diff --git a/libraries/AP_MSP/AP_MSP.cpp b/libraries/AP_MSP/AP_MSP.cpp
index 95dab343d2..31ef2084fd 100644
--- a/libraries/AP_MSP/AP_MSP.cpp
+++ b/libraries/AP_MSP/AP_MSP.cpp
@@ -43,9 +43,9 @@ const AP_Param::GroupInfo AP_MSP::var_info[] = {
     // @Param: _OPTIONS
     // @DisplayName: MSP OSD Options
     // @Description: A bitmask to set some MSP specific options
-    // @Bitmask: 0:EnableTelemetryMode, 1: DJIWorkarounds
+    // @Bitmask: 0:EnableTelemetryMode, 1: DisableDJIWorkarounds, 2:EnableBTFLFonts
     // @User: Standard
-    AP_GROUPINFO("_OPTIONS", 2, AP_MSP, _options, (uint8_t)MspOption::OPTION_TELEMETRY_DJI_WORKAROUNDS),
+    AP_GROUPINFO("_OPTIONS", 2, AP_MSP, _options, 0),
 
     AP_GROUPEND
 };
@@ -93,10 +93,6 @@ void AP_MSP::init()
             if (!init_backend(_msp_status.backend_count, uart, AP_SerialManager::SerialProtocol_DJI_FPV)) {
                 break;
             }
-            // initialize osd settings from OSD backend
-            if (!_msp_status.osd_initialized) {
-                init_osd();
-            }
             if (_backends[_msp_status.backend_count]->use_msp_thread()) {
                 backends_using_msp_thread++;
             }
@@ -141,7 +137,7 @@ void AP_MSP::init()
     }
 }
 
-void AP_MSP::init_osd()
+void AP_MSP::update_osd_item_settings()
 {
 #if OSD_ENABLED
     AP_OSD* osd = AP::osd();
@@ -149,35 +145,34 @@ void AP_MSP::init_osd()
     if (osd == nullptr) {
         return;
     }
-
-    _osd_item_settings[OSD_RSSI_VALUE] = &osd->screen[0].rssi;
-    _osd_item_settings[OSD_MAIN_BATT_VOLTAGE] = &osd->screen[0].bat_volt;
-    _osd_item_settings[OSD_CROSSHAIRS] = &osd->screen[0].crosshair;
-    _osd_item_settings[OSD_ARTIFICIAL_HORIZON] = &osd->screen[0].horizon;
-    _osd_item_settings[OSD_HORIZON_SIDEBARS] = &osd->screen[0].sidebars;
-    _osd_item_settings[OSD_CRAFT_NAME] = &osd->screen[0].message;
-    _osd_item_settings[OSD_FLYMODE] = &osd->screen[0].fltmode;
-    _osd_item_settings[OSD_CURRENT_DRAW] = &osd->screen[0].current;
-    _osd_item_settings[OSD_MAH_DRAWN] = &osd->screen[0].batused;
-    _osd_item_settings[OSD_GPS_SPEED] = &osd->screen[0].gspeed;
-    _osd_item_settings[OSD_GPS_SATS] = &osd->screen[0].sats;
-    _osd_item_settings[OSD_ALTITUDE] = &osd->screen[0].altitude;
-    _osd_item_settings[OSD_POWER] = &osd->screen[0].power;
-    _osd_item_settings[OSD_AVG_CELL_VOLTAGE] = &osd->screen[0].cell_volt;
-    _osd_item_settings[OSD_GPS_LON] = &osd->screen[0].gps_longitude;
-    _osd_item_settings[OSD_GPS_LAT] = &osd->screen[0].gps_latitude;
-    _osd_item_settings[OSD_PITCH_ANGLE] = &osd->screen[0].pitch_angle;
-    _osd_item_settings[OSD_ROLL_ANGLE] = &osd->screen[0].roll_angle;
-    _osd_item_settings[OSD_MAIN_BATT_USAGE] = &osd->screen[0].batt_bar;
-    _osd_item_settings[OSD_DISARMED] = &osd->screen[0].arming;
-    _osd_item_settings[OSD_HOME_DIR] = &osd->screen[0].home_dir;
-    _osd_item_settings[OSD_HOME_DIST] = &osd->screen[0].home_dist;
-    _osd_item_settings[OSD_NUMERICAL_HEADING] = &osd->screen[0].heading;
-    _osd_item_settings[OSD_NUMERICAL_VARIO] = &osd->screen[0].vspeed;
+    _osd_item_settings[OSD_RSSI_VALUE] = &osd->screen[_msp_status.current_screen].rssi;             // OSDn_RSSI
+    _osd_item_settings[OSD_MAIN_BATT_VOLTAGE] = &osd->screen[_msp_status.current_screen].bat_volt;  // OSDn_BAT_VOLT
+    _osd_item_settings[OSD_CROSSHAIRS] = &osd->screen[_msp_status.current_screen].crosshair;        // OSDn_CRSSHAIR
+    _osd_item_settings[OSD_ARTIFICIAL_HORIZON] = &osd->screen[_msp_status.current_screen].horizon;  // OSDn_HORIZON
+    _osd_item_settings[OSD_HORIZON_SIDEBARS] = &osd->screen[_msp_status.current_screen].sidebars;   // OSDn_SIDEBARS
+    _osd_item_settings[OSD_CRAFT_NAME] = &osd->screen[_msp_status.current_screen].message;          // OSDn_MESSAGE
+    _osd_item_settings[OSD_FLYMODE] = &osd->screen[_msp_status.current_screen].fltmode;             // OSDn_FLTMODE
+    _osd_item_settings[OSD_CURRENT_DRAW] = &osd->screen[_msp_status.current_screen].current;        // OSDn_CURRENT
+    _osd_item_settings[OSD_MAH_DRAWN] = &osd->screen[_msp_status.current_screen].batused;           // OSDn_BATUSED
+    _osd_item_settings[OSD_GPS_SPEED] = &osd->screen[_msp_status.current_screen].gspeed;            // OSDn_GSPEED
+    _osd_item_settings[OSD_GPS_SATS] = &osd->screen[_msp_status.current_screen].sats;               // OSDn_SATS
+    _osd_item_settings[OSD_ALTITUDE] = &osd->screen[_msp_status.current_screen].altitude;           // OSDn_ALTITUDE
+    _osd_item_settings[OSD_POWER] = &osd->screen[_msp_status.current_screen].power;                 // OSDn_POWER
+    _osd_item_settings[OSD_AVG_CELL_VOLTAGE] = &osd->screen[_msp_status.current_screen].cell_volt;  // OSDn_CELLVOLT
+    _osd_item_settings[OSD_GPS_LON] = &osd->screen[_msp_status.current_screen].gps_longitude;       // OSDn_GPSLONG
+    _osd_item_settings[OSD_GPS_LAT] = &osd->screen[_msp_status.current_screen].gps_latitude;        // OSDn_GPSLAT
+    _osd_item_settings[OSD_PITCH_ANGLE] = &osd->screen[_msp_status.current_screen].pitch_angle;     // OSDn_PITCH
+    _osd_item_settings[OSD_ROLL_ANGLE] = &osd->screen[_msp_status.current_screen].roll_angle;       // OSDn_ROLL
+    _osd_item_settings[OSD_MAIN_BATT_USAGE] = &osd->screen[_msp_status.current_screen].batt_bar;    // OSDn_BATBAR
+    _osd_item_settings[OSD_DISARMED] = &osd->screen[_msp_status.current_screen].arming;             // OSDn_ARMING
+    _osd_item_settings[OSD_HOME_DIR] = &osd->screen[_msp_status.current_screen].home_dir;           // OSDn_HOMEDIR
+    _osd_item_settings[OSD_HOME_DIST] = &osd->screen[_msp_status.current_screen].home_dist;         // OSDn_HOMEDIST
+    _osd_item_settings[OSD_NUMERICAL_HEADING] = &osd->screen[_msp_status.current_screen].heading;   // OSDn_HEADING
+    _osd_item_settings[OSD_NUMERICAL_VARIO] = &osd->screen[_msp_status.current_screen].vspeed;      // OSDn_VSPEED
 #if HAL_WITH_ESC_TELEM
-    _osd_item_settings[OSD_ESC_TMP] = &osd->screen[0].esc_temp;
+    _osd_item_settings[OSD_ESC_TMP] = &osd->screen[_msp_status.current_screen].esc_temp;            // OSDn_ESCTEMP
 #endif
-    _osd_item_settings[OSD_RTC_DATETIME] = &osd->screen[0].clk;
+    _osd_item_settings[OSD_RTC_DATETIME] = &osd->screen[_msp_status.current_screen].clk;            // OSDn_CLK
 #endif  // OSD_ENABLED
     _msp_status.osd_initialized = true;
 }
@@ -196,10 +191,13 @@ void AP_MSP::loop(void)
         hal.scheduler->delay(10); // 115200 baud, 18 MSP packets @4Hz, 100Hz should be OK
 
