diff --git a/sw/logalizer/Makefile b/sw/logalizer/Makefile
index c5dbcff720..c336521d12 100644
--- a/sw/logalizer/Makefile
+++ b/sw/logalizer/Makefile
@@ -118,3 +118,6 @@ ivy_example: ivy_example.c
 
 tmclient: tmclient.c
 	gcc -g -O1 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy
+
+ffjoystick: ffjoystick.c
+	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy -lm
diff --git a/sw/logalizer/ffjoystick.c b/sw/logalizer/ffjoystick.c
new file mode 100644
index 0000000000..bf9ba8783d
--- /dev/null
+++ b/sw/logalizer/ffjoystick.c
@@ -0,0 +1,167 @@
+/*
+ * based on ffmvforce.c
+ *
+ */
+
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * You can contact the author by email at this address:
+ * Johann Deneux <deneux@ifrance.com>
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/stat.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <math.h>
+#include <linux/input.h>
+#include <glib.h>
+#include <Ivy/ivy.h>
+#include <Ivy/ivyglibloop.h>
+
+#define BIT(x) (1<<(x))
+#define STR_LEN	64
+#define	PPRZ_MAX 9600
+#define	PPRZ_MIN (-PPRZ_MAX)
+#define max(a,b)	((a)>(b)?(a):(b))
+
+/* File descriptor of the force feedback /dev entry */
+static int ff_fd;
+static struct ff_effect effect;
+
+static void welcome()
+{
+	const char* txt[] = {
+"ffjoystick: generate force feedback reaction from Paparazzi autopilot",
+"Set COMMANDS message repeat rate low in telemetry and"
+"use aircraft with rudder on channel 1 and elevator on 2",
+"USE WITH CARE !!! HOLD STRONGLY YOUR WHEEL OR JOYSTICK TO PREVENT DAMAGES",
+"To run this program, run it with at least one argument.",
+"",
+NULL };
+
+	const char** p = txt;
+
+	while (*p) {
+		printf("%s\n", *p);
+		p++;
+	}
+}
+
+static void generate_force(double nx, double ny)
+{
+	static int first = 1;
+	double angle;
+
+	angle = atan2(nx, -ny);
+//printf("n: %4.2f %4.2f angle: %4.2f\n", nx, ny, angle);
+	effect.type = FF_CONSTANT;
+        effect.u.constant.level = 0x7fff * max(fabs(nx), fabs(ny));
+        effect.direction = 0x8000 * (angle + M_PI)/M_PI;
+//printf("level: %04x direction: %04x\n", (unsigned int)effect.u.constant.level, (unsigned int)effect.direction);
+        effect.u.constant.envelope.attack_length = 0;
+        effect.u.constant.envelope.attack_level = 0;
+        effect.u.constant.envelope.fade_length = 0;
+        effect.u.constant.envelope.fade_level = 0;
+        effect.trigger.button = 0;
+        effect.trigger.interval = 0;
+        effect.replay.length = 0xffff;
+        effect.replay.delay = 0;
+
+	if (first) {
+		effect.id = -1;
+	}
+
+        if (ioctl(ff_fd, EVIOCSFF, &effect) < 0) {
+/* If updates are sent to frequently, they can be refused */
+        }
+
+	/* If first time, start to play the effect */
+	if (first) {
+		struct input_event play;
+		play.type = EV_FF;
+		play.code = effect.id;
+		play.value = 1;
+
+		if (write(ff_fd, (const void*) &play, sizeof(play)) == -1) {
+			perror("Play effect");
+			exit(1);
+		}
+	}
+
+	first = 0;
+}
+
+void on_commands(IvyClientPtr app, void *user_data, int argc, char *argv[]){
+
+  char* start = argv[0];
+  char* stop;
+  int x, y;
+  
+  strtol(start, &stop, 10);
+  start=stop+1;
+  x = -strtol(start, &stop, 10);
+  start=stop+1;
+  y = strtol(start, &stop, 10);
+  
+  if (x>PPRZ_MAX) x=PPRZ_MAX;
+  if (x<PPRZ_MIN) x=PPRZ_MIN;  
+  if (y>PPRZ_MAX) y=PPRZ_MAX;  
+  if (y<PPRZ_MIN) y=PPRZ_MIN;  
+  
+  generate_force((double)x/PPRZ_MAX, (double)y/PPRZ_MAX);
+}
+
+int main(int argc, char** argv)
+{
+	char dev_name[STR_LEN];
+	int i;
+	GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
+	
+	welcome();
+	if (argc <= 1) return 0;
+
+	/* Parse parameters */
+	strcpy(dev_name, "/dev/input/event0");
+	for (i=1; i<argc; ++i) {
+		if (strcmp(argv[i], "--help") == 0) {
+			printf("Usage: %s /dev/input/eventXX\n", argv[0]);
+			exit(1);
+		}
+		else {
+			strncpy(dev_name, argv[i], STR_LEN);
+		}
+	}
+		
+	/* Open force feedback device */
+	ff_fd = open(dev_name, O_RDWR);
+	if (ff_fd == -1) {
+                perror("Open device file");
+		exit(1);
+	}
+
+    IvyInit ("IvyExample", "IvyExample READY", NULL, NULL, NULL, NULL);
+    IvyBindMsg(on_commands, NULL, "^\\S* COMMANDS (\\S*)");
+    IvyStart("127.255.255.255");
+
+    g_main_loop_run(ml);
+
+  return 0;
+}
+