diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/board.h b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/board.h
index 19d13e5b12..c7757213e2 100644
--- a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/board.h
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/board.h
@@ -133,16 +133,13 @@
 #define BOARD_DATAFLASH_PAGES 0x10000
 #define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes
 
-#if 1// if board's dataflash supports 4k erases then we can use it as FAT and share it via USB
+// if board's dataflash supports 4k erases then we can use it as FAT and share it via USB
 #define BOARD_DATAFLASH_FATFS
 #define BOARD_HAS_SDIO
 #define USB_MASSSTORAGE
 #define HAL_BOARD_LOG_DIRECTORY "0:"
 #define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN"
 //#define HAL_PARAM_DEFAULTS_PATH "0:/defaults.parm"
-#else
-// old dataflash logs
-#endif
 
 #define BOARD_UARTS_LAYOUT 2
 
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh
index c789f6c63e..e3d3f0a262 100755
--- a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh
@@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Airbot_bl.bin 0x08000000 
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000 
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Airbot.bin 0x08010000 
 /usr/local/stlink/st-util -m
 
 
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-plane-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-plane-STLINK.sh
index 4b32d9d6c1..19f9cbd7e0 100755
--- a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-plane-STLINK.sh
@@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Airbot_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Airbot.bin 0x08010000 && \
 /usr/local/stlink/st-util -m
 
 
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-DFU.sh b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-DFU.sh
new file mode 100755
index 0000000000..33ca58f8ab
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-DFU.sh
@@ -0,0 +1,8 @@
+#!/bin/sh
+
+#production binary for bootloader
+dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_Airbot.bin
+
+# bare metal binary
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_Airbot.bin
+
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-STLINK.sh
new file mode 100755
index 0000000000..c789f6c63e
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-STLINK.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Airbot_bl.bin 0x08000000 
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000 
+/usr/local/stlink/st-util -m
+
+
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-plane-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-plane-STLINK.sh
new file mode 100755
index 0000000000..4b32d9d6c1
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-plane-STLINK.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Airbot_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/board.h b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/board.h
index 6309f48c08..dd38ddd640 100644
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/board.h
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/board.h
@@ -148,17 +148,7 @@
 #define BOARD_DATAFLASH_NAME            "dataflash"
 #define BOARD_DATAFLASH_PAGES           0x2000
 #define BOARD_DATAFLASH_ERASE_SIZE (65536)// in bytes
-
-#if 0// use it as FAT and share it via USB
-#define BOARD_DATAFLASH_FATFS
-#define USB_MASSSTORAGE
-#define HAL_BOARD_LOG_DIRECTORY "0:/"
-#define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN"
-//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
-#else
-// old dataflash logs
-#endif
-
+#define HAL_BOARD_LOG_DIRECTORY "" // should be defined to logs works
 
 #define BOARD_UARTS_LAYOUT 1
 #define USE_SOFTSERIAL 1
@@ -186,10 +176,10 @@
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 
-//#define HAL_CONSOLE USB_Driver // console on USB
-//#define HAL_CONSOLE_PORT 0 // USB
-#define HAL_CONSOLE uart1Driver // console on radio
-#define HAL_CONSOLE_PORT 1 // console on radio
+#define HAL_CONSOLE USB_Driver // console on USB
+#define HAL_CONSOLE_PORT 0 // USB
+//#define HAL_CONSOLE uart1Driver // console on radio
+//#define HAL_CONSOLE_PORT 1 // console on radio
 
 /*
     // @Param: FLEXI_I2C
@@ -198,9 +188,8 @@
     // @Values: 0:USART, 1:I2C
     // @User: Advanced
     AP_GROUPINFO("FLEXI_I2C",    6, AP_Param_Helper, _flexi_i2c, 0) \
-
-
 */
+
 #define BOARD_HAL_VARINFO \
     AP_GROUPINFO("FLEXI_I2C",    30, AP_Param_Helper, _flexi_i2c, 0),
     
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-STLINK.sh
index f30ec497dc..374429b245 100755
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-STLINK.sh
@@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary or binary with bootloader
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Revolution_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Revolution.bin 0x08010000 && \
 /usr/local/stlink/st-util -m
 
