diff --git a/sw/tools/gen_aircraft.ml b/sw/tools/gen_aircraft.ml
index c899f5aa2e..ef3b91c593 100644
--- a/sw/tools/gen_aircraft.ml
+++ b/sw/tools/gen_aircraft.ml
@@ -2,7 +2,7 @@
  * $Id$
  *
  * Call to Makefile.ac with the appropriate attributes from conf.xml
- *  
+ *
  * Copyright (C) 2003-2009 Pascal Brisset, Antoine Drouin, ENAC
  *
  * This file is part of paparazzi.
@@ -20,7 +20,7 @@
  * 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. 
+ * Boston, MA 02111-1307, USA.
  *
  *)
 
@@ -29,7 +29,7 @@ module U = Unix
 
 let (//) = Filename.concat
 
-let paparazzi_conf = Env.paparazzi_home // "conf" 
+let paparazzi_conf = Env.paparazzi_home // "conf"
 let conf_xml = paparazzi_conf // "conf.xml"
 let modules_dir = paparazzi_conf // "modules"
 
@@ -41,8 +41,8 @@ let check_unique_id_and_name = fun conf ->
   let ids = Hashtbl.create 5
   and names = Hashtbl.create 5 in
   List.iter
-    (fun x -> 
-      if String.lowercase (Xml.tag x) = "aircraft" then 
+	(fun x ->
+	  if String.lowercase (Xml.tag x) = "aircraft" then
 	let id = ExtXml.attrib x "ac_id"
 	and name = ExtXml.attrib x "name" in
 	if Hashtbl.mem ids id then begin
@@ -55,21 +55,21 @@ let check_unique_id_and_name = fun conf ->
 	end;
 	Hashtbl.add ids id name;
 	Hashtbl.add names name id)
-    (Xml.children conf)
+	(Xml.children conf)
 
 
 
 let pipe_regexp = Str.regexp "|"
 let targets_of_field = fun field ->
-  try 
-    Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim")
+  try
+	Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim")
   with
-    _ -> []
+	_ -> []
 
 (** singletonize a sorted list *)
 let rec singletonize = fun l ->
   match l with
-    [] | [_] -> l
+	[] | [_] -> l
   | x :: ((y :: t) as yt) -> if x = y then singletonize yt else x :: singletonize yt
 
 (** union of two lists *)
@@ -87,28 +87,28 @@ let union_of_lists = fun l ->
 let get_modules = fun dir xml ->
   (* extract all "modules" sections *)
   let modules = List.map (fun x ->
-    match String.lowercase (Xml.tag x) with
-      "modules" -> Xml.children x
-    | _ -> []
-    ) (Xml.children xml) in
+	match String.lowercase (Xml.tag x) with
+	  "modules" -> Xml.children x
+	| _ -> []
+	) (Xml.children xml) in
   (* flatten the list (result is a list of "load" xml nodes) *)
   let modules = List.flatten modules in
   (* build a list (file name, (xml, xml list of flags)) *)
   let extract = List.map (fun m ->
-    match String.lowercase (Xml.tag m) with
-      "load" -> let file = dir // ExtXml.attrib m "name" in
-        (file, (ExtXml.parse_file file, Xml.children m))
-    | tag -> failwith (sprintf "Warning: tag load is undefined; found '%s'" tag)
-    ) modules in
+	match String.lowercase (Xml.tag m) with
+	  "load" -> let file = dir // ExtXml.attrib m "name" in
+		(file, (ExtXml.parse_file file, Xml.children m))
+	| tag -> failwith (sprintf "Warning: tag load is undefined; found '%s'" tag)
+	) modules in
   (* return a list of name and a list of pairs (xml, xml list) *)
   List.split extract
 
 (** [get_targets_of_module xml] Returns the list of targets of a module *)
 let get_targets_of_module = fun m ->
   let targets = List.map (fun x ->
-    match String.lowercase (Xml.tag x) with
-      "makefile" -> targets_of_field x
-    | _ -> []
+	match String.lowercase (Xml.tag x) with
+	  "makefile" -> targets_of_field x
+	| _ -> []
   ) (Xml.children m) in
   (* return a singletonized list *)
   singletonize (List.sort compare (List.flatten targets))
@@ -118,10 +118,10 @@ let get_modules_dir = fun modules ->
   let dir = List.map (fun (m, _) -> try Xml.attrib m "dir" with _ -> ExtXml.attrib m "name") modules in
   singletonize (List.sort compare dir)
 
