diff --git a/lib/Espfc/src/Actuator.h b/lib/Espfc/src/Actuator.h
index f3d22c13..c054898c 100644
--- a/lib/Espfc/src/Actuator.h
+++ b/lib/Espfc/src/Actuator.h
@@ -42,7 +42,7 @@ class Actuator
       updateDynLpf();
       updateRescueConfig();
 
-      if(_model.config.debugMode == DEBUG_PIDLOOP)
+      if(_model.config.debug.mode == DEBUG_PIDLOOP)
       {
         _model.state.debug[4] = micros() - startTime;
       }
diff --git a/lib/Espfc/src/Blackbox/Blackbox.cpp b/lib/Espfc/src/Blackbox/Blackbox.cpp
index a7250eca..a2c40e83 100644
--- a/lib/Espfc/src/Blackbox/Blackbox.cpp
+++ b/lib/Espfc/src/Blackbox/Blackbox.cpp
@@ -38,7 +38,7 @@ int Blackbox::begin()
   }
 
   systemConfigMutable()->activeRateProfile = 0;
-  systemConfigMutable()->debug_mode = debugMode = _model.config.debugMode;
+  systemConfigMutable()->debug_mode = debugMode = _model.config.debug.mode;
 
   controlRateConfig_t *rp = controlRateProfilesMutable(systemConfig()->activeRateProfile);
   for(int i = 0; i <= AXIS_YAW; i++)
@@ -50,8 +50,8 @@ int Blackbox::begin()
   }
   rp->thrMid8 = 50;
   rp->thrExpo8 = 0;
-  rp->dynThrPID = _model.config.tpaScale;
-  rp->tpa_breakpoint = _model.config.tpaBreakpoint;
+  rp->dynThrPID = _model.config.controller.tpaScale;
+  rp->tpa_breakpoint = _model.config.controller.tpaBreakpoint;
   rp->rates_type = _model.config.input.rateType;
 
   pidProfile_s * cp = currentPidProfile = &_pidProfile;
@@ -82,8 +82,8 @@ int Blackbox::begin()
   cp->ff_boost = 0;
   cp->feedForwardTransition = 0;
   cp->tpa_mode = 0; // PD
-  cp->tpa_rate = _model.config.tpaScale;
-  cp->tpa_breakpoint = _model.config.tpaBreakpoint;
+  cp->tpa_rate = _model.config.controller.tpaScale;
+  cp->tpa_breakpoint = _model.config.controller.tpaBreakpoint;
   cp->motor_output_limit = _model.config.output.motorLimit;
   cp->throttle_boost = 0;
   cp->throttle_boost_cutoff = 100;
@@ -225,7 +225,7 @@ int FAST_CODE_ATTR Blackbox::update()
   }
   //PIN_DEBUG(LOW);
 
-  if(_model.config.debugMode == DEBUG_PIDLOOP)
+  if(_model.config.debug.mode == DEBUG_PIDLOOP)
   {
     _model.state.debug[5] = micros() - startTime;
   }
@@ -263,7 +263,7 @@ void FAST_CODE_ATTR Blackbox::updateData()
       motor[i] = PWM_TO_DSHOT(motor[i]);
     }
   }
-  if(_model.config.debugMode != DEBUG_NONE && _model.config.debugMode != DEBUG_BLACKBOX_OUTPUT)
+  if(_model.config.debug.mode != DEBUG_NONE && _model.config.debug.mode != DEBUG_BLACKBOX_OUTPUT)
   {
     for(size_t i = 0; i < 8; i++)
     {
diff --git a/lib/Espfc/src/Cli.h b/lib/Espfc/src/Cli.h
index 2df27caa..2d2c949f 100644
--- a/lib/Espfc/src/Cli.h
+++ b/lib/Espfc/src/Cli.h
@@ -429,8 +429,8 @@ class Cli
         Param(PSTR("feature_soft_serial"), &c.featureMask, 6),
         Param(PSTR("feature_telemetry"), &c.featureMask, 10),
 
-        Param(PSTR("debug_mode"), &c.debugMode, debugModeChoices),
-        Param(PSTR("debug_axis"), &c.debugAxis),
+        Param(PSTR("debug_mode"), &c.debug.mode, debugModeChoices),
+        Param(PSTR("debug_axis"), &c.debug.axis),
 
         Param(PSTR("gyro_bus"), &c.gyro.bus, busDevChoices),
         Param(PSTR("gyro_dev"), &c.gyro.dev, gyroDevChoices),
@@ -631,8 +631,8 @@ class Cli
         Param(PSTR("pid_iterm_zero"), &c.iterm.lowThrottleZeroIterm),
         Param(PSTR("pid_iterm_relax"), &c.iterm.relax, inputItermRelaxChoices),
         Param(PSTR("pid_iterm_relax_cutoff"), &c.iterm.relaxCutoff),
-        Param(PSTR("pid_tpa_scale"), &c.tpaScale),
-        Param(PSTR("pid_tpa_breakpoint"), &c.tpaBreakpoint),
+        Param(PSTR("pid_tpa_scale"), &c.controller.tpaScale),
+        Param(PSTR("pid_tpa_breakpoint"), &c.controller.tpaBreakpoint),
 
