diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index 8111bb94643..3a09da50daf 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -71,5 +71,6 @@ typedef enum {
     DEBUG_AUTOTUNE,
     DEBUG_RATE_DYNAMICS,
     DEBUG_LANDING,
+    DEBUG_POS_EST,
     DEBUG_COUNT
 } debugType_e;
diff --git a/src/main/common/time.c b/src/main/common/time.c
index f1204c57f4a..8214398d26b 100644
--- a/src/main/common/time.c
+++ b/src/main/common/time.c
@@ -35,6 +35,10 @@
 
 #include "fc/settings.h"
 
+#ifdef SITL_BUILD
+#include <time.h>
+#endif
+
 // For the "modulo 4" arithmetic to work, we need a leap base year
 #define REFERENCE_YEAR 2000
 // Offset (seconds) from the UNIX epoch (1970-01-01) to 2000-01-01
@@ -310,11 +314,16 @@ bool rtcHasTime(void)
 
 bool rtcGet(rtcTime_t *t)
 {
+#ifdef SITL_BUILD
+    *t = (rtcTime_t)(time(NULL) * 1000);
+    return true;
+#else 
     if (!rtcHasTime()) {
         return false;
     }
     *t = started + millis();
     return true;
+#endif
 }
 
 bool rtcSet(rtcTime_t *t)
@@ -323,6 +332,7 @@ bool rtcSet(rtcTime_t *t)
     return true;
 }
 
+
 bool rtcGetDateTime(dateTime_t *dt)
 {
     rtcTime_t t;
diff --git a/src/main/config/config_streamer.h b/src/main/config/config_streamer.h
index 87b688406f5..33c0954874c 100644
--- a/src/main/config/config_streamer.h
+++ b/src/main/config/config_streamer.h
@@ -57,3 +57,7 @@ int config_streamer_flush(config_streamer_t *c);
 
 int config_streamer_finish(config_streamer_t *c);
 int config_streamer_status(config_streamer_t *c);
+
+#if defined(CONFIG_IN_FILE)
+bool configFileSetPath(char* path);
+#endif
diff --git a/src/main/config/config_streamer_file.c b/src/main/config/config_streamer_file.c
index c3fdbba95c8..379155c22e1 100644
--- a/src/main/config/config_streamer_file.c
+++ b/src/main/config/config_streamer_file.c
@@ -16,6 +16,7 @@
  */
 
 #include <string.h>
+#include <dirent.h>
 #include "platform.h"
 #include "drivers/system.h"
 #include "config/config_streamer.h"
@@ -26,21 +27,32 @@
 #include <stdio.h>
 #include <errno.h>
 
+
 #define FLASH_PAGE_SIZE  (0x400)
 
 static FILE *eepromFd = NULL;
-
 static bool streamerLocked = true;
+static char eepromPath[260] = EEPROM_FILENAME;
+
+bool configFileSetPath(char* path)
+{
+    if(!path || strlen(path) > 260) {
+        return false;
+    }
+    
+    strcpy(eepromPath, path);
+    return true;
+}
 
 void config_streamer_impl_unlock(void)
 {
     if (eepromFd != NULL) {
-        fprintf(stderr, "[EEPROM] Unable to load %s\n", EEPROM_FILENAME);
+        fprintf(stderr, "[EEPROM] Unable to load %s\n", eepromPath);
         return;
     }
 
     // open or create
-    eepromFd = fopen(EEPROM_FILENAME,"r+");
+    eepromFd = fopen(eepromPath,"r+");
     if (eepromFd != NULL) {
         // obtain file size:
         fseek(eepromFd , 0 , SEEK_END);
@@ -49,16 +61,16 @@ void config_streamer_impl_unlock(void)
 
