diff --git a/companion/src/firmwares/generalsettings.cpp b/companion/src/firmwares/generalsettings.cpp
index 22934cf57..6cb9fdb9f 100644
--- a/companion/src/firmwares/generalsettings.cpp
+++ b/companion/src/firmwares/generalsettings.cpp
@@ -114,11 +114,13 @@ GeneralSettings::GeneralSettings()
     speakerVolume = 12;
   }
 
-  if (IS_HORUS(board)) {
-    strcpy(bluetoothName, "Horus");
+  if (IS_JUMPER_T16(board))
+    strcpy(bluetoothName, "t16");
+  else if (IS_HORUS(board)) {
+    strcpy(bluetoothName, "horus");
   }
   else if (IS_TARANIS_X9E(board) || IS_TARANIS_SMALL(board)) {
-    strcpy(bluetoothName, "Taranis");
+    strcpy(bluetoothName, "taranis");
   }
 
   templateSetup = g.profile[g.sessionId()].channelOrder();
diff --git a/companion/src/mdichild.cpp b/companion/src/mdichild.cpp
index a5f25d1ca..c31697a9f 100644
--- a/companion/src/mdichild.cpp
+++ b/companion/src/mdichild.cpp
@@ -1536,7 +1536,7 @@ void MdiChild::writeEeprom()  // write to Tx
     qDebug() << "Searching for SD card, found" << radioPath;
     if (radioPath.isEmpty()) {
       qDebug() << "MdiChild::writeEeprom(): Horus radio not found";
-      QMessageBox::critical(this, CPN_STR_TTL_ERROR, tr("Unable to find Horus radio SD card!"));
+      QMessageBox::critical(this, CPN_STR_TTL_ERROR, tr("Unable to find radio SD card!"));
       return;
     }
     if (saveFile(radioPath, false)) {
diff --git a/companion/src/radiointerface.cpp b/companion/src/radiointerface.cpp
index 63befdd0c..6c2c50052 100644
--- a/companion/src/radiointerface.cpp
+++ b/companion/src/radiointerface.cpp
@@ -319,7 +319,7 @@ bool readEeprom(const QString & filename, ProgressWidget * progress)
     qDebug() << "Searching for SD card, found" << radioPath;
     if (radioPath.isEmpty()) {
       QMessageBox::critical(progress, CPN_STR_TTL_ERROR,
-                            QCoreApplication::translate("RadioInterface", "Unable to find Horus radio SD card!"));
+                            QCoreApplication::translate("RadioInterface", "Unable to find radio SD card!"));
       return false;
     }
     RadioData radioData;
diff --git a/radio/sdcard/horus/WIDGETS/Timer2/main.lua b/radio/sdcard/horus/WIDGETS/Timer2/main.lua
index 6354eee4e..ee4661f2d 100644
--- a/radio/sdcard/horus/WIDGETS/Timer2/main.lua
+++ b/radio/sdcard/horus/WIDGETS/Timer2/main.lua
@@ -14,12 +14,9 @@ local function create(zone, options)
 end
 
 local function update(wgt, options)
-  if (wgt==nil) then
-    print("update(nil)")
-    return
-  end
+  if (wgt == nil) then return end
   wgt.options = options
-  print("TimerNumB:" .. options.Timer)
+  --print("TimerNumB:" .. options.Timer)
 end
 
 local function background(wgt)
@@ -28,11 +25,11 @@ end
 
 ------------------------------------------------------------
 
--- This size is for top bar wgts
+-- Zone size: top bar widgets
 local function refreshZoneTiny(wgt)
 end
 
---- Size is 160x32 1/8th
+--- Zone size: 160x32 1/8th
 local function refreshZoneSmall(wgt)
   local t1 = model.getTimer(wgt.options.Timer-1)
   local timerInfo = string.format("T%s: ", wgt.options.Timer)
@@ -41,7 +38,8 @@ local function refreshZoneSmall(wgt)
   return
 end
 
