diff --git a/flight/OpenPilot/System/inc/pios_board.h b/flight/OpenPilot/System/inc/pios_board.h
index 187041d3b..ddbfdec3d 100644
--- a/flight/OpenPilot/System/inc/pios_board.h
+++ b/flight/OpenPilot/System/inc/pios_board.h
@@ -31,18 +31,18 @@
 //------------------------
 // DMA Channels Used
 //------------------------
-/* Channel 1  - 						*/
-/* Channel 2  - SPI1 RX					*/
-/* Channel 3  - SPI1 TX					*/
-/* Channel 4  - SPI2 RX					*/
-/* Channel 5  - SPI2 TX					*/
-/* Channel 6  - 						*/
-/* Channel 7  - 						*/
-/* Channel 8  - 						*/
-/* Channel 9  - 						*/
-/* Channel 10 - 						*/
-/* Channel 11 - 						*/
-/* Channel 12 - 						*/
+/* Channel 1  - 				*/
+/* Channel 2  - SPI1 RX				*/
+/* Channel 3  - SPI1 TX				*/
+/* Channel 4  - SPI2 RX				*/
+/* Channel 5  - SPI2 TX				*/
+/* Channel 6  - 				*/
+/* Channel 7  - 				*/
+/* Channel 8  - 				*/
+/* Channel 9  - 				*/
+/* Channel 10 - 				*/
+/* Channel 11 - 				*/
+/* Channel 12 - 				*/
 
 //------------------------
 // PIOS_LED
@@ -53,19 +53,19 @@
 #define PIOS_LED_LED2_GPIO_PORT			GPIOC
 #define PIOS_LED_LED2_GPIO_PIN			GPIO_Pin_13
 #define PIOS_LED_LED2_GPIO_CLK			RCC_APB2Periph_GPIOC
-#define PIOS_LED_NUM					2
-#define PIOS_LED_PORTS					{ PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
-#define PIOS_LED_PINS					{ PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
-#define PIOS_LED_CLKS					{ PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
+#define PIOS_LED_NUM				2
+#define PIOS_LED_PORTS				{ PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
+#define PIOS_LED_PINS				{ PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
+#define PIOS_LED_CLKS				{ PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
 
 //------------------------
 // PIOS_I2C
 //------------------------
-#define PIOS_I2C_GPIO_PORT				GPIOB
-#define PIOS_I2C_SDA_PIN				GPIO_Pin_11
-#define PIOS_I2C_SCL_PIN				GPIO_Pin_10
-#define PIOS_I2C_DUTY_CYCLE				I2C_DutyCycle_2
-#define PIOS_I2C_BUS_FREQ				400000
+#define PIOS_I2C_GPIO_PORT			GPIOB
+#define PIOS_I2C_SDA_PIN			GPIO_Pin_11
+#define PIOS_I2C_SCL_PIN			GPIO_Pin_10
+#define PIOS_I2C_DUTY_CYCLE			I2C_DutyCycle_2
+#define PIOS_I2C_BUS_FREQ			400000
 #define PIOS_I2C_TIMEOUT_VALUE			5000
 #define PIOS_I2C_IRQ_EV_PRIORITY		2
 #define PIOS_I2C_IRQ_ER_PRIORITY		2
@@ -77,18 +77,18 @@
 #define PIOS_BMP085_EOC_GPIO_PIN		GPIO_Pin_15
 #define PIOS_BMP085_EOC_PORT_SOURCE		GPIO_PortSourceGPIOG
 #define PIOS_BMP085_EOC_PIN_SOURCE		GPIO_PinSource8
-#define PIOS_BMP085_EOC_CLK				RCC_APB2Periph_GPIOC
+#define PIOS_BMP085_EOC_CLK			RCC_APB2Periph_GPIOC
 #define PIOS_BMP085_EOC_EXTI_LINE		EXTI_Line15
 #define PIOS_BMP085_EOC_IRQn			EXTI15_10_IRQn
 
