diff --git a/radio/src/boards/hw_defs/v15.json b/radio/src/boards/hw_defs/v15.json
index 6c1c52bf317..41c26e1c96c 100644
--- a/radio/src/boards/hw_defs/v15.json
+++ b/radio/src/boards/hw_defs/v15.json
@@ -87,15 +87,12 @@
         "default": "POT_CENTER"
       },
       {
-        "name": "P3",
-        "type": "FLEX",
+        "name": "RAW1",
+        "type": "RAW",
         "adc": "MAIN",
         "gpio": "GPIOC",
         "pin": "LL_GPIO_PIN_5",
-        "channel": "LL_ADC_CHANNEL_8",
-        "label": "S3",
-        "short_label": "3",
-        "default": "MULTIPOS"
+        "channel": "LL_ADC_CHANNEL_8"
       },
       {
         "name": "VBAT",
diff --git a/radio/src/targets/hrs/v15/board.cpp b/radio/src/targets/hrs/v15/board.cpp
index ff12f3b122c..99715fa18c5 100644
--- a/radio/src/targets/hrs/v15/board.cpp
+++ b/radio/src/targets/hrs/v15/board.cpp
@@ -84,9 +84,30 @@ static const etx_imu_t _imu_candidates[] = {
 #endif
 };
 
+// The IMU is mounted upside down and rotated, so its X/Y axes are swapped
+// (and both reversed, see imu_invert_x/y in hw_defs). Swap them here, before
+// the generic inversion/calibration, so that TltX/TltY and their settings
+// line up
+static imu_read_fn _imuRead = nullptr;
+
+static int imuReadSwapXY(etx_imu_data_t* data)
+{
+  int ret = _imuRead(data);
+  if (ret >= 0) {
+    float t = data->accel_x;
+    data->accel_x = data->accel_y;
+    data->accel_y = t;
+    t = data->gyro_x;
+    data->gyro_x = data->gyro_y;
+    data->gyro_y = t;
+  }
+  return ret;
+}
+
 static void gyroInit()
 {
-  gyroStart(imuDetect(_imu_candidates, DIM(_imu_candidates)));
+  _imuRead = imuDetect(_imu_candidates, DIM(_imu_candidates));
+  gyroStart(_imuRead ? imuReadSwapXY : nullptr);
 }
 
 #if defined(SIXPOS_SWITCH_INDEX)
@@ -94,14 +115,63 @@ static void gyroInit()
 #if defined(FUNCTION_SWITCHES)
 
 extern const stm32_switch_t* boardGetSwitchDef(uint8_t idx);
+extern SwitchHwPos stm32_switch_get_position(const stm32_switch_t* sw);
+
 extern uint8_t isSwitch3Pos(uint8_t idx);
 struct _adckey_switches_expander {
     uint8_t state;
 };
-const uint8_t _adckeyidx[8] = {
-  0, 1,2,4,8,0x10, 0x20,0
-};
-static _adckey_switches_expander _adckey_switches;
+// Bitmask of all 6 function switch bits
+#define FS_ALL_BITS 0x3F
+
+// For each 6POS position (0=none, 1-6=SW1-SW6): bit of the active switch,
+// inverted so active switch pin reads low (DOWN) like real PCA95xx hardware.
+// position 0 (none): all bits set = all UP
+// position N: all bits set except SW_N's bit = SW_N is DOWN
+static uint8_t _pos_to_state(uint8_t pos)
+{
+  if (pos == 0) return FS_ALL_BITS;
+  uint8_t active_bit = (1 << (pos - 1));
+  return FS_ALL_BITS & ~active_bit;
+}
+static _adckey_switches_expander _adckey_switches = { FS_ALL_BITS };
+
+// Called whenever the sticky 6POS position changes. Boards that need to
+// map position to a switch-expander state (e.g. FUNCTION_SWITCHES) can
+// override this to react to position changes without polling adcValues[].
+void sixPosUpdateFromAdc()
+{
+  uint16_t* values = getAnalogValues();
+  uint16_t adcValue = values[SIXPOS_SWITCH_INDEX];
+
+  uint8_t current = 0;
+  if (adcValue > 3800) current = 1;
+  else if (adcValue > 3100) current = 2;
+  else if (adcValue > 2300) current = 3;
+  else if (adcValue > 1500) current = 4;
+  else if (adcValue > 1000) current = 5;
+  else if (adcValue > 400)  current = 6;
+
+  static uint8_t lastSeen = 0;
+  static uint8_t debounce = 0;
+  static uint8_t sixPosState = 0;
+
+  if (current != lastSeen) {
+    lastSeen = current;
+    debounce = 2;  // require this many more stable samples before committing
+  } else if (debounce > 0) {
+    if (--debounce == 0) {
+      // Switch state always reflects the true debounced position
+      _adckey_switches.state = _pos_to_state(current);
+      if (current != 0) {
+        // Indicator value stays sticky on the last active position
+        sixPosState = current;
+      }
+    }
+  }
+
+  values[SIXPOS_SWITCH_INDEX] = sixPosState ? (4096 / 5) * (7 - sixPosState) : 0;
+}
 
