diff --git a/src/Makefile b/src/Makefile
index 58ddf671f..d9cd86e4a 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -71,12 +71,13 @@ HELI = NO
 # Values = YES, NO
 TEMPLATES = YES
 
-# Enable navigation with Pots / Rotary encoders
+# Enable navigation with Pots / Sticks / Rotary encoders
 # Values = NO
 #          POT1 (only POT1 available for fields modification),
 #          POT2 (menus scroll),
 #          POT3 (cursor down/up),
 #          POTS (POT1, POT2, POT3),
+#          STICKS
 #          ROTENC (Rotary encoder)
 NAVIGATION = NO
 
@@ -710,6 +711,9 @@ endif
 ifeq ($(NAVIGATION), POTS)
   CPPDEFS += -DNAVIGATION_POT1 -DNAVIGATION_POT2 -DNAVIGATION_POT3
 endif
+ifeq ($(NAVIGATION), STICKS)
+  CPPDEFS += -DNAVIGATION_STICKS
+endif
 ifeq ($(NAVIGATION), ROTENC)
   CPPDEFS += -DROTARY_ENCODER_NAVIGATION
 endif
diff --git a/src/gtests.cpp b/src/gtests.cpp
index c27ff7be0..ec7efd63b 100644
--- a/src/gtests.cpp
+++ b/src/gtests.cpp
@@ -46,7 +46,10 @@ void doMixerCalculations();
 
 #define MIXER_RESET() \
   memset(channelOutputs, 0, sizeof(channelOutputs)); \
-  memset(ex_chans, 0, sizeof(ex_chans))
+  memset(ex_chans, 0, sizeof(ex_chans)); \
+  memset(act, 0, sizeof(act)); \
+  memset(swOn, 0, sizeof(swOn)); \
+  int32_t lastAct = 0; lastAct = lastAct; /* to avoid a warning */
 
 uint16_t anaInValues[NUM_STICKS+NUM_POTS] = { 0 };
 uint16_t anaIn(uint8_t chan)
@@ -282,8 +285,8 @@ TEST(FrSky, dateNtime)
 TEST(getSwitch, undefCSW)
 {
   MODEL_RESET();
-  EXPECT_EQ(getSwitch(MAX_PSWITCH, 0), false);
-  EXPECT_EQ(getSwitch(-MAX_PSWITCH, 0), true); // no good answer there!
+  EXPECT_EQ(getSwitch(MAX_PSWITCH), false);
+  EXPECT_EQ(getSwitch(-MAX_PSWITCH), true); // no good answer there!
 }
 
 TEST(getSwitch, circularCSW)
@@ -291,18 +294,16 @@ TEST(getSwitch, circularCSW)
   MODEL_RESET();
   g_model.customSw[0] = { MAX_SWITCH-NUM_CSW, MAX_SWITCH-NUM_CSW, CS_OR };
   g_model.customSw[1] = { MAX_SWITCH-NUM_CSW, MAX_SWITCH-NUM_CSW, CS_AND };
-  EXPECT_EQ(getSwitch(MAX_SWITCH-NUM_CSW, 0), false);
-  EXPECT_EQ(getSwitch(-(MAX_SWITCH-NUM_CSW), 0), true);
-  EXPECT_EQ(getSwitch(1+MAX_SWITCH-NUM_CSW, 0), false);
-  EXPECT_EQ(getSwitch(-(1+MAX_SWITCH-NUM_CSW), 0), true);
+  EXPECT_EQ(getSwitch(MAX_SWITCH-NUM_CSW), false);
+  EXPECT_EQ(getSwitch(-(MAX_SWITCH-NUM_CSW)), true);
+  EXPECT_EQ(getSwitch(1+MAX_SWITCH-NUM_CSW), false);
+  EXPECT_EQ(getSwitch(-(1+MAX_SWITCH-NUM_CSW)), true);
 }
 
 TEST(getSwitch, nullSW)
 {
   MODEL_RESET();
-  EXPECT_EQ(getSwitch(0, 0), false);
-  EXPECT_EQ(getSwitch(0, true), true);
-  EXPECT_EQ(getSwitch(0, 0), false);
+  EXPECT_EQ(getSwitch(0), true);
 }
 
 TEST(FlightModes, nullFadeOut_posFadeIn)
@@ -465,6 +466,24 @@ TEST(Mixer, RecursiveAddChannel)
   EXPECT_EQ(chans[1], 0);
 }
 
+#define CHECK_SLOW_MOVEMENT(channel, sign, duration) \
+    do { \
+    for (int i=1; i<=(duration); i++) { \
+      perOut(e_perout_mode_normal, 1); \
+      lastAct = lastAct + (sign) * (1<<19)/500; /* 100 on ARM */ \
+      EXPECT_EQ(chans[(channel)], 256 * (lastAct >> 8)); \
+    } \
+    } while (0)
+
+#define CHECK_DELAY(channel, duration) \
+    do { \
+      int32_t value = chans[(channel)]; \
+      for (int i=1; i<=(duration); i++) { \
+        perOut(e_perout_mode_normal, 1); \
+        EXPECT_EQ(chans[(channel)], value); \
+      } \
+    } while (0)
+
 TEST(Mixer, SlowOnSwitch)
 {
   MODEL_RESET();
@@ -481,19 +500,10 @@ TEST(Mixer, SlowOnSwitch)
   EXPECT_EQ(chans[0], 0);
 
   simuSetSwitch(0, 1);
-  int32_t lastAct = 0;
-  for (int i=1; i<=250; i++) {
-    perOut(e_perout_mode_normal, 1);
-    lastAct = lastAct + (1<<19)/500; /* 100 on ARM */
-    EXPECT_EQ(chans[0], 256 * (lastAct >> 8));
-  }
+  CHECK_SLOW_MOVEMENT(0, +1, 250);
 
   simuSetSwitch(0, 0);
-  for (int i=1; i<=250; i++) {
-    perOut(e_perout_mode_normal, 1);
-    lastAct = lastAct - (1<<19)/500; /* 100 on ARM */
-    EXPECT_EQ(chans[0], 256 * (lastAct >> 8));
-  }
+  CHECK_SLOW_MOVEMENT(0, -1, 250);
 }
 
