diff --git a/flight/pios/common/pios_exbus.c b/flight/pios/common/pios_exbus.c
index a395d2605..ff2f38845 100644
--- a/flight/pios/common/pios_exbus.c
+++ b/flight/pios/common/pios_exbus.c
@@ -57,6 +57,8 @@
 #define EXBUS_LOW_BAUD_RATE    125000
 #define EXBUS_HIGH_BAUD_RATE   250000
 #define EXBUS_BAUD_RATE_LIMIT  64
+#define EXBUS_FRAME_TIMEOUT    4
+#define EXBUS_FAILSAFE_TIMEOUT 64
 
 /* Forward Declarations */
 static int32_t PIOS_EXBUS_Get(uint32_t rcvr_id, uint8_t channel);
@@ -108,7 +110,6 @@ struct pios_exbus_dev {
 };
 
 /* Allocate EXBUS device descriptor */
-#if defined(PIOS_INCLUDE_FREERTOS)
 static struct pios_exbus_dev *PIOS_EXBUS_Alloc(void)
 {
     struct pios_exbus_dev *exbus_dev;
@@ -121,23 +122,6 @@ static struct pios_exbus_dev *PIOS_EXBUS_Alloc(void)
     exbus_dev->magic = PIOS_EXBUS_DEV_MAGIC;
     return exbus_dev;
 }
-#else
-static struct pios_exbus_dev pios_exbus_devs[PIOS_EXBUS_MAX_DEVS];
-static uint8_t pios_exbus_num_devs;
-static struct pios_exbus_dev *PIOS_EXBUS_Alloc(void)
-{
-    struct pios_exbus_dev *exbus_dev;
-
-    if (pios_exbus_num_devs >= PIOS_EXBUS_MAX_DEVS) {
-        return NULL;
-    }
-
-    exbus_dev = &pios_exbus_devs[pios_exbus_num_devs++];
-    exbus_dev->magic = PIOS_EXBUS_DEV_MAGIC;
-
-    return exbus_dev;
-}
-#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
 
 /* Validate EXBUS device descriptor */
 static bool PIOS_EXBUS_Validate(struct pios_exbus_dev *exbus_dev)
@@ -179,7 +163,6 @@ static int PIOS_EXBUS_UnrollChannels(struct pios_exbus_dev *exbus_dev)
 
     if (state->crc != 0) {
         /* crc failed */
-        DEBUG_PRINTF(2, "Jeti CRC error!%d\r\n");
         return -1;
     }
 
@@ -244,6 +227,7 @@ static int PIOS_EXBUS_UnrollChannels(struct pios_exbus_dev *exbus_dev)
             exbus_state = EXBUS_STATE_DATA;
             byte += sizeof(uint8_t);
             break;
+
         case EXBUS_STATE_DATA:
             if (channel < n_channels) {
                 /* 1 lsb = 1/8 us */
@@ -412,7 +396,7 @@ static void PIOS_EXBUS_Supervisor(uint32_t exbus_id)
     struct pios_exbus_state *state = &(exbus_dev->state);
 
     /* waiting for new frame if no bytes were received in 8ms */
-    if (++state->receive_timer > 4) {
+    if (++state->receive_timer > EXBUS_FRAME_TIMEOUT) {
         state->frame_found   = false;
         state->byte_count    = 0;
         state->receive_timer = 0;
@@ -420,7 +404,7 @@ static void PIOS_EXBUS_Supervisor(uint32_t exbus_id)
     }
 
     /* activate failsafe if no frames have arrived in 102.4ms */
-    if (++state->failsafe_timer > 64) {
+    if (++state->failsafe_timer > EXBUS_FAILSAFE_TIMEOUT) {
         PIOS_EXBUS_ResetChannels(exbus_dev);
         state->failsafe_timer = 0;
         PIOS_EXBUS_Change_BaudRate(exbus_dev);
diff --git a/flight/pios/common/pios_hott.c b/flight/pios/common/pios_hott.c
index c8e5698b4..71df3fe24 100644
--- a/flight/pios/common/pios_hott.c
+++ b/flight/pios/common/pios_hott.c
@@ -87,6 +87,9 @@
 #define HOTT_STATUS_LIVING_SUMH     0x00
 #define HOTT_STATUS_LIVING_SUMD     0x01
 #define HOTT_STATUS_FAILSAFE        0x81
+#define HOTT_FRAME_TIMEOUT          4
+#define HOTT_FAILSAFE_TIMEOUT       64
+
 
 /* Forward Declarations */
 static int32_t PIOS_HOTT_Get(uint32_t rcvr_id, uint8_t channel);
@@ -125,7 +128,6 @@ struct pios_hott_dev {
 };
 
