diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
index 76f07d9a9b..4989139084 100644
--- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
@@ -35,6 +35,8 @@
 
 #include "std.h"
 
+#include BOARD_CONFIG
+
 void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control) {
 
   /* Configure USART */
@@ -119,6 +121,54 @@ static inline void usart_enable_irq(u8 IRQn) {
   nvic_enable_irq(IRQn);
 }
 
+/* Set RCC and GPIO mode
+ */
+static inline void set_uart_pin(u32 gpioport, u16 gpio, u8 alt_func_num, u8 uart) {
+  switch (uart) {
+    case 1:
+      rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
+      break;
+    case 2:
+      rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+      break;
+    case 3:
+      rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART3EN);
+      break;
+    case 4:
+      rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_UART4EN);
+      break;
+    case 5:
+      rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_UART5EN);
+      break;
+    case 6:
+      rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART6EN);
+      break;
+    default:
+      break;
+  };
+
+  switch (gpioport) {
+    case GPIOA:
+      rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
+      break;
+    case GPIOB:
+      rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
+      break;
+    case GPIOC:
+      rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
+      break;
+    case GPIOD:
+      rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPDEN);
+      break;
+    default:
+      break;
+  };
+
+  gpio_mode_setup(gpioport, GPIO_MODE_AF, GPIO_PUPD_NONE, gpio);
+  gpio_set_af(gpioport, alt_func_num, gpio);
+}
+
+
 #ifdef USE_UART1
 
 void uart1_init( void ) {
@@ -126,30 +176,42 @@ void uart1_init( void ) {
   uart_periph_init(&uart1);
   uart1.reg_addr = (void *)USART1;
 
-  /* init RCC */
+  /* init RCC and GPIOS */
 #if defined(STM32F4)
+  set_uart_pin(UART1_GPIO_PORT_RX, UART1_GPIO_RX, UART1_GPIO_AF, 1);
+  set_uart_pin(UART1_GPIO_PORT_TX, UART1_GPIO_TX, UART1_GPIO_AF, 1);
+#ifdef UART1_GPIO_CTS
+  set_uart_pin(UART1_GPIO_PORT_CTS, UART1_GPIO_CTS, UART1_GPIO_AF, 1);
+#endif
+#ifdef UART1_GPIO_RTS
+  set_uart_pin(UART1_GPIO_PORT_RTS, UART1_GPIO_RTS, UART1_GPIO_AF, 1);
+#endif
+
   rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
-  rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART1EN);
+  rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
+
 #elif defined(STM32F1)
   rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
   rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
-#endif
 
-  /* Enable USART interrupts in the interrupt controller */
-  usart_enable_irq(NVIC_USART1_IRQ);
-
-  /* Init GPIOS */
-#if defined(STM32F4)
-  gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE,
-      GPIO13 | GPIO14 | GPIO15);
-  gpio_set_af(GPIOA, GPIO_AF7, GPIO2);
-#elif defined(STM32F1)
   gpio_set_mode(GPIO_BANK_USART1_TX, GPIO_MODE_OUTPUT_50_MHZ,
       GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_TX);
   gpio_set_mode(GPIO_BANK_USART1_RX, GPIO_MODE_INPUT,
       GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RX);
 #endif
 
+  /* Init GPIOS */
+#if defined(STM32F4)
+  // FIXME possible bug ??? mode and af ports not matching
+  //gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE,
+  //    GPIO13 | GPIO14 | GPIO15);
+  //gpio_set_af(GPIOA, GPIO_AF7, GPIO2);
+#elif defined(STM32F1)
+#endif
+
+  /* Enable USART interrupts in the interrupt controller */
+  usart_enable_irq(NVIC_USART1_IRQ);
+
 #if UART1_HW_FLOW_CONTROL
 #warning "USING UART1 FLOW CONTROL. Make sure to pull down CTS if you are not connecting any flow-control-capable hardware."
   gpio_set_mode(GPIO_BANK_USART1_RTS, GPIO_MODE_OUTPUT_50_MHZ,
@@ -244,6 +306,35 @@ void usart3_isr(void) { usart_isr(&uart3); }
 
 #endif /* USE_UART3 */
 
+#ifdef USE_UART4
+
+void uart4_init( void ) {
+
+  uart_periph_init(&uart4);
+  uart4.reg_addr = (void *)UART4;
+
+  /* init RCC */
+#if defined(STM32F4)
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
+  rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_UART4EN);
+#endif
+  /* Enable USART interrupts in the interrupt controller */
+  usart_enable_irq(NVIC_UART4_IRQ);
+
+  /* Init GPIOS */
+#if defined(STM32F4)
+  gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO0 | GPIO1);
+  gpio_set_af(GPIOA, GPIO_AF8, GPIO0 | GPIO1);
+#endif
+
+  /* Configure USART */
+  uart_periph_set_baudrate(&uart4, UART4_BAUD, FALSE);
+}
+
+void uart4_isr(void) { usart_isr(&uart4); }
+
+#endif /* USE_UART4 */
+
 #ifdef USE_UART5
 
 void uart5_init( void ) {
@@ -285,3 +376,32 @@ void uart5_isr(void) { usart_isr(&uart5); }
 
