diff --git a/sw/airborne/radio_control.c b/sw/airborne/radio_control.c
index 98675980e6..4370d5c05e 100644
--- a/sw/airborne/radio_control.c
+++ b/sw/airborne/radio_control.c
@@ -26,7 +26,7 @@
 
 pprz_t rc_values[PPM_NB_PULSES];
 uint8_t rc_status;
-pprz_t avg_rc_values[PPM_NB_PULSES];
+int32_t avg_rc_values[PPM_NB_PULSES];
 uint8_t rc_values_contains_avg_channels = FALSE;
 uint8_t time_since_last_ppm;
 uint8_t ppm_cpt, last_ppm_cpt;
diff --git a/sw/airborne/radio_control.h b/sw/airborne/radio_control.h
index 32d2951257..cef4c65b18 100644
--- a/sw/airborne/radio_control.h
+++ b/sw/airborne/radio_control.h
@@ -44,7 +44,7 @@
 
 extern pprz_t rc_values[PPM_NB_PULSES];
 extern uint8_t rc_status;
-extern pprz_t avg_rc_values[PPM_NB_PULSES];
+extern int32_t avg_rc_values[PPM_NB_PULSES];
 extern uint8_t rc_values_contains_avg_channels;
 extern uint8_t time_since_last_ppm;
 extern uint8_t ppm_cpt, last_ppm_cpt;
diff --git a/sw/tools/gen_radio.ml b/sw/tools/gen_radio.ml
index dc6a53d791..81b7267177 100644
--- a/sw/tools/gen_radio.ml
+++ b/sw/tools/gen_radio.ml
@@ -68,36 +68,39 @@ let parse_channel =
     }
 
 
+let norm1_ppm = fun c ->
+  if c.neutral = c.min then
+    sprintf "tmp_radio * (MAX_PPRZ / (float)(SIGNED_SYS_TICS_OF_USEC(%d-%d)))" c.max c.min, "0"
+  else
+    sprintf "tmp_radio * (tmp_radio >=0 ? (MAX_PPRZ/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))) : (MIN_PPRZ/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))))" c.max c.neutral c.min c.neutral, "MIN_PPRZ"
+      
 let gen_normalize_ppm = fun channels ->
   printf "#define NormalizePpm() {\\\n";
   printf "  static uint8_t avg_cpt = 0; /* Counter for averaging */\\\n";
-  printf "   int16_t tmp_radio;\\\n";
+  printf "  int16_t tmp_radio;\\\n";
   List.iter
     (fun c ->
-      printf "  tmp_radio = ppm_pulses[RADIO_%s] -  SYS_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
-      let period = if c.averaged then "RC_AVG_PERIOD" else "1" in
-      let value, min_pprz = 
-	if c.neutral = c.min then
-	  sprintf "tmp_radio * (MAX_PPRZ / %s / (float)(SIGNED_SYS_TICS_OF_USEC(%d-%d)))" period c.max c.min, "0"
-	else
-	  sprintf "tmp_radio * (tmp_radio >=0 ? (MAX_PPRZ/%s/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))) : (MIN_PPRZ/%s/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))))" period c.max c.neutral period c.min c.neutral, "MIN_PPRZ" in
+      let value, min_pprz = norm1_ppm c in
       if c.averaged then begin
-	printf "  avg_rc_values[RADIO_%s] += %s;\\\n" c.name value
+	printf "  avg_rc_values[RADIO_%s] += ppm_pulses[RADIO_%s];\\\n" c.name c.name
       end else begin
+	printf "  tmp_radio = ppm_pulses[RADIO_%s] - SYS_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
 	printf "  rc_values[RADIO_%s] = %s;\\\n" c.name value;
-	printf "  if (rc_values[RADIO_%s] > MAX_PPRZ) rc_values[RADIO_%s] = MAX_PPRZ;\\\n else if (rc_values[RADIO_%s] < %s) rc_values[RADIO_%s] = %s; \\\n\\\n" c.name c.name c.name min_pprz c.name min_pprz;
+	printf "  Bound(rc_values[RADIO_%s], %s, MAX_PPRZ); \\\n\\\n" c.name min_pprz;
       end
       )
     channels;
-  printf "avg_cpt++;\\\n";
+  printf "  avg_cpt++;\\\n";
   printf "  if (avg_cpt == RC_AVG_PERIOD) {\\\n";
   printf "    avg_cpt = 0;\\\n";
   List.iter
     (fun c ->
       if c.averaged then begin
-	printf "    rc_values[RADIO_%s] = avg_rc_values[RADIO_%s];\\\n" c.name c.name;
+	let value, min_pprz = norm1_ppm c in
+	printf "    tmp_radio = avg_rc_values[RADIO_%s] / RC_AVG_PERIOD -  SYS_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
+	printf "    rc_values[RADIO_%s] = %s;\\\n" c.name value;
 	printf "    avg_rc_values[RADIO_%s] = 0;\\\n" c.name;
-	printf "  if (rc_values[RADIO_%s] > MAX_PPRZ) rc_values[RADIO_%s] = MAX_PPRZ;\\\n else if (rc_values[RADIO_%s] < MIN_PPRZ) rc_values[RADIO_%s] = MIN_PPRZ; \\\n\\\n" c.name c.name c.name c.name;
+	printf "    Bound(rc_values[RADIO_%s], %s, MAX_PPRZ); \\\n\\\n" c.name min_pprz;
       end
     )
     channels;