diff --git a/flight/modules/RadioComBridge/RadioComBridge.c b/flight/modules/RadioComBridge/RadioComBridge.c
index 1cd712656..29fb53f16 100644
--- a/flight/modules/RadioComBridge/RadioComBridge.c
+++ b/flight/modules/RadioComBridge/RadioComBridge.c
@@ -551,11 +551,9 @@ static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalk
             switch (objId) {
             case OPLINKSTATUS_OBJID:
             case OPLINKSETTINGS_OBJID:
-            case OPLINKRECEIVER_OBJID:
             case MetaObjectId(OPLINKSTATUS_OBJID):
             case MetaObjectId(OPLINKSETTINGS_OBJID):
-            case MetaObjectId(OPLINKRECEIVER_OBJID):
-                UAVTalkReceiveObject(inConnectionHandle);
+                UAVTalkReceiveObject(inConnectionHandle, true);
                 break;
             case OBJECTPERSISTENCE_OBJID:
             case MetaObjectId(OBJECTPERSISTENCE_OBJID):
@@ -568,7 +566,7 @@ static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalk
                 // Second ack/nack will not match an open transaction or will apply to wrong transaction
                 // Question : how does GCS handle receiving the same object twice
                 // The OBJECTPERSISTENCE logic can be broken too if for example OPLM nacks and then REVO acks...
-                UAVTalkReceiveObject(inConnectionHandle);
+                UAVTalkReceiveObject(inConnectionHandle, true);
                 // relay packet to remote modem
                 UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
                 break;
@@ -616,7 +614,9 @@ static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConn
                 // These objects are received by the modem and are not transmitted to the telemetry port
                 // - OPLINKRECEIVER_OBJID : not sure why
                 // some objects will send back a response to the remote modem
-                UAVTalkReceiveObject(inConnectionHandle);
+                UAVTalkReceiveObject(inConnectionHandle, true);
+                // all other packets are relayed to the telemetry port
+                UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
                 break;
             default:
                 // all other packets are relayed to the telemetry port
diff --git a/flight/modules/UAVOMSPBridge/UAVOMSPBridge.c b/flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
index 841276623..d5d44a9a7 100644
--- a/flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
+++ b/flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
@@ -43,7 +43,7 @@
 #include "gpspositionsensor.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
-#include "oplinkstatus.h"
+#include "oplinkreceiver.h"
 #include "accessorydesired.h"
 #include "attitudestate.h"
 #include "airspeedstate.h"
@@ -481,7 +481,7 @@ static void msp_send_analog(struct msp_bridge *m)
 #ifdef PIOS_INCLUDE_OPLINKRCVR
     if (channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK) {
         int8_t rssi;
-        OPLinkStatusRSSIGet(&rssi);
+        OPLinkReceiverRSSIGet(&rssi);
 
         // MSP values have no units, and OSD rssi display requires calibration anyway, so we will translate OPLINK_LOW_RSSI to OPLINK_HIGH_RSSI -> 0-1023
         if (rssi < OPLINK_LOW_RSSI) {
diff --git a/flight/modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c b/flight/modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c
index ab834b7a3..664fa8c08 100644
--- a/flight/modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c
+++ b/flight/modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c
@@ -52,7 +52,7 @@
 #include "taskinfo.h"
 #include "mavlink.h"
 #include "hwsettings.h"
-#include "oplinkstatus.h"
+#include "oplinkreceiver.h"
 #include "receiverstatus.h"
 #include "manualcontrolsettings.h"
 
@@ -250,7 +250,7 @@ static void mavlink_send_rc_channels()
 #ifdef PIOS_INCLUDE_OPLINKRCVR
     if (channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK) {
         int8_t rssi;
-        OPLinkStatusRSSIGet(&rssi);
+        OPLinkReceiverRSSIGet(&rssi);
 
         if (rssi < OPLINK_LOW_RSSI) {
             rssi = OPLINK_LOW_RSSI;
diff --git a/flight/pios/common/pios_board_io.c b/flight/pios/common/pios_board_io.c
index 6da534b1c..441bad18f 100644
--- a/flight/pios/common/pios_board_io.c
+++ b/flight/pios/common/pios_board_io.c
@@ -54,14 +54,16 @@
 # ifdef PIOS_INCLUDE_GCSRCVR
 #  include <pios_gcsrcvr_priv.h>
 # endif
+# ifdef PIOS_INCLUDE_OPLINKRCVR
+#  include <oplinkreceiver.h>
+#  include <pios_oplinkrcvr_priv.h>
+# endif
 #endif /* PIOS_INCLUDE_RCVR */
 
 #ifdef PIOS_INCLUDE_RFM22B
 # include <oplinksettings.h>
 # include <oplinkstatus.h>
 # ifdef PIOS_INCLUDE_RCVR
-#  include <oplinkreceiver.h>
-#  include <pios_oplinkrcvr_priv.h>
 #  include <pios_openlrs.h>
 #  include <pios_openlrs_rcvr_priv.h>
 # endif /* PIOS_INCLUDE_RCVR */
@@ -525,7 +527,7 @@ void PIOS_BOARD_IO_Configure_PPM_RCVR(const struct pios_ppm_cfg *ppm_cfg)
 }
 #endif /* PIOS_INCLUDE_PPM */
 