 /* Allocate HOTT device descriptor */
-#if defined(PIOS_INCLUDE_FREERTOS)
 static struct pios_hott_dev *PIOS_HOTT_Alloc(void)
 {
     struct pios_hott_dev *hott_dev;
@@ -138,23 +140,6 @@ static struct pios_hott_dev *PIOS_HOTT_Alloc(void)
     hott_dev->magic = PIOS_HOTT_DEV_MAGIC;
     return hott_dev;
 }
-#else
-static struct pios_hott_dev pios_hott_devs[PIOS_HOTT_MAX_DEVS];
-static uint8_t pios_hott_num_devs;
-static struct pios_hott_dev *PIOS_HOTT_Alloc(void)
-{
-    struct pios_hott_dev *hott_dev;
-
-    if (pios_hott_num_devs >= PIOS_HOTT_MAX_DEVS) {
-        return NULL;
-    }
-
-    hott_dev = &pios_hott_devs[pios_hott_num_devs++];
-    hott_dev->magic = PIOS_HOTT_DEV_MAGIC;
-
-    return hott_dev;
-}
-#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
 
 /* Validate HOTT device descriptor */
 static bool PIOS_HOTT_Validate(struct pios_hott_dev *hott_dev)
@@ -413,7 +398,7 @@ static void PIOS_HOTT_Supervisor(uint32_t hott_id)
     struct pios_hott_state *state = &(hott_dev->state);
 
     /* waiting for new frame if no bytes were received in 8ms */
-    if (++state->receive_timer > 4) {
+    if (++state->receive_timer > HOTT_FRAME_TIMEOUT) {
         state->frame_found   = 1;
         state->byte_count    = 0;
         state->receive_timer = 0;
@@ -421,7 +406,7 @@ static void PIOS_HOTT_Supervisor(uint32_t hott_id)
     }
 
