diff --git a/sw/ground_segment/joystick/Makefile b/sw/ground_segment/joystick/Makefile
index bde946751b..a82d224c96 100644
--- a/sw/ground_segment/joystick/Makefile
+++ b/sw/ground_segment/joystick/Makefile
@@ -29,22 +29,10 @@ TOOLSDIR = ../../tools
 OCAMLINCLUDES= -I $(OCAMLLIB) -I +lablgtk2 -I +xml-light -I $(TOOLSDIR)
 LIBPPRZCMA=$(OCAMLLIB)/lib-pprz.cma
 
-all: main_stick
+all: test_stick input2ivy
 
-main_stick: main_stick.o usb_stick.o
-	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy
-
-main_stick_debug: main_stick.o usb_stick.o
-	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy -DSTICK_DBG
-
-apm_stick: apm_stick.o usb_stick.o
-	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy
-
-xbox_stick: xbox_stick.o usb_stick.o
-	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy
-
-attack3_stick: attack3_stick.o usb_stick.o
-	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy
+test_stick: test_stick.o
+	gcc -g -O2 -Wall -DSTICK_DBG `pkg-config glib-2.0 --cflags` -o $@ $^ usb_stick.c `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy
 
 input2ivy: usb_stick.o ml_usb_stick.o input2ivy.cmo
 	$(OCAMLC) $(OCAMLINCLUDES) -custom -o $@ unix.cma str.cma glibivy-ocaml.cma xml-light.cma lib-pprz.cma lablgtk.cma $(TOOLSDIR)/fp_proc.cmo $^
@@ -58,5 +46,5 @@ input2ivy: usb_stick.o ml_usb_stick.o input2ivy.cmo
 	$(Q)$(OCAMLC) $(OCAMLINCLUDES) -c $<
 
 clean:
-	rm -f *~ core *.o *.bak .depend main_stick main_stick_debug apm_stick xbox_stick attack3_stick *.cmo *.cmi input2ivy
+	rm -f *~ core *.o *.bak .depend test_stick *.cmo *.cmi input2ivy
 
diff --git a/sw/ground_segment/joystick/apm_stick.c b/sw/ground_segment/joystick/apm_stick.c
deleted file mode 100644
index 4a6a2b7dac..0000000000
--- a/sw/ground_segment/joystick/apm_stick.c
+++ /dev/null
@@ -1,191 +0,0 @@
-/*
- * apm_stick
- *
- * send joystick control to paparazzi through ivy 
- *
- * based on Force Feedback: Constant Force Stress Test
- * Copyright (C) 2001 Oliver Hamann
- *
- * This program 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 of the License, or
- * (at your option) any later version.
- *
- * This program 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 this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- */
-
-#include "usb_stick.h"
-
-#include <inttypes.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <glib.h>
-#include <Ivy/ivy.h>
-#include <Ivy/ivyglibloop.h>
-
-#define TIMEOUT_PERIOD  100
-#define UPDATE_FREQ     (1./TIMEOUT_PERIOD)
-
-#define DEFAULT_AC_ID   1
-
-#define CAM_TILT_MIN    1000
-#define CAM_TILT_MAX    2000
-
-/* Global vars */
-int fp_received_once = 0;
-long int fp_east_sp,fp_north_sp,fp_up_sp,fp_psi_sp;
-float east_sp,north_sp,up_sp,psi_sp;
-float cam_tilt_sp = 1500.;
-int last_button = 0;
-
-/* Options */
-char * device_name    = NULL;
-int aircraft_id       = DEFAULT_AC_ID;
-
-void parse_args(int argc, char * argv[])
-{
-  int i;
-
-  for (i = 1; i < argc; i++) {
-    if      (!strcmp(argv[i],"-d") && i<argc-1) device_name = argv[++i];
-    else if (!strcmp(argv[i],"-a") && i<argc-1) aircraft_id = atoi(argv[++i]);
-    else if (!strcmp(argv[i],"-h")) goto l_help;
-  }
-  return;
-
-l_help:
-  printf("Usage:\n");
-  printf("  %s <option> [<option>...]\n",argv[0]);
-  printf("Options:\n");
-  printf("  -d <string>  device name\n");
-  printf("  -a <int>     aircraft id (default: %d)\n",DEFAULT_AC_ID);
-  printf("  -h           display this help\n");
-  exit(1);
-}
-
-
-#define STICK_DEADBAND 10
-#define STICK_APPLY_DEADBAND(_v) (abs(_v) >= STICK_DEADBAND ? _v : 0)
-
-#define ATTITUDE_COEF 2144  // RadOfDeg(15 / 128) << 20
-#define CLIMB_COEF 0.5      // vertical speed (m/s)
-#define YAW_RATE_COEF (2./128) // 2 deg/s
-#define CAM_TILT_RATE 50    // cam rate
-
-#define SPEED_RES 19
-#define ANGLE_REF_RES 20
-
-#define bit_is_set(x, b) ((x >> b) & 0x1)
-
-// ATTITUDE
-static gboolean joystick_attitude_periodic(gpointer data __attribute__ ((unused))) {
-
-	stick_read();
-
-	int roll     = STICK_APPLY_DEADBAND(stick_axis_values[0]);
-	int pitch    = STICK_APPLY_DEADBAND(stick_axis_values[1]);
-
-  int yaw_d_l  = bit_is_set(stick_button_values,6);
-  int yaw_d_r  = bit_is_set(stick_button_values,7);
-  int up       = bit_is_set(stick_button_values,0);
-  int down     = bit_is_set(stick_button_values,3);
-  int cam_up   = bit_is_set(stick_button_values,2);
-  int cam_down = bit_is_set(stick_button_values,5);
-  /*printf("button %d %d %d %d %d %d\n", yaw_d_l, yaw_d_r, up, down, cam_up, cam_down);*/
-
-  float yaw_rate = 0.;
-  if (yaw_d_l != yaw_d_r) {
-    if (yaw_d_r) yaw_rate = YAW_RATE_COEF * (2^ANGLE_REF_RES);
-    else yaw_rate = - YAW_RATE_COEF * (2^ANGLE_REF_RES);
-  }
-
-  float climb   = 0.;
-  if (up != down) {
-    if (up) climb = - CLIMB_COEF; // Z DOWN !!!