---- Size is 225x98 1/4th  (no sliders/trim)
+--- Zone size: 180x70 1/4th  (with sliders/trim)
+--- Zone size: 225x98 1/4th  (no sliders/trim)
 local function refreshZoneMedium(wgt)
   local t1 = model.getTimer(wgt.options.Timer-1)
   --print(t1.value)
@@ -50,7 +48,7 @@ local function refreshZoneMedium(wgt)
   lcd.drawTimer(wgt.zone.x, wgt.zone.y+3, t1.value, XXLSIZE + CUSTOM_COLOR)
 end
 
---- Size is 192x152 1/2
+--- Zone size: 192x152 1/2
 local function refreshZoneLarge(wgt)
   local t1 = model.getTimer(wgt.options.Timer-1)
   --print(t1.value)
@@ -59,8 +57,8 @@ local function refreshZoneLarge(wgt)
   lcd.drawTimer(wgt.zone.x, wgt.zone.y+15, t1.value, XXLSIZE + CUSTOM_COLOR)
 end
 
---- Size is 390x172 1/1
---- Size is 460x252 1/1 (no sliders/trim/topbar)
+--- Zone size: 390x172 1/1
+--- Zone size: 460x252 1/1 (no sliders/trim/topbar)
 local function refreshZoneXLarge(wgt)
   local t1 = model.getTimer(wgt.options.Timer-1)
   --print(t1.value)
diff --git a/radio/src/gui/colorlcd/view_statistics.cpp b/radio/src/gui/colorlcd/view_statistics.cpp
index 4bbfee34e..10ab5ab66 100644
--- a/radio/src/gui/colorlcd/view_statistics.cpp
+++ b/radio/src/gui/colorlcd/view_statistics.cpp
@@ -27,7 +27,7 @@
 
 bool menuStatsGraph(event_t event)
 {
-  switch(event) {
+  switch (event) {
     case EVT_KEY_LONG(KEY_ENTER):
       g_eeGeneral.globalTimer = 0;
       storageDirty(EE_GENERAL);
diff --git a/radio/src/lua/CMakeLists.txt b/radio/src/lua/CMakeLists.txt
index 39488df3f..532ecf642 100644
--- a/radio/src/lua/CMakeLists.txt
+++ b/radio/src/lua/CMakeLists.txt
@@ -10,6 +10,7 @@ endmacro(add_lua_export_target)
 
 set(LUA_INCLUDES
   -DCPUARM -DLUA -DLUA_INPUTS -DLUA_EXPORT_GENERATION -DSIMU
+  -I${RADIO_SRC_DIRECTORY}
   -I${RADIO_SRC_DIR}/targets/${TARGET_DIR}
   -I${RADIO_SRC_DIR}/thirdparty
   -I${RADIO_SRC_DIR}/targets/common/arm/stm32
diff --git a/radio/src/main.cpp b/radio/src/main.cpp
index f766d90db..07d210979 100644
--- a/radio/src/main.cpp
+++ b/radio/src/main.cpp
@@ -201,7 +201,8 @@ void checkEeprom()
 {
 #if defined(RTC_BACKUP_RAM) && !defined(SIMU)
   if (TIME_TO_BACKUP_RAM()) {
-    rambackupWrite();
+    if (!globalData.unexpectedShutdown)
+      rambackupWrite();
     rambackupDirtyMsk = 0;
   }
 #endif
@@ -522,10 +523,10 @@ void perMain()
   periodicTick();
   DEBUG_TIMER_STOP(debugTimerPerMain1);
 
-  if (mainRequestFlags & (1 << REQUEST_FLIGHT_RESET)) {
+  if (mainRequestFlags & (1u << REQUEST_FLIGHT_RESET)) {
     TRACE("Executing requested Flight Reset");
     flightReset();
-    mainRequestFlags &= ~(1 << REQUEST_FLIGHT_RESET);
+    mainRequestFlags &= ~(1u << REQUEST_FLIGHT_RESET);
   }
 
   checkBacklight();
diff --git a/radio/src/opentx.h b/radio/src/opentx.h
index d144cbd75..64799b951 100644
--- a/radio/src/opentx.h
+++ b/radio/src/opentx.h
@@ -505,10 +505,12 @@ extern uint8_t flightModeTransitionLast;
   #define availableMemory() ((unsigned int)((unsigned char *)&_heap_end - heap))
 #endif
 
