diff --git a/.gitmodules b/.gitmodules
index b4ea7c1..445099c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -43,3 +43,9 @@
 [submodule "components/esp-nimble-cpp"]
 	path = components/esp-nimble-cpp
 	url = git@github.com:0xFEEDC0DE64/esp-nimble-cpp.git
+[submodule "components/espasyncota"]
+	path = components/espasyncota
+	url = git@github.com:0xFEEDC0DE64/espasyncota.git
+[submodule "components/esphttpdutils"]
+	path = components/esphttpdutils
+	url = git@github.com:0xFEEDC0DE64/esphttpdutils.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1537f1f..2d0739c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -41,8 +41,7 @@ add_definitions(
   -DDEVICE_PREFIX=bobbyquad
   -DAP_PASSWORD=Passwort_123
   -DFEATURE_WEBSERVER
-#  -DFEATURE_ARDUINOOTA
-#  -DFEATURE_WEBOTA
+  -DFEATURE_OTA
   -DFEATURE_DPAD_5WIRESW
   -DPINS_DPAD_5WIRESW_OUT=18
   -DPINS_DPAD_5WIRESW_IN1=19
diff --git a/components/ArduinoJson b/components/ArduinoJson
index 73a34f7..475a650 160000
--- a/components/ArduinoJson
+++ b/components/ArduinoJson
@@ -1 +1 @@
-Subproject commit 73a34f7d92125dd9e789ef499e13498ad0d69807
+Subproject commit 475a650703d203293e9037a9d0cfcbd3de17084f
diff --git a/components/arduino-esp32 b/components/arduino-esp32
index ff9ec96..a84e053 160000
--- a/components/arduino-esp32
+++ b/components/arduino-esp32
@@ -1 +1 @@
-Subproject commit ff9ec961c1566d98ce39c3b97269c77d85fc69c0
+Subproject commit a84e0538ff20f1fbcd20fb47c836a67557677d89
diff --git a/components/cpputils b/components/cpputils
index 89bff1a..faeacdc 160000
--- a/components/cpputils
+++ b/components/cpputils
@@ -1 +1 @@
-Subproject commit 89bff1a8dcac2f951ac3f2c3d7415691ce16ca12
+Subproject commit faeacdcfbfcfcf0804d64d839eb5ee14a5d84c35
diff --git a/components/espasyncota b/components/espasyncota
new file mode 160000
index 0000000..b76c6c7
--- /dev/null
+++ b/components/espasyncota
@@ -0,0 +1 @@
+Subproject commit b76c6c7bf2c11ccf53f0c346b509848a59a0936b
diff --git a/components/espchrono b/components/espchrono
index 7f8a185..4d2e930 160000
--- a/components/espchrono
+++ b/components/espchrono
@@ -1 +1 @@
-Subproject commit 7f8a185678cccf0307910bffc6422a5564dccb0c
+Subproject commit 4d2e9305dc8c434a7a5ddf5c534a3a896be04bee
diff --git a/components/espcpputils b/components/espcpputils
index 3a350f1..1ef4a9e 160000
--- a/components/espcpputils
+++ b/components/espcpputils
@@ -1 +1 @@
-Subproject commit 3a350f11897f8f82bfc906efb7fbebd14e7da352
+Subproject commit 1ef4a9ea561947fa327c59e54a0cef79f6817c46
diff --git a/components/esphttpdutils b/components/esphttpdutils
new file mode 160000
index 0000000..a787113
--- /dev/null
+++ b/components/esphttpdutils
@@ -0,0 +1 @@
+Subproject commit a78711317ba4a5d5ee0ebf9e047a3609919ef898
diff --git a/components/espwifistack b/components/espwifistack
index 79e5736..717d877 160000
--- a/components/espwifistack
+++ b/components/espwifistack
@@ -1 +1 @@
-Subproject commit 79e5736649a20f1a0e637efce8f96420df77e0cb
+Subproject commit 717d877a44056c51e4a3ab777c4279c3d7a2e220
diff --git a/components/expected b/components/expected
index aa9b2b2..30ee4ea 160000
--- a/components/expected
+++ b/components/expected
@@ -1 +1 @@
-Subproject commit aa9b2b2d1f3e23b2a3771afc6eda7f2244125da6
+Subproject commit 30ee4ea505463716b03d177d7e65174a697c9eb2
diff --git a/components/fmt b/components/fmt
index 4b11c94..d3c349f 160000
--- a/components/fmt
+++ b/components/fmt
@@ -1 +1 @@
-Subproject commit 4b11c94036d4c5012dc4cb3854f47052f6f49812
+Subproject commit d3c349f69de79e0014e2e4fe1c4a1cd7c74983da
diff --git a/esp-idf b/esp-idf
index cd7cd9d..9e9abdf 160000
--- a/esp-idf
+++ b/esp-idf
@@ -1 +1 @@
-Subproject commit cd7cd9ddef731411b18b716bcddec2e62dc6b8f1
+Subproject commit 9e9abdf483b982210f04b869ea104ff56dd77827
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index b7e12ea..c49bbb4 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -183,7 +183,7 @@ set(dependencies
     libsodium freertos nvs_flash esp_http_server esp_https_ota mdns app_update esp_system esp_websocket_client driver
     arduino-esp32 ArduinoJson esp-nimble-cpp
     bobbycar-protocol cpputils cxx-ring-buffer date
-    espchrono espcpputils espwifistack expected fmt TFT_eSPI
+    espasyncota espchrono espcpputils esphttpdutils espwifistack expected fmt TFT_eSPI
 )
 