 TEST(Mixer, SlowOnPhase)
@@ -513,19 +523,10 @@ TEST(Mixer, SlowOnPhase)
   perOut(e_perout_mode_normal, 0);
   EXPECT_EQ(chans[0], 0);
 
-  int32_t lastAct = 0;
-  for (int i=1; i<=250; i++) {
-    perOut(e_perout_mode_normal, 1);
-    lastAct = lastAct+(1<<19)/500; /* 100 on ARM */
-    EXPECT_EQ(chans[0], 256 * (lastAct >> 8));
-  }
+  CHECK_SLOW_MOVEMENT(0, +1, 250);
 
   s_perout_flight_phase = 1;
-  for (int i=1; i<=250; i++) {
-    perOut(e_perout_mode_normal, 1);
-    lastAct = lastAct - (1<<19)/500; /* 100 on ARM */
-    EXPECT_EQ(chans[0], 256 * (lastAct >> 8));
-  }
+  CHECK_SLOW_MOVEMENT(0, -1, 250);
 }
 
 TEST(Mixer, SlowOnSwitchAndPhase)
@@ -547,20 +548,11 @@ TEST(Mixer, SlowOnSwitchAndPhase)
 
   simuSetSwitch(0, 1);
   s_perout_flight_phase = 0;
-  int32_t lastAct = 0;
-  for (int i=1; i<=250; i++) {
-    perOut(e_perout_mode_normal, 1);
-    lastAct = lastAct+(1<<19)/500; /* 100 on ARM */
-    EXPECT_EQ(chans[0], 256 * (lastAct >> 8));
-  }
+  CHECK_SLOW_MOVEMENT(0, +1, 250);
 
   simuSetSwitch(0, 0);
   s_perout_flight_phase = 1;
-  for (int i=1; i<=250; i++) {
-    perOut(e_perout_mode_normal, 1);
-    lastAct = lastAct - (1<<19)/500; /* 100 on ARM */
-    EXPECT_EQ(chans[0], 256 * (lastAct >> 8));
-  }
+  CHECK_SLOW_MOVEMENT(0, -1, 250);
 }
 
 TEST(Mixer, SlowOnSwitchSource)
@@ -575,21 +567,38 @@ TEST(Mixer, SlowOnSwitchSource)
   g_model.mixData[0].speedDown = 10;
 
   simuSetSwitch(0, 0);
-  int32_t lastAct = 0;
-  for (int i=1; i<=250; i++) {
-    perOut(e_perout_mode_normal, 1);
-    lastAct = lastAct - (1<<19)/500; /* 100 on ARM */
-    EXPECT_EQ(chans[0], 256 * (lastAct >> 8));
-  }
-
+  CHECK_SLOW_MOVEMENT(0, -1, 250);
   EXPECT_EQ(chans[0], -CHANNEL_MAX);
 
   simuSetSwitch(0, 1);
-  for (int i=1; i<=500; i++) {
-    perOut(e_perout_mode_normal, 1);
-    lastAct = lastAct + (1<<19)/500; /* 100 on ARM */
-    EXPECT_EQ(chans[0], 256 * (lastAct >> 8));
-  }
+  CHECK_SLOW_MOVEMENT(0, +1, 500);
+}
+
+TEST(Mixer, SlowAndDelayOnReplace3POSSource)
+{
+  MODEL_RESET();
+  MIXER_RESET();
+  g_model.mixData[0].destCh = 0;
+  g_model.mixData[0].mltpx = MLTPX_REP;
+  g_model.mixData[0].srcRaw = MIXSRC_3POS;
+  g_model.mixData[0].weight = 100;
+  g_model.mixData[0].delayUp = 10;
+  g_model.mixData[0].delayUp = 10;
+  g_model.mixData[0].speedUp = 10;
+  g_model.mixData[0].speedDown = 10;
+
+  simuSetSwitch(3, -1);
+  CHECK_SLOW_MOVEMENT(0, -1, 250);
+  EXPECT_EQ(chans[0], -CHANNEL_MAX);
+
+  simuSetSwitch(3, 0);
+  CHECK_DELAY(0, 500);
+  CHECK_SLOW_MOVEMENT(0, +1, 250/*half course*/);
+  EXPECT_EQ(chans[0], 0);
+
+  simuSetSwitch(3, 1);
+  CHECK_DELAY(0, 500);
+  CHECK_SLOW_MOVEMENT(0, +1, 250);
 }
 
 TEST(Curves, LinearIntpol)
diff --git a/src/gui/menu_general.cpp b/src/gui/menu_general.cpp
index 56be78dc4..14fea6cec 100644
--- a/src/gui/menu_general.cpp
+++ b/src/gui/menu_general.cpp
@@ -960,6 +960,8 @@ void menuGeneralDiagAna(uint8_t event)
 
   SIMPLE_MENU(STR_MENUANA, menuTabDiag, e_Ana, ANAS_ITEMS_COUNT);
 
+  STICK_SCROLL_DISABLE();
+
   for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) {
     uint8_t y = 1+FH+(i/2)*FH;
     uint8_t x = i&1 ? 64+5 : 0;
@@ -1134,6 +1136,7 @@ void menuCommonCalib(uint8_t event)
 
     case 2:
       // MOVE STICKS/POTS
+      STICK_SCROLL_DISABLE();
       lcd_putsAtt(0*FW, 2*FH, STR_MOVESTICKSPOTS, s_noScroll ? INVERS : 0);
       lcd_putsLeft(3*FH, STR_MENUWHENDONE);
 
diff --git a/src/gui/menu_model.cpp b/src/gui/menu_model.cpp
index 76f9999ca..b6c0e0303 100644
--- a/src/gui/menu_model.cpp
+++ b/src/gui/menu_model.cpp
@@ -3466,6 +3466,7 @@ void menuModelLimits(uint8_t event)
     for (uint8_t j=0; j<ITEM_LIMITS_COUNT; j++) {
       uint8_t attr = ((sub==k && m_posHorz==j) ? ((s_editMode>0) ? BLINK|INVERS : INVERS) : 0);
       uint8_t active = (attr && (s_editMode>0 || p1valdiff)) ;
+      if (active) STICK_SCROLL_DISABLE();
       switch(j)
       {
 #if defined(PCBTARANIS)
@@ -3728,7 +3729,7 @@ void menuModelCustomSwitchOne(uint8_t event)
 
