diff --git a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
index f1d7b5e89c..29a6b05359 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
+++ b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
@@ -44,11 +44,15 @@ static inline void uart_enable_interrupts(struct uart_periph* p) {
   ((uartRegs_t *)(p->reg_addr))->ier = UIER_ERBFI;
 }
 
-static inline void uart_set_baudrate(struct uart_periph* p, uint32_t baud) {
-  // set the baudrate
-  ((uartRegs_t *)(p->reg_addr))->lcr = ULCR_DLAB_ENABLE;     // select divisor latches
-  ((uartRegs_t *)(p->reg_addr))->dll = (uint8_t)baud;        // set for baud low byte
-  ((uartRegs_t *)(p->reg_addr))->dlm = (uint8_t)(baud >> 8); // set for baud high byte
+static inline void uart_set_baudrate(struct uart_periph* p, enum UartBaud baud) {
+  /* calculate the baudrate */
+  uint32_t _baud_reg_val = (uint16_t)((PCLK / (((float)baud) * 16.0)) + 0.5);
+  /* select divisor latches */
+  ((uartRegs_t *)(p->reg_addr))->lcr = ULCR_DLAB_ENABLE;
+  /* set for baud low byte */
+  ((uartRegs_t *)(p->reg_addr))->dll = (uint8_t)_baud_reg_val;
+  /* set for baud high byte */
+  ((uartRegs_t *)(p->reg_addr))->dlm = (uint8_t)(_baud_reg_val >> 8);
 
   // set the number of characters and other
   // user specified operating parameters
@@ -58,7 +62,7 @@ static inline void uart_set_baudrate(struct uart_periph* p, uint32_t baud) {
   ((uartRegs_t *)(p->reg_addr))->fcr = UART_FIFO_8;
 }
 
-void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control __attribute__ ((unused))) {
+void uart_periph_set_baudrate(struct uart_periph* p, enum UartBaud baud, bool_t hw_flow_control __attribute__ ((unused))) {
   uart_disable_interrupts(p);
   uart_set_baudrate(p, baud);
   uart_enable_interrupts(p);
diff --git a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
index c4ae2e4804..874449f7b7 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
+++ b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
@@ -34,18 +34,6 @@
 #include "LPC21xx.h"
 #include BOARD_CONFIG
 
-#define UART_BAUD(baud) (uint16_t)((PCLK / ((baud) * 16.0)) + 0.5)
-
-#define B1200         UART_BAUD(1200)
-#define B2400         UART_BAUD(2400)
-#define B4800         UART_BAUD(4800)
-#define B9600         UART_BAUD(9600)
-#define B19200        UART_BAUD(19200)
-#define B38400        UART_BAUD(38400)
-#define B57600        UART_BAUD(57600)
-#define B115200       UART_BAUD(115200)
-#define B230400       UART_BAUD(230400)
-
 #define UART_8N1      (uint8_t)(ULCR_CHAR_8 + ULCR_PAR_NO   + ULCR_STOP_1)
 #define UART_7N1      (uint8_t)(ULCR_CHAR_7 + ULCR_PAR_NO   + ULCR_STOP_1)
 #define UART_8N2      (uint8_t)(ULCR_CHAR_8 + ULCR_PAR_NO   + ULCR_STOP_2)
diff --git a/sw/airborne/arch/omap/mcu_periph/uart_arch.c b/sw/airborne/arch/omap/mcu_periph/uart_arch.c
index 397bd9a57d..b3ec43b3f3 100644
--- a/sw/airborne/arch/omap/mcu_periph/uart_arch.c
+++ b/sw/airborne/arch/omap/mcu_periph/uart_arch.c
@@ -102,7 +102,7 @@ static inline void uart_handler(struct uart_periph* p) {
 void uart0_init( void ) {
   uart_periph_init(&uart0);
   uart.dev = UART0_DEV;
-  uart_periph_set_baudrate(&uart0,UART0_BAUD);
+  uart_periph_set_baudrate(&uart0,UART0_BAUD,FALSE);
 }
 
 
@@ -117,7 +117,7 @@ void uart0_handler(void) {
 void uart1_init( void ) {
   uart_periph_init(&uart1);
   uart.dev = UART1_DEV;
-  uart_periph_init_param(&uart1,UART1_BAUD);
+  uart_periph_set_baudrate(&uart1,UART1_BAUD,FALSE);
 }
 
 void uart1_handler(void) {
diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
index 262f93759d..3351287df5 100644
--- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
@@ -34,7 +34,7 @@
 #include <libopencm3/stm32/f1/gpio.h>
 #include "std.h"
 