 //-------------------------
 // PIOS_USART1 (TELEM)
 //-------------------------
-#define PIOS_USART1_ENABLED				1
-#define PIOS_USART1_USART				USART2
+#define PIOS_USART1_ENABLED			1
+#define PIOS_USART1_USART			USART2
 #define PIOS_USART1_GPIO_PORT			GPIOA
-#define PIOS_USART1_RX_PIN				GPIO_Pin_3
-#define PIOS_USART1_TX_PIN				GPIO_Pin_2
+#define PIOS_USART1_RX_PIN			GPIO_Pin_3
+#define PIOS_USART1_TX_PIN			GPIO_Pin_2
 #define PIOS_USART1_REMAP_FUNC			{ }
 #define PIOS_USART1_IRQ_CHANNEL			USART2_IRQn
 #define PIOS_USART1_IRQHANDLER_FUNC		void USART2_IRQHandler(void)
@@ -114,11 +114,11 @@
 //-------------------------
 //  PIOS_USART3 (AUX) (RX5/RX6)
 //-------------------------
-#define PIOS_USART3_ENABLED				0
-#define PIOS_USART3_USART				USART1
+#define PIOS_USART3_ENABLED			0
+#define PIOS_USART3_USART			USART1
 #define PIOS_USART3_GPIO_PORT			GPIOA
-#define PIOS_USART3_RX_PIN				GPIO_Pin_10
-#define PIOS_USART3_TX_PIN				GPIO_Pin_9
+#define PIOS_USART3_RX_PIN			GPIO_Pin_10
+#define PIOS_USART3_TX_PIN			GPIO_Pin_9
 #define PIOS_USART3_REMAP_FUNC			{ }
 #define PIOS_USART3_IRQ_CHANNEL			USART1_IRQn
 #define PIOS_USART3_IRQHANDLER_FUNC		void USART1_IRQHandler(void)
@@ -129,108 +129,108 @@
 //-------------------------
 // PIOS_USART
 //-------------------------
-#define PIOS_USART_NUM					3
+#define PIOS_USART_NUM				3
 #define PIOS_USART_RX_BUFFER_SIZE		1024
 #define PIOS_USART_TX_BUFFER_SIZE		256
-#define PIOS_COM_DEBUG_PORT				GPS
+#define PIOS_COM_DEBUG_PORT			GPS
 
 //-------------------------
 // SPI
 //-------------------------
 #define PIOS_SPI_IRQ_DMA_PRIORITY		PIOS_IRQ_PRIO_HIGH
-#define PIOS_SPI_NUM					2
-#define PIOS_SPI0_ENABLED				1
-#define PIOS_SPI0_PTR					SPI1
+#define PIOS_SPI_NUM				2
+#define PIOS_SPI0_ENABLED			1
+#define PIOS_SPI0_PTR				SPI1
 #define PIOS_SPI0_DMA_RX_PTR			DMA1_Channel2
 #define PIOS_SPI0_DMA_TX_PTR			DMA1_Channel3
 #define PIOS_SPI0_DMA_RX_IRQ_FLAGS		(DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2)
 #define PIOS_SPI0_DMA_IRQ_CHANNEL		DMA1_Channel2_IRQn
-#define PIOS_SPI0_DMA_IRQHANDLER_FUNC	void DMA1_Channel2_IRQHandler(void)
+#define PIOS_SPI0_DMA_IRQHANDLER_FUNC		void DMA1_Channel2_IRQHandler(void)
 #define PIOS_SPI0_RCLK1_PORT			GPIOA
-#define PIOS_SPI0_RCLK1_PIN				GPIO_Pin_4
-#define PIOS_SPI0_SCLK_PORT				GPIOA
-#define PIOS_SPI0_SCLK_PIN				GPIO_Pin_5
-#define PIOS_SPI0_MISO_PORT				GPIOA
-#define PIOS_SPI0_MISO_PIN				GPIO_Pin_6
-#define PIOS_SPI0_MOSI_PORT				GPIOA
-#define PIOS_SPI0_MOSI_PIN				GPIO_Pin_7
-#define PIOS_SPI1_ENABLED				1
-#define PIOS_SPI1_PTR					SPI2
+#define PIOS_SPI0_RCLK1_PIN			GPIO_Pin_4
+#define PIOS_SPI0_SCLK_PORT			GPIOA
+#define PIOS_SPI0_SCLK_PIN			GPIO_Pin_5
+#define PIOS_SPI0_MISO_PORT			GPIOA
+#define PIOS_SPI0_MISO_PIN			GPIO_Pin_6
+#define PIOS_SPI0_MOSI_PORT			GPIOA
+#define PIOS_SPI0_MOSI_PIN			GPIO_Pin_7
+#define PIOS_SPI1_ENABLED			1
+#define PIOS_SPI1_PTR				SPI2
 #define PIOS_SPI1_DMA_RX_PTR			DMA1_Channel4
 #define PIOS_SPI1_DMA_TX_PTR			DMA1_Channel5
 #define PIOS_SPI1_DMA_RX_IRQ_FLAGS		(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4)
 #define PIOS_SPI1_DMA_IRQ_CHANNEL		DMA1_Channel4_IRQn
-#define PIOS_SPI1_DMA_IRQHANDLER_FUNC	void DMA1_Channel4_IRQHandler(void)
+#define PIOS_SPI1_DMA_IRQHANDLER_FUNC		void DMA1_Channel4_IRQHandler(void)
 #define PIOS_SPI1_RCLK1_PORT			GPIOB
-#define PIOS_SPI1_RCLK1_PIN				GPIO_Pin_12
-#define PIOS_SPI1_SCLK_PORT				GPIOB
-#define PIOS_SPI1_SCLK_PIN				GPIO_Pin_13
-#define PIOS_SPI1_MISO_PORT				GPIOB
-#define PIOS_SPI1_MISO_PIN				GPIO_Pin_14
-#define PIOS_SPI1_MOSI_PORT				GPIOB
-#define PIOS_SPI1_MOSI_PIN				GPIO_Pin_15
+#define PIOS_SPI1_RCLK1_PIN			GPIO_Pin_12
+#define PIOS_SPI1_SCLK_PORT			GPIOB
+#define PIOS_SPI1_SCLK_PIN			GPIO_Pin_13
+#define PIOS_SPI1_MISO_PORT			GPIOB
+#define PIOS_SPI1_MISO_PIN			GPIO_Pin_14
+#define PIOS_SPI1_MOSI_PORT			GPIOB
+#define PIOS_SPI1_MOSI_PIN			GPIO_Pin_15
 
