diff --git a/conf/settings/booz.xml b/conf/settings/booz.xml
index f0e0a2a5b3..c1d69145e4 100644
--- a/conf/settings/booz.xml
+++ b/conf/settings/booz.xml
@@ -6,5 +6,7 @@
     <dl_setting var="booz_control_rate_pq_dgain" min="0" step="0.1" max="10" module="booz_control"  shortname="pq_d"/>
     <dl_setting var="booz_control_rate_r_pgain" min="-500" step="10" max="-10" module="booz_control" shortname="r_p"/>
     <dl_setting var="booz_control_rate_r_dgain" min="0" step="0.1" max="10" module="booz_control" shortname="r_d"/>
-  </dl_settings>
+    <dl_setting var="booz_control_attitude_phi_theta_pgain" min="-20000" step="500" max="-500" module="booz_control" shortname="att_p"/>
+    <dl_setting var="booz_control_attitude_phi_theta_dgain" min="-20000" step="500" max="-500" module="booz_control" shortname="att_d"/>
+ </dl_settings>
 </settings>
diff --git a/sw/airborne/main_coax.c b/sw/airborne/main_coax.c
deleted file mode 100644
index 579ed83346..0000000000
--- a/sw/airborne/main_coax.c
+++ /dev/null
@@ -1,93 +0,0 @@
-#include "std.h"
-#include "init_hw.h"
-#include "sys_time.h"
-#include "led.h"
-#include "interrupt_hw.h"
-#include "uart.h"
-
-#include "main_ap.h"
-#include "airframe.h"
-
-#include "messages.h"
-#include "downlink.h"
-#include "spi.h"
-#include "baro_MS5534A.h"
-
-#include "estimator.h"
-
-float ground_alt;
-
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-
-static bool_t dl_msg_available;
-static inline void main_dl_parse_msg( void );
-
-void init_ap( void ) {
-  /** init done in main_fbw */
-  spi_init();
-
-  baro_MS5534A_init();
-
-  int_enable();
-
-  baro_MS5534A_init();
-}
-
-void periodic_task_ap( void ) {
-  //  LED_TOGGLE(1);
-  //  DOWNLINK_SEND_TAKEOFF(&cpu_time_sec);
-
-  static uint8_t _20Hz   = 0;
-  _20Hz++;
-  if (_20Hz>=3) _20Hz=0;
-
-  if (!_20Hz) {
-    baro_MS5534A_send();
-  }
-}
-
-void event_task_ap( void ) {
-  if (PprzBuffer()) {
-    ReadPprzBuffer();
-    if (pprz_msg_received) {
-      pprz_parse_payload();
-      pprz_msg_received = FALSE;
-    }
-  }
-  if (dl_msg_available) {
-    main_dl_parse_msg();
-    dl_msg_available = FALSE;
-    LED_TOGGLE(1);
-  }
-
-  if (spi_message_received) {
-    /* Got a message on SPI. */
-    spi_message_received = FALSE;
-    baro_MS5534A_event_task();
-    if (baro_MS5534A_available) {
-      baro_MS5534A_available = FALSE;
-
-      baro_MS5534A_z = ground_alt +((float)baro_MS5534A_ground_pressure - baro_MS5534A_pressure)*0.084;
-      if (alt_baro_enabled) {
-	EstimatorSetAlt(baro_MS5534A_z);
-      }
-    }
-  }
-}
-
-#define MSG_SIZE 128
-uint8_t dl_buffer[MSG_SIZE]  __attribute__ ((aligned));
-
-#include "settings.h"
-
-#define IdOfMsg(x) (x[1])
-
-static inline void main_dl_parse_msg(void) {
-  uint8_t msg_id = IdOfMsg(dl_buffer);
-  if (msg_id == DL_SETTING) {
-    uint8_t i = DL_SETTING_index(dl_buffer);
-    float var = DL_SETTING_value(dl_buffer);
-    DlSetting(i, var);
-    DOWNLINK_SEND_DL_VALUE(&i, &var);
-  }  
-}
diff --git a/sw/simulator/Makefile b/sw/simulator/Makefile
index 6b84dac655..7be2b40951 100644
--- a/sw/simulator/Makefile
+++ b/sw/simulator/Makefile
@@ -105,10 +105,21 @@ CFLAGS += -DRADIO_CONTROL
 BOOZ_AB_SRCS += ../airborne/radio_control.c
 CFLAGS += -DACTUATORS=\"servos_nil.h\" 
 BOOZ_AB_SRCS += ../airborne/actuators.c
-CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
+
+CFLAGS += -DDOWNLINK 
+BOOZ_AB_SRCS += ../airborne/booz_telemetry.c ../airborne/downlink.c
+
+#CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DPPRZ_UART=SimUart -DDOWNLINK_DEVICE=SimUart -DSIM_UART
+#BOOZ_AB_SRCS += ../airborne/pprz_transport.c  ../airborne/sim/sim_uart.c 
+
+CFLAGS += -DDOWNLINK_TRANSPORT=IvyTransport
+BOOZ_AB_SRCS += ../airborne/sim/ivy_transport.c
 LDFLAGS += -lglibivy
-BOOZ_AB_SRCS += ../airborne/booz_telemetry.c ../airborne/downlink.c ../airborne/sim/ivy_transport.c
+
 #../airborne/link_imu.c 
+#CFLAGS += -DDATALINK=PPRZ
+#BOOZ_AB_SRCS += ../airborne/datalink.c
+
 BOOZ_AB_SRCS += ../airborne/booz_estimator.c
 BOOZ_AB_SRCS += ../airborne/booz_control.c
 BOOZ_AB_SRCS += ../airborne/booz_autopilot.c
diff --git a/sw/simulator/main_booz_sim.c b/sw/simulator/main_booz_sim.c
index 08af8f5c65..1e5d4cf4c6 100644
--- a/sw/simulator/main_booz_sim.c
+++ b/sw/simulator/main_booz_sim.c
@@ -23,8 +23,17 @@ double disp_time;
 