-void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control) {
+void uart_periph_set_baudrate(struct uart_periph* p, enum UartBaud baud, bool_t hw_flow_control) {
 
   /* Configure USART */
   usart_set_baudrate((u32)p->reg_addr, baud);
diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
index 8b1f5210ce..a375fb83ee 100644
--- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
@@ -31,10 +31,4 @@
 
 #include "std.h"
 
-#define B4800     4800
-#define B9600     9600
-#define B38400   38400
-#define B57600   57600
-#define B115200 115200
-
 #endif /* STM32_UART_ARCH_H */
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index 4540af5949..17ffe780d0 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -35,6 +35,21 @@
 #define UART_TX_BUFFER_SIZE 128
 #define UART_DEV_NAME_SIZE 16
 
+/**
+ * UART Baud rates
+ */
+enum UartBaud {
+  B1200 = 1200,
+  B2400 = 2400,
+  B4800 = 4800,
+  B9600 = 9600,
+  B19200 = 19200,
+  B38400 = 38400,
+  B57600 = 57600,
+  B115200 = 115200,
+  B230400 = 230400
+};
+
 /**
  * UART peripheral
  */
@@ -55,8 +70,7 @@ struct uart_periph {
 };
 
 extern void uart_periph_init(struct uart_periph* p);
-extern void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control);
-//extern void uart_periph_init_param(struct uart_periph* p, uint32_t baud, uint8_t mode, uint8_t fmode, char * dev);
+extern void uart_periph_set_baudrate(struct uart_periph* p, enum UartBaud, bool_t hw_flow_control);
 extern void uart_transmit(struct uart_periph* p, uint8_t data);
 extern bool_t uart_check_free_space(struct uart_periph* p, uint8_t len);
 
@@ -81,7 +95,6 @@ extern void uart0_init(void);
 #define Uart0Getch() UartGetch(uart0)
 #define Uart0TxRunning uart0.tx_running
 #define Uart0SetBaudrate(_b) uart_periph_set_baudrate(&uart0, _b, FALSE)
-//#define Uart0InitParam(_b, _m, _fm) uart_periph_init_param(&uart0, _b, _m, _fm, "")
 
 #define UART0Init           Uart0Init
 #define UART0CheckFreeSpace Uart0CheckFreeSpace
@@ -110,7 +123,6 @@ extern void uart1_init(void);
 #else
 #define Uart1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b, FALSE)
 #endif
-//#define Uart1InitParam(_b, _m, _fm) uart_periph_init_param(&uart1, _b, _m, _fm, "")
 
 #define UART1Init           Uart1Init
 #define UART1CheckFreeSpace Uart1CheckFreeSpace
@@ -135,7 +147,6 @@ extern void uart2_init(void);
 #define Uart2Getch() UartGetch(uart2)
 #define Uart2TxRunning uart2.tx_running
 #define Uart2SetBaudrate(_b) uart_periph_set_baudrate(&uart2, _b, FALSE)
-//#define Uart2InitParam(_b, _m, _fm) uart_periph_init_param(&uart2, _b, _m, _fm, "")
 
 #define UART2Init           Uart2Init
 #define UART2CheckFreeSpace Uart2CheckFreeSpace
@@ -160,7 +171,6 @@ extern void uart3_init(void);
 #define Uart3Getch() UartGetch(uart3)
 #define Uart3TxRunning uart3.tx_running
 #define Uart3SetBaudrate(_b) uart_periph_set_baudrate(&uart3, _b, FALSE)
-//#define Uart3InitParam(_b, _m, _fm) uart_periph_init_param(&uart3, _b, _m, _fm, "")
 
 #define UART3Init           Uart3Init
 #define UART3CheckFreeSpace Uart3CheckFreeSpace
@@ -185,7 +195,6 @@ extern void uart5_init(void);
 #define Uart5Getch() UartGetch(uart5)
 #define Uart5TxRunning uart5.tx_running
 #define Uart5SetBaudrate(_b) uart_periph_set_baudrate(&uart5, _b, FALSE)
-//#define Uart5InitParam(_b, _m, _fm) uart_periph_init_param(&uart5, _b, _m, _fm, "")
 
 #define UART5Init           Uart5Init
 #define UART5CheckFreeSpace Uart5CheckFreeSpace