diff --git a/conf/Makefile.avr b/conf/Makefile.avr
index a2a86c22df..fb64ea2f1a 100644
--- a/conf/Makefile.avr
+++ b/conf/Makefile.avr
@@ -115,7 +115,7 @@ $(OBJDIR)/%.hex: $(OBJDIR)/%.elf
 %.install: $(OBJDIR)/%.hex check_arch
 	# stk200 needs to be erased first
 	$(UISP) $(UISP_FLAGS) --erase
-	$(UISP) $(UISP_FLAGS) --upload if=$<
+	$(UISP) $(UISP_FLAGS) --upload --verify if=$<
 
 erase: check_arch
 	$(UISP) $(ISP_FLAGS) --erase
diff --git a/sw/ground_segment/cockpit/Paparazzi/NDPage.pm b/sw/ground_segment/cockpit/Paparazzi/NDPage.pm
index 619b3231cb..73100487e1 100644
--- a/sw/ground_segment/cockpit/Paparazzi/NDPage.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/NDPage.pm
@@ -24,6 +24,8 @@ sub populate {
 sub completeinit {
   my $self = shift;
   $self->SUPER::completeinit;
+  $self->{normal_font} = "bleriot-radar-m12c";
+  $self->{small_font} = "bleriot-radar-m8c";
   $self->build_gui();
 }
 
diff --git a/sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm b/sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm
index 65d1eed3e4..0b68906d50 100644
--- a/sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm
@@ -7,34 +7,59 @@ use Data::Dumper;
 
 use constant TITLE => "Settings";
 
-my @fields = ('if_mode', 'if_value1', 'if_value2');
+my @fields = ('if_mode', 'ap_mode');
 
 sub populate {
   my ($self, $args) = @_;
   $args->{-title} = TITLE;
   $self->SUPER::populate($args);
   $self->configspec(
-		    -fields => [S_NEEDINIT, S_PASSIVE,  S_RDONLY,   S_OVRWRT, S_NOPRPG, []],
 		   );
 }
 
+
+
 sub set_aircraft {
   my ($self, $prev_ac, $new_ac) = @_;
   foreach my $field  (@fields) {
     $prev_ac->detach($self, $field, [\&update_field]) if ($prev_ac);
     $new_ac->attach($self, $field, [\&update_field]) if ($new_ac);
   }
-  
   my $fligh_plan = $new_ac->get('flight_plan');
-  
-  use Data::Dumper;
-  print "#####".Dumper(scalar $fligh_plan->get('-rc_control'));
-
+  #  use Data::Dumper;
+  #  print "#####".Dumper(scalar $fligh_plan->get('-rc_control'));
+  my $zinc = $self->get('-zinc');
+  my $rc_controls = $fligh_plan->get('-rc_control');
+  foreach my $mode (keys %{$rc_controls}) {
+    foreach my $dir (keys %{$rc_controls->{$mode}}) {
+      foreach my $slider (keys %{$rc_controls->{$mode}->{$dir}}) {
+	my $label = $self->{'label_'.$mode."_".$dir."_".$slider};
+	$zinc->itemconfigure($label, -text => $rc_controls->{$mode}->{$dir}->{$slider}->[0]);
+      }
+    }
+  }
 }
 
 sub update_field {
   my ($self, $aircraft, $field, $new_value) = @_;
-  $self->get('-zinc')->itemconfigure($self->{'text_'.$field}, -text => $new_value);
+  if ($field eq 'ap_mode' or $field eq 'if_mode') {
+    $self->get('-zinc')->itemconfigure($self->{'text_'.$field}, -text => $new_value);
+  }
+#  else {
+  my $zinc = $self->get('-zinc');
+  my $ap_mode = $aircraft->get('ap_mode');
+  my $if_mode = $aircraft->get('if_mode');
+  foreach my $slider ('gain_1', 'gain_2') {
+    my $label = $self->{'label_'.$ap_mode."_".$if_mode."_".$slider};
+    $zinc->itemconfigure($label, -color => 'green');
+    print "$ap_mode $if_mode $slider $label\n";
+  }
+ #    $field =~ /if_value(\S)/;
+ #   my $slider = "GAIN_".$1;
+ #   my $label = $self->{'label_'.$ap_mode."_".$if_mode."_".$slider};
+ #   print "$ap_mode $if_mode $slider $label\n";
+
+#  }
 }
 
 sub build_gui {
@@ -57,5 +82,46 @@ sub build_gui {
 					 -text => 'NA');
     $y+=$dy;
   }
+
+  my @ap_modes = ('AUTO1', 'AUTO2');
+  my @if_modes = ('UP', 'DOWN');
+  my @sliders = ('gain_1', 'gain_2');
+  foreach my $ap_mode (@ap_modes) {
+    $x = 10;
+    $zinc->add('text', $self->{main_group},
+	       -position => [$x, $y+$self->{vmargin}],
+	       -color => 'white',
+	       -anchor => 'w',
+	       -text => $ap_mode);
+    foreach my $slider (@sliders) {
+      $x += 100;
+      $zinc->add('text', $self->{main_group},
+		 -position => [$x, $y+$self->{vmargin}],
+		 -color => 'white',
+		 -anchor => 'w',
+		 -text => $slider);
+    }
+    foreach my $if_mode (@if_modes) {
+      $x = 10;
+      $y += 35;
+      $zinc->add('text', $self->{main_group},
+		 -position => [$x, $y+$self->{vmargin}],
+		 -color => 'white',
+		 -anchor => 'w',
+		 -text => $if_mode);
+      foreach my $slider (@sliders) {
+	$x += 100;
+	$self->{'label_'.$ap_mode."_".$if_mode."_".$slider} =
+	  $zinc->add('text', $self->{main_group},
+		     -position => [$x, $y+$self->{vmargin}],
+		     -color => 'white',
+		     -anchor => 'w',
+		     -text => "N/A",
+		     -font => $self->{small_font},
+		    );
+      }
+    }
+    $y += 35;
+  }
 }
 
diff --git a/sw/lib/perl/Paparazzi/Flightplan.pm b/sw/lib/perl/Paparazzi/Flightplan.pm
index 6d16fcd930..4ddd206746 100644
--- a/sw/lib/perl/Paparazzi/Flightplan.pm
+++ b/sw/lib/perl/Paparazzi/Flightplan.pm
@@ -142,11 +142,13 @@ sub parse_rc_control {
     my $mode_name = $mode->getAttribute('name');
     my @settings = $mode->getElementsByTagName('setting');
     foreach my $s (@settings) {
-      my ($var, $range, $rc, $type) = ($s->getAttribute('var'),
+      my ($rc, $var, $range, $type) = ($s->getAttribute('rc'),
+				       $s->getAttribute('var'),
 				       $s->getAttribute('range'),
-				       $s->getAttribute('rc'),
 				       $s->getAttribute('type'));
-      $rc_control->{$mode_name} = [$var, $range, $rc, $type];
+      $rc =~ /(gain_.+)_(\S+)/;
+      my ($slider, $direction) = ($1, $2);
+      $rc_control->{$mode_name}->{$direction}->{$slider} = [$var, $range, $type];
     }
   }
   $self->configure('-rc_control', $rc_control);