 static SwitchHwPos _get_switch_pos(uint8_t idx)
 {
@@ -110,10 +180,6 @@ static SwitchHwPos _get_switch_pos(uint8_t idx)
   const stm32_switch_t* def = boardGetSwitchDef(idx);
   uint8_t state = _adckey_switches.state;
 
-  if (def->GPIOx_high != nullptr) { // hardware-backed switches (SA-SF)
-    return stm32_switch_get_position(def);
-  }
-  //get adc key switch position
   if (def->isCustomSwitch) {
     if ((state & def->Pin_high) == 0) {
       return SWITCH_HW_DOWN;
@@ -162,78 +228,15 @@ SwitchHwPos boardSwitchGetPosition(uint8_t idx)
 {
   if (boardIsCustomSwitch(idx)) {
     return _get_fs_switch_pos(idx);
+  } else if (boardGetSwitchDef(idx)->GPIOx_high != nullptr) {
+    return stm32_switch_get_position(boardGetSwitchDef(idx));
   } else {
     return _get_switch_pos(idx);
   }
 }
-#endif
-
-uint8_t lastADCState = 0;
-uint8_t sixPosState = 0;
-
-uint8_t uploadPosState = 5;
 
-bool dirty = true;
-uint16_t getSixPosAnalogValue(uint16_t adcValue)
-{
-  uint8_t currentADCState = 0;
-  if(uploadPosState){
-    uploadPosState--;
-    goto __retposadc__;
-  }
-  else if (adcValue > 3800)
-    currentADCState = 1;
-  else if (adcValue > 3100)
-    currentADCState = 2;
-  else if (adcValue > 2300)
-    currentADCState = 3;
-  else if (adcValue > 1500)
-    currentADCState = 4;
-  else if (adcValue > 1000)
-    currentADCState = 5;
-  else if (adcValue > 400)
-    currentADCState = 6;
-  if (lastADCState != currentADCState) {
-    lastADCState = currentADCState;
-    uploadPosState=10;
-  }
-#if defined(FUNCTION_SWITCHES)
-  else if (lastADCState != sixPosState) {
-    sixPosState = lastADCState ;
-    dirty = true;
-  }
-#else
-  else if (lastADCState != 0 && lastADCState - 1 != sixPosState) {
-    sixPosState = lastADCState - 1;
-    dirty = true;
-  }
 #endif
-  if (dirty) {
-  #if !defined(FUNCTION_SWITCHES)
-    for (uint8_t i = 0; i < 6; i++) {
-      if (i == sixPosState) {
-        rgbSetLedColor(i, SIXPOS_LED_RED, SIXPOS_LED_GREEN, SIXPOS_LED_BLUE);
-      } else {
-        rgbSetLedColor(i, 0, 160, 0);
-      }
-    }
-    rgbLedColorApply();
-  #else
-    _adckey_switches.state=_adckeyidx[sixPosState];
-  #endif
-    dirty = false;
-  }
-__retposadc__:  
-
-  return (4096/5)*(sixPosState);
-}
 