         Param(PSTR("mixer_sync"), &c.mixerSync),
         Param(PSTR("mixer_type"), &c.mixer.type, mixerTypeChoices),
diff --git a/lib/Espfc/src/Controller.cpp b/lib/Espfc/src/Controller.cpp
index d44fb634..afa8d52e 100644
--- a/lib/Espfc/src/Controller.cpp
+++ b/lib/Espfc/src/Controller.cpp
@@ -15,7 +15,7 @@ int Controller::begin()
 int FAST_CODE_ATTR Controller::update()
 {
   uint32_t startTime = 0;
-  if(_model.config.debugMode == DEBUG_PIDLOOP)
+  if(_model.config.debug.mode == DEBUG_PIDLOOP)
   {
     startTime = micros();
     _model.state.debug[0] = startTime - _model.state.loopTimer.last;
@@ -46,7 +46,7 @@ int FAST_CODE_ATTR Controller::update()
     }
   }
 
-  if(_model.config.debugMode == DEBUG_PIDLOOP)
+  if(_model.config.debug.mode == DEBUG_PIDLOOP)
   {
     _model.state.debug[2] = micros() - startTime;
   }
@@ -72,7 +72,7 @@ void Controller::outerLoopRobot()
   _model.state.desiredAngle.set(AXIS_PITCH, angle);
   _model.state.desiredRate[AXIS_YAW] = _model.state.input[AXIS_YAW] * Math::toRad(_model.config.level.rateLimit);
 
-  if(_model.config.debugMode == DEBUG_ANGLERATE)
+  if(_model.config.debug.mode == DEBUG_ANGLERATE)
   {
     _model.state.debug[0] = speed * 1000;
     _model.state.debug[1] = lrintf(degrees(angle) * 10);
@@ -99,7 +99,7 @@ void Controller::innerLoopRobot()
     _model.state.output[AXIS_YAW] = 0.f;
   }
 
-  if(_model.config.debugMode == DEBUG_ANGLERATE)
+  if(_model.config.debug.mode == DEBUG_ANGLERATE)
   {
     _model.state.debug[2] = lrintf(degrees(_model.state.angle[AXIS_PITCH]) * 10);
     _model.state.debug[3] = lrintf(_model.state.output[AXIS_PITCH] * 1000);
@@ -129,7 +129,7 @@ void FAST_CODE_ATTR Controller::outerLoop()
   _model.state.desiredRate[AXIS_YAW] = calculateSetpointRate(AXIS_YAW, _model.state.input[AXIS_YAW]);
   _model.state.desiredRate[AXIS_THRUST] = _model.state.input[AXIS_THRUST];
 
-  if(_model.config.debugMode == DEBUG_ANGLERATE)
+  if(_model.config.debug.mode == DEBUG_ANGLERATE)
   {
     for(size_t i = 0; i < 3; ++i)
     {
@@ -148,7 +148,7 @@ void FAST_CODE_ATTR Controller::innerLoop()
   }
   _model.state.output[AXIS_THRUST] = _model.state.desiredRate[AXIS_THRUST];
 
-  if(_model.config.debugMode == DEBUG_ITERM_RELAX)
+  if(_model.config.debug.mode == DEBUG_ITERM_RELAX)
   {
     _model.state.debug[0] = lrintf(Math::toDeg(_model.state.innerPid[0].itermRelaxBase));
     _model.state.debug[1] = lrintf(_model.state.innerPid[0].itermRelaxFactor * 100.0f);
@@ -159,9 +159,9 @@ void FAST_CODE_ATTR Controller::innerLoop()
 
 float Controller::getTpaFactor() const
 {
-  if(_model.config.tpaScale == 0) return 1.f;
-  float t = Math::clamp(_model.state.inputUs[AXIS_THRUST], (float)_model.config.tpaBreakpoint, 2000.f);
-  return Math::map(t, (float)_model.config.tpaBreakpoint, 2000.f, 1.f, 1.f - ((float)_model.config.tpaScale * 0.01f));
+  if(_model.config.controller.tpaScale == 0) return 1.f;
+  float t = Math::clamp(_model.state.inputUs[AXIS_THRUST], (float)_model.config.controller.tpaBreakpoint, 2000.f);
+  return Math::map(t, (float)_model.config.controller.tpaBreakpoint, 2000.f, 1.f, 1.f - ((float)_model.config.controller.tpaScale * 0.01f));
 }
 
 void Controller::resetIterm()
diff --git a/lib/Espfc/src/Fusion.cpp b/lib/Espfc/src/Fusion.cpp
index 99be1d3b..8fe3b804 100644
--- a/lib/Espfc/src/Fusion.cpp
+++ b/lib/Espfc/src/Fusion.cpp
@@ -70,7 +70,7 @@ int FAST_CODE_ATTR Fusion::update()
     }
     //else madgwickFusion1();
 
-    if(_model.config.debugMode == DEBUG_ALTITUDE)
+    if(_model.config.debug.mode == DEBUG_ALTITUDE)
     {
       _model.state.debug[0] = lrintf(degrees(_model.state.angle[0]) * 10);
       _model.state.debug[1] = lrintf(degrees(_model.state.angle[1]) * 10);
diff --git a/lib/Espfc/src/Input.cpp b/lib/Espfc/src/Input.cpp
index 95654fbd..c9199313 100644
--- a/lib/Espfc/src/Input.cpp
+++ b/lib/Espfc/src/Input.cpp
@@ -88,7 +88,7 @@ int FAST_CODE_ATTR Input::update()
     filterInputs(status);
   }
 
-  if(_model.config.debugMode == DEBUG_PIDLOOP)
+  if(_model.config.debug.mode == DEBUG_PIDLOOP)
   {
     _model.state.debug[1] = micros() - startTime;
   }
@@ -103,7 +103,7 @@ InputStatus FAST_CODE_ATTR Input::readInputs()
 
   InputStatus status = _device->update();
 
-  if(_model.config.debugMode == DEBUG_RX_TIMING)
+  if(_model.config.debug.mode == DEBUG_RX_TIMING)
   {
     _model.state.debug[0] = micros() - startTime;
   }
@@ -118,7 +118,7 @@ InputStatus FAST_CODE_ATTR Input::readInputs()
 
   processInputs();
 
-  if(_model.config.debugMode == DEBUG_RX_SIGNAL_LOSS)
+  if(_model.config.debug.mode == DEBUG_RX_SIGNAL_LOSS)
   {
     _model.state.debug[0] = !_model.state.inputRxLoss;
     _model.state.debug[1] = _model.state.inputRxFailSafe;
@@ -175,7 +175,7 @@ void FAST_CODE_ATTR Input::processInputs()
     _model.state.inputBuffer[c] = v;
   }
 
-  if(_model.config.debugMode == DEBUG_RX_TIMING)
+  if(_model.config.debug.mode == DEBUG_RX_TIMING)
   {
     _model.state.debug[2] = micros() - startTime;
   }
@@ -279,7 +279,7 @@ void FAST_CODE_ATTR Input::filterInputs(InputStatus status)
     setInput((Axis)c, v, newFrame);
   }
 
-  if(_model.config.debugMode == DEBUG_RX_TIMING)
+  if(_model.config.debug.mode == DEBUG_RX_TIMING)
   {
     _model.state.debug[3] = micros() - startTime;
   }
@@ -300,7 +300,7 @@ void FAST_CODE_ATTR Input::updateFrameRate()
     _model.state.inputInterpolationStep = _model.state.loopTimer.intervalf / _model.state.inputInterpolationDelta;
   }
 
-  if(_model.config.debugMode == DEBUG_RC_SMOOTHING_RATE)
+  if(_model.config.debug.mode == DEBUG_RC_SMOOTHING_RATE)
   {
     _model.state.debug[0] = _model.state.inputFrameDelta / 10;
     _model.state.debug[1] = _model.state.inputFrameRate;
@@ -311,7 +311,7 @@ void FAST_CODE_ATTR Input::updateFrameRate()
   if(freq > _model.state.inputAutoFreq * 1.1f || freq < _model.state.inputAutoFreq * 0.9f)
   {
     _model.state.inputAutoFreq += 0.25f * (freq - _model.state.inputAutoFreq);
-    if(_model.config.debugMode == DEBUG_RC_SMOOTHING_RATE)
+    if(_model.config.debug.mode == DEBUG_RC_SMOOTHING_RATE)
     {
       _model.state.debug[2] = lrintf(freq);
       _model.state.debug[3] = lrintf(_model.state.inputAutoFreq);
@@ -331,7 +331,7 @@ void FAST_CODE_ATTR Input::updateFrameRate()
     }
   }
 
-  if(_model.config.debugMode == DEBUG_RX_TIMING)
+  if(_model.config.debug.mode == DEBUG_RX_TIMING)
   {
     _model.state.debug[1] = micros() - now;
   }
diff --git a/lib/Espfc/src/Model.h b/lib/Espfc/src/Model.h
index 3a21d101..669aa962 100644
--- a/lib/Espfc/src/Model.h
+++ b/lib/Espfc/src/Model.h
@@ -212,7 +212,7 @@ class Model
     void inline setDebug(DebugMode mode, size_t index, int16_t value)
     {
       if(index >= 8) return;
-      if(config.debugMode != mode) return;
+      if(config.debug.mode != mode) return;
       state.debug[index] = value;
     }
 
diff --git a/lib/Espfc/src/ModelConfig.h b/lib/Espfc/src/ModelConfig.h
index 4e54bc95..fb6a201f 100644
--- a/lib/Espfc/src/ModelConfig.h
+++ b/lib/Espfc/src/ModelConfig.h
@@ -532,6 +532,12 @@ struct BlackboxConfig
   int8_t mode = 0;
 };
 
+struct DebugConfig
+{
+  int8_t mode = DEBUG_NONE;
+  uint8_t axis = 1;
+};
+
 struct RpmFilterConfig
 {
   uint8_t harmonics = 3;
@@ -635,23 +641,31 @@ struct MixerConfiguration
   bool yawReverse = 0;
 };
 
+struct ControllerConfig
+{
+  int8_t tpaScale = 10;
+  int16_t tpaBreakpoint = 1650;
+};
+
 // persistent data
 class ModelConfig
 {
   public:
+    // inputs and sensors
     GyroConfig gyro;
     AccelConfig accel;
     BaroConfig baro;
     MagConfig mag;
-
     InputConfig input;
     FailsafeConfig failsafe;
+    FusionConfig fusion;
+    VBatConfig vbat;
+    IBatConfig ibat;
 
     ActuatorCondition conditions[ACTUATOR_CONDITIONS];
     ScalerConfig scaler[SCALER_COUNT];
 
-    OutputConfig output;
-
+    // pid controller
     PidConfig pid[FC_PID_ITEM_COUNT] = {
       [FC_PID_ROLL]  = { .P = 42, .I = 85, .D = 24, .F = 72 },  // ROLL
       [FC_PID_PITCH] = { .P = 46, .I = 90, .D = 26, .F = 76 },  // PITCH
@@ -664,137 +678,108 @@ class ModelConfig
       [FC_PID_MAG]   = { .P =  0, .I =  0, .D =  0, .F =  0 },  // MAG
       [FC_PID_VEL]   = { .P =  0, .I =  0, .D =  0, .F =  0 },  // VEL
     };
-
-    MixerConfiguration mixer;
     YawConfig yaw;
     LevelConfig level;
     DtermConfig dterm;
     ItermConfig iterm;
+    ControllerConfig controller;
 
-    int8_t loopSync = 8; // MPU 1000Hz
-    int8_t mixerSync = 1;
-
-    int32_t featureMask = ESPFC_FEATURE_MASK;
-    bool telemetry = 0;
-    int32_t telemetryInterval = 1000;
-
-    BlackboxConfig blackbox;
-
-    SerialPortConfig serial[SERIAL_UART_COUNT];
-
-    FusionConfig fusion;
-
-    char modelName[MODEL_NAME_LEN + 1];
-
-    VBatConfig vbat;
-    IBatConfig ibat;
-
-    int8_t debugMode = DEBUG_NONE;
-    uint8_t debugAxis = 1;
-
-    BuzzerConfig buzzer;
-
-    int8_t pin[PIN_COUNT];
-    int16_t i2cSpeed = 800;
-
-    int8_t tpaScale = 10;
-    int16_t tpaBreakpoint = 1650;
-
-    int8_t customMixerCount = 0;
-    MixerEntry customMixes[MIXER_RULE_MAX];
-
-    WirelessConfig wireless;
-
-    uint8_t rescueConfigDelay = 30;
-
-    int16_t boardAlignment[3] = {0, 0, 0};
-
-    ModelConfig()
-    {
+    // hardware
+    int8_t pin[PIN_COUNT] = {
 #ifdef ESPFC_INPUT
-      pin[PIN_INPUT_RX] = ESPFC_INPUT_PIN;
+      [PIN_INPUT_RX] = ESPFC_INPUT_PIN,
 #endif
-      pin[PIN_OUTPUT_0] = ESPFC_OUTPUT_0;
-      pin[PIN_OUTPUT_1] = ESPFC_OUTPUT_1;
-      pin[PIN_OUTPUT_2] = ESPFC_OUTPUT_2;
-      pin[PIN_OUTPUT_3] = ESPFC_OUTPUT_3;
+      [PIN_OUTPUT_0] = ESPFC_OUTPUT_0,
+      [PIN_OUTPUT_1] = ESPFC_OUTPUT_1,
+      [PIN_OUTPUT_2] = ESPFC_OUTPUT_2,
+      [PIN_OUTPUT_3] = ESPFC_OUTPUT_3,
 #if ESPFC_OUTPUT_COUNT > 4
-      pin[PIN_OUTPUT_4] = ESPFC_OUTPUT_4;
+      [PIN_OUTPUT_4] = ESPFC_OUTPUT_4,
 #endif
 #if ESPFC_OUTPUT_COUNT > 5
-      pin[PIN_OUTPUT_5] = ESPFC_OUTPUT_5;
+      [PIN_OUTPUT_5] = ESPFC_OUTPUT_5,
 #endif
 #if ESPFC_OUTPUT_COUNT > 6
-      pin[PIN_OUTPUT_6] = ESPFC_OUTPUT_6;
+      [PIN_OUTPUT_6] = ESPFC_OUTPUT_6,
 #endif
 #if ESPFC_OUTPUT_COUNT > 7
-      pin[PIN_OUTPUT_7] = ESPFC_OUTPUT_7;
+      [PIN_OUTPUT_7] = ESPFC_OUTPUT_7,
 #endif
-      pin[PIN_BUZZER] = ESPFC_BUZZER_PIN;
+      [PIN_BUZZER] = ESPFC_BUZZER_PIN,
 #ifdef ESPFC_SERIAL_0
-      pin[PIN_SERIAL_0_TX] = ESPFC_SERIAL_0_TX;
-      pin[PIN_SERIAL_0_RX] = ESPFC_SERIAL_0_RX;
+      [PIN_SERIAL_0_TX] = ESPFC_SERIAL_0_TX,
+      [PIN_SERIAL_0_RX] = ESPFC_SERIAL_0_RX,
 #endif
 #ifdef ESPFC_SERIAL_1
-      pin[PIN_SERIAL_1_TX] = ESPFC_SERIAL_1_TX;
-      pin[PIN_SERIAL_1_RX] = ESPFC_SERIAL_1_RX;
+      [PIN_SERIAL_1_TX] = ESPFC_SERIAL_1_TX,
+      [PIN_SERIAL_1_RX] = ESPFC_SERIAL_1_RX,
 #endif
 #ifdef ESPFC_SERIAL_2
-      pin[PIN_SERIAL_2_TX] = ESPFC_SERIAL_2_TX;
-      pin[PIN_SERIAL_2_RX] = ESPFC_SERIAL_2_RX;
+      [PIN_SERIAL_2_TX] = ESPFC_SERIAL_2_TX,
+      [PIN_SERIAL_2_RX] = ESPFC_SERIAL_2_RX,
 #endif
 #ifdef ESPFC_I2C_0
-      pin[PIN_I2C_0_SCL] = ESPFC_I2C_0_SCL;
-      pin[PIN_I2C_0_SDA] = ESPFC_I2C_0_SDA;
+      [PIN_I2C_0_SCL] = ESPFC_I2C_0_SCL,
+      [PIN_I2C_0_SDA] = ESPFC_I2C_0_SDA,
 #endif
 #ifdef ESPFC_ADC_0
-      pin[PIN_INPUT_ADC_0] = ESPFC_ADC_0_PIN;
+      [PIN_INPUT_ADC_0] = ESPFC_ADC_0_PIN,
 #endif
 #ifdef ESPFC_ADC_1
-      pin[PIN_INPUT_ADC_1] = ESPFC_ADC_1_PIN;
+      [PIN_INPUT_ADC_1] = ESPFC_ADC_1_PIN,
 #endif
 #ifdef ESPFC_SPI_0
-      pin[PIN_SPI_0_SCK] = ESPFC_SPI_0_SCK;
-      pin[PIN_SPI_0_MOSI] = ESPFC_SPI_0_MOSI;
-      pin[PIN_SPI_0_MISO] = ESPFC_SPI_0_MISO;
+      [PIN_SPI_0_SCK] = ESPFC_SPI_0_SCK,
+      [PIN_SPI_0_MOSI] = ESPFC_SPI_0_MOSI,
+      [PIN_SPI_0_MISO] = ESPFC_SPI_0_MISO,
 #endif
 #ifdef ESPFC_SPI_0
-      pin[PIN_SPI_CS0] = ESPFC_SPI_CS_GYRO;
-      pin[PIN_SPI_CS1] = ESPFC_SPI_CS_BARO;
-      pin[PIN_SPI_CS2] = -1;
+      [PIN_SPI_CS0] = ESPFC_SPI_CS_GYRO,
+      [PIN_SPI_CS1] = ESPFC_SPI_CS_BARO,
+      [PIN_SPI_CS2] = -1,
+#endif
+    };
+    SerialPortConfig serial[SERIAL_UART_COUNT] = {
+#ifdef ESPFC_SERIAL_USB
+      [SERIAL_USB]    = { .id = SERIAL_ID_USB_VCP, .functionMask = ESPFC_SERIAL_USB_FN, .baud = SERIAL_SPEED_115200, .blackboxBaud = SERIAL_SPEED_NONE },
 #endif
-
 #ifdef ESPFC_SERIAL_0
-      serial[SERIAL_UART_0].id = SERIAL_ID_UART_1;
-      serial[SERIAL_UART_0].functionMask = ESPFC_SERIAL_0_FN;
-      serial[SERIAL_UART_0].baud = ESPFC_SERIAL_0_BAUD;
-      serial[SERIAL_UART_0].blackboxBaud = ESPFC_SERIAL_0_BBAUD;
+      [SERIAL_UART_0] = { .id = SERIAL_ID_UART_1, .functionMask = ESPFC_SERIAL_0_FN, .baud = ESPFC_SERIAL_0_BAUD, .blackboxBaud = ESPFC_SERIAL_0_BBAUD },
 #endif
 #ifdef ESPFC_SERIAL_1
-      serial[SERIAL_UART_1].id = SERIAL_ID_UART_2;
-      serial[SERIAL_UART_1].functionMask = ESPFC_SERIAL_1_FN;
-      serial[SERIAL_UART_1].baud = ESPFC_SERIAL_1_BAUD;
-      serial[SERIAL_UART_1].blackboxBaud = ESPFC_SERIAL_1_BBAUD;
+      [SERIAL_UART_1] = { .id = SERIAL_ID_UART_2, .functionMask = ESPFC_SERIAL_1_FN, .baud = ESPFC_SERIAL_1_BAUD, .blackboxBaud = ESPFC_SERIAL_1_BBAUD },
 #endif
 #ifdef ESPFC_SERIAL_2
-      serial[SERIAL_UART_2].id = SERIAL_ID_UART_3;
-      serial[SERIAL_UART_2].functionMask = ESPFC_SERIAL_2_FN;
-      serial[SERIAL_UART_2].baud = ESPFC_SERIAL_2_BAUD;
-      serial[SERIAL_UART_2].blackboxBaud = ESPFC_SERIAL_2_BBAUD;
-#endif
-#ifdef ESPFC_SERIAL_USB
-      serial[SERIAL_USB].id = SERIAL_ID_USB_VCP;
-      serial[SERIAL_USB].functionMask = ESPFC_SERIAL_USB_FN;
-      serial[SERIAL_USB].baud = SERIAL_SPEED_115200;
-      serial[SERIAL_USB].blackboxBaud = SERIAL_SPEED_NONE;
+      [SERIAL_UART_2] = { .id = SERIAL_ID_UART_3, .functionMask = ESPFC_SERIAL_2_FN, .baud = ESPFC_SERIAL_2_BAUD, .blackboxBaud = ESPFC_SERIAL_2_BBAUD },
 #endif
 #ifdef ESPFC_SERIAL_SOFT_0
-      serial[SERIAL_SOFT_0].id = SERIAL_ID_SOFTSERIAL_1;
-      serial[SERIAL_SOFT_0].functionMask = ESPFC_SERIAL_SOFT_0_FN;
-      serial[SERIAL_SOFT_0].baud = SERIAL_SPEED_115200;
-      serial[SERIAL_SOFT_0].blackboxBaud = SERIAL_SPEED_NONE;
+      [SERIAL_SOFT_0] = { .id = SERIAL_ID_SOFTSERIAL_1, .functionMask = ESPFC_SERIAL_SOFT_0_FN, .baud = SERIAL_SPEED_115200, .blackboxBaud = SERIAL_SPEED_NONE },
 #endif
+    };
+    BuzzerConfig buzzer;
+    WirelessConfig wireless;
 
