diff --git a/make/mcu/STM32F4.mk b/make/mcu/STM32F4.mk
index eb329be5423..199152f8e9c 100644
--- a/make/mcu/STM32F4.mk
+++ b/make/mcu/STM32F4.mk
@@ -22,7 +22,8 @@ else
 CMSIS_DIR      := $(ROOT)/lib/main/CMSIS/CM4
 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4/Drivers/STM32F4xx_StdPeriph_Driver
 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
-EXCLUDES        = stm32f4xx_can.c \
+EXCLUDES        = stm32f4xx_crc.c \
+                  stm32f4xx_can.c \
                   stm32f4xx_fmc.c \
                   stm32f4xx_sai.c \
                   stm32f4xx_cec.c \
diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index 879e4b47454..de9f754ecce 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -38,10 +38,12 @@
 #include "drivers/sensor.h"
 #include "drivers/system.h"
 #include "drivers/time.h"
-#include "drivers/dma_spi.h"
 
+#ifdef USE_DMA_SPI_DEVICE
+#include "drivers/dma_spi.h"
 #include "sensors/gyro.h"
 #include "sensors/acceleration.h"
+#endif //USE_DMA_SPI_DEVICE
 
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_mpu3050.h"
@@ -53,11 +55,17 @@
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
+#ifdef USE_GYRO_IMUF9001
 #include "drivers/accgyro/accgyro_imuf9001.h"
+#endif //USE_GYRO_IMUF9001
 #include "drivers/accgyro/accgyro_mpu.h"
 
+
+#ifdef USE_DMA_SPI_DEVICE
 volatile int dmaSpiGyroDataReady = 0;
 volatile uint32_t imufCrcErrorCount = 0;
+#endif //USE_DMA_SPI_DEVICE
+
 mpuResetFnPtr mpuResetFn;
 #ifdef USE_GYRO_IMUF9001
     imufData_t imufData;
diff --git a/src/main/drivers/accgyro/accgyro_mpu6500.c b/src/main/drivers/accgyro/accgyro_mpu6500.c
index e1bccd6f860..453ea1dc1e8 100644
--- a/src/main/drivers/accgyro/accgyro_mpu6500.c
+++ b/src/main/drivers/accgyro/accgyro_mpu6500.c
@@ -92,12 +92,7 @@ bool mpu6500GyroDetect(gyroDev_t *gyro)
     }
 
     gyro->initFn = mpu6500GyroInit;
-
-    #ifdef USE_DMA_SPI_DEVICE
-        gyro->readFn = mpuGyroDmaSpiReadStart;
-    #else
-        gyro->readFn = mpuGyroRead;
-    #endif
+    gyro->readFn = mpuGyroRead;
 
     // 16.4 dps/lsb scalefactor
     gyro->scale = 1.0f / 16.4f;
diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c
index 64507f126db..43209c3f274 100644
--- a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c
@@ -130,24 +130,15 @@ bool mpu6500SpiGyroDetect(gyroDev_t *gyro)
     case MPU_9250_SPI:
     case ICM_20608_SPI:
     case ICM_20602_SPI:
-        // 16.4 dps/lsb scalefactor
-        gyro->scale = 1.0f / 16.4f;
-        break;
-    case ICM_20601_SPI:
-        // 8.2 dps/lsb scalefactor
-        gyro->scale = 1.0f / 8.2f;
         break;
     default:
         return false;
     }
 
     gyro->initFn = mpu6500SpiGyroInit;
-    #ifdef USE_DMA_SPI_DEVICE
-        gyro->readFn = mpuGyroDmaSpiReadStart;
-    #else
-        gyro->readFn = mpuGyroReadSPI;
-    #endif
-
-
+    gyro->readFn = mpuGyroReadSPI;
+    // 16.4 dps/lsb scalefactor	
+    gyro->scale = 1.0f / 16.4f;
+    
     return true;
 }
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index 5154f43e5c6..db98f416318 100644
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -38,7 +38,10 @@ typedef struct busDevice_s {
             SPI_HandleTypeDef* handle; // cached here for efficiency
 #endif
             IO_t csnPin;
+
+#if defined(USE_GYRO_IMUF9001)          
             IO_t rstPin;
+#endif          
         } spi;
         struct deviceI2C_s {
             I2CDevice device;
diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
index 0ccac8a3fc8..44acc2da2b0 100644
--- a/src/main/drivers/bus_spi.c
+++ b/src/main/drivers/bus_spi.c
@@ -22,9 +22,6 @@
 #include <platform.h>
 
