diff --git a/src/main/drivers/serial_uart_stm32f7xx.c b/src/main/drivers/serial_uart_stm32f7xx.c
index 7bde2a94c..aeb6906a1 100644
--- a/src/main/drivers/serial_uart_stm32f7xx.c
+++ b/src/main/drivers/serial_uart_stm32f7xx.c
@@ -341,9 +341,14 @@ uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, po
     IO_t rxIO = IOGetByTag(uartdev->rx);
 
     if ((options & SERIAL_BIDIR) && txIO) {
-        // XXX BIDIR_PP handling is missing
+        ioConfig_t ioCfg = IO_CONFIG(
+            ((options & SERIAL_INVERTED) || (options & SERIAL_BIDIR_PP)) ? GPIO_MODE_AF_PP : GPIO_MODE_AF_OD,
+            GPIO_SPEED_FREQ_HIGH,
+            ((options & SERIAL_INVERTED) || (options & SERIAL_BIDIR_PP)) ? GPIO_PULLDOWN : GPIO_PULLUP
+        );
+
         IOInit(txIO, OWNER_SERIAL_TX, RESOURCE_INDEX(device));
-        IOConfigGPIOAF(txIO, IOCFG_AF_PP, hardware->af);
+        IOConfigGPIOAF(txIO, ioCfg, hardware->af);
     }
     else {
         if ((mode & MODE_TX) && txIO) {
diff --git a/src/main/target/SITL/target.c b/src/main/target/SITL/target.c
index b94d75c39..1e573f77f 100644
--- a/src/main/target/SITL/target.c
+++ b/src/main/target/SITL/target.c
@@ -22,7 +22,6 @@
 
 #include <errno.h>
 #include <time.h>
-#include <pthread.h>
 
 #include "drivers/io.h"
 #include "drivers/dma.h"