 
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-plane-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-plane-STLINK.sh
index 672d4182ba..49a55c8722 100755
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-plane-STLINK.sh
@@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution.bin 0x08010000 && \
 /usr/local/stlink/st-util -m
 
 
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-STLINK.sh
new file mode 100755
index 0000000000..bba2dda0da
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-STLINK.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary without bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary or binary with bootloader
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../../ArduCopter/f4light_Revolution_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-plane-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-plane-STLINK.sh
new file mode 100755
index 0000000000..672d4182ba
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-plane-STLINK.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h
index 21a9898a6c..35d8d5e923 100644
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h
@@ -149,15 +149,11 @@
 #define BOARD_DATAFLASH_PAGES           0x10000
 #define BOARD_DATAFLASH_ERASE_SIZE      (4096)// in bytes
 
-#if 1// use it as FAT and share it via USB
 #define BOARD_DATAFLASH_FATFS
 #define USB_MASSSTORAGE
 #define HAL_BOARD_LOG_DIRECTORY "0:/"
 #define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN"
 //#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
-#else
-// old dataflash logs
-#endif
 
 
 #define BOARD_UARTS_LAYOUT 1
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/rules.mk b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/rules.mk
index 6721cf8045..e5714ea9ae 100644
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/rules.mk
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/rules.mk
@@ -49,3 +49,4 @@ TGT_BIN += $(OBJS_$(d))
 d               := $(dirstack_$(sp))
 sp              := $(basename $(sp))
 
+include $(HARDWARE_PATH)/massstorage/rules.mk
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-STLINK.sh
index 7840d9bcaf..313ddae093 100755
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-STLINK.sh
@@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary or binary with bootloader
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Revolution_SD_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Revolution_SD.bin 0x08010000 && \
 /usr/local/stlink/st-util -m
 
 
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-plane-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-plane-STLINK.sh
index 09de967380..4c76770e3a 100755
--- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-plane-STLINK.sh
@@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution_SD_bl.bin 0x08000000
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution_SD.bin 0x08010000
 /usr/local/stlink/st-util -m
 
 
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-STLINK.sh
new file mode 100755
index 0000000000..c8ab70888b
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-STLINK.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary without bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary or binary with bootloader
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../../ArduCopter/f4light_Revolution_SD_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-plane-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-plane-STLINK.sh
new file mode 100755
index 0000000000..27ef6c0774
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-plane-STLINK.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../../ArduPlane/f4light_Revolution_SD_bl.bin 0x08000000
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000
+/usr/local/stlink/st-util -m
+
+
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.cpp b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.cpp
index 059eac6ac2..875c197dc6 100644
--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.cpp
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.cpp
@@ -178,10 +178,14 @@ void boardInit(void) {
 #endif
 
 #ifdef BOARD_MPU6000_DRDY_PIN
-    // Init MPU6000 DRDY pin - but it not used by driver
     gpio_set_mode(PIN_MAP[BOARD_MPU6000_DRDY_PIN].gpio_device, PIN_MAP[BOARD_MPU6000_DRDY_PIN].gpio_bit, GPIO_INPUT_PU);
 #endif
 
+#ifdef BOARD_BUZZER_PIN
+    gpio_set_mode(PIN_MAP[BOARD_BUZZER_PIN].gpio_device, PIN_MAP[BOARD_BUZZER_PIN].gpio_bit, GPIO_OUTPUT_PP);
+    gpio_write_bit(PIN_MAP[BOARD_BUZZER_PIN].gpio_device, PIN_MAP[BOARD_BUZZER_PIN].gpio_bit, HAL_BUZZER_OFF);
+#endif
+
 #ifdef BOARD_SBUS_INVERTER
 // it is not necessary because of 10K resistor to ground
     gpio_set_mode( PIN_MAP[BOARD_SBUS_INVERTER].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER].gpio_bit, GPIO_OUTPUT_PP);
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.h b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.h
index ee8bbbb135..27fd0ece2c 100644
--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.h
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.h
@@ -61,8 +61,6 @@
 
 
 