 idf_component_register(
diff --git a/main/displays/updatedisplay.h b/main/displays/updatedisplay.h
index 6231633..4fda54c 100644
--- a/main/displays/updatedisplay.h
+++ b/main/displays/updatedisplay.h
@@ -3,8 +3,8 @@
 #include <array>
 #include <string>
 
-#if defined(FEATURE_ARDUINOOTA) || defined(FEATURE_WEBOTA)
-#include <ArduinoOTA.h>
+#ifdef FEATURE_OTA
+#include <espasyncota.h>
 #endif
 
 #include "display.h"
@@ -20,7 +20,7 @@ class StatusDisplay;
 }
 
 namespace {
-#if defined(FEATURE_ARDUINOOTA) || defined(FEATURE_WEBOTA)
+#ifdef FEATURE_OTA
 class UpdateDisplay : public Display, public DummyBack
 {
 public:
@@ -36,8 +36,6 @@ public:
     bool m_finished;
     unsigned int m_progress;
     unsigned int m_total;
-    ota_error_t m_error;
-    bool m_errorValid;
 
 private:
     const std::string m_title;
@@ -60,7 +58,6 @@ void UpdateDisplay::start()
     m_finished = false;
     m_progress = 0;
     m_total = 1;
-    m_errorValid = false;
 }
 
 void UpdateDisplay::initScreen()
diff --git a/main/main.cpp b/main/main.cpp
index 7102c52..2c24110 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -245,7 +245,7 @@ extern "C" void app_main()
 
     currentMode = &modes::defaultMode;
 
-#ifdef FEATURE_ARDUINOOTA
+#ifdef FEATURE_OTA
     bootLabel.redraw("ota");
     initOta();
     printMemoryStats("initOta()");
@@ -369,7 +369,7 @@ extern "C" void app_main()
 
         handleSerial();
 
-#ifdef FEATURE_ARDUINOOTA
+#ifdef FEATURE_OTA
         handleOta();
 #endif
 
diff --git a/main/ota.h b/main/ota.h
index 65712e2..0eb9c8c 100644
--- a/main/ota.h
+++ b/main/ota.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#ifdef FEATURE_ARDUINOOTA
-#include <ArduinoOTA.h>
+#ifdef FEATURE_OTA
+#include <espasyncota.h>
 #endif
 
