diff --git a/conf/autopilot/booz2_board_proto.h b/conf/autopilot/booz2_board_proto.h
deleted file mode 100644
index ec05fa7bc4..0000000000
--- a/conf/autopilot/booz2_board_proto.h
+++ /dev/null
@@ -1,160 +0,0 @@
-#ifndef CONFIG_TINY_H
-#define CONFIG_TINY_H
-
-/* Master oscillator freq.       */
-#define FOSC (12000000) 
-
-/* PLL multiplier                */
-#define PLL_MUL (5)         
-
-/* CPU clock freq.               */
-#define CCLK (FOSC * PLL_MUL) 
-
-/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2   */
-#define PBSD_BITS 0x00    
-#define PBSD_VAL 4
-
-/* Peripheral bus clock freq. */
-#define PCLK (CCLK / PBSD_VAL) 
-
-/* Onboard leds */
-#define LED_1_BANK 1
-#define LED_1_PIN 28
-
-#define LED_2_BANK 1
-#define LED_2_PIN 19
-
-/* Switch pin */
-#define LED_3_BANK 0
-#define LED_3_PIN 11
-
-#define POWER_SWITCH_LED 3
-
-/* daugther board leds */
-#define LED_4_BANK 0
-#define LED_4_PIN 15
-
-#define LED_5_BANK 0
-#define LED_5_PIN 13
-#define LED_5_INVERTED
-
-#define LED_6_BANK 0
-#define LED_6_PIN 12
-
-#define LED_7_BANK 0
-#define LED_7_PIN 22
-
-
-
-
-/* P0.5 aka MAT0.1  */
-#define SERVO_CLOCK_PIN  5
-#define SERVO_CLOCK_PINSEL PINSEL0
-#define SERVO_CLOCK_PINSEL_VAL 0x02
-#define SERVO_CLOCK_PINSEL_BIT 10
-/* p1.23          */
-#define SERVO_DATA_PIN  23
-/* p1.24          */
-#define SERVO_RESET_PIN 24
-
-/* PPM : rc rx on P0.6*/
-#define PPM_PINSEL PINSEL0
-#define PPM_PINSEL_VAL 0x02
-#define PPM_PINSEL_BIT 12
-
-/* ADC */
-
-#define ADC_0 AdcBank0(3)
-#ifdef USE_ADC_0
-#ifndef USE_AD0
-#define USE_AD0
-#endif
-#define USE_AD0_3
-#endif
-
-#define ADC_1 AdcBank0(2)
-#ifdef USE_ADC_1
-#ifndef USE_AD0
-#define USE_AD0
-#endif
-#define USE_AD0_2
-#endif
-
-
-#define ADC_2 AdcBank0(1)
-#ifdef USE_ADC_2
-#ifndef USE_AD0
-#define USE_AD0
-#endif
-#define USE_AD0_1
-#endif
-
-#define ADC_3 AdcBank0(4)
-#ifdef USE_ADC_3
-#ifndef USE_AD0
-#define USE_AD0
-#endif
-#define USE_AD0_4
-#endif
-
-#define ADC_4 AdcBank1(7)
-#ifdef USE_ADC_4
-#ifndef USE_AD1
-#define USE_AD1
-#endif
-#define USE_AD1_7
-#endif
-
-#define ADC_5 AdcBank1(3)
-#ifdef USE_ADC_5
-#ifndef USE_AD1
-#define USE_AD1
-#endif
-#define USE_AD1_3
-#endif
-
-#define ADC_6 AdcBank1(4)
-#ifdef USE_ADC_6
-#ifndef USE_AD1
-#define USE_AD1
-#endif
-#define USE_AD1_4
-#endif
-
-#define ADC_7 AdcBank1(5)
-#ifdef USE_ADC_7
-#ifndef USE_AD1
-#define USE_AD1
-#endif
-#define USE_AD1_5
-#endif
-
-#define ADC_CHANNEL_VSUPPLY AdcBank1(6)
-#ifndef USE_AD1
-#define USE_AD1
-#endif
-#define USE_AD1_6
-
-
-#ifndef VoltageOfAdc
-#define VoltageOfAdc(adc) (0.01787109375*adc)
-#endif
-
-#define SPI_SELECT_SLAVE0_PORT 0
-#define SPI_SELECT_SLAVE0_PIN 20
-
-#define SPI1_DRDY_PINSEL PINSEL0
-#define SPI1_DRDY_PINSEL_BIT  14
-#define SPI1_DRDY_PINSEL_VAL   3
-#define SPI1_DRDY_EINT         2
-#define SPI1_DRDY_VIC_IT       VIC_EINT2
-
-
-/* pressure : P0.28 AD0.1 */
-#define ANALOG_BARO_PINSEL PINSEL1
-#define ANALOG_BARO_PINSEL_VAL 0x01
-#define ANALOG_BARO_PINSEL_BIT 24
-#define ANALOG_BARO_ADC 0
-
-
-#endif /* CONFIG_TINY_H */
diff --git a/conf/autopilot/booz2_board_v1_0.h b/conf/autopilot/booz2_board_v1_0.h
index 8c1a15f578..3b35376919 100644
--- a/conf/autopilot/booz2_board_v1_0.h
+++ b/conf/autopilot/booz2_board_v1_0.h
@@ -36,6 +36,12 @@
 #define PPM_PINSEL PINSEL1
 #define PPM_PINSEL_VAL 0x02
 #define PPM_PINSEL_BIT 24
+#define PPM_CRI TIR_CR2I
+#define PPM_CCR_CRF TCCR_CR2_F
+#define PPM_CCR_CRR TCCR_CR2_R
+#define PPM_CCR_CRI TCCR_CR2_I
+#define PPM_CR T0CR2
+
 
