diff --git a/conf/airframes/twinstar1.xml b/conf/airframes/twinstar1.xml
index 7904f74f5e..97833a2575 100644
--- a/conf/airframes/twinstar1.xml
+++ b/conf/airframes/twinstar1.xml
@@ -65,8 +65,8 @@
     <define name="CARROT" value="5." unit="s"/>
   </section>
 	<section name="SIMU">
-		<define name="ROLL_RESPONSE_FACTOR" value="2."/>
-		<define name="YAW_RESPONSE_FACTOR" value="5."/>
+		<define name="ROLL_RESPONSE_FACTOR" value="1."/>
+		<define name="YAW_RESPONSE_FACTOR" value="1."/>
 		<define name="WEIGHT" value="1.3"/>
 	</section>
 	<section name="FAILSAFE" prefix="FAILSAFE_">
diff --git a/conf/airframes/twinstar2.xml b/conf/airframes/twinstar2.xml
index d83aaf1307..179396fdf1 100644
--- a/conf/airframes/twinstar2.xml
+++ b/conf/airframes/twinstar2.xml
@@ -66,7 +66,7 @@
   </section>
   <section name="SIMU">
     <define name="ROLL_RESPONSE_FACTOR" value="1."/>
-    <define name="YAW_RESPONSE_FACTOR" value="5."/>
+    <define name="YAW_RESPONSE_FACTOR" value="1."/>
     <define name="WEIGHT" value="1.3"/>
   </section>
 	<section name="FAILSAFE" prefix="FAILSAFE_">
diff --git a/sw/simulator/flightModel.ml b/sw/simulator/flightModel.ml
index 460f2c11e2..f4d7efed13 100644
--- a/sw/simulator/flightModel.ml
+++ b/sw/simulator/flightModel.ml
@@ -3,7 +3,7 @@
  *
  * Basic flight model for simulation
  *  
- * Copyright (C) 2004 Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2004-2005 Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
  *
diff --git a/sw/simulator/flightModel.mli b/sw/simulator/flightModel.mli
index 1f71597edd..117c48eeb4 100644
--- a/sw/simulator/flightModel.mli
+++ b/sw/simulator/flightModel.mli
@@ -1,3 +1,29 @@
+(*
+ *  $Id$
+ *
+ * Basic flight model for simulation
+ *  
+ * Copyright (C) 2004-2005 Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
 type meter = float
 type meter_s = float
 type radian = float
@@ -19,4 +45,6 @@ module Make :
       val nb_servos : int
       val nominal_airspeed : float (* m/s *)
       val state_update : state -> float * float -> float -> unit
+      (** [state_update state (wind_x, wind_y) dt] With m/s for wind and s for
+	 dt *)
     end
diff --git a/sw/simulator/gaia.ml b/sw/simulator/gaia.ml
index 9aa6d3a540..8f8fd664fb 100644
--- a/sw/simulator/gaia.ml
+++ b/sw/simulator/gaia.ml
@@ -51,7 +51,7 @@ let _ =
   let wind_dir_adj = GData.adjustment ~value:0. ~lower:(0.) ~upper:370. ~step_incr:1.0 () in
   let wind_speed_adj = GData.adjustment ~value:0. ~lower:(0.) ~upper:20. ~step_incr:0.1 () in
   let gust_norm_max_adj = GData.adjustment ~value:0. ~lower:(0.) ~upper:20. ~step_incr:0.1 () in
-  let infrared_contrast_adj = GData.adjustment ~value:500. ~lower:(0.) ~upper:1010. ~step_incr:10. () in
+  let infrared_contrast_adj = GData.adjustment ~value:266. ~lower:(0.) ~upper:1010. ~step_incr:10. () in
   let gps_sa = GButton.toggle_button ~label:"GPS OFF" () in
 
   let world_values = fun () ->
diff --git a/sw/simulator/sim.ml b/sw/simulator/sim.ml
index b7742da1eb..82cfc29001 100644
--- a/sw/simulator/sim.ml
+++ b/sw/simulator/sim.ml
@@ -115,7 +115,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
 
     let wind_x = ref 0.
     and wind_y = ref 0. in
-    let infrared_contrast = ref 2000.
+    let infrared_contrast = ref 266.
     and time_scale = object val mutable v = 1. method value = v method set_value x = v <- x end
     and gps_availability = ref 1 in
 
@@ -123,7 +123,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
       gps_availability := Pprz.int_assoc "gps_availability" vs;
       wind_x := Pprz.float_assoc "wind_east" vs;      
       wind_y := Pprz.float_assoc "wind_north" vs;      
-      infrared_contrast := 4. *. Pprz.float_assoc "ir_contrast" vs; (** FIXME *)
+      infrared_contrast := Pprz.float_assoc "ir_contrast" vs; (** FIXME *)
       time_scale#set_value (Pprz.float_assoc "time_scale" vs)
     in