         const uint32_t now = AP_HAL::millis();
-        // toggle flashing every 0.7 seconds
-        if (((now / 700) & 0x01) != _msp_status.flashing_on) {
+        // toggle flashing every 0.7 seconds and every 2 seconds
+        if ((uint32_t(now * 0.00143) & 0x01) != _msp_status.flashing_on) {
             _msp_status.flashing_on = !_msp_status.flashing_on;
         }
+        if ((uint32_t(now * 0.0005) & 0x01) != _msp_status.slow_flashing_on) {
+            _msp_status.slow_flashing_on = !_msp_status.slow_flashing_on;
+        }
 
         // detect flight mode changes and steal focus from text messages
         if (AP::notify().flags.flight_mode != _msp_status.last_flight_mode) {
@@ -210,6 +208,19 @@ void AP_MSP::loop(void)
             _msp_status.flight_mode_focus = false;
         }
 
+#if OSD_ENABLED
+        // check if we had a screen change
+        AP_OSD* osd = AP::osd();
+
+        if (osd != nullptr) {
+            const uint8_t screen = osd->is_readonly_screen() ? osd->get_current_screen() : _msp_status.current_screen;
+            if (_msp_status.current_screen != screen || !_msp_status.osd_initialized) {
+                _msp_status.current_screen = screen;
+                update_osd_item_settings();
+            }
+        }
+#endif  // OSD_ENABLED
+
         for (uint8_t i=0; i< _msp_status.backend_count; i++) {
             // note: we do not access a uart for a backend handled by another thread
             if (_backends[i] != nullptr && _backends[i]->use_msp_thread()) {
@@ -233,6 +244,11 @@ AP_MSP_Telem_Backend* AP_MSP::find_protocol(const AP_SerialManager::SerialProtoc
     return nullptr;
 }
 
+bool AP_MSP::is_option_enabled(Option option) const
+{
+    return (_options & (uint8_t)option) != 0;
+}
+
 namespace AP
 {
 AP_MSP *msp()
diff --git a/libraries/AP_MSP/AP_MSP.h b/libraries/AP_MSP/AP_MSP.h
index 3b749365d1..0a7f87dd07 100644
--- a/libraries/AP_MSP/AP_MSP.h
+++ b/libraries/AP_MSP/AP_MSP.h
@@ -53,13 +53,13 @@ public:
     // init - perform required initialisation
     void init();
 