     /* activate failsafe if no frames have arrived in 102.4ms */
-    if (++state->failsafe_timer > 64) {
+    if (++state->failsafe_timer > HOTT_FAILSAFE_TIMEOUT) {
         PIOS_HOTT_ResetChannels(state);
         state->failsafe_timer = 0;
         state->tx_connected   = 0;
diff --git a/flight/pios/inc/pios_exbus.h b/flight/pios/inc/pios_exbus.h
index 66d220012..0e2cbf88c 100644
--- a/flight/pios/inc/pios_exbus.h
+++ b/flight/pios/inc/pios_exbus.h
@@ -1,12 +1,11 @@
 /**
  ******************************************************************************
  *
- * @file       pios_sbus.h
+ * @file       pios_exbus.h
  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
  *             Tau Labs, http://taulabs.org, Copyright (C) 2013
  * @brief      Futaba S.Bus functions header.
  * @see        The GNU Public License (GPL) Version 3
- *
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify
diff --git a/flight/pios/pios.h b/flight/pios/pios.h
index 65d69f88b..fca43089b 100644
--- a/flight/pios/pios.h
+++ b/flight/pios/pios.h
@@ -2,8 +2,8 @@
  ******************************************************************************
  * @file       pios.h
  * @author     The LibrePilot Project, http://www.librepilot.org, Copyright (c) 2015
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013
- * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013
+ *             PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
  * @brief      Main PiOS header.
  * @see        The GNU Public License (GPL) Version 3
  *****************************************************************************/
diff --git a/flight/targets/boards/coptercontrol/pios_board.h b/flight/targets/boards/coptercontrol/pios_board.h
index f22c01ea4..5b002e009 100644
--- a/flight/targets/boards/coptercontrol/pios_board.h
+++ b/flight/targets/boards/coptercontrol/pios_board.h
@@ -249,7 +249,7 @@ extern uint32_t pios_com_hkosd_id;
 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 
 // -------------------------
-// Receiver HSUM input
+// Receiver HOTT input
 // -------------------------
 #define PIOS_HOTT_MAX_DEVS           1
 #define PIOS_HOTT_NUM_INPUTS         32
diff --git a/flight/targets/boards/revolution/pios_board.h b/flight/targets/boards/revolution/pios_board.h
index 48ceea0b8..5195be8a2 100644
--- a/flight/targets/boards/revolution/pios_board.h
+++ b/flight/targets/boards/revolution/pios_board.h
@@ -259,7 +259,7 @@ extern uint32_t pios_packet_handler;
 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 
 // -------------------------
-// Receiver HSUM input
+// Receiver HOTT input
 // -------------------------
 #define PIOS_HOTT_MAX_DEVS           1
 #define PIOS_HOTT_NUM_INPUTS         32
diff --git a/flight/targets/boards/revonano/pios_board.h b/flight/targets/boards/revonano/pios_board.h
index ea6e6d105..63ea052d5 100644
--- a/flight/targets/boards/revonano/pios_board.h
+++ b/flight/targets/boards/revonano/pios_board.h
@@ -259,7 +259,7 @@ extern uint32_t pios_packet_handler;
 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 
 // -------------------------
-// Receiver HSUM input
+// Receiver HOTT input
 // -------------------------
 #define PIOS_HOTT_MAX_DEVS           1
 #define PIOS_HOTT_NUM_INPUTS         32
diff --git a/ground/gcs/src/plugins/setupwizard/connectiondiagram.cpp b/ground/gcs/src/plugins/setupwizard/connectiondiagram.cpp
index 55755964c..0169a9c85 100644
--- a/ground/gcs/src/plugins/setupwizard/connectiondiagram.cpp
+++ b/ground/gcs/src/plugins/setupwizard/connectiondiagram.cpp
@@ -201,7 +201,7 @@ void ConnectionDiagram::setupGraphicsScene()
         case VehicleConfigurationSource::INPUT_DSM:
             elementsToShow << QString("%1satellite").arg(prefix);
             break;
-        case VehicleConfigurationSource::INPUT_HOTT:
+        case VehicleConfigurationSource::INPUT_HOTT_SUMD:
             elementsToShow << QString("%1hott").arg(prefix);
             break;
         case VehicleConfigurationSource::INPUT_EXBUS:
diff --git a/ground/gcs/src/plugins/setupwizard/pages/airspeedpage.cpp b/ground/gcs/src/plugins/setupwizard/pages/airspeedpage.cpp
index d390029cd..749faa3db 100644
--- a/ground/gcs/src/plugins/setupwizard/pages/airspeedpage.cpp
+++ b/ground/gcs/src/plugins/setupwizard/pages/airspeedpage.cpp
@@ -42,7 +42,7 @@ void AirSpeedPage::initializePage(VehicleConfigurationSource *settings)
     if (settings->getInputType() == VehicleConfigurationSource::INPUT_SBUS ||
         settings->getInputType() == VehicleConfigurationSource::INPUT_DSM ||
         settings->getInputType() == VehicleConfigurationSource::INPUT_SRXL ||
-        settings->getInputType() == VehicleConfigurationSource::INPUT_HOTT ||
+        settings->getInputType() == VehicleConfigurationSource::INPUT_HOTT_SUMD ||
         settings->getInputType() == VehicleConfigurationSource::INPUT_EXBUS ||
         settings->getGpsType() == VehicleConfigurationSource::GPS_UBX_FLEXI_I2CMAG) {
         // Disable non estimated sensors if ports are taken by receivers or I2C Mag
diff --git a/ground/gcs/src/plugins/setupwizard/pages/gpspage.cpp b/ground/gcs/src/plugins/setupwizard/pages/gpspage.cpp
index 6efa7df55..1a6b8b30e 100644
--- a/ground/gcs/src/plugins/setupwizard/pages/gpspage.cpp
+++ b/ground/gcs/src/plugins/setupwizard/pages/gpspage.cpp
@@ -41,7 +41,7 @@ void GpsPage::initializePage(VehicleConfigurationSource *settings)
     setItemDisabled(-1, false);
     if (settings->getInputType() == VehicleConfigurationSource::INPUT_SBUS ||
         settings->getInputType() == VehicleConfigurationSource::INPUT_DSM ||
-        settings->getInputType() == VehicleConfigurationSource::INPUT_HOTT ||
+        settings->getInputType() == VehicleConfigurationSource::INPUT_HOTT_SUMD ||
         settings->getInputType() == VehicleConfigurationSource::INPUT_EXBUS ||
         settings->getInputType() == VehicleConfigurationSource::INPUT_SRXL) {
         // Disable GPS+I2C Mag
diff --git a/ground/gcs/src/plugins/setupwizard/pages/inputpage.cpp b/ground/gcs/src/plugins/setupwizard/pages/inputpage.cpp
index 197e6005e..5db75c3cb 100644
--- a/ground/gcs/src/plugins/setupwizard/pages/inputpage.cpp
+++ b/ground/gcs/src/plugins/setupwizard/pages/inputpage.cpp
@@ -54,7 +54,7 @@ bool InputPage::validatePage()
     } else if (ui->sbusButton->isChecked()) {
         getWizard()->setInputType(SetupWizard::INPUT_SBUS);
     } else if (ui->graupnerButton->isChecked()) {
-        getWizard()->setInputType(SetupWizard::INPUT_HOTT);
+        getWizard()->setInputType(SetupWizard::INPUT_HOTT_SUMD);
     } else if (ui->jetiButton->isChecked()) {
         getWizard()->setInputType(SetupWizard::INPUT_EXBUS);
     } else if (ui->spectrumButton->isChecked()) {
@@ -94,7 +94,7 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
         case VehicleConfigurationSource::INPUT_SRXL:
             return data.CC_FlexiPort != HwSettings::CC_FLEXIPORT_SRXL;
 
