diff --git a/sw/airborne/arch/omap/mcu_periph/uart_arch.c b/sw/airborne/arch/omap/mcu_periph/uart_arch.c
index 1cfaf048983..b8d81f6519b 100644
--- a/sw/airborne/arch/omap/mcu_periph/uart_arch.c
+++ b/sw/airborne/arch/omap/mcu_periph/uart_arch.c
@@ -36,6 +36,27 @@
 // #define TRACE(fmt,args...)    fprintf(stderr, fmt, args)
 #define TRACE(fmt,args...)
 
+#if USE_UART0
+static inline void uart0_handler(void);
+#endif
+#if USE_UART1
+static inline void uart1_handler(void);
+#endif
+#if USE_UART2
+static inline void uart2_handler(void);
+#endif
+#if USE_UART3
+static inline void uart3_handler(void);
+#endif
+#if USE_UART4
+static inline void uart4_handler(void);
+#endif
+#if USE_UART5
+static inline void uart5_handler(void);
+#endif
+#if USE_UART6
+static inline void uart6_handler(void);
+#endif
 
 void uart_periph_set_baudrate(struct uart_periph* periph, uint32_t baud) {
   struct SerialPort* port;
@@ -117,6 +138,30 @@ static inline void uart_handler(struct uart_periph* periph) {
 
 }
 
+void uart_event(void) {
+#if USE_UART0
+  uart0_handler();
+#endif
+#if USE_UART1
+  uart1_handler();
+#endif
+#if USE_UART2
+  uart2_handler();
+#endif
+#if USE_UART3
+  uart3_handler();
+#endif
+#if USE_UART4
+  uart4_handler();
+#endif
+#if USE_UART5
+  uart5_handler();
+#endif
+#if USE_UART6
+  uart6_handler();
+#endif
+}
+
 #if USE_UART0
 void uart0_init( void ) {
   uart_periph_init(&uart0);
@@ -124,7 +169,7 @@ void uart0_init( void ) {
   uart_periph_set_baudrate(&uart0, UART0_BAUD);
 }
 
-void uart0_handler(void) {
+static inline void uart0_handler(void) {
   uart_handler(&uart0);
 }
 #endif /* USE_UART0 */
@@ -136,7 +181,7 @@ void uart1_init( void ) {
   uart_periph_set_baudrate(&uart1, UART1_BAUD);
 }
 
-void uart1_handler(void) {
+static inline void uart1_handler(void) {
   uart_handler(&uart1);
 }
 #endif /* USE_UART1 */
@@ -148,7 +193,7 @@ void uart2_init(void) {
   uart_periph_set_baudrate(&uart2, UART2_BAUD);
 }
 
-void uart2_handler(void) {
+static inline void uart2_handler(void) {
   uart_handler(&uart2);
 }
 #endif /* USE_UART2 */
@@ -160,7 +205,7 @@ void uart3_init(void) {
   uart_periph_set_baudrate(&uart3, UART3_BAUD);
 }
 
-void uart3_handler(void) {
+static inline void uart3_handler(void) {
   uart_handler(&uart3);
 }
 #endif /* USE_UART3 */
@@ -172,7 +217,7 @@ void uart4_init(void) {
   uart_periph_set_baudrate(&uart4, UART4_BAUD);
 }
 
-void uart4_handler(void) {
+static inline void uart4_handler(void) {
   uart_handler(&uart4);
 }
 #endif /* USE_UART4 */
@@ -184,7 +229,7 @@ void uart5_init(void) {
   uart_periph_set_baudrate(&uart5, UART5_BAUD);
 }
 
-void uart5_handler(void) {
+static inline void uart5_handler(void) {
   uart_handler(&uart5);
 }
 #endif /* USE_UART5 */
@@ -196,7 +241,7 @@ void uart6_init(void) {
   uart_periph_set_baudrate(&uart6, UART6_BAUD);
 }
 
