diff --git a/create_module b/create_module
new file mode 100755
index 0000000000..2ab7c0ecf3
--- /dev/null
+++ b/create_module
@@ -0,0 +1,283 @@
+#!/usr/bin/ocamlrun /usr/bin/ocaml
+#load "unix.cma";;
+#directory "+xml-light";;
+#load "xml-light.cma";;
+
+open Printf;;
+open Scanf;;
+
+let ask = fun text ->
+  printf "%s: " text;
+  flush stdout;
+  input_line stdin;;
+
+type optional = Optional | Mandatory;;
+
+let rec ask_param = fun text opt ->
+  match opt with
+  | Optional ->
+      printf " - %s (optional): " text; flush stdout;
+      input_line stdin;
+  | Mandatory ->
+      printf " - %s (mandatory): " text; flush stdout;
+      let res = input_line stdin in
+      if res = "" then ask_param text opt else res;
+;;
+
+let quit_with_error = fun text err ->
+  printf "%s\n" text;
+  exit err;;
+
+printf "       ##########################\n";;
+printf "       ##    Module Creator    ##\n";;
+printf "       ##########################\n\n";;
+printf "This program will help you to create a new module for Paparazzi\n";;
+printf "All option are not accessible from this program,\n";
+printf "see http://paparazzi.enac.fr/wiki/Modules for more information.\n";
+(*printf "Please follow the instruction or pass a module xml file as intput\n\n";;*)
+printf "Please follow the instruction\n\n";;
+let name = ask "Enter your module name";;
+if name = "" then quit_with_error "module name must not be empty. Leaving." 1;;
+let dir = ask "Enter a module directory or leave blank if same as name";;
+let desc = ask "Enter a short description of your module";;
+
+let init_list = ref [];;
+let periodic_list = ref [];;
+let event_list = ref [];;
+let datalink_list = ref [];;
+
+let add_to_list = fun l a ->
+  l := !l @ [a];;
+
+let ask_init = fun () ->
+  printf "Parameters for initialization function:\n";
+  let name = ask " - function name (mandatory)" in
+  add_to_list init_list name;
+  true;;
+
+let ask_periodic = fun () ->
+  printf "Parameters for a periodic function:\n";
+  let name = ask_param "function name" Mandatory in
+  let freq = ask_param "call frequency" Mandatory in
+  let start = ask_param "start function" Optional in
+  let stop = ask_param "stop function" Optional in
+  let auto = ask_param "autorun flag [TRUE, FALSE, LOCK (default)]" Optional in
+  add_to_list periodic_list (name, freq, start, stop, auto);
+  true;;
+
+let ask_event = fun () ->
+  printf "Parameters for an event function:\n";
+  let name = ask_param "function name" Mandatory in
+  add_to_list event_list name;
+  true;;
+
+let ask_datalink = fun () ->
+  printf "Parameters for a datalink event callback:\n";
+  let msg = ask_param "message name" Mandatory in
+  let name = ask_param "callback function name" Mandatory in
+  add_to_list datalink_list (msg, name);
+  true;;
+
+let show_module = fun () ->
+  printf "\nModule name: %s\n" name;
+  if dir <> "" then printf "Module directory: %s\n" dir;
+  if desc <> "" then printf "Module description: %s\n" desc;
+  List.iter (fun n -> printf "Init function: %s\n" n) !init_list;
+  List.iter (fun (n, f, start, stop, auto) ->
+    let _start = if start <> "" then " [ Start: "^start^" ] " else "" in
+    let _stop = if stop <> "" then " [ Stop: "^stop^" ] " else "" in
+    let _auto = if auto <> "" then " [ Auto: "^auto^" ] " else "" in
+    printf "Periodic function: %s at %s Hz%s%s%s\n" n f _start _stop _auto;
+  ) !periodic_list;
+  List.iter (fun n -> printf "Event function: %s\n" n) !event_list;
