ -0,0 +1,15 @@
+F7X2RE_TARGETS  += $(TARGET)
+FEATURES        += VCP ONBOARDFLASH
+TARGET_SRC = \
+	drivers/accgyro/accgyro_spi_icm426xx.c \
+	drivers/accgyro/accgyro_mpu.c \
+	drivers/accgyro/accgyro_mpu6500.c \
+	drivers/accgyro/accgyro_spi_mpu6000.c \
+	drivers/accgyro/accgyro_spi_mpu6500.c \
+	drivers/barometer/barometer_ms5611.c \
+	drivers/barometer/barometer_bmp280.c \
+	drivers/barometer/barometer_bmp085.c \
+	drivers/compass/compass_hmc5883l.c \
+	drivers/compass/compass_qmc5883l.c \
+	drivers/max7456.c\
+	drivers/light_ws2811strip.c
diff --git a/src/main/target/JHEF411/target.h b/src/main/target/JHEF411/target.h
index f4c720412c..7db7a91a6d 100644
--- a/src/main/target/JHEF411/target.h
+++ b/src/main/target/JHEF411/target.h
@@ -56,6 +56,13 @@
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
 #define ACC_MPU6000_ALIGN       CW180_DEG
+
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_ICM42688P
+#define ICM42688P_CS_PIN          PA4
+#define ICM42688P_SPI_INSTANCE    SPI1
+#define ACC_ICM42688P_ALIGN       CW180_DEG
+#define GYRO_ICM42688P_ALIGN      CW180_DEG
 // *************** Baro **************************
 #define USE_I2C
 
diff --git a/src/main/target/JHEF411/target.mk b/src/main/target/JHEF411/target.mk
index a22931f0a8..04a1ea3283 100644
--- a/src/main/target/JHEF411/target.mk
+++ b/src/main/target/JHEF411/target.mk
@@ -4,6 +4,7 @@ FEATURES       += VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
diff --git a/src/main/target/JHEF7DUAL/target.h b/src/main/target/JHEF7DUAL/target.h
index e7e4e5c221..1545a2a13c 100644
--- a/src/main/target/JHEF7DUAL/target.h
+++ b/src/main/target/JHEF7DUAL/target.h
@@ -53,10 +53,12 @@
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM20689
+#define USE_GYRO_SPI_ICM42688P
 
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM20689
+#define USE_ACC_SPI_ICM42688P
 
 #define ACC_ICM20689_1_ALIGN    CW90_DEG
 #define GYRO_ICM20689_1_ALIGN   CW90_DEG
@@ -68,6 +70,9 @@
 #define GYRO_2_ALIGN            GYRO_MPU6000_2_ALIGN
 #define ACC_2_ALIGN             ACC_MPU6000_2_ALIGN
 
+#define ACC_ICM42688P_ALIGN     CW90_DEG
+#define GYRO_ICM42688P_ALIGN    CW90_DEG
+
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 
 // *************** Baro **************************
@@ -140,7 +145,7 @@
 
 #define USE_ADC
 #define ADC_INSTANCE            ADC3
-#define ADC3_DMA_OPT            0  // DMA 2 Stream 0 Channel 2 
+#define ADC3_DMA_OPT            0  // DMA 2 Stream 0 Channel 2
 
 #define CURRENT_METER_ADC_PIN   PC1
 #define VBAT_ADC_PIN            PC2
diff --git a/src/main/target/JHEF7DUAL/target.mk b/src/main/target/JHEF7DUAL/target.mk
index 8b16c3f1b2..42e86d325d 100644
--- a/src/main/target/JHEF7DUAL/target.mk
+++ b/src/main/target/JHEF7DUAL/target.mk
@@ -5,6 +5,7 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_fake.c \
             drivers/light_ws2811strip.c \
diff --git a/src/main/target/MATEKF722SE/target.h b/src/main/target/MATEKF722SE/target.h
index df30407eda..dc89a9529d 100755
--- a/src/main/target/MATEKF722SE/target.h
+++ b/src/main/target/MATEKF722SE/target.h
@@ -46,7 +46,7 @@
 #define USE_EXTI
 #define GYRO_1_EXTI_PIN         PC4
 #define GYRO_2_EXTI_PIN         PC3
-#define MPU_INT_EXTI
+#define MPU_INT_EXTI            PC4
 