-        case VehicleConfigurationSource::INPUT_HOTT:
+        case VehicleConfigurationSource::INPUT_HOTT_SUMD:
             return data.CC_FlexiPort != HwSettings::CC_FLEXIPORT_HOTTSUMD;
 
         case VehicleConfigurationSource::INPUT_EXBUS:
@@ -122,7 +122,7 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
         case VehicleConfigurationSource::INPUT_SBUS:
             return data.RM_MainPort != HwSettings::RM_MAINPORT_SBUS;
 
-        case VehicleConfigurationSource::INPUT_HOTT:
+        case VehicleConfigurationSource::INPUT_HOTT_SUMD:
             return data.RM_FlexiPort != HwSettings::RM_FLEXIPORT_HOTTSUMD;
 
         case VehicleConfigurationSource::INPUT_EXBUS:
diff --git a/ground/gcs/src/plugins/setupwizard/setupwizard.cpp b/ground/gcs/src/plugins/setupwizard/setupwizard.cpp
index 5e2d45ce8..9de73be50 100644
--- a/ground/gcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/gcs/src/plugins/setupwizard/setupwizard.cpp
@@ -380,7 +380,7 @@ QString SetupWizard::getSummaryText()
     case INPUT_SRXL:
         summary.append(tr("Multiplex SRXL"));
         break;
-    case INPUT_HOTT:
+    case INPUT_HOTT_SUMD:
         summary.append(tr("Graupner HoTT"));
         break;
     case INPUT_EXBUS:
diff --git a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
index 2479efce6..e8004b034 100644
--- a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
+++ b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
@@ -169,7 +169,7 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
         case VehicleConfigurationSource::INPUT_SRXL:
             data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_SRXL;
             break;
-        case VehicleConfigurationSource::INPUT_HOTT:
+        case VehicleConfigurationSource::INPUT_HOTT_SUMD:
             data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_HOTTSUMD;
             break;
         case VehicleConfigurationSource::INPUT_EXBUS:
@@ -213,7 +213,7 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
         case VehicleConfigurationSource::INPUT_SRXL:
             data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_SRXL;
             break;
-        case VehicleConfigurationSource::INPUT_HOTT:
+        case VehicleConfigurationSource::INPUT_HOTT_SUMD:
             data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_HOTTSUMD;
             break;
         case VehicleConfigurationSource::INPUT_EXBUS:
@@ -912,7 +912,7 @@ void VehicleConfigurationHelper::applyManualControlDefaults()
     case VehicleConfigurationSource::INPUT_SRXL:
         channelType = ManualControlSettings::CHANNELGROUPS_SRXL;
         break;
-    case VehicleConfigurationSource::INPUT_HOTT:
+    case VehicleConfigurationSource::INPUT_HOTT_SUMD:
         channelType = ManualControlSettings::CHANNELGROUPS_HOTT;
         break;
     case VehicleConfigurationSource::INPUT_EXBUS:
diff --git a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationsource.h b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationsource.h
index da3fceeff..49e152af0 100644
--- a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationsource.h
+++ b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationsource.h
@@ -66,7 +66,7 @@ public:
                             GROUNDVEHICLE_MOTORCYCLE, GROUNDVEHICLE_CAR, GROUNDVEHICLE_DIFFERENTIAL };
     enum ESC_TYPE { ESC_ONESHOT, ESC_SYNCHED, ESC_RAPID, ESC_STANDARD, ESC_UNKNOWN };
     enum SERVO_TYPE { SERVO_ANALOG, SERVO_DIGITAL, SERVO_UNKNOWN };
-    enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_SRXL, INPUT_HOTT, INPUT_EXBUS, INPUT_UNKNOWN };
+    enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_SRXL, INPUT_HOTT_SUMD, INPUT_EXBUS, INPUT_UNKNOWN };
     enum AIRSPEED_TYPE { AIRSPEED_ESTIMATE, AIRSPEED_EAGLETREE, AIRSPEED_MS4525, AIRSPEED_DISABLED };
     enum GPS_TYPE { GPS_PLATINUM, GPS_UBX_FLEXI_I2CMAG, GPS_UBX, GPS_NMEA, GPS_DISABLED };
     enum RADIO_SETTING { RADIO_TELEMETRY, RADIO_DISABLED };