-    else climb = CLIMB_COEF;
-  }
-
-  if (cam_up != cam_down) {
-    if (cam_up) cam_tilt_sp += CAM_TILT_RATE;
-    else cam_tilt_sp -= CAM_TILT_RATE;
-  }
-  if (cam_tilt_sp < CAM_TILT_MIN) cam_tilt_sp = CAM_TILT_MIN;
-  if (cam_tilt_sp > CAM_TILT_MAX) cam_tilt_sp = CAM_TILT_MAX;
-
-  IvySendMsg("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d",
-      2, 3,
-      (int)(climb * (1 << SPEED_RES)),
-      (ATTITUDE_COEF * roll),
-      (ATTITUDE_COEF * pitch),
-      (int)(yaw_rate * YAW_RATE_COEF * (1 << ANGLE_REF_RES)),
-      aircraft_id);
-  /*printf("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d\n",
-      2, 3,
-      (int)(climb * (1 << SPEED_RES)),
-      (ATTITUDE_COEF * roll),
-      (ATTITUDE_COEF * pitch),
-      (int)(yaw_rate * YAW_RATE_COEF * (1 << ANGLE_REF_RES)),
-      aircraft_id);*/
-  if (cam_up != cam_down) {
-    IvySendMsg("dl DL_SETTING %d %d %f",
-        aircraft_id,
-        1, //CAM_TILT FIXME
-        cam_tilt_sp);
-    /*printf("dl DL_SETTING %d %d %f\n",
-        aircraft_id,
-        1, //CAM_TILT FIXME
-        cam_tilt_sp);*/
-  }
-
-	return 1;
-}
-
-/*
-void readBOOZ2_FPIvyBus(IvyClientPtr app, void *data, int argc, char **argv) {
-
-  //printf("%s\n",argv[0]);
-  if (argc > 0) {
-    sscanf(argv[0],"%*d %*s
-        %*d %*d %*d
-        %*d %*d %*d
-        %*d %*d %*d
-        %ld %ld %ld %ld
-        %*d",
-        &fp_east_sp, &fp_north_sp, &fp_up_sp, &fp_psi_sp);
-
-    fp_received_once = 1;
-  }
-}
-*/
-
-int main ( int argc, char** argv) {
-
-  GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
-  
-  parse_args(argc, argv);
-  
-  IvyInit ("IvyCtrlJoystick", "IvyCtrlJoystick READY", NULL, NULL, NULL, NULL);
-  IvyStart("127.255.255.255");
-
-  if (stick_init(device_name) != 0) return 0;
-
-  /*
-  char bindMsgBOOZ2_FP[32];
-  snprintf(bindMsgBOOZ2_FP,32,"%s%d%s","(",aircraft_id," BOOZ2_FP .*)");
-  IvyBindMsg(readBOOZ2_FPIvyBus,0,bindMsgBOOZ2_FP);
-  */
- 
-  g_timeout_add(TIMEOUT_PERIOD, joystick_attitude_periodic, NULL);
-
-  g_main_loop_run(ml);
-
-  return 0;
-}
diff --git a/sw/ground_segment/joystick/attack3_booz_nav.xml b/sw/ground_segment/joystick/attack3_booz_nav.xml
index 4879f56baa..583f317102 100644
--- a/sw/ground_segment/joystick/attack3_booz_nav.xml
+++ b/sw/ground_segment/joystick/attack3_booz_nav.xml
@@ -1,37 +1,45 @@
 <joystick>
- <input>
-  <axis index="0" name="roll"/>
-  <axis index="1" name="pitch"/>
-  <axis index="2" name="throttle"/>
-  <button index="0" name="shoot"/>
-  <button index="1" name="down"/>
-  <button index="2" name="up"/>
-  <button index="3" name="left"/>
-  <button index="4" name="right"/>
-  <button index="5" name="button6"/>
-  <button index="6" name="button7"/>
-  <button index="7" name="button8"/>
-</input>
-<messages period="0.1">
-  <message class="datalink" name="BOOZ2_FMS_COMMAND">
-   <field name="h_mode" value="IndexOfEnum(NAV)"/>
-   <field name="v_mode" value="IndexOfEnum(NAV)"/>
