diff --git a/board/common/overlay/etc/init.d/S37bluetooth b/board/common/overlay/etc/init.d/S37bluetooth
index 3d82b6dfc0..647e921e17 100755
--- a/board/common/overlay/etc/init.d/S37bluetooth
+++ b/board/common/overlay/etc/init.d/S37bluetooth
@@ -10,6 +10,7 @@ PROG="/usr/libexec/bluetooth/bluetoothd"
 PROG_HC="/usr/bin/hciconfig"
 DATA_DIR="/var/lib/bluetooth"
 RUN_DATA_DIR="/data/bluetooth"
+NO_ON_BOARD_BT="/tmp/.no_on_board_bt"  # used by RPi to explicitly indicate that no on-board BT was detected
 
 
 test -x ${PROG} || exit 0
@@ -40,14 +41,16 @@ start() {
     # wait up to 10 seconds for device
     count=0
     while ! ${PROG_HC} ${ADAPTER} &>/dev/null; do
-        sleep 1
-        count=$((${count} + 1))
-        if [[ ${count} -ge 10 ]]; then
+        # on RPi boards, the absence of an on-board BT can be detected earlier, preventing 10s timeout
+        
+        count=$((count + 1))
+        if [[ ${count} -ge 10 ]] || [[ -f "${NO_ON_BOARD_BT}" ]]; then
             msg_fail "no device"
-            logger -t bluetooth "bluetooth device not available, calling panic action"
-            panic_action bluetooth
-            return 1
+            logger -t bluetooth "bluetooth device not available"
+            return 0
         fi
+
+        sleep 1
     done
     
     if configure; then
diff --git a/board/common/overlay/etc/init.d/S50date b/board/common/overlay/etc/init.d/S50date
index b8de6a29c3..ec434993d6 100755
--- a/board/common/overlay/etc/init.d/S50date
+++ b/board/common/overlay/etc/init.d/S50date
@@ -2,7 +2,8 @@
 
 PROG_DATE="/bin/date"
 PROG_NTPD="/usr/sbin/ntpd"
-PROG_NTPDATE="/usr/bin/ntpdate"
+PROG_SNTP="/usr/bin/sntp"
+LOG_SNTP="/var/log/sntp.log"
 
 SYS_CONF="/etc/date.conf"
 BOOT_CONF="/boot/date.conf"
@@ -23,7 +24,7 @@ test -s ${CONF} || exit 0
 test "${OS_NETWORKLESS}" == "true" && exit 0
 
 DATE_TIMEOUT=10
-DATE_METHOD=http
+DATE_METHOD=sntp
 DATE_HOST="google.com"
 DATE_INTERVAL="900"
 DATE_NTP_SERVER=""
@@ -32,7 +33,9 @@ source ${CONF}
 
 
 set_current_date_http() {
-    date_str=$(curl -v -s -m ${DATE_TIMEOUT} -X GET http://${DATE_HOST} 2>&1 | grep Date | sed -e 's/< Date: //')
+    curl_args="-v -s -m ${DATE_TIMEOUT} -H \"Cache-Control: no-cache\" -X GET"
+    url="http://${DATE_HOST}?_=${RANDOM}"
+    date_str=$(curl ${curl_args} ${url} 2>&1 | grep Date | sed -e 's/< Date: //')
     if [[ -n "${date_str}" ]]; then
         ${PROG_DATE} -u -D "%a, %d %b %Y %H:%M:%S" -s "${date_str}" > /dev/null
         logger -t date "current system date/time set to $(date) via HTTP"
@@ -44,7 +47,7 @@ set_current_date_http() {
 }
 
 set_current_date_ntp() {
-    cat ${NTP_CONF} | grep server | head -n 1 | cut -d ' ' -f 2 | xargs ${PROG_NTPDATE} -t ${DATE_TIMEOUT} -s
+    ${PROG_NTPD} -gq &>/dev/null
     if [[ $? == 0 ]]; then
         logger -t date "current system date/time set to $(date) via NTP"
         return 0
@@ -54,8 +57,22 @@ set_current_date_ntp() {
     fi
 }
 
+set_current_date_sntp() {
+    sntp_args="-t ${DATE_TIMEOUT} -K /var/lib/ntp/kod -Ss"
+    server=$(cat ${NTP_CONF} | grep server | head -n 1 | cut -d ' ' -f 2)
+    ${PROG_SNTP} ${sntp_args} ${server} &>${LOG_SNTP}
+    if [[ $? == 0 ]]; then
+        logger -t date "current system date/time set to $(date) via SNTP"
+        return 0
+    else
+        logger -t date "failed to set current system date/time via SNTP"
+        return 1
+    fi
+}
+
+
 start_http() {
-    msg_begin "Setting current date using http"
+    msg_begin "Setting current date using HTTP"
     if set_current_date_http; then
         sleep_interval=${DATE_INTERVAL}
         msg_done "$(${PROG_DATE})"
@@ -78,6 +95,7 @@ start_http() {
 
 start_ntp() {
     mkdir -p /var/lib/ntp
+    touch /var/lib/ntp/kod
 
     cat ${NTP_CONF} | grep -v iburst > ${NTP_CONF}.tmp
 
@@ -90,9 +108,15 @@ start_ntp() {
     cat ${NTP_CONF}.tmp >> ${NTP_CONF}
     rm ${NTP_CONF}.tmp
 