-#ifdef PIOS_INCLUDE_GCSRCVR
+#if defined(PIOS_INCLUDE_GCSRCVR)
 void PIOS_BOARD_IO_Configure_GCS_RCVR()
 {
     GCSReceiverInitialize();
@@ -539,6 +541,24 @@ void PIOS_BOARD_IO_Configure_GCS_RCVR()
 }
 #endif /* PIOS_INCLUDE_GCSRCVR */
 
+#if defined(PIOS_INCLUDE_OPLINKRCVR) && defined(PIOS_INCLUDE_RCVR)
+void PIOS_BOARD_IO_Configure_OPLink_RCVR()
+{
+    uint32_t pios_oplinkrcvr_id;
+    OPLinkReceiverInitialize();
+#if defined(PIOS_INCLUDE_RFM22B)
+    PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id, pios_rfm22b_id);
+#else /* PIOS_INCLUDE_RFM22B */
+    PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id);
+#endif /* PIOS_INCLUDE_RFM22B */
+    uint32_t pios_oplinkrcvr_rcvr_id;
+    if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
+        PIOS_Assert(0);
+    }
+    pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
+}
+#endif /* PIOS_INCLUDE_OPLINKRCVR && PIOS_INCLUDE_RCVR */
+
 #ifdef PIOS_INCLUDE_RFM22B
 
 void PIOS_BOARD_IO_Configure_RFM22B()
@@ -596,15 +616,6 @@ void PIOS_BOARD_IO_Configure_RFM22B()
             if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_SPI_RFM22B_ADAPTER, rfm22b_cfg->slave_num, rfm22b_cfg, oplinkSettings.RFBand)) {
                 PIOS_Assert(0);
             }
-#if defined(PIOS_INCLUDE_OPLINKRCVR) && defined(PIOS_INCLUDE_RCVR)
-            uint32_t pios_oplinkrcvr_id;
-            PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id, pios_rfm22b_id);
-            uint32_t pios_oplinkrcvr_rcvr_id;
-            if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
-                PIOS_Assert(0);
-            }
-            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
-#endif /* PIOS_INCLUDE_OPLINKRCVR && PIOS_INCLUDE_RCVR */
 
             /* Configure the radio com interface */
             if (PIOS_COM_Init(&pios_com_pri_radio_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
diff --git a/flight/pios/common/pios_oplinkrcvr.c b/flight/pios/common/pios_oplinkrcvr.c
index a51b1b4ea..678e330c3 100644
--- a/flight/pios/common/pios_oplinkrcvr.c
+++ b/flight/pios/common/pios_oplinkrcvr.c
@@ -60,11 +60,14 @@ struct pios_oplinkrcvr_dev {
     bool    Fresh;
 };
 
+static struct pios_oplinkrcvr_dev *global_oplinkrcvr_dev;
+
 static bool PIOS_oplinkrcvr_validate(struct pios_oplinkrcvr_dev *oplinkrcvr_dev)
 {
     return oplinkrcvr_dev->magic == PIOS_OPLINKRCVR_DEV_MAGIC;
 }
 
+#if defined(PIOS_INCLUDE_RFM22B)
 static void PIOS_oplinkrcvr_ppm_callback(uint32_t oplinkrcvr_id, const int16_t *channels)
 {
     /* Recover our device context */
@@ -78,10 +81,21 @@ static void PIOS_oplinkrcvr_ppm_callback(uint32_t oplinkrcvr_id, const int16_t *
     for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
         oplinkrcvr_dev->oplinkreceiverdata.Channel[i] = (i < RFM22B_PPM_NUM_CHANNELS) ? channels[i] : PIOS_RCVR_TIMEOUT;
     }
-    OPLinkReceiverSet(&oplinkrcvr_dev->oplinkreceiverdata);
+    
+    // Update the RSSI and quality fields.
+    int8_t rssi;
+    OPLinkReceiverRSSIGet(&rssi);
+    oplinkrcvr_dev->oplinkreceiverdata.RSSI = rssi;
+    uint8_t quality;
+    OPLinkReceiverLinkQualityGet(&quality);
+    // Link quality is 0-128, so scale it down to 0-100
+    oplinkrcvr_dev->oplinkreceiverdata.LinkQuality = quality * 100 / 128;
+
+    //OPLinkReceiverSet(&oplinkrcvr_dev->oplinkreceiverdata);
 
     oplinkrcvr_dev->Fresh = true;
 }
+#endif /* PIOS_INCLUDE_RFM22B */
 
 #if defined(PIOS_INCLUDE_FREERTOS)
 static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
@@ -96,6 +110,9 @@ static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
     oplinkrcvr_dev->magic = PIOS_OPLINKRCVR_DEV_MAGIC;
     oplinkrcvr_dev->Fresh = false;
     oplinkrcvr_dev->supv_timer = 0;
+    
+    /* The update callback cannot receive the device pointer, so set it in a global */
+    global_oplinkrcvr_dev = oplinkrcvr_dev;
 
     return oplinkrcvr_dev;
 }
@@ -119,7 +136,21 @@ static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
 }
 #endif /* if defined(PIOS_INCLUDE_FREERTOS) */
 
+static void oplinkreceiver_updated(UAVObjEvent *ev)
+{
+    struct pios_oplinkrcvr_dev *oplinkrcvr_dev = global_oplinkrcvr_dev;
+
+    if (ev->obj == OPLinkReceiverHandle()) {
+        OPLinkReceiverGet(&oplinkrcvr_dev->oplinkreceiverdata);
+        oplinkrcvr_dev->Fresh = true;
+    }
+}
+
+#if defined(PIOS_INCLUDE_RFM22B)
 extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id)
+#else
+extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id)
+#endif
 {
     struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
 
