diff --git a/MinimOSD_Extra_Plane_Pre_release_Beta/MAVLink.ino b/MinimOSD_Extra_Plane_Pre_release_Beta/MAVLink.ino
index 2782b70..ef58d56 100644
--- a/MinimOSD_Extra_Plane_Pre_release_Beta/MAVLink.ino
+++ b/MinimOSD_Extra_Plane_Pre_release_Beta/MAVLink.ino
@@ -129,14 +129,10 @@ void read_mavlink(){
                 break;
             case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
                 {
-//                    chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(&msg);
-//                    chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(&msg);
-//                    chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(&msg);
-//                    chan4_raw = mavlink_msg_rc_channels_raw_get_chan4_raw(&msg);
-                    chan5_raw = mavlink_msg_rc_channels_raw_get_chan5_raw(&msg);
-                    chan6_raw = mavlink_msg_rc_channels_raw_get_chan6_raw(&msg);
-                    chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(&msg);
-                    chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(&msg);
+                    chan_raw[5] = mavlink_msg_rc_channels_raw_get_chan5_raw(&msg);
+                    chan_raw[6] = mavlink_msg_rc_channels_raw_get_chan6_raw(&msg);
+                    chan_raw[7] = mavlink_msg_rc_channels_raw_get_chan7_raw(&msg);
+                    chan_raw[8] = mavlink_msg_rc_channels_raw_get_chan8_raw(&msg);
                     osd_rssi = mavlink_msg_rc_channels_raw_get_rssi(&msg);
                 }
                 break;           
diff --git a/MinimOSD_Extra_Plane_Pre_release_Beta/MinimOSD_Extra_Plane_Pre_release_Beta.ino b/MinimOSD_Extra_Plane_Pre_release_Beta/MinimOSD_Extra_Plane_Pre_release_Beta.ino
index 91e1307..9c78367 100644
--- a/MinimOSD_Extra_Plane_Pre_release_Beta/MinimOSD_Extra_Plane_Pre_release_Beta.ino
+++ b/MinimOSD_Extra_Plane_Pre_release_Beta/MinimOSD_Extra_Plane_Pre_release_Beta.ino
@@ -182,7 +182,7 @@ void loop()
         //osd.printf_P(PSTR("Requesting DataStreams...")); 
         //osd.closePanel();
         //for(int n = 0; n < 3; n++){
-        //    request_mavlink_rates();//Three times to certify it will be readed
+        //    request_mavlink_rates();//Three times to certify it will be read
         //    delay(50);
         //}
         enable_mav_request = 0;
diff --git a/MinimOSD_Extra_Plane_Pre_release_Beta/OSD_Panels.ino b/MinimOSD_Extra_Plane_Pre_release_Beta/OSD_Panels.ino
index ea644e2..1b01f71 100644
--- a/MinimOSD_Extra_Plane_Pre_release_Beta/OSD_Panels.ino
+++ b/MinimOSD_Extra_Plane_Pre_release_Beta/OSD_Panels.ino
@@ -10,7 +10,7 @@ void startPanels(){
 void panLogo(){
     osd.setPanel(5, 5);
     osd.openPanel();
-    osd.printf_P(PSTR("MinimOSD-Extra 2.4|Plane r805"));
+    osd.printf_P(PSTR("MinimOSD-Extra 2.4|Plane r808"));
     osd.closePanel();
 }
 
