diff --git a/sw/airborne/boards/nucleo/144_f767zi/nucleo144_f767zi.h b/sw/airborne/boards/nucleo/144_f767zi/nucleo144_f767zi.h
index 593c488017..2b40cf0141 100644
--- a/sw/airborne/boards/nucleo/144_f767zi/nucleo144_f767zi.h
+++ b/sw/airborne/boards/nucleo/144_f767zi/nucleo144_f767zi.h
@@ -164,7 +164,7 @@
 #define PWM_SERVO_1_PIN PAL_PAD(LINE_SRVA1)
 #define PWM_SERVO_1_AF AF_SRVA1
 #define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA1_TIM)
-#define PWM_SERVO_1_CHANNEL SRVA1_TIM_CH
+#define PWM_SERVO_1_CHANNEL (SRVA1_TIM_CH-1)
 #define PWM_SERVO_1_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_1_ACTIVE PWM_OUTPUT_DISABLED
@@ -179,7 +179,7 @@
 #define PWM_SERVO_2_PIN PAL_PAD(LINE_SRVA2)
 #define PWM_SERVO_2_AF AF_SRVA2
 #define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA2_TIM)
-#define PWM_SERVO_2_CHANNEL SRVA2_TIM_CH
+#define PWM_SERVO_2_CHANNEL (SRVA2_TIM_CH-1)
 #define PWM_SERVO_2_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_2_ACTIVE PWM_OUTPUT_DISABLED
@@ -194,7 +194,7 @@
 #define PWM_SERVO_3_PIN PAL_PAD(LINE_SRVA3)
 #define PWM_SERVO_3_AF AF_SRVA3
 #define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA3_TIM)
-#define PWM_SERVO_3_CHANNEL SRVA3_TIM_CH
+#define PWM_SERVO_3_CHANNEL (SRVA3_TIM_CH-1)
 #define PWM_SERVO_3_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_3_ACTIVE PWM_OUTPUT_DISABLED
@@ -209,7 +209,7 @@
 #define PWM_SERVO_4_PIN PAL_PAD(LINE_SRVA4)
 #define PWM_SERVO_4_AF AF_SRVA4
 #define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA4_TIM)
-#define PWM_SERVO_4_CHANNEL SRVA4_TIM_CH
+#define PWM_SERVO_4_CHANNEL (SRVA4_TIM_CH-1)
 #define PWM_SERVO_4_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_4_ACTIVE PWM_OUTPUT_DISABLED
@@ -226,7 +226,7 @@
 #define PWM_SERVO_5_PIN PAL_PAD(LINE_SRVB1)
 #define PWM_SERVO_5_AF AF_SRVB1
 #define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB1_TIM)
-#define PWM_SERVO_5_CHANNEL SRVB1_TIM_CH
+#define PWM_SERVO_5_CHANNEL (SRVB1_TIM_CH-1)
 #define PWM_SERVO_5_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_5_ACTIVE PWM_OUTPUT_DISABLED
@@ -241,7 +241,7 @@
 #define PWM_SERVO_6_PIN PAL_PAD(LINE_SRVB2)
 #define PWM_SERVO_6_AF AF_SRVB2
 #define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB2_TIM)
-#define PWM_SERVO_6_CHANNEL SRVB2_TIM_CH
+#define PWM_SERVO_6_CHANNEL (SRVB2_TIM_CH-1)
 #define PWM_SERVO_6_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_6_ACTIVE PWM_OUTPUT_DISABLED
@@ -256,7 +256,7 @@
 #define PWM_SERVO_7_PIN PAL_PAD(LINE_SRVB3)
 #define PWM_SERVO_7_AF AF_SRVB3
 #define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB3_TIM)
-#define PWM_SERVO_7_CHANNEL SRVB3_TIM_CH
+#define PWM_SERVO_7_CHANNEL (SRVB3_TIM_CH-1)
 #define PWM_SERVO_7_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_7_ACTIVE PWM_OUTPUT_DISABLED
@@ -271,7 +271,7 @@
 #define PWM_SERVO_8_PIN PAL_PAD(LINE_SRVB4)
 #define PWM_SERVO_8_AF AF_SRVB4
 #define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB4_TIM)
-#define PWM_SERVO_8_CHANNEL SRVB4_TIM_CH
+#define PWM_SERVO_8_CHANNEL (SRVB4_TIM_CH-1)
 #define PWM_SERVO_8_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_8_ACTIVE PWM_OUTPUT_DISABLED
@@ -286,7 +286,7 @@
 #define PWM_SERVO_9_PIN PAL_PAD(LINE_AUX_A1)
 #define PWM_SERVO_9_AF GPIO_AF2