 /* ADC */
 
diff --git a/conf/autopilot/classix.h b/conf/autopilot/classix.h
index 7fa81ffcb3..99601ce918 100644
--- a/conf/autopilot/classix.h
+++ b/conf/autopilot/classix.h
@@ -34,6 +34,11 @@
 #define PPM_PINSEL PINSEL0
 #define PPM_PINSEL_VAL 0x02
 #define PPM_PINSEL_BIT 12
+#define PPM_CRI TIR_CR2I
+#define PPM_CCR_CRF TCCR_CR2_F
+#define PPM_CCR_CRR TCCR_CR2_R
+#define PPM_CCR_CRI TCCR_CR2_I
+#define PPM_CR T0CR2
 
 /* SERVOS : 4017 on FBW_RC0 connector */
 
diff --git a/conf/autopilot/disc_board.h b/conf/autopilot/disc_board.h
deleted file mode 100644
index 74044e810f..0000000000
--- a/conf/autopilot/disc_board.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef CONFIG_DISCBOARD_H
-#define CONFIG_DISCBOARD_H
-
-#define LED_1_BANK A
-#define LED_1_PIN  7
-
-#define LED_2_BANK A
-#define LED_2_PIN  6
-
-#define LED_3_BANK A
-#define LED_3_PIN  5
-
-#define LED_4_BANK A
-#define LED_4_PIN  4
-
-#define LED_5_BANK A
-#define LED_5_PIN  3
-
-#define LED_6_BANK A
-#define LED_6_PIN  2
-
-#define LED_7_BANK A
-#define LED_7_PIN  1
-
-#define LED_8_BANK A
-#define LED_8_PIN  0
-
-/* clock in MHz */
-#define CLOCK 16
-
-/* PPM input on mega128 ICP  */
-#define PPM_DDR DDRD
-#define PPM_PORT PORTD
-#define PPM_PIN  PD4
-
-#endif /* CONFIG_DISCBOARD_H */
diff --git a/conf/autopilot/disc_board.makefile b/conf/autopilot/disc_board.makefile
deleted file mode 100644
index c9b10d68ac..0000000000
--- a/conf/autopilot/disc_board.makefile
+++ /dev/null
@@ -1,25 +0,0 @@
-ARCHI=avr
-
-ap.ARCHDIR = $(ARCHI)
-ap.ARCH = atmega128
-ap.TARGET = autopilot
-ap.TARGETDIR = autopilot
-
-# 16MHz resonator
-#ap.LOW_FUSE  = CF
-#ap.HIGH_FUSE = 89
-#ap.EXT_FUSE  = ff
-#ap.LOCK_FUSE = ff
-
-
-# default values
-#ap.LOW_FUSE  = E1
-#ap.HIGH_FUSE = 99
-#ap.EXT_FUSE  = ff
-#ap.LOCK_FUSE = ff
-
-
-ap.CFLAGS += -DFBW -DCONFIG=\"gorrazoptere_091.h\"  
-ap.srcs = $(SRC_ARCH)/adc_hw.c sys_time.c main_fbw.c main.c
-ap.CFLAGS += -DANTON_QUAD -DLED