@@ -166,9 +166,9 @@ void panDistance(int first_col, int first_line){
     osd.openPanel();
     //do_converts();
     if ((tdistance * converth) > 9999.0) {
-      osd.printf("%c%5.2f%c", 0x8f, ((tdistance * converth) / distconv), distchar);
+      osd.printf("%c%5.2f%c", 0x8f, (double)((tdistance * converth) / distconv), distchar);
     }else{
-      osd.printf("%c%5.0f%c", 0x8f, (tdistance * converth), high);
+      osd.printf("%c%5.0f%c", 0x8f, (double)(tdistance * converth), high);
     }
     osd.closePanel();
 }
@@ -183,7 +183,7 @@ void panFdata(){
      osd.setPanel(11, 3);
     osd.openPanel();                          
 //    osd.printf("%c%3i%c%02i|%c%5.0f%c|%c%5.0f%c|%c%5.0f%c|%c%5.0f%c|%c%5.0f%c|%c%5.0f%c", 0x08,((int)start_Time/60)%60,0x3A,(int)start_Time%60, 0x0b, ((max_home_distance) * converth), high, 0x1b, ((tdistance) * converth), high, 0x13,(max_osd_airspeed * converts), spe,0x14,(max_osd_groundspeed * converts),spe,0x12, (max_osd_home_alt * converth), high,0x1d,(max_osd_windspeed * converts),spe);
-    osd.printf("%c%3i%c%02i|%c%5.0f%c|%c%5.0f%c|%c%5i%c|%c%5i%c|%c%5i%c|%c%5i%c|%c%5.0f%c|%c%11.6f|%c%11.6f", 0x08,((int)(start_Time/60)),0x3A,(int)start_Time%60, 0x0b, ((max_home_distance) * converth), high, 0x8f, (tdistance * converth), high, 0x13,(int)(max_osd_airspeed * converts), spe,0x14,(int)(max_osd_groundspeed * converts),spe,0x12, (int)(max_osd_home_alt * converth), high,0x1d,(int)(max_osd_windspeed * converts),spe, 0x17, mah_used, 0x01, 0x03, (double)osd_lat, 0x04, (double)osd_lon);
+    osd.printf("%c%3i%c%02i|%c%5.0f%c|%c%5.0f%c|%c%5i%c|%c%5i%c|%c%5i%c|%c%5i%c|%c%5.0f%c|%c%11.6f|%c%11.6f", 0x08,((int)(start_Time/60)),0x3A,(int)start_Time%60, 0x0b, (double)((max_home_distance) * converth), high, 0x8f, (double)(tdistance * converth), high, 0x13,(int)(max_osd_airspeed * converts), spe,0x14,(int)(max_osd_groundspeed * converts),spe,0x12, (int)(max_osd_home_alt * converth), high,0x1d,(int)(max_osd_windspeed * converts),spe, 0x17, (double)mah_used, 0x01, 0x03, (double)osd_lat, 0x04, (double)osd_lon);
     osd.closePanel();
 }
 
@@ -198,7 +198,7 @@ void panTemp(int first_col, int first_line){
     osd.setPanel(first_col, first_line);
     osd.openPanel();
 //    osd.printf("%c%5.1f%c", 0x0a, (float(temperature * tempconv + tempconvAdd) / 100), temps);
-    osd.printf("%5.1f%c", (float(temperature * tempconv + tempconvAdd) / 1000), temps);
+    osd.printf("%5.1f%c", (double)(float(temperature * tempconv + tempconvAdd) / 1000), temps);
     osd.closePanel();
 }
 
@@ -219,7 +219,7 @@ void panEff(int first_col, int first_line){
         if (osd_groundspeed != 0) eff = (float(osd_curr_A * 10.0) / (osd_groundspeed * converts))* 0.1 + eff * 0.9;
 //        eff = eff * 0.2 + eff * 0.8;
           if (eff > 0 && eff <= 9999) {
-            osd.printf("%c%4.0f%c", 0x16, eff, 0x01);
+            osd.printf("%c%4.0f%c", 0x16, (double)eff, 0x01);
           }else{
           osd.printf_P(PSTR("\x16\x20\x20\x20\x20\x20"));
           }
@@ -238,8 +238,8 @@ void panEff(int first_col, int first_line){
 //            glide = ((osd_alt_to_home / (palt - osd_alt_to_home)) * ((millis() - descendt) / 1000)) * osd_groundspeed;
             glide = ((osd_alt_to_home / (palt - osd_alt_to_home)) * (tdistance - ddistance)) * converth;
             if (glide > 9999) glide = 9999;
-             if (glide != 'inf' && glide > -0){
-            osd.printf("%c%4.0f%c", 0x18, glide, high);
+             if (glide != INFINITY && glide > -0){
+            osd.printf("%c%4.0f%c", 0x18, (double)glide, high);
              }
             }
             else if (osd_climb >= -0.05 && osd_pitch < 0) {
@@ -285,10 +285,11 @@ void panRSSI(int first_col, int first_line){
        if(osd_rssi < rssipersent) osd_rssi = rssipersent;
        if(osd_rssi > rssical) osd_rssi = rssical;
        if(rssiraw_on == 0) rssi = (int16_t)((float)((int16_t)osd_rssi - rssipersent)/(float)(rssical-rssipersent)*100.0f);
-       if(rssiraw_on == 8) rssi = (int16_t)((float)(chan8_raw / 10 - rssipersent)/(float)(rssical-rssipersent)*100.0f);
+       if(rssiraw_on == 8) rssi = (int16_t)((float)(chan_raw[8] / 10 - rssipersent)/(float)(rssical-rssipersent)*100.0f);
     }
     if(rssiraw_on == 1) rssi = (int16_t)osd_rssi;
-    if(rssiraw_on == 9) rssi = chan8_raw;
+    // FIXME: why is this here? Delete?
+    if(rssiraw_on == 9) rssi = chan_raw[8];
 