-void uart6_handler(void) {
+static inline void uart6_handler(void) {
   uart_handler(&uart6);
 }
 #endif /* USE_UART6 */
diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c
index 69a57179bd3..5246879e3db 100644
--- a/sw/airborne/mcu_periph/uart.c
+++ b/sw/airborne/mcu_periph/uart.c
@@ -214,25 +214,5 @@ uint8_t uart_getch(struct uart_periph* p) {
 }
 
 void WEAK uart_event(void) {
-#if USE_UART0
-  uart0_handler();
-#endif
-#if USE_UART1
-  uart1_handler();
-#endif
-#if USE_UART2
-  uart2_handler();
-#endif
-#if USE_UART3
-  uart3_handler();
-#endif
-#if USE_UART4
-  uart4_handler();
-#endif
-#if USE_UART5
-  uart5_handler();
-#endif
-#if USE_UART6
-  uart6_handler();
-#endif
+
 }
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index 64dfd879fb9..371b22babf2 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -82,7 +82,7 @@ extern void uart_periph_set_mode(struct uart_periph* p, bool_t tx_enabled, bool_
 extern void uart_transmit(struct uart_periph* p, uint8_t data);
 extern bool_t uart_check_free_space(struct uart_periph* p, uint8_t len);
 extern uint8_t uart_getch(struct uart_periph* p);
-extern void WEAK uart_event(void);
+extern void uart_event(void);
 
 /**
  * Check UART for available chars in receive buffer.
@@ -99,7 +99,6 @@ static inline uint16_t uart_char_available(struct uart_periph* p) {
 #if USE_UART0
 extern struct uart_periph uart0;
 extern void uart0_init(void);
-extern void WEAK uart0_handler(void);
 
 #define UART0Init() uart_periph_init(&uart0)
 #define UART0CheckFreeSpace(_x) uart_check_free_space(&uart0, _x)
@@ -116,7 +115,6 @@ extern void WEAK uart0_handler(void);
 #if USE_UART1
 extern struct uart_periph uart1;
 extern void uart1_init(void);
-extern void WEAK uart1_handler(void);
 
 #define UART1Init() uart_periph_init(&uart1)
 #define UART1CheckFreeSpace(_x) uart_check_free_space(&uart1, _x)
@@ -133,7 +131,6 @@ extern void WEAK uart1_handler(void);
 #if USE_UART2
 extern struct uart_periph uart2;
 extern void uart2_init(void);
-extern void WEAK uart2_handler(void);
 
 #define UART2Init() uart_periph_init(&uart2)
 #define UART2CheckFreeSpace(_x) uart_check_free_space(&uart2, _x)
@@ -150,7 +147,6 @@ extern void WEAK uart2_handler(void);
 #if USE_UART3
 extern struct uart_periph uart3;
 extern void uart3_init(void);
-extern void WEAK uart3_handler(void);
 
 #define UART3Init() uart_periph_init(&uart3)
 #define UART3CheckFreeSpace(_x) uart_check_free_space(&uart3, _x)
@@ -167,7 +163,6 @@ extern void WEAK uart3_handler(void);
 #if USE_UART4
 extern struct uart_periph uart4;
 extern void uart4_init(void);
-extern void WEAK uart4_handler(void);
 
 #define UART4Init() uart_periph_init(&uart4)
 #define UART4CheckFreeSpace(_x) uart_check_free_space(&uart4, _x)
@@ -184,7 +179,6 @@ extern void WEAK uart4_handler(void);
 #if USE_UART5
 extern struct uart_periph uart5;
 extern void uart5_init(void);
-extern void WEAK uart5_handler(void);
 
 #define UART5Init() uart_periph_init(&uart5)
 #define UART5CheckFreeSpace(_x) uart_check_free_space(&uart5, _x)
@@ -201,7 +195,6 @@ extern void WEAK uart5_handler(void);
 #if USE_UART6
 extern struct uart_periph uart6;
 extern void uart6_init(void);
-extern void WEAK uart6_handler(void);
 
 #define UART6Init() uart_periph_init(&uart6)
 #define UART6CheckFreeSpace(_x) uart_check_free_space(&uart6, _x)
diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/subsystems/gps/gps_nmea.h
index cadece9d0b5..d416b34ad78 100644
--- a/sw/airborne/subsystems/gps/gps_nmea.h
+++ b/sw/airborne/subsystems/gps/gps_nmea.h
@@ -88,13 +88,13 @@ extern struct GpsNmea gps_nmea;
 extern void nmea_parse_char(uint8_t c);
 extern void nmea_parse_msg(void);
 extern uint8_t nmea_calc_crc(const char *buff, int buff_sz);
-void nmea_parse_prop_init(void);
-void nmea_parse_prop_msg(void);
+extern void nmea_parse_prop_init(void);
+extern void nmea_parse_prop_msg(void);
 
 /** Read until a certain character, placed here for proprietary includes */
 static inline void nmea_read_until(int *i)
 {
-  while (gps_nmea.msg_buf[*i++] != ',') {
+  while (gps_nmea.msg_buf[(*i)++] != ',') {
     if (*i >= gps_nmea.msg_len) {
       return;
     }