diff --git a/conf/airframes/ENAC/fixed-wing/overview.xml b/conf/airframes/ENAC/fixed-wing/overview.xml
new file mode 100644
index 0000000000..17199794c4
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/overview.xml
@@ -0,0 +1,188 @@
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diff --git a/conf/modules/cam_segment.xml b/conf/modules/cam_segment.xml
new file mode 100644
index 0000000000..0bbb23e0a1
--- /dev/null
+++ b/conf/modules/cam_segment.xml
@@ -0,0 +1,13 @@
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diff --git a/conf/settings/cam.xml b/conf/settings/cam.xml
index 2511de50b1..246e252812 100644
--- a/conf/settings/cam.xml
+++ b/conf/settings/cam.xml
@@ -3,7 +3,7 @@
-
+
diff --git a/sw/airborne/modules/cam_control/cam.h b/sw/airborne/modules/cam_control/cam.h
index 2cdfcd9c19..5a829e1498 100644
--- a/sw/airborne/modules/cam_control/cam.h
+++ b/sw/airborne/modules/cam_control/cam.h
@@ -63,7 +63,7 @@ extern float cam_pan_c, cam_tilt_c;
/* pan (move left and right), tilt (move up and down) */
/** Radians, for CAM_MODE_ANGLES mode */
-extern float cam_target_x, cam_target_y;
+extern float cam_target_x, cam_target_y, cam_target_alt;
/** For CAM_MODE_XY_TARGET mode */
extern uint8_t cam_target_wp;
diff --git a/sw/airborne/modules/cam_control/cam_segment.c b/sw/airborne/modules/cam_control/cam_segment.c
new file mode 100644
index 0000000000..1b6d104044
--- /dev/null
+++ b/sw/airborne/modules/cam_control/cam_segment.c
@@ -0,0 +1,48 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+/** \file cam_segment.c
+ * \brief camera control to track a segment using the general cam driver (target mode)
+ *
+ * initial version: pointing towards the carrot
+ */
+
+#include "modules/cam_control/cam_segment.h"
+#include "modules/cam_control/cam.h"
+#include "subsystems/nav.h"
+#include "estimator.h"
+
+void cam_segment_init( void ) {
+}
+
+void cam_segment_stop ( void ) {
+ cam_mode = CAM_MODE_OFF;
+}
+
+void cam_segment_periodic( void ) {
+ cam_mode = CAM_MODE_XY_TARGET;
+ cam_target_x = desired_x;
+ cam_target_y = desired_y;
+ cam_target_alt = ground_alt;
+}
+
diff --git a/sw/airborne/modules/cam_control/cam_segment.h b/sw/airborne/modules/cam_control/cam_segment.h
new file mode 100644
index 0000000000..32b336b4d8
--- /dev/null
+++ b/sw/airborne/modules/cam_control/cam_segment.h
@@ -0,0 +1,37 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+/** \file cam_segment.c
+ * \brief camera control to track a segment using the general cam driver (target mode)
+ *
+ * initial version: pointing towards the carrot
+ */
+
+#ifndef CAM_SEGMENT_H
+#define CAM_SEGMENT_H
+
+extern void cam_segment_init( void );
+extern void cam_segment_stop ( void );
+extern void cam_segment_periodic( void );
+
+#endif