   CustomSwData * cs = cswaddress(s_currIdx);
   uint8_t sw = SWSRC_SW1+s_currIdx;
-  putsSwitches(14*FW, 0, sw, (getSwitch(sw, 0) ? BOLD : 0));
+  putsSwitches(14*FW, 0, sw, (getSwitch(sw) ? BOLD : 0));
   SIMPLE_SUBMENU_NOTITLE(CSW_FIELD_COUNT);
 
   int8_t sub = m_posVert;
@@ -3864,7 +3865,7 @@ void menuModelCustomSwitches(uint8_t event)
     // CSW name
     uint8_t sw = SWSRC_SW1+k;
 
-    putsSwitches(0, y, sw, (sub==k ? INVERS : 0) | (getSwitch(sw, 0) ? BOLD : 0));
+    putsSwitches(0, y, sw, (sub==k ? INVERS : 0) | (getSwitch(sw) ? BOLD : 0));
 
     if (cs->func > 0) {
       // CSW func
@@ -3929,7 +3930,7 @@ void menuModelCustomSwitches(uint8_t event)
 
     // CSW name
     uint8_t sw = SWSRC_SW1+k;
-    putsSwitches(0, y, sw, (getSwitch(sw, 0) ? BOLD : 0) | ((sub==k && m_posHorz<0) ? INVERS : 0));
+    putsSwitches(0, y, sw, (getSwitch(sw) ? BOLD : 0) | ((sub==k && m_posHorz<0) ? INVERS : 0));
 
     // CSW func
     lcd_putsiAtt(CSW_1ST_COLUMN, y, STR_VCSWFUNC, cs->func, m_posHorz==0 ? attr : 0);
diff --git a/src/gui/view_main.cpp b/src/gui/view_main.cpp
index 90c2f314b..1d2e11169 100644
--- a/src/gui/view_main.cpp
+++ b/src/gui/view_main.cpp
@@ -39,10 +39,9 @@
 #if LCD_W >= 212
 #define BIGSIZE       MIDSIZE
 #define BOX_WIDTH     31
+#define BOX_CENTERY   (LCD_H-BOX_WIDTH/2-10)
 #define LBOX_CENTERX  (BOX_WIDTH/2 + 17)
-#define LBOX_CENTERY  (LCD_H-BOX_WIDTH/2-10)
 #define RBOX_CENTERX  (LCD_W-LBOX_CENTERX)
-#define RBOX_CENTERY  LBOX_CENTERY
 #define MODELNAME_X   (15)
 #define MODELNAME_Y   (11)
 #define VBATT_X       (MODELNAME_X+26)
@@ -69,10 +68,9 @@
 #else
 #define BIGSIZE       DBLSIZE
 #define BOX_WIDTH     23
+#define BOX_CENTERY   (LCD_H-9-BOX_WIDTH/2)
 #define LBOX_CENTERX  (LCD_W/4 + 10)
-#define LBOX_CENTERY  (LCD_H-9-BOX_WIDTH/2)
 #define RBOX_CENTERX  (3*LCD_W/4 - 10)
-#define RBOX_CENTERY  LBOX_CENTERY
 #define MODELNAME_X   (2*FW-2)
 #define MODELNAME_Y   (0)
 #define PHASE_X       (6*FW)
@@ -128,22 +126,24 @@ void drawPotsBars()
   }
 }
 
+void drawStick(uint8_t centrex, int16_t xval, int16_t yval)
+{
+  lcd_square(centrex-BOX_WIDTH/2, BOX_CENTERY-BOX_WIDTH/2, BOX_WIDTH);
+  DO_CROSS(centrex, BOX_CENTERY, 3);
+  lcd_square(centrex + (xval/((2*RESX)/BOX_LIMIT)) - MARKER_WIDTH/2, BOX_CENTERY - (yval/((2*RESX)/BOX_LIMIT)) - MARKER_WIDTH/2, MARKER_WIDTH, ROUND);
+}
+
 void doMainScreenGraphics()
 {
-  lcd_square(LBOX_CENTERX-BOX_WIDTH/2, LBOX_CENTERY-BOX_WIDTH/2, BOX_WIDTH);
-  lcd_square(RBOX_CENTERX-BOX_WIDTH/2, RBOX_CENTERY-BOX_WIDTH/2, BOX_WIDTH);
-
-  DO_CROSS(LBOX_CENTERX, LBOX_CENTERY, 3)
-  DO_CROSS(RBOX_CENTERX, RBOX_CENTERY, 3)
-
   int16_t calibStickVert = calibratedStick[CONVERT_MODE(1+1)-1];
   if (g_model.throttleReversed && CONVERT_MODE(1+1)-1 == THR_STICK)
     calibStickVert = -calibStickVert;
-  lcd_square(LBOX_CENTERX+(calibratedStick[CONVERT_MODE(0+1)-1]*BOX_LIMIT/(2*RESX))-MARKER_WIDTH/2, LBOX_CENTERY-(calibStickVert*BOX_LIMIT/(2*RESX))-MARKER_WIDTH/2, MARKER_WIDTH, ROUND);
+  drawStick(LBOX_CENTERX, calibratedStick[CONVERT_MODE(0+1)-1], calibStickVert);
+
   calibStickVert = calibratedStick[CONVERT_MODE(2+1)-1];
   if (g_model.throttleReversed && CONVERT_MODE(2+1)-1 == THR_STICK)
     calibStickVert = -calibStickVert;
-  lcd_square(RBOX_CENTERX+(calibratedStick[CONVERT_MODE(3+1)-1]*BOX_LIMIT/(2*RESX))-MARKER_WIDTH/2, RBOX_CENTERY-(calibStickVert*BOX_LIMIT/(2*RESX))-MARKER_WIDTH/2, MARKER_WIDTH, ROUND);
+  drawStick(RBOX_CENTERX, calibratedStick[CONVERT_MODE(3+1)-1], calibStickVert);
 