-    msg_begin "Setting current date using ntp"
-    set_current_date_ntp || set_current_date_ntp
-    test $? == 0 && msg_done "$(${PROG_DATE})" || msg_fail
+    if [[ "${DATE_METHOD}" == "sntp" ]]; then
+        msg_begin "Setting current date using SNTP"
+        set_current_date_sntp
+        test $? == 0 && msg_done "$(${PROG_DATE})" || msg_fail
+    else # assuming ntp
+        msg_begin "Setting current date using NTP"
+        set_current_date_ntp || set_current_date_ntp
+        test $? == 0 && msg_done "$(${PROG_DATE})" || msg_fail
+    fi
 
     msg_begin "Starting ntpd"
     ${PROG_NTPD} -g -c ${NTP_CONF}
@@ -101,7 +125,7 @@ start_ntp() {
 
 stop_http() {
     msg_begin "Stopping date updater"
-    ps | grep S60date | grep -v $$ | grep -v grep | tr -s ' ' | sed -e 's/^\s//' | cut -d ' ' -f 1 | xargs -r kill
+    ps | grep S50date | grep -v $$ | grep -v grep | tr -s ' ' | sed -e 's/^\s//' | cut -d ' ' -f 1 | xargs -r kill
     test $? == 0 && msg_done || msg_fail
 }
 
@@ -114,7 +138,7 @@ stop_ntp() {
 start() {
     if [[ "${DATE_METHOD}" == "http" ]]; then
         start_http
-    else
+    else # ntp or sntp
         start_ntp
     fi
 
@@ -124,7 +148,7 @@ start() {
 stop() {
     if [[ "${DATE_METHOD}" == "http" ]]; then
         stop_http
-    else
+    else # ntp or sntp
         stop_ntp
     fi        
 }
@@ -149,4 +173,3 @@ case "$1" in
 esac
 
 exit $?
-
diff --git a/board/common/overlay/etc/init.d/mountsys b/board/common/overlay/etc/init.d/mountsys
index 1963d2f2a3..d61d249ce7 100755
--- a/board/common/overlay/etc/init.d/mountsys
+++ b/board/common/overlay/etc/init.d/mountsys
@@ -3,8 +3,4 @@
 /bin/mkdir -p /dev/pts
 /bin/mkdir -p /dev/shm
 /bin/mount --make-shared /
-/bin/mount -T /etc/fstab.sys -a -t proc
-/bin/mount -T /etc/fstab.sys -a -t devpts
-/bin/mount -T /etc/fstab.sys -a -t tmpfs
-/bin/mount -T /etc/fstab.sys -a -t sysfs
-
+/bin/mount -T /etc/fstab.sys -a
diff --git a/board/common/overlay/sbin/fwupdate b/board/common/overlay/sbin/fwupdate
index 19c8b53ca8..78dd4c58ca 100755
--- a/board/common/overlay/sbin/fwupdate
+++ b/board/common/overlay/sbin/fwupdate
@@ -530,11 +530,6 @@ function new_version() {
     cat ${VER_FILE}
 }
 
-function backup_conf() {
-    echo "backing up /data/etc..."
-    tar -acf /boot/backup-etc-${OS_VERSION}.tar.gz -C /data etc
-}
-
 function show_status() {
     status=$(flash_boot_status)
     if [[ "${status}" == "running" ]]; then
diff --git a/board/raspberrypi/cleanups.sh b/board/raspberrypi/cleanups.sh
index 81f8694b8a..23ad8b8387 100755
--- a/board/raspberrypi/cleanups.sh
+++ b/board/raspberrypi/cleanups.sh
@@ -2,4 +2,4 @@
 
 rm -rf ${TARGET}/opt/vc/src
 rm -rf ${TARGET}/opt/vc/include
-
+rm -rf ${TARGET}/usr/bin/dtoverlay-*
diff --git a/board/raspberrypi/overlay/etc/fstab.sys b/board/raspberrypi/overlay/etc/fstab.sys
new file mode 100644
index 0000000000..acc6225063
--- /dev/null
+++ b/board/raspberrypi/overlay/etc/fstab.sys
@@ -0,0 +1,7 @@
+# <file system> <mount pt>            <type>   <options>         <dump> <pass>
+proc            /proc                 proc     defaults          0      0
+devpts          /dev/pts              devpts   gid=5,mode=620    0      0
+tmpfs           /dev/shm              tmpfs    mode=0777         0      0
+tmpfs           /tmp                  tmpfs    mode=1777         0      0
+sysfs           /sys                  sysfs    defaults          0      0
+configfs        /sys/kernel/config    configfs defaults          0      0
diff --git a/board/raspberrypi/overlay/etc/init.d/S07dtoverlays b/board/raspberrypi/overlay/etc/init.d/S07dtoverlays
new file mode 100755
index 0000000000..9b67103d53
--- /dev/null
+++ b/board/raspberrypi/overlay/etc/init.d/S07dtoverlays
@@ -0,0 +1,41 @@
+#!/bin/bash
+
+SYS_DTOVERLAYS_FILE="/etc/dtoverlays"
+BOOT_DTOVERLAYS_FILE="/boot/dtoverlays"
+DTOVERLAYS_FILE="/data/etc/dtoverlays"
+
+PROG="/usr/bin/dtoverlay"
+
+
+test -n "${OS_VERSION}" || source /etc/init.d/base
+
+case "$1" in
+    start)
+        msg_begin "Loading device-tree overlays"
+
+        if [[ -r ${SYS_DTOVERLAYS_FILE} ]]; then
+            cat ${SYS_DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        if [[ -r ${BOOT_DTOVERLAYS_FILE} ]]; then
+            cat ${BOOT_DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        if [[ -r ${DTOVERLAYS_FILE} ]]; then
+            cat ${DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        msg_done
+        ;;
+
+    stop)
+        true
+        ;;
+
+    *)
+        echo "Usage: $0 {start}"
+        exit 1
+esac
+
+exit $?
+
diff --git a/board/raspberrypi/overlay/etc/init.d/S13btuart b/board/raspberrypi/overlay/etc/init.d/S13btuart
index 0ad4deda81..d0090f6612 100755
--- a/board/raspberrypi/overlay/etc/init.d/S13btuart
+++ b/board/raspberrypi/overlay/etc/init.d/S13btuart
@@ -3,44 +3,50 @@
 SYS_CONF="/etc/bluetooth.conf"
 BOOT_CONF="/boot/bluetooth.conf"
 CONF="/data/etc/bluetooth.conf"
+NO_ON_BOARD_BT="/tmp/.no_on_board_bt"  # used by RPi to explicitly indicate that no on-board BT was detected
 
