diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c
index 69edc23ab2..212a92cfa8 100644
--- a/src/drivers/boards/px4fmu/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu/px4fmu_init.c
@@ -58,7 +58,7 @@
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 #include "stm32_uart.h"
 
diff --git a/src/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu/px4fmu_internal.h
index 671a58f8f6..383a046ffd 100644
--- a/src/drivers/boards/px4fmu/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmu/px4fmu_internal.h
@@ -50,7 +50,7 @@
 __BEGIN_DECLS
 
 /* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
 
  
 /****************************************************************************************************
diff --git a/src/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c
index 34fd194c33..31b25984e1 100644
--- a/src/drivers/boards/px4fmu/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu/px4fmu_led.c
@@ -41,7 +41,7 @@
 
 #include <stdbool.h>
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 
 #include <arch/board/board.h>
diff --git a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
index cb8918306b..d85131dd88 100644
--- a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu/px4fmu_spi.c
index b5d00eac0d..e05ddecf3e 100644
--- a/src/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu/px4fmu_spi.c
@@ -52,7 +52,7 @@
 
 #include "up_arch.h"
 #include "chip.h"
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu/px4fmu_usb.c
index b0b669fbed..0be981c1e1 100644
--- a/src/drivers/boards/px4fmu/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu/px4fmu_usb.c
@@ -52,7 +52,7 @@
 #include <nuttx/usb/usbdev_trace.h>
 
 #include "up_arch.h"
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io/px4io_init.c
index d36353c6f5..15c59e4236 100644
--- a/src/drivers/boards/px4io/px4io_init.c
+++ b/src/drivers/boards/px4io/px4io_init.c
@@ -54,7 +54,7 @@
 
 #include <nuttx/arch.h>
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4io_internal.h"
 #include "stm32_uart.h"
 
diff --git a/src/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io/px4io_internal.h
index eb2820bb7b..6638e715ef 100644
--- a/src/drivers/boards/px4io/px4io_internal.h
+++ b/src/drivers/boards/px4io/px4io_internal.h
@@ -47,7 +47,7 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 
 /************************************************************************************
  * Definitions
diff --git a/src/drivers/boards/px4io/px4io_pwm_servo.c b/src/drivers/boards/px4io/px4io_pwm_servo.c
index a2f73c4296..6df470da6d 100644
--- a/src/drivers/boards/px4io/px4io_pwm_servo.c
+++ b/src/drivers/boards/px4io/px4io_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index 911def9439..1020eb9465 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -58,7 +58,7 @@
 #include <drivers/drv_adc.h>
 
 #include <arch/stm32/chip.h>
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 
 #include <systemlib/err.h>
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index fd63681e30..05e1cd8ec7 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -66,7 +66,7 @@
 #include "up_internal.h"
 #include "up_arch.h"
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "stm32_gpio.h"
 #include "stm32_tim.h"
 
diff --git a/src/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c
index c1efb8515f..7b060412cd 100644
--- a/src/drivers/stm32/drv_pwm_servo.c
+++ b/src/drivers/stm32/drv_pwm_servo.c
@@ -64,7 +64,7 @@
 #include <up_internal.h>
 #include <up_arch.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index ac5511e60a..167ef30a8e 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -111,7 +111,7 @@
 #include <up_internal.h>
 #include <up_arch.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/modules/px4iofirmware/adc.c b/src/modules/px4iofirmware/adc.c
index f744698be2..81566eb2a2 100644
--- a/src/modules/px4iofirmware/adc.c
+++ b/src/modules/px4iofirmware/adc.c
@@ -41,7 +41,7 @@
 
 #include <nuttx/arch.h>
 #include <arch/stm32/chip.h>
-#include <stm32_internal.h>
+#include <stm32.h>
 
 #include <drivers/drv_hrt.h>
 #include <systemlib/perf_counter.h>
diff --git a/src/modules/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h
index 2c53c648b7..ff9328b900 100644
--- a/src/modules/systemlib/systemlib.h
+++ b/src/modules/systemlib/systemlib.h
@@ -42,11 +42,11 @@
 #include <float.h>
 #include <stdint.h>
 
-__BEGIN_DECLS
-
 /** Reboots the board */
 extern void up_systemreset(void) noreturn_function;
 
+__BEGIN_DECLS
+
 /** Sends SIGUSR1 to all processes */
 __EXPORT void killall(void);
 
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c
index 4bcce18fb8..7752ffe674 100644
--- a/src/systemcmds/preflight_check/preflight_check.c
+++ b/src/systemcmds/preflight_check/preflight_check.c
@@ -146,6 +146,15 @@ int preflight_check_main(int argc, char *argv[])
 	bool rc_ok = true;
 	char nbuf[20];
 
+	/* first check channel mappings */
+			/* check which map param applies */
+		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
+		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
+		// 	/* give system time to flush error message in case there are more */
+		// 	usleep(100000);
+		// 	count++;
+		// }
+
 	for (int i = 0; i < 12; i++) {
 		/* should the channel be enabled? */
 		uint8_t count = 0;
@@ -209,8 +218,8 @@ int preflight_check_main(int argc, char *argv[])
 			count++;
 		}
 
-		/* XXX needs inspection of all the _MAP params */
-		// if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) {
+		/* check which map param applies */
+		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
 		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
 		// 	/* give system time to flush error message in case there are more */
 		// 	usleep(100000);