-    enum class MspOption : uint8_t {
-        OPTION_TELEMETRY_MODE = 1U<<0,
-        OPTION_TELEMETRY_DJI_WORKAROUNDS = 1U<<1,
-        OPTION_DISPLAYPORT_BTFL_SYMBOLS = 1U<<2,
+    enum class Option : uint8_t {
+        TELEMETRY_MODE = 1U<<0,
+        TELEMETRY_DISABLE_DJI_WORKAROUNDS = 1U<<1,
+        DISPLAYPORT_BTFL_SYMBOLS = 1U<<2,
     };
 
-    bool check_option(const MspOption option) const { return (_options & (uint8_t)option) != 0; };
+    bool is_option_enabled(const Option option) const;
 
     static AP_MSP *get_singleton(void)
     {
@@ -67,7 +67,6 @@ public:
     }
 
 private:
-
     AP_MSP_Telem_Backend *_backends[MSP_MAX_INSTANCES];
 
     AP_Int8 _options;
@@ -78,16 +77,18 @@ private:
     MSP::osd_config_t _osd_config;
 
     struct {
-        bool flashing_on;                                       // OSD item flashing support
+        bool flashing_on;                                       // OSD item flashing support @1.4Hz
+        bool slow_flashing_on;                                  // OSD item flashing support @0.5H
         uint8_t last_flight_mode = 255;
         uint32_t last_flight_mode_change_ms;
         bool flight_mode_focus;                                 // do we need to steal focus from text messages
         bool osd_initialized;                                   // for one time osd initialization
         uint8_t backend_count;                                  // actual count of active bacends
+        uint8_t current_screen;                                 // defaults to screen 0
     } _msp_status;
 
     bool init_backend(uint8_t backend_idx, AP_HAL::UARTDriver *uart, AP_SerialManager::SerialProtocol protocol);
-    void init_osd();
+    void update_osd_item_settings();
     void loop(void);
     AP_MSP_Telem_Backend* find_protocol(const AP_SerialManager::SerialProtocol protocol) const;
 
diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
index 599fa40947..2eab6217b3 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
@@ -158,7 +158,7 @@ uint8_t AP_MSP_Telem_Backend::calc_cell_count(const float battery_voltage)
     return floorf((battery_voltage / CELLFULL) + 1);
 }
 
-float AP_MSP_Telem_Backend::get_vspeed_ms(void)
+float AP_MSP_Telem_Backend::get_vspeed_ms(void) const
 {
     {
         // release semaphore as soon as possible
@@ -254,7 +254,7 @@ void AP_MSP_Telem_Backend::update_airspeed(airspeed_state_t &airspeed_state)
     MSP OSDs can display up to MSP_TXT_VISIBLE_CHARS chars (UTF8 characters are supported)
     We display the flight mode string either with or without wind state
 */
-void AP_MSP_Telem_Backend::update_flight_mode_str(char *flight_mode_str, bool wind_enabled)
+void AP_MSP_Telem_Backend::update_flight_mode_str(char *flight_mode_str, uint8_t size, bool wind_enabled)
 {
 #if OSD_ENABLED
     AP_OSD *osd = AP::osd();
@@ -267,7 +267,7 @@ void AP_MSP_Telem_Backend::update_flight_mode_str(char *flight_mode_str, bool wi
         return;
     }
     // clear
-    memset(flight_mode_str, 0, MSP_TXT_BUFFER_SIZE);
+    memset(flight_mode_str, 0, size);
 
     if (wind_enabled) {
         /*
@@ -282,7 +282,12 @@ void AP_MSP_Telem_Backend::update_flight_mode_str(char *flight_mode_str, bool wi
         }
         bool invert_wind = false;
 #if OSD_ENABLED
-        invert_wind = osd->screen[0].check_option(AP_OSD::OPTION_INVERTED_WIND);
+        AP_MSP *msp = AP::msp();
+        if (msp == nullptr) {
+            return;
+        }
+
+        invert_wind = osd->screen[msp->_msp_status.current_screen].check_option(AP_OSD::OPTION_INVERTED_WIND);
 #endif
         if (invert_wind) {
             v = -v;
@@ -299,9 +304,9 @@ void AP_MSP_Telem_Backend::update_flight_mode_str(char *flight_mode_str, bool wi
             const int32_t angle = wrap_360_cd(DEGX100 * atan2f(v.y, v.x) - ahrs.yaw_sensor);
             const int32_t interval = 36000 / ARRAY_SIZE(arrows);
             uint8_t arrow = arrows[((angle + interval / 2) / interval) % ARRAY_SIZE(arrows)];
-            snprintf(flight_mode_str, MSP_TXT_BUFFER_SIZE, "%s %d%s%c%c%c", notify->get_flight_mode_str(),  (uint8_t)roundf(v_length), unit, 0xE2, 0x86, arrow);
+            snprintf(flight_mode_str, size, "%s %d%s%c%c%c", notify->get_flight_mode_str(),  (uint8_t)roundf(v_length), unit, 0xE2, 0x86, arrow);
         } else {
-            snprintf(flight_mode_str, MSP_TXT_BUFFER_SIZE, "%s ---%s", notify->get_flight_mode_str(), unit);
+            snprintf(flight_mode_str, size, "%s ---%s", notify->get_flight_mode_str(), unit);
         }
     } else {
         /*
@@ -312,16 +317,10 @@ void AP_MSP_Telem_Backend::update_flight_mode_str(char *flight_mode_str, bool wi
                 MANU [SS]
         */
 #ifndef HAL_NO_GCS
-        const bool simple_mode = gcs().simple_input_active();
-        const bool supersimple_mode = gcs().supersimple_input_active();
-        const char* simple_mode_str = simple_mode ? " [S]" : (supersimple_mode ? " [SS]" : "");
-
-        char buffer[MSP_TXT_BUFFER_SIZE] {};
-        // flightmode
-        const uint8_t used = snprintf(buffer, ARRAY_SIZE(buffer), "%s%s", notify->get_flight_mode_str(), simple_mode_str);
-        // left pad
-        uint8_t left_padded_len = MSP_TXT_VISIBLE_CHARS - (MSP_TXT_VISIBLE_CHARS - used)/2;
-        snprintf(flight_mode_str, MSP_TXT_BUFFER_SIZE, "%*s", left_padded_len, buffer);
+        const char* simple_mode_str = gcs().simple_input_active() ? " [S]" : (gcs().supersimple_input_active() ? " [SS]" : "");
+        snprintf(flight_mode_str, size, "%s%s", notify->get_flight_mode_str(), simple_mode_str);
+#else
+        snprintf(flight_mode_str, size, "%s", notify->get_flight_mode_str());
 #endif
     }
 }
@@ -628,7 +627,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_raw_gps(sbuf_t *dst)
     // handle airspeed override
     bool airspeed_en = false;
 #if OSD_ENABLED
-    airspeed_en = osd->screen[0].aspeed.enabled;
+    AP_MSP *msp = AP::msp();
+    if (msp == nullptr) {
+        return MSP_RESULT_ERROR;
+    }
+
+    airspeed_en = osd->screen[msp->_msp_status.current_screen].aspeed.enabled;
 #endif
     if (airspeed_en) {
         airspeed_state_t airspeed_state;
@@ -736,9 +740,9 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_name(sbuf_t *dst)
             bool wind_en = false;
             char flight_mode_str[MSP_TXT_BUFFER_SIZE];
 #if OSD_ENABLED
-            wind_en = osd->screen[0].wind.enabled;
+            wind_en = osd->screen[msp->_msp_status.current_screen].wind.enabled;
 #endif
-            update_flight_mode_str(flight_mode_str, wind_en);
+            update_flight_mode_str(flight_mode_str, ARRAY_SIZE(flight_mode_str), wind_en);
             sbuf_write_data(dst, flight_mode_str, ARRAY_SIZE(flight_mode_str));  // rendered as up to MSP_TXT_VISIBLE_CHARS chars with UTF8 support
         }
     }
@@ -889,28 +893,25 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_altitude(sbuf_t *dst)
 