-(** 
-   Search and dump the module section : 
-     xml : the parsed airframe.xml 
-     f   : makefile.ac 
+(**
+   Search and dump the module section :
+	 xml : the parsed airframe.xml
+	 f   : makefile.ac
  **)
 let dump_module_section = fun xml f ->
   (* get modules *)
@@ -142,171 +142,171 @@ let dump_module_section = fun xml f ->
   List.iter (fun dir -> let dir_name = (String.uppercase dir)^"_DIR" in fprintf f "%s = modules/%s\n" dir_name dir) dir_list;
   (* parse each module *)
   List.iter (fun (m, flags) ->
-    let name = ExtXml.attrib m "name" in
-    let dir = try Xml.attrib m "dir" with _ -> name in
-    let dir_name = (String.uppercase dir)^"_DIR" in
-    (* get the list of all the targes for this module *)
-    let module_target_list = get_targets_of_module m in
-    (* print global flags as compilation defines and flags *)
-    fprintf f "\n# makefile for module %s in modules/%s\n" name dir;
-    List.iter (fun target ->
-      List.iter (fun flag ->
-        let name = ExtXml.attrib flag "name"
-        and value = try "="^(Xml.attrib flag "value") with _ -> "" in
-        fprintf f "%s.CFLAGS += -D%s%s\n" target name value
-        ) flags
-      ) module_target_list;
-    (* Look for makefile section *)
-    List.iter (fun l ->
-      if ExtXml.tag_is l "makefile" then begin
-        let targets = targets_of_field l in
-        (* Look for defines, flags, files, ... *)
-        List.iter (fun field ->
-          match String.lowercase (Xml.tag field) with
-            "flag" -> 
-              List.iter (fun target -> 
-                let value = try "="^(Xml.attrib field "value") with _ -> ""
-                and name = Xml.attrib field "name" in
-                let flag_type = match (ExtXml.attrib_or_default field "type" "define") with
-                    "define" | "D" -> "D"
-                  | "include" | "I" -> "I"
-                  | _ -> "D" in
-                fprintf f "%s.CFLAGS += -%s%s%s\n" target flag_type name value
-                ) targets
-          | "file" -> 
-              let name = Xml.attrib field "name" in
-              List.iter (fun target -> fprintf f "%s.srcs += $(%s)/%s\n" target dir_name name) targets
-          | "file_hw" -> 
-              let name = Xml.attrib field "name" in
-              List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/$(%s)/%s\n" target dir_name name) targets
-          | "define" -> 
-              let value = Xml.attrib field "value"
-              and name = Xml.attrib field "name" in
-              fprintf f "%s = %s\n" name value
-          | "raw" ->
-              begin match Xml.children field with
-                [Xml.PCData s] -> fprintf f "%s\n" s
-              | _ -> fprintf stderr "Warning: wrong makefile section in module '%s'\n" name
-              end
-          | _ -> ()
-          ) (Xml.children l)
-      end) (Xml.children m)
-    ) modules;
+	let name = ExtXml.attrib m "name" in
+	let dir = try Xml.attrib m "dir" with _ -> name in
+	let dir_name = (String.uppercase dir)^"_DIR" in
+	(* get the list of all the targes for this module *)
+	let module_target_list = get_targets_of_module m in
+	(* print global flags as compilation defines and flags *)
+	fprintf f "\n# makefile for module %s in modules/%s\n" name dir;
+	List.iter (fun target ->
+	  List.iter (fun flag ->
+		let name = ExtXml.attrib flag "name"
+		and value = try "="^(Xml.attrib flag "value") with _ -> "" in
+		fprintf f "%s.CFLAGS += -D%s%s\n" target name value
+		) flags
+	  ) module_target_list;
+	(* Look for makefile section *)
+	List.iter (fun l ->
+	  if ExtXml.tag_is l "makefile" then begin
+		let targets = targets_of_field l in
+		(* Look for defines, flags, files, ... *)
+		List.iter (fun field ->
+		  match String.lowercase (Xml.tag field) with
+			"flag" ->
+			  List.iter (fun target ->
+				let value = try "="^(Xml.attrib field "value") with _ -> ""
+				and name = Xml.attrib field "name" in
+				let flag_type = match (ExtXml.attrib_or_default field "type" "define") with
+					"define" | "D" -> "D"
+				  | "include" | "I" -> "I"
+				  | _ -> "D" in
+				fprintf f "%s.CFLAGS += -%s%s%s\n" target flag_type name value
+				) targets
+		  | "file" ->
+			  let name = Xml.attrib field "name" in
+			  List.iter (fun target -> fprintf f "%s.srcs += $(%s)/%s\n" target dir_name name) targets
+		  | "file_hw" ->
+			  let name = Xml.attrib field "name" in
+			  List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/$(%s)/%s\n" target dir_name name) targets
+		  | "define" ->
+			  let value = Xml.attrib field "value"
+			  and name = Xml.attrib field "name" in
+			  fprintf f "%s = %s\n" name value
+		  | "raw" ->
+			  begin match Xml.children field with
+				[Xml.PCData s] -> fprintf f "%s\n" s
+			  | _ -> fprintf stderr "Warning: wrong makefile section in module '%s'\n" name
+			  end
+		  | _ -> ()
+		  ) (Xml.children l)
+	  end) (Xml.children m)
+	) modules;
   (** returns a list of modules file name *)
   files
 