@@ -134,8 +165,13 @@ extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id)
         oplinkrcvr_dev->oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
     }
 
+#if defined(PIOS_INCLUDE_RFM22B)
     /* Register ppm callback */
     PIOS_RFM22B_SetPPMCallback(rfm22b_id, PIOS_oplinkrcvr_ppm_callback, (uint32_t)oplinkrcvr_dev);
+#endif
+
+    /* Updates could come over the telemetry channel, so register uavobj callback */
+    OPLinkReceiverConnectCallback(oplinkreceiver_updated);
 
     /* Register the failsafe timer callback. */
     if (!PIOS_RTC_RegisterTickCallback(PIOS_oplinkrcvr_Supervisor, (uint32_t)oplinkrcvr_dev)) {
@@ -199,14 +235,17 @@ static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id)
     oplinkrcvr_dev->Fresh = false;
 }
 
-static uint8_t PIOS_OPLinkRCVR_Quality_Get(__attribute__((unused)) uint32_t oplinkrcvr_id)
+static uint8_t PIOS_OPLinkRCVR_Quality_Get(uint32_t oplinkrcvr_id)
 {
-    uint16_t oplink_quality;
+    /* Recover our device context */
+    struct pios_oplinkrcvr_dev *oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)oplinkrcvr_id;
 
-    OPLinkStatusLinkQualityGet(&oplink_quality);
+    if (!PIOS_oplinkrcvr_validate(oplinkrcvr_dev)) {
+        /* Invalid device specified */
+        return 0;
+    }
 
-    /* link_status is in the range 0-128, so scale to a % */
-    return oplink_quality * 100 / 128;
+    return oplinkrcvr_dev->oplinkreceiverdata.LinkQuality;
 }
 
 #endif /* PIOS_INCLUDE_OPLINKRCVR */
diff --git a/flight/pios/common/pios_rfm22b.c b/flight/pios/common/pios_rfm22b.c
index 13ea92948..9b7f3f5e3 100644
--- a/flight/pios/common/pios_rfm22b.c
+++ b/flight/pios/common/pios_rfm22b.c
@@ -1798,6 +1798,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
     }
 
     // Should we append PPM data to the packet?
+    bool ppm_valid = false;
     if (radio_dev->ppm_send_mode) {
         len = RFM22B_PPM_NUM_CHANNELS + (radio_dev->ppm_only_mode ? 2 : 1);
 
@@ -1817,10 +1818,13 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
             if ((val == PIOS_RCVR_INVALID) || (val == PIOS_RCVR_TIMEOUT)) {
                 val = RFM22B_PPM_INVALID;
             } else if (val > RFM22B_PPM_MAX_US) {
+                ppm_valid = true;
                 val = RFM22B_PPM_MAX;
             } else if (val < RFM22B_PPM_MIN_US) {
+                ppm_valid = true;
                 val = RFM22B_PPM_MIN;
             } else {
+                ppm_valid = true;
                 val = (val - RFM22B_PPM_MIN_US) / RFM22B_PPM_SCALE + RFM22B_PPM_MIN;
             }
 
@@ -1844,6 +1848,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
     }
 
     // Append data from the com interface if applicable.
+    bool packet_data = false;
     if (!radio_dev->ppm_only_mode) {
         uint8_t newlen  = 0;
         bool need_yield = false;
@@ -1863,6 +1868,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
             i++;
         }
         if (newlen) {
+            packet_data = true;
             *(p + len) = radio_dev->last_stream_sent;
             len += newlen + 1;
         }
@@ -1885,7 +1891,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
     }
 
     // Only count the packet if it contains valid data.
-    if (radio_dev->ppm_only_mode || (len > RS_ECC_NPARITY)) {
+    if (ppm_valid || packet_data) {
         TX_LED_ON;
         radio_dev->stats.tx_byte_count += len;
     }
diff --git a/flight/pios/inc/pios_board_io.h b/flight/pios/inc/pios_board_io.h
index 758051acc..1f8500fd9 100644
--- a/flight/pios/inc/pios_board_io.h
+++ b/flight/pios/inc/pios_board_io.h
@@ -268,4 +268,8 @@ void PIOS_BOARD_IO_Configure_RadioAuxStream(HwSettingsRadioAuxStreamOptions radi
 void PIOS_BOARD_IO_Configure_GCS_RCVR();
 #endif
 
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+void PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #endif /* PIOS_BOARD_IO_H */
diff --git a/flight/pios/inc/pios_oplinkrcvr_priv.h b/flight/pios/inc/pios_oplinkrcvr_priv.h
index dc59812b4..c8b948ae6 100644
--- a/flight/pios/inc/pios_oplinkrcvr_priv.h
+++ b/flight/pios/inc/pios_oplinkrcvr_priv.h
@@ -35,7 +35,11 @@
 
 extern const struct pios_rcvr_driver pios_oplinkrcvr_rcvr_driver;
 
+#if defined(PIOS_INCLUDE_RFM22B)
 extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id);
+#else
+extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id);
+#endif
 