 #define PWM_SERVO_9_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A1_TIM)
-#define PWM_SERVO_9_CHANNEL AUX_A1_TIM_CH
+#define PWM_SERVO_9_CHANNEL (AUX_A1_TIM_CH-1)
 #define PWM_SERVO_9_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_9_ACTIVE PWM_OUTPUT_DISABLED
@@ -301,7 +301,7 @@
 #define PWM_SERVO_10_PIN PAL_PAD(LINE_AUX_A2)
 #define PWM_SERVO_10_AF GPIO_AF2
 #define PWM_SERVO_10_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A2_TIM)
-#define PWM_SERVO_10_CHANNEL AUX_A2_TIM_CH
+#define PWM_SERVO_10_CHANNEL (AUX_A2_TIM_CH-1)
 #define PWM_SERVO_10_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_10_ACTIVE PWM_OUTPUT_DISABLED
@@ -316,7 +316,7 @@
 #define PWM_SERVO_11_PIN PAL_PAD(LINE_AUX_A3)
 #define PWM_SERVO_11_AF GPIO_AF2
 #define PWM_SERVO_11_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A3_TIM)
-#define PWM_SERVO_11_CHANNEL AUX_A3_TIM_CH
+#define PWM_SERVO_11_CHANNEL (AUX_A3_TIM_CH-1)
 #define PWM_SERVO_11_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_11_ACTIVE PWM_OUTPUT_DISABLED
@@ -331,7 +331,7 @@
 #define PWM_SERVO_12_PIN PAL_PAD(LINE_AUX_A4)
 #define PWM_SERVO_12_AF GPIO_AF2
 #define PWM_SERVO_12_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A4_TIM)
-#define PWM_SERVO_12_CHANNEL AUX_A4_TIM_CH
+#define PWM_SERVO_12_CHANNEL (AUX_A4_TIM_CH-1)
 #define PWM_SERVO_12_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_12_ACTIVE PWM_OUTPUT_DISABLED
@@ -346,7 +346,7 @@
 #define PWM_SERVO_13_PIN PAL_PAD(LINE_AUX_B1)
 #define PWM_SERVO_13_AF GPIO_AF2
 #define PWM_SERVO_13_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B1_TIM)
-#define PWM_SERVO_13_CHANNEL AUX_B1_TIM_CH
+#define PWM_SERVO_13_CHANNEL (AUX_B1_TIM_CH-1)
 #define PWM_SERVO_13_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_13_ACTIVE PWM_OUTPUT_DISABLED
@@ -361,7 +361,7 @@
 #define PWM_SERVO_14_PIN PAL_PAD(LINE_AUX_B2)
 #define PWM_SERVO_14_AF GPIO_AF2
 #define PWM_SERVO_14_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B2_TIM)
-#define PWM_SERVO_14_CHANNEL AUX_B2_TIM_CH
+#define PWM_SERVO_14_CHANNEL (AUX_B2_TIM_CH-1)
 #define PWM_SERVO_14_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_14_ACTIVE PWM_OUTPUT_DISABLED
@@ -376,7 +376,7 @@
 //#define PWM_SERVO_15_PIN PAL_PAD(LINE_AUX_B3)
 //#define PWM_SERVO_15_AF GPIO_AF2
 //#define PWM_SERVO_15_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B3_TIM)
-//#define PWM_SERVO_15_CHANNEL AUX_B3_TIM_CH
+//#define PWM_SERVO_15_CHANNEL (AUX_B3_TIM_CH-1)
 //#define PWM_SERVO_15_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 //#else
 //#define PWM_SERVO_15_ACTIVE PWM_OUTPUT_DISABLED
@@ -391,7 +391,7 @@
 #define PWM_SERVO_16_PIN PAL_PAD(LINE_AUX_B4)
 #define PWM_SERVO_16_AF GPIO_AF2
 #define PWM_SERVO_16_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B4_TIM)
-#define PWM_SERVO_16_CHANNEL AUX_B4_TIM_CH
+#define PWM_SERVO_16_CHANNEL (AUX_B4_TIM_CH-1)
 #define PWM_SERVO_16_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_16_ACTIVE PWM_OUTPUT_DISABLED
@@ -525,7 +525,9 @@
   .dma_stream = STM32_PWM4_UP_DMA_STREAM,   \
   .dma_channel = STM32_PWM4_UP_DMA_CHANNEL, \
   .pwmp = &PWMD4,                           \
-  .tlm_sd = DSHOT_TELEMETRY_DEV             \
+  .tlm_sd = DSHOT_TELEMETRY_DEV,            \
+  .dma_buf = &dshot4DmaBuffer,              \
+  .dcache_memory_in_use = false             \
