diff --git a/conf/airframes/antenna.xml b/conf/airframes/antenna.xml
index 137fba8401..3a6afa2d45 100644
--- a/conf/airframes/antenna.xml
+++ b/conf/airframes/antenna.xml
@@ -1,14 +1,10 @@
 <airframe name="ANTENNA">
 
 
-<!--
- <section name="DATALINK" prefix="DATALINK_">
-    <define name="DEVICE_TYPE" value="XBEE"/>
+<section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="PPRZ"/>
     <define name="DEVICE_ADDRESS" value="...."/>
-  </section>
--->
- <section name="DATALINK" prefix="DATALINK_">
-  </section>
+</section>
 
   <makefile>
 
diff --git a/sw/airborne/avr/ant_tracker.c b/sw/airborne/avr/ant_tracker.c
index 28020368ae..3da636adf7 100644
--- a/sw/airborne/avr/ant_tracker.c
+++ b/sw/airborne/avr/ant_tracker.c
@@ -1,5 +1,6 @@
 #include "ant_tracker.h"
 
+#include "traffic_info.h"
 
 uint8_t ant_track_mode;
 float ant_track_azim;
@@ -9,12 +10,13 @@ uint8_t ant_track_id;
 int32_t nav_utm_east0; 
 int32_t nav_utm_north0;
 uint8_t nav_utm_zone0;
+const float ant_track_gnd_alt = 185.;
 
 void ant_tracker_init( void ) {
   //  nav_utm_east0 = ;
   //  nav_utm_north0 = ;
   //  nav_utm_zone0 = ;
-  ant_track_id = 12;
+  ant_track_id = 5;
   ant_track_mode = ANT_TRACK_AUTO;
   ant_track_azim = 0.;
   ant_track_elev = 0.;
@@ -22,11 +24,21 @@ void ant_tracker_init( void ) {
 
 void ant_tracker_periodic( void ) {
   if (ant_track_mode == ANT_TRACK_AUTO) {
+#if 0
     ant_track_azim += 0.5;
     if (ant_track_azim > 360.)
       ant_track_azim = 0.;
     ant_track_elev += 0.1;
     if (ant_track_elev > 90.)
       ant_track_elev = 0.;
+#endif
+    struct ac_info_ * ac = get_ac_info(ant_track_id);
+    ant_track_azim =  atan2(ac->north, ac->east) * 180. / M_PI;
+    ant_track_azim = 90. - ant_track_azim;
+    if (ant_track_azim < 0)
+      ant_track_azim += 360.;
+    float dist = sqrt(ac->north*ac->north + ac->east*ac->east);
+    float height = ac->alt - ant_track_elev;
+    ant_track_elev =  atan2( height, dist) * 180. / M_PI;
   }
 }
diff --git a/sw/ground_segment/tmtc/link.ml b/sw/ground_segment/tmtc/link.ml
index 062ae99a64..dc3fdc6708 100644
--- a/sw/ground_segment/tmtc/link.ml
+++ b/sw/ground_segment/tmtc/link.ml
@@ -55,6 +55,7 @@ let airborne_device = fun device addr ->
   match device with
     "WAVECARD" -> WavecardDevice (W.addr_of_string addr)
   | "XBEE" -> XBeeDevice
+  | "PPRZ" -> Uart
   | _ -> failwith (sprintf "Link: unknown datalink: %s" device)
 
 let get_define = fun xml name ->
@@ -116,6 +117,7 @@ let airframes =
 	let device = get_define dls "DEVICE_TYPE"
 	and addr = get_define dls "DEVICE_ADDRESS" in
 	let dl = airborne_device device addr in
+	printf "%s %b\n%!" (ExtXml.attrib a "ac_id") (dl = Uart);
 	(ios (ExtXml.attrib a "ac_id"), dl)::r
       with
 	Not_found -> r
@@ -135,7 +137,7 @@ exception NotSendingToThis
 let airborne_device = fun ac_id airframes device ->
   let ac_device = try Some (List.assoc ac_id airframes) with Not_found -> None in
   match ac_device, device with
-    None, Pprz -> Uart
+    (None, Pprz) | (Some Uart, Pprz) -> Uart
   | (Some (WavecardDevice _ as ac_device), Wavecard) |
     (Some (XBeeDevice as ac_device), XBee) ->
       ac_device
@@ -611,7 +613,7 @@ let _ =
 
     if !uplink then begin
       (** Listening on Ivy (FIXME: remove the ad hoc messages) *)
-(***      ignore (Ground_Pprz.message_bind "FLIGHT_PARAM" (get_fp device)); ***)
+      ignore (Ground_Pprz.message_bind "FLIGHT_PARAM" (get_fp device));
       ignore (Ground_Pprz.message_bind "MOVE_WAYPOINT" (move_wp device));
       ignore (Ground_Pprz.message_bind "DL_SETTING" (setting device));
       ignore (Ground_Pprz.message_bind "JUMP_TO_BLOCK" (jump_block device));