 #endif /* PIOS_OPLINKRCVR_PRIV_H */
 
diff --git a/flight/targets/boards/ccf3d/firmware/inc/pios_config.h b/flight/targets/boards/ccf3d/firmware/inc/pios_config.h
index 110c74bcb..6645c1340 100644
--- a/flight/targets/boards/ccf3d/firmware/inc/pios_config.h
+++ b/flight/targets/boards/ccf3d/firmware/inc/pios_config.h
@@ -105,8 +105,8 @@
 #define PIOS_INCLUDE_SRXL
 #define PIOS_INCLUDE_HOTT
 #define PIOS_INCLUDE_IBUS
-/* #define PIOS_INCLUDE_GCSRCVR */
-/* #define PIOS_INCLUDE_OPLINKRCVR */
+#define PIOS_INCLUDE_GCSRCVR
+#define PIOS_INCLUDE_OPLINKRCVR
 
 /* PIOS abstract receiver interface */
 #define PIOS_INCLUDE_RCVR
diff --git a/flight/targets/boards/ccf3d/firmware/pios_board.c b/flight/targets/boards/ccf3d/firmware/pios_board.c
index 69a00535d..73a7d6004 100644
--- a/flight/targets/boards/ccf3d/firmware/pios_board.c
+++ b/flight/targets/boards/ccf3d/firmware/pios_board.c
@@ -251,10 +251,13 @@ void PIOS_Board_Init(void)
         break;
     }
 
+#ifdef PIOS_INCLUDE_GCSRCVR
+    PIOS_BOARD_IO_Configure_GCS_RCVR();
+#endif
 
-#if defined(PIOS_INCLUDE_GCSRCVR)
-    PIOS_BOARD_IO_Configure_GCSRCVR();
-#endif /* PIOS_INCLUDE_GCSRCVR */
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
 
 #ifndef PIOS_ENABLE_DEBUG_PINS
     switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
diff --git a/flight/targets/boards/ccf3d/pios_board.h b/flight/targets/boards/ccf3d/pios_board.h
index 6d0f67d46..cb0b43b4d 100644
--- a/flight/targets/boards/ccf3d/pios_board.h
+++ b/flight/targets/boards/ccf3d/pios_board.h
@@ -204,6 +204,7 @@ extern uint32_t pios_ws2811_id;
 #define PIOS_RCVR_MAX_DEVS           3
 #define PIOS_RCVR_MAX_CHANNELS       12
 #define PIOS_GCSRCVR_TIMEOUT_MS      100
+#define PIOS_OPLINK_RCVR_TIMEOUT_MS  100
 
 // -------------------------
 // Receiver PPM input
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
index 06f9d54ac..22a8eeecb 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board.c
@@ -281,6 +281,10 @@ void PIOS_Board_Init(void)
     PIOS_BOARD_IO_Configure_GCS_RCVR();
 #endif
 
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
     /* Remap AFIO pin for PB4 (Servo 5 Out)*/
     GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
 
diff --git a/flight/targets/boards/coptercontrol/pios_board.h b/flight/targets/boards/coptercontrol/pios_board.h
index 370955e2a..ef61a0006 100644
--- a/flight/targets/boards/coptercontrol/pios_board.h
+++ b/flight/targets/boards/coptercontrol/pios_board.h
@@ -228,6 +228,7 @@ extern uint32_t pios_spi_flash_accel_adapter_id;
 #define PIOS_RCVR_MAX_DEVS           3
 #define PIOS_RCVR_MAX_CHANNELS       12
 #define PIOS_GCSRCVR_TIMEOUT_MS      100
+#define PIOS_OPLINK_RCVR_TIMEOUT_MS  100
 
 // -------------------------
 // Receiver PPM input
diff --git a/flight/targets/boards/discoveryf4bare/firmware/pios_board.c b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
index b40deb990..eedfab1e7 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
+++ b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
@@ -315,6 +315,10 @@ void PIOS_Board_Init(void)
     PIOS_BOARD_IO_Configure_GCS_RCVR();
 #endif
 
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #ifndef PIOS_ENABLE_DEBUG_PINS
     // pios_servo_cfg points to the correct configuration based on input port settings
     PIOS_Servo_Init(pios_servo_cfg);
diff --git a/flight/targets/boards/oplinkmini/firmware/Makefile b/flight/targets/boards/oplinkmini/firmware/Makefile
index 534bbf5e2..abb6b7781 100644
--- a/flight/targets/boards/oplinkmini/firmware/Makefile
+++ b/flight/targets/boards/oplinkmini/firmware/Makefile
@@ -28,7 +28,8 @@ include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
 override USE_DSP_LIB := NO
 
 # List of mandatory modules to include
-MODULES += RadioComBridge
+MODULES += \
+    RadioComBridge
 
 # List of optional modules to include
 OPTMODULES =
diff --git a/flight/targets/boards/oplinkmini/firmware/pios_board.c b/flight/targets/boards/oplinkmini/firmware/pios_board.c
index 4cdbb83ad..2de96a068 100644
--- a/flight/targets/boards/oplinkmini/firmware/pios_board.c
+++ b/flight/targets/boards/oplinkmini/firmware/pios_board.c
@@ -32,6 +32,7 @@
 #include <pios_board_info.h>
 #include <pios_ppm_out.h>
 #include <oplinksettings.h>
+#include <oplinkreceiver.h>
 #include <pios_openlrs.h>
 #include <taskinfo.h>
 #ifdef PIOS_INCLUDE_SERVO
@@ -133,6 +134,7 @@ void PIOS_Board_Init(void)
     }
 
     OPLinkSettingsInitialize();
+    OPLinkReceiverInitialize();
 