         size_t n = fread(eepromData, 1, sizeof(eepromData), eepromFd);
         if (n == size) {
-            printf("[EEPROM] Loaded '%s' (%ld of %ld bytes)\n", EEPROM_FILENAME, size, sizeof(eepromData));
+            fprintf(stderr,"[EEPROM] Loaded '%s' (%ld of %ld bytes)\n", eepromPath, size, sizeof(eepromData));
             streamerLocked = false;
         } else {
-            fprintf(stderr, "[EEPROM] Failed to load '%s'\n", EEPROM_FILENAME);
+            fprintf(stderr, "[EEPROM] Failed to load '%s'\n", eepromPath);
         }
     } else {
-        printf("[EEPROM] Created '%s', size = %ld\n", EEPROM_FILENAME, sizeof(eepromData));
+        printf("[EEPROM] Created '%s', size = %ld\n", eepromPath, sizeof(eepromData));
         streamerLocked = false;
-        if ((eepromFd = fopen(EEPROM_FILENAME, "w+")) == NULL) {
-            fprintf(stderr, "[EEPROM] Failed to create '%s'\n", EEPROM_FILENAME);
+        if ((eepromFd = fopen(eepromPath, "w+")) == NULL) {
+            fprintf(stderr, "[EEPROM] Failed to create '%s'\n", eepromPath);
             streamerLocked = true;
         }
         if (fwrite(eepromData, sizeof(eepromData), 1, eepromFd) != 1) {
@@ -66,8 +78,6 @@ void config_streamer_impl_unlock(void)
             streamerLocked = true;
         }
     }
-    
-    
 }
 
 void config_streamer_impl_lock(void)
@@ -78,7 +88,7 @@ void config_streamer_impl_lock(void)
         fwrite(eepromData, 1, sizeof(eepromData), eepromFd);
         fclose(eepromFd);
         eepromFd = NULL;
-        printf("[EEPROM] Saved '%s'\n", EEPROM_FILENAME);
+        fprintf(stderr, "[EEPROM] Saved '%s'\n", eepromPath);
         streamerLocked = false;
     } else {
         fprintf(stderr, "[EEPROM] Unlock error\n");
@@ -93,9 +103,9 @@ int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer
 
     if ((c->address >= (uintptr_t)eepromData) && (c->address < (uintptr_t)ARRAYEND(eepromData))) {
         *((uint32_t*)c->address) = *buffer;
-        printf("[EEPROM] Program word  %p = %08x\n", (void*)c->address, *((uint32_t*)c->address));
+        fprintf(stderr, "[EEPROM] Program word  %p = %08x\n", (void*)c->address, *((uint32_t*)c->address));
     } else {
-        printf("[EEPROM] Program word %p out of range!\n", (void*)c->address);
+        fprintf(stderr, "[EEPROM] Program word %p out of range!\n", (void*)c->address);
     }
 
     c->address += CONFIG_STREAMER_BUFFER_SIZE;
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index b7a462fbf5c..62c2778b45b 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -19,11 +19,7 @@
 
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro.h"
-#define MPU_I2C_ADDRESS                 0x68
 
-// MPU6050
-#define MPU_RA_WHO_AM_I_LEGACY          0x00
-#define MPUx0x0_WHO_AM_I_CONST              (0x68) // MPU6000 and 6050
 #define MPU6000_WHO_AM_I_CONST              (0x68)
 #define MPU6500_WHO_AM_I_CONST              (0x70)
 #define MPU9250_WHO_AM_I_CONST              (0x71)
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index 0349d212c7b..eca213b7218 100644
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -77,7 +77,6 @@ typedef enum {
 
     /* Combined ACC/GYRO chips */
     DEVHW_MPU6000,
-	DEVHW_MPU6050,
     DEVHW_MPU6500,
     DEVHW_BMI160,
     DEVHW_BMI088_GYRO,
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index f696eba1c53..d81a83a9084 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -35,7 +35,6 @@
 typedef enum {
     ACC_NONE = 0,
     ACC_AUTODETECT,
-	ACC_MPU6050,
     ACC_MPU6000,
     ACC_MPU6500,
     ACC_MPU9250,
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index b9394c69edf..a586ce6df6b 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -39,7 +39,6 @@
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 #include "drivers/accgyro/accgyro_mpu6000.h"
-#include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_mpu9250.h"
 
@@ -135,15 +134,6 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
     switch (gyroHardware) {
     case GYRO_AUTODETECT:
         FALLTHROUGH;
-		
-#ifdef USE_IMU_MPU6050
-    case GYRO_MPU6050:
-        if (mpu6050GyroDetect(dev)) {
-            gyroHardware = GYRO_MPU6050;
-            break;
-        }
-        FALLTHROUGH;
-#endif
 
 #ifdef USE_IMU_MPU6000
     case GYRO_MPU6000:
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 2b3bac46254..669f8fbee46 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -34,7 +34,6 @@
 typedef enum {
     GYRO_NONE = 0,
     GYRO_AUTODETECT,
-	GYRO_MPU6050,
     GYRO_MPU6000,
     GYRO_MPU6500,
     GYRO_MPU9250,