 
 test -f ${CONF} || test -f ${BOOT_CONF} || test -f ${SYS_CONF} || exit 0
 
-test -d "/proc/device-tree/soc/gpio@7e200000/uart0_pins" || exit 0  # no rpi bluetooth detected
+if ! [ -d "/proc/device-tree/soc/gpio@7e200000/uart0_pins" ]; then
+    touch ${NO_ON_BOARD_BT}
+    exit 0  # no rpi bluetooth detected
+fi
+
+if [[ -f ${CONF} ]] && ! [[ -s ${CONF} ]]; then
+    exit 0  # bluetooth explicitly disabled by empty bluetooth.conf
+fi
 
 test -n "${OS_VERSION}" || source /etc/init.d/base
 
 function start() {
     if [[ "$(cat /proc/device-tree/aliases/uart0)" = "$(cat /proc/device-tree/aliases/serial1)" ]] ; then
-        if [[ "$(wc -c /proc/device-tree/soc/gpio@7e200000/uart0_pins/brcm\,pins | cut -f 1 -d ' ')" = " 16" ]] ; then
-	        /usr/bin/hciattach -t5 /dev/serial1 bcm43xx 3000000 flow - &>/dev/null
+        if [[ "$(wc -c /proc/device-tree/soc/gpio@7e200000/uart0_pins/brcm\,pins | cut -f 1 -d ' ')" = "16" ]]; then
+            /usr/bin/hciattach -t 10 /dev/serial1 bcm43xx 3000000 flow - &>/dev/null
         else
-	        /usr/bin/hciattach -t5 /dev/serial1 bcm43xx 921600 noflow - &>/dev/null
+            /usr/bin/hciattach -t 10 /dev/serial1 bcm43xx 921600 noflow - &>/dev/null
         fi
     else
-        /usr/bin/hciattach -t5 /dev/serial1 bcm43xx 460800 noflow - &>/dev/null
+        /usr/bin/hciattach -t 10 /dev/serial1 bcm43xx 460800 noflow - &>/dev/null
     fi
 }
 
 case "$1" in
     start)
-        msg_begin "Attaching UART bluetooth modem"
-        # for some reason, sometimes the hciattach command needs to be run twice
-        (start || start) &>/dev/null &
+        msg_begin "Attaching UART bluetooth device"
+        start &>/dev/null &
         msg_background
         ;;
 
     stop)
-        msg_begin "Detaching UART bluetooth modem"
+        msg_begin "Detaching UART bluetooth device"
         killall hciattach &>/dev/null
         test $? == 0 && msg_done || msg_fail
         ;;
 
     *)
-        echo $"Usage: $0 {start}"
+        echo $"Usage: $0 {start|stop}"
         exit 1
 esac
 
 exit $?
-
diff --git a/board/raspberrypi/postscript.sh b/board/raspberrypi/postscript.sh
index 077520008b..ee8141625b 100755
--- a/board/raspberrypi/postscript.sh
+++ b/board/raspberrypi/postscript.sh
@@ -17,3 +17,6 @@ cp ${RPI_FW_DIR}/bootcode.bin ${BOOT_DIR}
 cp ${RPI_FW_DIR}/start.elf ${BOOT_DIR}
 cp ${RPI_FW_DIR}/fixup.dat ${BOOT_DIR}
 
+# copy overlays
+mkdir -p ${BOOT_DIR}/overlays
+cp ${RPI_FW_DIR}/overlays/*.dtbo ${BOOT_DIR}/overlays
diff --git a/board/raspberrypi2/overlay/etc/fstab.sys b/board/raspberrypi2/overlay/etc/fstab.sys
new file mode 100644
index 0000000000..acc6225063
--- /dev/null
+++ b/board/raspberrypi2/overlay/etc/fstab.sys
@@ -0,0 +1,7 @@
+# <file system> <mount pt>            <type>   <options>         <dump> <pass>
+proc            /proc                 proc     defaults          0      0
+devpts          /dev/pts              devpts   gid=5,mode=620    0      0
+tmpfs           /dev/shm              tmpfs    mode=0777         0      0
+tmpfs           /tmp                  tmpfs    mode=1777         0      0
+sysfs           /sys                  sysfs    defaults          0      0
+configfs        /sys/kernel/config    configfs defaults          0      0
diff --git a/board/raspberrypi2/overlay/etc/init.d/S07dtoverlays b/board/raspberrypi2/overlay/etc/init.d/S07dtoverlays
new file mode 100755
index 0000000000..9b67103d53
--- /dev/null
+++ b/board/raspberrypi2/overlay/etc/init.d/S07dtoverlays
@@ -0,0 +1,41 @@
+#!/bin/bash
+
+SYS_DTOVERLAYS_FILE="/etc/dtoverlays"
+BOOT_DTOVERLAYS_FILE="/boot/dtoverlays"
+DTOVERLAYS_FILE="/data/etc/dtoverlays"
+
+PROG="/usr/bin/dtoverlay"
+
+
+test -n "${OS_VERSION}" || source /etc/init.d/base
+
+case "$1" in
+    start)
+        msg_begin "Loading device-tree overlays"
+
+        if [[ -r ${SYS_DTOVERLAYS_FILE} ]]; then
+            cat ${SYS_DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        if [[ -r ${BOOT_DTOVERLAYS_FILE} ]]; then
+            cat ${BOOT_DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        if [[ -r ${DTOVERLAYS_FILE} ]]; then
+            cat ${DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        msg_done
+        ;;
+
+    stop)
+        true
+        ;;
+
+    *)
+        echo "Usage: $0 {start}"
+        exit 1
+esac
+
+exit $?
+
diff --git a/board/raspberrypi2/postscript.sh b/board/raspberrypi2/postscript.sh
index bfe0f440ae..be1e661160 100755
--- a/board/raspberrypi2/postscript.sh
+++ b/board/raspberrypi2/postscript.sh
@@ -14,3 +14,6 @@ cp ${RPI_FW_DIR}/bootcode.bin ${BOOT_DIR}
 cp ${RPI_FW_DIR}/start.elf ${BOOT_DIR}
 cp ${RPI_FW_DIR}/fixup.dat ${BOOT_DIR}
 
+# copy overlays
+mkdir -p ${BOOT_DIR}/overlays
+cp ${RPI_FW_DIR}/overlays/*.dtbo ${BOOT_DIR}/overlays
diff --git a/board/raspberrypi3/overlay/etc/fstab.sys b/board/raspberrypi3/overlay/etc/fstab.sys
new file mode 100644
index 0000000000..acc6225063
--- /dev/null
+++ b/board/raspberrypi3/overlay/etc/fstab.sys
@@ -0,0 +1,7 @@
+# <file system> <mount pt>            <type>   <options>         <dump> <pass>
+proc            /proc                 proc     defaults          0      0
+devpts          /dev/pts              devpts   gid=5,mode=620    0      0
+tmpfs           /dev/shm              tmpfs    mode=0777         0      0
+tmpfs           /tmp                  tmpfs    mode=1777         0      0
+sysfs           /sys                  sysfs    defaults          0      0
+configfs        /sys/kernel/config    configfs defaults          0      0
diff --git a/board/raspberrypi3/overlay/etc/init.d/S07dtoverlays b/board/raspberrypi3/overlay/etc/init.d/S07dtoverlays
new file mode 100755
index 0000000000..9b67103d53
--- /dev/null
+++ b/board/raspberrypi3/overlay/etc/init.d/S07dtoverlays
@@ -0,0 +1,41 @@
+#!/bin/bash
+
+SYS_DTOVERLAYS_FILE="/etc/dtoverlays"
+BOOT_DTOVERLAYS_FILE="/boot/dtoverlays"
+DTOVERLAYS_FILE="/data/etc/dtoverlays"
+
+PROG="/usr/bin/dtoverlay"
+
+
+test -n "${OS_VERSION}" || source /etc/init.d/base
+
+case "$1" in
+    start)
+        msg_begin "Loading device-tree overlays"
+
+        if [[ -r ${SYS_DTOVERLAYS_FILE} ]]; then
+            cat ${SYS_DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        if [[ -r ${BOOT_DTOVERLAYS_FILE} ]]; then
+            cat ${BOOT_DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        if [[ -r ${DTOVERLAYS_FILE} ]]; then
+            cat ${DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        msg_done
+        ;;
+
+    stop)
+        true
+        ;;
+
+    *)
+        echo "Usage: $0 {start}"
+        exit 1
+esac
+
+exit $?
+
diff --git a/board/raspberrypi3/overlay/etc/init.d/S13btuart b/board/raspberrypi3/overlay/etc/init.d/S13btuart
index 0ad4deda81..d0090f6612 100755
--- a/board/raspberrypi3/overlay/etc/init.d/S13btuart
+++ b/board/raspberrypi3/overlay/etc/init.d/S13btuart
@@ -3,44 +3,50 @@
 SYS_CONF="/etc/bluetooth.conf"
 BOOT_CONF="/boot/bluetooth.conf"
 CONF="/data/etc/bluetooth.conf"
+NO_ON_BOARD_BT="/tmp/.no_on_board_bt"  # used by RPi to explicitly indicate that no on-board BT was detected
 