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_analog(sbuf_t *dst)
 {
-    AP_RSSI* rssi = AP::rssi();
-    if (rssi == nullptr) {
-        return MSP_RESULT_ERROR;
-    }
     battery_state_t battery_state;
     update_battery_state(battery_state);
 
+    float rssi;
     const struct PACKED {
         uint8_t voltage_dv;
         uint16_t mah;
         uint16_t rssi;
         int16_t current_ca;
         uint16_t voltage_cv;
-    } battery {
+    } analog {
         voltage_dv : (uint8_t)constrain_int16(battery_state.batt_voltage_v * 10, 0, 255),                   // battery voltage V to dV
         mah : (uint16_t)constrain_int32(battery_state.batt_consumed_mah, 0, 0xFFFF),                        // milliamp hours drawn from battery
-        rssi : uint16_t(rssi->enabled() ? rssi->read_receiver_rssi() * 1023 : 0),                           // rssi 0-1 to 0-1023
+        rssi : uint16_t(get_rssi(rssi) ? (uint16_t)constrain_float(rssi,0,1) * 1023 : 0),                   // rssi 0-1 to 0-1023),                           // rssi 0-1 to 0-1023
         current_ca : (int16_t)constrain_int32(battery_state.batt_current_a * 100, -0x8000, 0x7FFF),         // current A to cA (0.01 steps, range is -320A to 320A)
         voltage_cv : (uint16_t)constrain_int32(battery_state.batt_voltage_v * 100,0,0xFFFF)                 // battery voltage in 0.01V steps
     };
 
-    sbuf_write_data(dst, &battery, sizeof(battery));
+    sbuf_write_data(dst, &analog, sizeof(analog));
     return MSP_RESULT_ACK;
 }
 
@@ -962,8 +963,8 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_esc_sensor_data(sbuf_t *d
         for (uint8_t i = 0; i < esc_sensor.num_motors; i++) {
             int16_t temp = 0;
             float rpm = 0.0f;
-            telem.get_rpm(i, rpm);
-            telem.get_temperature(i, temp);
+            IGNORE_RETURN(telem.get_rpm(i, rpm));
+            IGNORE_RETURN(telem.get_temperature(i, temp));
             esc_sensor.data[i].temp = uint8_t(temp * 0.01f);
             esc_sensor.data[i].rpm = uint16_t(rpm * 0.1f);
         }
@@ -1098,6 +1099,7 @@ void AP_MSP_Telem_Backend::hide_osd_items(void)
     BIT_CLEAR(osd_hidden_items_bitmask, OSD_AVG_CELL_VOLTAGE);
     BIT_CLEAR(osd_hidden_items_bitmask, OSD_MAIN_BATT_VOLTAGE);
     BIT_CLEAR(osd_hidden_items_bitmask, OSD_RTC_DATETIME);
+    BIT_CLEAR(osd_hidden_items_bitmask, OSD_RSSI_VALUE);
 
