diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
index 6529c0b0a..388d276e4 100644
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
@@ -1025,12 +1025,12 @@ typedef struct
   */
 
 void TIM_DeInit(TIM_TypeDef* TIMx);
-void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);
-void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
-void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
-void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
-void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
-void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct);
+void TIM_TimeBaseInit(TIM_TypeDef* TIMx, const TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);
+void TIM_OC1Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct);
+void TIM_OC2Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct);
+void TIM_OC3Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct);
+void TIM_OC4Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct);
+void TIM_ICInit(TIM_TypeDef* TIMx, const TIM_ICInitTypeDef* TIM_ICInitStruct);
 void TIM_PWMIConfig(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct);
 void TIM_BDTRConfig(TIM_TypeDef* TIMx, TIM_BDTRInitTypeDef *TIM_BDTRInitStruct);
 void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
index 780105589..2f31c9a1a 100755
--- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
+++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
@@ -221,7 +221,7 @@ void TIM_DeInit(TIM_TypeDef* TIMx)
   *   structure that contains the configuration information for the specified TIM peripheral.
   * @retval None
   */
-void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct)
+void TIM_TimeBaseInit(TIM_TypeDef* TIMx, const TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct)
 {
   uint16_t tmpcr1 = 0;
 
@@ -274,7 +274,7 @@ void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseIn
   *   that contains the configuration information for the specified TIM peripheral.
   * @retval None
   */
-void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
+void TIM_OC1Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct)
 {
   uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0;
    
@@ -357,7 +357,7 @@ void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
   *   that contains the configuration information for the specified TIM peripheral.
   * @retval None
   */
-void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
+void TIM_OC2Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct)
 {
   uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0;
    
@@ -439,7 +439,7 @@ void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
   *   that contains the configuration information for the specified TIM peripheral.
   * @retval None
   */
-void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
+void TIM_OC3Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct)
 {
   uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0;
    
@@ -518,7 +518,7 @@ void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
   *   that contains the configuration information for the specified TIM peripheral.
   * @retval None
   */
-void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
+void TIM_OC4Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct)
 {
   uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0;
    
@@ -582,7 +582,7 @@ void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
   *   that contains the configuration information for the specified TIM peripheral.
   * @retval None
   */
-void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct)
+void TIM_ICInit(TIM_TypeDef* TIMx, const TIM_ICInitTypeDef* TIM_ICInitStruct)
 {
   /* Check the parameters */
   assert_param(IS_TIM_CHANNEL(TIM_ICInitStruct->TIM_Channel));