 #define GYRO_1_CS_PIN           PB2
 #define GYRO_1_SPI_INSTANCE     SPI1
@@ -61,15 +61,19 @@
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_MPU6500
 
+#define GYRO_1_ALIGN            CW180_DEG_FLIP
+#define ACC_1_ALIGN             CW180_DEG_FLIP
 #define GYRO_MPU6000_1_ALIGN    CW180_DEG_FLIP
 #define ACC_MPU6000_1_ALIGN     CW180_DEG_FLIP
-#define GYRO_1_ALIGN            GYRO_MPU6000_1_ALIGN
-#define ACC_1_ALIGN             ACC_MPU6000_1_ALIGN
+#define GYRO_MPU6500_1_ALIGN    CW180_DEG_FLIP
+#define ACC_MPU6500_1_ALIGN     CW180_DEG_FLIP
 
+#define GYRO_2_ALIGN            CW90_DEG
+#define ACC_2_ALIGN             CW90_DEG
 #define GYRO_MPU6500_2_ALIGN    CW90_DEG
 #define ACC_MPU6500_2_ALIGN     CW90_DEG
-#define GYRO_2_ALIGN            GYRO_MPU6500_2_ALIGN
-#define ACC_2_ALIGN             ACC_MPU6500_2_ALIGN
+#define GYRO_MPU6000_2_ALIGN    CW90_DEG
+#define ACC_MPU6000_2_ALIGN     CW90_DEG
 
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
diff --git a/src/main/target/MATEKF722SE/target.mk b/src/main/target/MATEKF722SE/target.mk
index db67145925..cd0322069a 100755
--- a/src/main/target/MATEKF722SE/target.mk
+++ b/src/main/target/MATEKF722SE/target.mk
@@ -3,6 +3,7 @@ FEATURES       += VCP ONBOARDFLASH SDCARD
 