-   <field name="v_sp"   value="(up-down)*127"/>
-   <field name="h_sp_1" value="roll"/>
-   <field name="h_sp_2" value="pitch"/>
-   <field name="h_sp_3" value="(right-left)*127"/>
-  </message>
+  <input>
+    <axis index="0" name="roll"/>
+    <axis index="1" name="pitch"/>
+    <axis index="2" name="throttle"/>
+    <button index="0" name="shoot"/>
+    <button index="1" name="down"/>
+    <button index="2" name="up"/>
+    <button index="3" name="left"/>
+    <button index="4" name="right"/>
+    <button index="5" name="button6"/>
+    <button index="6" name="button7"/>
+    <button index="7" name="button8"/>
+  </input>
 
-  <message class="ground" name="DL_SETTING">
-    <field name="index" value="IndexOfSetting(booz2_cam_tilt_pwm)"/>
-    <field name="value" value="Scale(throttle, 1000, 2000)"/>
-  </message>
+  <messages period="0.1">
+    <!--message class="datalink" name="BOOZ2_FMS_COMMAND">
+      <field name="h_mode" value="IndexOfEnum(NAV)"/>
+      <field name="v_mode" value="IndexOfEnum(NAV)"/>
+      <field name="v_sp"   value="(up-down)*127"/>
+      <field name="h_sp_1" value="0-pitch"/>
+      <field name="h_sp_2" value="roll"/>
+      <field name="h_sp_3" value="(right-left)*127"/>
+    </message-->
 
-  <message class="ground" name="JUMP_TO_BLOCK" on_event="shoot && button7">
-    <field name="block_id" value="IndexOfBlock('land here')"/>
-  </message>
-  <message class="ground" name="JUMP_TO_BLOCK" on_event="shoot && button8">
-    <field name="block_id" value="IndexOfBlock('Joystick')"/>
-  </message>
- </messages>
+    <message class="datalink" name="BOOZ_NAV_STICK">
+      <field name="vx_sp" value="0-pitch"/>
+      <field name="vy_sp" value="roll"/>
+      <field name="vz_sp"   value="(up-down)*127"/>
+      <field name="r_sp" value="(right-left)*127"/>
+    </message>
+
+    <!--message class="ground" name="DL_SETTING">
+      <field name="index" value="IndexOfSetting(booz2_cam_tilt_pwm)"/>
+      <field name="value" value="Scale(throttle, 1000, 2000)"/>
+    </message-->
+
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="shoot && button7">
+      <field name="block_id" value="IndexOfBlock('land here')"/>
+    </message>
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="shoot && button8">
+      <field name="block_id" value="IndexOfBlock('Joystick')"/>
+    </message>
+  </messages>
 </joystick>
diff --git a/sw/ground_segment/joystick/attack3_stick.c b/sw/ground_segment/joystick/attack3_stick.c
deleted file mode 100644
index 9ba7d7ca5f..0000000000
--- a/sw/ground_segment/joystick/attack3_stick.c
+++ /dev/null
@@ -1,225 +0,0 @@
-/*
- * Attack3 Logitech
- *
- * send joystick control to paparazzi through ivy 
- *
- * based on Force Feedback: Constant Force Stress Test
- * Copyright (C) 2001 Oliver Hamann
- *
- * This program 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 of the License, or
- * (at your option) any later version.
