diff --git a/sw/tools/parrot/ardrone2.py b/sw/tools/parrot/ardrone2.py
index ecc0d22b53..2c091b5ff3 100755
--- a/sw/tools/parrot/ardrone2.py
+++ b/sw/tools/parrot/ardrone2.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python
 #
 # Copyright (C) 2012-2014 The Paparazzi Team
+#               2015 Freek van Tienen <freek.v.tienen@gmail.com>
+#               2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 #
 # This file is part of Paparazzi.
 #
@@ -20,456 +22,327 @@
 #
 
 from __future__ import print_function
+from parrot_utils import ParrotUtils
 import re
 import argparse
-import os
 from time import sleep
 
-import parrot_utils
+class Ardrone2(ParrotUtils):
+    uav_name = 'Ardrone 2'
+    config_file = '/data/config.ini'
+    version_file = '/firmware/version.txt'
 
-# Read from config.ini
-def read_from_config(name, config=''):
-    if config == '':
-        config = parrot_utils.execute_command(tn, 'cat /data/config.ini')
-    search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
-    if search is None:
-        return ''
-    else:
-        return search.group(1)
+    # Read from config.ini
+    def read_from_config(self, name):
+        # Only read file once
+        if self.config_content == '':
+            self.config_content = self.execute_command('cat ' + self.config_file)
 