 (**
-    Search and dump the makefile sections 
+	Search and dump the makefile sections
 **)
 let dump_makefile_section = fun xml makefile_ac airframe_infile print_if_loc_after ->
   List.iter (fun x ->
-    if ExtXml.tag_is x "makefile" then begin
-      let located_before = ref true in
-      begin try
+	if ExtXml.tag_is x "makefile" then begin
+	  let located_before = ref true in
+	  begin try
 	located_before := not (String.compare (Xml.attrib x "location") "after" = 0)
-      with _ -> () end;
-      if  (not print_if_loc_after && !located_before) || (print_if_loc_after && not !located_before) then begin
+	  with _ -> () end;
+	  if  (not print_if_loc_after && !located_before) || (print_if_loc_after && not !located_before) then begin
 	begin try
 	  fprintf makefile_ac "\n# makefile target '%s'\n" (Xml.attrib x "target")
 	with _ -> () end;
 	match Xml.children x with
-          [Xml.PCData s] -> fprintf makefile_ac "%s\n" s
+		  [Xml.PCData s] -> fprintf makefile_ac "%s\n" s
 	| _ -> failwith (sprintf "Warning: wrong makefile section in '%s': %s\n" airframe_infile (Xml.to_string_fmt x))
-      end
-    end)
-    (Xml.children xml)
+	  end
+	end)
+	(Xml.children xml)
 
 (** Firmware Children **)
 
