diff --git a/conf/airframes/slicer1.xml b/conf/airframes/slicer1.xml
index 98111ed935..2867ed4103 100644
--- a/conf/airframes/slicer1.xml
+++ b/conf/airframes/slicer1.xml
@@ -1,8 +1,12 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<airframe name="Slayer Wanna Be 1 Tiny 1.1">
+<!-- Slicer
+     Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured GPS at 9600
+     3 cells lipo
+     Gimballed camera on pitch and roll (in this order) axis -->
+
+<airframe name="Slicer 1">
 
-<!-- commands section -->
   <servos>
     <servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1620" max="2000"/>
     <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1400" max="1000"/>
diff --git a/conf/airframes/slicer2.xml b/conf/airframes/slicer2.xml
index 5428137b53..a0d2a7cf41 100644
--- a/conf/airframes/slicer2.xml
+++ b/conf/airframes/slicer2.xml
@@ -1,6 +1,11 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<airframe name="Slayer Wanna Be 2 Tiny 1.1">
+<!-- Slicer
+     Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured GPS at 9600
+     3 cells lipo
+     Fixed camera pointing down -->
+
+<airframe name="Slicer 2">
 
 <!-- commands section -->
   <servos>
diff --git a/conf/airframes/ugv.xml b/conf/airframes/ugv.xml
index cf39dc5628..c51e7a01a3 100644
--- a/conf/airframes/ugv.xml
+++ b/conf/airframes/ugv.xml
@@ -1,5 +1,10 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
+<!-- Board to be used as handheld GPS, with waypoints remotely controlled
+    from a ground station
+     Minimum configuration to be compiled
+ -->
+
 <airframe name="UGV Tiny 0.99">
   <servos>
     <servo name="THROTTLE"      no="0" min="1290" neutral="1290" max="1810"/>
@@ -83,7 +88,8 @@ ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
 
 ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_1Hz
-ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400 -DUSER_GPS_CONFIGURE=\"ugv_gps_configure.h\"
+ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
+# -DUSER_GPS_CONFIGURE=\"ugv_gps_configure.h\"
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/flight_plans/mav08.xml b/conf/flight_plans/mav08.xml
index 308afe3811..c3baa595e5 100644
--- a/conf/flight_plans/mav08.xml
+++ b/conf/flight_plans/mav08.xml
@@ -59,7 +59,7 @@
       <go from="C" hmode="route" wp="D"/>
       <go from="D" hmode="route" wp="E"/>
       <go from="E" hmode="route" wp="F1"/>
-      <circle radius="45" wp="N"/>
+      <circle radius="nav_radius" wp="N"/>
     </block>
     <block name="Go to South" strip_button="S">
       <go from="F2" hmode="route" wp="E"/>
@@ -67,7 +67,7 @@
       <go from="D" hmode="route" wp="C"/>
       <go from="C" hmode="route" wp="B"/>
       <go from="B" hmode="route" wp="A"/>
-      <circle radius="45" wp="A"/>
+      <circle radius="nav_radius" wp="A"/>
     </block>
     <block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
       <eight center="1" radius="nav_radius" turn_around="2"/>
diff --git a/conf/gcs/large_left_col.xml b/conf/gcs/large_left_col.xml
new file mode 100644
index 0000000000..4d629d61f4
--- /dev/null
+++ b/conf/gcs/large_left_col.xml
@@ -0,0 +1,15 @@
+<!DOCTYPE layout SYSTEM "layout.dtd">
+
+<layout width="1500" height="1000">
+ <columns>
+   <rows size="400">
+      <widget size="500" name="strips"/>
+<!--      <widget size="300" name="plugin"/> -->
+      <widget name="alarms"/>
+   </rows>
+   <rows>
+     <widget name="map2d" size="700"/>
+     <widget name="aircraft"/>
+   </rows>
+ </columns>
+</layout>
diff --git a/conf/settings/cam.xml b/conf/settings/cam.xml
index 8f0d1ea7c9..552ac3a88f 100644
--- a/conf/settings/cam.xml
+++ b/conf/settings/cam.xml
@@ -3,20 +3,21 @@
 <settings>
   <dl_settings NAME="control">
     <dl_settings name="cam">
-      <dl_setting MAX="9600" MIN="-9600" STEP="100" module="cam" VAR="cam_pan_command" handler="SetPanCommand"/>
-      <dl_setting MAX="9600" MIN="-9600" STEP="100" module="cam" VAR="cam_tilt_command" handler="SetTiltCommand"/>
-      <dl_setting MAX="4" MIN="0" STEP="1" module="cam" VAR="cam_mode"/>
+      <dl_setting MAX="5" MIN="0" STEP="1" module="cam" VAR="cam_mode">
+        <strip_button name="TARGET" value="4"/>
+        <strip_button name="NADIR" value="2"/>
+        <strip_button name="ANGLES" value="1"/>
+      </dl_setting>
     </dl_settings>
 
     <dl_settings name="angles">
       <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam" VAR="cam_tilt_c"/>
       <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam" VAR="cam_pan_c"/>
     </dl_settings>
-
+<!--
     <dl_settings name="target">
-<dl_setting min="-1000" max="1000" step="1" module="cam" var="cam_target_x" shortname="x"/>
-<dl_setting min="-1000" max="1000" step="1" module="cam" var="cam_target_y" shortname="y"/>
 <dl_setting min="1" max="10" step="1" module="cam" var="cam_target_wp" shortname="wp"/>
     </dl_settings>
+-->
   </dl_settings>
 </settings>
diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml
index d8d5dd64b5..cc093cfdc3 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/tuning.xml
@@ -26,8 +26,8 @@
         <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral"/>
         <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral"/>
 
-  <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared"/>
-  <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr"/>
+  <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared"/>
+  <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr"/>
   <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr"/>
 
         <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left" shortname="corr_left"/>
diff --git a/sw/airborne/cam.c b/sw/airborne/cam.c
index 89e6669a4f..7da8ce32ce 100644
--- a/sw/airborne/cam.c
+++ b/sw/airborne/cam.c
@@ -146,6 +146,9 @@ void cam_angles( void ) {
   
   cam_pan = TRIM_PPRZ(cam_pan);
   cam_tilt = TRIM_PPRZ(cam_tilt);
+
+  cam_phi_c = cam_pan_c;
+  cam_theta_c = cam_tilt_c;
   
 #ifdef COMMAND_CAM_PAN
   ap_state->commands[COMMAND_CAM_PAN] = cam_pan;
@@ -180,7 +183,7 @@ void cam_nadir( void ) {
   cam_target_x = estimator_x;
   cam_target_y = estimator_y;
 #endif
-  cam_target_alt = ground_alt;
+  cam_target_alt = 0;
   cam_target();
 }