 //-------------------------
 // PIOS_SDCARD
 //-------------------------
-#define PIOS_SDCARD_SPI					0
+#define PIOS_SDCARD_SPI				0
 
 //-------------------------
 // Delay Timer
 //-------------------------
-#define PIOS_DELAY_TIMER				TIM2
+#define PIOS_DELAY_TIMER			TIM2
 #define PIOS_DELAY_TIMER_RCC			RCC_APB1Periph_TIM2
 
 //-------------------------
 // Master Clock
 //-------------------------
-#define PIOS_MASTER_CLOCK				72000000
+#define PIOS_MASTER_CLOCK			72000000
 #define PIOS_PERIPHERAL_CLOCK			(PIOS_MASTER_CLOCK / 2)
 
 //-------------------------
 // Interrupt Priorities
 //-------------------------
-#define PIOS_IRQ_PRIO_LOW				12		// lower than RTOS
-#define PIOS_IRQ_PRIO_MID				8		// higher than RTOS
-#define PIOS_IRQ_PRIO_HIGH				5		// for SPI, ADC, I2C etc...
+#define PIOS_IRQ_PRIO_LOW			12		// lower than RTOS
+#define PIOS_IRQ_PRIO_MID			8		// higher than RTOS
+#define PIOS_IRQ_PRIO_HIGH			5		// for SPI, ADC, I2C etc...
 #define PIOS_IRQ_PRIO_HIGHEST			4 		// for USART etc...
 