 let parse_subsystems = fun makefile_ac tag firmware ->
    match Xml.tag firmware with
-    "subsystem" ->
-        begin try
-          fprintf makefile_ac "# -subsystem: '%s' \n" (Xml.attrib firmware "name");
-          let has_subtype = ref false in
-          begin try
-            has_subtype := not (String.compare (Xml.attrib firmware "type") "" = 0)
-          with _ -> () end;
-          let print_if_subsystem_define = (fun d ->
-            if ExtXml.tag_is d "param" then begin
-              fprintf makefile_ac "%s = %s\n"
-              (String.uppercase(Xml.attrib d "name"))
-              (Xml.attrib d "value");
-            end) in
-          List.iter print_if_subsystem_define (Xml.children firmware);
-          fprintf makefile_ac "include $(CFG_%s)/%s" 
-   	    (String.uppercase(Xml.attrib tag "name"))
-	    (Xml.attrib firmware "name");
-          if !has_subtype then
-            fprintf makefile_ac "_%s" 
-	      (Xml.attrib firmware "type");
-          fprintf makefile_ac ".makefile\n"
-        with _ -> () end;
+	"subsystem" ->
+		begin try
+		  fprintf makefile_ac "# -subsystem: '%s' \n" (Xml.attrib firmware "name");
+		  let has_subtype = ref false in
+		  begin try
+			has_subtype := not (String.compare (Xml.attrib firmware "type") "" = 0)
+		  with _ -> () end;
+		  let print_if_subsystem_define = (fun d ->
+			if ExtXml.tag_is d "param" then begin
+			  fprintf makefile_ac "%s = %s\n"
+			  (String.uppercase(Xml.attrib d "name"))
+			  (Xml.attrib d "value");
+			end) in
+		  List.iter print_if_subsystem_define (Xml.children firmware);
+		  fprintf makefile_ac "include $(CFG_%s)/%s"
+   		(String.uppercase(Xml.attrib tag "name"))
+		(Xml.attrib firmware "name");
+		  if !has_subtype then
+			fprintf makefile_ac "_%s"
+		  (Xml.attrib firmware "type");
+		  fprintf makefile_ac ".makefile\n"
+		with _ -> () end;
    | _ -> ()
 
 let parse_targets = fun makefile_ac tag target ->
    match Xml.tag target with
    | "target" ->
-        begin try
-          fprintf makefile_ac "\n###########\n# -target: '%s' \n" (Xml.attrib target "name"); 
-          fprintf makefile_ac "ifeq ($(TARGET), %s) \n" (Xml.attrib target "name"); 
+		begin try
+		  fprintf makefile_ac "\n###########\n# -target: '%s' \n" (Xml.attrib target "name");
+		  fprintf makefile_ac "ifeq ($(TARGET), %s) \n" (Xml.attrib target "name");
   	  let print_if_subsystem = (fun c ->
-            if ExtXml.tag_is c "param" then begin
-              fprintf makefile_ac "%s = %s\n"
-                (String.uppercase(Xml.attrib c "name"))
-                (Xml.attrib c "value")
-            end) in
+			if ExtXml.tag_is c "param" then begin
+			  fprintf makefile_ac "%s = %s\n"
+				(String.uppercase(Xml.attrib c "name"))
+				(Xml.attrib c "value")
+			end) in
 	  List.iter print_if_subsystem (Xml.children target);
-          let has_processor = ref false in
-          begin try
-            has_processor := not (String.compare (Xml.attrib target "processor") "" = 0)
-          with _ -> () end;
-          if !has_processor then
-            fprintf makefile_ac "BOARD_PROCESSOR = %s\n" 
-	      (Xml.attrib target "processor");
-          fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib target "board");
+		  let has_processor = ref false in
+		  begin try
+			has_processor := not (String.compare (Xml.attrib target "processor") "" = 0)
+		  with _ -> () end;
+		  if !has_processor then
+			fprintf makefile_ac "BOARD_PROCESSOR = %s\n"
+		  (Xml.attrib target "processor");
+		  fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib target "board");
 (**          fprintf makefile_ac "%s.ARCHDIR = $(ARCHI)\n"
 		(Xml.attrib target "name") (Xml.attrib target "name")
 		(Xml.attrib target "name") (Xml.attrib target "name")
 		(Xml.attrib target "name") (Xml.attrib target "name");
 **)          fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib tag "name");
   	  let print_if_subsystem = (fun d ->
-            if ExtXml.tag_is d "define" then begin
-              let has_def_value = ref false in
-              begin try
-                has_def_value := not (String.compare (Xml.attrib d "value") "" = 0)
-              with _ -> () end;
-              fprintf makefile_ac "%s.CFLAGS += -D%s"
-                (Xml.attrib target "name")
-                (Xml.attrib d "name");
-              if !has_def_value then
-                fprintf makefile_ac "=%s" (Xml.attrib d "value");
-              fprintf makefile_ac "\n"
-            end) in
+			if ExtXml.tag_is d "define" then begin
+			  let has_def_value = ref false in
+			  begin try
+				has_def_value := not (String.compare (Xml.attrib d "value") "" = 0)
+			  with _ -> () end;
+			  fprintf makefile_ac "%s.CFLAGS += -D%s"
+				(Xml.attrib target "name")
+				(Xml.attrib d "name");
+			  if !has_def_value then
+				fprintf makefile_ac "=%s" (Xml.attrib d "value");
+			  fprintf makefile_ac "\n"
+			end) in
 	  List.iter print_if_subsystem (Xml.children target);
 	  List.iter (parse_subsystems makefile_ac tag) (Xml.children target ); (** dump target  subsystems **)
 	  List.iter (parse_subsystems makefile_ac tag) (Xml.children tag );    (** dump firware subsystems **)
-          fprintf makefile_ac "endif\n\n"; 
-        with _ -> () end;
+		  fprintf makefile_ac "endif\n\n";
+		with _ -> () end;
    | _ -> ()
 