     if (msp->_msp_status.flashing_on) {
         // flash satcount when no 3D Fix
@@ -1116,7 +1118,7 @@ void AP_MSP_Telem_Backend::hide_osd_items(void)
         // flash airspeed if there's no estimate
         bool airspeed_en = false;
 #if OSD_ENABLED
-        airspeed_en = osd->screen[0].aspeed.enabled;
+        airspeed_en = osd->screen[msp->_msp_status.current_screen].aspeed.enabled;
 #endif
         if (airspeed_en) {
             airspeed_state_t airspeed_state;
@@ -1139,6 +1141,19 @@ void AP_MSP_Telem_Backend::hide_osd_items(void)
         if (!AP::rtc().get_utc_usec(time_usec)) {
             BIT_SET(osd_hidden_items_bitmask, OSD_RTC_DATETIME);
         }
+        // flash rssi if disabled
+        float rssi;
+        if (!get_rssi(rssi)) {
+            BIT_SET(osd_hidden_items_bitmask, OSD_RSSI_VALUE);
+        }
+    }
+    // disable flashing for min/max items
+    if (displaying_stats_screen()) {
+        BIT_CLEAR(osd_hidden_items_bitmask, OSD_HOME_DIST);
+        BIT_CLEAR(osd_hidden_items_bitmask, OSD_GPS_SPEED);
+        BIT_CLEAR(osd_hidden_items_bitmask, OSD_CRAFT_NAME);
+        BIT_CLEAR(osd_hidden_items_bitmask, OSD_MAIN_BATT_VOLTAGE);
+        BIT_CLEAR(osd_hidden_items_bitmask, OSD_RSSI_VALUE);
     }
 }
 
@@ -1202,4 +1217,33 @@ void AP_MSP_Telem_Backend::msp_displayport_write_string(uint8_t col, uint8_t row
     msp_send_packet(MSP_DISPLAYPORT, MSP::MSP_V1, &packet, 4 + len, false);
 }
 #endif //HAL_WITH_MSP_DISPLAYPORT
+bool AP_MSP_Telem_Backend::displaying_stats_screen() const
+{
+#if OSD_ENABLED
+    AP_OSD *osd = AP::osd();
+    if (osd == nullptr) {
+        return false;
+    }
+    AP_MSP *msp = AP::msp();
+    if (msp == nullptr) {
+        return false;
+    }
+    return osd->screen[msp->_msp_status.current_screen].stat.enabled;
+#else
+    return false;
+#endif
+}
+
+bool AP_MSP_Telem_Backend::get_rssi(float &rssi) const
+{
+    AP_RSSI* ap_rssi = AP::rssi();
+    if (ap_rssi == nullptr) {
+        return false;
+    }
+    if (!ap_rssi->enabled()) {
+        return false;
+    }
+    rssi =  ap_rssi->read_receiver_rssi(); // range is [0-1]
+    return true;
+}
 #endif //HAL_MSP_ENABLED
diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.h b/libraries/AP_MSP/AP_MSP_Telem_Backend.h
index 0ff57b5e1d..a6e70a25d8 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.h
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.h
@@ -17,6 +17,8 @@
 #pragma once
 
 #include <AP_RCTelemetry/AP_RCTelemetry.h>
+#include <AP_OSD/AP_OSD.h>
+
 #include "msp.h"
 
 #include <time.h>
@@ -155,12 +157,13 @@ protected:
 
     // telemetry helpers
     uint8_t calc_cell_count(float battery_voltage);
-    float get_vspeed_ms(void);
-    void update_home_pos(home_state_t &home_state);
-    void update_battery_state(battery_state_t &_battery_state);
-    void update_gps_state(gps_state_t &gps_state);
-    void update_airspeed(airspeed_state_t &airspeed_state);
-    void update_flight_mode_str(char *flight_mode_str, bool wind_enabled);
+    virtual float get_vspeed_ms(void) const;
+    virtual bool get_rssi(float &rssi) const;
+    virtual void update_home_pos(home_state_t &home_state);
+    virtual void update_battery_state(battery_state_t &_battery_state);
+    virtual void update_gps_state(gps_state_t &gps_state);
+    virtual void update_airspeed(airspeed_state_t &airspeed_state);
+    virtual void update_flight_mode_str(char *flight_mode_str, uint8_t size, bool wind_enabled);
 
     // MSP parsing
     void msp_process_received_command();
@@ -189,6 +192,7 @@ protected:
     virtual bool is_scheduler_enabled() const = 0;                            // only osd backends should allow a push type telemetry
     virtual bool use_msp_thread() const {return true;};                       // is this backend hanlded by the MSP thread?
     virtual AP_SerialManager::SerialProtocol get_serial_protocol() const = 0;
+    virtual bool displaying_stats_screen() const;
 
     // implementation specific MSP out command processing
     virtual MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst);
diff --git a/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp b/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
index d062a8d131..c92b346fc4 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
@@ -15,10 +15,14 @@
 
 #include <AP_Common/AP_FWVersion.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_Stats/AP_Stats.h>
+#include <AP_RSSI/AP_RSSI.h>
 
 #include "AP_MSP.h"
 #include "AP_MSP_Telem_DJI.h"
 
+#include <stdio.h>
+
 #if HAL_MSP_ENABLED
 extern const AP_HAL::HAL& hal;
 
@@ -37,10 +41,7 @@ bool AP_MSP_Telem_DJI::init_uart()
 bool AP_MSP_Telem_DJI::is_scheduler_enabled() const
 {
     const AP_MSP *msp = AP::msp();
-    if (msp == nullptr) {
-        return false;
-    }
-    return msp->check_option(AP_MSP::MspOption::OPTION_TELEMETRY_MODE);
+    return msp && msp->is_option_enabled(AP_MSP::Option::TELEMETRY_MODE);
 }
 
