diff --git a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
new file mode 100644
index 0000000000..9286e53a56
--- /dev/null
+++ b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
@@ -0,0 +1,200 @@
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diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index 1ee0c1e65a..681291c9d6 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -103,8 +103,8 @@
@@ -152,15 +152,15 @@
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@@ -173,18 +173,19 @@
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@@ -298,8 +299,8 @@
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diff --git a/conf/airframes/TU_Delft/skywalker.xml b/conf/airframes/TU_Delft/skywalker.xml
index 2aec015de3..be85ab5e0e 100644
--- a/conf/airframes/TU_Delft/skywalker.xml
+++ b/conf/airframes/TU_Delft/skywalker.xml
@@ -103,8 +103,8 @@
@@ -130,7 +130,7 @@
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@@ -167,9 +167,9 @@
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diff --git a/conf/airframes/TU_Delft/skywalkerfiber.xml b/conf/airframes/TU_Delft/skywalkerfiber.xml
new file mode 100644
index 0000000000..fdd3976c3a
--- /dev/null
+++ b/conf/airframes/TU_Delft/skywalkerfiber.xml
@@ -0,0 +1,290 @@
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diff --git a/conf/telemetry/default_fixedwing_imu_9k6.xml b/conf/telemetry/default_fixedwing_imu_9k6.xml
new file mode 100644
index 0000000000..0a0b6c80d9
--- /dev/null
+++ b/conf/telemetry/default_fixedwing_imu_9k6.xml
@@ -0,0 +1,114 @@
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diff --git a/sw/airborne/arch/stm32/sys_time_hw.h b/sw/airborne/arch/stm32/sys_time_hw.h
index 34971db123..cc74f25896 100644
--- a/sw/airborne/arch/stm32/sys_time_hw.h
+++ b/sw/airborne/arch/stm32/sys_time_hw.h
@@ -70,7 +70,12 @@ static inline bool_t sys_time_periodic( void ) {
/** Busy wait, in microseconds */
/* for now empty shell */
static inline void sys_time_usleep(uint32_t us) {
-
+ uint32_t ready = SYS_TICS_OF_SEC((((float)us) / 1000000.)) / PERIODIC_TASK_PERIOD + 1;
+ while (ready > 0)
+ {
+ if (sys_time_period_elapsed) ready--;
+ sys_time_periodic();
+ }
}
#endif /* SYS_TIME_HW_H */