- *
- * This program 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 this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- */
-
-#include "usb_stick.h"
-
-#include <inttypes.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <glib.h>
-#include <Ivy/ivy.h>
-#include <Ivy/ivyglibloop.h>
-
-#define TIMEOUT_PERIOD  100
-#define UPDATE_FREQ     (1./TIMEOUT_PERIOD)
-
-#define DEFAULT_AC_ID   1
-#define DEFAULT_MODE    0
-
-#define CAM_TILT_MIN    1000
-#define CAM_TILT_MAX    2000
-
-/* Global vars */
-int fp_received_once = 0;
-float cam_tilt_sp = 1500.;
-int last_button = 0;
-
-/* Options */
-char * device_name    = NULL;
-int aircraft_id       = DEFAULT_AC_ID;
-int mode              = DEFAULT_MODE;
-
-void parse_args(int argc, char * argv[])
-{
-  int i;
-
-  for (i = 1; i < argc; i++) {
-    if      (!strcmp(argv[i],"-d") && i<argc-1) device_name = argv[++i];
-    else if (!strcmp(argv[i],"-a") && i<argc-1) aircraft_id = atoi(argv[++i]);
-    else if (!strcmp(argv[i],"-m") && i<argc-1) mode = atoi(argv[++i]);
-    else if (!strcmp(argv[i],"-h")) goto l_help;
-  }
-  return;
-
-l_help:
-  printf("Usage:\n");
-  printf("  %s <option> [<option>...]\n",argv[0]);
-  printf("Options:\n");
-  printf("  -d <string>  device name\n");
-  printf("  -a <int>     aircraft id (default: %d)\n",DEFAULT_AC_ID);
-  printf("  -m <int>     mode (0 attitude, 1 speed, default: %d)\n",DEFAULT_MODE);
-  printf("  -h           display this help\n");
-  exit(1);
-}
-
-
-#define STICK_DEADBAND 15
-#define STICK_APPLY_DEADBAND(_v) (abs(_v) >= STICK_DEADBAND ? _v : 0)
-#define STICK_LARGE_DEADBAND 20
-#define STICK_APPLY_LARGE_DEADBAND(_v) (abs(_v) >= STICK_LARGE_DEADBAND ? _v : 0)
-
-#define ATTITUDE_COEF 2144  // RadOfDeg(15 / 128) << 20
-#define CLIMB_COEF 0.5      // vertical speed (m/s)
-#define YAW_RATE_COEF (6./512) // 6 deg/s
-
-#define SPEED_RES 19
-#define ANGLE_REF_RES 20
-
-#define bit_is_set(x, b) ((x >> b) & 0x1)
-
-// ATTITUDE
-static gboolean joystick_attitude_periodic(gpointer data __attribute__ ((unused))) {
-
-	stick_read();
-
-	int roll     = STICK_APPLY_DEADBAND(stick_axis_values[0]);
-	int pitch    = STICK_APPLY_DEADBAND(stick_axis_values[1]);
-  int tilt     = stick_axis_values[2];
-
-  int right    = bit_is_set(stick_button_values,4);
-  int left     = bit_is_set(stick_button_values,3);
-  int up       = bit_is_set(stick_button_values,2);
-  int down     = bit_is_set(stick_button_values,1);
-
-  float yaw_rate = 0.;
-  if (left != right) {
-    if (right) yaw_rate = 1.;
-    else yaw_rate = -1.;
-  }
-
-  float climb = 0.;
-  if (up != down) {
-    if (up) climb = - CLIMB_COEF; // Z DOWN !!!
-    else climb = CLIMB_COEF;
-  }
-
-  static int last_tilt = 0;
-  cam_tilt_sp = CAM_TILT_MIN + (CAM_TILT_MAX - CAM_TILT_MIN) * (tilt + 127.)/254.;
-  if (cam_tilt_sp < CAM_TILT_MIN) cam_tilt_sp = CAM_TILT_MIN;
-  if (cam_tilt_sp > CAM_TILT_MAX) cam_tilt_sp = CAM_TILT_MAX;
-
-  IvySendMsg("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d",
-      2, 3,
-      (int)(climb * (1 << SPEED_RES)),
-      (ATTITUDE_COEF * roll),
-      (ATTITUDE_COEF * pitch),
-      (int)(yaw_rate * YAW_RATE_COEF * (1 << ANGLE_REF_RES)),
-      aircraft_id);
-//  printf("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d\n",
-//      2, 3,
-//      (int)(climb * (1 << SPEED_RES)),
-//      (ATTITUDE_COEF * roll),
-//      (ATTITUDE_COEF * pitch),
-//      (int)(yaw_rate * YAW_RATE_COEF * (1 << ANGLE_REF_RES)),
-//      aircraft_id);
-  if (tilt != last_tilt) {
-    IvySendMsg("dl DL_SETTING %d %d %f",
-        aircraft_id,
-        1, //CAM_TILT FIXME
-        cam_tilt_sp);
-//    printf("dl DL_SETTING %d %d %f\n",
-//        aircraft_id,
-//        1, //CAM_TILT FIXME
-//        cam_tilt_sp);
-  }
-  last_tilt = tilt;
-
-	return 1;
-}
-
-#define SPEED_MAX_VAL 127
-// SPEED
-static gboolean joystick_speed_periodic(gpointer data __attribute__ ((unused))) {
-
-	stick_read();
-
-	int vx = -STICK_APPLY_DEADBAND(stick_axis_values[1]); // vx > 0 front