-# Write to config
-def write_to_config(name, value):
-    if read_from_config(name) == '':
-        parrot_utils.execute_command(tn, 'echo "' + name + ' = ' + value + '\" >> /data/config.ini')
-    else:
-        parrot_utils.execute_command(tn, 'sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
-
-# Check if vision framework is installed
-def check_vision_installed():
-    du_opt = parrot_utils.execute_command(tn,'du -d 2 /data/video/opt')
-    return '/data/video/opt/arm/gst' in du_opt or '/data/video/opt/arm/lib' in du_opt or '/data/video/opt/arm/tidsp-binaries-23.i3.8' in du_opt
-
-# Check if the vision framework is running
-def check_vision_running():
-    du_opt = parrot_utils.execute_command(tn,'du -d 2 /opt')
-    return '/opt/arm/gst' in du_opt and '/opt/arm/lib' in du_opt and '/opt/arm/tidsp-binaries-23.i3.8' in du_opt
-
-# Check if autoboot is installed
-def check_autoboot():
-    check_update = parrot_utils.execute_command(tn,'grep "START_PAPARAZZI" /bin/check_update.sh')
-    wifi_setup = parrot_utils.execute_command(tn,'grep "BASE_ADRESS" /bin/wifi_setup.sh')
-    if "START_PAPARAZZI" in check_update and "BASE_ADRESS" in wifi_setup:
-        return True
-    else:
-        return False
-
-# Check if custom wifi_setup script is installed
-def check_wifi_setup():
-    check_wifi = parrot_utils.execute_command(tn,'grep "static_ip_address_base" /bin/wifi_setup.sh')
-    if "static_ip_address_base" in check_wifi:
-        return True
-    else:
-        return False
-
-# Install the vision framework
-def ardrone2_install_vision():
-    print('Uploading GST')
-    parrot_utils.uploadfile(ftp, "arm_light.tgz", file("bin/arm_light.tgz", "rb"))
-    print(parrot_utils.execute_command(tn,"cd /data/video && tar -xzf arm_light.tgz"))
-    print(parrot_utils.execute_command(tn,"rm -rf /data/video/arm_light.tgz"))
-    print('Now Starting Vision')
-    ardrone2_start_vision()
-
-# Remove the vision framework
-def ardrone2_remove_vision():
-    parrot_utils.execute_command(tn,"rm -rf /opt/arm")
-    parrot_utils.execute_command(tn,"rm -rf /lib/dsp")
-    parrot_utils.execute_command(tn,"rm -rf /data/video/opt")
-
-# Start the vision framework
-def ardrone2_start_vision():
-    # Mount the directories
-    parrot_utils.execute_command(tn,"mkdir -p /opt/arm")
-    parrot_utils.execute_command(tn,"mkdir -p /lib/dsp")
-    parrot_utils.execute_command(tn,"mount --bind /data/video/opt/arm /opt/arm")
-    parrot_utils.execute_command(tn,"mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
-    # Start The DSP programs
-    parrot_utils.execute_command(tn,"kill -9 `pidof program.elf`")
-    parrot_utils.execute_command(tn,"kill -9 `pidof gst-launch-0.10`")
-    parrot_utils.execute_command(tn,"export PATH=/opt/arm/gst/bin:$PATH")
-    parrot_utils.execute_command(tn,"export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
-    parrot_utils.execute_command(tn,"/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
-    parrot_utils.execute_command(tn,"/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
-    # Show result
-    parrot_utils.execute_command(tn,"ls -altr /opt/arm/gst/bin")
-
-# Install autoboot script
-def ardrone2_install_autoboot():
-    print('Uploading autoboot script')
-    parrot_utils.uploadfile(ftp, "check_update.sh", file("ardrone2/check_update.sh", "rb"))
-    print(parrot_utils.execute_command(tn,"mv /data/video/check_update.sh /bin/check_update.sh"))
-    print(parrot_utils.execute_command(tn,"chmod 777 /bin/check_update.sh"))
-
-# Install network script
-def ardrone2_install_network_script():
-    print('Uploading Wifi script')
-    parrot_utils.uploadfile(ftp, "wifi_setup.sh", file("ardrone2/wifi_setup.sh", "rb"))
-    print(parrot_utils.execute_command(tn,"mv /data/video/wifi_setup.sh /bin/wifi_setup.sh"))
-    print(parrot_utils.execute_command(tn,"chmod 777 /bin/wifi_setup.sh"))
-
-# Install olsr deamon
-def ardrone2_install_olsrd():
-    print('Uploading olsr deamon')
-    parrot_utils.uploadfile(ftp, "olsrd", file("ardrone2/olsrd", "rb"))
-    parrot_utils.uploadfile(ftp, "olsrd.conf", file("ardrone2/olsrd.conf", "rb"))
-    print(parrot_utils.execute_command(tn,"mv /data/video/olsrd /bin/olsrd"))
-    print(parrot_utils.execute_command(tn,"chmod 777 /bin/olsrd"))
-    print(parrot_utils.execute_command(tn,"mkdir -p /etc/olsrd"))
-    print(parrot_utils.execute_command(tn,"mv /data/video/olsrd.conf /etc/olsrd"))
-    print(parrot_utils.execute_command(tn,"rm -f /var/run && ln -s /tmp /var/run")) # olsrd needs /var/run folder, symlinked to /tmp
-
-# Set network SSID
-def ardrone2_set_ssid(name):
-    write_to_config('ssid_single_player', name)
-    print('The network ID (SSID) of the ARDrone 2 is changed to ' + name)
-
-# Set IP address
-def ardrone2_set_ip_address(address):
-    splitted_ip = address.split(".")
-    write_to_config('static_ip_address_base', splitted_ip[0] + '.' + splitted_ip[1] + '.' + splitted_ip[2] + '.')
-    write_to_config('static_ip_address_probe', splitted_ip[3])
-    print('The IP Address of the ARDrone 2 is changed to ' + address)
-
-# Set wifi mode (0: master, 1: ad-hoc, 2: managed, *: master)
-def ardrone2_set_wifi_mode(mode):
-    modes = { 'master' : '0', 'ad-hoc' : '1', 'managed' : '2', 'ad-hoc-olsr' : '3' }
-    try:
-        val = modes[mode]
-    except:
-        print('Unexpected wifi mode, setting to master (default)')
-        val = modes['master']
-    write_to_config('wifi_mode', val)
-    print('The Wifi mode of the ARDrone2 is changed to ' + mode + ' (' + val + ')')
-
-# Set network channel
-def ardrone2_set_wifi_channel(chan):
-    write_to_config('wifi_channel', chan)
-    print('The network channel of the ARDrone 2 is changed to ' + chan)
-
-def ardrone2_status():
-    config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
-
-    print('======================== ARDrone 2 Status ========================')
-    print('Version:\t\t' + str(parrot_utils.check_version(tn, '/firmware')))
-    print('Host:\t\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
-          read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
-
-    print('Serial number:\t\t' + read_from_config('drone_serial', config_ini))
-    print('Network id:\t\t' + read_from_config('ssid_single_player', config_ini))
-    print('Motor software:\t\t' +
-          read_from_config('motor1_soft', config_ini) + '\t' + read_from_config('motor2_soft', config_ini) + '\t' +
-          read_from_config('motor3_soft', config_ini) + '\t' + read_from_config('motor4_soft', config_ini))
-    print('Motor hardware:\t\t' +
-          read_from_config('motor1_hard', config_ini) + '\t' + read_from_config('motor2_hard', config_ini) + '\t' +
-          read_from_config('motor3_hard', config_ini) + '\t' + read_from_config('motor4_hard', config_ini))
-
-    sleep(2.0) #Wait running process reporting back lag
-    print('Currently running:\t' + parrot_utils.check_running(tn))
-    autorun = {'': 'Native', '0': 'Native', '1': 'Paparazzi'}
-    if check_autoboot():
-        print('Autorun at start:\tInstalled booting ' + autorun[read_from_config('start_paparazzi', config_ini)])
-    else:
-        print('Autorun at start:\tNot installed')
-
-    # Check if the vision framework is installed and running
-    vision_framework = ""
-    if check_vision_installed():
-        vision_framework += "Installed"
-    if check_vision_running():
-        vision_framework += " and running"
-    print('Vision framework:\t' + vision_framework)
-
-    # Request the filesystem status
-    print('\n======================== Filesystem Status ========================')
-    print(parrot_utils.check_filesystem(tn))
-
-
-# Parse the arguments
-parser = argparse.ArgumentParser(description='ARDrone 2 python helper. Use ardrone2.py -h for help')
-parser.add_argument('--host', metavar='HOST', default='192.168.1.1',
-                    help='the ip address of ardrone2')
-subparsers = parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
-
-# All the subcommands and arguments
-subparsers.add_parser('status', help='Request the status of the ARDrone 2')
-subparsers.add_parser('reboot', help='Reboot the ARDrone 2')
-subparsers.add_parser('installvision', help='Install the vision framework')
-subparser_upload_gst = subparsers.add_parser('upload_gst_module',
-                                         help='Upload, configure and move a gstreamer0.10 module libXXX.so')
-subparser_upload_gst.add_argument('file', help='Filename of *.so module')
-subparser_upload_and_run = subparsers.add_parser('upload_file_and_run', help='Upload and run software (for instance the Paparazzi autopilot)')
-subparser_upload_and_run.add_argument('file', help='Filename of an executable')
-subparser_upload_and_run.add_argument('folder', help='Destination subfolder (raw for Paparazzi autopilot)')
-subparser_upload = subparsers.add_parser('upload_file', help='Upload a file to the ARDrone 2')
-subparser_upload.add_argument('file', help='Filename')
-subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is /data/video)')
-subparser_download = subparsers.add_parser('download_file', help='Download a file from the ARDrone 2')
-subparser_download.add_argument('file', help='Filename (with the path on the local machine)')
-subparser_download.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
-subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the ARDrone 2')
-subparser_download_dir.add_argument('dest', help='destination folder (on the local machine)')
-subparser_download_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
-subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the ARDrone 2')
-subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
-subparser_insmod = subparsers.add_parser('insmod', help='Upload and insert kernel module')
-subparser_insmod.add_argument('file', help='Filename of *.ko kernel module')
-subparsers.add_parser('startvision', help='Start the vision framework')
-subparser_start = subparsers.add_parser('start', help='Start a program on the ARDrone 2')
-subparser_start.add_argument('program', help='the program to start')
-subparser_kill = subparsers.add_parser('kill', help='Kill a program on the ARDrone 2')
-subparser_kill.add_argument('program', help='the program to kill')
-subparser_networkid = subparsers.add_parser('networkid', help='Set the network ID(SSID) of the ARDrone 2')
-subparser_networkid.add_argument('name', help='the new network ID(SSID)')
-subparser_ipaddress = subparsers.add_parser('ipaddress', help='Set the IP address of the ARDrone 2')
-subparser_ipaddress.add_argument('address', help='the new IP address')
-subparser_wifimode = subparsers.add_parser('wifimode', help='Set the Wifi mode the ARDrone 2')
-subparser_wifimode.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed', 'ad-hoc-olsr'])
-subparser_configure_network = subparsers.add_parser('configure_network', help='Configure the network on the ARDrone 2')
-subparser_configure_network.add_argument('name', help='the new network ID(SSID)')
-subparser_configure_network.add_argument('address', help='the new IP address')
-subparser_configure_network.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed', 'ad-hoc-olsr'])
-subparser_configure_network.add_argument('--channel', help='the wifi channel (auto or 1 to 11)', default='auto')
-subparser_install_autostart = subparsers.add_parser('install_autostart', help='Install custom autostart script and set what to start on boot for the ARDrone 2')
-subparser_install_autostart.add_argument('type', choices=['native', 'paparazzi'],
-                                 help='what to start on boot')
-subparser_autostart = subparsers.add_parser('autostart', help='Set what to start on boot for the ARDrone 2')
-subparser_autostart.add_argument('type', choices=['native', 'paparazzi'],
-                                 help='what to start on boot')
-
-args = parser.parse_args()
-
-# Connect with telnet and ftp
-tn, ftp = parrot_utils.connect(args.host)
-
-# Check the ARDrone 2 status
-if args.command == 'status':
-    ardrone2_status()
-
-# Reboot the drone
-elif args.command == 'reboot':
-    parrot_utils.reboot(tn)
-    print('The ARDrone 2 is rebooting...')
-
-# Kill a program
-elif args.command == 'kill':
-    parrot_utils.execute_command(tn,'killall -9 ' + args.program + ' &')
-    print('Program "' + args.program + '" is now killed')
-
-# Start a program
-elif args.command == 'start':
-    parrot_utils.execute_command(tn,args.start + ' &')
-    print('Program "' + args.start + '" is now started')
-
-# Change the network ID
-elif args.command == 'networkid':
-    ardrone2_set_ssid(args.name)
-
-    if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
-        parrot_utils.reboot(tn)
-
-# Change the IP address
-elif args.command == 'ipaddress':
-    ardrone2_set_ip_address(args.address)
-
-    if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
-        parrot_utils.reboot(tn)
-
-# Change the wifi mode
-elif args.command == 'wifimode':
-    ardrone2_set_wifi_mode(args.mode)
-
-    if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
-        parrot_utils.reboot(tn)
-
-# Install and configure network
-elif args.command == 'configure_network':
-    config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
-    print('=== Current network setup ===')
-    print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
-    print('Host:\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
-          read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
-    print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
-    print('Channel:\t' + read_from_config('wifi_channel', config_ini))
-    print('=============================')
-    if check_wifi_setup():
-        print('Custom Wifi script already installed')
-        if raw_input("Shall I reinstall the Wifi script (y/N) ").lower() == 'y':
-            ardrone2_install_network_script()
-    else:
-        if raw_input("Shall I install custom Wifi script (recommanded) (y/N) ").lower() == 'y':
-            ardrone2_install_network_script()
-    if raw_input("Shall I install olsrd (ad-hoc wireless mesh routing deamon) (y/N) ").lower() == 'y':
-        ardrone2_install_olsrd()
-    ardrone2_set_ssid(args.name)
-    ardrone2_set_ip_address(args.address)
-    ardrone2_set_wifi_mode(args.mode)
-    ardrone2_set_wifi_channel(args.channel)
-    config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
-    print('== New network setup after boot ==')
-    print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
-    print('Host:\t\t' + read_from_config('static_ip_address_base', config_ini) +
-          read_from_config('static_ip_address_probe', config_ini))
-    print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
-    print('Channel:\t' + read_from_config('wifi_channel', config_ini))
-    print('==================================')
-
-    if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
-        parrot_utils.reboot(tn)
-
-# Install and configure autostart
-elif args.command == 'install_autostart':
-    if check_autoboot():
-        print('Custom autostart script already installed')
-        if raw_input("Shall I reinstall the autostart script (y/N) ").lower() == 'y':
-            ardrone2_install_autoboot()
-    else:
-        ardrone2_install_autoboot()
-    autorun = {'native': '0', 'paparazzi': '1'}
-    write_to_config('start_paparazzi', autorun[args.type])
-    print('The autostart on boot is changed to ' + args.type)
-
-    if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
-        parrot_utils.reboot(tn)
-
-# Change the autostart
-elif args.command == 'autostart':
-    autorun = {'native': '0', 'paparazzi': '1'}
-    write_to_config('start_paparazzi', autorun[args.type])
-    print('The autostart on boot is changed to ' + args.type)
-
-# Install Vision framework
-elif args.command == 'installvision':
-    if check_vision_installed():
-        print('Vision framework already installed')
-        if raw_input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y':
-            ardrone2_remove_vision()
-            ardrone2_install_vision()
-
-    ardrone2_install_vision()
-    print('Vision framework installed')
-
-# Start Vision framework
-elif args.command == 'startvision':
-    if check_vision_running():
-        print('Vision framework already started')
-    else:
-        if not check_vision_installed():
-            print('No vision framework installed')
-            if raw_input("Shall I install the vision framework? (y/N) ").lower() == 'y':
-                ardrone2_install_vision()
-
-        if check_vision_installed():
-            ardrone2_start_vision()
-            print('Vision framework started')
-
-elif args.command == 'upload_gst_module':
-    print('Uploading ...' + args.file)
-    parrot_utils.uploadfile(ftp, args.file, file(args.file, "rb"))
-    parrot_utils.execute_command(tn,"chmod 777 /data/video/" + args.file)
-    parrot_utils.execute_command(tn,"mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10")
-    if check_vision_running():
-        print('Info: Vision framework already started')
-    else:
-        if not check_vision_installed():
-            print('Warning: No vision framework installed')
-            if raw_input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y':
-                ardrone2_install_vision()
-
-        if check_vision_installed():
-            ardrone2_start_vision()
-            print('#pragma message: Vision framework started')
-    print('#pragma message: Vision Plugin Uploaded and DSP Started.')
-
-
-elif args.command == 'insmod':
-    modfile = parrot_utils.split_into_path_and_file(args.file)
-    print('Uploading \'' + modfile[1])
-    parrot_utils.uploadfile(ftp, modfile[1], file(args.file, "rb"))
-    print(parrot_utils.execute_command(tn,"insmod /data/video/" + modfile[1]))
-
-elif args.command == 'upload_file_and_run':
-    # Split filename and path
-    f = parrot_utils.split_into_path_and_file(args.file)
-
-    print("Kill running " + f[1] + " and make folder " + args.folder)
-    parrot_utils.execute_command(tn,"killall -9 " + f[1] + ' &')
-    sleep(1)
-    parrot_utils.execute_command(tn, "mkdir -p /data/video/" + args.folder)
-    print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
-    print("#pragma message: Please wait, uploading can take some time...")
-    parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
-    sleep(0.5)
-    parrot_utils.execute_command(tn, "chmod 777 /data/video/" + args.folder + "/" + f[1])
-    parrot_utils.execute_command(tn, "/data/video/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
-    print("#pragma message: Upload to, and start of Autopilot on, ARDrone2 successful !")
-
-elif args.command == 'upload_file':
-    # Split filename and path
-    f = parrot_utils.split_into_path_and_file(args.file)
-
-    parrot_utils.execute_command(tn,"mkdir -p /data/video/" + args.folder)
-    print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/video/" + args.folder)
-    parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
-    print("#pragma message: Upload of " + f[1] + " to ARDrone2 successful !")
-
-elif args.command == 'download_file':
-    # Split filename and path
-    f = parrot_utils.split_into_path_and_file(args.file)
-    # Open file and download
-    try:
-        file = open(args.file, 'wb')
-        print('Downloading \'' + f[1] + "\' from " + args.folder + " to " + f[0])
-        ftp.retrbinary("RETR " + args.folder + "/" + f[1], file.write)
-        print("#pragma message: Download of " + f[1] + " from ARDrone2 successful !")
-    except IOError:
-        print("#pragma message: Fail to open file " + args.file)
-    except:
-        os.remove(args.file)
-        print("#pragma message: Download of " + f[1] + " from ARDrone2 Failed!")
-    else:
-        file.close()
-
-elif args.command == 'download_dir':
-    # Split filename and path
-    files = parrot_utils.execute_command(tn, 'find /data/video/' + args.folder + ' -name \'*.*\'')
-    # Create dest dir if needed
-    if not os.path.exists(args.dest):
-        os.mkdir(args.dest)
-    # Open file and download
-    for f in files.split():
-        file_name = parrot_utils.split_into_path_and_file(f)
-        file_source = args.folder + '/' + file_name[1]
-        file_dest = args.dest + '/' + file_name[1]
-        try:
-            file = open(file_dest, 'wb')
-            print('Downloading \'' + f + "\' to " + file_dest)
-            ftp.retrbinary("RETR " + file_source, file.write)
-        except IOError:
-            print("#pragma message: Fail to open file " + file_dest)
-        except:
-            os.remove(file_dest)
-            print("#pragma message: Download of " + f + " from ARDrone2 Failed!")
+        # Search for the name
+        search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)',self.config_content)
+        if search is None:
+            return None
         else:
-            file.close()
-    print("#pragma message: End download of folder " + args.folder + " from ARDrone2")
+            return search.group(1)
 