 }
 
 #endif
@@ -565,7 +567,9 @@
   .dma_stream = STM32_PWM1_UP_DMA_STREAM,   \
   .dma_channel = STM32_PWM1_UP_DMA_CHANNEL, \
   .pwmp = &PWMD1,                           \
-  .tlm_sd = DSHOT_TELEMETRY_DEV             \
+  .tlm_sd = DSHOT_TELEMETRY_DEV,            \
+  .dma_buf = &dshot1DmaBuffer,              \
+  .dcache_memory_in_use = false             \
 }
 
 #endif
diff --git a/sw/airborne/boards/tawaki/chibios/common/tawaki.h b/sw/airborne/boards/tawaki/chibios/common/tawaki.h
index 4ce99aab47..e36d0fd77a 100644
--- a/sw/airborne/boards/tawaki/chibios/common/tawaki.h
+++ b/sw/airborne/boards/tawaki/chibios/common/tawaki.h
@@ -169,7 +169,7 @@
 #define PWM_SERVO_1_PIN PAL_PAD(LINE_SRVA1)
 #define PWM_SERVO_1_AF AF_SRVA1
 #define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA1_TIM)
-#define PWM_SERVO_1_CHANNEL SRVA1_TIM_CH
+#define PWM_SERVO_1_CHANNEL (SRVA1_TIM_CH-1)
 #define PWM_SERVO_1_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_1_ACTIVE PWM_OUTPUT_DISABLED
@@ -184,7 +184,7 @@
 #define PWM_SERVO_2_PIN PAL_PAD(LINE_SRVA2)
 #define PWM_SERVO_2_AF AF_SRVA2
 #define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA2_TIM)
-#define PWM_SERVO_2_CHANNEL SRVA2_TIM_CH
+#define PWM_SERVO_2_CHANNEL (SRVA2_TIM_CH-1)
 #define PWM_SERVO_2_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_2_ACTIVE PWM_OUTPUT_DISABLED
@@ -199,7 +199,7 @@
 #define PWM_SERVO_3_PIN PAL_PAD(LINE_SRVA3)
 #define PWM_SERVO_3_AF AF_SRVA3
 #define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA3_TIM)
-#define PWM_SERVO_3_CHANNEL SRVA3_TIM_CH
+#define PWM_SERVO_3_CHANNEL (SRVA3_TIM_CH-1)
 #define PWM_SERVO_3_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_3_ACTIVE PWM_OUTPUT_DISABLED
@@ -214,7 +214,7 @@
 #define PWM_SERVO_4_PIN PAL_PAD(LINE_SRVA4)
 #define PWM_SERVO_4_AF AF_SRVA4
 #define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA4_TIM)
-#define PWM_SERVO_4_CHANNEL SRVA4_TIM_CH
+#define PWM_SERVO_4_CHANNEL (SRVA4_TIM_CH-1)
 #define PWM_SERVO_4_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_4_ACTIVE PWM_OUTPUT_DISABLED
@@ -231,7 +231,7 @@
 #define PWM_SERVO_5_PIN PAL_PAD(LINE_SRVB1)
 #define PWM_SERVO_5_AF AF_SRVB1
 #define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB1_TIM)
-#define PWM_SERVO_5_CHANNEL SRVB1_TIM_CH
+#define PWM_SERVO_5_CHANNEL (SRVB1_TIM_CH-1)
 #define PWM_SERVO_5_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_5_ACTIVE PWM_OUTPUT_DISABLED
@@ -246,7 +246,7 @@
 #define PWM_SERVO_6_PIN PAL_PAD(LINE_SRVB2)
 #define PWM_SERVO_6_AF AF_SRVB2
 #define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB2_TIM)
-#define PWM_SERVO_6_CHANNEL SRVB2_TIM_CH
+#define PWM_SERVO_6_CHANNEL (SRVB2_TIM_CH-1)
 #define PWM_SERVO_6_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_6_ACTIVE PWM_OUTPUT_DISABLED
@@ -261,7 +261,7 @@
 #define PWM_SERVO_7_PIN PAL_PAD(LINE_SRVB3)
 #define PWM_SERVO_7_AF AF_SRVB3
 #define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB3_TIM)
-#define PWM_SERVO_7_CHANNEL SRVB3_TIM_CH
+#define PWM_SERVO_7_CHANNEL (SRVB3_TIM_CH-1)
 #define PWM_SERVO_7_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_7_ACTIVE PWM_OUTPUT_DISABLED
@@ -276,7 +276,7 @@
 #define PWM_SERVO_8_PIN PAL_PAD(LINE_SRVB4)
 #define PWM_SERVO_8_AF AF_SRVB4
 #define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB4_TIM)