-	int vy = STICK_APPLY_DEADBAND(stick_axis_values[0]); // vy > 0 right
-  int tilt = stick_axis_values[2];
-
-  int right = bit_is_set(stick_button_values,4);
-  int left  = bit_is_set(stick_button_values,3);
-  int up    = bit_is_set(stick_button_values,2);
-  int down  = bit_is_set(stick_button_values,1);
-
-  int yaw_rate = 0; // rate > 0 clockwise
-  if (left != right) {
-    if (right) yaw_rate = SPEED_MAX_VAL;
-    else yaw_rate = -SPEED_MAX_VAL;
-  }
-
-  int climb = 0; // climb > 0 up
-  if (up != down) {
-    if (up) climb = SPEED_MAX_VAL;
-    else climb = -SPEED_MAX_VAL;
-  }
-
-  static int last_tilt = 0;
-  cam_tilt_sp = CAM_TILT_MIN + (CAM_TILT_MAX - CAM_TILT_MIN) * (tilt + 127.)/254.;
-  if (cam_tilt_sp < CAM_TILT_MIN) cam_tilt_sp = CAM_TILT_MIN;
-  if (cam_tilt_sp > CAM_TILT_MAX) cam_tilt_sp = CAM_TILT_MAX;
-
-  // NAV h = 4, v = 5
-  IvySendMsg("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d", 4, 5, climb, vx, vy, yaw_rate, aircraft_id);
-  //printf("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d\n", 4, 5, climb, vx, vy, yaw_rate, aircraft_id);
-  if (tilt != last_tilt) {
-    IvySendMsg("dl DL_SETTING %d %d %f",
-        aircraft_id,
-        1, //CAM_TILT FIXME
-        cam_tilt_sp);
-//    printf("dl DL_SETTING %d %d %f\n",
-//        aircraft_id,
-//        1, //CAM_TILT FIXME
-//        cam_tilt_sp);
-  }
-  last_tilt = tilt;
-
-	return 1;
-}
-
-int main ( int argc, char** argv) {
-
-  GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
-  
-  parse_args(argc, argv);
-  
-  IvyInit ("IvyCtrlJoystick", "IvyCtrlJoystick READY", NULL, NULL, NULL, NULL);
-  IvyStart("127.255.255.255");
-
-  if (stick_init(device_name) != 0) return 0;
-
-  if (mode == 0) 
-    g_timeout_add(TIMEOUT_PERIOD, joystick_attitude_periodic, NULL);
-  else if (mode == 1)
-    g_timeout_add(TIMEOUT_PERIOD, joystick_speed_periodic, NULL);
-  else {
-    fprintf(stderr,"Unknown mode : %d\n",mode);
-    exit(1);
-  }
-
-
-  g_main_loop_run(ml);
-
-  return 0;
-}
diff --git a/sw/ground_segment/joystick/main_stick.c b/sw/ground_segment/joystick/main_stick.c
deleted file mode 100644
index 0620a8801c..0000000000
--- a/sw/ground_segment/joystick/main_stick.c
+++ /dev/null
@@ -1,197 +0,0 @@
-/*
- * main_stick
- *
- * send joystick control to paparazzi through ivy 
- *
- * based on Force Feedback: Constant Force Stress Test
- * Copyright (C) 2001 Oliver Hamann
- *
- * This program 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 of the License, or
- * (at your option) any later version.
- *
- * This program 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 this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- */
-
-#include "usb_stick.h"
-
-#include <inttypes.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <glib.h>
-#include <Ivy/ivy.h>
-#include <Ivy/ivyglibloop.h>
-
-#define TIMEOUT_PERIOD  100
-
-#define DEFAULT_AC_ID   1
-
-#define MODE_ATTITUDE   0
-#define MODE_HOVER      1
-
-/* Global vars */
-int fp_received_once  = 0;
-long int lon_sp,lat_sp,alt_sp,psi_sp;
-int last_button = 0;
-int8_t last_up = 0, last_down = 0;
-
-/* Options */
-char * device_name    = NULL;
-int aircraft_id       = DEFAULT_AC_ID;
-int mode              = MODE_ATTITUDE;
-
-void parse_args(int argc, char * argv[])
-{
-  int i;
-
-  for (i = 1; i < argc; i++) {
-    if      (!strcmp(argv[i],"-d") && i<argc-1) device_name = argv[++i];
-    else if (!strcmp(argv[i],"-a") && i<argc-1) aircraft_id = atoi(argv[++i]);
-    else if (!strcmp(argv[i],"-m") && i<argc-1) mode        = atoi(argv[++i]);
-    else if (!strcmp(argv[i],"-h")) goto l_help;
-  }
-  return;
-
-l_help:
-  printf("Usage:\n");
-  printf("  %s <option> [<option>...]\n",argv[0]);
-  printf("Options:\n");
-  printf("  -d <string>  device name\n");
-  printf("  -a <int>     aircraft id (default: %d)\n",DEFAULT_AC_ID);
-  printf("  -m <int>     joystick mode: (%d) ATTITUDE, (%d) HOVER. (default: %d)\n",MODE_ATTITUDE,MODE_HOVER,MODE_ATTITUDE);
-  printf("  -h           display this help\n");
-  exit(1);
-}
-
-