 #ifdef USE_SPI
-#ifndef GYRO_READ_TIMEOUT
-    #define GYRO_READ_TIMEOUT 20
-#endif
 
 #include "drivers/bus.h"
 #include "drivers/bus_spi.h"
@@ -32,8 +29,13 @@
 #include "drivers/exti.h"
 #include "drivers/io.h"
 #include "drivers/rcc.h"
+#ifdef USE_DMA_SPI_DEVICE
+#ifndef GYRO_READ_TIMEOUT
+    #define GYRO_READ_TIMEOUT 20
+#endif //GYRO_READ_TIMEOUT
 #include "drivers/dma_spi.h"
 #include "drivers/time.h"
+#endif //USE_DMA_SPI_DEVICE
 
 spiDevice_t spiDevice[SPIDEV_COUNT];
 
@@ -118,10 +120,10 @@ uint32_t spiTimeoutUserCallback(SPI_TypeDef *instance)
     return spiDevice[device].errorCount;
 }
 
-#pragma GCC push_options
-#pragma GCC optimize ("O0")
+
 bool spiBusTransfer(const busDevice_t *bus, const uint8_t *txData, uint8_t *rxData, int length)
 {
+
     #ifdef USE_DMA_SPI_DEVICE
         (void)(bus);
         uint32_t timeoutCheck = millis();
@@ -146,7 +148,6 @@ bool spiBusTransfer(const busDevice_t *bus, const uint8_t *txData, uint8_t *rxDa
 
     return true;
 }
-#pragma GCC pop_options
 
 uint16_t spiGetErrorCounter(SPI_TypeDef *instance)
 {
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 941d15afbb5..bae11e76e4a 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -70,7 +70,9 @@
 #include "drivers/usb_io.h"
 #include "drivers/vtx_rtc6705.h"
 #include "drivers/vtx_common.h"
+#ifdef USE_DMA_SPI_DEVICE
 #include "drivers/dma_spi.h"
+#endif //USE_DMA_SPI_DEVICE
 
 #include "fc/config.h"
 #include "fc/fc_init.h"
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 4935a718b41..68f6917a656 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -409,7 +409,7 @@ static bool imuIsAccelerometerHealthy(void)
 
 static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
 {
-    static timeUs_t previousIMUUpdateTime = 0;
+    static timeUs_t previousIMUUpdateTime;
     float rawYawError = 0;
     bool useAcc = false;
     bool useMag = false;
diff --git a/src/main/interface/cli.c b/src/main/interface/cli.c
index 7fe088918cc..c5ab5b3d80d 100644
--- a/src/main/interface/cli.c
+++ b/src/main/interface/cli.c
@@ -3795,7 +3795,7 @@ static void cliImufUpdate(char *cmdline)
     UNUSED(cmdline);
     cliPrint("I muff, you muff, we all muff for IMU-F!");
     cliPrintLinefeed();
-    (*((uint32_t *)0x2001FFF4)) = 0xF431FA77;
+    (*((uint32_t *)0x2001FFEC)) = 0xF431FA77;
     delay(1000);
     cliReboot();
 }
@@ -3808,7 +3808,7 @@ static void cliMsd(char *cmdline)
 
     cliPrint("Loading as USB drive!");
     cliPrintLinefeed();
-    (*((uint32_t *)0x2001FFF8)) = 0xF431FA11;
+    (*((uint32_t *)0x2001FFF0)) = 0xF431FA11;
     delay(1000);
     cliReboot();
 }
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index e72dc41e13f..e8cbbf7f0ea 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -51,7 +51,9 @@
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
+#ifdef USE_GYRO_IMUF9001
 #include "drivers/accgyro/accgyro_imuf9001.h"
+#endif //USE_GYRO_IMUF9001
 #include "drivers/bus_spi.h"
 