     /* Retrieve the settings object. */
     OPLinkSettingsData oplinkSettings;
@@ -450,6 +452,25 @@ static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, co
             ppm_value = 1000 + ((rssi + 127) * 9);
             PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, RFM22B_PPM_NUM_CHANNELS, ppm_value);
         }
+    } else {
+        // If there is no PPM output defined, try sending the control outputs as a UAVObject.
+        OPLinkReceiverData recv_data;
+        for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
+            if (i < RFM22B_PPM_NUM_CHANNELS) {
+                recv_data.Channel[i] = channels[i];
+            } else {
+                recv_data.Channel[i] = PIOS_RCVR_TIMEOUT;
+            }
+        }
+        // Update the RSSI and quality fields.
+        int8_t rssi;
+        OPLinkStatusRSSIGet(&rssi);
+        recv_data.RSSI = rssi;
+        uint16_t quality;
+        OPLinkStatusLinkQualityGet(&quality);
+        // Link quality is 0-128, so scale it down to 0-100
+        recv_data.LinkQuality = quality * 100 / 128;
+        OPLinkReceiverSet(&recv_data);
     }
 #if defined(PIOS_INCLUDE_SERVO)
     for (uint8_t i = 0; i < servo_count; ++i) {
diff --git a/flight/targets/boards/pikoblx/firmware/inc/pios_config.h b/flight/targets/boards/pikoblx/firmware/inc/pios_config.h
index 83237b45c..71b840b8e 100644
--- a/flight/targets/boards/pikoblx/firmware/inc/pios_config.h
+++ b/flight/targets/boards/pikoblx/firmware/inc/pios_config.h
@@ -111,8 +111,8 @@
 #define PIOS_INCLUDE_SRXL
 #define PIOS_INCLUDE_HOTT
 #define PIOS_INCLUDE_IBUS
-/* #define PIOS_INCLUDE_GCSRCVR */
-/* #define PIOS_INCLUDE_OPLINKRCVR */
+#define PIOS_INCLUDE_GCSRCVR
+#define PIOS_INCLUDE_OPLINKRCVR
 
 /* PIOS abstract receiver interface */
 #define PIOS_INCLUDE_RCVR
diff --git a/flight/targets/boards/pikoblx/firmware/pios_board.c b/flight/targets/boards/pikoblx/firmware/pios_board.c
index 9aa8b0c2f..bf07da223 100644
--- a/flight/targets/boards/pikoblx/firmware/pios_board.c
+++ b/flight/targets/boards/pikoblx/firmware/pios_board.c
@@ -226,6 +226,14 @@ void PIOS_Board_Init(void)
     PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
 #endif
 
+#ifdef PIOS_INCLUDE_GCSRCVR
+    PIOS_BOARD_IO_Configure_GCS_RCVR();
+#endif
+
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #ifndef PIOS_ENABLE_DEBUG_PINS
     PIOS_Servo_Init(&pios_servo_cfg);
 #else
diff --git a/flight/targets/boards/pikoblx/pios_board.h b/flight/targets/boards/pikoblx/pios_board.h
index f3654b0b0..cb0b0cdca 100644
--- a/flight/targets/boards/pikoblx/pios_board.h
+++ b/flight/targets/boards/pikoblx/pios_board.h
@@ -161,6 +161,7 @@ extern uint32_t pios_ws2811_id;
 #define PIOS_RCVR_MAX_DEVS           3
 #define PIOS_RCVR_MAX_CHANNELS       12
 #define PIOS_GCSRCVR_TIMEOUT_MS      100
+#define PIOS_OPLINK_RCVR_TIMEOUT_MS  100
 
 // -------------------------
 // Receiver PPM input
diff --git a/flight/targets/boards/revolution/firmware/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
index 273d4a052..0f2bc336a 100644
--- a/flight/targets/boards/revolution/firmware/pios_board.c
+++ b/flight/targets/boards/revolution/firmware/pios_board.c
@@ -315,6 +315,10 @@ void PIOS_Board_Init(void)
     PIOS_BOARD_IO_Configure_GCS_RCVR();
 #endif
 
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #ifndef PIOS_ENABLE_DEBUG_PINS
     // pios_servo_cfg points to the correct configuration based on input port settings
     PIOS_Servo_Init(pios_servo_cfg);
diff --git a/flight/targets/boards/revonano/firmware/pios_board.c b/flight/targets/boards/revonano/firmware/pios_board.c
index 050652a1a..fa667f917 100644
--- a/flight/targets/boards/revonano/firmware/pios_board.c
+++ b/flight/targets/boards/revonano/firmware/pios_board.c
@@ -258,6 +258,10 @@ void PIOS_Board_Init(void)
     PIOS_BOARD_IO_Configure_GCS_RCVR();
 #endif
 
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #ifdef PIOS_INCLUDE_WS2811
 #include <pios_ws2811.h>
     HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
diff --git a/flight/targets/boards/revoproto/firmware/pios_board.c b/flight/targets/boards/revoproto/firmware/pios_board.c
index bf957aeb1..2e78c7363 100644
--- a/flight/targets/boards/revoproto/firmware/pios_board.c
+++ b/flight/targets/boards/revoproto/firmware/pios_board.c
@@ -326,6 +326,10 @@ void PIOS_Board_Init(void)
     PIOS_BOARD_IO_Configure_GCS_RCVR();
 #endif
 