 
-(** 
-   Search and dump the firmware section 
+(**
+   Search and dump the firmware section
  **)
 let dump_firmware_sections = fun xml makefile_ac ->
   List.iter (fun tag ->
-    if ExtXml.tag_is tag "firmware" then begin
-      begin try
-        fprintf makefile_ac "\n####################################################\n";
-        fprintf makefile_ac   "# makefile firmware '%s' \n" (Xml.attrib tag "name");
-        fprintf makefile_ac   "####################################################\n";
+	if ExtXml.tag_is tag "firmware" then begin
+	  begin try
+		fprintf makefile_ac "\n####################################################\n";
+		fprintf makefile_ac   "# makefile firmware '%s' \n" (Xml.attrib tag "name");
+		fprintf makefile_ac   "####################################################\n";
 	List.iter (parse_targets makefile_ac tag) (Xml.children tag )
-      with _ -> () end;
-    end)
-    (Xml.children xml)
+	  with _ -> () end;
+	end)
+	(Xml.children xml)
+
 
-    
 
 (** Extracts the makefile sections of an airframe file *)
 let extract_makefile = fun airframe_file makefile_ac ->
@@ -334,8 +334,8 @@ let is_older = fun target_file dep_files ->
   not (Sys.file_exists target_file) ||
   let target_file_time = (U.stat target_file).U.st_mtime in
   let rec loop = function
-      [] -> false
-    | f::fs ->
+	  [] -> false
+	| f::fs ->
 	target_file_time < (U.stat f).U.st_mtime ||
 	loop fs in
   loop dep_files
@@ -347,63 +347,63 @@ let make_element = fun t a c -> Xml.Element (t,a,c)
 (******************************* MAIN ****************************************)
 let () =
   try
-    if Array.length Sys.argv <> 2 then
-      failwith (sprintf "Usage: %s <A/C ident (conf.xml)>" Sys.argv.(0));
-    let aircraft = Sys.argv.(1) in
-    let conf = Xml.parse_file conf_xml in
-    check_unique_id_and_name conf;
-    let aircraft_xml =
-      try
+	if Array.length Sys.argv <> 2 then
+	  failwith (sprintf "Usage: %s <A/C ident (conf.xml)>" Sys.argv.(0));
+	let aircraft = Sys.argv.(1) in
+	let conf = Xml.parse_file conf_xml in
+	check_unique_id_and_name conf;
+	let aircraft_xml =
+	  try
 	ExtXml.child conf ~select:(fun x -> Xml.attrib x "name" = aircraft) "aircraft"
-      with
+	  with
 	Not_found -> failwith (sprintf "Aircraft '%s' not found in '%s'" aircraft conf_xml)
-    in
+	in
 
-    let value = fun attrib -> ExtXml.attrib aircraft_xml attrib in
+	let value = fun attrib -> ExtXml.attrib aircraft_xml attrib in
 
-    let aircraft_dir = Env.paparazzi_home // "var" // aircraft in
-    let aircraft_conf_dir = aircraft_dir // "conf" in
+	let aircraft_dir = Env.paparazzi_home // "var" // aircraft in
+	let aircraft_conf_dir = aircraft_dir // "conf" in
 