+extern uint32_t nextMixerTime[NUM_MODULES];
+
 void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms);
 void evalMixes(uint8_t tick10ms);
 void doMixerCalculations();
-void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms);
+void scheduleNextMixerCalculation(uint8_t module, uint32_t period_ms);
 
 void checkTrims();
 void perMain();
diff --git a/radio/src/pulses/modules_helpers.h b/radio/src/pulses/modules_helpers.h
index 083e3fc0f..eddf2e822 100644
--- a/radio/src/pulses/modules_helpers.h
+++ b/radio/src/pulses/modules_helpers.h
@@ -372,6 +372,11 @@ inline int8_t defaultModuleChannels_M8(uint8_t idx)
     return maxModuleChannels_M8(idx);
 }
 
+inline uint8_t sentModulePXXChannels(uint8_t idx)
+{
+  return 8 + g_model.moduleData[idx].channelsCount;
+}
+
 inline int8_t sentModuleChannels(uint8_t idx)
 {
   if (isModuleCrossfire(idx))
@@ -381,7 +386,7 @@ inline int8_t sentModuleChannels(uint8_t idx)
   else if (isModuleSBUS(idx))
     return 16;
   else
-    return 8 + g_model.moduleData[idx].channelsCount;
+    return sentModulePXXChannels(idx);
 }
 
 inline bool isDefaultModelRegistrationID()
diff --git a/radio/src/pulses/pulses.cpp b/radio/src/pulses/pulses.cpp
index 21c4d7eee..289485bf2 100755
--- a/radio/src/pulses/pulses.cpp
+++ b/radio/src/pulses/pulses.cpp
@@ -219,21 +219,21 @@ void enablePulsesExternalModule(uint8_t protocol)
   }
 }
 
-void setupPulsesExternalModule(uint8_t protocol)
+bool setupPulsesExternalModule(uint8_t protocol)
 {
   switch (protocol) {
 #if defined(PXX1)
     case PROTOCOL_CHANNELS_PXX1_PULSES:
       extmodulePulsesData.pxx.setupFrame(EXTERNAL_MODULE);
       scheduleNextMixerCalculation(EXTERNAL_MODULE, PXX_PULSES_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(PXX1) && defined(HARDWARE_EXTERNAL_MODULE_SIZE_SML)
     case PROTOCOL_CHANNELS_PXX1_SERIAL:
       extmodulePulsesData.pxx_uart.setupFrame(EXTERNAL_MODULE);
       scheduleNextMixerCalculation(EXTERNAL_MODULE, EXTMODULE_PXX1_SERIAL_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(PXX2)
@@ -241,14 +241,14 @@ void setupPulsesExternalModule(uint8_t protocol)
     case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
       extmodulePulsesData.pxx2.setupFrame(EXTERNAL_MODULE);
       scheduleNextMixerCalculation(EXTERNAL_MODULE, PXX2_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(SBUS)
     case PROTOCOL_CHANNELS_SBUS:
       setupPulsesSbus();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, SBUS_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(DSM2)
@@ -257,32 +257,33 @@ void setupPulsesExternalModule(uint8_t protocol)
     case PROTOCOL_CHANNELS_DSM2_DSMX:
       setupPulsesDSM2();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, DSM2_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(CROSSFIRE)
     case PROTOCOL_CHANNELS_CROSSFIRE:
       setupPulsesCrossfire();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(MULTIMODULE)
     case PROTOCOL_CHANNELS_MULTIMODULE:
       setupPulsesMultiExternalModule();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, MULTIMODULE_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(PPM)
     case PROTOCOL_CHANNELS_PPM:
       setupPulsesPPMExternalModule();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, PPM_PERIOD(EXTERNAL_MODULE));
-      break;
+      return true;
 #endif
 
     default:
-      break;
+      scheduleNextMixerCalculation(EXTERNAL_MODULE, 50/*ms*/);
+      return false;
   }
 }
 
