diff --git a/sw/airborne/boards/tawaki/chibios/v2.0/tawaki_v2.0.h b/sw/airborne/boards/tawaki/chibios/v2.0/tawaki_v2.0.h
index bb7f8ffa3f..af885ea910 100644
--- a/sw/airborne/boards/tawaki/chibios/v2.0/tawaki_v2.0.h
+++ b/sw/airborne/boards/tawaki/chibios/v2.0/tawaki_v2.0.h
@@ -273,7 +273,7 @@
 #define PWM_SERVO_9 9
 #define PWM_SERVO_9_GPIO PAL_PORT(LINE_AUX_A1)
 #define PWM_SERVO_9_PIN PAL_PAD(LINE_AUX_A1)
-#define PWM_SERVO_9_AF GPIO_AF2
+#define PWM_SERVO_9_AF AUX_A1_TIM_AF
 #define PWM_SERVO_9_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A1_TIM)
 #define PWM_SERVO_9_CHANNEL (AUX_A1_TIM_CH-1)
 #define PWM_SERVO_9_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A1_TIM)
@@ -286,7 +286,7 @@
 #define PWM_SERVO_10 10
 #define PWM_SERVO_10_GPIO PAL_PORT(LINE_AUX_A2)
 #define PWM_SERVO_10_PIN PAL_PAD(LINE_AUX_A2)
-#define PWM_SERVO_10_AF GPIO_AF2
+#define PWM_SERVO_10_AF AUX_A2_TIM_AF
 #define PWM_SERVO_10_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A2_TIM)
 #define PWM_SERVO_10_CHANNEL (AUX_A2_TIM_CH-1)
 #define PWM_SERVO_10_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A2_TIM)
@@ -299,7 +299,7 @@
 #define PWM_SERVO_11 11
 #define PWM_SERVO_11_GPIO PAL_PORT(LINE_AUX_A3)
 #define PWM_SERVO_11_PIN PAL_PAD(LINE_AUX_A3)
-#define PWM_SERVO_11_AF GPIO_AF2
+#define PWM_SERVO_11_AF AUX_A3_TIM_AF
 #define PWM_SERVO_11_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A3_TIM)
 #define PWM_SERVO_11_CHANNEL (AUX_A3_TIM_CH-1)
 #define PWM_SERVO_11_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A3_TIM)
@@ -312,7 +312,7 @@
 #define PWM_SERVO_12 12
 #define PWM_SERVO_12_GPIO PAL_PORT(LINE_AUX_A4)
 #define PWM_SERVO_12_PIN PAL_PAD(LINE_AUX_A4)
-#define PWM_SERVO_12_AF GPIO_AF2
+#define PWM_SERVO_12_AF AUX_A4_TIM_AF
 #define PWM_SERVO_12_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A4_TIM)
 #define PWM_SERVO_12_CHANNEL (AUX_A4_TIM_CH-1)
 #define PWM_SERVO_12_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A4_TIM)
@@ -325,7 +325,7 @@
 #define PWM_SERVO_13 13
 #define PWM_SERVO_13_GPIO PAL_PORT(LINE_AUX_B1)
 #define PWM_SERVO_13_PIN PAL_PAD(LINE_AUX_B1)
-#define PWM_SERVO_13_AF GPIO_AF2
+#define PWM_SERVO_13_AF AUX_B1_TIM_AF
 #define PWM_SERVO_13_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B1_TIM)
 #define PWM_SERVO_13_CHANNEL (AUX_B1_TIM_CH-1)
 #define PWM_SERVO_13_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B1_TIM)
@@ -338,7 +338,7 @@
 #define PWM_SERVO_14 14
 #define PWM_SERVO_14_GPIO PAL_PORT(LINE_AUX_B2)
 #define PWM_SERVO_14_PIN PAL_PAD(LINE_AUX_B2)
-#define PWM_SERVO_14_AF GPIO_AF2
+#define PWM_SERVO_14_AF AUX_B2_TIM_AF
 #define PWM_SERVO_14_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B2_TIM)
 #define PWM_SERVO_14_CHANNEL (AUX_B2_TIM_CH-1)
 #define PWM_SERVO_14_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B2_TIM)
@@ -351,7 +351,7 @@
 #define PWM_SERVO_15 15
 #define PWM_SERVO_15_GPIO PAL_PORT(LINE_AUX_B3)
 #define PWM_SERVO_15_PIN PAL_PAD(LINE_AUX_B3)
-#define PWM_SERVO_15_AF GPIO_AF2
+#define PWM_SERVO_15_AF AUX_B3_TIM_AF
 #define PWM_SERVO_15_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B3_TIM)
 #define PWM_SERVO_15_CHANNEL (AUX_B3_TIM_CH-1)
 #define PWM_SERVO_15_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B3_TIM)
@@ -364,7 +364,7 @@
 #define PWM_SERVO_16 16
 #define PWM_SERVO_16_GPIO PAL_PORT(LINE_AUX_B4)
 #define PWM_SERVO_16_PIN PAL_PAD(LINE_AUX_B4)
-#define PWM_SERVO_16_AF GPIO_AF2
+#define PWM_SERVO_16_AF AUX_B4_TIM_AF
 #define PWM_SERVO_16_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B4_TIM)
 #define PWM_SERVO_16_CHANNEL (AUX_B4_TIM_CH-1)
 #define PWM_SERVO_16_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B4_TIM)