+    // mixer and outputs
+    int8_t customMixerCount = 0;
+    MixerEntry customMixes[MIXER_RULE_MAX];
+    MixerConfiguration mixer;
+    OutputConfig output;
+    BlackboxConfig blackbox;
+    DebugConfig debug;
+
+    // not classified yet
+    int16_t i2cSpeed = 800;
+    int8_t loopSync = 8; // MPU 1000Hz
+    int8_t mixerSync = 1;
+    int32_t featureMask = ESPFC_FEATURE_MASK;
+    bool telemetry = 0;
+    int32_t telemetryInterval = 1000;
+    uint8_t rescueConfigDelay = 30;
+    int16_t boardAlignment[3] = {0, 0, 0};
+    char modelName[MODEL_NAME_LEN + 1];
+
+    ModelConfig()
+    {
       for(size_t i = 0; i < INPUT_CHANNELS; i++)
       {
         input.channel[i].map = i;
@@ -826,7 +811,7 @@ class ModelConfig
     {
 #ifdef ESPFC_DEV_PRESET_BLACKBOX
       blackbox.dev = BLACKBOX_DEV_SERIAL; // serial
-      debugMode = DEBUG_GYRO_SCALED;
+      debug.mode = DEBUG_GYRO_SCALED;
       serial[ESPFC_DEV_PRESET_BLACKBOX].functionMask |= SERIAL_FUNCTION_BLACKBOX;
       serial[ESPFC_DEV_PRESET_BLACKBOX].blackboxBaud = SERIAL_SPEED_250000;
       serial[ESPFC_DEV_PRESET_BLACKBOX].baud = SERIAL_SPEED_250000;
diff --git a/lib/Espfc/src/Msp/MspProcessor.h b/lib/Espfc/src/Msp/MspProcessor.h
index 89e61aea..fc1dbc23 100644
--- a/lib/Espfc/src/Msp/MspProcessor.h
+++ b/lib/Espfc/src/Msp/MspProcessor.h
@@ -910,10 +910,10 @@ class MspProcessor
           {
             r.writeU8(_model.config.input.superRate[i]);
           }
-          r.writeU8(_model.config.tpaScale); // dyn thr pid
+          r.writeU8(_model.config.controller.tpaScale); // dyn thr pid
           r.writeU8(50); // thrMid8
           r.writeU8(0);  // thr expo
-          r.writeU16(_model.config.tpaBreakpoint); // tpa breakpoint
+          r.writeU16(_model.config.controller.tpaBreakpoint); // tpa breakpoint
           r.writeU8(_model.config.input.expo[AXIS_YAW]); // yaw expo
           r.writeU8(_model.config.input.rate[AXIS_YAW]); // yaw rate
           r.writeU8(_model.config.input.rate[AXIS_PITCH]); // pitch rate
@@ -951,10 +951,10 @@ class MspProcessor
             {
               _model.config.input.superRate[i] = m.readU8();
             }
-            _model.config.tpaScale = Math::clamp(m.readU8(), (uint8_t)0, (uint8_t)90); // dyn thr pid
+            _model.config.controller.tpaScale = Math::clamp(m.readU8(), (uint8_t)0, (uint8_t)90); // dyn thr pid
             m.readU8(); // thrMid8
             m.readU8();  // thr expo
-            _model.config.tpaBreakpoint = Math::clamp(m.readU16(), (uint16_t)1000, (uint16_t)2000); // tpa breakpoint
+            _model.config.controller.tpaBreakpoint = Math::clamp(m.readU16(), (uint16_t)1000, (uint16_t)2000); // tpa breakpoint
             if(m.remain() >= 1)
             {
               _model.config.input.expo[AXIS_YAW] = m.readU8(); // yaw expo
@@ -1012,7 +1012,7 @@ class MspProcessor
           r.writeU16(125); // gyro cal duration (1.25s)
           r.writeU16(0);   // gyro offset yaw
           r.writeU8(0);    // check overflow
-          r.writeU8(_model.config.debugMode);
+          r.writeU8(_model.config.debug.mode);
           r.writeU8(DEBUG_COUNT);
           break;
 
@@ -1040,7 +1040,7 @@ class MspProcessor
             m.readU8();  // check overflow
           }
           if(m.remain()) {
-            _model.config.debugMode = m.readU8();
+            _model.config.debug.mode = m.readU8();
           }
           _model.reload();
           break;
diff --git a/lib/Espfc/src/Output/Mixer.cpp b/lib/Espfc/src/Output/Mixer.cpp
index eccbed01..c612f9e5 100644
--- a/lib/Espfc/src/Output/Mixer.cpp
+++ b/lib/Espfc/src/Output/Mixer.cpp
@@ -90,14 +90,14 @@ int FAST_CODE_ATTR Mixer::update()
   updateMixer(mixer, outputs);
   writeOutput(mixer, outputs);
 