     if(rssi > 100.0) rssi = 100;
 
@@ -434,67 +435,62 @@ void panWindSpeed(int first_col, int first_line){
 void panOff(){
   bool rotatePanel = 0;
 
-  if(ch_toggle == 5) ch_raw = chan5_raw;
-  else if(ch_toggle == 6) ch_raw = chan6_raw;
-  else if(ch_toggle == 7) ch_raw = chan7_raw;
-  else if(ch_toggle == 8) ch_raw = chan8_raw;
+  ch_raw = chan_raw[ch_toggle];
 
   //If there is a warning force switch to panel 0
   if(canswitch == 0){
     if(panel != panel_auto_switch){
-      //osd.clear();
       osd_clear = 1;
     }
     panel = panel_auto_switch; 
   }
   else{
-    //Flight mode switching
-    if (ch_toggle == 4){
-      if ((osd_mode != 6) && (osd_mode != 7)){
-        if (osd_off_switch != osd_mode){ 
-          osd_off_switch = osd_mode;
-            osd_switch_time = millis();
-            if (osd_off_switch == osd_switch_last){
-              rotatePanel = 1;
-            }
-        }
-        if ((millis() - osd_switch_time) > 2000){
-          osd_switch_last = osd_mode;
-        }
+    //Switch mode by value
+    if (switch_mode == 0){
+      //First panel
+      if (ch_raw < 1233) {
+	if (panel != 0) {
+	  osd_clear = 1;
+	  panel = 0;
+	}
+      }
+      //Second panel
+      else if (ch_raw <= 1467) {
+	if (panel != 1) {
+	  osd_clear = 1;
+	  panel = 1;
+	}
+      }
+      //Panel off
+      else if (panel != npanels) {
+	osd_clear = 1;
+	panel = npanels; //off panel
       }
     }
+    // Rotation switch
     else {
-      
-      //Switch mode by value
-      if (switch_mode == 0){
-        //First panel
-        if (ch_raw < 1233 && panel != 0) {
-          osd_clear = 1;
-          //osd.clear();
-          panel = 0;
-        }
-        //Second panel
-        else if (ch_raw >= 1233 && ch_raw <= 1467 && panel != 1) { //second panel
-          osd_clear = 1;
-          //osd.clear();
-          panel = 1;
-        }
-        //Panel off
-        else if (ch_raw > 1467 && panel != npanels) {
-          osd_clear = 1;
-          //osd.clear();
-          panel = npanels; //off panel
-        }
+      // Switch changed from its last position
+      if (abs (ch_raw - ch_raw_prev1) > 100) {
+	// but is the same than 2 positions ago
+	if (abs (ch_raw - ch_raw_prev2) < 100) {
+	  osd.closePanel();
+	  // and it's been less than 1 sec since the position switch and back
+	  if (osd_switch_time + 1000 > millis()) {
+	    // then rotate
+	    rotatePanel = 1;
+	  }
+	  // stop continuous rotation, forcing a switch flip to restart the process
+	  // or if the flip didn't happen because it happened too slowly, reset too.
+	  ch_raw_prev2 = 0;
+	} else {
+	  osd_switch_time = millis();
+	  // If position changed and is different from what it was 2 positions ago
+	  // record the new state
+	  ch_raw_prev2 = ch_raw_prev1;
+	  ch_raw_prev1 = ch_raw;
+	}
       }
-      //Rotation switch
-      else{
-        if (ch_raw > 1200)
-          if (osd_switch_time + 1000 < millis()){
-            rotatePanel = 1;
-            osd_switch_time = millis();
-        }
-      }    
-    }
+    }    
     if(rotatePanel == 1){
       osd_clear = 1;
       //osd.clear();
@@ -515,7 +511,7 @@ void panOff(){
   osd.setPanel(first_col, first_line);
   osd.openPanel();
 
-  osd.printf("%c%3.0f%c%c|%c%3.0f%c%c", 0xb0, (alt_error * converth * -1), high, 0x20, 0xb1, ((aspd_error / 100.0) * converts), spe, 0x20);
+  osd.printf("%c%3.0f%c%c|%c%3.0f%c%c", 0xb0, (double)(alt_error * converth * -1), high, 0x20, 0xb1, ((aspd_error / 100.0) * converts), spe, 0x20);
 
   osd.closePanel();
 }
@@ -663,51 +659,66 @@ void panWarn(int first_col, int first_line){
   
 
             // Prepare for printf in rotation
-            if (rotation == 0) if (warning[0] == 0 || warning[0] + warning[1] + warning[2] + warning[3] + warning[4] + warning[5] == 2) {
-                warning_string = "\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20";
+            if (rotation == 0) {
+	      if (warning[0] == 0 || warning[0] + warning[1] + warning[2] + warning[3] + warning[4] + warning[5] == 2) {
+                warning_string = (char *)"\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20";
               }else{
                   rotation = 1; 
-              } 
+              }
+	    }
               
-            if (rotation == 1) if (warning[1] == 1) {
-                warning_string = "\x20\x4E\x6F\x20\x47\x50\x53\x20\x66\x69\x78\x21";
+            if (rotation == 1) {
+	      if (warning[1] == 1) {
+                warning_string = (char *)"\x20\x4E\x6F\x20\x47\x50\x53\x20\x66\x69\x78\x21";
               }else{
                   rotation = 2; 
               }
+	    }
               
-            if (rotation == 2) if (warning[2] == 1) {
-                warning_string = "\x20\x20\x20\x53\x74\x61\x6c\x6c\x21\x20\x20\x20";
+            if (rotation == 2) {
+	      if (warning[2] == 1) {
+                warning_string = (char *)"\x20\x20\x20\x53\x74\x61\x6c\x6c\x21\x20\x20\x20";
               }else{
                   rotation = 3; 
               }
+	    }
               
-            if (rotation == 3) if (warning[3] == 1) {
-                warning_string = "\x20\x4f\x76\x65\x72\x53\x70\x65\x65\x64\x21\x20";
+            if (rotation == 3) {
+	      if (warning[3] == 1) {
+                warning_string = (char *)"\x20\x4f\x76\x65\x72\x53\x70\x65\x65\x64\x21\x20";
               }else{
                   rotation = 4; 
               }
+	    }
               
-            if (rotation == 4) if (warning[4] == 1) {
-                warning_string = "\x42\x61\x74\x74\x65\x72\x79\x20\x4c\x6f\x77\x21";
+            if (rotation == 4) {
+	      if (warning[4] == 1) {
+                warning_string = (char *)"\x42\x61\x74\x74\x65\x72\x79\x20\x4c\x6f\x77\x21";
               }else{
                   rotation = 5; 
               }
+	    }
               
-            if (rotation == 5) if (warning[5] == 1) {
-                warning_string = "\x20\x20\x4c\x6f\x77\x20\x52\x73\x73\x69\x20\x20";
+            if (rotation == 5) {
+	      if (warning[5] == 1) {
+                warning_string = (char *)"\x20\x20\x4c\x6f\x77\x20\x52\x73\x73\x69\x20\x20";
+// rotation++ below makes this happen
 //                  rotation = 6;
               }
+	    }
             