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
diff --git a/src/main/target/RUSH_BLADE_F7_HD/target.c b/src/main/target/RUSHBLADEF7HD/target.c
similarity index 100%
rename from src/main/target/RUSH_BLADE_F7_HD/target.c
rename to src/main/target/RUSHBLADEF7HD/target.c
diff --git a/src/main/target/RUSHBLADEF7HD/target.h b/src/main/target/RUSHBLADEF7HD/target.h
new file mode 100644
index 0000000000..3041655e66
--- /dev/null
+++ b/src/main/target/RUSHBLADEF7HD/target.h
@@ -0,0 +1,156 @@
+/*
+* This file is part of Cleanflight and Betaflight.
+*
+* Cleanflight and Betaflight are free software. You can redistribute
+* this software and/or modify this software under the terms of the
+* GNU General Public License as published by the Free Software
+* Foundation, either version 3 of the License, or (at your option)
+* any later version.
+*
+* Cleanflight and Betaflight are distributed in the hope that they
+* will be useful, but WITHOUT ANY WARRANTY; without even the implied
+* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+* See the GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this software.
+*
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#pragma once
+//#define USE_TARGET_CONFIG
+
+#define TARGET_BOARD_IDENTIFIER "RUSH"
+#define USBD_PRODUCT_STRING "BLADE_F7_HD"
+
+#define ENABLE_DSHOT_DMAR true
+
+#define USE_LED_STRIP
+
+#define LED0_PIN PB10
+
+#define USE_BEEPER
+#define BEEPER_PIN PB2
+#define BEEPER_INVERTED
+
+
+// *************** SPI1 Gyro & ACC *******************
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_EXTI
+#define USE_GYRO
+#define USE_ACC
+
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6000
+#define MPU6000_CS_PIN          PC4
+#define MPU_INT_EXTI            PA4
+#define MPU6000_SPI_INSTANCE    SPI1
+#define GYRO_MPU6000_ALIGN      CW270_DEG
+#define ACC_MPU6000_ALIGN       CW270_DEG
+
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define ICM42688P_EXTI_PIN      PA4
+#define ICM42688P_CS_PIN        PC4
+#define ICM42688P_SPI_INSTANCE  SPI1
+#define GYRO_ICM42688P_ALIGN    CW270_DEG
+#define ACC_ICM42688P_ALIGN     CW270_DEG
+
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+// *************** I2C /Baro/Mag *********************
+
+#define USE_I2C
+
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE_1 (I2CDEV_1)
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+
+#define BARO_I2C_INSTANCE (I2CDEV_1)
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+
+//#define MAG_I2C_INSTANCE (I2CDEV_1)
+//#define USE_MAG
+//#define USE_MAG_HMC5883
+//#define USE_MAG_QMC5883
+
+// *************** SPI3 BLACKBOX****************
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_CS_PIN PB12
+#define FLASH_SPI_INSTANCE SPI2
+
+// *************** UART *****************************
+
+#define USE_VCP
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+
+#define USE_UART2
+#define UART2_TX_PIN PA2
+#define UART2_RX_PIN PA3
+
+#define USE_UART3
+#define UART3_TX_PIN PC10
+#define UART3_RX_PIN PC11
+
+#define USE_UART4
+#define UART4_TX_PIN PA0
+#define UART4_RX_PIN PA1
+
+#define USE_UART5
+#define UART5_TX_PIN PC12
+#define UART5_RX_PIN PD2
+
+#define SERIAL_PORT_COUNT 6
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+#define SERIALRX_UART SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+//#define ADC1_DMA_STREAM DMA2_Stream0
+#define VBAT_ADC_PIN PC0
+#define CURRENT_METER_ADC_PIN PC1
+//#define RSSI_ADC_PIN PC1
+
+// *************** Others ***************************
+
+
+#define DEFAULT_FEATURES ( FEATURE_TELEMETRY )
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 179
+
+#define USE_ESCSERIAL
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 10
+#define USED_TIMERS (TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(4)|TIM_N(8))
diff --git a/src/main/target/RUSHBLADEF7HD/target.mk b/src/main/target/RUSHBLADEF7HD/target.mk
new file mode 100644
index 0000000000..4a0083c78c
--- /dev/null
+++ b/src/main/target/RUSHBLADEF7HD/target.mk
@@ -0,0 +1,12 @@
+F7X2RE_TARGETS += $(TARGET)
+FEATURES += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+drivers/accgyro/accgyro_mpu.c \
+drivers/accgyro/accgyro_spi_mpu6000.c \
+drivers/accgyro/accgyro_spi_icm426xx.c \
+drivers/barometer/barometer_ms5611.c \
+drivers/barometer/barometer_bmp280.c \
+drivers/barometer/barometer_bmp085.c \
+drivers/light_ws2811strip.c \
+drivers/max7456.c
diff --git a/src/main/target/RUSH_BLADE_F7_HD/target.h b/src/main/target/RUSH_BLADE_F7_HD/target.h
