diff --git a/.gitmodules b/.gitmodules
index 4b41cc800b..d2d8aa2f8d 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,16 +1,15 @@
-[submodule "vendor/libdw1000"]
-	path = vendor/libdw1000
-	url = https://github.com/bitcraze/libdw1000
-[submodule "vendor/unity"]
-	path = vendor/unity
-	url = https://github.com/throwtheswitch/unity.git
-[submodule "vendor/cmock"]
-	path = vendor/cmock
-	url = https://github.com/throwtheswitch/cmock.git
 [submodule "vendor/CMSIS"]
 	path = vendor/CMSIS
 	url = https://github.com/ARM-software/CMSIS_5.git
 [submodule "vendor/FreeRTOS"]
 	path = vendor/FreeRTOS
-	url = https://github.com/FreeRTOS/FreeRTOS-Kernel
-	branch = V10.2.1-convergence-FreeRTOS-Source
+	url = https://github.com/FreeRTOS/FreeRTOS-Kernel.git
+[submodule "vendor/cmock"]
+	path = vendor/cmock
+	url = https://github.com/throwtheswitch/cmock.git
+[submodule "vendor/libdw1000"]
+	path = vendor/libdw1000
+	url = https://github.com/bitcraze/libdw1000.git
+[submodule "vendor/unity"]
+	path = vendor/unity
+	url = https://github.com/throwtheswitch/unity.git
diff --git a/src/hal/src/pm_stm32f4.c b/src/hal/src/pm_stm32f4.c
index 4289c9a94a..30a5d56dab 100644
--- a/src/hal/src/pm_stm32f4.c
+++ b/src/hal/src/pm_stm32f4.c
@@ -319,6 +319,8 @@ void pmTask(void *param)
   pmSetChargeState(charge500mA);
   systemWaitStart();
 
+  systemSetCanFly(true);
+
   while(1)
   {
     vTaskDelay(100);
diff --git a/src/utils/interface/eprintf.h b/src/utils/interface/eprintf.h
index 812b3e630b..adfd59a4e6 100644
--- a/src/utils/interface/eprintf.h
+++ b/src/utils/interface/eprintf.h
@@ -29,7 +29,7 @@ typedef int (*putc_t)(int c);
  * @param[in] ... Parameters to print
  * @return the number of character printed
  */
-int eprintf(putc_t putcf, char * fmt, ...) 
+int eprintf(putc_t putcf, const char * fmt, ...)
     __attribute__ (( format(printf, 2, 3) ));
 
 /**
@@ -39,6 +39,6 @@ int eprintf(putc_t putcf, char * fmt, ...)
  * @param[in] ap Parameters to print
  * @return the number of character printed
  */
-int evprintf(putc_t putcf, char * fmt, va_list ap);
+int evprintf(putc_t putcf, const char * fmt, va_list ap);
 
 #endif //__EPRINTF_H__
diff --git a/src/utils/src/eprintf.c b/src/utils/src/eprintf.c
index a825c04637..c7ba68b0e2 100644
--- a/src/utils/src/eprintf.c
+++ b/src/utils/src/eprintf.c
@@ -151,7 +151,7 @@ static int itoa16(putc_t putcf, uint64_t num, int width, char padChar)
   return len;
 }
 
-static int handleLongLong(putc_t putcf, char** fmt, unsigned long long int val, int width, char padChar)
+static int handleLongLong(putc_t putcf, const char** fmt, unsigned long long int val, int width, char padChar)
 {
   int len = 0;
 
@@ -176,7 +176,7 @@ static int handleLongLong(putc_t putcf, char** fmt, unsigned long long int val,
   return len;
 }
 
-static int handleLong(putc_t putcf, char** fmt, unsigned long int val, int width, char padChar)
+static int handleLong(putc_t putcf, const char** fmt, unsigned long int val, int width, char padChar)
 {
   int len = 0;
 
@@ -201,7 +201,7 @@ static int handleLong(putc_t putcf, char** fmt, unsigned long int val, int width
   return len;
 }
 
-int evprintf(putc_t putcf, char * fmt, va_list ap)
+int evprintf(putc_t putcf, const char * fmt, va_list ap)
 {
   int len=0;
   float num;
@@ -305,7 +305,7 @@ int evprintf(putc_t putcf, char * fmt, va_list ap)
   return len;
 }
 
-int eprintf(putc_t putcf, char * fmt, ...)
+int eprintf(putc_t putcf, const char * fmt, ...)
 {
   va_list ap;
   int len;