-void sixPosUpdateFromAdc()
-{
-  uint16_t* values = getAnalogValues();
-  values[SIXPOS_SWITCH_INDEX] =
-      getSixPosAnalogValue(values[SIXPOS_SWITCH_INDEX]);
-}
 #endif
 
 static void led_strip_off()
diff --git a/radio/src/targets/hrs/v15/board.h b/radio/src/targets/hrs/v15/board.h
index fb57287c3a5..08281c0cefc 100644
--- a/radio/src/targets/hrs/v15/board.h
+++ b/radio/src/targets/hrs/v15/board.h
@@ -170,8 +170,6 @@ void ledBlue();
 void ledGreen();
 void ledBoot();
 
-uint16_t getSixPosAnalogValue(uint16_t adcValue);
-
 // LCD driver
 void lcdSetInitalFrameBuffer(void* fbAddress);
 void lcdInit();
diff --git a/radio/src/targets/hrs/v15/hal.h b/radio/src/targets/hrs/v15/hal.h
index 0d7f2fe615d..cf67e4d8c12 100644
--- a/radio/src/targets/hrs/v15/hal.h
+++ b/radio/src/targets/hrs/v15/hal.h
@@ -183,11 +183,11 @@ USART6: EXTMODULE_USART
 
 #define ADC_GPIO_PIN_POT1               LL_GPIO_PIN_3      // PC.03 POT2 ADC12_INP13
 #define ADC_GPIO_PIN_POT2               LL_GPIO_PIN_2      // PC.02 POT1 ADC123_INP12
-#define ADC_GPIO_PIN_POT3               LL_GPIO_PIN_5      // PC.05 POT3 ADC12_INP8
+#define ADC_GPIO_PIN_RAW1               LL_GPIO_PIN_5      // PC.05 6POS ADC12_INP8
 #define ADC_GPIO_PIN_BATT               LL_GPIO_PIN_4      // PC.04 ADC12_INP4
 
 #define ADC_GPIOA_PINS                  (ADC_GPIO_PIN_STICK_LH | ADC_GPIO_PIN_STICK_LV | ADC_GPIO_PIN_STICK_RH | ADC_GPIO_PIN_STICK_RV)
-#define ADC_GPIOC_PINS                  (ADC_GPIO_PIN_POT1 | ADC_GPIO_PIN_POT2 | ADC_GPIO_PIN_POT3 | ADC_GPIO_PIN_BATT)
+#define ADC_GPIOC_PINS                  (ADC_GPIO_PIN_POT1 | ADC_GPIO_PIN_POT2 | ADC_GPIO_PIN_RAW1 | ADC_GPIO_PIN_BATT)
 
 #define ADC_CHANNEL_STICK_LH            LL_ADC_CHANNEL_16
 #define ADC_CHANNEL_STICK_LV            LL_ADC_CHANNEL_17
@@ -196,7 +196,7 @@ USART6: EXTMODULE_USART
 
 #define ADC_CHANNEL_POT1                LL_ADC_CHANNEL_12
 #define ADC_CHANNEL_POT2                LL_ADC_CHANNEL_13
-#define ADC_CHANNEL_POT3                LL_ADC_CHANNEL_8
+#define ADC_CHANNEL_RAW1                LL_ADC_CHANNEL_8
 #define ADC_CHANNEL_BATT                LL_ADC_CHANNEL_4
 #define ADC_CHANNEL_RTC_BAT             LL_ADC_CHANNEL_VBAT  // ADC3 IMP17
 
diff --git a/web/public/radios.json b/web/public/radios.json
index 013458c9848..71c4c57b302 100644
--- a/web/public/radios.json
+++ b/web/public/radios.json
@@ -2664,12 +2664,6 @@
         "type": "FLEX",
         "label": "S2",
         "default": "POT_CENTER"
-      },
-      {
-        "name": "P3",
-        "type": "FLEX",
-        "label": "S3",
-        "default": "MULTIPOS"
       }
     ],
     "switches": [