-# pid.c estimator.c if_calib.c nav.c main_ap.c mainloop.c main.c
diff --git a/conf/autopilot/robostix.h b/conf/autopilot/robostix.h
deleted file mode 100644
index 55684edafe..0000000000
--- a/conf/autopilot/robostix.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef CONFIG_ROBOSTIX_H
-#define CONFIG_ROBOSTIX_H
-
-#define LED_1_BANK G
-#define LED_1_PIN  4
-
-#define LED_2_BANK G
-#define LED_2_PIN  3
-
-#define LED_3_BANK B
-#define LED_3_PIN  4
-
-/* clock in MHz */
-#define CLOCK 16
-
-/* PPM input on mega128 ICP (PD4) */
-#define PPM_DDR  DDRD
-#define PPM_PORT PORTD
-#define PPM_PIN  PD4
-
-#endif /* CONFIG_ROBOSTIX_H */
diff --git a/conf/autopilot/tiny_0_99.h b/conf/autopilot/tiny_0_99.h
index af72e1c11c..d56d9a72f1 100644
--- a/conf/autopilot/tiny_0_99.h
+++ b/conf/autopilot/tiny_0_99.h
@@ -43,6 +43,11 @@
 #define PPM_PINSEL PINSEL0
 #define PPM_PINSEL_VAL 0x02
 #define PPM_PINSEL_BIT 12
+#define PPM_CRI TIR_CR2I
+#define PPM_CCR_CRF TCCR_CR2_F
+#define PPM_CCR_CRR TCCR_CR2_R
+#define PPM_CCR_CRI TCCR_CR2_I
+#define PPM_CR T0CR2
 
 /* ADC */
 
diff --git a/conf/autopilot/tiny_1_1.h b/conf/autopilot/tiny_1_1.h
index 91b7edba24..3604af628d 100644
--- a/conf/autopilot/tiny_1_1.h
+++ b/conf/autopilot/tiny_1_1.h
@@ -44,6 +44,11 @@
 #define PPM_PINSEL PINSEL0
 #define PPM_PINSEL_VAL 0x02
 #define PPM_PINSEL_BIT 12
+#define PPM_CRI TIR_CR2I
+#define PPM_CCR_CRF TCCR_CR2_F
+#define PPM_CCR_CRR TCCR_CR2_R
+#define PPM_CCR_CRI TCCR_CR2_I
+#define PPM_CR T0CR2
 
 /* ADC */
 
diff --git a/conf/autopilot/tiny_2_0.h b/conf/autopilot/tiny_2_0.h
index 05b8490ab2..7eb77fd445 100644
--- a/conf/autopilot/tiny_2_0.h
+++ b/conf/autopilot/tiny_2_0.h
@@ -49,6 +49,11 @@
 #define PPM_PINSEL PINSEL0
 #define PPM_PINSEL_VAL 0x02
 #define PPM_PINSEL_BIT 12
+#define PPM_CRI TIR_CR2I
+#define PPM_CCR_CRF TCCR_CR2_F
+#define PPM_CCR_CRR TCCR_CR2_R
+#define PPM_CCR_CRI TCCR_CR2_I
+#define PPM_CR T0CR2
 
