diff --git a/conf/airframes/OPENUAS/openuas_eflite_t28.xml b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
index f09d55ff10..f66ba5e9d4 100644
--- a/conf/airframes/OPENUAS/openuas_eflite_t28.xml
+++ b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
@@ -289,7 +289,32 @@ NOTES:
       <define name="AIRSPEED_ETS_SYNC_SEND"/> <!-- TODO Disable after first 10 test flights -->
       <configure name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/>
     </module>
-
+      
+    <!-- The Pixravcer has a built in SD card slot connected over SPI bus to the MCU -->
+ <!-- TODO: fixme
+    <module name="logger_sd_spi_direct.xml">
+      <configure name="SDLOGGER_DIRECT_SPI" value="spi2"/>
+      <configure name="SDLOGGER_DIRECT_SPI_SLAVE" value="SPI_SLAVE4"/>
+      <configure name="SDLOGGER_DIRECT_CONTROL_SWITCH" value="RADIO_AUX3"/>
+      <configure name="LOGGER_LED" value="3"/>
+    </module>
+    
+   ----- As in telemetry file to add stil...
+    <process name="Logger">
+    <mode name="default">
+      <message name="FBW_STATUS"          period="1.2"/>
+      <message name="DL_VALUE"            period="0.5"/>
+      <message name="IMU_ACCEL"           period="0.05"/>
+      <message name="IMU_GYRO"            period="0.05"/>
+      <message name="IMU_MAG"             period="0.1"/>
+      <message name="IMU_ACCEL_RAW"       period="0.002"/>
+      <message name="IMU_GYRO_RAW"        period="0.002"/>
+      <message name="IMU_MAG_RAW"         period="0.002"/>
+      <message name="COMMANDS"            period=".002"/>
+    </mode>
+  </process>  
+  -->  
+ 
    <!--  <module name="current_sensor">       
         <define name="USE_ADC_3"/>
         <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>-->
diff --git a/conf/telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml b/conf/telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml
index 12ffdee871..ea2fd26463 100644
--- a/conf/telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml
+++ b/conf/telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml
@@ -2,7 +2,7 @@
 <!DOCTYPE telemetry SYSTEM "../telemetry.dtd">
 <telemetry>
   <process name="Ap">
-    <mode name="default">
+    <mode name="default" key_press="d">
       <message name="ADC_GENERIC"         period="0.25"/>
       <message name="AIRSPEED"            period="1"/>
       <message name="ALIVE"               period="5.1"/>
@@ -34,7 +34,7 @@
       <message name="FBW_STATUS"          period="2"/>
       <message name="AIR_DATA"            period="1.3"/>
     </mode>
-    <mode name="minimal">
+    <mode name="minimal" key_press="m">
       <message name="ALIVE"               period="5"/>
       <message name="ATTITUDE"            period="4"/>
       <message name="GPS"                 period="1.05"/>
@@ -55,7 +55,7 @@
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
     </mode>
-    <mode name="extremal">
+    <mode name="extremal" key_press="e">
       <message name="ALIVE"               period="5"/>
       <message name="GPS"                 period="5.1"/>
       <message name="ESTIMATOR"           period="5.3"/>
@@ -66,22 +66,22 @@
       <message name="STATE_FILTER_STATUS" period="8."/>
       <message name="DATALINK_REPORT"     period="5.7"/>
     </mode>
-    <mode name="raw_sensors">
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="2.1"/>
-      <message name="IMU_ACCEL_RAW"     period="0.05"/>
-      <message name="IMU_GYRO_RAW"      period="0.05"/>
-      <message name="IMU_MAG_RAW"       period="0.05"/>
-      <message name="BARO_RAW"          period="0.25"/>
+    <mode name="raw_sensors" key_press="r">
+      <message name="DL_VALUE"            period="0.5"/>
+      <message name="ALIVE"               period="2.1"/>
+      <message name="IMU_ACCEL_RAW"       period="0.05"/>
+      <message name="IMU_GYRO_RAW"        period="0.05"/>
+      <message name="IMU_MAG_RAW"         period="0.05"/>
+      <message name="BARO_RAW"            period="0.25"/>
     </mode>
-    <mode name="scaled_sensors">
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="2.1"/>
-      <message name="IMU_GYRO"          period="0.075"/>
-      <message name="IMU_ACCEL"         period="0.075"/>
-      <message name="IMU_MAG"           period="0.1"/>
+    <mode name="scaled_sensors" key_press="s">
+      <message name="DL_VALUE"            period="0.5"/>
+      <message name="ALIVE"               period="2.1"/>
+      <message name="IMU_GYRO"            period="0.075"/>
+      <message name="IMU_ACCEL"           period="0.075"/>
+      <message name="IMU_MAG"             period="0.1"/>
     </mode>
-    <mode name="debug_imu">
+    <mode name="debug_imu" key_press="i">
       <message name="ATTITUDE"            period="0.1"/>
       <message name="ALIVE"               period="5.0"/>
       <message name="GPS"                 period="5.1"/>
@@ -99,14 +99,14 @@
       <message name="IMU_GYRO_RAW"        period="0.5"/>
       <message name="IMU_MAG_RAW"         period="0.5"/>
     </mode>
-      <mode name="debug_rc">
+    <mode name="debug_rc" key_press="c">
       <message name="PPM"                 period="0.25"/>
       <message name="RC"                  period="0.25"/>
       <message name="COMMANDS"            period="0.25"/>
       <message name="FBW_STATUS"          period="1.0"/>
       <message name="ACTUATORS"           period="0.5"/> <!-- For trimming -->
     </mode>
-  </process>
+  </process>  
   <process name="Fbw">
     <mode name="default">
       <message name="COMMANDS"            period="5.0"/>
diff --git a/sw/airborne/boards/px4fmu_4.0.h b/sw/airborne/boards/px4fmu_4.0.h
index 8b57acda17..6f12336450 100644
--- a/sw/airborne/boards/px4fmu_4.0.h
+++ b/sw/airborne/boards/px4fmu_4.0.h
@@ -176,9 +176,9 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
 #define SPI_SELECT_SLAVE1_PIN GPIO15
 