 
 test -f ${CONF} || test -f ${BOOT_CONF} || test -f ${SYS_CONF} || exit 0
 
-test -d "/proc/device-tree/soc/gpio@7e200000/uart0_pins" || exit 0  # no rpi bluetooth detected
+if ! [ -d "/proc/device-tree/soc/gpio@7e200000/uart0_pins" ]; then
+    touch ${NO_ON_BOARD_BT}
+    exit 0  # no rpi bluetooth detected
+fi
+
+if [[ -f ${CONF} ]] && ! [[ -s ${CONF} ]]; then
+    exit 0  # bluetooth explicitly disabled by empty bluetooth.conf
+fi
 
 test -n "${OS_VERSION}" || source /etc/init.d/base
 
 function start() {
     if [[ "$(cat /proc/device-tree/aliases/uart0)" = "$(cat /proc/device-tree/aliases/serial1)" ]] ; then
-        if [[ "$(wc -c /proc/device-tree/soc/gpio@7e200000/uart0_pins/brcm\,pins | cut -f 1 -d ' ')" = " 16" ]] ; then
-	        /usr/bin/hciattach -t5 /dev/serial1 bcm43xx 3000000 flow - &>/dev/null
+        if [[ "$(wc -c /proc/device-tree/soc/gpio@7e200000/uart0_pins/brcm\,pins | cut -f 1 -d ' ')" = "16" ]]; then
+            /usr/bin/hciattach -t 10 /dev/serial1 bcm43xx 3000000 flow - &>/dev/null
         else
-	        /usr/bin/hciattach -t5 /dev/serial1 bcm43xx 921600 noflow - &>/dev/null
+            /usr/bin/hciattach -t 10 /dev/serial1 bcm43xx 921600 noflow - &>/dev/null
         fi
     else
-        /usr/bin/hciattach -t5 /dev/serial1 bcm43xx 460800 noflow - &>/dev/null
+        /usr/bin/hciattach -t 10 /dev/serial1 bcm43xx 460800 noflow - &>/dev/null
     fi
 }
 
 case "$1" in
     start)
-        msg_begin "Attaching UART bluetooth modem"
-        # for some reason, sometimes the hciattach command needs to be run twice
-        (start || start) &>/dev/null &
+        msg_begin "Attaching UART bluetooth device"
+        start &>/dev/null &
         msg_background
         ;;
 
     stop)
-        msg_begin "Detaching UART bluetooth modem"
+        msg_begin "Detaching UART bluetooth device"
         killall hciattach &>/dev/null
         test $? == 0 && msg_done || msg_fail
         ;;
 
     *)
-        echo $"Usage: $0 {start}"
+        echo $"Usage: $0 {start|stop}"
         exit 1
 esac
 
 exit $?
-
diff --git a/board/raspberrypi3/postscript.sh b/board/raspberrypi3/postscript.sh
index 9469f74a7f..c8f90025a4 100755
--- a/board/raspberrypi3/postscript.sh
+++ b/board/raspberrypi3/postscript.sh
@@ -16,3 +16,6 @@ cp ${RPI_FW_DIR}/bootcode.bin ${BOOT_DIR}
 cp ${RPI_FW_DIR}/start.elf ${BOOT_DIR}
 cp ${RPI_FW_DIR}/fixup.dat ${BOOT_DIR}
 
+# copy overlays
+mkdir -p ${BOOT_DIR}/overlays
+cp ${RPI_FW_DIR}/overlays/*.dtbo ${BOOT_DIR}/overlays
diff --git a/board/raspberrypi4/overlay/etc/fstab.sys b/board/raspberrypi4/overlay/etc/fstab.sys
new file mode 100644
index 0000000000..acc6225063
--- /dev/null
+++ b/board/raspberrypi4/overlay/etc/fstab.sys
@@ -0,0 +1,7 @@
+# <file system> <mount pt>            <type>   <options>         <dump> <pass>
+proc            /proc                 proc     defaults          0      0
+devpts          /dev/pts              devpts   gid=5,mode=620    0      0
+tmpfs           /dev/shm              tmpfs    mode=0777         0      0
+tmpfs           /tmp                  tmpfs    mode=1777         0      0
+sysfs           /sys                  sysfs    defaults          0      0
+configfs        /sys/kernel/config    configfs defaults          0      0
diff --git a/board/raspberrypi4/overlay/etc/init.d/S07dtoverlays b/board/raspberrypi4/overlay/etc/init.d/S07dtoverlays
new file mode 100755
index 0000000000..9b67103d53
--- /dev/null
+++ b/board/raspberrypi4/overlay/etc/init.d/S07dtoverlays
@@ -0,0 +1,41 @@
+#!/bin/bash
+
+SYS_DTOVERLAYS_FILE="/etc/dtoverlays"
+BOOT_DTOVERLAYS_FILE="/boot/dtoverlays"
+DTOVERLAYS_FILE="/data/etc/dtoverlays"
+
+PROG="/usr/bin/dtoverlay"
+
+
+test -n "${OS_VERSION}" || source /etc/init.d/base
+
+case "$1" in
+    start)
+        msg_begin "Loading device-tree overlays"
+
+        if [[ -r ${SYS_DTOVERLAYS_FILE} ]]; then
+            cat ${SYS_DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        if [[ -r ${BOOT_DTOVERLAYS_FILE} ]]; then
+            cat ${BOOT_DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        if [[ -r ${DTOVERLAYS_FILE} ]]; then
+            cat ${DTOVERLAYS_FILE} | while read line; do test -n "${line}" && ${PROG} ${line}; done
+        fi
+
+        msg_done
+        ;;
+
+    stop)
+        true
+        ;;
+
+    *)
+        echo "Usage: $0 {start}"
+        exit 1
+esac
+
+exit $?
+
diff --git a/board/raspberrypi4/overlay/etc/init.d/S13btuart b/board/raspberrypi4/overlay/etc/init.d/S13btuart
index 0ad4deda81..d0090f6612 100755
--- a/board/raspberrypi4/overlay/etc/init.d/S13btuart
+++ b/board/raspberrypi4/overlay/etc/init.d/S13btuart
@@ -3,44 +3,50 @@
 SYS_CONF="/etc/bluetooth.conf"
 BOOT_CONF="/boot/bluetooth.conf"
 CONF="/data/etc/bluetooth.conf"
+NO_ON_BOARD_BT="/tmp/.no_on_board_bt"  # used by RPi to explicitly indicate that no on-board BT was detected
 