 //-------------------------
 // Receiver PWM inputs   
 //-------------------------
-#define RECEIVER1_GPIO_PORT				GPIOB
-#define RECEIVER1_PIN					GPIO_Pin_0      // PB0
-#define RECEIVER1_TIM_PORT				TIM3
-#define RECEIVER1_CH					TIM_Channel_3   // TIM3_CH3
-#define RECEIVER2_GPIO_PORT				GPIOB
-#define RECEIVER2_PIN					GPIO_Pin_1      // PB1
-#define RECEIVER2_TIM_PORT				TIM3
-#define RECEIVER2_CH					TIM_Channel_4   // TIM3_CH4
-#define RECEIVER3_GPIO_PORT				GPIOA
-#define RECEIVER3_PIN					GPIO_Pin_8      // PA8
-#define RECEIVER3_TIM_PORT				TIM1
-#define RECEIVER3_CH					TIM_Channel_1   // TIM1_CH1
-#define RECEIVER4_GPIO_PORT				GPIOA
-#define RECEIVER4_PIN					GPIO_Pin_0      // PA0
-#define RECEIVER4_TIM_PORT				TIM5
-#define RECEIVER4_CH					TIM_Channel_1   // TIM5_CH1
-#define RECEIVER5_GPIO_PORT				GPIOA
-#define RECEIVER5_PIN					GPIO_Pin_10     // PA10
-#define RECEIVER5_TIM_PORT				TIM1
-#define RECEIVER5_CH					TIM_Channel_3   // TIM1_CH3
-#define RECEIVER6_GPIO_PORT				GPIOA
-#define RECEIVER6_PIN					GPIO_Pin_9      // PA9
-#define RECEIVER6_TIM_PORT				TIM1
-#define RECEIVER6_CH					TIM_Channel_2   // TIM1_CH2
-#define RECEIVER7_GPIO_PORT				GPIOB
-#define RECEIVER7_PIN					GPIO_Pin_4      // PB4
-#define RECEIVER7_TIM_PORT				TIM3
-#define RECEIVER7_CH					TIM_Channel_1   // TIM3_CH1
-#define RECEIVER8_GPIO_PORT				GPIOB
-#define RECEIVER8_PIN					GPIO_Pin_5      // PB5
-#define RECEIVER8_TIM_PORT				TIM3
-#define RECEIVER8_CH					TIM_Channel_2   // TIM3_CH2
-#define NUM_RECEIVER_INPUTS				6
+#define RECEIVER1_GPIO_PORT			GPIOB
+#define RECEIVER1_PIN				GPIO_Pin_0      // PB0
+#define RECEIVER1_TIM_PORT			TIM3
+#define RECEIVER1_CH				TIM_Channel_3   // TIM3_CH3
+#define RECEIVER2_GPIO_PORT			GPIOB
+#define RECEIVER2_PIN				GPIO_Pin_1      // PB1
+#define RECEIVER2_TIM_PORT			TIM3
+#define RECEIVER2_CH				TIM_Channel_4   // TIM3_CH4
+#define RECEIVER3_GPIO_PORT			GPIOA
+#define RECEIVER3_PIN				GPIO_Pin_8      // PA8
+#define RECEIVER3_TIM_PORT			TIM1
+#define RECEIVER3_CH				TIM_Channel_1   // TIM1_CH1
+#define RECEIVER4_GPIO_PORT			GPIOA
+#define RECEIVER4_PIN				GPIO_Pin_0      // PA0
+#define RECEIVER4_TIM_PORT			TIM5
+#define RECEIVER4_CH				TIM_Channel_1   // TIM5_CH1
+#define RECEIVER5_GPIO_PORT			GPIOA
+#define RECEIVER5_PIN				GPIO_Pin_10     // PA10
+#define RECEIVER5_TIM_PORT			TIM1
+#define RECEIVER5_CH				TIM_Channel_3   // TIM1_CH3
+#define RECEIVER6_GPIO_PORT			GPIOA
+#define RECEIVER6_PIN				GPIO_Pin_9      // PA9
+#define RECEIVER6_TIM_PORT			TIM1
+#define RECEIVER6_CH				TIM_Channel_2   // TIM1_CH2
+#define RECEIVER7_GPIO_PORT			GPIOB
+#define RECEIVER7_PIN				GPIO_Pin_4      // PB4
+#define RECEIVER7_TIM_PORT			TIM3
+#define RECEIVER7_CH				TIM_Channel_1   // TIM3_CH1
+#define RECEIVER8_GPIO_PORT			GPIOB
+#define RECEIVER8_PIN				GPIO_Pin_5      // PB5
+#define RECEIVER8_TIM_PORT			TIM3
+#define RECEIVER8_CH				TIM_Channel_2   // TIM3_CH2
+#define NUM_RECEIVER_INPUTS			8
 
 //-------------------------
 // Servo outputs   
@@ -248,25 +248,25 @@
 #define PIOS_SERVO_NUM_OUTPUTS			8
 #define PIOS_SERVO_NUM_TIMERS			PIOS_SERVO_NUM_OUTPUTS
 #define PIOS_SERVO_UPDATE_HZ			50
-#define PIOS_SERVOS_INITIAL_POSITION	1500
+#define PIOS_SERVOS_INITIAL_POSITION		1500
 