-elif args.command == 'rm_dir':
-    # Split filename and path
-    print("Deleting folder /data/video/" + args.folder + " from ARDrone2...")
-    print(parrot_utils.execute_command(tn, 'rm -r /data/video/' + args.folder))
+    # Write to config
+    def write_to_config(self, name, value):
+        if self.read_from_config(name) == None:
+            self.execute_command('echo "' + name + ' = ' + value + '\" >> ' + self.config_file)
+        else:
+            self.execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" ' + self.config_file)
+
+    def uav_status(self):
+        print('Parrot version:\t\t' + self.check_version())
+        print('Host address:\t\t' + self.address +
+                ' (' + self.read_from_config('static_ip_address_base', config_ini) +
+                self.read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
+        print('Serial number:\t\t' + self.read_from_config('drone_serial'))
+        print('Network id:\t\t' + self.read_from_config('ssid_single_player'))
+        print('Motor software:\t\t' +
+                self.read_from_config('motor1_soft', config_ini) + '\t' + read_from_config('motor2_soft', config_ini) + '\t' +
+                self.read_from_config('motor3_soft', config_ini) + '\t' + read_from_config('motor4_soft', config_ini))
+        print('Motor hardware:\t\t' +
+                self.read_from_config('motor1_hard', config_ini) + '\t' + read_from_config('motor2_hard', config_ini) + '\t' +
+                self.read_from_config('motor3_hard', config_ini) + '\t' + read_from_config('motor4_hard', config_ini))
+        sleep(2.0) #Wait running process reporting back lag
+        print('Currently running:\t' + self.check_running())
+        autorun = {'': 'Native', '0': 'Native', '1': 'Paparazzi'}
+        if self.check_autoboot():
+            print('Autorun at start:\tInstalled booting ' + autorun[self.read_from_config('start_paparazzi', config_ini)])
+        else:
+            print('Autorun at start:\tNot installed')
+
+        # Check if the vision framework is installed and running
+        vision_framework = ""
+        if self.check_vision_installed():
+            vision_framework += "Installed"
+        if self.check_vision_running():
+            vision_framework += " and running"
+        print('Vision framework:\t' + vision_framework)
 