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #ifndef PIOS_ENABLE_DEBUG_PINS
     switch (hwsettings_rcvrport) {
     case HWSETTINGS_RV_RCVRPORT_DISABLED:
diff --git a/flight/targets/boards/revoproto/pios_board.h b/flight/targets/boards/revoproto/pios_board.h
index 960334acf..d4fd93808 100644
--- a/flight/targets/boards/revoproto/pios_board.h
+++ b/flight/targets/boards/revoproto/pios_board.h
@@ -196,6 +196,7 @@ extern uint32_t pios_ws2811_id;
 #define PIOS_RCVR_MAX_DEVS           3
 #define PIOS_RCVR_MAX_CHANNELS       12
 #define PIOS_GCSRCVR_TIMEOUT_MS      100
+#define PIOS_OPLINK_RCVR_TIMEOUT_MS  100
 
 // -------------------------
 // Receiver PPM input
diff --git a/flight/targets/boards/sparky2/firmware/pios_board.c b/flight/targets/boards/sparky2/firmware/pios_board.c
index 3843d0f25..f65cc1de7 100644
--- a/flight/targets/boards/sparky2/firmware/pios_board.c
+++ b/flight/targets/boards/sparky2/firmware/pios_board.c
@@ -274,6 +274,10 @@ void PIOS_Board_Init(void)
     PIOS_BOARD_IO_Configure_GCS_RCVR();
 #endif
 
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #ifndef PIOS_ENABLE_DEBUG_PINS
     PIOS_Servo_Init(&pios_servo_cfg_out);
 #else
diff --git a/flight/targets/boards/spracingf3/firmware/inc/pios_config.h b/flight/targets/boards/spracingf3/firmware/inc/pios_config.h
index 9ea6910e8..b4f856a2b 100644
--- a/flight/targets/boards/spracingf3/firmware/inc/pios_config.h
+++ b/flight/targets/boards/spracingf3/firmware/inc/pios_config.h
@@ -108,8 +108,8 @@
 #define PIOS_INCLUDE_SRXL
 #define PIOS_INCLUDE_HOTT
 #define PIOS_INCLUDE_IBUS
-/* #define PIOS_INCLUDE_GCSRCVR */
-/* #define PIOS_INCLUDE_OPLINKRCVR */
+#define PIOS_INCLUDE_GCSRCVR
+#define PIOS_INCLUDE_OPLINKRCVR
 
 /* PIOS abstract receiver interface */
 #define PIOS_INCLUDE_RCVR
diff --git a/flight/targets/boards/spracingf3/firmware/pios_board.c b/flight/targets/boards/spracingf3/firmware/pios_board.c
index 3833aa96c..e9a56d0c5 100644
--- a/flight/targets/boards/spracingf3/firmware/pios_board.c
+++ b/flight/targets/boards/spracingf3/firmware/pios_board.c
@@ -239,6 +239,14 @@ void PIOS_Board_Init(void)
 #endif /* if defined(PIOS_INCLUDE_PWM) */
     }
 
+#ifdef PIOS_INCLUDE_GCSRCVR
+    PIOS_BOARD_IO_Configure_GCS_RCVR();
+#endif
+
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #ifndef PIOS_ENABLE_DEBUG_PINS
     // TODO: make use of HWSPRACINGF3SETTINGS_IOPORTS_[PPM]OUTPUTS
     PIOS_Servo_Init(&pios_servo_cfg);
diff --git a/flight/targets/boards/spracingf3/pios_board.h b/flight/targets/boards/spracingf3/pios_board.h
index 988cdb661..c41f2abe0 100644
--- a/flight/targets/boards/spracingf3/pios_board.h
+++ b/flight/targets/boards/spracingf3/pios_board.h
@@ -167,6 +167,7 @@ extern uint32_t pios_ws2811_id;
 #define PIOS_RCVR_MAX_DEVS           3
 #define PIOS_RCVR_MAX_CHANNELS       12
 #define PIOS_GCSRCVR_TIMEOUT_MS      100
+#define PIOS_OPLINK_RCVR_TIMEOUT_MS  100
 
 // -------------------------
 // Receiver PPM input
diff --git a/flight/targets/boards/spracingf3evo/firmware/inc/pios_config.h b/flight/targets/boards/spracingf3evo/firmware/inc/pios_config.h
index a8864df84..89bd45e3b 100644
--- a/flight/targets/boards/spracingf3evo/firmware/inc/pios_config.h
+++ b/flight/targets/boards/spracingf3evo/firmware/inc/pios_config.h
@@ -111,8 +111,8 @@
 #define PIOS_INCLUDE_SRXL
 #define PIOS_INCLUDE_HOTT
 #define PIOS_INCLUDE_IBUS
-/* #define PIOS_INCLUDE_GCSRCVR */
-/* #define PIOS_INCLUDE_OPLINKRCVR */
+#define PIOS_INCLUDE_GCSRCVR
+#define PIOS_INCLUDE_OPLINKRCVR
 
 /* PIOS abstract receiver interface */
 #define PIOS_INCLUDE_RCVR
diff --git a/flight/targets/boards/spracingf3evo/firmware/pios_board.c b/flight/targets/boards/spracingf3evo/firmware/pios_board.c
index a9e5a7cdb..87b1949ae 100644
--- a/flight/targets/boards/spracingf3evo/firmware/pios_board.c
+++ b/flight/targets/boards/spracingf3evo/firmware/pios_board.c
@@ -227,6 +227,14 @@ void PIOS_Board_Init(void)
         PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
     }
 