 
 test -f ${CONF} || test -f ${BOOT_CONF} || test -f ${SYS_CONF} || exit 0
 
-test -d "/proc/device-tree/soc/gpio@7e200000/uart0_pins" || exit 0  # no rpi bluetooth detected
+if ! [ -d "/proc/device-tree/soc/gpio@7e200000/uart0_pins" ]; then
+    touch ${NO_ON_BOARD_BT}
+    exit 0  # no rpi bluetooth detected
+fi
+
+if [[ -f ${CONF} ]] && ! [[ -s ${CONF} ]]; then
+    exit 0  # bluetooth explicitly disabled by empty bluetooth.conf
+fi
 
 test -n "${OS_VERSION}" || source /etc/init.d/base
 
 function start() {
     if [[ "$(cat /proc/device-tree/aliases/uart0)" = "$(cat /proc/device-tree/aliases/serial1)" ]] ; then
-        if [[ "$(wc -c /proc/device-tree/soc/gpio@7e200000/uart0_pins/brcm\,pins | cut -f 1 -d ' ')" = " 16" ]] ; then
-	        /usr/bin/hciattach -t5 /dev/serial1 bcm43xx 3000000 flow - &>/dev/null
+        if [[ "$(wc -c /proc/device-tree/soc/gpio@7e200000/uart0_pins/brcm\,pins | cut -f 1 -d ' ')" = "16" ]]; then
+            /usr/bin/hciattach -t 10 /dev/serial1 bcm43xx 3000000 flow - &>/dev/null
         else
-	        /usr/bin/hciattach -t5 /dev/serial1 bcm43xx 921600 noflow - &>/dev/null
+            /usr/bin/hciattach -t 10 /dev/serial1 bcm43xx 921600 noflow - &>/dev/null
         fi
     else
-        /usr/bin/hciattach -t5 /dev/serial1 bcm43xx 460800 noflow - &>/dev/null
+        /usr/bin/hciattach -t 10 /dev/serial1 bcm43xx 460800 noflow - &>/dev/null
     fi
 }
 
 case "$1" in
     start)
-        msg_begin "Attaching UART bluetooth modem"
-        # for some reason, sometimes the hciattach command needs to be run twice
-        (start || start) &>/dev/null &
+        msg_begin "Attaching UART bluetooth device"
+        start &>/dev/null &
         msg_background
         ;;
 
     stop)
-        msg_begin "Detaching UART bluetooth modem"
+        msg_begin "Detaching UART bluetooth device"
         killall hciattach &>/dev/null
         test $? == 0 && msg_done || msg_fail
         ;;
 
     *)
-        echo $"Usage: $0 {start}"
+        echo $"Usage: $0 {start|stop}"
         exit 1
 esac
 