 
-# Close the telnet and python script
-parrot_utils.disconnect(tn, ftp)
-exit(0)
+    # Check if vision framework is installed
+    def check_vision_installed(self):
+        du_opt = self.execute_command('du -d 2 /data/video/opt')
+        return '/data/video/opt/arm/gst' in du_opt or '/data/video/opt/arm/lib' in du_opt or '/data/video/opt/arm/tidsp-binaries-23.i3.8' in du_opt
+    
+    # Check if the vision framework is running
+    def check_vision_running(self):
+        du_opt = self.execute_command('du -d 2 /opt')
+        return '/opt/arm/gst' in du_opt and '/opt/arm/lib' in du_opt and '/opt/arm/tidsp-binaries-23.i3.8' in du_opt
+    
+    # Check if autoboot is installed
+    def check_autoboot(self):
+        check_update = self.execute_command('grep "START_PAPARAZZI" /bin/check_update.sh')
+        wifi_setup = self.execute_command('grep "BASE_ADRESS" /bin/wifi_setup.sh')
+        if "START_PAPARAZZI" in check_update and "BASE_ADRESS" in wifi_setup:
+            return True
+        else:
+            return False
+    
+    # Check if custom wifi_setup script is installed
+    def check_wifi_setup(self):
+        check_wifi = self.execute_command('grep "static_ip_address_base" /bin/wifi_setup.sh')
+        if "static_ip_address_base" in check_wifi:
+            return True
+        else:
+            return False
+    
+    # Install the vision framework
+    def ardrone2_install_vision(self):
+        print('Uploading GST')
+        self.upload_file("arm_light.tgz")
+        print(self.execute_command("cd /data/video && tar -xzf arm_light.tgz"))
+        print(self.execute_command("rm -rf /data/video/arm_light.tgz"))
+        print('Now Starting Vision')
+        self.ardrone2_start_vision()
+    
+    # Remove the vision framework
+    def ardrone2_remove_vision(self):
+        self.execute_command("rm -rf /opt/arm")
+        self.execute_command("rm -rf /lib/dsp")
+        self.execute_command("rm -rf /data/video/opt")
+    
+    # Start the vision framework
+    def ardrone2_start_vision(self):
+        # Mount the directories
+        self.execute_command("mkdir -p /opt/arm")
+        self.execute_command("mkdir -p /lib/dsp")
+        self.execute_command("mount --bind /data/video/opt/arm /opt/arm")
+        self.execute_command("mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
+        # Start The DSP programs
+        self.execute_command("kill -9 `pidof program.elf`")
+        self.execute_command("kill -9 `pidof gst-launch-0.10`")
+        self.execute_command("export PATH=/opt/arm/gst/bin:$PATH")
+        self.execute_command("export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
+        self.execute_command("/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
+        self.execute_command("/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
+        # Show result
+        self.execute_command("ls -altr /opt/arm/gst/bin")
+
+    # Install autoboot script
+    def ardrone2_install_autoboot(self):
+        print('Uploading autoboot script')
+        self.upload_file("ardrone2/check_update.sh")
+        print(self.execute_command("mv /data/video/check_update.sh /bin/check_update.sh"))
+        print(self.execute_command("chmod 777 /bin/check_update.sh"))
+    
+    # Install network script
+    def ardrone2_install_network_script(self):
+        print('Uploading Wifi script')
+        self.upload_file("ardrone2/wifi_setup.sh")
+        print(self.execute_command("mv /data/video/wifi_setup.sh /bin/wifi_setup.sh"))
+        print(self.execute_command("chmod 777 /bin/wifi_setup.sh"))
+    
+    # Install olsr deamon
+    def ardrone2_install_olsrd(self):
+        print('Uploading olsr deamon')
+        self.upload_file("ardrone2/olsrd")
+        self.upload_file("ardrone2/olsrd.conf")
+        print(self.execute_command("mv /data/video/olsrd /bin/olsrd"))
+        print(self.execute_command("chmod 777 /bin/olsrd"))
+        print(self.execute_command("mkdir -p /etc/olsrd"))
+        print(self.execute_command("mv /data/video/olsrd.conf /etc/olsrd"))
+        print(self.execute_command("rm -f /var/run && ln -s /tmp /var/run")) # olsrd needs /var/run folder, symlinked to /tmp
+    
+    # Set network SSID
+    def ardrone2_set_ssid(self, name):
+        write_to_config('ssid_single_player', name)
+        print('The network ID (SSID) of the ARDrone 2 is changed to ' + name)
+    
+    # Set IP address
+    def ardrone2_set_ip_address(self, address):
+        splitted_ip = address.split(".")
+        write_to_config('static_ip_address_base', splitted_ip[0] + '.' + splitted_ip[1] + '.' + splitted_ip[2] + '.')
+        write_to_config('static_ip_address_probe', splitted_ip[3])
+        print('The IP Address of the ARDrone 2 is changed to ' + address)
+    
+    # Set wifi mode (0: master, 1: ad-hoc, 2: managed, *: master)
+    def ardrone2_set_wifi_mode(self, mode):
+        modes = { 'master' : '0', 'ad-hoc' : '1', 'managed' : '2', 'ad-hoc-olsr' : '3' }
+        try:
+            val = modes[mode]
+        except:
+            print('Unexpected wifi mode, setting to master (default)')
+            val = modes['master']
+        write_to_config('wifi_mode', val)
+        print('The Wifi mode of the ARDrone2 is changed to ' + mode + ' (' + val + ')')
+    
+    # Set network channel
+    def ardrone2_set_wifi_channel(self, chan):
+        write_to_config('wifi_channel', chan)
+        print('The network channel of the ARDrone 2 is changed to ' + chan)
+
+    def init_extra_parser(self):
+        # Parse custom arguments
+        self.subparsers.add_parser('installvision', help='Install the vision framework')
+        self.subparsers.add_parser('startvision', help='Start the vision framework')
+        ss = self.subparsers.add_parser('upload_gst_module',
+                help='Upload, configure and move a gstreamer0.10 module libXXX.so')
+        ss.add_argument('file', help='Filename of *.so module')
+
+        ss = self.subparsers.add_parser('networkid', help='Set the network ID(SSID) of the ARDrone 2')
+        ss.add_argument('name', help='the new network ID(SSID)')
+        ss = self.subparsers.add_parser('ipaddress', help='Set the IP address of the ARDrone 2')
+        ss.add_argument('address', help='the new IP address')
+        ss = self.subparsers.add_parser('wifimode', help='Set the Wifi mode the ARDrone 2')
+        ss.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed', 'ad-hoc-olsr'])
+        ss = self.subparsers.add_parser('configure_network', help='Configure the network on the ARDrone 2')
+        ss.add_argument('name', help='the new network ID(SSID)')
+        ss.add_argument('address', help='the new IP address')
+        ss.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed', 'ad-hoc-olsr'])
+        ss.add_argument('--channel', help='the wifi channel (auto or 1 to 11)', default='auto')
+        ss = self.subparsers.add_parser('install_autostart', help='Install custom autostart script and set what to start on boot for the ARDrone 2')
+        ss.add_argument('type', choices=['native', 'paparazzi'],
+                help='what to start on boot')
+        ss = self.subparsers.add_parser('autostart', help='Set what to start on boot for the ARDrone 2')
+        ss.add_argument('type', choices=['native', 'paparazzi'],
+                help='what to start on boot')
+
+    def parse_extra_args(self, args):
+
+        # Change the network ID
+        if args.command == 'networkid':
+            self.ardrone2_set_ssid(args.name)
+            if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
+                self.reboot()
+
+        # Change the IP address
+        elif args.command == 'ipaddress':
+            self.ardrone2_set_ip_address(args.address)
+            if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
+                self.reboot()
+
+        # Change the wifi mode
+        elif args.command == 'wifimode':
+            self.ardrone2_set_wifi_mode(args.mode)
+            if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
+                self.reboot()
+
+        # Install and configure network
+        elif args.command == 'configure_network':
+            config_ini = self.execute_command('cat /data/config.ini')
+            print('=== Current network setup ===')
+            print('Network id:\t' + self.read_from_config('ssid_single_player', config_ini))
+            print('Host:\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
+                  self.read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
+            print('Mode:\t\t' + self.read_from_config('wifi_mode', config_ini))
+            print('Channel:\t' + self.read_from_config('wifi_channel', config_ini))
+            print('=============================')
+            if self.check_wifi_setup():
+                print('Custom Wifi script already installed')
+                if raw_input("Shall I reinstall the Wifi script (y/N) ").lower() == 'y':
+                    self.ardrone2_install_network_script()
+            else:
+                if raw_input("Shall I install custom Wifi script (recommanded) (y/N) ").lower() == 'y':
+                    self.ardrone2_install_network_script()
+            if raw_input("Shall I install olsrd (ad-hoc wireless mesh routing deamon) (y/N) ").lower() == 'y':
+                self.ardrone2_install_olsrd()
+            self.ardrone2_set_ssid(args.name)
+            self.ardrone2_set_ip_address(args.address)
+            self.ardrone2_set_wifi_mode(args.mode)
+            self.ardrone2_set_wifi_channel(args.channel)
+            config_ini = self.execute_command('cat /data/config.ini')
+            print('== New network setup after boot ==')
+            print('Network id:\t' + self.read_from_config('ssid_single_player', config_ini))
+            print('Host:\t\t' + self.read_from_config('static_ip_address_base', config_ini) +
+                  self.read_from_config('static_ip_address_probe', config_ini))
+            print('Mode:\t\t' + self.read_from_config('wifi_mode', config_ini))
+            print('Channel:\t' + self.read_from_config('wifi_channel', config_ini))
+            print('==================================')
+
+            if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
+                self.reboot()
+
+        # Install and configure autostart
+        elif args.command == 'install_autostart':
+            if self.check_autoboot():
+                print('Custom autostart script already installed')
+                if raw_input("Shall I reinstall the autostart script (y/N) ").lower() == 'y':
+                    self.ardrone2_install_autoboot()
+            else:
+                self.ardrone2_install_autoboot()
+            autorun = {'native': '0', 'paparazzi': '1'}
+            self.write_to_config('start_paparazzi', autorun[args.type])
+            print('The autostart on boot is changed to ' + args.type)
+
+            if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
+                self.reboot()
+
+        # Change the autostart
+        elif args.command == 'autostart':
+            autorun = {'native': '0', 'paparazzi': '1'}
+            self.write_to_config('start_paparazzi', autorun[args.type])
+            print('The autostart on boot is changed to ' + args.type)
+
+        # Install Vision framework
+        elif args.command == 'installvision':
+            if self.check_vision_installed():
+                print('Vision framework already installed')
+                if raw_input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y':
+                    self.ardrone2_remove_vision()
+                    self.ardrone2_install_vision()
+
+            self.ardrone2_install_vision()
+            print('Vision framework installed')
+
+        # Start Vision framework
+        elif args.command == 'startvision':
+            if self.check_vision_running():
+                print('Vision framework already started')
+            else:
+                if not self.check_vision_installed():
+                    print('No vision framework installed')
+                    if raw_input("Shall I install the vision framework? (y/N) ").lower() == 'y':
+                        self.ardrone2_install_vision()
+
+                if self.check_vision_installed():
+                    self.ardrone2_start_vision()
+                    print('Vision framework started')
+
+        elif args.command == 'upload_gst_module':
+            print('Uploading ...' + args.file)
+            self.upload_file(args.file)
+            self.execute_command("chmod 777 /data/video/" + args.file)
+            self.execute_command("mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10")
+            if self.check_vision_running():
+                print('Info: Vision framework already started')
+            else:
+                if not self.check_vision_installed():
+                    print('Warning: No vision framework installed')
+                    if raw_input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y':
+                        self.ardrone2_install_vision()
+
+                if self.check_vision_installed():
+                    self.ardrone2_start_vision()
+                    print('#pragma message: Vision framework started')
+            print('#pragma message: Vision Plugin Uploaded and DSP Started.')
+
+
+if __name__ == "__main__":
+    ardrone2 = Ardrone2()
+    ardrone2.parse_args()
+    exit(0)
+
 