-    mkdir (Env.paparazzi_home // "var");
-    mkdir aircraft_dir;
-    mkdir (aircraft_dir // "fbw");
-    mkdir (aircraft_dir // "autopilot");
-    mkdir (aircraft_dir // "sim");
-    mkdir aircraft_conf_dir;
-    mkdir (aircraft_conf_dir // "airframes");
-    mkdir (aircraft_conf_dir // "flight_plans");
-    mkdir (aircraft_conf_dir // "radios");
-    mkdir (aircraft_conf_dir // "settings");
-    mkdir (aircraft_conf_dir // "telemetry");
+	mkdir (Env.paparazzi_home // "var");
+	mkdir aircraft_dir;
+	mkdir (aircraft_dir // "fbw");
+	mkdir (aircraft_dir // "autopilot");
+	mkdir (aircraft_dir // "sim");
+	mkdir aircraft_conf_dir;
+	mkdir (aircraft_conf_dir // "airframes");
+	mkdir (aircraft_conf_dir // "flight_plans");
+	mkdir (aircraft_conf_dir // "radios");
+	mkdir (aircraft_conf_dir // "settings");
+	mkdir (aircraft_conf_dir // "telemetry");
 
-    let settings = 
-      try value "settings" with 
-	_ -> 
+	let settings =
+	  try value "settings" with
+	_ ->
 	  fprintf stderr "\nWARNING: No 'settings' attribute specified for A/C '%s', using 'settings/basic.xml'\n\n%!" aircraft;
 	  "settings/basic.xml" in
 
-    (** Expands the configuration of the A/C into one single file *)
-    let conf_aircraft = Env.expand_ac_xml aircraft_xml in
-    let configuration =
-      make_element
+	(** Expands the configuration of the A/C into one single file *)
+	let conf_aircraft = Env.expand_ac_xml aircraft_xml in
+	let configuration =
+	  make_element
 	"configuration"
 	[]
 	[make_element "conf" [] [conf_aircraft]; Pprz.messages_xml ()] in
-    let conf_aircraft_file = aircraft_conf_dir // "conf_aircraft.xml" in
-    let f = open_out conf_aircraft_file in
-    Printf.fprintf f "%s\n" (ExtXml.to_string_fmt configuration);
-    close_out f;
+	let conf_aircraft_file = aircraft_conf_dir // "conf_aircraft.xml" in
+	let f = open_out conf_aircraft_file in
+	Printf.fprintf f "%s\n" (ExtXml.to_string_fmt configuration);
+	close_out f;
 
-    (** Computes and store a signature of the configuration *)
-    let md5sum = Digest.to_hex (Digest.file conf_aircraft_file) in
-    let md5sum_file = aircraft_conf_dir // "aircraft.md5" in
-    (* Store only if different from previous one *)
-    if not (Sys.file_exists md5sum_file
-	      && md5sum = input_line (open_in md5sum_file)) then begin
+	(** Computes and store a signature of the configuration *)
+	let md5sum = Digest.to_hex (Digest.file conf_aircraft_file) in
+	let md5sum_file = aircraft_conf_dir // "aircraft.md5" in
+	(* Store only if different from previous one *)
+	if not (Sys.file_exists md5sum_file
+		  && md5sum = input_line (open_in md5sum_file)) then begin
 		let f = open_out md5sum_file in
 		Printf.fprintf f "%s\n" md5sum;
 		close_out f;
-		
+
 		(** Save the configuration for future use *)
 		let d = U.localtime (U.gettimeofday ()) in
 		let filename = sprintf "%02d_%02d_%02d__%02d_%02d_%02d_%s_%s.conf" (d.U.tm_year mod 100) (d.U.tm_mon+1) (d.U.tm_mday) (d.U.tm_hour) (d.U.tm_min) (d.U.tm_sec) md5sum aircraft in
@@ -413,49 +413,49 @@ let () =
 		Printf.fprintf f "%s\n" (ExtXml.to_string_fmt configuration);
 		close_out f end;
 
-    let airframe_file = value "airframe" in
+	let airframe_file = value "airframe" in
 