 void AP_MSP_Telem_DJI::hide_osd_items(void)
@@ -91,26 +92,158 @@ MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst)
 MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_esc_sensor_data(sbuf_t *dst)
 {
 #if HAL_WITH_ESC_TELEM
-    const auto msp = AP::msp();
-    if (msp && msp->check_option(AP_MSP::MspOption::OPTION_TELEMETRY_DJI_WORKAROUNDS)) {
-        AP_ESC_Telem& telem = AP::esc_telem();
-        int16_t highest_temperature = 0;
+    int16_t highest_temperature = 0;
+    AP_ESC_Telem& telem = AP::esc_telem();
+    if (!displaying_stats_screen()) {
         telem.get_highest_motor_temperature(highest_temperature);
-
-        const struct PACKED {
-            uint8_t temp;
-            uint16_t rpm;
-        } esc_sensor_data {
-            temp : uint8_t(highest_temperature * 0.01f),            // deg, report max temperature
-            rpm : uint16_t(telem.get_average_motor_rpm() * 0.1f)    // rpm, report average RPM across all motors
-        };
-
-        sbuf_write_data(dst, &esc_sensor_data, sizeof(esc_sensor_data));
     } else {
-        return AP_MSP_Telem_Backend::msp_process_out_esc_sensor_data(dst);
+        AP_OSD *osd = AP::osd();
+        if (osd == nullptr) {
+            return MSP_RESULT_ERROR;
+        }
+        WITH_SEMAPHORE(osd->get_semaphore());
+        highest_temperature = osd->get_stats_info().max_esc_temp;
     }
+    const struct PACKED {
+        uint8_t temp;
+        uint16_t rpm;
+    } esc_sensor_data {
+        temp : uint8_t(highest_temperature * 0.01f),            // deg, report max temperature
+        rpm : uint16_t(telem.get_average_motor_rpm() * 0.1f)    // rpm, report average RPM across all motors
+    };
+
+    sbuf_write_data(dst, &esc_sensor_data, sizeof(esc_sensor_data));
 #endif
     return MSP_RESULT_ACK;
 }
 
+void AP_MSP_Telem_DJI::update_home_pos(home_state_t &home_state)
+{
+    AP_MSP_Telem_Backend::update_home_pos(home_state);
+#if OSD_ENABLED
+    if (!displaying_stats_screen()) {
+        return;
+    }
+    AP_MSP *msp = AP::msp();
+    if (msp == nullptr) {
+        return;
+    }
+    AP_OSD *osd = AP::osd();
+    if (osd == nullptr) {
+        return;
+    }
+    WITH_SEMAPHORE(osd->get_semaphore());
+    // override telemetry with max distance and altitude info
+    // alternate max distance with traveled distance every 2 seconds
+    if (msp->_msp_status.slow_flashing_on) {
+        home_state.home_distance_m = osd->get_stats_info().max_dist_m;
+    } else {
+        home_state.home_distance_m = osd->get_stats_info().last_distance_m;
+    }
+    home_state.rel_altitude_cm = osd->get_stats_info().max_alt_m * 100;
+#endif
+}
+
+void AP_MSP_Telem_DJI::update_battery_state(battery_state_t &_battery_state)
+{
+    AP_MSP_Telem_Backend::update_battery_state(_battery_state);
+#if OSD_ENABLED
+    if (!displaying_stats_screen()) {
+        return;
+    }
+    AP_OSD *osd = AP::osd();
+    if (osd == nullptr) {
+        return;
+    }
+    WITH_SEMAPHORE(osd->get_semaphore());
+    // override telemetry with max current and voltage info
+    _battery_state.batt_current_a = osd->get_stats_info().max_current_a;
+    _battery_state.batt_voltage_v = osd->get_stats_info().min_voltage_v;
+#endif
+}
+
+void AP_MSP_Telem_DJI::update_gps_state(gps_state_t &gps_state)
+{
+    AP_MSP_Telem_Backend::update_gps_state(gps_state);
+#if OSD_ENABLED
+    if (!displaying_stats_screen()) {
+        return;
+    }
+    AP_OSD *osd = AP::osd();
+    if (osd == nullptr) {
+        return;
+    }
+    WITH_SEMAPHORE(osd->get_semaphore());
+    // override telemetry with max speed info
+    gps_state.speed_cms = osd->get_stats_info().max_speed_mps * 100;
+#endif
+}
+
+void AP_MSP_Telem_DJI::update_airspeed(airspeed_state_t &airspeed_state)
+{
+    AP_MSP_Telem_Backend::update_airspeed(airspeed_state);
+#if OSD_ENABLED
+    if (!displaying_stats_screen()) {
+        return;
+    }
+    AP_OSD *osd = AP::osd();
+    if (osd == nullptr) {
+        return;
+    }
+    WITH_SEMAPHORE(osd->get_semaphore());
+    // override telemetry with max speed info
+    airspeed_state.airspeed_estimate_ms = osd->get_stats_info().max_airspeed_mps;
+#endif
+}
+
+void AP_MSP_Telem_DJI::update_flight_mode_str(char *flight_mode_str, uint8_t size, bool wind_enabled)
+{
+    AP_MSP_Telem_Backend::update_flight_mode_str(flight_mode_str, size, wind_enabled);
+#if OSD_ENABLED
+    if (!displaying_stats_screen()) {
+        return;
+    }
+    AP_Stats *stats = AP::stats();
+    if (stats != nullptr) {
+        uint32_t t = stats->get_flight_time_s();
+        // need to check snprintf return value to prevent format-truncation warning in GCC because of -Werror=format-truncation
+        if (snprintf(flight_mode_str, size, "%s %3u:%02u", "STATS", unsigned(t/60), unsigned(t%60)) < 0) {
+            snprintf(flight_mode_str, size, "%s", "STATS --:--");
+        }
+    } else {
+        snprintf(flight_mode_str, size, "%s", "STATS");
+    }
+#endif
+}
+
+bool AP_MSP_Telem_DJI::get_rssi(float &rssi) const
+{
+    if (!AP_MSP_Telem_Backend::get_rssi(rssi)) {
+        return false;
+    }
+#if OSD_ENABLED
+    if (!displaying_stats_screen()) {
+        return true;
+    }
+    AP_RSSI* ap_rssi = AP::rssi();
+    if (ap_rssi == nullptr) {
+        return false;
+    }
+    if (!ap_rssi->enabled()) {
+        return false;
+    }
+    AP_OSD *osd = AP::osd();
+    if (osd == nullptr) {
+        return false;
+    }
+    WITH_SEMAPHORE(osd->get_semaphore());
+    // override telemetry with min rssi info
+    // Note: return false when min_rssi has not been updated yet by AP_OSD::update_stats()
+    if (is_equal(osd->get_stats_info().min_rssi, FLT_MAX)) {
+        return false;
+    }
+    rssi = osd->get_stats_info().min_rssi; // range is [0-1]
+#endif
+    return true;
+}
 #endif //HAL_MSP_ENABLED
diff --git a/libraries/AP_MSP/AP_MSP_Telem_DJI.h b/libraries/AP_MSP/AP_MSP_Telem_DJI.h
index 60b4fb3b81..0ce8aa9b84 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_DJI.h
+++ b/libraries/AP_MSP/AP_MSP_Telem_DJI.h
@@ -55,6 +55,14 @@ public:
     AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_DJI_FPV; };
     uint32_t get_osd_flight_mode_bitmask(void) override;
     void hide_osd_items(void) override;
+
+    bool get_rssi(float &rssi) const override;
+    void update_home_pos(home_state_t &home_state) override;
+    void update_battery_state(battery_state_t &_battery_state) override;
+    void update_gps_state(gps_state_t &gps_state) override;
+    void update_airspeed(airspeed_state_t &airspeed_state) override;
+    void update_flight_mode_str(char *flight_mode_str, uint8_t size, bool wind_enabled) override;
+
     MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
     MSP::MSPCommandResult msp_process_out_esc_sensor_data(MSP::sbuf_t *dst) override;
 