 double foo_commands[] = {0., 0., 0., 0.};
 
-
 static gboolean timeout_callback(gpointer data);
+static gboolean on_js_data_received(GIOChannel *source, GIOCondition condition, gpointer data);
+
+static void joystick_init(void);
+#ifdef SIM_UART
+static void sim_uart_init(void);
+#endif
+#if defined DOWNLINK_TRANSPORT && DOWNLINK_TRANSPORT == IvyTransport
+static void ivy_transport_init(void);
+static void on_DL_SETTING(IvyClientPtr app, void *user_data, int argc, char *argv[]);
+#endif
 
 static void airborne_init(void);
 static void airborne_periodic_task(void);
@@ -34,9 +43,6 @@ static void airborne_event_task(void);
 
 static gboolean timeout_callback(gpointer data) {
 
-  
-
-
   booz_flight_model_run(DT, foo_commands);
   sim_time += DT;
 
@@ -62,6 +68,18 @@ static gboolean timeout_callback(gpointer data) {
 
 
 
+
+
+
+
+
+
+
+
+
+
+
+
 int main ( int argc, char** argv) {
 
   sim_time = 0.;
@@ -71,6 +89,15 @@ int main ( int argc, char** argv) {
 
   booz_flightgear_init(fg_host, fg_port);
 
+#ifdef SIM_UART
+  sim_uart_init();
+#endif 
+
+#if defined DOWNLINK_TRANSPORT && DOWNLINK_TRANSPORT == IvyTransport
+  ivy_transport_init();
+#endif
+
+  joystick_init();
 
   airborne_init();
 
@@ -79,8 +106,6 @@ int main ( int argc, char** argv) {
   
   g_timeout_add(TIMEOUT_PERIOD, timeout_callback, NULL);
   
-  IvyInit ("BoozSim", "BoozSim READY", NULL, NULL, NULL, NULL);
-  IvyStart("127.255.255.255");
 
   g_main_loop_run(ml);
  