 #include "fc/config.h"
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index f853b6ddad5..d3f7bd5d026 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -52,7 +52,9 @@
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
+#ifdef USE_GYRO_IMUF9001
 #include "drivers/accgyro/accgyro_imuf9001.h"
+#endif //USE_GYRO_IMUF9001
 #include "drivers/accgyro/gyro_sync.h"
 #include "drivers/bus_spi.h"
 #include "drivers/io.h"
@@ -119,20 +121,18 @@ typedef struct gyroSensor_s {
     biquadFilter_t notchFilterDyn[XYZ_AXIS_COUNT];
     timeUs_t overflowTimeUs;
     bool overflowDetected;
-#if defined(USE_GYRO_IMUF9001)
-// do nothing
-#else
-#if defined(USE_GYRO_FAST_KALMAN)
-    // gyro kalman filter
-    filterApplyFnPtr fastKalmanApplyFn;
-    fastKalman_t fastKalman[XYZ_AXIS_COUNT];
-#endif // USE_GYRO_FAST_KALMAN
-#if defined(USE_GYRO_BIQUAD_RC_FIR2)
-    // gyro biquad RC FIR2 filter
-    filterApplyFnPtr biquadRCFIR2ApplyFn;
-    biquadFilter_t biquadRCFIR2[XYZ_AXIS_COUNT];
-#endif // USE_GYRO_BIQUAD_RC_FIR2
-#endif //USE_GYRO_IMUF9001
+#ifndef USE_GYRO_IMUF9001
+    #if defined(USE_GYRO_FAST_KALMAN)
+        // gyro kalman filter
+        filterApplyFnPtr fastKalmanApplyFn;
+        fastKalman_t fastKalman[XYZ_AXIS_COUNT];
+    #endif // USE_GYRO_FAST_KALMAN
+    #if defined(USE_GYRO_BIQUAD_RC_FIR2)
+        // gyro biquad RC FIR2 filter
+        filterApplyFnPtr biquadRCFIR2ApplyFn;
+        biquadFilter_t biquadRCFIR2[XYZ_AXIS_COUNT];
+    #endif // USE_GYRO_BIQUAD_RC_FIR2
+#endif //!USE_GYRO_IMUF9001
 } gyroSensor_t;
 
 STATIC_UNIT_TESTED FAST_RAM gyroSensor_t gyroSensor1;
@@ -141,16 +141,14 @@ STATIC_UNIT_TESTED gyroSensor_t * const gyroSensorPtr = &gyroSensor1;
 STATIC_UNIT_TESTED gyroDev_t * const gyroDevPtr = &gyroSensor1.gyroDev;
 #endif
 
-#if defined(USE_GYRO_IMUF9001)
-// do nothing
-#else
-#if defined(USE_GYRO_FAST_KALMAN)
-static void gyroInitFilterKalman(gyroSensor_t *gyroSensor, uint16_t gyro_filter_q, uint16_t gyro_filter_r, uint16_t gyro_filter_p);
-#endif // USE_GYRO_FAST_KALMAN
-#if defined(USE_GYRO_BIQUAD_RC_FIR2)
-static void gyroInitFilterBiquadRCFIR2(gyroSensor_t *gyroSensor, uint16_t lpfHz);
-#endif // USE_GYRO_BIQUAD_RC_FIR2
-#endif // USE_GYRO_FAST_KALMAN
+#ifndef USE_GYRO_IMUF9001
+    #if defined(USE_GYRO_FAST_KALMAN)
+    static void gyroInitFilterKalman(gyroSensor_t *gyroSensor, uint16_t gyro_filter_q, uint16_t gyro_filter_r, uint16_t gyro_filter_p);
+    #endif // USE_GYRO_FAST_KALMAN
+    #if defined(USE_GYRO_BIQUAD_RC_FIR2)
+    static void gyroInitFilterBiquadRCFIR2(gyroSensor_t *gyroSensor, uint16_t lpfHz);
+    #endif // USE_GYRO_BIQUAD_RC_FIR2
+#endif //!USE_GYRO_IMUF9001
 