-#define PWM_SERVO_8_CHANNEL SRVB4_TIM_CH
+#define PWM_SERVO_8_CHANNEL (SRVB4_TIM_CH-1)
 #define PWM_SERVO_8_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_8_ACTIVE PWM_OUTPUT_DISABLED
@@ -291,7 +291,7 @@
 #define PWM_SERVO_9_PIN PAL_PAD(LINE_AUX_A1)
 #define PWM_SERVO_9_AF GPIO_AF2
 #define PWM_SERVO_9_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A1_TIM)
-#define PWM_SERVO_9_CHANNEL AUX_A1_TIM_CH
+#define PWM_SERVO_9_CHANNEL (AUX_A1_TIM_CH-1)
 #define PWM_SERVO_9_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_9_ACTIVE PWM_OUTPUT_DISABLED
@@ -306,7 +306,7 @@
 #define PWM_SERVO_10_PIN PAL_PAD(LINE_AUX_A2)
 #define PWM_SERVO_10_AF GPIO_AF2
 #define PWM_SERVO_10_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A2_TIM)
-#define PWM_SERVO_10_CHANNEL AUX_A2_TIM_CH
+#define PWM_SERVO_10_CHANNEL (AUX_A2_TIM_CH-1)
 #define PWM_SERVO_10_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_10_ACTIVE PWM_OUTPUT_DISABLED
@@ -321,7 +321,7 @@
 #define PWM_SERVO_11_PIN PAL_PAD(LINE_AUX_A3)
 #define PWM_SERVO_11_AF GPIO_AF2
 #define PWM_SERVO_11_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A3_TIM)
-#define PWM_SERVO_11_CHANNEL AUX_A3_TIM_CH
+#define PWM_SERVO_11_CHANNEL (AUX_A3_TIM_CH-1)
 #define PWM_SERVO_11_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_11_ACTIVE PWM_OUTPUT_DISABLED
@@ -336,7 +336,7 @@
 #define PWM_SERVO_12_PIN PAL_PAD(LINE_AUX_A4)
 #define PWM_SERVO_12_AF GPIO_AF2
 #define PWM_SERVO_12_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A4_TIM)
-#define PWM_SERVO_12_CHANNEL AUX_A4_TIM_CH
+#define PWM_SERVO_12_CHANNEL (AUX_A4_TIM_CH-1)
 #define PWM_SERVO_12_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_12_ACTIVE PWM_OUTPUT_DISABLED
@@ -351,7 +351,7 @@
 #define PWM_SERVO_13_PIN PAL_PAD(LINE_AUX_B1)
 #define PWM_SERVO_13_AF GPIO_AF2
 #define PWM_SERVO_13_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B1_TIM)
-#define PWM_SERVO_13_CHANNEL AUX_B1_TIM_CH
+#define PWM_SERVO_13_CHANNEL (AUX_B1_TIM_CH-1)
 #define PWM_SERVO_13_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_13_ACTIVE PWM_OUTPUT_DISABLED
@@ -366,7 +366,7 @@
 #define PWM_SERVO_14_PIN PAL_PAD(LINE_AUX_B2)
 #define PWM_SERVO_14_AF GPIO_AF2
 #define PWM_SERVO_14_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B2_TIM)
-#define PWM_SERVO_14_CHANNEL AUX_B2_TIM_CH
+#define PWM_SERVO_14_CHANNEL (AUX_B2_TIM_CH-1)
 #define PWM_SERVO_14_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_14_ACTIVE PWM_OUTPUT_DISABLED
@@ -381,7 +381,7 @@
 #define PWM_SERVO_15_PIN PAL_PAD(LINE_AUX_B3)
 #define PWM_SERVO_15_AF GPIO_AF2
 #define PWM_SERVO_15_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B3_TIM)
-#define PWM_SERVO_15_CHANNEL AUX_B3_TIM_CH
+#define PWM_SERVO_15_CHANNEL (AUX_B3_TIM_CH-1)
 #define PWM_SERVO_15_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_15_ACTIVE PWM_OUTPUT_DISABLED
@@ -396,7 +396,7 @@
 #define PWM_SERVO_16_PIN PAL_PAD(LINE_AUX_B4)
 #define PWM_SERVO_16_AF GPIO_AF2
 #define PWM_SERVO_16_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B4_TIM)
-#define PWM_SERVO_16_CHANNEL AUX_B4_TIM_CH
+#define PWM_SERVO_16_CHANNEL (AUX_B4_TIM_CH-1)
 #define PWM_SERVO_16_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
 #else
 #define PWM_SERVO_16_ACTIVE PWM_OUTPUT_DISABLED