-
-
 #define BOARD_USB_SENSE 11      // PC5
 
 
@@ -75,17 +73,16 @@
 //#define BOARD_SOFTSERIAL_RX 15
 
 
-# define BOARD_BLUE_LED_PIN        36  // BLUE
-# define BOARD_GREEN_LED_PIN        6   // NC - PC0 pin 8
+# define BOARD_BLUE_LED_PIN      36  // BLUE
+# define BOARD_GREEN_LED_PIN     105   // NC - PC0 pin 8
 
 # define HAL_GPIO_A_LED_PIN      BOARD_BLUE_LED_PIN
 # define HAL_GPIO_B_LED_PIN      BOARD_GREEN_LED_PIN
 
-# define HAL_GPIO_LED_ON           LOW
-# define HAL_GPIO_LED_OFF          HIGH
+# define HAL_GPIO_LED_ON         LOW
+# define HAL_GPIO_LED_OFF        HIGH
 
-
-#define BOARD_NR_GPIO_PINS      109
+#define BOARD_NR_GPIO_PINS       109
 
 //TODO add #define BOARD_HAS_UART3 ?
 
@@ -118,16 +115,12 @@
 
 #define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI
 #define BOARD_INS_ROTATION  ROTATION_NONE
-#define BOARD_INS_MPU60x0_NAME            "mpu6000"
-
-#define BOARD_MPU6000_CS_PIN	51  // PA4
-#define BOARD_MPU6000_DRDY_PIN	10  // PC4
-
-
+#define BOARD_INS_MPU60x0_NAME          "mpu6000"
+#define BOARD_MPU6000_CS_PIN	        51  // PA4
+#define BOARD_MPU6000_DRDY_PIN	        10  // PC4
 
 #define BOARD_STORAGE_SIZE            8192 // 4096 // EEPROM size
 
-
 #define BOARD_SDCARD_NAME "sdcard"
 #define BOARD_SDCARD_CS_PIN    2 // PB12
 //#define BOARD_SDCARD_DET_PIN  38 // PB7
@@ -172,13 +165,8 @@
 #define SERVO_PIN_5 105 // PB4   - buzzer
 //#define SERVO_PIN_6 22 // PA8
 
-#if 1
  #define HAL_CONSOLE USB_Driver // console on USB
  #define HAL_CONSOLE_PORT 0
-#else
- #define HAL_CONSOLE uart1Driver // console on radio
- #define HAL_CONSOLE_PORT 1
-#endif
 
 /*
     // @Param: USB_STORAGE
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-STLINK.sh
index 2184b4418a..b65a0b7b14 100755
--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-STLINK.sh
@@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_cl_racing_bl.bin 0x08000000 && \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_cl_racing.bin 0x08010000 && \
 /usr/local/stlink/st-util -m
 
 
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-plane-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-plane-STLINK.sh
index 0fb68943b7..ee97066f9a 100755
--- a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-plane-STLINK.sh
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-plane-STLINK.sh
@@ -4,9 +4,7 @@
 #/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_cl_racing_bl.bin 0x08000000 &&  \
-/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_cl_racing.bin 0x08010000 &&  \
 /usr/local/stlink/st-util -m
 