 #if !defined(PCBTARANIS)
   drawPotsBars();
@@ -451,6 +451,8 @@ void onMainViewMenu(const char *result)
 
 void menuMainView(uint8_t event)
 {
+  STICK_SCROLL_DISABLE();
+
 #if !defined(PCBTARANIS)
   uint8_t view = g_eeGeneral.view;
   uint8_t view_base = view & 0x0f;
@@ -678,7 +680,7 @@ void menuMainView(uint8_t event)
         uint8_t x = LCD_W/2+7*FW+col*FW;
         uint8_t y = LCD_H/2-7+line*8;
         lcd_putcAtt(x, y, sw>=9 ? 'A'+sw-9 : '1'+sw, SMLSIZE);
-        if (getSwitch(SWSRC_SW1+sw, 0))
+        if (getSwitch(SWSRC_SW1+sw))
           lcd_filled_rect(x-1, y-1, 6, 8);
         sw++;
       }
@@ -752,7 +754,7 @@ void menuMainView(uint8_t event)
           x = 17*FW-1;
           y -= 3*FH;
         }
-        putsSwitches(x, y, sw, getSwitch(i, 0) ? INVERS : 0);
+        putsSwitches(x, y, sw, getSwitch(i) ? INVERS : 0);
       }
     }
     else {
@@ -773,23 +775,23 @@ void menuMainView(uint8_t event)
       // Custom Switches
 #if defined(PCBSKY9X)
       for (uint8_t i=0; i<NUM_CSW; i++) {
-        int8_t len = getSwitch(SWSRC_SW1+i, 0) ? BAR_HEIGHT : 1;
+        int8_t len = getSwitch(SWSRC_SW1+i) ? BAR_HEIGHT : 1;
         uint8_t x = VSWITCH_X(i);
         lcd_vline(x-1, VSWITCH_Y-len, len);
         lcd_vline(x,   VSWITCH_Y-len, len);
       }
 #elif defined(PCBGRUVIN9X) && ROTARY_ENCODERS > 2
       for (uint8_t i=0; i<NUM_CSW; i++)
-        putsSwitches(2*FW-2 + (i/3)*(4*FW-2) + (i/3>1 ? 3*FW+6 : 0), 4*FH+1 + (i%3)*FH, SWSRC_SW1+i, getSwitch(SWSRC_SW1+i, 0) ? INVERS : 0);
+        putsSwitches(2*FW-2 + (i/3)*(4*FW-2) + (i/3>1 ? 3*FW+6 : 0), 4*FH+1 + (i%3)*FH, SWSRC_SW1+i, getSwitch(SWSRC_SW1+i) ? INVERS : 0);
 #elif defined(PCBGRUVIN9X)
       for (uint8_t i=0; i<NUM_CSW; i++)
-        putsSwitches(2*FW-2 + (i/3)*(4*FW-2) + (i/3>1 ? 3*FW : 0), 4*FH+1 + (i%3)*FH, SWSRC_SW1+i, getSwitch(SWSRC_SW1+i, 0) ? INVERS : 0);
+        putsSwitches(2*FW-2 + (i/3)*(4*FW-2) + (i/3>1 ? 3*FW : 0), 4*FH+1 + (i%3)*FH, SWSRC_SW1+i, getSwitch(SWSRC_SW1+i) ? INVERS : 0);
 #elif !defined(PCBSTD)
       for (uint8_t i=0; i<NUM_CSW; i++)
-        putsSwitches(2*FW-2 + (i/3)*(4*FW-1), 4*FH+1 + (i%3)*FH, SWSRC_SW1+i, getSwitch(SWSRC_SW1+i, 0) ? INVERS : 0);
+        putsSwitches(2*FW-2 + (i/3)*(4*FW-1), 4*FH+1 + (i%3)*FH, SWSRC_SW1+i, getSwitch(SWSRC_SW1+i) ? INVERS : 0);
 #else
       for (uint8_t i=0; i<NUM_CSW; i++)
-        putsSwitches(2*FW-2 + (i/3)*(5*FW), 4*FH+1 + (i%3)*FH, SWSRC_SW1+i, getSwitch(SWSRC_SW1+i, 0) ? INVERS : 0);
+        putsSwitches(2*FW-2 + (i/3)*(5*FW), 4*FH+1 + (i%3)*FH, SWSRC_SW1+i, getSwitch(SWSRC_SW1+i) ? INVERS : 0);
 #endif
     }
   }
diff --git a/src/keys.cpp b/src/keys.cpp
index ad4f24475..3c76e5bba 100644
--- a/src/keys.cpp
+++ b/src/keys.cpp
@@ -91,7 +91,7 @@ void Key::input(bool val, EnumKeys enuk)
       //fallthrough
     case KSTATE_START:
       putEvent(EVT_KEY_FIRST(enuk));
-      inacCounter = 0;
+      inactivity.counter = 0;
       m_state   = KSTATE_RPTDELAY;
       m_cnt     = 0;
       break;
diff --git a/src/opentx.cpp b/src/opentx.cpp
index d8240f563..cc27edf16 100644
--- a/src/opentx.cpp
+++ b/src/opentx.cpp
@@ -627,7 +627,7 @@ void applyExpos(int16_t *anas, uint8_t mode)
       continue;
     if (ed.phases & (1<<s_perout_flight_phase))
       continue;
-    if (getSwitch(ed.swtch, 1)) {
+    if (getSwitch(ed.swtch)) {
       int16_t v = anas2[ed.chn];
       if((v<0 && (ed.mode&1)) || (v>=0 && (ed.mode&2))) {
 #if defined(BOLD_FONT)
@@ -897,10 +897,9 @@ getvalue_t getValue(uint8_t i)
 }
 
 #if defined(CPUARM)
-#define GETSWITCH_RECURSIVE_TYPE uint32_t
-volatile bool s_default_switch_value;
+  #define GETSWITCH_RECURSIVE_TYPE uint32_t
 #else
-#define GETSWITCH_RECURSIVE_TYPE uint16_t
+  #define GETSWITCH_RECURSIVE_TYPE uint16_t
 #endif
 
 volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_used;
@@ -920,11 +919,7 @@ bool __getSwitch(int8_t swtch)
   bool result;
 
   if (swtch == 0)
-#if defined(CPUARM)
-    return s_default_switch_value;
-#else
-    return s_last_switch_used & ((GETSWITCH_RECURSIVE_TYPE)1<<15);
-#endif
+    return true;
 
   uint8_t cs_idx = abs(swtch);
 