 static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
 
@@ -189,9 +187,9 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .imuf_mode = 32,
     .imuf_pitch_q = 2500,
     .imuf_pitch_r = 88,
-    .imuf_roll_q = 3500,
+    .imuf_roll_q = 2500,
     .imuf_roll_r = 88,
-    .imuf_yaw_q = 1500,
+    .imuf_yaw_q = 1250,
     .imuf_yaw_r = 88,
     .imuf_pitch_lpf_cutoff_hz = 120.0f,
     .imuf_roll_lpf_cutoff_hz = 120.0f,
@@ -620,9 +618,7 @@ static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
 }
 #endif
 
-#if defined(USE_GYRO_IMUF9001)
-// do nothing
-#else
+#ifndef USE_GYRO_IMUF9001
 #if defined(USE_GYRO_FAST_KALMAN)
 static void gyroInitFilterKalman(gyroSensor_t *gyroSensor, uint16_t gyro_filter_q, uint16_t gyro_filter_r, uint16_t gyro_filter_p)
 {
@@ -651,23 +647,21 @@ static void gyroInitFilterBiquadRCFIR2(gyroSensor_t *gyroSensor, uint16_t lpfHz)
     }
 }
 #endif // USE_GYRO_BIQUAD_RC_FIR2
-#endif // USE_GYRO_IMUF9001
+#endif //!USE_GYRO_IMUF9001
 
 static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
 {
 #if defined(USE_GYRO_SLEW_LIMITER)
     gyroInitSlewLimiter(gyroSensor);
 #endif
-#if defined(USE_GYRO_IMUF9001)
-// do nothing
-#else
-#if defined(USE_GYRO_FAST_KALMAN)
-    gyroInitFilterKalman(gyroSensor, gyroConfig()->gyro_filter_q, gyroConfig()->gyro_filter_r, gyroConfig()->gyro_filter_p);
-#endif // USE_GYRO_FAST_KALMAN
-#if defined(USE_GYRO_BIQUAD_RC_FIR2)
-    gyroInitFilterBiquadRCFIR2(gyroSensor, gyroConfig()->gyro_soft_lpf_hz_2);
-#endif // USE_GYRO_BIQUAD_RC_FIR2
-#endif // USE_GYRO_IMUF9001
+#ifndef USE_GYRO_IMUF9001
+    #if defined(USE_GYRO_FAST_KALMAN)
+        gyroInitFilterKalman(gyroSensor, gyroConfig()->gyro_filter_q, gyroConfig()->gyro_filter_r, gyroConfig()->gyro_filter_p);
+    #endif // USE_GYRO_FAST_KALMAN
+    #if defined(USE_GYRO_BIQUAD_RC_FIR2)
+        gyroInitFilterBiquadRCFIR2(gyroSensor, gyroConfig()->gyro_soft_lpf_hz_2);
+    #endif // USE_GYRO_BIQUAD_RC_FIR2
+#endif //!USE_GYRO_IMUF9001
 #ifndef USE_GYRO_IMUF9001
     gyroInitFilterLpf(gyroSensor, gyroConfig()->gyro_soft_lpf_hz);
     gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
@@ -939,9 +933,7 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
             // NOTE: this branch optimized for when there is no gyro debugging, ensure it is kept in step with non-optimized branch
             float gyroADCf = gyroSensor->gyroDev.gyroADC[axis] * gyroSensor->gyroDev.scale;
 