diff --git a/libraries/AP_MSP/AP_MSP_Telem_DisplayPort.cpp b/libraries/AP_MSP/AP_MSP_Telem_DisplayPort.cpp
index d95d009bda..7734724b12 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_DisplayPort.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_DisplayPort.cpp
@@ -32,7 +32,7 @@ MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_variant(sbuf_t *ds
         return MSP_RESULT_ERROR;
     }
     // do we use backend specific symbols table?
-    if (msp->check_option(AP_MSP::MspOption::OPTION_DISPLAYPORT_BTFL_SYMBOLS)) {
+    if (msp->is_option_enabled(AP_MSP::Option::DISPLAYPORT_BTFL_SYMBOLS)) {
         sbuf_write_data(dst, BETAFLIGHT_IDENTIFIER, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
     } else {
         sbuf_write_data(dst, ARDUPILOT_IDENTIFIER, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
diff --git a/libraries/AP_MSP/Tools/msposd.py b/libraries/AP_MSP/Tools/msposd.py
index ebb8c9e3bf..7a06fbda13 100755
--- a/libraries/AP_MSP/Tools/msposd.py
+++ b/libraries/AP_MSP/Tools/msposd.py
@@ -212,10 +212,10 @@ def display_all():
     display_text(msp.OSD_GPS_LAT, "Lat:%.07f" % (msp.get('RAW_GPS.Lat')*0.0000001))
     display_text(msp.OSD_GPS_LON, "Lon:%.07f" % (msp.get('RAW_GPS.Lon')*0.0000001))
     display_text(msp.OSD_RTC_DATETIME, "%04d-%02d-%02d %02d:%02d:%02d" % (msp.get('RTC.year'),msp.get('RTC.mon'),msp.get('RTC.mday'),msp.get('RTC.hour'),msp.get('RTC.min'),msp.get('RTC.sec')))
-    display_text(msp.OSD_DISARMED, "%s" % ("ARMED" if msp.get('STATUS.mode_flags')&0X01==1 else "DISARMED"))
+    display_text(msp.OSD_DISARMED, "%s" % ("" if msp.get('STATUS.mode_flags')&0X01==1 else "DISARMED"))
     display_homedir()
     display_text(msp.OSD_HOME_DIST, "Dist: %dm" % (msp.get('COMP_GPS.distanceToHome')))
-    display_text(msp.OSD_RSSI_VALUE, "Rssi:%02d" % (msp.get('ANALOG.rssi')))
+    display_text(msp.OSD_RSSI_VALUE, "Rssi:%02d" % (msp.get('ANALOG.rssi') * 0.097))
     display_text(msp.OSD_GPS_SPEED, "%.1fm/s" % (msp.get('RAW_GPS.Speed')*0.01))
     display_text(msp.OSD_GPS_SATS, "Sats:%u" % msp.get("RAW_GPS.numSat"))
     display_text(msp.OSD_ROLL_ANGLE, "Roll:%.1f" % (msp.get("ATTITUDE.roll")*0.1))
diff --git a/libraries/AP_MSP/Tools/osdtest.parm b/libraries/AP_MSP/Tools/osdtest.parm
index 7164e8857a..b72ef734a2 100644
--- a/libraries/AP_MSP/Tools/osdtest.parm
+++ b/libraries/AP_MSP/Tools/osdtest.parm
@@ -1,3 +1,4 @@
+OSD_CHAN         16.000000
 OSD1_ALTITUDE_EN 1.000000
 OSD1_ALTITUDE_X  24.000000
 OSD1_ALTITUDE_Y  8.000000
@@ -10,18 +11,12 @@ OSD1_ASPD1_Y     0.000000
 OSD1_ASPD2_EN    0.000000
 OSD1_ASPD2_X     0.000000
 OSD1_ASPD2_Y     0.000000
-OSD1_ASPEED_EN   0.000000
-OSD1_ASPEED_X    2.000000
-OSD1_ASPEED_Y    13.000000
+OSD1_ASPEED_EN   1.000000
 OSD1_ATEMP_EN    0.000000
 OSD1_ATEMP_X     0.000000
 OSD1_ATEMP_Y     0.000000
 OSD1_BAT2USED_EN 0.000000
-OSD1_BAT2USED_X  0.000000
-OSD1_BAT2USED_Y  0.000000
 OSD1_BAT2_VLT_EN 0.000000
-OSD1_BAT2_VLT_X  0.000000
-OSD1_BAT2_VLT_Y  0.000000
 OSD1_BATTBAR_EN  1.000000
 OSD1_BATTBAR_X   13.000000