@@ -1094,16 +1089,10 @@ bool __getSwitch(int8_t swtch)
   return swtch > 0 ? result : !result;
 }
 
-bool getSwitch(int8_t swtch, bool nc)
+bool getSwitch(int8_t swtch)
 {
-#if defined(CPUARM)
   s_last_switch_used = 0;
   s_last_switch_value = 0;
-  s_default_switch_value = nc;
-#else
-  s_last_switch_used = ((GETSWITCH_RECURSIVE_TYPE)nc<<15);
-  s_last_switch_value = 0;
-#endif
   return __getSwitch(swtch);
 }
 
@@ -1195,7 +1184,7 @@ uint8_t getFlightPhase()
 {
   for (uint8_t i=1; i<MAX_PHASES; i++) {
     PhaseData *phase = &g_model.phaseData[i];
-    if (phase->swtch && getSwitch(phase->swtch, 0)) {
+    if (phase->swtch && getSwitch(phase->swtch)) {
       return i;
     }
   }
@@ -1511,9 +1500,9 @@ void checkBacklight()
   if (tmr10ms != x) {
     tmr10ms = x;
     uint16_t tsum = stickMoveValue();
-    if (tsum != inacSum) {
-      inacSum = tsum;
-      inacCounter = 0;
+    if (tsum != inactivity.sum) {
+      inactivity.sum = tsum;
+      inactivity.counter = 0;
       if (g_eeGeneral.backlightMode & e_backlight_mode_sticks)
         backlightOn();
     }
@@ -2129,10 +2118,8 @@ int16_t  rawAnas [NUM_INPUTS] = {0};
 int16_t  anas [NUM_INPUTS] = {0};
 int16_t  trims[NUM_STICKS] = {0};
 int32_t  chans[NUM_CHNOUT] = {0};
-uint8_t  inacPrescale;
-uint16_t inacCounter = 0;
-uint16_t inacSum = 0;
 BeepANACenter bpanaCenter = 0;
+struct t_inactivity inactivity = {0};
 
 int24_t act   [MAX_MIXERS] = {0};
 SwOn    swOn  [MAX_MIXERS]; // TODO better name later...
@@ -2489,7 +2476,7 @@ void evalFunctions()
         swtch += MAX_SWITCH+1;
       }
 
-      bool active = getSwitch(swtch, 0);
+      bool active = getSwitch(swtch);
       if (active) newActiveSwitches |= switch_mask;
       if (momentary || short_long) {
 
@@ -2739,8 +2726,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
   }
 
 #if defined(HELI)
-  if(g_model.swashR.value)
-  {
+  if (g_model.swashR.value) {
     uint32_t v = ((int32_t)anas[ELE_STICK]*anas[ELE_STICK] + (int32_t)anas[AIL_STICK]*anas[AIL_STICK]);
     uint32_t q = calc100toRESX(g_model.swashR.value);
     q *= q;
@@ -2755,20 +2741,18 @@ void perOut(uint8_t mode, uint8_t tick10ms)
 #define REZ_SWASH_X(x)  ((x) - (x)/8 - (x)/128 - (x)/512)   //  1024*sin(60) ~= 886
 #define REZ_SWASH_Y(x)  ((x))   //  1024 => 1024
 
-  if(g_model.swashR.type)
-  {
+  if (g_model.swashR.type) {
     getvalue_t vp = anas[ELE_STICK]+trims[ELE_STICK];
     getvalue_t vr = anas[AIL_STICK]+trims[AIL_STICK];
     getvalue_t vc = 0;
     if (g_model.swashR.collectiveSource)
       vc = getValue(g_model.swashR.collectiveSource-1);
 
-    if(g_model.swashR.invertELE) vp = -vp;
-    if(g_model.swashR.invertAIL) vr = -vr;
-    if(g_model.swashR.invertCOL) vc = -vc;
+    if (g_model.swashR.invertELE) vp = -vp;
+    if (g_model.swashR.invertAIL) vr = -vr;
+    if (g_model.swashR.invertCOL) vc = -vc;
 
-    switch (g_model.swashR.type)
-    {
+    switch (g_model.swashR.type) {
       case SWASH_TYPE_120:
         vp = REZ_SWASH_Y(vp);
         vr = REZ_SWASH_X(vr);
@@ -2834,7 +2818,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
 
       //========== PHASE && SWITCH =====
       bool mixCondition = (md->phases != 0 || md->swtch);
-      int8_t mixEnabled = !(md->phases & (1 << s_perout_flight_phase)) && getSwitch(md->swtch, 1);
+      int8_t mixEnabled = !(md->phases & (1 << s_perout_flight_phase)) && getSwitch(md->swtch);
 
       //========== VALUE ===============
       getvalue_t v = 0;
@@ -2848,7 +2832,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
       }
       else {
         if (k < NUM_STICKS) {
-          v = md->noExpo ? rawAnas[k] : anas[k]; //Switch is on. MAX=FULL=512 or value.
+          v = md->noExpo ? rawAnas[k] : anas[k];
         }
         else {
           v = getValue(k);
@@ -2859,34 +2843,32 @@ void perOut(uint8_t mode, uint8_t tick10ms)
             if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
               passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
             if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
-              v = chans[k-MIXSRC_CH1+1] >> 8;  // remove factor 256 from old mix loop; was 100 before
+              v = chans[k-MIXSRC_CH1+1] >> 8;
           }
         }
       }
 
       bool apply_offset_and_curve = true;
 
