diff --git a/CMakeLists.txt b/CMakeLists.txt
index bb11ae8..1537f1f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,7 +40,7 @@ add_definitions(
   -DDEFAULT_FIELDADVMAX=40
   -DDEVICE_PREFIX=bobbyquad
   -DAP_PASSWORD=Passwort_123
-#  -DFEATURE_WEBSERVER
+  -DFEATURE_WEBSERVER
 #  -DFEATURE_ARDUINOOTA
 #  -DFEATURE_WEBOTA
   -DFEATURE_DPAD_5WIRESW
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 18701ab..9d1a746 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -178,12 +178,9 @@ set(sources
 
 set(dependencies
     libsodium freertos nvs_flash esp_http_server esp_https_ota mdns app_update esp_system esp_websocket_client driver
-    arduino-esp32 ArduinoJson
-#    AsyncTCP
+    arduino-esp32 ArduinoJson esp-nimble-cpp
     bobbycar-protocol cpputils cxx-ring-buffer date
-#    ESPAsyncWebServer
     espchrono espcpputils espwifistack expected fmt TFT_eSPI
-    esp-nimble-cpp
 )
 
 idf_component_register(
diff --git a/main/displays/calibratedisplay.h b/main/displays/calibratedisplay.h
index 4be0c20..b96be84 100644
--- a/main/displays/calibratedisplay.h
+++ b/main/displays/calibratedisplay.h
@@ -224,7 +224,13 @@ void CalibrateDisplay::redraw()
 void CalibrateDisplay::stop()
 {
     if (currentMode == &m_mode)
+    {
+        // to avoid crash after deconstruction
+        m_mode.stop();
+        lastMode = nullptr;
+
         currentMode = m_oldMode;
+    }
 }
 
 void CalibrateDisplay::rotate(int offset)
diff --git a/main/displays/lockscreen.h b/main/displays/lockscreen.h
index 4aa6e36..d4ce8cc 100644
--- a/main/displays/lockscreen.h
+++ b/main/displays/lockscreen.h
@@ -143,7 +143,13 @@ void Lockscreen::stop()
     Base::stop();
 
     if (currentMode == &m_mode)
+    {
+        // to avoid crash after deconstruction
+        m_mode.stop();
+        lastMode = nullptr;
+
         currentMode = m_oldMode;
+    }
 }
 
 void Lockscreen::confirm()
diff --git a/main/globals.h b/main/globals.h
index 74fa05b..13cd279 100644
--- a/main/globals.h
+++ b/main/globals.h
@@ -86,6 +86,7 @@ BluetoothSerial bluetoothSerial;
 
 TFT_eSPI tft = TFT_eSPI();
 
+ModeInterface *lastMode{};
 ModeInterface *currentMode{};
 
 std::unique_ptr<Display> currentDisplay;
diff --git a/main/main.cpp b/main/main.cpp
index 0256b5e..e7e88f8 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -1,3 +1,5 @@
+constexpr const char * const TAG = "BOBBY";
+
 // system includes
 #include <cstdio>
 
@@ -100,7 +102,6 @@ using namespace std::chrono_literals;
 #include "wifi_bobbycar.h"
 
 namespace {
-ModeInterface *lastMode{};
 std::optional<espchrono::millis_clock::time_point> lastPotiRead;
 std::optional<espchrono::millis_clock::time_point> lastModeUpdate;
 std::optional<espchrono::millis_clock::time_point> lastStatsUpdate;
diff --git a/main/webserver.h b/main/webserver.h
index d169fcf..863bc5d 100644
--- a/main/webserver.h
+++ b/main/webserver.h
@@ -1,9 +1,13 @@
 #pragma once
 
-// 3rdparty lib includes
+// system includes
+#include <atomic>
+
+// esp-idf includes
 #ifdef FEATURE_WEBSERVER
-#include <ESPAsyncWebServer.h>
+#include <esp_http_server.h>
 #endif
+#include <esp_log.h>
 
 // local includes
 #include "screens.h"
@@ -13,237 +17,76 @@
 #include "displays/updatedisplay.h"
 //#include "esputils.h"
 #include "buttons.h"
+#include "espcppmacros.h"
 
 namespace {
 #ifdef FEATURE_WEBSERVER
-AsyncWebServer webServer{80};
+httpd_handle_t httpdHandle;
 
-bool shouldReboot;
+std::atomic<bool> shouldReboot;
 
 class HtmlTag {
 public:
-    HtmlTag(const char *tagName, AsyncResponseStream *response) :
+    HtmlTag(const char *tagName, std::string &body) :
         m_tagName{tagName},
-        m_response{response}
+        m_body{body}
     {
-        m_response->printf("<%s>", m_tagName);
+        m_body += '<';
+        m_body += m_tagName;
+        m_body += '>';
     }
 
     ~HtmlTag()
     {
-        m_response->printf("</%s>", m_tagName);
+        m_body += "</";
+        m_body += m_tagName;
+        m_body += '>';
     }
 
 private:
     const char * const m_tagName;
-    AsyncResponseStream * const m_response;
+    std::string &m_body;
 };
 
+esp_err_t webserver_root_handler(httpd_req_t *req);
+esp_err_t webserver_up_handler(httpd_req_t *req);
+esp_err_t webserver_down_handler(httpd_req_t *req);
+esp_err_t webserver_confirm_handler(httpd_req_t *req);
+esp_err_t webserver_back_handler(httpd_req_t *req);
+esp_err_t webserver_triggerItem_handler(httpd_req_t *req);
+esp_err_t webserver_setValue_handler(httpd_req_t *req);
+esp_err_t webserver_reboot_handler(httpd_req_t *req);
+
 void initWebserver()
 {
     shouldReboot = false;
 
-    DefaultHeaders::Instance().addHeader("Access-Control-Allow-Origin", "*");
+    {
+        httpd_config_t httpConfig HTTPD_DEFAULT_CONFIG();
+        httpConfig.core_id = 1;
 
-    webServer.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
-        AsyncResponseStream *response = request->beginResponseStream("text/html");
-
-        {
-            HtmlTag htmlTag{"html", response};
-
-            {
-                HtmlTag headTag{"head", response};
-
-                {
-                    HtmlTag titleTag{"title", response};
-                    response->print("Bobbycar remote");
-                }
-
-                response->print("<meta name=\"viewport\" content=\"width=device-width, initial-scale=1, shrink-to-fit=no\" />");
-            }
-
-            {
-                HtmlTag bodyTag{"body", response};
-
-                {
-                    HtmlTag h1Tag{"h1", response};
-                    response->print("Bobbycar remote");
-                }
-
-                {
-                    HtmlTag pTag{"p", response};
-                    response->print("<a href=\"/up\">Up</a> "
-                                    "<a href=\"/down\">Down</a> "
-                                    "<a href=\"/confirm\">Confirm</a> "
-                                    "<a href=\"/back\">Back</a>");
-                }
-
-                if (auto constCurrentDisplay = static_cast<const Display *>(currentDisplay.get()))
-                {
-                    if (const auto *textInterface = constCurrentDisplay->asTextInterface())
-                    {
-                        HtmlTag h2Tag{"h2", response};
-                        response->print(textInterface->text().c_str());
-                    }
-
-                    if (const auto *menuDisplay = constCurrentDisplay->asMenuDisplay())
-                    {
-                        HtmlTag ulTag{"ul", response};
-
-                        int i{0};
-                        menuDisplay->runForEveryMenuItem([&,selectedIndex=menuDisplay->selectedIndex()](const MenuItem &menuItem){
-                            response->print("<li");
-
-                            if (i == selectedIndex)
-                                response->print(" style=\"border: 1px solid black;\"");
-
-                            response->print("><a href=\"/triggerItem?index=");
-                            response->print(i);
-                            response->print("\">");
-                            response->print(menuItem.text().c_str());
-                            response->print("</a></li>");
-
-                            i++;
-                        });
-                    }
-                    else if (const auto *changeValueDisplay = constCurrentDisplay->asChangeValueDisplayInterface())
-                    {
-                        response->print("<form action=\"/setValue\" method=\"GET\">");
-                        response->print(("<input type=\"number\" name=\"value\" value=\"" + std::to_string(changeValueDisplay->shownValue()) + "\" />").c_str());
-                        response->print("<button type=\"submit\">Update</button>");
-                        response->print("</form>");
-                    }
-                    else
-                    {
-                        response->print("No web control implemented for current display.");
-                    }
-                }
-                else
-                {
-                    response->print("Currently no screen instantiated.");
-                }
-            }
-        }
-
-        request->send(response);
-    });
-
-    webServer.on("/up", HTTP_GET, [](AsyncWebServerRequest *request){
-        InputDispatcher::rotate(-1);
-
-        AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
-        response->addHeader("Location", "/");
-        request->send(response);
-    });
-
-    webServer.on("/down", HTTP_GET, [](AsyncWebServerRequest *request){
-        InputDispatcher::rotate(1);
-
-        AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
-        response->addHeader("Location", "/");
-        request->send(response);
-    });
-
-    webServer.on("/confirm", HTTP_GET, [](AsyncWebServerRequest *request){
-        InputDispatcher::confirmButton(true);
-        InputDispatcher::confirmButton(false);
-
-        AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
-        response->addHeader("Location", "/");
-        request->send(response);
-    });
-
-    webServer.on("/back", HTTP_GET, [](AsyncWebServerRequest *request){
-        InputDispatcher::backButton(true);
-        InputDispatcher::backButton(false);
-
-        AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
-        response->addHeader("Location", "/");
-        request->send(response);
-    });
-
-    webServer.on("/triggerItem", HTTP_GET, [](AsyncWebServerRequest *request){
-        if (!request->hasArg("index"))
-        {
-            request->send(400, "text/plain", "index parameter missing");
+        const auto result = httpd_start(&httpdHandle, &httpConfig);
+        ESP_LOG_LEVEL_LOCAL((result == ESP_OK ? ESP_LOG_INFO : ESP_LOG_ERROR), TAG, "httpd_start(): %s", esp_err_to_name(result));
+        if (result != ESP_OK)
             return;
-        }
-
-        if (!currentDisplay)
-        {
-            request->send(400, "text/plain", "currentDisplay is null");
-            return;
-        }
-
-        auto *menuDisplay = currentDisplay->asMenuDisplay();
-        if (!menuDisplay)
-        {
-            request->send(400, "text/plain", "currentDisplay is not a menu display");
-            return;
-        }
-
-        const auto indexStr = request->arg("index");
-
-        char *ptr;
-        const auto index = std::strtol(std::begin(indexStr), &ptr, 10);
-
-        if (ptr != std::end(indexStr))
-        {
-            request->send(400, "text/plain", "index could not be parsed");
-            return;
-        }
-
-        if (index < 0 || index >= menuDisplay->menuItemCount())
-        {
-            request->send(400, "text/plain", "index out of range");
-            return;
-        }
-
-        menuDisplay->getMenuItem(index).triggered();
-
-        AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
-        response->addHeader("Location", "/");
-        request->send(response);
-    });
-
-    webServer.on("/setValue", HTTP_GET, [](AsyncWebServerRequest *request){
-        if (!request->hasArg("value"))
-        {
-            request->send(400, "text/plain", "value parameter missing");
-            return;
-        }
-
-        if (!currentDisplay)
-        {
-            request->send(400, "text/plain", "currentDisplay is null");
-            return;
-        }
-
-        auto *changeValueDisplay = currentDisplay->asChangeValueDisplayInterface();
-        if (!changeValueDisplay)
-        {
-            request->send(400, "text/plain", "currentDisplay is not a change value display");
-            return;
-        }
-
-        const auto valueStr = request->arg("value");
-
-        char *ptr;
-        const auto value = std::strtol(std::begin(valueStr), &ptr, 10);
-
-        if (ptr != std::end(valueStr))
-        {
-            request->send(400, "text/plain", "value could not be parsed");
-            return;
-        }
-
-        changeValueDisplay->setShownValue(value);
-
-        AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
-        response->addHeader("Location", "/");
-        request->send(response);
-    });
+    }
 
+    for (const httpd_uri_t &uri : {
+         httpd_uri_t { .uri = "/",            .method = HTTP_GET, .handler = webserver_root_handler,        .user_ctx = NULL },
+         httpd_uri_t { .uri = "/up",          .method = HTTP_GET, .handler = webserver_up_handler,          .user_ctx = NULL },
+         httpd_uri_t { .uri = "/down",        .method = HTTP_GET, .handler = webserver_down_handler,        .user_ctx = NULL },
+         httpd_uri_t { .uri = "/confirm",     .method = HTTP_GET, .handler = webserver_confirm_handler,     .user_ctx = NULL },
+         httpd_uri_t { .uri = "/back",        .method = HTTP_GET, .handler = webserver_back_handler,        .user_ctx = NULL },
+         httpd_uri_t { .uri = "/triggerItem", .method = HTTP_GET, .handler = webserver_triggerItem_handler, .user_ctx = NULL },
+         httpd_uri_t { .uri = "/setValue",    .method = HTTP_GET, .handler = webserver_setValue_handler,    .user_ctx = NULL },
+         httpd_uri_t { .uri = "/reboot",      .method = HTTP_GET, .handler = webserver_reboot_handler,      .user_ctx = NULL }
+    })
+    {
+        const auto result = httpd_register_uri_handler(httpdHandle, &uri);
+        ESP_LOG_LEVEL_LOCAL((result == ESP_OK ? ESP_LOG_INFO : ESP_LOG_ERROR), TAG, "httpd_register_uri_handler() for %s: %s", uri.uri, esp_err_to_name(result));
+        //if (result != ESP_OK)
+        //    return result;
+    }
 
 #ifdef FEATURE_WEBOTA
     webServer.on("/update", HTTP_GET, [](AsyncWebServerRequest *request){
@@ -338,8 +181,6 @@ void initWebserver()
     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
-
-    webServer.begin();
 }
 
 void handleWebserver()
@@ -347,8 +188,253 @@ void handleWebserver()
     if (shouldReboot)
     {
         shouldReboot = false;
-        ESP.restart();
+        esp_restart();
     }
 }
+
+esp_err_t webserver_root_handler(httpd_req_t *req)
+{
+    std::string body;
+
+    {
+        HtmlTag htmlTag{"html", body};
+
+        {
+            HtmlTag headTag{"head", body};
+
+            {
+                HtmlTag titleTag{"title", body};
+                body += ("Bobbycar remote");
+            }
+
+            body += ("<meta name=\"viewport\" content=\"width=device-width, initial-scale=1, shrink-to-fit=no\" />");
+        }
+
+        {
+            HtmlTag bodyTag{"body", body};
+
+            {
+                HtmlTag h1Tag{"h1", body};
+                body += ("Bobbycar remote");
+            }
+
+            {
+                HtmlTag pTag{"p", body};
+                body += ("<a href=\"/up\">Up</a> "
+                                "<a href=\"/down\">Down</a> "
+                                "<a href=\"/confirm\">Confirm</a> "
+                                "<a href=\"/back\">Back</a>");
+            }
+
+            if (auto constCurrentDisplay = static_cast<const Display *>(currentDisplay.get()))
+            {
+                if (const auto *textInterface = constCurrentDisplay->asTextInterface())
+                {
+                    HtmlTag h2Tag{"h2", body};
+                    body += (textInterface->text().c_str());
+                }
+
+                if (const auto *menuDisplay = constCurrentDisplay->asMenuDisplay())
+                {
+                    HtmlTag ulTag{"ul", body};
+
+                    int i{0};
+                    menuDisplay->runForEveryMenuItem([&,selectedIndex=menuDisplay->selectedIndex()](const MenuItem &menuItem){
+                        body += ("<li");
+
+                        if (i == selectedIndex)
+                            body += (" style=\"border: 1px solid black;\"");
+
+                        body += ("><a href=\"/triggerItem?index=");
+                        body += (i);
+                        body += ("\">");
+                        body += (menuItem.text().c_str());
+                        body += ("</a></li>");
+
+                        i++;
+                    });
+                }
+                else if (const auto *changeValueDisplay = constCurrentDisplay->asChangeValueDisplayInterface())
+                {
+                    body += ("<form action=\"/setValue\" method=\"GET\">");
+                    body += (("<input type=\"number\" name=\"value\" value=\"" + std::to_string(changeValueDisplay->shownValue()) + "\" />").c_str());
+                    body += ("<button type=\"submit\">Update</button>");
+                    body += ("</form>");
+                }
+                else
+                {
+                    body += ("No web control implemented for current display.");
+                }
+            }
+            else
+            {
+                body += ("Currently no screen instantiated.");
+            }
+        }
+    }
+
+    CALL_AND_EXIT_ON_ERROR(httpd_resp_set_type, req, "text/html")
+    CALL_AND_EXIT_ON_ERROR(httpd_resp_send, req, body.data(), body.size())
+
+    return ESP_OK;
+}
+
+esp_err_t webserver_up_handler(httpd_req_t *req)
+{
+#ifdef OLD_CODE
+    InputDispatcher::rotate(-1);
+
+    AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
+    response->addHeader("Location", "/");
+    request->send(response);
+#else
+    return ESP_OK;
+#endif
+}
+
+esp_err_t webserver_down_handler(httpd_req_t *req)
+{
+#ifdef OLD_CODE
+    InputDispatcher::rotate(1);
+
+    AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
+    response->addHeader("Location", "/");
+    request->send(response);
+#else
+    return ESP_OK;
+#endif
+}
+
+esp_err_t webserver_confirm_handler(httpd_req_t *req)
+{
+#ifdef OLD_CODE
+    InputDispatcher::confirmButton(true);
+    InputDispatcher::confirmButton(false);
+
+    AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
+    response->addHeader("Location", "/");
+    request->send(response);
+#else
+    return ESP_OK;
+#endif
+}
+
+esp_err_t webserver_back_handler(httpd_req_t *req)
+{
+#ifdef OLD_CODE
+    InputDispatcher::backButton(true);
+    InputDispatcher::backButton(false);
+
+    AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
+    response->addHeader("Location", "/");
+    request->send(response);
+#else
+    return ESP_OK;
+#endif
+}
+
+esp_err_t webserver_triggerItem_handler(httpd_req_t *req)
+{
+#ifdef OLD_CODE
+    if (!request->hasArg("index"))
+    {
+        request->send(400, "text/plain", "index parameter missing");
+        return;
+    }
+
+    if (!currentDisplay)
+    {
+        request->send(400, "text/plain", "currentDisplay is null");
+        return;
+    }
+
+    auto *menuDisplay = currentDisplay->asMenuDisplay();
+    if (!menuDisplay)
+    {
+        request->send(400, "text/plain", "currentDisplay is not a menu display");
+        return;
+    }
+
+    const auto indexStr = request->arg("index");
+
+    char *ptr;
+    const auto index = std::strtol(std::begin(indexStr), &ptr, 10);
+
+    if (ptr != std::end(indexStr))
+    {
+        request->send(400, "text/plain", "index could not be parsed");
+        return;
+    }
+
+    if (index < 0 || index >= menuDisplay->menuItemCount())
+    {
+        request->send(400, "text/plain", "index out of range");
+        return;
+    }
+
+    menuDisplay->getMenuItem(index).triggered();
+
+    AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
+    response->addHeader("Location", "/");
+    request->send(response);
+#else
+    return ESP_OK;
+#endif
+}
+
+esp_err_t webserver_setValue_handler(httpd_req_t *req)
+{
+#ifdef OLD_CODE
+    if (!request->hasArg("value"))
+    {
+        request->send(400, "text/plain", "value parameter missing");
+        return;
+    }
+
+    if (!currentDisplay)
+    {
+        request->send(400, "text/plain", "currentDisplay is null");
+        return;
+    }
+
+    auto *changeValueDisplay = currentDisplay->asChangeValueDisplayInterface();
+    if (!changeValueDisplay)
+    {
+        request->send(400, "text/plain", "currentDisplay is not a change value display");
+        return;
+    }
+
+    const auto valueStr = request->arg("value");
+
+    char *ptr;
+    const auto value = std::strtol(std::begin(valueStr), &ptr, 10);
+
+    if (ptr != std::end(valueStr))
+    {
+        request->send(400, "text/plain", "value could not be parsed");
+        return;
+    }
+
+    changeValueDisplay->setShownValue(value);
+
+    AsyncWebServerResponse *response = request->beginResponse(302, "text/plain", "ok");
+    response->addHeader("Location", "/");
+    request->send(response);
+#else
+    return ESP_OK;
+#endif
+}
+
+esp_err_t webserver_reboot_handler(httpd_req_t *req)
+{
+    std::string_view body{"REBOOT called..."};
+    CALL_AND_EXIT_ON_ERROR(httpd_resp_set_type, req, "text/html")
+    CALL_AND_EXIT_ON_ERROR(httpd_resp_send, req, body.data(), body.size())
+
+    shouldReboot = true;
+
+    return ESP_OK;
+}
+
 #endif
 }