 #include "screens.h"
@@ -9,41 +9,41 @@
 #include "displays/updatedisplay.h"
 
 namespace {
-#ifdef FEATURE_ARDUINOOTA
+#ifdef FEATURE_OTA
 void initOta()
 {
-    ArduinoOTA
-        .onStart([]() {
-            std::string type;
-            switch (ArduinoOTA.getCommand())
-            {
-            case U_FLASH:  type = "sketch"; break;
-            case U_SPIFFS: type = "filesystem"; break;
-            default: type = "unknown";
-            }
-            switchScreenImpl<UpdateDisplay>("Updating " + type);
-        })
-        .onEnd([]() {
-            ((UpdateDisplay*)currentDisplay.get())->m_finished = true;
-            ((UpdateDisplay*)currentDisplay.get())->redraw();
-        })
-        .onProgress([](unsigned int progress, unsigned int total) {
-            ((UpdateDisplay*)currentDisplay.get())->m_progress = progress;
-            ((UpdateDisplay*)currentDisplay.get())->m_total = total;
-            ((UpdateDisplay*)currentDisplay.get())->redraw();
-        })
-        .onError([](ota_error_t error) {
-            ((UpdateDisplay*)currentDisplay.get())->m_error = error;
-            ((UpdateDisplay*)currentDisplay.get())->m_errorValid = true;
-            ((UpdateDisplay*)currentDisplay.get())->redraw();
-        });
+//    ArduinoOTA
+//        .onStart([]() {
+//            std::string type;
+//            switch (ArduinoOTA.getCommand())
+//            {
+//            case U_FLASH:  type = "sketch"; break;
+//            case U_SPIFFS: type = "filesystem"; break;
+//            default: type = "unknown";
+//            }
+//            switchScreenImpl<UpdateDisplay>("Updating " + type);
+//        })
+//        .onEnd([]() {
+//            ((UpdateDisplay*)currentDisplay.get())->m_finished = true;
+//            ((UpdateDisplay*)currentDisplay.get())->redraw();
+//        })
+//        .onProgress([](unsigned int progress, unsigned int total) {
+//            ((UpdateDisplay*)currentDisplay.get())->m_progress = progress;
+//            ((UpdateDisplay*)currentDisplay.get())->m_total = total;
+//            ((UpdateDisplay*)currentDisplay.get())->redraw();
+//        })
+//        .onError([](ota_error_t error) {
+//            ((UpdateDisplay*)currentDisplay.get())->m_error = error;
+//            ((UpdateDisplay*)currentDisplay.get())->m_errorValid = true;
+//            ((UpdateDisplay*)currentDisplay.get())->redraw();
+//        });
 
-    ArduinoOTA.begin();
+//    ArduinoOTA.begin();
 }
 
 void handleOta()
 {
-    ArduinoOTA.handle();
+//    ArduinoOTA.handle();
 }
 #endif
 }
diff --git a/main/utils.h b/main/utils.h
index 1e9f36c..5cce7a0 100644
--- a/main/utils.h
+++ b/main/utils.h
@@ -6,9 +6,6 @@
 
 #include <driver/twai.h>
 
-#ifdef FEATURE_ARDUINOOTA
-#include <ArduinoOTA.h>
-#endif
 #ifdef FEATURE_SERIAL
 #include <HardwareSerial.h>
 #endif
@@ -123,22 +120,6 @@ std::string to_string(bobbycar::protocol::ControlMode value)
     return "Unknown ControlMode(" + std::to_string(int(value)) + ')';
 }
 
-#ifdef FEATURE_ARDUINOOTA
-std::string to_string(ota_error_t value)
-{
-    switch (value)
-    {
-    case OTA_AUTH_ERROR: return "OTA_AUTH_ERROR";
-    case OTA_BEGIN_ERROR: return "OTA_BEGIN_ERROR";
-    case OTA_CONNECT_ERROR: return "OTA_CONNECT_ERROR";
-    case OTA_RECEIVE_ERROR: return "OTA_RECEIVE_ERROR";
-    case OTA_END_ERROR: return "OTA_END_ERROR";
-    }
-
-    return "Unknown ota_error_t(" + std::to_string(int(value)) + ')';
-}
-#endif
-
 std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorState>, 2> motorsInController(Controller &controller)
 {
     return {std::ref(controller.command.left), std::ref(controller.command.right)};
diff --git a/main/webserver.h b/main/webserver.h
index 08f0d27..f035027 100644
--- a/main/webserver.h
+++ b/main/webserver.h
@@ -25,6 +25,7 @@
 #include "displays/updatedisplay.h"
 //#include "esputils.h"
 #include "buttons.h"
+#include "esphttpdutils.h"
 
