diff --git a/flight/libraries/inc/CoordinateConversions.h b/flight/libraries/inc/CoordinateConversions.h
index f64823a43..c8a391f43 100644
--- a/flight/libraries/inc/CoordinateConversions.h
+++ b/flight/libraries/inc/CoordinateConversions.h
@@ -97,7 +97,7 @@ void rot_mult(float R[3][3], const float vec[3], float vec_out[3]);
  * @param b
  * @param result
  */
-inline void matrix_mult_3x3f(float a[3][3], float b[3][3], float result[3][3])
+static inline void matrix_mult_3x3f(float a[3][3], float b[3][3], float result[3][3])
 {
     result[0][0] = a[0][0] * b[0][0] + a[1][0] * b[0][1] + a[2][0] * b[0][2];
     result[0][1] = a[0][1] * b[0][0] + a[1][1] * b[0][1] + a[2][1] * b[0][2];
diff --git a/flight/libraries/rscode/ecc.h b/flight/libraries/rscode/ecc.h
index bf56a0b9a..0a6316d8a 100644
--- a/flight/libraries/rscode/ecc.h
+++ b/flight/libraries/rscode/ecc.h
@@ -66,7 +66,7 @@ extern int pBytes[MAXDEG];
 extern int synBytes[MAXDEG];
 
 /* print debugging info */
-extern int DEBUG;
+//extern int DEBUG;
 
 /* Reed Solomon encode/decode routines */
 void initialize_ecc (void);
diff --git a/flight/libraries/rscode/rs.c b/flight/libraries/rscode/rs.c
index 39c014720..62fd02386 100644
--- a/flight/libraries/rscode/rs.c
+++ b/flight/libraries/rscode/rs.c
@@ -38,7 +38,7 @@ int synBytes[MAXDEG];
 /* generator polynomial */
 int genPoly[MAXDEG*2];
 
-int DEBUG = FALSE;
+//int DEBUG = FALSE;
 
 static void
 compute_genpoly (int nbytes, int genpoly[]);
diff --git a/flight/pios/inc/pios_debug.h b/flight/pios/inc/pios_debug.h
index 8fd7016a9..4d481dfbd 100644
--- a/flight/pios/inc/pios_debug.h
+++ b/flight/pios/inc/pios_debug.h
@@ -58,7 +58,7 @@ void PIOS_DEBUG_PinHigh(uint8_t pin);
 void PIOS_DEBUG_PinLow(uint8_t pin);
 void PIOS_DEBUG_PinValue8Bit(uint8_t value);
 void PIOS_DEBUG_PinValue4BitL(uint8_t value);
-void PIOS_DEBUG_Panic(const char *msg);
+void PIOS_DEBUG_Panic(const char *msg) __attribute__((noreturn));
 
 #ifdef DEBUG
 #define PIOS_DEBUG_Assert(test) if (!(test)) { PIOS_DEBUG_Panic(PIOS_DEBUG_AssertMsg); }
diff --git a/flight/pios/osx/inc/pios_debug.h b/flight/pios/osx/inc/pios_debug.h
index 1d4b88595..460bf7d0a 100644
--- a/flight/pios/osx/inc/pios_debug.h
+++ b/flight/pios/osx/inc/pios_debug.h
@@ -38,7 +38,7 @@ void PIOS_DEBUG_PinHigh(uint8_t pin);
 void PIOS_DEBUG_PinLow(uint8_t pin);
 void PIOS_DEBUG_PinValue8Bit(uint8_t value);
 void PIOS_DEBUG_PinValue4BitL(uint8_t value);
-void PIOS_DEBUG_Panic(const char *msg);
+void PIOS_DEBUG_Panic(const char *msg) __attribute__((noreturn));
 