 
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-DFU.sh b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-DFU.sh
new file mode 100755
index 0000000000..55b92a8469
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-DFU.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+#production binary for bootloader
+#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin
+
+# bare metal binary
+
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
+#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R
+
+dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_cl_racing.bin -R
+
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-STLINK.sh
new file mode 100755
index 0000000000..2184b4418a
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-STLINK.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_cl_racing_bl.bin 0x08000000 && \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
diff --git a/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-plane-STLINK.sh b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-plane-STLINK.sh
new file mode 100755
index 0000000000..0fb68943b7
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-plane-STLINK.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset read  eeprom.bin 0x08004000  0xc000 && \
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_cl_racing_bl.bin 0x08000000 &&  \
+/usr/local/stlink/st-flash  --reset write eeprom.bin 0x08004000  && \
+/usr/local/stlink/st-util -m
+
+
diff --git a/libraries/AP_HAL_F4Light/support/EEPROM_Read_DFU.sh b/libraries/AP_HAL_F4Light/support/EEPROM_Read_DFU.sh
new file mode 100755
index 0000000000..7f10fabe9d
--- /dev/null
+++ b/libraries/AP_HAL_F4Light/support/EEPROM_Read_DFU.sh
@@ -0,0 +1,3 @@
+#!/bin/sh
+
+dfu-util -a 0 --dfuse-address 0x08004000:leave -Z 0xc000 -U $1.bin  -R
diff --git a/libraries/AP_HAL_F4Light/support/EEPROM_Write.sh b/libraries/AP_HAL_F4Light/support/EEPROM_Write.sh
index f967ac43e4..1fd5a8cc89 100755
--- a/libraries/AP_HAL_F4Light/support/EEPROM_Write.sh
+++ b/libraries/AP_HAL_F4Light/support/EEPROM_Write.sh
@@ -1,4 +1,4 @@
 #!/bin/sh
-/usr/local/stlink/st-flash  --reset write $1.bin 0x08004000 
+/usr/local/stlink/st-flash  --reset write $1 0x08004000 
 
 
diff --git a/libraries/AP_HAL_F4Light/support/EEPROM_Write_DFU.sh b/libraries/AP_HAL_F4Light/support/EEPROM_Write_DFU.sh
index fa4850f6cb..f5e801038f 100755
--- a/libraries/AP_HAL_F4Light/support/EEPROM_Write_DFU.sh
+++ b/libraries/AP_HAL_F4Light/support/EEPROM_Write_DFU.sh
@@ -1,3 +1,3 @@
 #!/bin/sh
 
-dfu-util -a 0 --dfuse-address 0x08004000:leave -D $1.bin -R
+dfu-util -a 0 --dfuse-address 0x08004000:leave -D $1 -R
diff --git a/libraries/AP_HAL_F4Light/support/MMM.sh b/libraries/AP_HAL_F4Light/support/MMM.sh
index 45fe46349a..f1ba3bd588 100755
--- a/libraries/AP_HAL_F4Light/support/MMM.sh
+++ b/libraries/AP_HAL_F4Light/support/MMM.sh
@@ -86,12 +86,10 @@ mkdir -p $ROOT/Release/Plane
  cp $ROOT/ArduPlane/f4light_cl_racing_bl.bin $ROOT/Release/Plane
  cp $ROOT/ArduPlane/f4light_cl_racing_bl.dfu $ROOT/Release/Plane
 
- make f4light-clean
-
  )
 ) && ( # AirBotF4 board
  cd $ROOT/ArduCopter
-# make f4light-clean
+ make f4light-clean
  make f4light VERBOSE=1 BOARD=f4light_AirbotV2  && (
 
  cp $ROOT/ArduCopter/f4light_AirbotV2.bin $ROOT/Release/Copter
diff --git a/libraries/AP_HAL_F4Light/support/PULL_MASTER.sh b/libraries/AP_HAL_F4Light/support/PULL_MASTER.sh
index f3c1d317af..5e7216795b 100755
--- a/libraries/AP_HAL_F4Light/support/PULL_MASTER.sh
+++ b/libraries/AP_HAL_F4Light/support/PULL_MASTER.sh
@@ -3,6 +3,6 @@ git pull --rebase git://github.com/ArduPilot/ardupilot.git master
 
 # Step 2: Merge the changes and update on GitHub.
 
-git checkout RevoMini
-git rebase master && git push origin RevoMini
+git checkout Revo
+git rebase master && git push origin Revo
 
diff --git a/libraries/AP_HAL_F4Light/support/UPDATE_OSD.sh b/libraries/AP_HAL_F4Light/support/UPDATE_OSD.sh
index 7eac6019b1..6fb2be4d2e 100755
--- a/libraries/AP_HAL_F4Light/support/UPDATE_OSD.sh
+++ b/libraries/AP_HAL_F4Light/support/UPDATE_OSD.sh
@@ -7,8 +7,6 @@ git checkout -f master
 git fetch origin
 git reset --hard origin/master
 popd
-
 # git diff # this should show a change to git hash of OSD
 git add minimosd-extra
 git commit -m 'HAL_F4Light: updated OSD submodule'
-