diff --git a/Makefile b/Makefile
index a0fe31095d..b15eb2f3cd 100644
--- a/Makefile
+++ b/Makefile
@@ -321,7 +321,7 @@ test_sim: all
 	prove tests/sim
 
 .PHONY: all print_build_version _print_building _save_build_version update_google_version init dox ground_segment ground_segment.opt \
-subdirs $(SUBDIRS) conf ext libpprz cockpit cockpit.opt tmtc tmtc.opt generators\
+subdirs $(SUBDIRS) conf ext libpprz libpprzlink cockpit cockpit.opt tmtc tmtc.opt generators\
 static sim_static lpctools commands \
 clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
 test test_examples test_math test_sim test_all_confs
diff --git a/sw/Makefile.ocaml b/sw/Makefile.ocaml
index 7248b7fbd5..1ecc6b350d 100644
--- a/sw/Makefile.ocaml
+++ b/sw/Makefile.ocaml
@@ -43,6 +43,8 @@ LIBPPRZCMA = $(LIBPPRZDIR)/lib-pprz.cma
 LIBPPRZCMXA = $(LIBPPRZCMA:.cma=.cmxa)
 XLIBPPRZCMA = $(LIBPPRZDIR)/xlib-pprz.cma
 XLIBPPRZCMXA = $(XLIBPPRZCMA:.cma=.cmxa)
+LIBPPRZLINKCMA = $(LIBPPRZLINKDIR)/pprzlink/lib-pprzlink.cma
+LIBPPRZLINKCMXA = $(LIBPPRZLINKCMA:.cma=.cmxa)
 OCAMLDLL = -dllpath $(LIBPPRZDIR),$(LIBPPRZLINKDIR)
 OCAMLXDLL = -dllpath $(LIBPPRZDIR),$(LIBPPRZLINKDIR)
 
diff --git a/sw/ground_segment/cockpit/Makefile b/sw/ground_segment/cockpit/Makefile
index b3563b8603..eaf94b9410 100644
--- a/sw/ground_segment/cockpit/Makefile
+++ b/sw/ground_segment/cockpit/Makefile
@@ -32,7 +32,7 @@ LIBS=
 LIBSX=$(LIBS:.cma=.cmxa)
 
 INCLUDES=
-PKG = -package pprz.xlib
+PKG = -package pprzlink,pprz.xlib
 LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz.xlib,pprzlink
 
 LABLGTK2INIT = $(shell ocamlfind query -p-format lablgtk2.init 2>/dev/null)
@@ -64,11 +64,11 @@ all : $(MAIN)
 
 opt : $(MAIN).opt
 
-$(MAIN) : $(CMO) $(LIBPPRZCMA) $(XLIBPPRZCMA)
+$(MAIN) : $(CMO) $(LIBPPRZCMA) $(LIBPPRZLINKCMA) $(XLIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) $(LIBS) $(LINKPKG) $(CMO) -o $@
 
-$(MAIN).opt : $(CMX) $(LIBPPRZCMXA) $(XLIBPPRZCMXA)
+$(MAIN).opt : $(CMX) $(LIBPPRZCMXA) $(LIBPPRZLINKCMXA) $(XLIBPPRZCMXA)
 	@echo OOL $@
 	$(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) $(LIBSX) -package pprz.xlib,$(LABLGTK2INIT) -linkpkg $(CMX) -o $@
 
diff --git a/sw/ground_segment/joystick/Makefile b/sw/ground_segment/joystick/Makefile
index 30062c61f1..b6a5e2a6fe 100644
--- a/sw/ground_segment/joystick/Makefile
+++ b/sw/ground_segment/joystick/Makefile
@@ -73,7 +73,7 @@ test_stick: test_sdl_stick.o
 	@echo BUILD $@
 	$(Q)$(CC) -g -O2 -DSTICK_DBG $(GLIB_CFLAGS) -o $@ $^ sdl_stick.c $(GLIB_LDFLAGS) $(SDL_LDFLAGS)
 
-input2ivy: $(LIBPPRZCMA) $(INPUT2IVY_DEPS)
+input2ivy: $(LIBPPRZCMA) $(LIBPPRZLINKCMA) $(INPUT2IVY_DEPS)
 	@echo OL $@
 	$(Q)$(OCAMLC) -o $@ $(LINKPKG) $^ $(ML_SDL_OCAMLFLAGS) $(ML_SDL_LFLAGS)
 
diff --git a/sw/ground_segment/tmtc/Makefile b/sw/ground_segment/tmtc/Makefile
index e866263a53..6a96dd7ff2 100644
--- a/sw/ground_segment/tmtc/Makefile
+++ b/sw/ground_segment/tmtc/Makefile
@@ -45,48 +45,48 @@ opt: server.opt
 clean:
 	$(Q)rm -f link server messages settings *.bak *~ core *.o .depend *.opt *.out *.cm* ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge app_server gpsd2ivy c_ivy_client_example_1 c_ivy_client_example_2 c_ivy_client_example_3 ivy2nmea
 
-messages : messages.cmo $(LIBPPRZCMA)
+messages : messages.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $<
 
-settings : settings.cmo ../cockpit/page_settings.cmo $(LIBPPRZCMA)
+settings : settings.cmo ../cockpit/page_settings.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(XLINKPKG) gtkInit.cmo -I ../cockpit gtk_save_settings.cmo saveSettings.cmo page_settings.cmo $<
 