-      //========== DELAYS ===============
+      // ========== DELAYS ===============
       int8_t _swOn = swOn[i].now;
       int8_t _swPrev = swOn[i].prev;
       bool swTog = (mixEnabled != _swOn);
-      // if (i==0) { printf("mixEnabled=%d swOn=%d swPrev=%d sDelay=%d mixCondition=%d\n", mixEnabled, _swOn, _swPrev, sDelay[i], mixCondition); fflush(stdout); }
-      if (swTog) {
+      if (mode==e_perout_mode_normal && swTog) {
         if (!swOn[i].delay) _swPrev = _swOn;
         swOn[i].delay = (mixEnabled > _swOn ? md->delayUp : md->delayDown) * (100/DELAY_STEP);
         swOn[i].now = mixEnabled;
         swOn[i].prev = _swPrev;
       }
-      if (swOn[i].delay > 0) {
+      if (mode==e_perout_mode_normal && swOn[i].delay > 0) {
         swOn[i].delay = max<int16_t>(0, (int16_t)swOn[i].delay - tick10ms);
         if (!mixCondition)
-          v = _swPrev << 10; // TODO optim?
+          v = _swPrev << 10;
         else if (mixEnabled)
           continue;
       }
       else if (!mixEnabled) {
         if (md->speedDown) {
-          if (md->mltpx == MLTPX_REP) continue;
           if (mixCondition) {
             v = 0;
             apply_offset_and_curve = false;
@@ -3039,7 +3021,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
       else {
         if ((tmp.words_t.hi|0x007F)!=0x007F) tmp.words_t.hi=0x0079; // set to max nearly
       }
-      *ptr=tmp.dword;
+      *ptr = tmp.dword;
       // this implementation saves 18bytes flash
 
 /*      dv=*ptr>>8;
@@ -3143,7 +3125,7 @@ void doMixerCalculations()
     for (uint8_t p=0; p<MAX_PHASES; p++) {
       if (s_fade_flight_phases & ((ACTIVE_PHASES_TYPE)1 << p)) {
         s_perout_flight_phase = p;
-        perOut(p==phase?e_perout_mode_normal:e_perout_mode_inactive_phase, tick10ms);
+        perOut(p==phase?e_perout_mode_normal:e_perout_mode_inactive_phase, p==phase?tick10ms:0);
         for (uint8_t i=0; i<NUM_CHNOUT; i++)
           sum_chans512[i] += (chans[i] >> 4) * fp_act[p];
         weight += fp_act[p];
@@ -3260,7 +3242,7 @@ void doMixerCalculations()
 
       if (atm>=(TMR_VAROFS+MAX_SWITCH)){ // toggeled switch
         if(!(sw_toggled[i] | s_sum[i] | s_cnt[i] | lastSwPos[i])) { lastSwPos[i] = tm < 0; s_sum[i] = 1; }  // if initializing then init the lastSwPos
-        uint8_t swPos = getSwitch(tm>0 ? tm-(TMR_VAROFS+MAX_SWITCH-1) : tm+MAX_SWITCH, 0);
+        uint8_t swPos = getSwitch(tm>0 ? tm-(TMR_VAROFS+MAX_SWITCH-1) : tm+MAX_SWITCH);
         if (swPos && !lastSwPos[i]) sw_toggled[i] = !sw_toggled[i];  // if switch is flipped first time -> change counter state
         lastSwPos[i] = swPos;
       }
@@ -3298,7 +3280,7 @@ void doMixerCalculations()
         }
         else {
           if (atm<(TMR_VAROFS+MAX_SWITCH))
-            sw_toggled[i] = tm>0 ? getSwitch(tm-(TMR_VAROFS-1), 0) : !getSwitch(-tm, 0); // normal switch
+            sw_toggled[i] = tm>0 ? getSwitch(tm-(TMR_VAROFS-1)) : !getSwitch(-tm); // normal switch
           if (sw_toggled[i])
             newTimerVal++;
         }
@@ -3354,8 +3336,11 @@ void doMixerCalculations()
     s_time_tot += 100;
     s_timeCumTot += 1;
 
-    inacCounter++;
-    if ((((uint8_t)inacCounter)&0x07)==0x01 && g_eeGeneral.inactivityTimer && g_vbat100mV>50 && inacCounter > ((uint16_t)g_eeGeneral.inactivityTimer*60))
+    struct t_inactivity *ptrInactivity = &inactivity;
+    FORCE_INDIRECT(ptrInactivity) ;
+
+    ptrInactivity->counter++;
+    if ((((uint8_t)ptrInactivity->counter)&0x07)==0x01 && g_eeGeneral.inactivityTimer && g_vbat100mV>50 && ptrInactivity->counter > ((uint16_t)g_eeGeneral.inactivityTimer*60))
       AUDIO_INACTIVITY();
 
 #if defined(AUDIO)
@@ -3448,6 +3433,41 @@ void doMixerCalculations()
 #endif
 }
 
+#if defined(NAVIGATION_STICKS)
+uint8_t StickScrollAllowed;
+uint8_t StickScrollTimer;
+static const pm_uint8_t rate[] PROGMEM = { 0, 0, 100, 40, 16, 7, 3, 1 } ;
+
+uint8_t calcStickScroll( uint8_t index )
+{
+        uint8_t direction ;
+        int8_t value ;
+
+        if ( ( g_eeGeneral.stickMode & 1 ) == 0 )
+        {
+                index ^= 3 ;
+        }
+
+        value = calibratedStick[index] / 128 ;
+        direction = value > 0 ? 0x80 : 0 ;
+        if ( value < 0 )
+        {
+                value = -value ;                        // (abs)
+        }
+        if ( value > 7 )
+        {
+                value = 7 ;
+        }
+        value = pgm_read_byte(rate+(uint8_t)value) ;
+        if ( value )
+        {
+                StickScrollTimer = STICK_SCROLL_TIMEOUT ;               // Seconds
+        }
+        return value | direction ;
+}
+#endif
+
+
 void perMain()
 {
 #if defined(SIMU)
@@ -3595,6 +3615,70 @@ void perMain()
   }
 #endif
 
+#if defined(NAVIGATION_STICKS)
+  if (StickScrollAllowed) {
+    if ( StickScrollTimer ) {
+      static uint8_t repeater;
+      uint8_t direction;
+      uint8_t value;
+
+      if ( repeater < 128 )
+      {
+        repeater += 1;
+      }
+      value = calcStickScroll( 2 );
+      direction = value & 0x80;
+      value &= 0x7F;
+      if ( value )
+      {
+        if ( repeater > value )
+        {
+          repeater = 0;
+          if ( evt == 0 )
+          {
+            if ( direction )
+            {
+              evt = EVT_KEY_FIRST(KEY_UP);
+            }
+            else
+            {
+              evt = EVT_KEY_FIRST(KEY_DOWN);
+            }
+          }
+        }
+      }
+      else
+      {
+        value = calcStickScroll( 3 );
+        direction = value & 0x80;
+        value &= 0x7F;
+        if ( value )
+        {
+          if ( repeater > value )
+          {
+            repeater = 0;
+            if ( evt == 0 )
+            {
+              if ( direction )
+              {
+                evt = EVT_KEY_FIRST(KEY_RIGHT);
+              }
+              else
+              {
+                evt = EVT_KEY_FIRST(KEY_LEFT);
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+  else {
+    StickScrollTimer = 0;          // Seconds
+  }
+  StickScrollAllowed = 1 ;
+#endif
+
   lcd_clear();
   const char *warn = s_warning;
   uint8_t menu = s_menu_count;
diff --git a/src/opentx.h b/src/opentx.h
index 3389fa00d..51049ed57 100644
--- a/src/opentx.h
+++ b/src/opentx.h
@@ -414,6 +414,15 @@ enum EnumKeys {
   void watchdogSetTimeout(uint32_t timeout);
 #endif
 
