diff --git a/conf/control_panel.xml.example b/conf/control_panel.xml.example
index b944c020b7..9561f50371 100644
--- a/conf/control_panel.xml.example
+++ b/conf/control_panel.xml.example
@@ -26,7 +26,7 @@
     <program name="multimon" command="sw/ground_segment/multimon/multimon">
       <arg flag="-a" variable="multimon_demod"/>
     </program>
-    <program name="modem" command="sw/ground_segment/tmtc/hw_modem_listen">
+    <program name="link" command="sw/ground_segment/tmtc/link">
       <arg flag="-b" variable="ivy_bus"/>
     </program>
     <program name="cockpit" command="sw/ground_segment/cockpit/cockpit.pl">
@@ -146,6 +146,17 @@
 <!--      <program name="wavecard"/> -->
       <program name="sim"><arg flag="-a" constant="Twin3"/></program>
     </session>
+
+   <session name="Flight audio @Muret">
+      <variable name="map" value="muret_UTM.xml"/>
+      <program name="multimon"><arg flag="-p" constant="/tmp/multimon"/></program>
+      <program name="link"><arg flag="-d" constant="/tmp/multimon"/><arg flag="-transport" constant="modem"/></program>
+      <program name="server"/>     
+      <program name="messages"><arg flag="-c" constant="telemetry:*"/><arg flag="-c" constant="ground"/></program>
+      <program name="cockpit"/>
+      <program name="map 2d ml"/>
+    </session>
+
   </section>
 
 </control_panel>
diff --git a/sw/airborne/main_fbw.c b/sw/airborne/main_fbw.c
index 5cd5904c99..1f9afcf2a0 100644
--- a/sw/airborne/main_fbw.c
+++ b/sw/airborne/main_fbw.c
@@ -87,6 +87,12 @@ void init_fbw( void ) {
 }
 
 
+void set_failsafe_mode( void ) {
+  fbw_mode = FBW_MODE_FAILSAFE;
+  SetCommands(commands_failsafe);
+}
+
+
 /********** EVENT ************************************************************/
 void event_task_fbw( void) {
 
@@ -125,17 +131,7 @@ void event_task_fbw( void) {
   //    link_mcu_was_busy = FALSE;
   //    link_mcu_restart();
   //  }
-#endif
-
-  if (
-#ifdef INTER_MCU
-      (fbw_mode == FBW_MODE_AUTO && !ap_ok) ||
-#endif
-      FALSE
-      ) {
-    fbw_mode = FBW_MODE_FAILSAFE;
-    SetCommands(commands_failsafe);
-  }
+#endif  
 }
 
 /************* PERIODIC ******************************************************/
@@ -143,13 +139,15 @@ void periodic_task_fbw( void ) {
 
 #ifdef RADIO_CONTROL
   radio_control_periodic_task();
-  if (rc_status == RC_REALLY_LOST) {
+  if (fbw_mode == FBW_MODE_MANUAL && rc_status == RC_REALLY_LOST) {
     fbw_mode = FBW_MODE_AUTO;
   }
 #endif
 
 #ifdef INTER_MCU
   inter_mcu_periodic_task();
+  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
+    set_failsafe_mode();
 #endif
 
 #ifdef DOWNLINK