-    let airframe_dir = Filename.dirname airframe_file in
-    let var_airframe_dir = aircraft_conf_dir // airframe_dir in
-    mkdir var_airframe_dir;
-    assert (Sys.command (sprintf "cp %s %s" (paparazzi_conf // airframe_file) var_airframe_dir) = 0);
-    
-    (** Calls the Makefile with target and options *)
-    let make = fun target options ->
-      let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME_XML=%s TELEMETRY=%s SETTINGS=\"%s\" MD5SUM=\"%s\" %s %s" aircraft (value "ac_id") airframe_file (value "telemetry") settings md5sum options target in
-      begin (** Quiet is speficied in the Makefile *)
+	let airframe_dir = Filename.dirname airframe_file in
+	let var_airframe_dir = aircraft_conf_dir // airframe_dir in
+	mkdir var_airframe_dir;
+	assert (Sys.command (sprintf "cp %s %s" (paparazzi_conf // airframe_file) var_airframe_dir) = 0);
+
+	(** Calls the Makefile with target and options *)
+	let make = fun target options ->
+	  let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME_XML=%s TELEMETRY=%s SETTINGS=\"%s\" MD5SUM=\"%s\" %s %s" aircraft (value "ac_id") airframe_file (value "telemetry") settings md5sum options target in
+	  begin (** Quiet is speficied in the Makefile *)
 	try if Sys.getenv "Q" <> "@" then raise Not_found with
 	  Not_found -> prerr_endline c
-      end;
-      let returned_code = Sys.command c in
-      if returned_code <> 0 then
+	  end;
+	  let returned_code = Sys.command c in
+	  if returned_code <> 0 then
 	exit returned_code in
 
-    (** Calls the makefile if the optional attribute is available *)
-    let make_opt = fun target var attr ->
-      try
+	(** Calls the makefile if the optional attribute is available *)
+	let make_opt = fun target var attr ->
+	  try
 	let value = Xml.attrib aircraft_xml attr in
 	make target (sprintf "%s=%s" var value)
-      with
+	  with
 	Xml.No_attribute _ -> () in
 
-    let temp_makefile_ac = Filename.temp_file "Makefile.ac" "tmp" in
-    let abs_airframe_file = paparazzi_conf // airframe_file in
+	let temp_makefile_ac = Filename.temp_file "Makefile.ac" "tmp" in
+	let abs_airframe_file = paparazzi_conf // airframe_file in
 
-    let modules_files = extract_makefile abs_airframe_file temp_makefile_ac in
+	let modules_files = extract_makefile abs_airframe_file temp_makefile_ac in
 
-    (* Create Makefile.ac only if needed *)
-    let makefile_ac = aircraft_dir // "Makefile.ac" in
-    if is_older makefile_ac (abs_airframe_file :: modules_files) then begin
-      assert(Sys.command (sprintf "mv %s %s" temp_makefile_ac makefile_ac) = 0)
-    end;
+	(* Create Makefile.ac only if needed *)
+	let makefile_ac = aircraft_dir // "Makefile.ac" in
+	if is_older makefile_ac (abs_airframe_file :: modules_files) then begin
+	  assert(Sys.command (sprintf "mv %s %s" temp_makefile_ac makefile_ac) = 0)
+	end;
 
-    (* Get TARGET env, needed to build modules.h according to the target *)
-    let t = Printf.sprintf "TARGET=%s" (try Sys.getenv "TARGET" with _ -> "") in
-    make "all_ac_h" t;
-    make_opt "radio_ac_h" "RADIO" "radio";
-    make_opt "flight_plan_ac_h" "FLIGHT_PLAN" "flight_plan"
+	(* Get TARGET env, needed to build modules.h according to the target *)
+	let t = Printf.sprintf "TARGET=%s" (try Sys.getenv "TARGET" with _ -> "") in
+	make "all_ac_h" t;
+	make_opt "radio_ac_h" "RADIO" "radio";
+	make_opt "flight_plan_ac_h" "FLIGHT_PLAN" "flight_plan"
   with
-    Failure f ->
-      prerr_endline f;
-      exit 1
+	Failure f ->
+	  prerr_endline f;
+	  exit 1