 exit $?
-
diff --git a/board/raspberrypi4/postscript.sh b/board/raspberrypi4/postscript.sh
index 51e630b1d8..f2572d6296 100755
--- a/board/raspberrypi4/postscript.sh
+++ b/board/raspberrypi4/postscript.sh
@@ -12,3 +12,7 @@ cp ${IMG_DIR}/bcm2711-rpi-4-b.dtb ${BOOT_DIR}
 cp ${RPI_FW_DIR}/bootcode.bin ${BOOT_DIR}
 cp ${RPI_FW_DIR}/start4.elf ${BOOT_DIR}
 cp ${RPI_FW_DIR}/fixup4.dat ${BOOT_DIR}
+
+# copy overlays
+mkdir -p ${BOOT_DIR}/overlays
+cp ${RPI_FW_DIR}/overlays/*.dtbo ${BOOT_DIR}/overlays
diff --git a/configs/bananapim1_defconfig b/configs/bananapim1_defconfig
index 56e9170c70..3de74718b4 100644
--- a/configs/bananapim1_defconfig
+++ b/configs/bananapim1_defconfig
@@ -91,7 +91,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/nanopineo2_defconfig b/configs/nanopineo2_defconfig
index b360f9c6af..11a25fe571 100644
--- a/configs/nanopineo2_defconfig
+++ b/configs/nanopineo2_defconfig
@@ -83,7 +83,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/nanopineo_defconfig b/configs/nanopineo_defconfig
index 33d4586182..b29049d6a7 100644
--- a/configs/nanopineo_defconfig
+++ b/configs/nanopineo_defconfig
@@ -82,7 +82,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/odroidc1_defconfig b/configs/odroidc1_defconfig
index 9cc19b5ab9..a48235d7f9 100644
--- a/configs/odroidc1_defconfig
+++ b/configs/odroidc1_defconfig
@@ -94,7 +94,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/odroidc2_defconfig b/configs/odroidc2_defconfig
index 8eab7d1f90..cdf1777e1e 100644
--- a/configs/odroidc2_defconfig
+++ b/configs/odroidc2_defconfig
@@ -83,7 +83,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/odroidxu4_defconfig b/configs/odroidxu4_defconfig
index 2b0a175406..580b73102b 100644
--- a/configs/odroidxu4_defconfig
+++ b/configs/odroidxu4_defconfig
@@ -85,7 +85,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/orangepione_defconfig b/configs/orangepione_defconfig
index 27773e19e3..b258645ceb 100644
--- a/configs/orangepione_defconfig
+++ b/configs/orangepione_defconfig
@@ -86,7 +86,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/orangepizero_defconfig b/configs/orangepizero_defconfig
index 06bc6001d1..a3a0009f9e 100644
--- a/configs/orangepizero_defconfig
+++ b/configs/orangepizero_defconfig
@@ -86,7 +86,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/pine64_defconfig b/configs/pine64_defconfig
index 50112cf0dd..21ba64fc9b 100644
--- a/configs/pine64_defconfig
+++ b/configs/pine64_defconfig
@@ -82,7 +82,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/raspberrypi2_defconfig b/configs/raspberrypi2_defconfig
index 91d2ff8653..f66e0ac74c 100644
--- a/configs/raspberrypi2_defconfig
+++ b/configs/raspberrypi2_defconfig
@@ -12,7 +12,7 @@ BR2_ROOTFS_OVERLAY="board/common/overlay board/raspberrypi2/overlay"
 BR2_ROOTFS_POST_BUILD_SCRIPT="board/common/postscript.sh"
 BR2_LINUX_KERNEL=y
 BR2_LINUX_KERNEL_CUSTOM_TARBALL=y
-BR2_LINUX_KERNEL_CUSTOM_TARBALL_LOCATION="https://github.com/raspberrypi/linux/archive/0b3be176533d99ffd13dc0a95793edbb67a1c238.tar.gz"
+BR2_LINUX_KERNEL_CUSTOM_TARBALL_LOCATION="https://github.com/raspberrypi/linux/archive/6d8bf28fa4b1ca0a35c0cd1dcb267fb216daf720.tar.gz"
 BR2_LINUX_KERNEL_DEFCONFIG="bcm2709"
 BR2_LINUX_KERNEL_DTS_SUPPORT=y
 BR2_LINUX_KERNEL_INTREE_DTS_NAME="bcm2709-rpi-2-b"
@@ -114,7 +114,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/raspberrypi3_defconfig b/configs/raspberrypi3_defconfig
index 70f195d1fe..e8d0f25881 100644
--- a/configs/raspberrypi3_defconfig
+++ b/configs/raspberrypi3_defconfig
@@ -12,7 +12,7 @@ BR2_ROOTFS_OVERLAY="board/common/overlay board/raspberrypi3/overlay"
 BR2_ROOTFS_POST_BUILD_SCRIPT="board/common/postscript.sh"
 BR2_LINUX_KERNEL=y
 BR2_LINUX_KERNEL_CUSTOM_TARBALL=y
-BR2_LINUX_KERNEL_CUSTOM_TARBALL_LOCATION="https://github.com/raspberrypi/linux/archive/0b3be176533d99ffd13dc0a95793edbb67a1c238.tar.gz"
+BR2_LINUX_KERNEL_CUSTOM_TARBALL_LOCATION="https://github.com/raspberrypi/linux/archive/6d8bf28fa4b1ca0a35c0cd1dcb267fb216daf720.tar.gz"
 BR2_LINUX_KERNEL_DEFCONFIG="bcm2709"
 BR2_LINUX_KERNEL_DTS_SUPPORT=y
 BR2_LINUX_KERNEL_INTREE_DTS_NAME="bcm2710-rpi-3-b bcm2710-rpi-3-b-plus bcm2710-rpi-cm3"
@@ -114,7 +114,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/raspberrypi4_defconfig b/configs/raspberrypi4_defconfig
index 921a41b9fb..e52bf8d369 100644
--- a/configs/raspberrypi4_defconfig
+++ b/configs/raspberrypi4_defconfig
@@ -12,7 +12,7 @@ BR2_ROOTFS_OVERLAY="board/common/overlay board/raspberrypi4/overlay"
 BR2_ROOTFS_POST_BUILD_SCRIPT="board/common/postscript.sh"
 BR2_LINUX_KERNEL=y
 BR2_LINUX_KERNEL_CUSTOM_TARBALL=y
-BR2_LINUX_KERNEL_CUSTOM_TARBALL_LOCATION="https://github.com/raspberrypi/linux/archive/0b3be176533d99ffd13dc0a95793edbb67a1c238.tar.gz"
+BR2_LINUX_KERNEL_CUSTOM_TARBALL_LOCATION="https://github.com/raspberrypi/linux/archive/6d8bf28fa4b1ca0a35c0cd1dcb267fb216daf720.tar.gz"
 BR2_LINUX_KERNEL_DEFCONFIG="bcm2711"
 BR2_LINUX_KERNEL_DTS_SUPPORT=y
 BR2_LINUX_KERNEL_INTREE_DTS_NAME="bcm2711-rpi-4-b"
@@ -115,7 +115,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/raspberrypi_defconfig b/configs/raspberrypi_defconfig
index a31aabfea8..b3fd3a09be 100644
--- a/configs/raspberrypi_defconfig
+++ b/configs/raspberrypi_defconfig
@@ -19,7 +19,7 @@ BR2_ROOTFS_OVERLAY="board/common/overlay board/raspberrypi/overlay"
 BR2_ROOTFS_POST_BUILD_SCRIPT="board/common/postscript.sh"
 BR2_LINUX_KERNEL=y
 BR2_LINUX_KERNEL_CUSTOM_TARBALL=y
-BR2_LINUX_KERNEL_CUSTOM_TARBALL_LOCATION="https://github.com/raspberrypi/linux/archive/0b3be176533d99ffd13dc0a95793edbb67a1c238.tar.gz"
+BR2_LINUX_KERNEL_CUSTOM_TARBALL_LOCATION="https://github.com/raspberrypi/linux/archive/6d8bf28fa4b1ca0a35c0cd1dcb267fb216daf720.tar.gz"
 BR2_LINUX_KERNEL_DEFCONFIG="bcmrpi"
 BR2_LINUX_KERNEL_DTS_SUPPORT=y
 BR2_LINUX_KERNEL_INTREE_DTS_NAME="bcm2708-rpi-zero-w bcm2708-rpi-b bcm2708-rpi-b-plus bcm2708-rpi-cm"
@@ -122,7 +122,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/configs/tinkerboard_defconfig b/configs/tinkerboard_defconfig
index fd5dea641d..4ba890008c 100644
--- a/configs/tinkerboard_defconfig
+++ b/configs/tinkerboard_defconfig
@@ -86,7 +86,7 @@ BR2_PACKAGE_IW=y
 BR2_PACKAGE_NETCAT=y
 BR2_PACKAGE_NET_TOOLS=y
 BR2_PACKAGE_NTP=y
-BR2_PACKAGE_NTP_NTPDATE=y
+BR2_PACKAGE_NTP_SNTP=y
 BR2_PACKAGE_OPENSSH=y
 BR2_PACKAGE_PPPD=y
 BR2_PACKAGE_PROFTPD=y
diff --git a/package/rpi-firmware/rpi-firmware.hash b/package/rpi-firmware/rpi-firmware.hash
index d346fbd24d..713f912eb8 100644
--- a/package/rpi-firmware/rpi-firmware.hash
+++ b/package/rpi-firmware/rpi-firmware.hash
@@ -1 +1 @@
-sha256 b3a8bd532ca38f90e322be9fe4858a974e04ba8254248e416bf9e9ec5f176d95  rpi-firmware-66bafab005569e3eb92ec54cd3efeee3da338738.tar.gz
+sha256 eec0287caa24b42d5460ed7c555e6871096ee7cfddd1582bf864930740095de1  rpi-firmware-01508e81ec1e918448227ca864616d56c430b46d.tar.gz
diff --git a/package/rpi-firmware/rpi-firmware.mk b/package/rpi-firmware/rpi-firmware.mk
index 465d606b91..ddb977676d 100644
--- a/package/rpi-firmware/rpi-firmware.mk
+++ b/package/rpi-firmware/rpi-firmware.mk
@@ -4,7 +4,7 @@
 #
 ################################################################################
 