-#define STICK_DEADBAND 10
-#define STICK_APPLY_DEADBAND(_v) (abs(_v) >= STICK_DEADBAND ? _v : 0)
-
-#define ATTITUDE_COEF 1430  // RadOfDeg(10 / 128) << 20
-#define CLIMB_COEF_SHIFT 6  // around 1 m/s
-#define CLIMB_INCR (10*127) // 1 m step
-#define YAW_RATE_COEF 50   // 4 deg/s = ATTITUDE_COEF / 10 (update frequncy)
-
-#define bit_is_set(x, b) ((x >> b) & 0x1)
-
-// ATTITUDE
-static gboolean joystick_attitude_periodic(gpointer data __attribute__ ((unused))) {
-
-	stick_read();
-
-	int8_t roll = STICK_APPLY_DEADBAND(stick_axis_values[0]);
-	int8_t pitch = STICK_APPLY_DEADBAND(stick_axis_values[1]);
-	int8_t yaw_rate = STICK_APPLY_DEADBAND(stick_axis_values[2]);
-  int climb = STICK_APPLY_DEADBAND(stick_axis_values[3]);
-
-  int8_t last_up = bit_is_set(last_button,3);
-  int8_t up = bit_is_set(stick_button_values,3);
-  int8_t last_down = bit_is_set(last_button,1);
-  int8_t down = bit_is_set(stick_button_values,1);
-  if (up != last_up && up > 0) climb = - CLIMB_INCR;
-  if (down != last_down && down > 0) climb = CLIMB_INCR;
-  last_button = stick_button_values;
-
-  if (! fp_received_once) return 1;
-
-  alt_sp += (climb >> CLIMB_COEF_SHIFT);
-  psi_sp += YAW_RATE_COEF * yaw_rate;
-  IvySendMsg("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d",
-      2, 2,
-      alt_sp,
-      ATTITUDE_COEF * roll,
-      ATTITUDE_COEF * pitch,
-      psi_sp,
-      aircraft_id);
-
-	return 1;
-}
-
-#define SPEED_COEF_SHIFT 3  // around 2 m/s (128 >> 3 ~= 2 / 6378137 * 180 / pi * 10^7 / 10)
-
-// HOVER
-static gboolean joystick_hover_periodic(gpointer data __attribute__ ((unused))) {
-
-	stick_read();
-
-	int8_t vx = STICK_APPLY_DEADBAND(stick_axis_values[0]);
-	int8_t vy = STICK_APPLY_DEADBAND(stick_axis_values[1]);
-	int8_t yaw_rate = STICK_APPLY_DEADBAND(stick_axis_values[2]);
-  int climb = STICK_APPLY_DEADBAND(stick_axis_values[3]);
-
-  int8_t last_up = bit_is_set(last_button,3);
-  int8_t up = bit_is_set(stick_button_values,3);
-  int8_t last_down = bit_is_set(last_button,1);
-  int8_t down = bit_is_set(stick_button_values,1);
-  if (up != last_up && up > 0) climb = - CLIMB_INCR;
-  if (down != last_down && down > 0) climb = CLIMB_INCR;
-  last_button = stick_button_values;
-  //printf("ok\n");
-
-  if (! fp_received_once) return 1;
-
-  alt_sp += (climb >> CLIMB_COEF_SHIFT);
-  lon_sp += (vx >> SPEED_COEF_SHIFT);
-  lat_sp -= (vy >> SPEED_COEF_SHIFT);
-  psi_sp += YAW_RATE_COEF * yaw_rate;
-  //printf("%ld %ld %ld %ld\n",alt_sp,lon_sp,lat_sp,psi_sp);
-  IvySendMsg("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d",
-      3, 2,
-      alt_sp,
-      lat_sp,
-      lon_sp,
-      psi_sp,
-      aircraft_id);
-
-	return 1;
-}
-
-void readBOOZ2_FPIvyBus(IvyClientPtr app, void *data, int argc, char **argv) {
-
-  //printf("%s\n",argv[0]);
-  if (argc > 0) {
-    sscanf(argv[0],"%*d %*s %*d %*d %*d %*d %*d %*d %*d %*d %ld %ld %ld %ld",
-        &lon_sp, &lat_sp, &alt_sp, &psi_sp);
-
-    fp_received_once = 1;
-  }
-}
-
-int main ( int argc, char** argv) {
-
-  GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
-  
-  parse_args(argc, argv);
-  
-  IvyInit ("IvyCtrlJoystick", "IvyCtrlJoystick READY", NULL, NULL, NULL, NULL);
-  IvyStart("127.255.255.255");
-
-  if (stick_init(device_name) != 0) return 0;
-
-  char bindMsgBOOZ2_FP[32];
-  snprintf(bindMsgBOOZ2_FP,32,"%s%d%s","(",aircraft_id," BOOZ2_FP .*)");
-  IvyBindMsg(readBOOZ2_FPIvyBus,0,bindMsgBOOZ2_FP);
- 
-  switch(mode) {
-    case MODE_ATTITUDE:
-      g_timeout_add(TIMEOUT_PERIOD, joystick_attitude_periodic, NULL);
-      break;
-    case MODE_HOVER:
-      g_timeout_add(TIMEOUT_PERIOD, joystick_hover_periodic, NULL);
-      break;
-  }
-
-  
-  g_main_loop_run(ml);
-
-  return 0;
-}
diff --git a/sw/ground_segment/joystick/test_stick.c b/sw/ground_segment/joystick/test_stick.c
new file mode 100644
index 0000000000..983949bc42
--- /dev/null
+++ b/sw/ground_segment/joystick/test_stick.c
@@ -0,0 +1,81 @@
+/*
+ * $Id:  $
+ * Copyright (C) 2009 ENAC
+ *
+ * This file is part of paparazzi.