 #endif /* USE_UART5 */
 
+#ifdef USE_UART6
+
+void uart6_init( void ) {
+
+  uart_periph_init(&uart6);
+  uart6.reg_addr = (void *)USART6;
+
+  /* init RCC */
+#if defined(STM32F4)
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
+  rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART6EN);
+#endif
+
+  /* Enable USART interrupts in the interrupt controller */
+  usart_enable_irq(NVIC_USART6_IRQ);
+
+  /* Init GPIOS */
+#if defined(STM32F4)
+  gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO6 | GPIO7);
+  gpio_set_af(GPIOC, GPIO_AF8, GPIO6 | GPIO7);
+#endif
+
+  uart_periph_set_baudrate(&uart6, UART6_BAUD, FALSE);
+}
+
+void usart6_isr(void) { usart_isr(&uart6); }
+
+#endif /* USE_UART6 */
+
diff --git a/sw/airborne/boards/apogee_0.99.h b/sw/airborne/boards/apogee_0.99.h
index a035945141..50f5fb237f 100644
--- a/sw/airborne/boards/apogee_0.99.h
+++ b/sw/airborne/boards/apogee_0.99.h
@@ -41,6 +41,14 @@
 
 #define DefaultVoltageOfAdc(adc) (0.006185*adc)
 
+/* UART */
+#define UART1_GPIO_AF GPIO_AF7
+#define UART1_GPIO_PORT_RX GPIOA
+#define UART1_GPIO_RX GPIO10
+#define UART1_GPIO_PORT_TX GPIOB
+#define UART1_GPIO_TX GPIO6
+
+
 /* Onboard ADCs */
 /*
    ADC1 PB0/?ADC13
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
index 6e085bf545..c1778bd421 100644
--- a/sw/airborne/mcu.c
+++ b/sw/airborne/mcu.c
@@ -37,7 +37,7 @@
 #include "subsystems/radio_control.h"
 #endif
 #endif
-#if defined USE_UART0 || defined USE_UART1  || defined USE_UART2 || defined USE_UART3 || defined USE_UART4  || defined USE_UART5
+#if defined USE_UART0 || defined USE_UART1 || defined USE_UART2 || defined USE_UART3 || defined USE_UART4 || defined USE_UART5 || defined USE_UART6
 #include "mcu_periph/uart.h"
 #endif
 #if defined USE_I2C0  || defined USE_I2C1  || defined USE_I2C2
@@ -88,6 +88,9 @@ void mcu_init(void) {
 #ifdef USE_UART5
   uart5_init();
 #endif
+#ifdef USE_UART6
+  uart6_init();
+#endif
 #ifdef USE_I2C0
   i2c0_init();
 #endif
diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c
index bc17fa9adf..c9a0622dee 100644
--- a/sw/airborne/mcu_periph/uart.c
+++ b/sw/airborne/mcu_periph/uart.c
@@ -38,10 +38,18 @@ struct uart_periph uart2;
 struct uart_periph uart3;
 #endif
 
+#ifdef USE_UART4
+struct uart_periph uart4;
+#endif
+
 #ifdef USE_UART5
 struct uart_periph uart5;
 #endif
 
+#ifdef USE_UART6
+struct uart_periph uart6;
+#endif
+
 void uart_periph_init(struct uart_periph* p) {
   p->rx_insert_idx = 0;
   p->rx_extract_idx = 0;
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index 35ec4d5411..b6e197c78d 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -143,6 +143,21 @@ extern void uart3_init(void);
 
 #endif // USE_UART3
 
+#ifdef USE_UART4
+extern struct uart_periph uart4;
+extern void uart4_init(void);
+
+#define UART4Init() uart_periph_init(&uart4)
+#define UART4CheckFreeSpace(_x) uart_check_free_space(&uart4, _x)
+#define UART4Transmit(_x) uart_transmit(&uart4, _x)
+#define UART4SendMessage() {}
+#define UART4ChAvailable() uart_char_available(&uart4)
+#define UART4Getch() uart_getch(&uart4)
+#define UART4TxRunning uart4.tx_running
+#define UART4SetBaudrate(_b) uart_periph_set_baudrate(&uart4, _b, FALSE)
+
+#endif // USE_UART4
+
 #ifdef USE_UART5
 extern struct uart_periph uart5;
 extern void uart5_init(void);
@@ -158,4 +173,19 @@ extern void uart5_init(void);
 
 #endif // USE_UART5
 
+#ifdef USE_UART6
+extern struct uart_periph uart6;
+extern void uart6_init(void);
+
+#define UART6Init() uart_periph_init(&uart6)
+#define UART6CheckFreeSpace(_x) uart_check_free_space(&uart6, _x)
+#define UART6Transmit(_x) uart_transmit(&uart6, _x)
+#define UART6SendMessage() {}
+#define UART6ChAvailable() uart_char_available(&uart6)
+#define UART6Getch() uart_getch(&uart6)
+#define UART6TxRunning uart6.tx_running
+#define UART6SetBaudrate(_b) uart_periph_set_baudrate(&uart6, _b, FALSE)
+
+#endif // USE_UART6
+
 #endif /* MCU_PERIPH_UART_H */