-//            if (rotation == 6) if (warning[6] == 1) {
-//                warning_string = "\x20\x20\x4c\x6f\x77\x20\x48\x44\x4f\x50\x20\x20";            
-//              }
+//          if (rotation == 6) {
+//	      if (warning[6] == 1) {
+//              warning_string = (char *)"\x20\x20\x4c\x6f\x77\x20\x48\x44\x4f\x50\x20\x20";            
+//            }
+//	    }
             rotation++;
           
-          // Auto switch decesion
+          // Auto switch decision
           if (warning[0] == 1 && panel_auto_switch < 3){
-          canswitch = 0;  
+	    canswitch = 0;  
           }else if (ch_raw < 1200) {
-          canswitch = 1;
+	    canswitch = 1;
           }
  if (rotation > 5) rotation = 0;
             
@@ -745,7 +756,7 @@ void panBatteryPercent(int first_col, int first_line){
     if (EEPROM.read(OSD_BATT_SHOW_PERCENT_ADDR) == 1){
         osd.printf("%c%3.0i%c", 0x17, osd_battery_remaining_A, 0x25);
     }else{
-        osd.printf("%c%4.0f%c", 0x17, mah_used, 0x01);
+        osd.printf("%c%4.0f%c", 0x17, (double)mah_used, 0x01);
     }
     osd.closePanel();
 }
@@ -788,9 +799,9 @@ void panHomeDis(int first_col, int first_line){
 
 
     if ((osd_home_distance * converth) > 9999.0) {
-      osd.printf("%c%5.2f%c", 0x0b, ((osd_home_distance * converth) / distconv), distchar);
+      osd.printf("%c%5.2f%c", 0x0b, (double)((osd_home_distance * converth) / distconv), distchar);
     }else{
-      osd.printf("%c%5.0f%c", 0x0b, (osd_home_distance * converth), high);
+      osd.printf("%c%5.0f%c", 0x0b, (double)(osd_home_distance * converth), high);
     }
 
     osd.closePanel();
@@ -1061,7 +1072,7 @@ void panWPDis(int first_col, int first_line){
       showArrow((uint8_t)wp_target_bearing_rotate_int,0);
       
       if (osd_mode == 10 || osd_mode == 15 || osd_mode == 7){     
-        osd.printf("%c%c%c%4.0f%c", 0x20, 0x58, 0x65, (xtrack_error* converth), high);
+        osd.printf("%c%c%c%4.0f%c", 0x20, 0x58, 0x65, (double)(xtrack_error* converth), high);
       }else{
         osd.printf_P(PSTR("\x20\x20\x20\x20\x20\x20\x20\x20"));
           }
@@ -1093,19 +1104,19 @@ void panFlightMode(int first_col, int first_line){
     osd.setPanel(first_col, first_line);
     osd.openPanel();
     //char c1 = 0x7f ;//"; char c2; char c3; char c4; char c5; 
-    char* mode_str="";
-    if (osd_mode == 0) mode_str = "manu"; //Manual 
-    if (osd_mode == 1) mode_str = "circ"; //CIRCLE 
-    if (osd_mode == 2) mode_str = "stab"; //Stabilize
-    if (osd_mode == 3) mode_str = "trai"; //Training
-    if (osd_mode == 4) mode_str = "acro"; //ACRO
-    if (osd_mode == 5) mode_str = "fbwa"; //FLY_BY_WIRE_A
-    if (osd_mode == 6) mode_str = "fbwb"; //FLY_BY_WIRE_B
-    if (osd_mode == 7) mode_str = "cruz"; //Cruise
-    if (osd_mode == 10) mode_str = "auto"; //AUTO
-    if (osd_mode == 11) mode_str = "retl"; //Return to Launch 
-    if (osd_mode == 12) mode_str = "loit"; //Loiter
-    if (osd_mode == 15) mode_str = "guid"; //GUIDED
+    char* mode_str=(char *)"";
+    if (osd_mode == 0) mode_str = (char *)"manu"; //Manual 
+    if (osd_mode == 1) mode_str = (char *)"circ"; //CIRCLE 
+    if (osd_mode == 2) mode_str = (char *)"stab"; //Stabilize
+    if (osd_mode == 3) mode_str = (char *)"trai"; //Training
+    if (osd_mode == 4) mode_str = (char *)"acro"; //ACRO
+    if (osd_mode == 5) mode_str = (char *)"fbwa"; //FLY_BY_WIRE_A
+    if (osd_mode == 6) mode_str = (char *)"fbwb"; //FLY_BY_WIRE_B
+    if (osd_mode == 7) mode_str = (char *)"cruz"; //Cruise
+    if (osd_mode == 10) mode_str = (char *)"auto"; //AUTO
+    if (osd_mode == 11) mode_str = (char *)"retl"; //Return to Launch 
+    if (osd_mode == 12) mode_str = (char *)"loit"; //Loiter
+    if (osd_mode == 15) mode_str = (char *)"guid"; //GUIDED
     