-server : $(SERVERCMO) $(LIBPPRZCMA)
+server : $(SERVERCMO) $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $(SERVERCMO)
 
-server.opt :  $(SERVERCMX) $(LIBPPRZCMXA)
+server.opt :  $(SERVERCMX) $(LIBPPRZCMXA) $(LIBPPRZLINKCMXA)
 	@echo OOL $@
 	$(Q)$(OCAMLOPT) $(INCLUDES) -o $@ -package glibivy,pprz -linkpkg $(SERVERCMX)
 
-link : link.cmo $(LIBPPRZCMA)
+link : link.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
 
 
-ivy_tcp_aircraft : ivy_tcp_aircraft.cmo $(LIBPPRZCMA)
+ivy_tcp_aircraft : ivy_tcp_aircraft.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
 
 
-ivy_tcp_controller : ivy_tcp_controller.cmo $(LIBPPRZCMA)
+ivy_tcp_controller : ivy_tcp_controller.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
 
 
-broadcaster : broadcaster.cmo $(LIBPPRZCMA)
+broadcaster : broadcaster.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
 
 
-ivy2udp : ivy2udp.cmo $(LIBPPRZCMA)
+ivy2udp : ivy2udp.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
 
 
-150m : 150m.cmo $(LIBPPRZCMA)
+150m : 150m.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $<
 
diff --git a/sw/logalizer/Makefile b/sw/logalizer/Makefile
index f4572962de..e020ad45f1 100644
--- a/sw/logalizer/Makefile
+++ b/sw/logalizer/Makefile
@@ -32,23 +32,23 @@ XLINKPKG = $(XPKG) -linkpkg -dllpath-pkg pprz.xlib,pprzlink
 
 all: play plotter logplotter sd2log plotprofile openlog2tlm sdlogger_download
 
-play : log_file.cmo play_core.cmo play.cmo $(LIBPPRZCMA)
+play : log_file.cmo play_core.cmo play.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $^
 
-play-nox : play_core.cmo play-nox.cmo $(LIBPPRZCMA)
+play-nox : play_core.cmo play-nox.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $^
 
-plotter : plotter.cmo $(LIBPPRZCMA) $(XLIBPPRZCMA)
+plotter : plotter.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA) $(XLIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(XLINKPKG) gtkInit.cmo $^
 
-logplotter : log_file.cmo gtk_export.cmo export.cmo logplotter.cmo $(LIBPPRZCMA) $(XLIBPPRZCMA)
+logplotter : log_file.cmo gtk_export.cmo export.cmo logplotter.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA) $(XLIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(XLINKPKG) gtkInit.cmo $^
 
-sd2log : sd2log.cmo $(LIBPPRZCMA)
+sd2log : sd2log.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $^
 
diff --git a/sw/simulator/Makefile b/sw/simulator/Makefile
index 2fe404dfce..1f9a77b6d5 100644
--- a/sw/simulator/Makefile
+++ b/sw/simulator/Makefile
@@ -47,15 +47,15 @@ CAML_CFLAGS = -I $(shell $(OCAMLC) -where)
 
 all : gaia sitl.cma
 
-sitl.cma : fg.o $(SIMSCMO) $(LIBPPRZCMA)
+sitl.cma : fg.o $(SIMSCMO) $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLMKLIB) -o sitl $^
 
-sitl.cmxa : $(SIMSCMX) $(LIBPPRZCMXA)
+sitl.cmxa : $(SIMSCMX) $(LIBPPRZCMXA) $(LIBPPRZLINKCMXA)
 	@echo OC $@
 	$(Q)$(OCAMLOPT) -o $@ -a $^
 
-gaia : gaia.cmo $(LIBPPRZCMA)
+gaia : gaia.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $<
 
diff --git a/sw/supervision/Makefile b/sw/supervision/Makefile
index d0535ebf30..048100ff5f 100644
--- a/sw/supervision/Makefile
+++ b/sw/supervision/Makefile
@@ -45,7 +45,7 @@ PAPARAZZICENTERCMO = gtk_pc.cmo gtk_process.cmo pc_common.cmo pc_control_panel.c
 
 all: paparazzicenter
 
-paparazzicenter : $(PAPARAZZICENTERCMO) $(LIBPPRZCMA) $(XLIBPPRZCMA)
+paparazzicenter : $(PAPARAZZICENTERCMO) $(LIBPPRZCMA) $(LIBPPRZLINKCMA) $(XLIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(XLINKPKG) gtkInit.cmo $^
 
diff --git a/sw/tools/generators/Makefile b/sw/tools/generators/Makefile
index caad70cbc3..5761c129bf 100644
--- a/sw/tools/generators/Makefile
+++ b/sw/tools/generators/Makefile
@@ -30,15 +30,15 @@ LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz,pprzlink
 
 all: gen_aircraft.out gen_airframe.out gen_ubx.out gen_mtk.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_xsens.out gen_modules.out gen_autopilot.out gen_abi.out gen_srtm.out
 
-gen_flight_plan.out : gen_flight_plan.cmo $(LIBPPRZCMA)
+gen_flight_plan.out : gen_flight_plan.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $^
 
-gen_srtm.out : gen_srtm.ml $(LIBPPRZCMA)
+gen_srtm.out : gen_srtm.ml $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
 
-%.out : %.ml $(LIBPPRZCMA)
+%.out : %.ml $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $<
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<