-RPI_FIRMWARE_VERSION = 66bafab005569e3eb92ec54cd3efeee3da338738
+RPI_FIRMWARE_VERSION = 01508e81ec1e918448227ca864616d56c430b46d
 RPI_FIRMWARE_SITE = $(call github,raspberrypi,firmware,$(RPI_FIRMWARE_VERSION))
 RPI_FIRMWARE_LICENSE = BSD-3-Clause
 RPI_FIRMWARE_LICENSE_FILES = boot/LICENCE.broadcom
diff --git a/package/rpi-userland/rpi-userland.mk b/package/rpi-userland/rpi-userland.mk
index 7d92158f0c..df32acb790 100644
--- a/package/rpi-userland/rpi-userland.mk
+++ b/package/rpi-userland/rpi-userland.mk
@@ -14,6 +14,13 @@ RPI_USERLAND_CONF_OPTS = -DVMCS_INSTALL_PREFIX=/usr \
 
 RPI_USERLAND_PROVIDES = libegl libgles libopenmax libopenvg
 
+define RPI_USERLAND_INSTALL_LIBFDT_TARGET
+	$(INSTALL) -m 0644 -D \
+		$(@D)/build/lib/libfdt.so \
+		$(TARGET_DIR)/usr/lib/libfdt.so
+endef
+RPI_USERLAND_POST_INSTALL_TARGET_HOOKS += RPI_USERLAND_INSTALL_LIBFDT_TARGET
+
 ifeq ($(BR2_PACKAGE_RPI_USERLAND_HELLO),y)
 
 RPI_USERLAND_CONF_OPTS += -DALL_APPS=ON
@@ -22,9 +29,6 @@ define RPI_USERLAND_EXTRA_LIBS_TARGET
 	$(INSTALL) -m 0644 -D \
 		$(@D)/build/lib/libilclient.so \
 		$(TARGET_DIR)/usr/lib/libilclient.so
-	$(INSTALL) -m 0644 -D \
-		$(@D)/build/lib/libfdt.so \
-		$(TARGET_DIR)/usr/lib/libfdt.so
 endef
 RPI_USERLAND_POST_INSTALL_TARGET_HOOKS += RPI_USERLAND_EXTRA_LIBS_TARGET