-  if(_model.config.debugMode == DEBUG_PIDLOOP)
+  if(_model.config.debug.mode == DEBUG_PIDLOOP)
   {
     _model.state.debug[3] = micros() - startTime;
   }
 
   _model.state.stats.loopTick();
 
-  if(_model.config.debugMode == DEBUG_CYCLETIME)
+  if(_model.config.debug.mode == DEBUG_CYCLETIME)
   {
     _model.state.debug[0] = _model.state.stats.loopTime();
     _model.state.debug[1] = lrintf(_model.state.stats.getCpuLoad());
@@ -350,7 +350,7 @@ void FAST_CODE_ATTR Mixer::readTelemetry()
       if(_model.state.outputTelemetryErrorsCount[i])
       {
         _model.state.outputTelemetryErrors[i] = _model.state.outputTelemetryErrorsSum[i] * 10000 / _model.state.outputTelemetryErrorsCount[i];
-        if(_model.config.debugMode == DEBUG_DSHOT_RPM_ERRORS)
+        if(_model.config.debug.mode == DEBUG_DSHOT_RPM_ERRORS)
         {
           _model.state.debug[i] = _model.state.outputTelemetryErrors[i];
         }
diff --git a/lib/Espfc/src/Sensor/AccelSensor.h b/lib/Espfc/src/Sensor/AccelSensor.h
index 8e9d1005..5ef22037 100644
--- a/lib/Espfc/src/Sensor/AccelSensor.h
+++ b/lib/Espfc/src/Sensor/AccelSensor.h
@@ -69,7 +69,7 @@ class AccelSensor: public BaseSensor
 
       for(size_t i = 0; i < 3; i++)
       {
-        if(_model.config.debugMode == DEBUG_ACCELEROMETER)
+        if(_model.config.debug.mode == DEBUG_ACCELEROMETER)
         {
           _model.state.debug[i] = _model.state.accelRaw[i];
         }
diff --git a/lib/Espfc/src/Sensor/BaroSensor.h b/lib/Espfc/src/Sensor/BaroSensor.h
index 05704c10..351b4873 100644
--- a/lib/Espfc/src/Sensor/BaroSensor.h
+++ b/lib/Espfc/src/Sensor/BaroSensor.h
@@ -60,7 +60,7 @@ class BaroSensor: public BaseSensor
 
       Stats::Measure measure(_model.state.stats, COUNTER_BARO);
 
-      if(_model.config.debugMode == DEBUG_BARO)
+      if(_model.config.debug.mode == DEBUG_BARO)
       {
         _model.state.debug[0] = _state;
       }
@@ -127,7 +127,7 @@ class BaroSensor: public BaseSensor
       }
       _model.state.baroAltitude = _model.state.baroAltitudeRaw - _model.state.baroAltitudeBias;
 
-      if(_model.config.debugMode == DEBUG_BARO)
+      if(_model.config.debug.mode == DEBUG_BARO)
       {
         _model.state.debug[1] = lrintf(_model.state.baroPressureRaw * 0.1f); // hPa x 10
         _model.state.debug[2] = lrintf(_model.state.baroTemperatureRaw * 100.f); // deg C x 100
diff --git a/lib/Espfc/src/Sensor/GyroSensor.cpp b/lib/Espfc/src/Sensor/GyroSensor.cpp
index 92753d79..b002620c 100644
--- a/lib/Espfc/src/Sensor/GyroSensor.cpp
+++ b/lib/Espfc/src/Sensor/GyroSensor.cpp
@@ -31,7 +31,7 @@ int GyroSensor::begin()
   _dyn_notch_denom = std::max((uint32_t)1, _model.state.loopTimer.rate / 1000);
   _dyn_notch_sma.begin(_dyn_notch_denom);
   _dyn_notch_enabled = _model.isActive(FEATURE_DYNAMIC_FILTER) && _model.config.gyro.dynamicFilter.width > 0 && _model.state.loopTimer.rate >= DynamicFilterConfig::MIN_FREQ;
-  _dyn_notch_debug = _model.config.debugMode == DEBUG_FFT_FREQ || _model.config.debugMode == DEBUG_FFT_TIME;
+  _dyn_notch_debug = _model.config.debug.mode == DEBUG_FFT_FREQ || _model.config.debug.mode == DEBUG_FFT_TIME;
 
   _rpm_enabled = _model.config.gyro.rpmFilter.harmonics > 0 && _model.config.output.dshotTelemetry;
   _rpm_motor_index = 0;
@@ -101,11 +101,11 @@ int FAST_CODE_ATTR GyroSensor::filter()
     _model.setDebug(DEBUG_GYRO_SCALED, i, lrintf(degrees(_model.state.gyroScaled[i])));
   }
 
-  _model.setDebug(DEBUG_GYRO_SAMPLE, 0, lrintf(degrees(_model.state.gyro[_model.config.debugAxis])));
+  _model.setDebug(DEBUG_GYRO_SAMPLE, 0, lrintf(degrees(_model.state.gyro[_model.config.debug.axis])));
 