     
 //    osd.printf("%c%s", 0x7f, mode_str);
diff --git a/MinimOSD_Extra_Plane_Pre_release_Beta/OSD_Vars.h b/MinimOSD_Extra_Plane_Pre_release_Beta/OSD_Vars.h
index 00158b7..9cc8a59 100644
--- a/MinimOSD_Extra_Plane_Pre_release_Beta/OSD_Vars.h
+++ b/MinimOSD_Extra_Plane_Pre_release_Beta/OSD_Vars.h
@@ -35,19 +35,15 @@ static uint8_t      panel_auto_switch=0;
 static bool         ma = 0;
 static bool         osd_clear = 0;
 static uint16_t     ch_raw = 0;
-//static uint16_t     chan1_raw = 0;
-//static uint16_t     chan2_raw = 0;
-//static uint16_t     chan3_raw = 0;
-//static uint16_t     chan4_raw = 0;
-static uint16_t     chan5_raw = 0;
-static uint16_t     chan6_raw = 0;
-static uint16_t     chan7_raw = 0;
-static uint16_t     chan8_raw = 0;
+// keep track of whether the channel rotation switch moved from its last position and back
+static uint16_t     ch_raw_prev1 = 0;
+static uint16_t     ch_raw_prev2 = 0;
+// FIXME slots 0-4 aren't used, 10 bytes of var space lost to save on program space
+static uint16_t     chan_raw[9];
 //static uint16_t     chan1_raw_middle = 0;
 //static uint16_t     chan2_raw_middle = 0;
 
 static uint8_t      ch_toggle = 0;
-static uint8_t      check_warning = 1;
 //static boolean      osd_set = 0;
 static boolean      switch_mode = 0;
 static boolean      takeofftime = 0;
@@ -87,14 +83,11 @@ static unsigned long mavLinkTimer = 0;
 static unsigned long runt =0;
 static unsigned long FTime = 0;
 //static unsigned long CallSignBlink = 0;
-static unsigned long landed = 4294967295;
+static unsigned long landed = 4294967295LL;
 
 //static uint8_t      warning_type = 0;
 static char*        warning_string;
-static boolean      warning_found = 0;
 static boolean      canswitch = 1;
-static uint8_t      osd_off_switch = 0;
-static uint8_t      osd_switch_last = 100;
 static uint8_t      rotation = 0;
 static unsigned long         osd_switch_time = 0;
 //static unsigned long         descendt = 0;
@@ -126,7 +119,7 @@ static float        glide = 0;
 static float        osd_alt = 0;                    // altitude
 static float        osd_airspeed = 0;              // airspeed
 static float        osd_windspeed = 0;
-static float        osd_windspeedz = 0;
+//static float        osd_windspeedz = 0;
 static float        osd_winddirection = 0;
 static int8_t       osd_wind_arrow_rotate_int;
 static int8_t       osd_COG_arrow_rotate_int;
@@ -161,7 +154,6 @@ static byte     climbchar = 0;
 //static byte     signLon = 0x20;
 
 
-static float     convertt = 0;
 //Call sign variables
 static char         char_call[OSD_CALL_SIGN_TOTAL+1] = {0};
 