 #ifdef DEBUG
 #define PIOS_DEBUG_Assert(test) if (!(test)) { PIOS_DEBUG_Panic(PIOS_DEBUG_AssertMsg); }
diff --git a/flight/pios/osx/osx/pios_debug.c b/flight/pios/osx/osx/pios_debug.c
index 71120a39d..bb6cd0d9e 100644
--- a/flight/pios/osx/osx/pios_debug.c
+++ b/flight/pios/osx/osx/pios_debug.c
@@ -82,6 +82,11 @@ void PIOS_DEBUG_Panic(const char *msg)
     int b = 0;
     int a = (2 / b);
     b = a;
+
+    // Stay put
+    while (1) {
+        ;
+    }
 }
 
 /**
diff --git a/flight/pios/posix/pios_debug.c b/flight/pios/posix/pios_debug.c
index ac67e89a0..1f79c4722 100644
--- a/flight/pios/posix/pios_debug.c
+++ b/flight/pios/posix/pios_debug.c
@@ -81,6 +81,11 @@ void PIOS_DEBUG_Panic(const char *msg)
     int b = 0;
     int a = (2 / b);
     b = a;
+
+    // Stay put
+    while (1) {
+        ;
+    }
 }
 
 /**
diff --git a/flight/pios/stm32f10x/pios_ppm_out.c b/flight/pios/stm32f10x/pios_ppm_out.c
index efb6a6a6a..d47934177 100644
--- a/flight/pios/stm32f10x/pios_ppm_out.c
+++ b/flight/pios/stm32f10x/pios_ppm_out.c
@@ -107,7 +107,7 @@ static const struct pios_tim_callbacks tim_out_callbacks = {
 
 int32_t PIOS_PPM_Out_Init(uint32_t *ppm_out_id, const struct pios_ppm_out_cfg *cfg)
 {
-    PIOS_DEBUG_Assert(ppm_id);
+    PIOS_DEBUG_Assert(ppm_out_id);
     PIOS_DEBUG_Assert(cfg);
 
     // Allocate the device structure
diff --git a/flight/pios/stm32f4xx/pios_tim.c b/flight/pios/stm32f4xx/pios_tim.c
index ec72a9c6f..a5b114b0a 100644
--- a/flight/pios/stm32f4xx/pios_tim.c
+++ b/flight/pios/stm32f4xx/pios_tim.c
@@ -171,7 +171,7 @@ int32_t PIOS_TIM_InitChannels(uint32_t *tim_id, const struct pios_tim_channel *c
  */                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       // commented out for now as f4 starts all clocks
         GPIO_Init(chan->pin.gpio, &chan->pin.init);
 
-        PIOS_DEBUG_Assert(chan->remaP);
+        PIOS_DEBUG_Assert(chan->remap);
 
         // Second parameter should technically be PinSource but they are numerically the same
         GPIO_PinAFConfig(chan->pin.gpio, chan->pin.pin_source, chan->remap);
diff --git a/flight/targets/boards/oplinkmini/firmware/pios_board.c b/flight/targets/boards/oplinkmini/firmware/pios_board.c
index ba83a3b45..44c981f45 100644
--- a/flight/targets/boards/oplinkmini/firmware/pios_board.c
+++ b/flight/targets/boards/oplinkmini/firmware/pios_board.c
@@ -78,6 +78,7 @@ uint8_t *pios_uart_rx_buffer;
 uint8_t *pios_uart_tx_buffer;
 
 uintptr_t pios_uavo_settings_fs_id;
+uintptr_t pios_user_fs_id = 0;
 
 uint8_t servo_count = 0;
 
diff --git a/flight/targets/boards/osd/firmware/Makefile b/flight/targets/boards/osd/firmware/Makefile
index 3744ee56a..928f1310b 100644
--- a/flight/targets/boards/osd/firmware/Makefile
+++ b/flight/targets/boards/osd/firmware/Makefile
@@ -76,6 +76,8 @@ ifndef TESTAPP
     SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
     SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
     SRC += $(OPUAVSYNTHDIR)/flightstatus.c
+    SRC += $(OPUAVSYNTHDIR)/flightmodesettings.c
+    SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
     SRC += $(OPUAVSYNTHDIR)/systemstats.c
     SRC += $(OPUAVSYNTHDIR)/systemalarms.c
     SRC += $(OPUAVSYNTHDIR)/systemsettings.c