diff --git a/sw/tools/parrot/bebop.py b/sw/tools/parrot/bebop.py
index 49999f8dd1..eabd322b31 100755
--- a/sw/tools/parrot/bebop.py
+++ b/sw/tools/parrot/bebop.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python
 #
 # Copyright (C) 2012-2014 The Paparazzi Team
+#               2015 Freek van Tienen <freek.v.tienen@gmail.com>
+#               2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 #
 # This file is part of Paparazzi.
 #
@@ -20,192 +22,34 @@
 #
 
 from __future__ import print_function
-import re
-import argparse
-import os
-from time import sleep
+from parrot_utils import ParrotUtils
 
-import parrot_utils
+class Bebop(ParrotUtils):
+    uav_name = 'Bebop'
+    address = '192.168.42.1'
+    version_file = '/version.txt'
+    upload_path = '/data/ftp/'
+    check_version_before_run = True
+    update_time_before_run = True
+
+    def uav_status(self):
+        print('Parrot version:\t\t' + self.check_version())
+
+    def init_extra_parser(self):
+
+        # Parse the extra arguments
+        self.parser.add_argument('--min_version', metavar='MIN', default='3.3.0',
+                help='force minimum version allowed')
+        self.parser.add_argument('--max_version', metavar='MAX', default='4.0.5',
+                help='force maximum version allowed')
+
+    def parse_extra_args(self, args):
+        # nothing here
+        pass
 
 
-# Read from config.ini TODO
-def read_from_config(name, config=''):
-    if config == '':
-        config = parrot_utils.execute_command('cat /data/config.ini')
-    search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
-    if search is None:
-        return ''
-    else:
-        return search.group(1)
+if __name__ == "__main__":
+    bebop = Bebop()
+    bebop.parse_args()
+    exit(0)
 
-# Write to config TODO
-def write_to_config(name, value):
-    if read_from_config(name) == '':
-        parrot_utils.execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
-    else:
-        parrot_utils.execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
-
-
-def bebop_status():
-    #config_ini = parrot_utils.execute_command(tn, 'cat /data/config.ini')
-
-    print('======================== Bebop Status ========================')
-    print('Version:\t\t' + str(parrot_utils.check_version(tn, '')))
-    # Request the filesystem status
-    print('\n=================== Filesystem Status =======================')
-    print(parrot_utils.check_filesystem(tn))
-
-
-# Parse the arguments
-parser = argparse.ArgumentParser(description='Bebop helper tool. Use bebop.py -h for help')
-parser.add_argument('--host', metavar='HOST', default='192.168.42.1',
-                    help='the ip address of bebop')
-parser.add_argument('--min_version', metavar='MIN', default='3.3.0',
-                    help='force minimum version allowed')
-parser.add_argument('--max_version', metavar='MAX', default='4.0.5',
-                    help='force maximum version allowed')
-subparsers = parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
-
-# All the subcommands and arguments
-subparsers.add_parser('status', help='Request the status of the Bebop')
-subparsers.add_parser('reboot', help='Reboot the Bebop')
-subparser_upload_and_run = subparsers.add_parser('upload_file_and_run', help='Upload and run software (for instance the Paparazzi autopilot)')
-subparser_upload_and_run.add_argument('file', help='Filename of an executable')
-subparser_upload_and_run.add_argument('folder', help='Destination subfolder (raw for Paparazzi autopilot)')
-subparser_upload = subparsers.add_parser('upload_file', help='Upload a file to the Bebop')
-subparser_upload.add_argument('file', help='Filename')
-subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is /data/ftp)')
-subparser_download = subparsers.add_parser('download_file', help='Download a file from the Bebop')
-subparser_download.add_argument('file', help='Filename (with the path on the local machine)')
-subparser_download.add_argument('folder', help='Remote subfolder (base folder is /data/ftp)')
-subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the Bebop')
-subparser_download_dir.add_argument('dest', help='destination folder (on the local machine)')
-subparser_download_dir.add_argument('folder', help='Remote subfolder (base folder is /data/ftp)')
-subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the Bebop')
-subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is /data/ftp)')
-subparser_insmod = subparsers.add_parser('insmod', help='Upload and insert kernel module')
-subparser_insmod.add_argument('file', help='Filename of *.ko kernel module')
-subparser_start = subparsers.add_parser('start', help='Start a program on the Bebop')
-subparser_start.add_argument('program', help='the program to start')
-subparser_kill = subparsers.add_parser('kill', help='Kill a program on the Bebop')
-subparser_kill.add_argument('program', help='the program to kill')
-
-args = parser.parse_args()
-
-# Connect with telnet and ftp
-tn, ftp = parrot_utils.connect(args.host)
-
-# Check the Bebop status
-if args.command == 'status':
-    print("Connected to Bebop at " + args.host)
-    bebop_status()
-
-# Reboot the drone
-elif args.command == 'reboot':
-    parrot_utils.reboot(tn)
-    print('The Bebop is rebooting...')
-
-# Kill a program
-elif args.command == 'kill':
-    parrot_utils.execute_command(tn, 'killall -9 ' + args.program)
-    print('Program "' + args.program + '" is now killed')
-
-# Start a program
-elif args.command == 'start':
-    parrot_utils.execute_command(tn, args.start + ' &')
-    print('Program "' + args.start + '" is now started')
-
-
-elif args.command == 'insmod':
-    modfile = parrot_utils.split_into_path_and_file(args.file)
-    print('Uploading \'' + modfile[1])
-    parrot_utils.uploadfile(ftp, modfile[1], file(args.file, "rb"))
-    print(parrot_utils.execute_command(tn, "insmod /data/ftp/" + modfile[1]))
-
-elif args.command == 'upload_file_and_run':
-    # Split filename and path
-    f = parrot_utils.split_into_path_and_file(args.file)
-
-    #check firmware version
-    v = parrot_utils.check_version(tn, '')
-    print("Checking Bebop firmware version... " + str(v) )
-    if ((v < parrot_utils.ParrotVersion(args.min_version)) or (v > parrot_utils.ParrotVersion(args.max_version))):
-        print("Error: please upgrade your Bebop firmware to version between " + args.min_version + " and " + args.max_version + "!")
-    else:
-        print("Kill running " + f[1] + " and make folder " + args.folder)
-        parrot_utils.execute_command(tn,"killall -9 " + f[1])
-        sleep(1)
-        parrot_utils.execute_command(tn, "mkdir -p /data/ftp/" + args.folder)
-        print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
-        parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
-        sleep(0.5)
-        
-        from datetime import datetime
-        parrot_utils.execute_command(tn, "date --set '" + datetime.now().strftime('%Y-%m-%d %H:%M:%S') + "'")
-        print("Set date on Bebop to " + datetime.now().strftime('%Y-%m-%d %H:%M:%S'))
-        
-        parrot_utils.execute_command(tn, "chmod 777 /data/ftp/" + args.folder + "/" + f[1])
-        parrot_utils.execute_command(tn, "/data/ftp/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
-        print("#pragma message: Upload and Start of ap.elf to Bebop succesful !")
-        
-
-elif args.command == 'upload_file':
-    # Split filename and path
-    f = parrot_utils.split_into_path_and_file(args.file)
-
-    parrot_utils.execute_command(tn, "mkdir -p /data/ftp/" + args.folder)
-    print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/ftp/" + args.folder)
-    parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
-    print("#pragma message: Upload of " + f[1] + " to Bebop succesful !")
-
-elif args.command == 'download_file':
-    # Split filename and path
-    f = parrot_utils.split_into_path_and_file(args.file)
-    # Open file and download
-    try:
-        fd = open(args.file, 'wb')
-        print('Downloading \'' + f[1] + "\' from " + args.folder + " to " + f[0])
-        ftp.retrbinary("RETR " + args.folder + "/" + f[1], fd.write)
-        print("#pragma message: Download of " + f[1] + " from Bebop Succes!")
-    except IOError:
-        print("#pragma message: Fail to open file " + args.file)
-    except:
-        os.remove(args.file)
-        print("#pragma message: Download of " + f[1] + " from Bebop Failed!")
-    else:
-        fd.close()
-
-elif args.command == 'download_dir':
-    # Split filename and path
-    files = parrot_utils.execute_command(tn, 'find /data/ftp/' + args.folder + ' -name \'*.*\'')
-    # Create dest dir if needed
-    if not os.path.exists(args.dest):
-        os.mkdir(args.dest)
-    # Open file and download
-    for f in files.split():
-        file_name = parrot_utils.split_into_path_and_file(f)
-        file_source = args.folder + '/' + file_name[1]
-        file_dest = args.dest + '/' + file_name[1]
-        try:
-            fd = open(file_dest, 'wb')
-            print('Downloading \'' + f + "\' to " + file_dest)
-            ftp.retrbinary("RETR " + file_source, fd.write)
-        except IOError:
-            print("#pragma message: Fail to open file " + file_dest)
-        except:
-            os.remove(file_dest)
-            print("#pragma message: Download of " + f + " from Bebop Failed!")
-        else:
-            fd.close()
-    print("#pragma message: End download of folder " + args.folder + " from Bebop")
-
-elif args.command == 'rm_dir':
-    # Split filename and path
-    print("Deleting folder /data/ftp/" + args.folder + " from Bebop")
-    print(parrot_utils.execute_command(tn, 'rm -r /data/ftp/' + args.folder))
-
-
-
-# Close the telnet and python script
-parrot_utils.disconnect(tn, ftp)
-exit(0)
diff --git a/sw/tools/parrot/parrot_utils.py b/sw/tools/parrot/parrot_utils.py
index 11a0f1e10f..5da91e77f6 100644
--- a/sw/tools/parrot/parrot_utils.py
+++ b/sw/tools/parrot/parrot_utils.py
@@ -1,5 +1,7 @@
 #
 # Copyright (C) 2012-2014 The Paparazzi Team
+#               2015 Freek van Tienen <freek.v.tienen@gmail.com>
+#               2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 #
 # This file is part of Paparazzi.
 #
@@ -21,9 +23,13 @@
 from __future__ import print_function
 import socket
 import telnetlib
+import os
 import sys
 from ftplib import FTP
+from time import sleep
 import ftplib
+import argparse
+import re
 