@@ -338,7 +339,9 @@ bool setupPulsesInternalModule(uint8_t protocol)
 #if defined(PXX1) && defined(INTMODULE_USART)
     case PROTOCOL_CHANNELS_PXX1_SERIAL:
       intmodulePulsesData.pxx_uart.setupFrame(INTERNAL_MODULE);
-#if !defined(INTMODULE_HEARTBEAT)
+#if defined(INTMODULE_HEARTBEAT)
+      scheduleNextMixerCalculation(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD + 1 /* backup */);
+#else
       scheduleNextMixerCalculation(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD);
 #endif
       return true;
@@ -351,11 +354,13 @@ bool setupPulsesInternalModule(uint8_t protocol)
       if (moduleState[INTERNAL_MODULE].mode == MODULE_MODE_SPECTRUM_ANALYSER || moduleState[INTERNAL_MODULE].mode == MODULE_MODE_POWER_METER) {
         scheduleNextMixerCalculation(INTERNAL_MODULE, PXX2_TOOLS_PERIOD);
       }
-#if !defined(INTMODULE_HEARTBEAT)
       else {
+#if defined(INTMODULE_HEARTBEAT)
+        scheduleNextMixerCalculation(INTERNAL_MODULE, PXX2_PERIOD + 1 /* backup */);
+#else
         scheduleNextMixerCalculation(INTERNAL_MODULE, PXX2_PERIOD);
-      }
 #endif
+      }
       return result;
     }
 #endif
@@ -375,7 +380,8 @@ bool setupPulsesInternalModule(uint8_t protocol)
 #endif
 
     default:
-      return true;
+      scheduleNextMixerCalculation(INTERNAL_MODULE, 50/*ms*/);
+      return false;
   }
 }
 
@@ -410,8 +416,7 @@ bool setupPulsesExternalModule()
     return false;
   }
   else {
-    setupPulsesExternalModule(protocol);
-    return true;
+    return setupPulsesExternalModule(protocol);
   }
 }
 
diff --git a/radio/src/pulses/pxx1.cpp b/radio/src/pulses/pxx1.cpp
index 0d5dd3d2c..4dfa3be95 100644
--- a/radio/src/pulses/pxx1.cpp
+++ b/radio/src/pulses/pxx1.cpp
@@ -69,17 +69,17 @@ void Pxx1Pulses<PxxTransport>::addExtraFlags(uint8_t module)
 }
 
 template <class PxxTransport>
-void Pxx1Pulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels)
+void Pxx1Pulses<PxxTransport>::addChannels(uint8_t moduleIdx, uint8_t sendFailsafe, uint8_t sendUpperChannels)
 {
   uint16_t pulseValue = 0;
   uint16_t pulseValueLow = 0;
 
-  for (int8_t i=0; i<8; i++) {
+  for (uint8_t i = 0; i < 8; i++) {
     if (sendFailsafe) {
-      if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
+      if (g_model.moduleData[moduleIdx].failsafeMode == FAILSAFE_HOLD) {
         pulseValue = (i < sendUpperChannels ? 4095 : 2047);
       }
-      else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
+      else if (g_model.moduleData[moduleIdx].failsafeMode == FAILSAFE_NOPULSES) {
         pulseValue = (i < sendUpperChannels ? 2048 : 0);
       }
       else {
@@ -92,7 +92,7 @@ void Pxx1Pulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, u
             pulseValue = 2048;
           }
           else {
-            failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
+            failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[moduleIdx].channelsStart+i) - 2*PPM_CENTER;
             pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
           }
         }
@@ -105,7 +105,7 @@ void Pxx1Pulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, u
             pulseValue = 0;
           }
           else {
-            failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
+            failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[moduleIdx].channelsStart+i) - 2*PPM_CENTER;
             pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
           }
         }
@@ -113,12 +113,12 @@ void Pxx1Pulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, u
     }
     else {
       if (i < sendUpperChannels) {
-        int channel = 8 + g_model.moduleData[port].channelsStart + i;
+        int channel = 8 + g_model.moduleData[moduleIdx].channelsStart + i;
         int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
         pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
       }
-      else if (i < sentModuleChannels(port)) {
-        int channel = g_model.moduleData[port].channelsStart + i;
+      else if (i < sentModulePXXChannels(moduleIdx)) {
+        int channel = g_model.moduleData[moduleIdx].channelsStart + i;
         int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
         pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
       }
@@ -186,7 +186,7 @@ void Pxx1Pulses<PxxTransport>::setupFrame(uint8_t module)
       moduleState[module].counter = 1000;
     }
     add8ChannelsFrame(module, 0, sendFailsafe);
-    if (sentModuleChannels(module) > 8) {
+    if (sentModulePXXChannels(module) > 8) {
       add8ChannelsFrame(module, 8, sendFailsafe);
     }
     return;
diff --git a/radio/src/pulses/pxx1.h b/radio/src/pulses/pxx1.h
index d2f581580..7c9dd8276 100644
--- a/radio/src/pulses/pxx1.h
+++ b/radio/src/pulses/pxx1.h
@@ -25,8 +25,12 @@
 #include "crc.h"
 