 OSD1_BATTBAR_Y   15.000000
@@ -79,18 +74,18 @@ OSD1_GSPEED_Y    8.000000
 OSD1_HDOP_EN     0.000000
 OSD1_HDOP_X      0.000000
 OSD1_HDOP_Y      0.000000
-OSD1_HEADING_EN  1.000000
-OSD1_HEADING_X   13.000000
-OSD1_HEADING_Y   2.000000
+OSD1_HEADING_EN  0.000000
+OSD1_HEADING_X   0.000000
+OSD1_HEADING_Y   0.000000
 OSD1_HOMEDIR_EN  1.000000
 OSD1_HOMEDIR_X   1.000000
 OSD1_HOMEDIR_Y   2.000000
 OSD1_HOMEDIST_EN 1.000000
 OSD1_HOMEDIST_X  1.000000
 OSD1_HOMEDIST_Y  1.000000
-OSD1_HOME_EN     1.000000
-OSD1_HOME_X      14.000000
-OSD1_HOME_Y      1.000000
+OSD1_HOME_EN     0.000000
+OSD1_HOME_X      0.000000
+OSD1_HOME_Y      0.000000
 OSD1_HORIZON_EN  1.000000
 OSD1_HORIZON_X   14.000000
 OSD1_HORIZON_Y   8.000000
@@ -131,8 +126,59 @@ OSD1_WAYPOINT_EN 0.000000
 OSD1_WAYPOINT_X  0.000000
 OSD1_WAYPOINT_Y  0.000000
 OSD1_WIND_EN     1.000000
-OSD1_WIND_X      2.000000
-OSD1_WIND_Y      12.000000
 OSD1_XTRACK_EN   0.000000
 OSD1_XTRACK_X    0.000000
 OSD1_XTRACK_Y    0.000000
+OSD2_ENABLE      1.000000
+OSD2_STATS_EN    1.000000
+OSD2_ALTITUDE_EN 1.000000
+OSD2_ALTITUDE_X  13.000000
+OSD2_ALTITUDE_Y  6.000000
+OSD2_ARMING_EN   1.000000
+OSD2_ARMING_X    12.000000
+OSD2_ARMING_Y    14.000000
+OSD2_ASPEED_EN   1.000000
+OSD2_BATTBAR_EN  1.000000
+OSD2_BATTBAR_X   13.000000
+OSD2_BATTBAR_Y   15.000000
+OSD2_BATUSED_EN  1.000000
+OSD2_BATUSED_X   10.000000
+OSD2_BATUSED_Y   15.000000
+OSD2_BAT_VOLT_EN 1.000000
+OSD2_BAT_VOLT_X  13.000000
+OSD2_BAT_VOLT_Y  8.000000
+OSD2_CELLVOLT_EN 0.000000
+OSD2_CLK_EN      1.000000
+OSD2_CLK_X       22.000000
+OSD2_CLK_Y       0.000000
+OSD2_CURRENT_EN  1.000000
+OSD2_CURRENT_X   13.000000
+OSD2_CURRENT_Y   9.000000
+OSD2_GPSLAT_EN   1.000000
+OSD2_GPSLAT_X    13.000000
+OSD2_GPSLAT_Y    0.000000
+OSD2_GPSLONG_EN  1.000000
+OSD2_GPSLONG_X   13.000000
+OSD2_GPSLONG_Y   1.000000
+OSD2_GSPEED_EN   1.000000
+OSD2_GSPEED_X    13.000000
+OSD2_GSPEED_Y    5.000000
+OSD2_HDOP_EN     0.000000
+OSD2_HOMEDIR_EN  0.000000
+OSD2_HOMEDIST_EN 1.000000
+OSD2_HOMEDIST_X  13.000000
+OSD2_HOMEDIST_Y  7.000000
+OSD2_MESSAGE_EN  1.000000
+OSD2_MESSAGE_X   12.000000
+OSD2_MESSAGE_Y   3.000000
+OSD2_POWER_EN    1.000000
+OSD2_POWER_X     13.000000
+OSD2_POWER_Y     11.000000
+OSD2_RSSI_EN     1.000000
+OSD2_RSSI_X      13.000000
+OSD2_RSSI_Y      10.000000
+OSD2_SATS_EN     1.000000
+OSD2_SATS_X      1.000000
+OSD2_SATS_Y      0.000000
+OSD2_VSPEED_EN   0.000000
+
diff --git a/libraries/AP_MSP/Tools/pymsp.py b/libraries/AP_MSP/Tools/pymsp.py
index 812fb3fb8d..717ff707c7 100755
--- a/libraries/AP_MSP/Tools/pymsp.py
+++ b/libraries/AP_MSP/Tools/pymsp.py
@@ -236,6 +236,7 @@ class PyMSP:
         MSP_MOTOR_PINS: MSPItem("MOTOR_PINS", "8H","MP"),
         MSP_ANALOG:    MSPItem("ANALOG", "BHHHH", "dV,consumed_mah,rssi,current,volt"),
         MSP_STATUS:    MSPItem("STATUS", "HHHIBHHBBIB", "task_delta,i2c_err_count,sensor_status,mode_flags,nop_1,system_load,gyro_time,nop_2,nop_3,armed,extra"),
+        MSP_ESC_SENSOR_DATA:    MSPItem('ESC', "BH", "temp1,rpm1"),
         }
 
     def __init__(self):