+#if defined(NAVIGATION_STICKS)
+  extern uint8_t StickScrollAllowed;
+  extern uint8_t StickScrollTimer;
+  #define STICK_SCROLL_TIMEOUT          9
+  #define STICK_SCROLL_DISABLE()        StickScrollAllowed = 0
+#else
+  #define STICK_SCROLL_DISABLE()
+#endif
+
 #include "eeprom_common.h"
 
 #if defined(PCBSKY9X)
@@ -688,9 +697,12 @@ void watchdogSetTimeout(uint32_t timeout);
 
 #define MAX_ALERT_TIME   60
 
-extern uint8_t inacPrescale;
-extern uint16_t inacCounter;
-extern uint16_t inacSum;
+struct t_inactivity
+{
+  uint16_t counter;
+  uint16_t sum;
+};
+extern struct t_inactivity inactivity;
 
 #if defined(PXX)
 extern uint8_t pxxFlag[NUM_MODULES];
@@ -752,7 +764,11 @@ enum PerOutMode {
 };
 
 // Fiddle to force compiler to use a pointer
-#define FORCE_INDIRECT(ptr) __asm__ __volatile__ ("" : "=e" (ptr) : "0" (ptr))
+#if defined(CPUARM) || defined(SIMU)
+  #define FORCE_INDIRECT(ptr)
+#else
+  #define FORCE_INDIRECT(ptr) __asm__ __volatile__ ("" : "=e" (ptr) : "0" (ptr))
+#endif
 
 extern uint8_t s_perout_flight_phase;
 
@@ -767,7 +783,7 @@ void perMain();
 NOINLINE void per10ms();
 
 getvalue_t getValue(uint8_t i);
-bool       getSwitch(int8_t swtch, bool nc);
+bool       getSwitch(int8_t swtch);
 
 extern swstate_t switches_states;
 int8_t  getMovedSwitch();
@@ -1137,6 +1153,7 @@ PACK(typedef struct t_SwOn {
   int16_t  activeExpo:1;
 }) SwOn;
 extern SwOn   swOn  [MAX_MIXERS];
+extern int24_t act   [MAX_MIXERS];
 
 #ifdef BOLD_FONT
   inline bool isExpoActive(uint8_t expo)
diff --git a/src/protocols/dsm2_arm.cpp b/src/protocols/dsm2_arm.cpp
index 843091513..4d3f4412e 100644
--- a/src/protocols/dsm2_arm.cpp
+++ b/src/protocols/dsm2_arm.cpp
@@ -113,7 +113,7 @@ void setupPulsesDsm2(uint8_t chns)
   }
   if ((dsmDat[0] & BIND_BIT) && (!switchState(SW_TRN))) dsmDat[0] &= ~BIND_BIT; // clear bind bit if trainer not pulled
 
-  // TODO find a way to do that, FUNC SWITCH: if ((!(dsmDat[0] & BIND_BIT)) && getSwitch(MAX_DRSWITCH-1, 0, 0)) dsmDat[0] |= RANGECHECK_BIT;   // range check function
+  // TODO find a way to do that, FUNC SWITCH: if ((!(dsmDat[0] & BIND_BIT)) && getSwitch(MAX_DRSWITCH-1)) dsmDat[0] |= RANGECHECK_BIT;   // range check function
   // else dsmDat[0] &= ~RANGECHECK_BIT;
   dsmDat[1]=g_eeGeneral.currModel+1;  //DSM2 Header second byte for model match
   for(uint8_t i=0; i<chns; i++)
diff --git a/src/sdcard.h b/src/sdcard.h
index de0481d49..3cd5d8d46 100644
--- a/src/sdcard.h
+++ b/src/sdcard.h
@@ -40,27 +40,22 @@
 #include "FatFs/ff.h"
 
 #ifdef SIMU
-#define ROOT_PATH    "."
-#define MODELS_PATH  "."
-#define LOGS_PATH    "."
-#define SOUNDS_PATH  "./en"
-#define SOUNDS_PATH_LNG_OFS 2
-#define SYSTEM_SOUNDS_PATH SOUNDS_PATH "/SYSTEM"
-#define BITMAPS_PATH  "."
+  #define ROOT_PATH         "./"
 #else
-#define ROOT_PATH           "/"
-#define MODELS_PATH         "/MODELS"
-#define LOGS_PATH           "/LOGS"   // no trailing slash = important
-#define SOUNDS_PATH         "/SOUNDS/en" // no trailing slash = important
-#define SOUNDS_PATH_LNG_OFS 8
-#define SYSTEM_SOUNDS_PATH  SOUNDS_PATH "/SYSTEM" // no trailing slash = important
-#define BITMAPS_PATH        "/BMP"
+  #define ROOT_PATH         "/"
 #endif
 