 struct HeartbeatCapture {
+#if !defined(INTMODULE_USART)
   uint32_t timestamp;
+#endif
+#if defined(DEBUG_LATENCY)
   uint32_t count;
+#endif
   uint8_t valid;
 };
 
diff --git a/radio/src/storage/storage_common.cpp b/radio/src/storage/storage_common.cpp
index e05caa08b..09f879d94 100644
--- a/radio/src/storage/storage_common.cpp
+++ b/radio/src/storage/storage_common.cpp
@@ -25,7 +25,7 @@ uint8_t   storageDirtyMsk;
 tmr10ms_t storageDirtyTime10ms;
 
 #if defined(RTC_BACKUP_RAM)
-uint8_t   rambackupDirtyMsk;
+uint8_t   rambackupDirtyMsk = EE_GENERAL | EE_MODEL;
 tmr10ms_t rambackupDirtyTime10ms;
 #endif
 
diff --git a/radio/src/targets/common/arm/stm32/heartbeat_driver.cpp b/radio/src/targets/common/arm/stm32/heartbeat_driver.cpp
index 70ce2b394..25544c33a 100644
--- a/radio/src/targets/common/arm/stm32/heartbeat_driver.cpp
+++ b/radio/src/targets/common/arm/stm32/heartbeat_driver.cpp
@@ -20,9 +20,9 @@
 
 #include "opentx.h"
 
+#if defined(INTMODULE_HEARTBEAT_GPIO)
 volatile HeartbeatCapture heartbeatCapture;
 
-#if defined(INTMODULE_HEARTBEAT_GPIO)
 void init_intmodule_heartbeat()
 {
   GPIO_InitTypeDef GPIO_InitStructure;
@@ -69,11 +69,13 @@ void check_intmodule_heartbeat()
 {
   if (EXTI_GetITStatus(INTMODULE_HEARTBEAT_EXTI_LINE) != RESET) {
 #if defined(INTMODULE_USART)
-    heartbeatCapture.timestamp = RTOS_GET_MS();
+    nextMixerTime[INTERNAL_MODULE] = RTOS_GET_MS();
 #else
     heartbeatCapture.timestamp = getTmr2MHz();
 #endif
+#if defined(DEBUG_LATENCY)
     heartbeatCapture.count++;
+#endif
     EXTI_ClearITPendingBit(INTMODULE_HEARTBEAT_EXTI_LINE);
   }
 }
diff --git a/radio/src/targets/horus/CMakeLists.txt b/radio/src/targets/horus/CMakeLists.txt
index dc02d5c53..8d1c498a4 100644
--- a/radio/src/targets/horus/CMakeLists.txt
+++ b/radio/src/targets/horus/CMakeLists.txt
@@ -204,11 +204,46 @@ set(STM32LIB_SRC
   STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma2d.c
   )
 