 class ParrotVersion(object):
     def __init__(self):
@@ -69,84 +75,316 @@ class ParrotVersion(object):
     def __ge__(self, other):
         return self.version() >= other.version()
 
+class ParrotUtils:
 
-# Check if IP is valid
-def is_ip(address):
-    try:
-        socket.inet_aton(address)
-        ip = True
-    except socket.error:
-        ip = False
-    return ip
+    # Programs that could be running on the drone
+    runnable_programs = [
+        ('program.elf', 'Parrot native UAV application'),
+        ('dragon-prog', 'Parrot native UAV application'),
+        ('ap.elf', 'Paparazzi'),
+        ('gst-launch', 'GStreamer')
+    ]
 
-# Helper function
-def split_into_path_and_file(name):
-    if name.count('/') <= 0:
-        return ["./", name]
-    return name.rsplit('/', 1)
+    # Default values
+    version_file = '/update/version.txt'
+    upload_path = '/data/video/'
+    uav_name = 'Parrot UAV'
+    address = '192.168.1.1'
+    prompt = '# '
+    check_version_before_run = False
+    update_time_before_run = False
 
-# Execute a command
-def execute_command(tn, command, prompt='#'):
-    tn.write(command + '\n')
-    return tn.read_until(prompt+' ')[len(command) + 2:-4]
+    # Initialize defaults
+    def __init__(self):
+        self.config_content = ''
+        self.init_parser()
+        self.init_extra_parser()
 
-# Check the version
-def check_version(tn, directory, prompt='#'):
-    return ParrotVersion(execute_command(tn, 'cat ' + directory + '/version.txt', prompt).strip())
+    # Connect with telnet and ftp, wait until login
+    def connect(self):
+        try:
+            self.tn = telnetlib.Telnet(self.address, timeout=3)
+            self.ftp = FTP(self.address)
+            self.ftp.login()
+            self.tn.read_until(self.prompt)
+            return True
+        except:
+            print('Could not connect to the ' + self.uav_name + ' (address: ' + self.address + ')')
+            print('Check if the ' + self.uav_name + ' is turned on and the computer is connected over wifi or bluetooth.')
+            if self.address == '192.168.42.1':
+                print("If you are using Bebop 1 or 2, don't forget pressing the power button 4 times after the Bebop has booted!")
+            exit(2)
 
-# Check what currently is running on the drone
-def check_running(tn, prompt='#'):
-    ps_aux = execute_command(tn, 'ps', prompt)
-    running = ""
+    # Close the telnet and ftp
+    def disconnect(self):
+        self.tn.close()
+        self.ftp.close()
+
+    # Execute a command
+    def execute_command(self, command):
+        self.tn.write(command + '\n')
+        s = self.tn.read_until(self.prompt)
+        if s.endswith('[JS] $ '):
+            s = s[len(command) + 2:-8]
+        elif s.endswith('[RS.edu] $ '):
+            s = s[len(command) + 2:-12]
+        else:
+            s = s[len(command) + 2:-4]
+        return s
+
+    # Upload ftp and catch memory-full error
+    def upload(self, filename, content):
+        try:
+            self.ftp.storbinary("STOR " + filename, content)
+        except ftplib.error_temp:
+            print('FTP UPLOAD ERROR: Uploading the file to the ' + self.uav_name + ' failed!')
+            print('Check if the Filesystem of the ' + self.uav_name + ' isn\'t full:')
+            print(self.check_filesystem())
+            sys.exit()
+        except:
+            print('FTP UPLOAD ERROR: Uploading the file to the ' + self.uav_name + ' failed!')
+            print('FTP uploading failed with the following error: ', sys.exc_info()[0])
+            print('Check if the Filesystem of the ' + self.uav_name + ' isn\'t full:')
+            print(self.check_filesystem())
+            sys.exit()
+
+    # Download a file from the drone
+    def download(self, filename, folder):
+        # Split filename and path
+        f = self.split_into_path_and_file(filename)
+        # Open file and download
+        try:
+            fd = open(filename, 'wb')
+            print('Downloading \'' + f[1] + "\' from " + folder + " to " + f[0])
+            self.ftp.retrbinary("RETR " + folder + "/" + f[1], fd.write)
+            print('#pragma message: Download of "' + f[1] + '" from the ' + self.uav_name + ' success!')
+        except IOError:
+            print('#error: Fail to open local file "' + filename + '"')
+        except:
+            os.remove(filename)
+            print('#error: Download of "' + filename + '" from ' + self.uav_name + ' Failed!')
+        else:
+            fd.close()
+
+    # Download a folder from the drone
+    def download_folder(self, dest, folder):
+        # find files
+        files = self.execute_command('find ' + self.upload_path + folder + ' -name \'*.*\'')
+        # Create dest dir if needed
+        if not os.path.exists(dest):
+            os.mkdir(dest)
+        # Open file and download
+        for f in files.split():
+            file_dest = dest + '/' + file_name[1]
+            self.download(file_dest, folder)
+        print("#pragma message: End download of folder " + args.folder + " from " + self.uav_name)
 
 
-    if 'dragon-prog' in ps_aux:
-        running += ' Native (dragon-prog),'
-    if 'ap.elf' in ps_aux:
-        running += ' Paparazzi (ap.elf),'
-    if 'program.elf' in ps_aux:
-        running += ' Native (program.elf),'
-    if 'gst-launch' in ps_aux:
-        running += ' GStreamer (gst-launch)'
-    return running[1:]
+    # helper function to split file name and path
+    def split_into_path_and_file(self, name):
+        if name.count('/') <= 0:
+            return ["./", name]
+        return name.rsplit('/', 1)
 
-# Check the filesystem
-def check_filesystem(tn, prompt='#'):
-    return execute_command(tn, 'df -h', prompt)
+    def is_ip(address):
+        try:
+            socket.inet_aton(address)
+            ip = True
+        except socket.error:
+            ip = False
+        return ip
 
-# Reboot the drone
-def reboot(tn, prompt='#'):
-    execute_command(tn, 'reboot', prompt)
+    # Check what currently is running on the drone
+    def check_running(self):
+        ps_aux = self.execute_command('ps')
+        running = ""
 