 namespace {
 #ifdef FEATURE_WEBSERVER
@@ -111,100 +112,6 @@ void initWebserver()
         //if (result != ESP_OK)
         //    return result;
     }
-
-#ifdef FEATURE_WEBOTA
-    webServer.on("/update", HTTP_GET, [](AsyncWebServerRequest *request){
-        request->send(200, "text/html",
-                      "<form method=\"POST\" action=\"/updateCode\" enctype=\"multipart/form-data\">"
-                      "<input type=\"file\" name=\"update\">"
-                      "<input type=\"submit\" value=\"Update Code\">"
-                      "</form>"
-                      "<form method=\"POST\" action=\"/updateData\" enctype=\"multipart/form-data\">"
-                      "<input type=\"file\" name=\"update\">"
-                      "<input type=\"submit\" value=\"Update Data\">"
-                      "</form>");
-    });
-
-    const auto handleUpdate = [](AsyncWebServerRequest *request){
-        shouldReboot = !Update.hasError();
-
-        AsyncWebServerResponse *response = request->beginResponse(200, "text/plain", shouldReboot ? "OK" : "FAIL");
-        response->addHeader("Connection", "close");
-        request->send(response);
-    };
-
-    const auto createHandleUpdtateUpload = [](size_t size, int command){
-        return [size, command](AsyncWebServerRequest *request, String filename, size_t index, uint8_t *data, size_t len, bool final){
-            //ESP_UNUSED(request)
-
-            //Serial.printf("callback %u %u\r\n", index, len);
-
-            if (!index)
-            {
-                //Serial.printf("Update Start: %s\r\n", filename.c_str());
-                //Update.runAsync(true);
-                if (!Update.begin(size, command))
-                    Update.printError(Serial);
-
-                std::string type;
-                if (ArduinoOTA.getCommand() == U_FLASH)
-                    type = "sketch";
-                else if (ArduinoOTA.getCommand() == U_SPIFFS) // U_SPIFFS
-                    type = "filesystem";
-                else
-                    type = "unknown";
-
-                switchScreenImpl<UpdateDisplay>("Updating " + type);
-            }
-
-            if (!Update.hasError())
-            {
-                if (Update.write(data, len) == len)
-                {
-                    ((UpdateDisplay*)currentDisplay.get())->m_progress = index;
-                    ((UpdateDisplay*)currentDisplay.get())->m_total = size;
-                    ((UpdateDisplay*)currentDisplay.get())->redraw();
-                }
-                else
-                {
-                    Update.printError(Serial);
-
-                    ((UpdateDisplay*)currentDisplay.get())->m_error = {};
-                    ((UpdateDisplay*)currentDisplay.get())->m_errorValid = true;
-                    ((UpdateDisplay*)currentDisplay.get())->redraw();
-                }
-            }
-            else
-            {
-                ((UpdateDisplay*)currentDisplay.get())->m_error = {};
-                ((UpdateDisplay*)currentDisplay.get())->m_errorValid = true;
-                ((UpdateDisplay*)currentDisplay.get())->redraw();
-            }
-
-            if (final)
-            {
-                if (Update.end(true))
-                {
-                    //Serial.printf("Update Success: %uB\r\n", index + len);
-
-                    ((UpdateDisplay*)currentDisplay.get())->m_finished = true;
-                    ((UpdateDisplay*)currentDisplay.get())->redraw();
-                }
-                else
-                {
-                    Update.printError(Serial);
-
-                    ((UpdateDisplay*)currentDisplay.get())->m_error = {};
-                    ((UpdateDisplay*)currentDisplay.get())->m_errorValid = true;
-                    ((UpdateDisplay*)currentDisplay.get())->redraw();
-                }
-            }
-        };
-    };
-
-    webServer.on("/updateCode", HTTP_POST, handleUpdate, createHandleUpdtateUpload((ESP.getFreeSketchSpace() - 0x1000) & 0xFFFFF000, U_FLASH));
-    webServer.on("/updateData", HTTP_POST, handleUpdate, createHandleUpdtateUpload(UPDATE_SIZE_UNKNOWN, U_SPIFFS));
-#endif
 }
 