+MACRO(GET_GCC_INCLUDE_PATH gcc_include_path)
+  if (WIN32)
+    execute_process(COMMAND arm-none-eabi-gcc -v -x c -E NUL ERROR_VARIABLE _gcc_output OUTPUT_QUIET)
+  else()
+    execute_process(COMMAND arm-none-eabi-gcc -v -x c -E - INPUT_FILE /dev/null ERROR_VARIABLE _gcc_output OUTPUT_QUIET)
+  endif()
+
+  # Build an array of string from the GCC output
+  string(REPLACE "\n" ";" _gcc_output "${_gcc_output}")
+
+  set(_capture_include FALSE)
+  set(_include_path "")
+
+  # Go through the lines and capture between '"#include <...> search starts here:"' and 'End of search list.'
+  foreach(_line ${_gcc_output})
+    if(${_line} STREQUAL "End of search list.")
+      set(_capture_include FALSE)
+    endif()
+
+    if(_capture_include)
+      # Remove the leading and trailing empty characters
+      string(REPLACE "\r" "" _line ${_line})
+      string(SUBSTRING "${_line}" 1 -1 _line)
+      set(_include_path "${_include_path}" "-I${_line}")
+    endif()
+
+    if(${_line} STREQUAL "#include <...> search starts here:")
+      set(_capture_include TRUE)
+    endif()
+  endforeach()
+  set(${gcc_include_path} ${_include_path})
+ENDMACRO()
+
 if(PYTHONINTERP_FOUND)
+  GET_GCC_INCLUDE_PATH(arm_gcc_include_path)
+
   add_custom_command(
     OUTPUT ${PROJECT_BINARY_DIR}/radio/src/datacopy.cpp
     WORKING_DIRECTORY ${RADIO_DIRECTORY}/src
-    COMMAND ${PYTHON_EXECUTABLE} ${RADIO_DIRECTORY}/util/generate_datacopy.py datastructs.h -DPCBHORUS -DPCBX10 -DCPUARM -DCOLORLCD -DBACKUP -Itargets/horus > ${PROJECT_BINARY_DIR}/radio/src/datacopy.cpp
+    COMMAND ${PYTHON_EXECUTABLE} ${RADIO_DIRECTORY}/util/generate_datacopy.py datastructs.h -DPCBHORUS -DPCBX10 -DCPUARM -DSTM32F4 -DSTM32F429_439xx -DCOLORLCD -DBACKUP -DSIMU -I. -Itargets/horus -Itargets/common/arm/stm32 -I${THIRDPARTY_DIR} -I${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.4.0/Libraries/CMSIS/Device/ST/STM32F4xx/Include ${arm_gcc_include_path} > ${PROJECT_BINARY_DIR}/radio/src/datacopy.cpp
     DEPENDS ${RADIO_DIRECTORY}/src/datastructs.h ${RADIO_DIRECTORY}/util/generate_datacopy.py
     )
   add_custom_target(datacopy
diff --git a/radio/src/targets/horus/board.h b/radio/src/targets/horus/board.h
index 710f272ce..b7331738d 100644
--- a/radio/src/targets/horus/board.h
+++ b/radio/src/targets/horus/board.h
@@ -21,8 +21,8 @@
 #ifndef _BOARD_H_
 #define _BOARD_H_
 
-#include "../definitions.h"
-#include "../opentx_constants.h"
+#include "definitions.h"
+#include "opentx_constants.h"
 #include "board_common.h"
 #include "hal.h"
 
diff --git a/radio/src/targets/taranis/board.h b/radio/src/targets/taranis/board.h
index 620ef6693..d03a0e72f 100644
--- a/radio/src/targets/taranis/board.h
+++ b/radio/src/targets/taranis/board.h
@@ -22,8 +22,8 @@
 #define _BOARD_H_
 
 #include <inttypes.h>
-#include "../definitions.h"
-#include "../opentx_constants.h"
+#include "definitions.h"
+#include "opentx_constants.h"
 #include "board_common.h"
 #include "hal.h"
 
diff --git a/radio/src/tasks.cpp b/radio/src/tasks.cpp
index 9cbe9e2bd..0e7bd7a09 100644
--- a/radio/src/tasks.cpp
+++ b/radio/src/tasks.cpp
@@ -73,9 +73,9 @@ bool isForcePowerOffRequested()
   return false;
 }
 