+  List.iter (fun (m, n) -> printf "Datalink event: %s on message %s\n" n m) !datalink_list;
+  flush stdout;
+  true;;
+
+let choices = [
+  ("Initialization function", ask_init);
+  ("Periodic function", ask_periodic);
+  ("Event function", ask_event);
+  ("Datalink event function", ask_datalink);
+  ("Display the current state of your module", show_module);
+  ("End process and create module", (fun () -> false));
+  ("Cancel and leave program", (fun () -> quit_with_error "Cancel by operator. Leaving." 2))
+];;
+
+let ask_choice = fun choices ->
+  printf "\nPlease select the type of function to add to your module:\n";
+  let rec display = fun i c ->
+    match c with
+    | (text, _) :: cl ->
+        printf "%d - %s\n" i text;
+        display (i+1) cl;
+    | [] -> ()
+  in
+  display 1 choices;
+  printf "Type number [1-%d]: " (List.length choices);
+  flush stdout;
+  try
+    let r = int_of_string (input_line stdin) in
+    let (_, f) = (Array.of_list choices).(r-1) in
+    f ()
+  with _ -> printf "Invalid entry\n"; true
+;;
+
+while ask_choice choices do () done;;
+
+let xml_of_name = fun n d ->
+  if d <> "" then [("name", n); ("dir", d)]
+  else [("name", n)];;
+
+let header_file = name^".h";;
+let code_file = name^".c";;
+
+let xml_header_of_name = fun n ->
+  [Xml.Element ("header", [], [
+    Xml.Element ("file", [("file", n)], [])
+  ])];;
+
+let xml_of_description = fun d ->
+  let desc = Xml.Element ("description", [], [Xml.PCData d]) in
+  [Xml.Element ("doc", [], [desc])];;
+
+let xml_of_init = fun l ->
+  List.map (fun n -> Xml.Element ("init", [("fun", n)], [])) l;;
+
+let xml_of_peridic = fun l ->
+  List.map (fun (n, f, start, stop, auto) ->
+    let _start = if start <> "" then [("start", start)] else [] in
+    let _stop = if stop <> "" then [("stop", stop)] else [] in
+    let _auto = if auto <> "" then [("autorun", auto)] else [] in
+    Xml.Element ("periodic", List.flatten [
+      [("fun", n)]; [("freq", f)]; _start; _stop; _auto],
+      [])
+  ) l;;
+
+let xml_of_event = fun l ->
+  List.map (fun n -> Xml.Element ("event", [("fun", n)], [])) l;;
+
+let xml_of_datalink = fun l ->
+  List.map (fun (m, n) -> Xml.Element ("init", [("message", m); ("fun", n)], [])) l;;
+
+let xml_makefile_of_name = fun n ->
+  [Xml.Element ("makefile", [], [
+    Xml.Element ("file", [("name", n)], [])
+  ])];;
+
+let module_xml = Xml.Element ("module", xml_of_name name dir, List.flatten [
+  xml_of_description desc;
+  xml_header_of_name header_file;
+  xml_of_init !init_list;
+  xml_of_peridic !periodic_list;
+  xml_of_event !event_list;
+  xml_of_datalink !datalink_list;
+  xml_makefile_of_name code_file]);;
+
+let (//) = Filename.concat;;
+
+let dir_name = if dir = "" then name else dir;;
+let xml_name = "conf/modules" // name^".xml";;
+let header_name = "sw/airborne/modules"// dir_name // name^".c";;
+let code_name = "sw/airborne/modules" // dir_name // name^".h";;
+
+let test_filename = fun () ->
+  let ask_confirm = ref false in
+  let disp_msg = fun f c -> 
+    printf "File %s already exists\n" f;
+    c := true;
+  in
+  if Sys.file_exists xml_name then disp_msg xml_name ask_confirm;
+  if Sys.file_exists header_name then disp_msg header_name ask_confirm;
+  if Sys.file_exists code_name then disp_msg code_name ask_confirm;
+  if !ask_confirm then begin
+    if String.lowercase (ask "Confirm erasing files ? [y,N]") <> "y" 
+    then quit_with_error "Not erasing existing files. Leaving" 1