+ * test joystick detection and commands
+ *
+ * based on Force Feedback: Constant Force Stress Test
+ * Copyright (C) 2001 Oliver Hamann
+ *
+ * This program 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 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ */
+
+#include "usb_stick.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <glib.h>
+
+#define TIMEOUT_PERIOD  100
+
+
+/* Options */
+char * device_name    = NULL;
+
+void parse_args(int argc, char * argv[])
+{
+  int i;
+
+  for (i = 1; i < argc; i++) {
+    if      (!strcmp(argv[i],"-d") && i<argc-1) device_name = argv[++i];
+    else if (!strcmp(argv[i],"-h")) goto l_help;
+  }
+  return;
+
+l_help:
+  printf("Usage:\n");
+  printf("  %s <option> [<option>...]\n",argv[0]);
+  printf("Options:\n");
+  printf("  -d <string>  device name\n");
+  printf("  -h           display this help\n");
+  exit(1);
+}
+
+
+#define bit_is_set(x, b) ((x >> b) & 0x1)
+
+static gboolean periodic(gpointer data __attribute__ ((unused))) {
+
+	stick_read();
+
+	return 1;
+}
+
+int main ( int argc, char** argv) {
+
+  GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
+  
+  parse_args(argc, argv);
+  
+  if (stick_init(device_name) != 0) return 1;
+
+  g_timeout_add(TIMEOUT_PERIOD, periodic, NULL);
+
+  g_main_loop_run(ml);
+
+  return 0;
+}
diff --git a/sw/ground_segment/joystick/usb_stick.c b/sw/ground_segment/joystick/usb_stick.c
index d49ea8272b..071214d0b5 100644
--- a/sw/ground_segment/joystick/usb_stick.c
+++ b/sw/ground_segment/joystick/usb_stick.c
@@ -180,6 +180,8 @@ int init_hid_device(char* device_name)
           cnt,axis_min[cnt],axis_max[cnt],__FILE__,__LINE__);
       return(1);
     }
+    dbgprintf(stderr,"Axis %d : parameters = [%d,%d]\n",
+        cnt,axis_min[cnt],axis_max[cnt]);
   }
 
 #if 0
diff --git a/sw/ground_segment/joystick/xbox_stick.c b/sw/ground_segment/joystick/xbox_stick.c
deleted file mode 100644
index 84026a21d7..0000000000
--- a/sw/ground_segment/joystick/xbox_stick.c
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- * xbox_stick
- *
- * send joystick control to paparazzi through ivy 
- *
- * based on Force Feedback: Constant Force Stress Test
- * Copyright (C) 2001 Oliver Hamann
- *
- * This program 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 of the License, or
- * (at your option) any later version.