-bool isModuleSynchronous(uint8_t module)
+bool isModuleSynchronous(uint8_t moduleIdx)
 {
-  uint8_t protocol = moduleState[module].protocol;
+  uint8_t protocol = moduleState[moduleIdx].protocol;
   if (protocol == PROTOCOL_CHANNELS_PXX2_HIGHSPEED || protocol == PROTOCOL_CHANNELS_PXX2_LOWSPEED || protocol == PROTOCOL_CHANNELS_CROSSFIRE || protocol == PROTOCOL_CHANNELS_NONE)
     return true;
 #if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
@@ -85,16 +85,16 @@ bool isModuleSynchronous(uint8_t module)
   return false;
 }
 
-void sendSynchronousPulses()
+void sendSynchronousPulses(uint8_t runMask)
 {
 #if defined(HARDWARE_INTERNAL_MODULE)
-  if (isModuleSynchronous(INTERNAL_MODULE)) {
+  if ((runMask & (1 << INTERNAL_MODULE)) && isModuleSynchronous(INTERNAL_MODULE)) {
     if (setupPulsesInternalModule())
       intmoduleSendNextFrame();
   }
 #endif
 
-  if (isModuleSynchronous(EXTERNAL_MODULE)) {
+  if ((runMask & (1 << EXTERNAL_MODULE)) && isModuleSynchronous(EXTERNAL_MODULE)) {
     if (setupPulsesExternalModule())
       extmoduleSendNextFrame();
   }
@@ -104,7 +104,6 @@ uint32_t nextMixerTime[NUM_MODULES];
 
 TASK_FUNCTION(mixerTask)
 {
-  static uint32_t lastRunTime;
   s_pulses_paused = true;
 
   while (true) {
@@ -134,35 +133,22 @@ TASK_FUNCTION(mixerTask)
 #endif
 
     uint32_t now = RTOS_GET_MS();
-    bool run = false;
+    uint8_t runMask = 0;
 
-    if (now - lastRunTime >= 10) {
-      // run at least every 10ms
-      run = true;
-    }
-
-#if defined(INTMODULE_USART) && defined(INTMODULE_HEARTBEAT)
-    if ((moduleState[INTERNAL_MODULE].protocol == PROTOCOL_CHANNELS_PXX2_HIGHSPEED || moduleState[INTERNAL_MODULE].protocol == PROTOCOL_CHANNELS_PXX1_SERIAL) && heartbeatCapture.valid && heartbeatCapture.timestamp > lastRunTime) {
-      run = true;
-    }
-#endif
-
-    if (now == nextMixerTime[0]) {
-      run = true;
+    if (now >= nextMixerTime[0]) {
+      runMask |= (1 << 0);
     }
 
 #if NUM_MODULES >= 2
-    if (now == nextMixerTime[1]) {
-      run = true;
+    if (now >= nextMixerTime[1]) {
+      runMask |= (1 << 1);
     }
 #endif
 
-    if (!run) {
+    if (!runMask) {
       continue;  // go back to sleep
     }
 
-    lastRunTime = now;
-
     if (!s_pulses_paused) {
       uint16_t t0 = getTmr2MHz();
 
@@ -197,12 +183,12 @@ TASK_FUNCTION(mixerTask)
       if (t0 > maxMixerDuration)
         maxMixerDuration = t0;
 
-      sendSynchronousPulses();
+      sendSynchronousPulses(runMask);
     }
   }
 }
 
-void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
+void scheduleNextMixerCalculation(uint8_t module, uint32_t period_ms)
 {
   // Schedule next mixer calculation time,
 
diff --git a/radio/src/telemetry/frsky.h b/radio/src/telemetry/frsky.h
index d4a9ab87a..e99c0f237 100644
--- a/radio/src/telemetry/frsky.h
+++ b/radio/src/telemetry/frsky.h
@@ -21,9 +21,9 @@
 #ifndef _FRSKY_H_
 #define _FRSKY_H_
 
-#include "../definitions.h"
+#include "../../definitions.h"
 #include "telemetry_holders.h"
-#include "../io/frsky_pxx2.h"
+#include "../../io/frsky_pxx2.h"
 