deleted file mode 100644
index 1ad1a5f0c1..0000000000
--- a/src/main/target/RUSH_BLADE_F7_HD/target.h
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
- * This file is part of Cleanflight and Betaflight.
- *
- * Cleanflight and Betaflight are free software. You can redistribute
- * this software and/or modify this software under the terms of the
- * GNU General Public License as published by the Free Software
- * Foundation, either version 3 of the License, or (at your option)
- * any later version.
- *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this software.
- *
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
- #pragma once
- //#define USE_TARGET_CONFIG
-
- 	#define TARGET_BOARD_IDENTIFIER "RUSH"
- 	#define USBD_PRODUCT_STRING "BLADE_F7_HD"
-
- 	#define ENABLE_DSHOT_DMAR true
-
- 	#define USE_LED_STRIP
-
- 	#define LED0_PIN PB10
-
- 	#define USE_BEEPER
- 	#define BEEPER_PIN PB2
- 	#define BEEPER_INVERTED
-
-
- 	// *************** SPI1 Gyro & ACC *******************
-
- 	#define USE_SPI
- 	#define USE_SPI_DEVICE_1
- 	#define SPI1_SCK_PIN PA5
- 	#define SPI1_MISO_PIN PA6
- 	#define SPI1_MOSI_PIN PA7
-
- 	#define USE_EXTI
- 	#define MPU_INT_EXTI PA4
-
- 	#define MPU6000_CS_PIN PC4
- 	#define MPU6000_SPI_INSTANCE SPI1
-
- 	#define USE_GYRO
- 	#define USE_GYRO_SPI_MPU6000
-
- 	#define USE_ACC
- 	#define USE_ACC_SPI_MPU6000
-
- 	#define GYRO_MPU6000_ALIGN CW270_DEG
- 	#define ACC_MPU6000_ALIGN CW270_DEG
-
- 	#define USE_MPU_DATA_READY_SIGNAL
- 	#define ENSURE_MPU_DATA_READY_IS_LOW
-
- 	// *************** I2C /Baro/Mag *********************
-
- 	#define USE_I2C
-
- 	#define USE_I2C_DEVICE_1
- 	#define I2C_DEVICE_1 (I2CDEV_1)
- 	#define I2C1_SCL PB8
- 	#define I2C1_SDA PB9
-
- 	#define BARO_I2C_INSTANCE (I2CDEV_1)
- 	#define USE_BARO
- 	#define USE_BARO_BMP280
- 	#define USE_BARO_MS5611
- 	#define USE_BARO_BMP085
-
- 	//#define MAG_I2C_INSTANCE (I2CDEV_1)
- 	//#define USE_MAG
- 	//#define USE_MAG_HMC5883
- 	//#define USE_MAG_QMC5883
-
- 	// *************** SPI3 BLACKBOX****************
-
- 	#define USE_SPI_DEVICE_2
- 	#define SPI2_SCK_PIN PB13
- 	#define SPI2_MISO_PIN PB14
- 	#define SPI2_MOSI_PIN PB15
-
- 	#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
- 	#define USE_FLASHFS
- 	#define USE_FLASH_M25P16
- 	#define FLASH_CS_PIN PB12
- 	#define FLASH_SPI_INSTANCE SPI2
-
- 	// *************** UART *****************************
-
- 	#define USE_VCP
- 	#define USE_USB_DETECT
-
- 	#define USE_UART1
- 	#define UART1_TX_PIN PA9
- 	#define UART1_RX_PIN PA10
-
- 	#define USE_UART2
- 	#define UART2_TX_PIN PA2
- 	#define UART2_RX_PIN PA3
-
- 	#define USE_UART3
- 	#define UART3_TX_PIN PC10
- 	#define UART3_RX_PIN PC11
-
- 	#define USE_UART4
- 	#define UART4_TX_PIN PA0
- 	#define UART4_RX_PIN PA1
-
- 	#define USE_UART5
- 	#define UART5_TX_PIN PC12
- 	#define UART5_RX_PIN PD2
-
- 	#define SERIAL_PORT_COUNT 6
-
- 	#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
- 	#define SERIALRX_PROVIDER SERIALRX_SBUS
- 	#define SERIALRX_UART SERIAL_PORT_USART2
-
- 	// *************** ADC *****************************
- 	#define USE_ADC
- 	//#define ADC1_DMA_STREAM DMA2_Stream0
- 	#define VBAT_ADC_PIN PC0
- 	#define CURRENT_METER_ADC_PIN PC1
- 	//#define RSSI_ADC_PIN PC1
-
- 	// *************** Others ***************************
-
-
- 	#define DEFAULT_FEATURES ( FEATURE_TELEMETRY )
- 	#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
- 	#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
- 	#define CURRENT_METER_SCALE_DEFAULT 179
-
- 	#define USE_ESCSERIAL
-
- 	#define TARGET_IO_PORTA 0xffff
- 	#define TARGET_IO_PORTB 0xffff
- 	#define TARGET_IO_PORTC 0xffff
- 	#define TARGET_IO_PORTD 0xffff
-
- 	#define USABLE_TIMER_CHANNEL_COUNT 10
- 	#define USED_TIMERS (TIM_N(1)|TIM_N(2)|TIM_N(3)|TIM_N(4)|TIM_N(8))
diff --git a/src/main/target/RUSH_BLADE_F7_HD/target.mk b/src/main/target/RUSH_BLADE_F7_HD/target.mk
deleted file mode 100644
index 3b2730cf37..0000000000
--- a/src/main/target/RUSH_BLADE_F7_HD/target.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-F7X2RE_TARGETS += $(TARGET)
-FEATURES += VCP ONBOARDFLASH
-
-TARGET_SRC = \
-							drivers/accgyro/accgyro_mpu.c \
-							drivers/accgyro/accgyro_spi_mpu6000.c \
-							drivers/barometer/barometer_ms5611.c \
-							drivers/barometer/barometer_bmp280.c \
-							drivers/barometer/barometer_bmp085.c \
-							drivers/light_ws2811strip.c \
-							drivers/max7456.c