+#ifdef PIOS_INCLUDE_GCSRCVR
+    PIOS_BOARD_IO_Configure_GCS_RCVR();
+#endif
+
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #ifndef PIOS_ENABLE_DEBUG_PINS
     PIOS_Servo_Init(&pios_servo_cfg);
 #else
diff --git a/flight/targets/boards/spracingf3evo/pios_board.h b/flight/targets/boards/spracingf3evo/pios_board.h
index 629b33783..412071ecb 100644
--- a/flight/targets/boards/spracingf3evo/pios_board.h
+++ b/flight/targets/boards/spracingf3evo/pios_board.h
@@ -172,6 +172,7 @@ extern uint32_t pios_ws2811_id;
 #define PIOS_RCVR_MAX_DEVS           3
 #define PIOS_RCVR_MAX_CHANNELS       12
 #define PIOS_GCSRCVR_TIMEOUT_MS      100
+#define PIOS_OPLINK_RCVR_TIMEOUT_MS  100
 
 // -------------------------
 // Receiver PPM input
diff --git a/flight/targets/boards/tinyfish/firmware/inc/pios_config.h b/flight/targets/boards/tinyfish/firmware/inc/pios_config.h
index 64815d3fd..c25d039fc 100644
--- a/flight/targets/boards/tinyfish/firmware/inc/pios_config.h
+++ b/flight/targets/boards/tinyfish/firmware/inc/pios_config.h
@@ -111,8 +111,8 @@
 #define PIOS_INCLUDE_SRXL
 #define PIOS_INCLUDE_HOTT
 #define PIOS_INCLUDE_IBUS
-/* #define PIOS_INCLUDE_GCSRCVR */
-/* #define PIOS_INCLUDE_OPLINKRCVR */
+#define PIOS_INCLUDE_GCSRCVR
+#define PIOS_INCLUDE_OPLINKRCVR
 
 #define PIOS_INCLUDE_FRSKY_SENSORHUB
 
diff --git a/flight/targets/boards/tinyfish/firmware/pios_board.c b/flight/targets/boards/tinyfish/firmware/pios_board.c
index 9abcb9624..502748c8f 100644
--- a/flight/targets/boards/tinyfish/firmware/pios_board.c
+++ b/flight/targets/boards/tinyfish/firmware/pios_board.c
@@ -254,6 +254,14 @@ void PIOS_Board_Init(void)
         PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[0], PIOS_BOARD_IO_UART_COMBRIDGE);
     }
 
+#ifdef PIOS_INCLUDE_GCSRCVR
+    PIOS_BOARD_IO_Configure_GCS_RCVR();
+#endif
+
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #ifdef PIOS_ENABLE_DEBUG_PINS
     PIOS_DEBUG_Init(&pios_servo_cfg.channels, pios_servo_cfg.num_channels);
 #else
diff --git a/flight/targets/boards/tinyfish/pios_board.h b/flight/targets/boards/tinyfish/pios_board.h
index 45e4f69e4..9c9ec5e66 100644
--- a/flight/targets/boards/tinyfish/pios_board.h
+++ b/flight/targets/boards/tinyfish/pios_board.h
@@ -135,6 +135,7 @@ extern uint32_t pios_ws2811_id;
 #define PIOS_RCVR_MAX_DEVS           3
 #define PIOS_RCVR_MAX_CHANNELS       12
 #define PIOS_GCSRCVR_TIMEOUT_MS      100
+#define PIOS_OPLINK_RCVR_TIMEOUT_MS  100
 
 // -------------------------
 // Receiver PPM input
diff --git a/flight/uavobjects/inc/uavobjectmanager.h b/flight/uavobjects/inc/uavobjectmanager.h
index e73ac86a6..4831e79db 100644
--- a/flight/uavobjects/inc/uavobjectmanager.h
+++ b/flight/uavobjects/inc/uavobjectmanager.h
@@ -202,7 +202,7 @@ bool UAVObjIsSingleInstance(UAVObjHandle obj);
 bool UAVObjIsMetaobject(UAVObjHandle obj);
 bool UAVObjIsSettings(UAVObjHandle obj);
 bool UAVObjIsPriority(UAVObjHandle obj);
-int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn);
+int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn, bool create);
 int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut);
 uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc);
 int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
diff --git a/flight/uavobjects/uavobjectmanager.c b/flight/uavobjects/uavobjectmanager.c
index 0d9de00ea..5967482ee 100644
--- a/flight/uavobjects/uavobjectmanager.c
+++ b/flight/uavobjects/uavobjectmanager.c
@@ -513,7 +513,7 @@ unlock_exit:
  * \param[in] dataIn The byte array
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn)
+int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn, bool create)
 {
     PIOS_Assert(obj_handle);
 
@@ -538,12 +538,13 @@ int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *da
         instEntry = getInstance(obj, instId);
 