 // Receive buffer state machine state enum
 enum FrSkyDataState {
diff --git a/radio/src/thirdparty/libopenui b/radio/src/thirdparty/libopenui
index a0f482b6d..04e6ba5ae 160000
--- a/radio/src/thirdparty/libopenui
+++ b/radio/src/thirdparty/libopenui
@@ -1 +1 @@
-Subproject commit a0f482b6d09f5fcc4fd9f0fd0bc2106d0c48ccfa
+Subproject commit 04e6ba5ae868a12e43842f0517d86a8a82f37451
diff --git a/radio/util/generate_datacopy.py b/radio/util/generate_datacopy.py
index 6da1c871b..93f7c79a5 100755
--- a/radio/util/generate_datacopy.py
+++ b/radio/util/generate_datacopy.py
@@ -1,30 +1,33 @@
 #!/usr/bin/env python
 
-from __future__ import print_function
-
 import sys
 import clang.cindex
 import time
 import os
 
-if sys.platform == "darwin":
-    if os.path.exists('/usr/local/Cellar/llvm/6.0.0/lib/libclang.dylib'):
-        clang.cindex.Config.set_library_file('/usr/local/Cellar/llvm/6.0.0/lib/libclang.dylib')
-    elif os.path.exists('/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/libclang.dylib'):
-        clang.cindex.Config.set_library_file('/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/libclang.dylib')
-    elif os.path.exists('/Library/Developer/CommandLineTools/usr/lib/libclang.dylib'):
-        clang.cindex.Config.set_library_file('/Library/Developer/CommandLineTools/usr/lib/libclang.dylib')
-elif sys.platform.startswith("linux"):
-    for version in ("7", "6.0", "3.8"):
-        libclang = "/usr/lib/x86_64-linux-gnu/libclang-%s.so.1" % version
-        if os.path.exists(libclang):
-            clang.cindex.Config.set_library_file(libclang)
-            break
 
 structs = []
 extrastructs = []
 
 
+def find_libclang():
+    if sys.platform == "darwin":
+        for path in ("/usr/local/Cellar/llvm/6.0.0/lib/libclang.dylib",
+                     "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/libclang.dylib",
+                     "/Library/Developer/CommandLineTools/usr/lib/libclang.dylib"):
+            if os.path.exists(path):
+                return path
+    elif sys.platform.startswith("linux"):
+        for version in ("7", "6.0", "3.8"):
+            path = "/usr/lib/x86_64-linux-gnu/libclang-%s.so.1" % version
+            if os.path.exists(path):
+                return path
+        for path in ("/usr/local/lib/libclang.so",
+                     "/usr/lib/libclang.so"):
+            if os.path.exists(path):
+                return path
+
+
 def build_struct(cursor, anonymousUnion=False):
     if not anonymousUnion:
         structs.append(cursor.spelling)
@@ -98,7 +101,28 @@ def header():
     print("// This file was auto-generated by %s script on %s. Do not edit this file!\n\n\n" % (os.path.basename(sys.argv[0]), time.asctime()))
 
 
-index = clang.cindex.Index.create()
-translation_unit = index.parse(sys.argv[1], ['-x', 'c++', '-std=c++11'] + sys.argv[2:])
-header()
-build(translation_unit.cursor)
+def print_translation_unit_diags(diags, prefix=''):
+    for diag in diags:
+        print(prefix + str(diag), file=sys.stderr)
+        print_translation_unit_diags(diag.children, '  ' + prefix)
+
+
+def main():
+    libclang = find_libclang()
+    if libclang:
+        # print(libclang, file=sys.stderr)
+        clang.cindex.Config.set_library_file(libclang)
+
+    index = clang.cindex.Index.create()
+    translation_unit = index.parse(sys.argv[1], ['-x', 'c++', '-std=c++11'] + sys.argv[2:])
+
+    if translation_unit.diagnostics:
+        print_translation_unit_diags(translation_unit.diagnostics)
+        sys.exit(-1)
+
+    header()
+    build(translation_unit.cursor)
+
+
+if __name__ == "__main__":
+    main()