   _model.state.gyro = Utils::applyFilter(_model.state.gyroFilter2, _model.state.gyro);
 
-  _model.setDebug(DEBUG_GYRO_SAMPLE, 1, lrintf(degrees(_model.state.gyro[_model.config.debugAxis])));
+  _model.setDebug(DEBUG_GYRO_SAMPLE, 1, lrintf(degrees(_model.state.gyro[_model.config.debug.axis])));
 
   if (_rpm_enabled)
   {
@@ -118,13 +118,13 @@ int FAST_CODE_ATTR GyroSensor::filter()
     }
   }
 
-  _model.setDebug(DEBUG_GYRO_SAMPLE, 2, lrintf(degrees(_model.state.gyro[_model.config.debugAxis])));
+  _model.setDebug(DEBUG_GYRO_SAMPLE, 2, lrintf(degrees(_model.state.gyro[_model.config.debug.axis])));
 
   _model.state.gyro = Utils::applyFilter(_model.state.gyroNotch1Filter, _model.state.gyro);
   _model.state.gyro = Utils::applyFilter(_model.state.gyroNotch2Filter, _model.state.gyro);
   _model.state.gyro = Utils::applyFilter(_model.state.gyroFilter, _model.state.gyro);
 
-  _model.setDebug(DEBUG_GYRO_SAMPLE, 3, lrintf(degrees(_model.state.gyro[_model.config.debugAxis])));
+  _model.setDebug(DEBUG_GYRO_SAMPLE, 3, lrintf(degrees(_model.state.gyro[_model.config.debug.axis])));
 
   if (_dyn_notch_enabled || _dyn_notch_debug)
   {
@@ -212,13 +212,13 @@ void FAST_CODE_ATTR GyroSensor::dynNotchFilterUpdate()
       {
         uint32_t startTime = micros();
         int status = _fft[i].update(_model.state.gyroDynNotch[i]);
-        if (_model.config.debugMode == DEBUG_FFT_TIME)
+        if (_model.config.debug.mode == DEBUG_FFT_TIME)
         {
           if (i == 0)
             _model.state.debug[0] = status;
           _model.state.debug[i + 1] = micros() - startTime;
         }
-        if (_model.config.debugMode == DEBUG_FFT_FREQ && i == _model.config.debugAxis)
+        if (_model.config.debug.mode == DEBUG_FFT_FREQ && i == _model.config.debug.axis)
         {
           _model.state.debug[0] = lrintf(_fft[i].peaks[0].freq);
           _model.state.debug[1] = lrintf(_fft[i].peaks[1].freq);
@@ -243,17 +243,17 @@ void FAST_CODE_ATTR GyroSensor::dynNotchFilterUpdate()
         uint32_t startTime = micros();
         _freqAnalyzer[i].update(_model.state.gyroDynNotch[i]);
         float freq = _freqAnalyzer[i].freq;
-        if (_model.config.debugMode == DEBUG_FFT_TIME)
+        if (_model.config.debug.mode == DEBUG_FFT_TIME)
         {
           if (i == 0)
             _model.state.debug[0] = update;
           _model.state.debug[i + 1] = micros() - startTime;
         }
-        if (_model.config.debugMode == DEBUG_FFT_FREQ)
+        if (_model.config.debug.mode == DEBUG_FFT_FREQ)
         {
           if (update)
             _model.state.debug[i] = lrintf(freq);
-          if (i == _model.config.debugAxis)
+          if (i == _model.config.debug.axis)
             _model.state.debug[3] = lrintf(degrees(_model.state.gyroDynNotch[i]));
         }
         if (_dyn_notch_enabled && update)
diff --git a/lib/Espfc/src/Sensor/VoltageSensor.h b/lib/Espfc/src/Sensor/VoltageSensor.h
index ba7a63a4..3e4af7ad 100644
--- a/lib/Espfc/src/Sensor/VoltageSensor.h
+++ b/lib/Espfc/src/Sensor/VoltageSensor.h
@@ -80,7 +80,7 @@ class VoltageSensor: public BaseSensor
       _model.state.battery.cellVoltage = _model.state.battery.voltage / constrain(_model.state.battery.cells, 1, 6);
       _model.state.battery.percentage = Math::clamp(Math::map(_model.state.battery.cellVoltage, 3.4f, 4.2f, 0.0f, 100.0f), 0.0f, 100.0f);
 
-      if(_model.config.debugMode == DEBUG_BATTERY)
+      if(_model.config.debug.mode == DEBUG_BATTERY)
       {
         _model.state.debug[0] = constrain(lrintf(_model.state.battery.voltageUnfiltered * 100.0f), 0, 32000);
         _model.state.debug[1] = constrain(lrintf(_model.state.battery.voltage * 100.0f), 0, 32000);
@@ -106,7 +106,7 @@ class VoltageSensor: public BaseSensor
       _model.state.battery.currentUnfiltered = volts;
       _model.state.battery.current = _iFilter.update(_model.state.battery.currentUnfiltered);
 
-      if(_model.config.debugMode == DEBUG_CURRENT_SENSOR)
+      if(_model.config.debug.mode == DEBUG_CURRENT_SENSOR)
       {
         _model.state.debug[0] = lrintf(milivolts);
         _model.state.debug[1] = constrain(lrintf(_model.state.battery.currentUnfiltered * 100.0f), 0, 32000);