INAV and FrSky RXSR-FC (OMNINXT F7) problems

[Edvin85]

Hi guys,
i have been playing with this FC for some weeks now, and have encountered some problems in my built regarding FC or INAV compability.
Am i using the right flash for this FC?

FC: FrSky RXSR-FC (OMNINXT F7)
FW: 5.1.0 [OMNIBUSF7NXT]
GPS: iFlight M8Q-5883-GPS Module V2.0
Video: HdZero freestyle VTX.
ESC: AIKON AK32PIN 4-IN-1 35A 2-6S BLHELI_32 ESC
Radio: FrSky X20HD upkit with builtin HdZero VRX
Telemetry link: Xbee pro 2,4ghz

1: I am not allowed to set Servo output S5-S6 when using output mode Auto / Motors
I would like to set two servos for gimbal use, but they wont appear in the mixer tab when i add in servo mixer regardless of servo
refresh rate in outputs tab. The adresses is C08: MOTOR6 OUT and C09: MOTOR5 OUT when looking in the CLI resource if i set two
extra motors to S5 and S6.

2: The communication with ESC seems to not work, i can not set it in port tab because UART5 (CLI-4) is not there.
When writing serial in CLI, port 4 is not there.
This UART is spesified for the ESC telemetry in the FC manual.

3: The UART3 (CLI-2) for MSPdisplayport will not communicate, so i cannot get any OSD in the video feed.
If not the problem is FW mismatch of HdZero VTX to my built-in VRX? Have tried all FW versions for the freestyle VTX..

4: The smart audio on TX1 does not work either after setting it up i port tab. Thus this UART is spesified to use with smart audio in the FC manual.

5: Is it any way to set output for led to be a digital IO to control a transistor?

6: ICM20608 32kHz seems to not be supported in INAV, only the MPU6000 8kHz

Hope someone has found some solutions to any of those problems, i am totally empty of ideas after many many hours on youtube and google..

Best regards
Edvin