-# Upload ftp and catch memory-full error
-def uploadfile(ftp, filename, content):
-    try:
-        ftp.storbinary("STOR " + filename, content)
-    except ftplib.error_temp:
-        print("FTP UPLOAD ERROR: Uploading FAILED: Probably your drone onboard storage memory is full. Remove old JPG or other data?")
-        sys.exit()
-    except:
-        print("FTP UPLOAD ERROR: Maybe your drone onboard storage memory is full? Remove old JPG or other data?)", sys.exc_info()[0])
-        sys.exit()
+        # Go trough all programings
+        for prog in self.runnable_programs:
+            if prog[0] in ps_aux:
+                running += ' '+prog[1]+' ('+prog[0]+')'
+
+        # Don't print the first space
+        return running[1:]
+
+    # Check the filesystem
+    def check_filesystem(self):
+        return self.execute_command('df -h')
+
+    # Get the version of the drone
+    def check_version(self):
+        if self.version_file is not None:
+            return ParrotVersion(execute_command('cat ' + self.version_file).strip())
+        else:
+            return "Unknown version"
+
+    # Default status
+    def status(self):
+        print('======================== ' + self.uav_name + ' Status ========================')
+        self.uav_status()
+
+        print('\n======================== Filesystem Status ========================')
+        print(self.check_filesystem())
+
+    # Reboot the drone
+    def reboot(self):
+        self.execute_command('reboot')
+        print('The ' + self.uav_name + ' is now rebooting')
+
+    # Kill a running program
+    def kill_program(self, name):
+        self.execute_command('killall -9 ' + name)
+        print('Program "' + name + '" is now killed')
+
+    # Start a new program
+    def start_program(self, name):
+        self.execute_command('chmod 777 ' + name)
+        self.execute_command(name + ' > /dev/null 2>&1 &')
+        print('Program "' + name + '" is now started')
+
+    # Create a new directory
+    def create_directory(self, name):
+        self.execute_command('mkdir -p ' + name)
+        print('Created new directory "' + name + '"')
+
+    # Remove a directory
+    def remove_directory(self, name):
+        self.sexecute_command('rm -r ' + name)
+        print('Removed directory "' + name + '"')
+
+    # Upload a new file
+    def upload_file(self, name, folder=""):
+        f = self.split_into_path_and_file(name)
+
+        # First kill the running program
+        self.kill_program(f[1])
+        sleep(1)
+
+        # Make the upload directory and upload the file
+        self.create_directory(self.upload_path + folder)
+        if len(folder) > 0:
+            self.upload(folder + '/' + f[1], file(name, "rb"))
+        else:
+            self.upload(f[1], file(name, "rb"))
+        sleep(0.5)
+        print('Succesfully uploaded "' + name + '" to folder "' + folder + '"')
+
+    # Upload and run a new program
+    def upload_and_run(self, name, folder, min_ver=None, max_ver=None):
+        if self.check_version_before_run and min_ver is not None and max_ver is not None:
+            v = self.check_version()
+            print("Checking " + self.uav_name + " firmware version... " + str(v) )
+            if ((v < self.ParrotVersion(min_ver)) or (v > self.ParrotVersion(max_ver))):
+                print("Error: please upgrade your " + self.uav_name + " firmware to version between " + min_ver + " and " + max_ver + "!")
+                return
+            
+        f = self.split_into_path_and_file(name)
+
+        # Upload the file
+        self.upload_file(name, folder)
+
+        if self.update_time_before_run:
+            from datetime import datetime
+            self.execute_command("date --set '" + datetime.now().strftime('%Y-%m-%d %H:%M:%S') + "'")
+            print("Set date on " + self.uav_name + " to " + datetime.now().strftime('%Y-%m-%d %H:%M:%S'))
+
+        # Make the file executable and execute it
+        self.start_program(self.upload_path + folder + '/' + f[1])
+        print('#pragma message: Succesfully started "' + f[1] + '" on ' + self.uav_name)
+
+    def insmod(self, modname):
+        f = parrot_utils.split_into_path_and_file(modname)
+        print('Uploading \'' + f[1])
+        self.upload_file(modname)
+        print(self.execute_command("insmod " + self.upload_path + '/' + modfile[1]))
+
+#####################################################################
+
+    # Main argument parser setup
+    def init_parser(self):
+        self.parser = argparse.ArgumentParser(description=self.uav_name + ' python helper. Use ' + sys.argv[0] + ' -h for help')
+        self.parser.add_argument('--host', metavar='HOST', default=self.address,
+                            help='the ip address of ' + self.uav_name)
+        self.subparsers = self.parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
+
+        # Add commands
+        self.subparsers.add_parser('status', help='Request the status of the ' + self.uav_name)
+        self.subparsers.add_parser('reboot', help='Reboot the ' + self.uav_name)
+
+        ss = self.subparsers.add_parser('kill', help='Kill a program on the ' + self.uav_name)
+        ss.add_argument('program', help='The program to kill')
+
+        ss = self.subparsers.add_parser('start', help='Start a program on the ' + self.uav_name)
+        ss.add_argument('program', help='The program to start (base folder is the ftp folder)')
+
+        ss = self.subparsers.add_parser('upload', help='Upload a file to the ' + self.uav_name)
+        ss.add_argument('file', help='Filename')
+        ss.add_argument('folder', help='Destination subfolder (base folder is the ftp folder)')
+
+        ss = self.subparsers.add_parser('download', help='Download a file from the ' + self.uav_name)
+        ss.add_argument('file', help='Remote filename (could include folder)')
+        ss.add_argument('save_file', help='Destination file on local computer')
+
+        ss = self.subparsers.add_parser('download_dir', help='Download all files from a folder from the ' + self.uav_name)
+        ss.add_argument('dest', help='destination folder (on the local machine)')
+        ss.add_argument('folder', help='Remote subfolder (base folder is the ftp folder)')
+
+        ss = self.subparsers.add_parser('upload_file_and_run', help='Upload and run software (for instance the Paparazzi autopilot)')
+        ss.add_argument('file', help='Filename of an executable')
+        ss.add_argument('folder', help='Remote destination folder (base folder is the ftp folder)')
+
+        ss = self.subparsers.add_parser('mkdir', help='Make a new directory on the ' + self.uav_name)
+        ss.add_argument('folder', help='Remote subfolder (base folder is the ftp folder)')
+
+        ss = self.subparsers.add_parser('rmdir', help='Remove a directory and all its files from the ' + self.uav_name)
+        ss.add_argument('folder', help='Remote subfolder (base folder is the ftp folder)')
+
+        ss = self.subparsers.add_parser('insmod', help='Upload and insert kernel module')
+        ss.add_argument('file', help='Filename of *.ko kernel module')
 
 
-# Connect with telnet and ftp, wait until login
-def connect(host, prompt='#'):
-    try:
-        tn = telnetlib.Telnet(host, timeout=3)
-        ftp = FTP(host)
-        ftp.login()
-        tn.read_until(prompt+' ')
-        return tn, ftp
-    except:
-        print('Could not connect to Parrot UAV (host: ' + host + ')')
-        if host == '192.168.42.1':
-            print("Check whether your WiFi is connected and don't forget pressing the power button 4 times after the Bebop has booted!")
-        exit(2)
+    # Main function to parse arguments
+    def parse_args(self):
+        args = self.parser.parse_args()
+
+        # First connect to the drone
+        self.address = args.host
+        if self.connect() == False:
+            return False
+
+        # Parse the command line arguments
+        if args.command == 'status':
+            self.status()
+        elif args.command == 'reboot':
+            self.reboot()
+        elif args.command == 'kill':
+            self.kill_program(args.program)
+        elif args.command == 'start':
+            self.start_program(self.upload_path + args.program)
+        elif args.command == 'upload':
+            self.upload_file(args.file, args.folder)
+        elif args.command == 'download':
+            self.download(args.file, args.save_file)
+        elif args.command == 'upload_file_and_run':
+            if hasattr(args, 'min_version') and hasattr(args, 'max_version'):
+                self.upload_and_run(args.file, args.folder, args.min_version, args.max_version)
+            else:
+                self.upload_and_run(args.file, args.folder)
+        elif args.command == 'mkdir':
+            self.create_directory(self.upload_path + args.folder)
+        elif args.command == 'rmdir':
+            self.remove_directory(self.upload_path + args.folder)
+        elif args.command == 'insmod':
+            self.insmod(args.file)
+        else:
+            if self.parse_extra_args(args) == False:
+                self.disconnect()
+                return False
+
+        # Disconnect
+        self.disconnect()
+        return True
+
 