         // If the instance does not exist create it and any other instances before it
-        if (instEntry == NULL) {
+        if ((instEntry == NULL) && create) {
             instEntry = createInstance(obj, instId);
-            if (instEntry == NULL) {
-                goto unlock_exit;
-            }
         }
+        if (instEntry == NULL) {
+            goto unlock_exit;
+        }
+
         // Set the data
         memcpy(InstanceData(instEntry), dataIn, obj->type->instance_size);
     }
diff --git a/flight/uavtalk/inc/uavtalk.h b/flight/uavtalk/inc/uavtalk.h
index e485882ef..b4a8b44bc 100644
--- a/flight/uavtalk/inc/uavtalk.h
+++ b/flight/uavtalk/inc/uavtalk.h
@@ -60,7 +60,7 @@ int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj,
 UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t *rxbuffer, uint8_t length);
 UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle, uint8_t *rxbuffer, uint8_t length, uint8_t *position);
 int32_t UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle);
-int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle);
+int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle, bool create);
 void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
 void UAVTalkAddStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
 void UAVTalkResetStats(UAVTalkConnection connection);
diff --git a/flight/uavtalk/uavtalk.c b/flight/uavtalk/uavtalk.c
index c537fba67..4fa4b29ba 100644
--- a/flight/uavtalk/uavtalk.c
+++ b/flight/uavtalk/uavtalk.c
@@ -51,7 +51,7 @@
 static int32_t objectTransaction(UAVTalkConnectionData *connection, uint8_t type, UAVObjHandle obj, uint16_t instId, int32_t timeout);
 static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, UAVObjHandle obj);
 static int32_t sendSingleObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, UAVObjHandle obj);
-static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data);
+static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data, bool create);
 static void updateAck(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId);
 // UavTalk Process FSM functions
 static bool UAVTalkProcess_SYNC(UAVTalkConnectionData *connection, UAVTalkInputProcessor *iproc, uint8_t *rxbuffer, uint8_t length, uint8_t *position);
@@ -444,7 +444,7 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
     while (position < length) {
         state = UAVTalkProcessInputStreamQuiet(connectionHandle, rxbuffer, length, &position);
         if (state == UAVTALK_STATE_COMPLETE) {
-            UAVTalkReceiveObject(connectionHandle);
+            UAVTalkReceiveObject(connectionHandle, true);
         }
     }
     return state;
@@ -546,7 +546,7 @@ int32_t UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnecti
  * \return 0 Success
  * \return -1 Failure
  */
-int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle)
+int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle, bool create)
 {
     UAVTalkConnectionData *connection;
 
@@ -557,7 +557,7 @@ int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle)
         return -1;
     }
 
-    return receiveObject(connection, iproc->type, iproc->objId, iproc->instId, connection->rxBuffer);
+    return receiveObject(connection, iproc->type, iproc->objId, iproc->instId, connection->rxBuffer, create);
 }
 
 /**
@@ -592,7 +592,7 @@ uint32_t UAVTalkGetPacketObjId(UAVTalkConnection connectionHandle)
  * \return 0 Success
  * \return -1 Failure
  */
-static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data)
+static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data, bool create)
 {
     UAVObjHandle obj;
     int32_t ret = 0;
@@ -613,8 +613,8 @@ static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, ui
     case UAVTALK_TYPE_OBJ_TS:
         // All instances not allowed for OBJ messages
         if (obj && (instId != UAVOBJ_ALL_INSTANCES)) {
-            // Unpack object, if the instance does not exist it will be created!
-            if (UAVObjUnpack(obj, instId, data) == 0) {
+            // Unpack object, if create is true and the instance does not exist it will be created!
+            if (UAVObjUnpack(obj, instId, data, create) == 0) {
                 // Check if this object acks a pending OBJ_REQ message
                 // any OBJ message can ack a pending OBJ_REQ message
                 // even one that was not sent in response to the OBJ_REQ message
@@ -632,8 +632,8 @@ static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, ui
         UAVT_DEBUGLOG_CPRINTF(objId, "OBJ_ACK %X %d", objId, instId);
         // All instances not allowed for OBJ_ACK messages
         if (obj && (instId != UAVOBJ_ALL_INSTANCES)) {
-            // Unpack object, if the instance does not exist it will be created!
-            if (UAVObjUnpack(obj, instId, data) == 0) {
+            // Unpack object, if create is true and the instance does not exist it will be created!
+            if (UAVObjUnpack(obj, instId, data, create) == 0) {
                 UAVT_DEBUGLOG_CPRINTF(objId, "OBJ ACK %X %d", objId, instId);
                 // Object updated or created, transmit ACK
                 sendObject(connection, UAVTALK_TYPE_ACK, objId, instId, NULL);
diff --git a/python/examples/example.py b/python/examples/example.py
index a22769f02..4a3d84e39 100644
--- a/python/examples/example.py
+++ b/python/examples/example.py
@@ -56,7 +56,7 @@ class UavtalkDemo():
             _port = int(port[3:]) - 1
         else:
             _port = port
-        serPort = serial.Serial(_port, 57600, timeout=.5)
+        serPort = serial.Serial(port, 115200, timeout=.5)
         if not serPort.isOpen():
             raise IOError("Failed to open serial port")
 
diff --git a/shared/uavobjectdefinition/oplinkreceiver.xml b/shared/uavobjectdefinition/oplinkreceiver.xml
index 6539d8952..eab503e76 100644
--- a/shared/uavobjectdefinition/oplinkreceiver.xml
+++ b/shared/uavobjectdefinition/oplinkreceiver.xml
@@ -2,6 +2,8 @@
     <object name="OPLinkReceiver" singleinstance="true" settings="false" category="System">
         <description>A receiver channel group carried over the OPLink radio.</description>
         <field name="Channel" units="us" type="int16" elements="16"/>
+        <field name="RSSI" units="dBm" type="int8" elements="1" defaultvalue="0"/>
+        <field name="LinkQuality" units="%" type="uint8" elements="1" defaultvalue="0"/>
         <access gcs="readonly" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>