@@ -88,11 +113,108 @@ int main ( int argc, char** argv) {
 }
 
 
+/////////////////////
+// Helpers
+////////////////////
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <sys/ioctl.h>
+#include <linux/joystick.h>
+
+static void joystick_init(void) {
+  const char* device = "/dev/input/js1";
+  int fd = open(device, O_RDONLY | O_NONBLOCK);
+  if (fd == -1) {
+     printf("opening joystick serial device %s : %s\n", device, strerror(errno));
+     return;
+  }
+  //  if( ioctl( fd, JSIOCSCORR, corr ) != 0 )
+  //    perror( "Unable to turn off deadband correction" );
+
+  GIOChannel* channel = g_io_channel_unix_new(fd);
+  g_io_channel_set_encoding(channel, NULL, NULL);
+  g_io_add_watch (channel, G_IO_IN , on_js_data_received, NULL);
+
+}
+
+
+
+
+
+
+
+
+
+
+#if defined DOWNLINK_TRANSPORT && DOWNLINK_TRANSPORT == IvyTransport
+
+static void ivy_transport_init(void) {
+  IvyInit ("BoozSim", "BoozSim READY", NULL, NULL, NULL, NULL);
+  IvyBindMsg(on_DL_SETTING, NULL, "^(\\S*) DL_SETTING (\\S*) (\\S*) (\\S*)");
+  IvyStart("127.255.255.255");
+}
+
+#include "std.h"
+#include "settings.h"
+#include "booz_telemetry.h"
+static void on_DL_SETTING(IvyClientPtr app, void *user_data, int argc, char *argv[]){
+  uint8_t index = atoi(argv[2]);
+  float value = atof(argv[3]);
+  DlSetting(index, value);
+  DOWNLINK_SEND_DL_VALUE(&index, &value);
+  printf("setting %d %f\n", index, value);
+}
+
+#endif
+
+
+
+#ifdef SIM_UART
+#define AC_ID 148
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include "sim_uart.h"
+
+static void sim_uart_init(void) {
+  char link_pipe_name[128];
+  sprintf(link_pipe_name, "/tmp/pprz_link_%d", AC_ID);
+  struct stat st;
+  if (stat(link_pipe_name, &st)) {
+    if (mkfifo(link_pipe_name, 0644) == -1) {
+      perror("make pipe");
+      exit (10);
+    }
+  }     
+  if ( !(pipe_stream = fopen(link_pipe_name, "w")) ) {
+    perror("open pipe");
+    exit (10);
+  }
+}
+#endif /* SIM_UART */
+
+
+
+
+
+
+
+//////////////////
+// AIRBORNE CODE
+//////////////////
+
+
+#include "ppm.h"
 #include "radio_control.h"
 #include "actuators.h"
 #include "commands.h"
 
 #include "booz_telemetry.h"
+//#include "datalink.h"
 
 #include "booz_estimator.h"
 #include "booz_control.h"
@@ -110,10 +232,8 @@ uint16_t ppm_pulses[PPM_NB_PULSES];
 
 static void airborne_init(void) {
 
-  ppm_pulses[RADIO_THROTTLE] = 1223 + 0.615 * (2050-1223);
-  ppm_pulses[RADIO_ROLL] = 1500;
-  ppm_pulses[RADIO_PITCH] = 1498;
-  ppm_pulses[RADIO_YAW] = 1493;
+  ppm_init();
+  radio_control_init();
 
   booz_estimator_init();
   booz_control_init();
@@ -124,12 +244,6 @@ static void airborne_init(void) {
 
 static void airborne_periodic_task(void) {
 
-  int foo = sim_time / 10;
-  if (!(foo%2))
-    ppm_pulses[RADIO_PITCH] = 1600;
-  else
-    ppm_pulses[RADIO_PITCH] = 1400;
-
   booz_autopilot_periodic_task();
 
   SetActuatorsFromCommands(commands);
@@ -160,6 +274,9 @@ static void airborne_periodic_task(void) {
 
 
 static void airborne_event_task(void) {
+
+  //  DlEventCheckAndHandle();
+
   //   if (ppm_valid) {
   //    ppm_valid = FALSE;
   radio_control_event_task();
@@ -171,3 +288,44 @@ static void airborne_event_task(void) {
   //}
 }
 
+
+
+
+
+
+
+
+#define JS_THROTTLE 6
+#define JS_ROLL     0
+#define JS_PITCH    1
+#define JS_YAW      5
+
+static gboolean on_js_data_received(GIOChannel *source, GIOCondition condition, gpointer data) {
+
+  struct js_event js;
+  gsize len;
+  GError *err = NULL;
+  g_io_channel_read_chars(source, (void*)(&js), sizeof(struct js_event), &len, &err);
+  
+  if (js.type == JS_EVENT_AXIS) {
+    //printf("%d %d\n", js.number, js.value);
+    switch (js.number) {
+    case JS_THROTTLE:
+      ppm_pulses[RADIO_THROTTLE] = 1223 + (js.value - 30) * (float)(2050-1223) / (float)(223 - 30);
+      break;
+    case JS_PITCH:
+      ppm_pulses[RADIO_PITCH] = 1498 + (js.value - 113) * (float)(2050-950) / (float)(224 - 1);
+      break;
+    case JS_ROLL:
+      ppm_pulses[RADIO_ROLL] = 1500 + (js.value - 112) * (float)(2050-950) / (float)(1 - 224);
+      break;
+    case JS_YAW:
+      ppm_pulses[RADIO_YAW] = 1500 + (js.value - 112) * (float)(2050-950) / (float)(224 - 1);
+      break;
+    }
+  }
+
+  return TRUE;
+}
+
+