 /* ADC */
 
diff --git a/conf/autopilot/tiny_2_1.h b/conf/autopilot/tiny_2_1.h
index c9ac15dac1..e7bd82b864 100644
--- a/conf/autopilot/tiny_2_1.h
+++ b/conf/autopilot/tiny_2_1.h
@@ -61,6 +61,11 @@
 #define PPM_PINSEL PINSEL0
 #define PPM_PINSEL_VAL 0x02
 #define PPM_PINSEL_BIT 12
+#define PPM_CRI TIR_CR2I
+#define PPM_CCR_CRF TCCR_CR2_F
+#define PPM_CCR_CRR TCCR_CR2_R
+#define PPM_CCR_CRI TCCR_CR2_I
+#define PPM_CR T0CR2
 
 /* ADC */
 
diff --git a/conf/autopilot/tiny_2_1_1.h b/conf/autopilot/tiny_2_1_1.h
index adb1c7ff17..35ac48e58a 100644
--- a/conf/autopilot/tiny_2_1_1.h
+++ b/conf/autopilot/tiny_2_1_1.h
@@ -61,6 +61,11 @@
 #define PPM_PINSEL PINSEL0
 #define PPM_PINSEL_VAL 0x02
 #define PPM_PINSEL_BIT 12
+#define PPM_CRI TIR_CR2I
+#define PPM_CCR_CRF TCCR_CR2_F
+#define PPM_CCR_CRR TCCR_CR2_R
+#define PPM_CCR_CRI TCCR_CR2_I
+#define PPM_CR T0CR2
 
 /* ADC */
 
diff --git a/conf/autopilot/tiny_2_1_1_usb.h b/conf/autopilot/tiny_2_1_1_usb.h
index a020f8673d..240bea8b88 100644
--- a/conf/autopilot/tiny_2_1_1_usb.h
+++ b/conf/autopilot/tiny_2_1_1_usb.h
@@ -69,6 +69,11 @@
 #define PPM_PINSEL PINSEL0
 #define PPM_PINSEL_VAL 0x02
 #define PPM_PINSEL_BIT 12
+#define PPM_CRI TIR_CR2I
+#define PPM_CCR_CRF TCCR_CR2_F
+#define PPM_CCR_CRR TCCR_CR2_R
+#define PPM_CCR_CRI TCCR_CR2_I
+#define PPM_CR T0CR2
 
 /* ADC */
 
diff --git a/sw/airborne/arm7/ppm_hw.h b/sw/airborne/arm7/ppm_hw.h
index d4155cd222..b891d35931 100644
--- a/sw/airborne/arm7/ppm_hw.h
+++ b/sw/airborne/arm7/ppm_hw.h
@@ -13,31 +13,11 @@
 #include "LPC21xx.h"
 #include CONFIG
 
-#ifndef PPM_CRI
-#define PPM_CRI TIR_CR2I
-#endif
-
-#ifndef PPM_CCR_CRF
-#define PPM_CCR_CRF TCCR_CR2_F
-#endif
-
-#ifndef PPM_CCR_CRR
-#define PPM_CCR_CRR TCCR_CR2_R
-#endif
-
-#ifndef PPM_CCR_CRI
-#define PPM_CCR_CRI TCCR_CR2_I
-#endif
-
-#ifndef PPM_CR
-#define PPM_CR T0CR2
-#endif
-
 
 static inline void ppm_init ( void ) {
    /* select pin for capture */
   PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
-  /* enable capture 0.2 on falling edge + trigger interrupt */
+  /* enable capture 0.2 on falling or rising edge + trigger interrupt */
 #if defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_POSITIVE
   T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
 #elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE