diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
index 7f61f8317..64275f989 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
@@ -193,7 +193,7 @@ typedef struct
   */
 
 void NVIC_PriorityGroupConfig(uint32_t NVIC_PriorityGroup);
-void NVIC_Init(NVIC_InitTypeDef* NVIC_InitStruct);
+void NVIC_Init(const NVIC_InitTypeDef* NVIC_InitStruct);
 void NVIC_SetVectorTable(uint32_t NVIC_VectTab, uint32_t Offset);
 void NVIC_SystemLPConfig(uint8_t LowPowerMode, FunctionalState NewState);
 void SysTick_CLKSourceConfig(uint32_t SysTick_CLKSource);
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
index 376f8a32e..a478a3252 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
@@ -407,7 +407,7 @@ typedef struct
   */
 
 void DMA_DeInit(DMA_Channel_TypeDef* DMAy_Channelx);
-void DMA_Init(DMA_Channel_TypeDef* DMAy_Channelx, DMA_InitTypeDef* DMA_InitStruct);
+void DMA_Init(DMA_Channel_TypeDef* DMAy_Channelx, const DMA_InitTypeDef* DMA_InitStruct);
 void DMA_StructInit(DMA_InitTypeDef* DMA_InitStruct);
 void DMA_Cmd(DMA_Channel_TypeDef* DMAy_Channelx, FunctionalState NewState);
 void DMA_ITConfig(DMA_Channel_TypeDef* DMAy_Channelx, uint32_t DMA_IT, FunctionalState NewState);
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
index 127d07550..feace4850 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
@@ -322,7 +322,7 @@ typedef enum
 
 void GPIO_DeInit(GPIO_TypeDef* GPIOx);
 void GPIO_AFIODeInit(void);
-void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct);
+void GPIO_Init(GPIO_TypeDef* GPIOx, const GPIO_InitTypeDef* GPIO_InitStruct);
 void GPIO_StructInit(GPIO_InitTypeDef* GPIO_InitStruct);
 uint8_t GPIO_ReadInputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
 uint16_t GPIO_ReadInputData(GPIO_TypeDef* GPIOx);
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
index 36fd84532..3553a6007 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
@@ -447,7 +447,7 @@ typedef struct
   */
 
 void SPI_I2S_DeInit(SPI_TypeDef* SPIx);
-void SPI_Init(SPI_TypeDef* SPIx, SPI_InitTypeDef* SPI_InitStruct);
+void SPI_Init(SPI_TypeDef* SPIx, const SPI_InitTypeDef* SPI_InitStruct);
 void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct);
 void SPI_StructInit(SPI_InitTypeDef* SPI_InitStruct);
 void I2S_StructInit(I2S_InitTypeDef* I2S_InitStruct);
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
index 2c3ae4c2b..92879746a 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
@@ -362,7 +362,7 @@ typedef struct
   */
 
 void USART_DeInit(USART_TypeDef* USARTx);
-void USART_Init(USART_TypeDef* USARTx, USART_InitTypeDef* USART_InitStruct);
+void USART_Init(USART_TypeDef* USARTx, const USART_InitTypeDef* USART_InitStruct);
 void USART_StructInit(USART_InitTypeDef* USART_InitStruct);
 void USART_ClockInit(USART_TypeDef* USARTx, USART_ClockInitTypeDef* USART_ClockInitStruct);
 void USART_ClockStructInit(USART_ClockInitTypeDef* USART_ClockInitStruct);
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c
index fa3c212fa..752212b5f 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c
@@ -108,7 +108,7 @@ void NVIC_PriorityGroupConfig(uint32_t NVIC_PriorityGroup)
   *   the configuration information for the specified NVIC peripheral.
   * @retval None
   */
-void NVIC_Init(NVIC_InitTypeDef* NVIC_InitStruct)
+void NVIC_Init(const NVIC_InitTypeDef* NVIC_InitStruct)
 {
   uint32_t tmppriority = 0x00, tmppre = 0x00, tmpsub = 0x0F;
   
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
index f801b9bf1..24fae2a13 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
@@ -199,7 +199,7 @@ void DMA_DeInit(DMA_Channel_TypeDef* DMAy_Channelx)
   *   contains the configuration information for the specified DMA Channel.
   * @retval None
   */
-void DMA_Init(DMA_Channel_TypeDef* DMAy_Channelx, DMA_InitTypeDef* DMA_InitStruct)
+void DMA_Init(DMA_Channel_TypeDef* DMAy_Channelx, const DMA_InitTypeDef* DMA_InitStruct)
 {
   uint32_t tmpreg = 0;
 
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
index 262992e0d..287edf966 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
@@ -169,7 +169,7 @@ void GPIO_AFIODeInit(void)
   *   contains the configuration information for the specified GPIO peripheral.
   * @retval None
   */
-void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct)
+void GPIO_Init(GPIO_TypeDef* GPIOx, const GPIO_InitTypeDef* GPIO_InitStruct)
 {
   uint32_t currentmode = 0x00, currentpin = 0x00, pinpos = 0x00, pos = 0x00;
   uint32_t tmpreg = 0x00, pinmask = 0x00;
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
index 427de6bab..ca2e14708 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
@@ -154,7 +154,7 @@ void SPI_I2S_DeInit(SPI_TypeDef* SPIx)
   *   contains the configuration information for the specified SPI peripheral.
   * @retval None
   */
-void SPI_Init(SPI_TypeDef* SPIx, SPI_InitTypeDef* SPI_InitStruct)
+void SPI_Init(SPI_TypeDef* SPIx, const SPI_InitTypeDef* SPI_InitStruct)
 {
   uint16_t tmpreg = 0;
   
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
index 0e642d4b3..2a560c907 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
@@ -162,7 +162,7 @@ void USART_DeInit(USART_TypeDef* USARTx)
   *   that contains the configuration information for the specified USART peripheral.
   * @retval None
   */
-void USART_Init(USART_TypeDef* USARTx, USART_InitTypeDef* USART_InitStruct)
+void USART_Init(USART_TypeDef* USARTx, const USART_InitTypeDef* USART_InitStruct)
 {
   uint32_t tmpreg = 0x00, apbclock = 0x00;
   uint32_t integerdivider = 0x00;