-#define MODELS_EXT   ".bin"
-#define LOGS_EXT     ".csv"
-#define SOUNDS_EXT   ".wav"
-#define BITMAPS_EXT  ".bmp"
+#define MODELS_PATH         ROOT_PATH "MODELS"
+#define LOGS_PATH           ROOT_PATH "LOGS"   // no trailing slash = important
+#define SOUNDS_PATH         ROOT_PATH "SOUNDS/en" // no trailing slash = important
+#define SOUNDS_PATH_LNG_OFS (sizeof(SOUNDS_PATH)-3)
+#define SYSTEM_SOUNDS_PATH  SOUNDS_PATH "/SYSTEM" // no trailing slash = important
+#define BITMAPS_PATH        ROOT_PATH "/BMP"
+
+#define MODELS_EXT          ".bin"
+#define LOGS_EXT            ".csv"
+#define SOUNDS_EXT          ".wav"
+#define BITMAPS_EXT         ".bmp"
 
 extern FATFS g_FATFS_Obj;
 
diff --git a/src/simu.cpp b/src/simu.cpp
index 8aaebea2d..37aad7040 100644
--- a/src/simu.cpp
+++ b/src/simu.cpp
@@ -247,10 +247,12 @@ long Open9xSim::onTimeout(FXObject*,FXSelector,void*)
 #define SWITCH_KEY(key, swtch, states) \
     static bool state##key = 0; \
     static int8_t state_##swtch = 2; \
+    static int8_t inc_##swtch = 1; \
     if (getApp()->getKeyState(KEY_##key)) { \
       if (!state##key) { \
-        state_##swtch = (state_##swtch+1); \
-        if (state_##swtch == 2+states) state_##swtch = 2; \
+        state_##swtch = (state_##swtch+inc_##swtch); \
+        if (state_##swtch == 1+states) inc_##swtch = -1; \
+        else if (state_##swtch == 2) inc_##swtch = 1; \
         state##key = true; \
       } \
     } \
diff --git a/src/targets/stock/board_stock.cpp b/src/targets/stock/board_stock.cpp
index b9ed2cb04..c597d0cd1 100644
--- a/src/targets/stock/board_stock.cpp
+++ b/src/targets/stock/board_stock.cpp
@@ -122,17 +122,19 @@ inline void boardInit()
 
 #if defined(AUDIO) || defined(VOICE)
   SET_TIMER_AUDIO_CTRL();
+  #if !defined(CPUM2561)
+    TIMSK |= (1<<OCIE0) | (1<<TOIE0) | (1<<TOIE2); // Enable Output-Compare and Overflow interrrupts
+  #endif
 #elif defined(PWM_BACKLIGHT)
   /** Smartieparts LED Backlight is connected to PORTB/pin7, which can be used as pwm output of timer2 **/
-#if defined(SP22)
-  TCCR2  = (0b011 << CS20)|(1<<WGM20)|(1<<COM21)|(1<<COM20); // inv. pwm mode, clk/64
-#else
-  TCCR2  = (0b011 << CS20)|(1<<WGM20)|(1<<COM21); // pwm mode, clk/64
-#endif
-#endif
-
-#if !defined(CPUM2561)
-  TIMSK |= (1<<OCIE0) | (1<<TOIE0) | (1<<TOIE2); // Enable Output-Compare and Overflow interrrupts
+  #if defined(SP22)
+    TCCR2  = (0b011 << CS20)|(1<<WGM20)|(1<<COM21)|(1<<COM20); // inv. pwm mode, clk/64
+  #else
+    TCCR2  = (0b011 << CS20)|(1<<WGM20)|(1<<COM21); // pwm mode, clk/64
+  #endif
+  #if !defined(CPUM2561)
+    TIMSK |= (1<<OCIE0) | (1<<TOIE0); // Enable Output-Compare and Overflow interrrupts
+  #endif
 #endif
 }
 #endif
@@ -268,6 +270,12 @@ void readKeysAndTrims()
 #if defined(ROTARY_ENCODER_NAVIGATION)
   keys[enuk].input(ROTENC_DOWN(), (EnumKeys)enuk); // Rotary Enc. Switch
 #endif
+
+#if defined(NAVIGATION_STICKS)
+  if (~PINB & 0x7E) {
+    StickScrollTimer = STICK_SCROLL_TIMEOUT ;
+  }
+#endif
 }
 
 bool checkSlaveMode()
diff --git a/src/targets/taranis/board_taranis.h b/src/targets/taranis/board_taranis.h
index 4fa95e274..04bfb90d6 100644
--- a/src/targets/taranis/board_taranis.h
+++ b/src/targets/taranis/board_taranis.h
@@ -104,6 +104,7 @@ void delay_01us(uint16_t nb);
   #define SD_GET_BLOCKNR()        (0)
   #define SD_GET_SPEED()          (0)
   void sdInit();
+  void sdDone();
   void sdPoll10ms();
   #define sdMountPoll()
   uint32_t sdMounted();
diff --git a/src/targets/taranis/diskio.cpp b/src/targets/taranis/diskio.cpp
index 6462367da..c3b2f2e29 100644
--- a/src/targets/taranis/diskio.cpp
+++ b/src/targets/taranis/diskio.cpp
@@ -959,12 +959,33 @@ void sdPoll10ms()
         }
 }
 
+// TODO everything here should not be in the driver layer ...
+
 FATFS g_FATFS_Obj;
+#if defined(DEBUG)
+FIL g_telemetryFile = {0};
+#endif
 
 void sdInit()
 {
-  if (f_mount(0, &g_FATFS_Obj) == FR_OK)
+  if (f_mount(0, &g_FATFS_Obj) == FR_OK) {
     refreshSystemAudioFiles();
+#if defined(DEBUG)
+    f_open(&g_telemetryFile, LOGS_PATH "/sport.log", FA_CREATE_ALWAYS | FA_WRITE);
+#endif
+  }
+}
+
+void sdDone()
+{
+  if (sdMounted()) {
+    audioQueue.stopSD();
+    closeLogs();
+#if defined(DEBUG)
+    f_close(&g_telemetryFile);
+#endif
+    f_mount(0, 0); // unmount SD
+  }
 }
 
 uint32_t sdMounted()
diff --git a/src/targets/taranis/usbd_usr.cpp b/src/targets/taranis/usbd_usr.cpp
index 70b7ba60c..05605434a 100644
--- a/src/targets/taranis/usbd_usr.cpp
+++ b/src/targets/taranis/usbd_usr.cpp
@@ -107,12 +107,7 @@ void USBD_USR_DeviceResumed(void)
 */
 void USBD_USR_DeviceConnected (void)
 {
-  if (sdMounted()) {
-    audioQueue.stopSD();
-    closeLogs();
-    f_mount(0, 0); // unmount SD
-  }
-
+  sdDone();
   eeCheck(true);
   usbState = USB_CONNECTED;
 }