 //-------------------------
 // ADC
 //-------------------------
-#define ADC_GPIO_PORT					GPIOC
-#define ADC_Z_PIN						GPIO_Pin_0	// ADC123_IN10
-#define ADC_A_PIN						GPIO_Pin_1	// ADC123_IN11
-#define ADC_B_PIN						GPIO_Pin_2	// ADC123_IN12
-#define ADC_Z_CHANNEL					ADC_Channel_10
-#define ADC_A_CHANNEL					ADC_Channel_11
-#define ADC_B_CHANNEL					ADC_Channel_12
-#define NUM_ADC_PINS					4		// 3 but actually 4 because of temp sensor
-#define ADC_IRQ_PRIO					PIOS_IRQ_PRIO_HIGH
+#define ADC_GPIO_PORT				GPIOC
+#define ADC_Z_PIN				GPIO_Pin_0	// ADC123_IN10
+#define ADC_A_PIN				GPIO_Pin_1	// ADC123_IN11
+#define ADC_B_PIN				GPIO_Pin_2	// ADC123_IN12
+#define ADC_Z_CHANNEL				ADC_Channel_10
+#define ADC_A_CHANNEL				ADC_Channel_11
+#define ADC_B_CHANNEL				ADC_Channel_12
+#define NUM_ADC_PINS				4		// 3 but actually 4 because of temp sensor
+#define ADC_IRQ_PRIO				PIOS_IRQ_PRIO_HIGH
 
 //-------------------------  
 // USB
 //-------------------------
-#define PIOS_USB_ENABLED				1
+#define PIOS_USB_ENABLED			1
 #define PIOS_USB_DETECT_GPIO_PORT		GPIOC
 #define PIOS_USB_DETECT_GPIO_PIN		GPIO_Pin_4
 #define PIOS_IRQ_USB_PRIORITY			PIOS_IRQ_PRIO_MID
diff --git a/flight/PiOS/STM32F10x/pios_servo.c b/flight/PiOS/STM32F10x/pios_servo.c
index eb8e531d0..099c63c87 100644
--- a/flight/PiOS/STM32F10x/pios_servo.c
+++ b/flight/PiOS/STM32F10x/pios_servo.c
@@ -122,6 +122,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
 	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
 	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
 
+	#if 0
 	/* Clipping */
 	if(onetofour > 500) {
 		onetofour = 500;
@@ -129,6 +130,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
 	if(fivetoeight > 500) {
 		fivetoeight = 500;
 	}
+	#endif
 
 	TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
 	TIM_TimeBaseStructure.TIM_Period = ((1000000 / onetofour) - 1);
@@ -141,53 +143,53 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
 
 /**
 * Set servo position
-* \param[in] Servo Servo number (0-7)
+* \param[in] Servo Servo number (1-8)
 * \param[in] Position Servo position in milliseconds
 */
 void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
 {
-    /* Make sure servo exists */
-    if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0)
-    {
-        /* Clip servo position */
-        if(Position < Settings.Servos.PositionMin) {
-            Position = Settings.Servos.PositionMin;
-        }
-        if(Position > Settings.Servos.PositionMax) {
-            Position = Settings.Servos.PositionMax;
-        }
-        
-        /* Update the position */
-        ServoPosition[Servo] = Position;
-	
-        switch(Servo)
-        {
-			case 0:
+	/* Make sure servo exists */
+	if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0)
+	{
+		/* Clip servo position */
+		if(Position < Settings.Servos.PositionMin) {
+			Position = Settings.Servos.PositionMin;
+		}
+		if(Position > Settings.Servos.PositionMax) {
+			Position = Settings.Servos.PositionMax;
+		}
+
+		/* Update the position */
+		ServoPosition[Servo] = Position;
+
+		switch(Servo)
+		{
+			case 1:
 				TIM_SetCompare1(TIM4, Position);
 				break;
-			case 1:
+			case 2:
 				TIM_SetCompare2(TIM4, Position);
 				break;
-			case 2:
+			case 3:
 				TIM_SetCompare3(TIM4, Position);
 				break;
-			case 3:
+			case 4:
 				TIM_SetCompare4(TIM4, Position);
 				break;
-			case 4:
+			case 5:
 				TIM_SetCompare1(TIM8, Position);
 				break;
-			case 5:
+			case 6:
 				TIM_SetCompare2(TIM8, Position);
 				break;
-			case 6:
+			case 7:
 				TIM_SetCompare3(TIM8, Position);
 				break;
-			case 7:
+			case 8:
 				TIM_SetCompare4(TIM8, Position);
 				break;
-        }
-    }
+		}
+	}
 }
 
 #endif