+  end;;
+
+let write_module_xml = fun out ->
+  fprintf out "<!DOCTYPE module SYSTEM \"module.dtd\">\n\n";
+  fprintf out "%s\n\n" (Xml.to_string_fmt module_xml);;
+
+let write_license = fun out ->
+  fprintf out " * paparazzi is free software; you can redistribute it and/or modify\n";
+  fprintf out " * it under the terms of the GNU General Public License as published by\n";
+  fprintf out " * the Free Software Foundation; either version 2, or (at your option)\n";
+  fprintf out " * any later version.\n";
+  fprintf out " *\n";
+  fprintf out " * paparazzi is distributed in the hope that it will be useful,\n";
+  fprintf out " * but WITHOUT ANY WARRANTY; without even the implied warranty of\n";
+  fprintf out " * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\n";
+  fprintf out " * GNU General Public License for more details.\n";
+  fprintf out " *\n";
+  fprintf out " * You should have received a copy of the GNU General Public License\n";
+  fprintf out " * along with paparazzi; see the file COPYING.  If not, write to\n";
+  fprintf out " * the Free Software Foundation, 59 Temple Place - Suite 330,\n";
+  fprintf out " * Boston, MA 02111-1307, USA.\n";;
+
+let write_copyright = fun out author gpl ->
+  fprintf out "/*\n";
+  fprintf out " * Copyright (C) %s\n" author;
+  fprintf out " *\n";
+  fprintf out " * This file is part of paparazzi\n\n";
+  if gpl then write_license out;
+  fprintf out " *\n";
+  fprintf out " */\n";;
+
+let write_header = fun out author gpl ->
+  write_copyright out author gpl;
+  fprintf out "\n#ifndef %s_H" (String.uppercase name);
+  fprintf out "\n#define %s_H\n\n" (String.uppercase name);
+  List.iter (fun f -> fprintf out "// extern void %s;\n" f) !init_list;
+  List.iter (fun (f,_,_,_,_) -> fprintf out "// extern void %s;\n" f) !periodic_list;
+  List.iter (fun f -> fprintf out "// extern void %s;\n" f) !event_list;
+  List.iter (fun (_,f) -> fprintf out "// extern void %s;\n" f) !datalink_list;
+  fprintf out "\n#endif\n\n";;
+
+let write_code = fun out author gpl ->
+  write_copyright out author gpl;
+  fprintf out "\n#include \"modules/%s/%s.h\"\n\n" dir_name name;
+  List.iter (fun f -> fprintf out "// void %s {}\n" f) !init_list;
+  List.iter (fun (f,_,_,_,_) -> fprintf out "// void %s {}\n" f) !periodic_list;
+  List.iter (fun f -> fprintf out "// void %s {}\n" f) !event_list;
+  List.iter (fun (_,f) -> fprintf out "// void %s {}\n" f) !datalink_list;
+  fprintf out "\n\n";;
+
+print_newline ();;
+test_filename ();;
+
+print_newline ();;
+let author = ask "Author name";;
+let gpl = ask "Do you want to use GPLv2 license ? [Y,n]";;
+let gpl = String.lowercase (gpl) = "y" || gpl = "";;
+
+printf "Creating file %s ... " xml_name;;
+try
+  let xml_out = open_out xml_name in
+  write_module_xml xml_out;
+  close_out xml_out;
+  printf "[done]\n";
+with _ -> printf "[fail]\n";
+flush stdout;;
+
+Sys.command (sprintf "mkdir -p %s" ("sw/airborne/modules" // dir_name));;
+
+printf "Creating file %s ... " header_name;;
+try
+  let h_out = open_out header_name in
+  write_header h_out author gpl;
+  close_out h_out;
+  printf "[done]\n";
+with _ -> printf "[fail]\n";
+flush stdout;;
+
+printf "Creating file %s ... " code_name;;
+try
+  let c_out = open_out code_name in
+  write_code c_out author gpl;
+  close_out c_out;
+  printf "[done]\n";
+with _ -> printf "[fail]\n";
+flush stdout;;
+
+printf "\nModule %s created\n" name;;