@@ -173,11 +165,11 @@ static boolean      mavbeat = 0;
 //static boolean      iconMSL = 0;
 //static boolean      landing = 0;
 static float        lastMAVBeat = 0;
-static boolean      waitingMAVBeats = 1;
+//static boolean      waitingMAVBeats = 1;
 //static uint8_t      apm_mav_type;
 static uint8_t      apm_mav_system; 
 static uint8_t      apm_mav_component;
-static boolean      enable_mav_request = 0;
+//static boolean      enable_mav_request = 0;
 static boolean      blinker = 0;
 static boolean      one_sec_timer_switch = 0;
 
diff --git a/MinimOSD_Extra_Plane_Pre_release_Beta/README.txt b/MinimOSD_Extra_Plane_Pre_release_Beta/README.txt
new file mode 100644
index 0000000..8f8cae2
--- /dev/null
+++ b/MinimOSD_Extra_Plane_Pre_release_Beta/README.txt
@@ -0,0 +1,50 @@
+Build
+-----
+1) copy librariesOK/AP_Common AP_Math FastSerial GCS_MAVLink to your
+   arduino library directory
+2) get an old version of the arduino IDE (1.0.2 and 1.0.6 worked ok,
+   1.5.8 did not), and run it _after_ you've copied the libraries in the
+   right place (arduino doesn't rescan after startup)
+3) Select board Arduino Nano/ATmega328
+4) build and upload
+
+
+Changelog
+---------
+R808 - 2015/12/20 - Marc MERLIN <marc_soft@merlins.org>
+--------------------------------------------------------------------------------
+Mode switch rotate code removed. Please use toggle switch rotate and assign to mode
+switch channel (this saves space without removing functionality).
+No new functionality, cleanups and removed all compiler warnings (not flight tested):
+- chan_raw changed to an array to save program space
+- all %f variables sent to printf are cast to double
+- glide != 'inf' not valid C, likely a bug. Changed to glide != INFINITY
+- TODO: remove this? if(rssiraw_on == 9) rssi = chan_raw[8];
+- removed warnings on missing {} in if if else.
+- All "string" cast to (char *)"string"
+- Removed unused variables in OSD_Vars.h
+
+Binary sketch size: 30,532 bytes (of a 30,720 byte maximum)
+
+
+R807 - 2015/12/19 - Marc MERLIN <marc_soft@merlins.org>
+--------------------------------------------------------------------------------
+Previous rotation switch didn't quite work as well as I was hoping. This new
+one will rotate OSD if you flip to any other position more than 200ms away from
+the current one, and come back within less than 1 second.
+This should work with all switches and positions and allows you to use
+another switch and activate a function you don't want, but only for
+a fraction for a second, come back, and generate an OSD flip in the
+process.
+
+Binary sketch size: 30,718 bytes (of a 30,720 byte maximum) (pfew :) ) 
+
+
+R806 - 2015/12/13 - Marc MERLIN <marc_soft@merlins.org>
+--------------------------------------------------------------------------------
+Rotation switching only rotates when switch changes states between low/mid/high.
+This allows reusing a switch that has another function for OSD rotation.
+You can rotate the OSD by flipping the switch to any other state and leaving it
+there or coming back to the original location within 2 seconds.
+
+Binary sketch size: 30,656 bytes (of a 30,720 byte maximum)
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..d9b0172
--- /dev/null
+++ b/README.md
@@ -0,0 +1,8 @@
+# MinimOSD-Extra
+
+MinimOSD_Extra_Plane_Pre_release_Beta was improved, please see
+MinimOSD_Extra_Plane_Pre_release_Beta/README.txt
+for changelog and build instructions
+
+Prebuilt binary for plane: Released/FW & Char/MinimOSD_Extra_Plane_R8??.hex
+
diff --git a/Released/FW & Char/MinimOSD_Extra_Plane_R807.hex b/Released/FW & Char/MinimOSD_Extra_Plane_R807.hex
new file mode 100644
index 0000000..2292290
--- /dev/null
+++ b/Released/FW & Char/MinimOSD_Extra_Plane_R807.hex	
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diff --git a/Released/FW & Char/MinimOSD_Extra_Plane_R808.hex b/Released/FW & Char/MinimOSD_Extra_Plane_R808.hex
new file mode 100644
index 0000000..13fd0a8
--- /dev/null
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