 void handleWebserver()
@@ -359,7 +266,7 @@ esp_err_t webserver_triggerItem_handler(httpd_req_t *req)
         if (const auto result = httpd_query_key_value(query.data(), indexParamName.data(), valueBufEncoded, 256); result == ESP_OK)
         {
             char valueBuf[257];
-            espcpputils::urldecode(valueBuf, valueBufEncoded);
+            esphttpdutils::urldecode(valueBuf, valueBufEncoded);
 
             std::string_view value{valueBuf};
 
@@ -421,7 +328,7 @@ esp_err_t webserver_setValue_handler(httpd_req_t *req)
         if (const auto result = httpd_query_key_value(query.data(), valueParamName.data(), valueBufEncoded, 256); result == ESP_OK)
         {
             char valueBuf[257];
-            espcpputils::urldecode(valueBuf, valueBufEncoded);
+            esphttpdutils::urldecode(valueBuf, valueBufEncoded);
 
             std::string_view value{valueBuf};
 
diff --git a/main/wifi_bobbycar.h b/main/wifi_bobbycar.h
index e4b8cfe..6030203 100644
--- a/main/wifi_bobbycar.h
+++ b/main/wifi_bobbycar.h
@@ -12,40 +12,35 @@ wifi_stack::config wifi_create_config()
     return wifi_stack::config {
         .wifiEnabled = true,
         .hostname = deviceName,
-        .wifis = std::array<wifi_stack::wifi_entry, 10> {
-            wifi_stack::wifi_entry { .ssid = "realraum",            .key = "r3alraum" },
-            wifi_stack::wifi_entry { .ssid = "McDonalds Free WiFi", .key = "Passwort_123" },
-            wifi_stack::wifi_entry { .ssid = "***REMOVED***",             .key = "***REMOVED***" },
-            wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
-            wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
-            wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
-            wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
-            wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
-            wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
-            wifi_stack::wifi_entry { .ssid = {},                    .key = {} }
-        },
-        .sta_ip = {
-            .staticIpEnabled = false,
-//            .staticIp = {},
-//            .staticGateway = {},
-//            .staticSubnet = {},
-//            .staticDns1 = {},
-//            .staticDns2 = {}
+        .sta = {
+            .wifis = std::array<wifi_stack::wifi_entry, 10> {
+                wifi_stack::wifi_entry { .ssid = "realraum",            .key = "r3alraum" },
+                wifi_stack::wifi_entry { .ssid = "McDonalds Free WiFi", .key = "Passwort_123" },
+                wifi_stack::wifi_entry { .ssid = "***REMOVED***",          .key = "***REMOVED***" },
+                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
+                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
+                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
+                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
+                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
+                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
+                wifi_stack::wifi_entry { .ssid = {},                    .key = {} }
+            },
+            .min_rssi = -90
         },
         .ap = {
-            {
-                .ssid = deviceName,
-                .key = STRING(AP_PASSWORD)
+            .ssid = deviceName,
+            .key = STRING(AP_PASSWORD),
+            .static_ip = {
+                .ip = {10, 0, 0, 1},
+                .subnet = {255, 255, 255, 0},
+                .gateway = {10, 0, 0, 1},
             },
             .channel = 1,
             .authmode = WIFI_AUTH_WPA2_PSK,
             .ssid_hidden = false,
             .max_connection = 4,
-            .beacon_interval = 100,
-            .ip = {10, 0, 0, 1},
-            .subnet = {255, 255, 255, 0}
-        },
-        .min_rssi = -90
+            .beacon_interval = 100
+        }
     };
 }