-# Close the telnet and ftp
-def disconnect(tn, ftp):
-    tn.close()
-    ftp.close()
 
 
diff --git a/sw/tools/parrot/swing.py b/sw/tools/parrot/swing.py
index 15684b14da..ac4771c2ac 100755
--- a/sw/tools/parrot/swing.py
+++ b/sw/tools/parrot/swing.py
@@ -20,179 +20,29 @@
 #
 
 from __future__ import print_function
-import re
-import argparse
-import os
-from time import sleep
+from parrot_utils import ParrotUtils
 
-import parrot_utils
+class Swing(ParrotUtils):
+    uav_name = 'Swing'
+    address = '192.168.4.1'
+    version_file = None
+    upload_path = '/data/edu/'
+    prompt = '$ '
 
-PROMPT = '$'
-FTP_ROOT = '/data/edu/'
+    def uav_status(self):
+        print('Parrot version:\t\t' + self.check_version())
+
+    def init_extra_parser(self):
+        # nothing here
+        pass
+
+    def parse_extra_args(self, args):
+        # nothing here
+        pass
 
 
-# Read from config.ini TODO
-def read_from_config(name, config=''):
-    if config == '':
-        config = parrot_utils.execute_command('cat /data/config.ini', prompt=PROMPT)
-    search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
-    if search is None:
-        return ''
-    else:
-        return search.group(1)
+if __name__ == "__main__":
+    swing = Swing()
+    swing.parse_args()
+    exit(0)
 
-# Write to config TODO
-def write_to_config(name, value):
-    if read_from_config(name) == '':
-        parrot_utils.execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini', prompt=PROMPT)
-    else:
-        parrot_utils.execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini', prompt=PROMPT)
-
-
-def swing_status():
-    #config_ini = parrot_utils.execute_command(tn, 'cat /data/config.ini', prompt=PROMPT)
-
-    #print('==================== Swing Status ====================')
-    #print('Version:\t\t' + str(parrot_utils.check_version(tn, '', prompt=PROMPT)))
-    # Request the filesystem status
-    print('\n=================== Filesystem Status =======================')
-    print(parrot_utils.check_filesystem(tn, prompt=PROMPT))
-
-
-# Parse the arguments
-parser = argparse.ArgumentParser(description='Swing python helper. Use swing.py -h for help')
-parser.add_argument('--host', metavar='HOST', default='192.168.4.1',
-                    help='the ip address of Swing')
-subparsers = parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
-
-# All the subcommands and arguments
-subparsers.add_parser('status', help='Request the status of the Swing')
-subparsers.add_parser('reboot', help='Reboot the Swing')
-subparser_upload_and_run = subparsers.add_parser('upload_file_and_run', help='Upload and run software (for instance the Paparazzi autopilot)')
-subparser_upload_and_run.add_argument('file', help='Filename of an executable')
-subparser_upload_and_run.add_argument('folder', help='Destination subfolder (raw or sdk for Paparazzi autopilot)')
-subparser_upload = subparsers.add_parser('upload_file', help='Upload a file to the Swing')
-subparser_upload.add_argument('file', help='Filename')
-subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is '+FTP_ROOT+')')
-subparser_download = subparsers.add_parser('download_file', help='Download a file from the Swing')
-subparser_download.add_argument('file', help='Filename (with the path on the local machine)')
-subparser_download.add_argument('folder', help='Remote subfolder (base folder is '+FTP_ROOT+')')
-subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the Swing')
-subparser_download_dir.add_argument('dest', help='destination folder (on the local machine)')
-subparser_download_dir.add_argument('folder', help='Remote subfolder (base folder is '+FTP_ROOT+')')
-subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the Swing')
-subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is '+FTP_ROOT+')')
-subparser_insmod = subparsers.add_parser('insmod', help='Upload and insert kernel module')
-subparser_insmod.add_argument('file', help='Filename of *.ko kernel module')
-subparser_start = subparsers.add_parser('start', help='Start a program on the Swing')
-subparser_start.add_argument('program', help='the program to start')
-subparser_kill = subparsers.add_parser('kill', help='Kill a program on the Swing')
-subparser_kill.add_argument('program', help='the program to kill')
-
-args = parser.parse_args()
-
-# Connect with telnet and ftp
-tn, ftp = parrot_utils.connect(args.host, prompt=PROMPT)
-
-# Check the Swing status
-if args.command == 'status':
-    print("Connected to Swing at " + args.host)
-    swing_status()
-
-# Reboot the drone
-elif args.command == 'reboot':
-    parrot_utils.reboot(tn, prompt=PROMPT)
-    print('The Swing is rebooting...')
-
-# Kill a program
-elif args.command == 'kill':
-    parrot_utils.execute_command(tn, 'killall -9 ' + args.program, prompt=PROMPT)
-    print('Program "' + args.program + '" is now killed')
-
-# Start a program
-elif args.command == 'start':
-    parrot_utils.execute_command(tn, args.start + ' &', prompt=PROMPT)
-    print('Program "' + args.start + '" is now started')
-
-
-elif args.command == 'insmod':
-    modfile = parrot_utils.split_into_path_and_file(args.file)
-    print('Uploading \'' + modfile[1])
-    parrot_utils.uploadfile(ftp, modfile[1], file(args.file, "rb"))
-    print(parrot_utils.execute_command(tn, "insmod "+ FTP_ROOT + modfile[1], prompt=PROMPT))
-
-elif args.command == 'upload_file_and_run':
-    # Split filename and path
-    f = parrot_utils.split_into_path_and_file(args.file)
-
-    print("Kill running " + f[1] + " and make folder " + args.folder)
-    parrot_utils.execute_command(tn,"killall -9 " + f[1], prompt=PROMPT)
-    sleep(1)
-    parrot_utils.execute_command(tn, "mkdir -p " + FTP_ROOT + args.folder, prompt=PROMPT)
-    print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
-    parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
-    sleep(0.5)
-    parrot_utils.execute_command(tn, "chmod 777 " + FTP_ROOT + args.folder + "/" + f[1], prompt=PROMPT)
-    parrot_utils.execute_command(tn, FTP_ROOT + args.folder + "/" + f[1] + " > /dev/null 2>&1 &", prompt=PROMPT)
-    print("#pragma message: Upload and Start of ap.elf to Swing Succes!")
-
-elif args.command == 'upload_file':
-    # Split filename and path
-    f = parrot_utils.split_into_path_and_file(args.file)
-
-    parrot_utils.execute_command(tn, "mkdir -p " + FTP_ROOT + args.folder, prompt=PROMPT)
-    print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + FTP_ROOT + args.folder)
-    parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
-    print("#pragma message: Upload of " + f[1] + " to Swing Succes!")
-
-elif args.command == 'download_file':
-    # Split filename and path
-    f = parrot_utils.split_into_path_and_file(args.file)
-    # Open file and download
-    try:
-        fd = open(args.file, 'wb')
-        print('Downloading \'' + f[1] + "\' from " + args.folder + " to " + f[0])
-        ftp.retrbinary("RETR " + args.folder + "/" + f[1], fd.write)
-        print("#pragma message: Download of " + f[1] + " from Swing Succes!")
-    except IOError:
-        print("#pragma message: Fail to open file " + args.file)
-    except:
-        os.remove(args.file)
-        print("#pragma message: Download of " + f[1] + " from Swing Failed!")
-    else:
-        fd.close()
-
-elif args.command == 'download_dir':
-    # Split filename and path
-    files = parrot_utils.execute_command(tn, 'find ' + FTP_ROOT + args.folder + ' -name \'*.*\'', prompt=PROMPT)
-    # Create dest dir if needed
-    if not os.path.exists(args.dest):
-        os.mkdir(args.dest)
-    # Open file and download
-    for f in files.split():
-        file_name = parrot_utils.split_into_path_and_file(f)
-        file_source = args.folder + '/' + file_name[1]
-        file_dest = args.dest + '/' + file_name[1]
-        try:
-            fd = open(file_dest, 'wb')
-            print('Downloading \'' + f + "\' to " + file_dest)
-            ftp.retrbinary("RETR " + file_source, fd.write)
-        except IOError:
-            print("#pragma message: Fail to open file " + file_dest)
-        except:
-            os.remove(file_dest)
-            print("#pragma message: Download of " + f + " from Swing Failed!")
-        else:
-            fd.close()
-    print("#pragma message: End download of folder " + args.folder + " from Swing")
-
-elif args.command == 'rm_dir':
-    # Split filename and path
-    print("Deleting folder " + FTP_ROOT + args.folder + " from Swing")
-    print(parrot_utils.execute_command(tn, 'rm -r ' + FTP_ROOT + args.folder, prompt=PROMPT))
-
-
-
-# Close the telnet and python script
-parrot_utils.disconnect(tn, ftp)
-exit(0)