 /* MDL */
-// FIXME: Test n fix of not working
+// FIXME: Test n fix or emoveal
 //#define SPI_SELECT_SLAVE1_PORT GPIOE
-//#define SPI_SELECT_SLAVE1_PIN GPIO15 */
+//#define SPI_SELECT_SLAVE1_PIN GPIO15
 
 /* MPU_9250_CS on SPI1 */
 #define SPI_SELECT_SLAVE2_PORT GPIOC
@@ -194,8 +194,8 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
 
 /* SPI3 NSS on microSD connector */
 //FIXME: not tested
-//#define SPI_SELECT_SLAVE4_PORT GPIOA
-//#define SPI_SELECT_SLAVE4_PIN GPIO4
+//#define SPI_SELECT_SLAVE5_PORT GPIOA
+//#define SPI_SELECT_SLAVE5_PIN GPIO4
 
 
 /* SDIO to microSD card connector */
@@ -301,6 +301,10 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
 #define PWM_USE_TIM1 1
 #define PWM_USE_TIM4 1
 
+
+//TODO: ifdef USE_SERVO6 for PPM out to e.g. servo extender board ...
+// Basically a inter mcu Extra device;)
+
 #define USE_PWM1 1
 #define USE_PWM2 1
 #define USE_PWM3 1
diff --git a/sw/ext/opencv_bebop b/sw/ext/opencv_bebop
index 365cf9fe2c..4e8ced8085 160000
--- a/sw/ext/opencv_bebop
+++ b/sw/ext/opencv_bebop
@@ -1 +1 @@
-Subproject commit 365cf9fe2cf4abc04c5b982feb54d04caa19fefd
+Subproject commit 4e8ced80856b60d887b16c8211e34aebae581808