-#if defined(USE_GYRO_IMUF9001)
- // do nothing
-#else
+#ifndef USE_GYRO_IMUF9001
 #if defined(USE_GYRO_BIQUAD_RC_FIR2)
 #if defined(USE_GYRO_FAST_KALMAN)
             switch(gyroConfig()->gyro_stage2_filter_type){
@@ -958,7 +950,7 @@ static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t curren
                 break;
             }
 #endif // USE_GYRO_BIQUAD_RC_FIR2
-#endif // USE_GYRO_IMUF9001
+#endif //USE_GYRO_IMUF9001
 #ifdef USE_GYRO_DATA_ANALYSE
             gyroADCf = gyroSensor->notchFilterDynApplyFn((filter_t *)&gyroSensor->notchFilterDyn[axis], gyroADCf);
 #endif
diff --git a/src/main/startup/startup_stm32f40xx.s b/src/main/startup/startup_stm32f40xx.s
index bc4aa97cb0c..1bb181b75c1 100644
--- a/src/main/startup/startup_stm32f40xx.s
+++ b/src/main/startup/startup_stm32f40xx.s
@@ -80,7 +80,7 @@ Reset_Handler:
   dsb
 
   // Check for imufUpdate reboot
-  ldr r0, =0x2001FFF4         // rs2k
+  ldr r0, =0x2001FFEC         // rs2k
   ldr r1, =0xF431FA77         // rs2k
   ldr r2, [r0, #0]            // rs2k
   str r0, [r0, #0]            // rs2k
@@ -88,7 +88,7 @@ Reset_Handler:
   beq rebootUpdater           // rs2k
 
   // Check for msd reboot
-  ldr r0, =0x2001FFF8         // rs2k
+  ldr r0, =0x2001FFF0         // rs2k
   ldr r1, =0xF431FA11         // rs2k
   ldr r2, [r0, #0]            // rs2k
   str r0, [r0, #0]            // rs2k
diff --git a/src/main/target/HELIOSPRING/config.c b/src/main/target/HELIOSPRING/config.c
index c0d8a353fe7..c241b21cc9b 100644
--- a/src/main/target/HELIOSPRING/config.c
+++ b/src/main/target/HELIOSPRING/config.c
@@ -54,7 +54,7 @@ void targetConfiguration(void) {
         // pidProfile->dterm_lpf_hz = 0;    
         // pidProfile->dterm_notch_hz = 0;
         // pidProfile->dterm_notch_cutoff = 0;
-        pidProfile->dterm_filter_type = FILTER_BIQUAD;
+        pidProfile->dterm_filter_type = FILTER_PT1;
     }
 }
 
diff --git a/src/main/target/HELIOSPRING/target.h b/src/main/target/HELIOSPRING/target.h
index 67ba24f5bda..e4c5bbc2c9d 100644
--- a/src/main/target/HELIOSPRING/target.h
+++ b/src/main/target/HELIOSPRING/target.h
@@ -182,7 +182,7 @@
 #define DEFAULT_CURRENT_METER_SOURCE   CURRENT_METER_ADC
 #define CURRENT_METER_ADC_PIN          PA1
 #define VBAT_ADC_PIN                   PA0
-#define CURRENT_METER_SCALE_DEFAULT    16000
+#define CURRENT_METER_SCALE_DEFAULT    400
 #define VBAT_SCALE                     109
 
 #define CAMERA_CONTROL_PIN             PB6    // define dedicated camera_osd_control pin
\ No newline at end of file
diff --git a/src/main/target/HELIOSPRING/target.mk b/src/main/target/HELIOSPRING/target.mk
index 5a140d5ab77..ced109e6f31 100644
--- a/src/main/target/HELIOSPRING/target.mk
+++ b/src/main/target/HELIOSPRING/target.mk
@@ -2,7 +2,7 @@
 F405_TARGETS   += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 
-TARGET_SRC = \
-            drivers/dma_spi.c \
-            drivers/accgyro/accgyro_imuf9001.c \
-            drivers/max7456.c
\ No newline at end of file
+TARGET_SRC = stm32f4xx_crc.c \
+             drivers/dma_spi.c \
+             drivers/accgyro/accgyro_imuf9001.c \
+             drivers/max7456.c
\ No newline at end of file