- *
- * This program 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 this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- */
-
-#include "usb_stick.h"
-
-#include <inttypes.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <glib.h>
-#include <Ivy/ivy.h>
-#include <Ivy/ivyglibloop.h>
-
-#define TIMEOUT_PERIOD  100
-#define UPDATE_FREQ     (1./TIMEOUT_PERIOD)
-
-#define DEFAULT_AC_ID   1
-
-#define CAM_TILT_MIN    1000
-#define CAM_TILT_MAX    2000
-
-/* Global vars */
-int fp_received_once = 0;
-long int fp_east_sp,fp_north_sp,fp_up_sp,fp_psi_sp;
-float east_sp,north_sp,up_sp,psi_sp;
-float cam_tilt_sp = 1500.;
-int last_button = 0;
-
-/* Options */
-char * device_name    = NULL;
-int aircraft_id       = DEFAULT_AC_ID;
-
-void parse_args(int argc, char * argv[])
-{
-  int i;
-
-  for (i = 1; i < argc; i++) {
-    if      (!strcmp(argv[i],"-d") && i<argc-1) device_name = argv[++i];
-    else if (!strcmp(argv[i],"-a") && i<argc-1) aircraft_id = atoi(argv[++i]);
-    else if (!strcmp(argv[i],"-h")) goto l_help;
-  }
-  return;
-
-l_help:
-  printf("Usage:\n");
-  printf("  %s <option> [<option>...]\n",argv[0]);
-  printf("Options:\n");
-  printf("  -d <string>  device name\n");
-  printf("  -a <int>     aircraft id (default: %d)\n",DEFAULT_AC_ID);
-  printf("  -h           display this help\n");
-  exit(1);
-}
-
-
-#define STICK_DEADBAND 15
-#define STICK_APPLY_DEADBAND(_v) (abs(_v) >= STICK_DEADBAND ? _v : 0)
-#define STICK_LARGE_DEADBAND 20
-#define STICK_APPLY_LARGE_DEADBAND(_v) (abs(_v) >= STICK_LARGE_DEADBAND ? _v : 0)
-
-#define ATTITUDE_COEF 2144  // RadOfDeg(15 / 128) << 20
-#define CLIMB_COEF 0.5      // vertical speed (m/s)
-#define YAW_RATE_COEF (4./(128*512)) // 2 deg/s
-#define CAM_TILT_COEF (50./128)    // cam rate
-
-#define SPEED_RES 19
-#define ANGLE_REF_RES 20
-
-#define bit_is_set(x, b) ((x >> b) & 0x1)
-
-// ATTITUDE
-static gboolean joystick_attitude_periodic(gpointer data __attribute__ ((unused))) {
-
-	stick_read();
-
-	int roll     = STICK_APPLY_DEADBAND(stick_axis_values[0]);
-	int pitch    = STICK_APPLY_DEADBAND(stick_axis_values[1]);
-	int yaw_rate = STICK_APPLY_LARGE_DEADBAND(stick_axis_values[3]);
-  int tilt     = STICK_APPLY_LARGE_DEADBAND(stick_axis_values[4]);
-
-  int up       = bit_is_set(stick_button_values,1);
-  int down     = bit_is_set(stick_button_values,0);
-
-  float climb   = 0.;
-  if (up != down) {
-    if (up) climb = - CLIMB_COEF; // Z DOWN !!!
-    else climb = CLIMB_COEF;
-  }
-
-  cam_tilt_sp -= tilt * CAM_TILT_COEF;
-  if (cam_tilt_sp < CAM_TILT_MIN) cam_tilt_sp = CAM_TILT_MIN;
-  if (cam_tilt_sp > CAM_TILT_MAX) cam_tilt_sp = CAM_TILT_MAX;
-
-  IvySendMsg("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d",
-      2, 3,
-      (int)(climb * (1 << SPEED_RES)),
-      (ATTITUDE_COEF * roll),
-      (ATTITUDE_COEF * pitch),
-      (int)(yaw_rate * YAW_RATE_COEF * (1 << ANGLE_REF_RES)),
-      aircraft_id);
-//  printf("dl BOOZ2_FMS_COMMAND %d %d %d %d %d %d %d\n",
-//      2, 3,
-//      (int)(climb * (1 << SPEED_RES)),
-//      (ATTITUDE_COEF * roll),
-//      (ATTITUDE_COEF * pitch),
-//      (int)(yaw_rate * YAW_RATE_COEF * (1 << ANGLE_REF_RES)),
-//      aircraft_id);
-  if (tilt != 0) {
-    IvySendMsg("dl DL_SETTING %d %d %f",
-        aircraft_id,
-        1, //CAM_TILT FIXME
-        cam_tilt_sp);
-//    printf("dl DL_SETTING %d %d %f\n",
-//        aircraft_id,
-//        1, //CAM_TILT FIXME
-//        cam_tilt_sp);
-  }
-
-	return 1;
-}
-
-/*
-void readBOOZ2_FPIvyBus(IvyClientPtr app, void *data, int argc, char **argv) {
-
-  //printf("%s\n",argv[0]);
-  if (argc > 0) {
-    sscanf(argv[0],"%*d %*s
-        %*d %*d %*d
-        %*d %*d %*d
-        %*d %*d %*d
-        %ld %ld %ld %ld
-        %*d",
-        &fp_east_sp, &fp_north_sp, &fp_up_sp, &fp_psi_sp);
-
-    fp_received_once = 1;
-  }
-}
-*/
-
-int main ( int argc, char** argv) {
-
-  GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
-  
-  parse_args(argc, argv);
-  
-  IvyInit ("IvyCtrlJoystick", "IvyCtrlJoystick READY", NULL, NULL, NULL, NULL);
-  IvyStart("127.255.255.255");
-
-  if (stick_init(device_name) != 0) return 0;
-
-  /*
-  char bindMsgBOOZ2_FP[32];
-  snprintf(bindMsgBOOZ2_FP,32,"%s%d%s","(",aircraft_id," BOOZ2_FP .*)");
-  IvyBindMsg(readBOOZ2_FPIvyBus,0,bindMsgBOOZ2_FP);
-  */
- 
-  g_timeout_add(TIMEOUT_PERIOD, joystick_attitude_periodic, NULL);
-
-  g_main_loop_run(ml);
-
-  return 0;
-}