diff --git a/sw/ground_segment/cockpit/Paparazzi/InfraredPage.pm b/sw/ground_segment/cockpit/Paparazzi/InfraredPage.pm
index cd20a043d4..35890af1f3 100644
--- a/sw/ground_segment/cockpit/Paparazzi/InfraredPage.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/InfraredPage.pm
@@ -24,7 +24,6 @@ sub populate {
 sub completeinit {
   my $self = shift;
   $self->SUPER::completeinit();
-#  $self->build_gui();
   $self->{timer_id} = $self->get('-zinc')->repeat(UPDATE_REPEAT, [\&onTimer, $self]);
 }
 
diff --git a/sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm b/sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm
index b5a99eeb55..f01a876774 100644
--- a/sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm
@@ -62,7 +62,6 @@ sub update_field {
       $label = $self->{'value_'.$ap_mode."_".$if_mode."_".$slider};
       $zinc->itemconfigure($label, -color => 'green') if defined $label;
       $self->configure( 'ap_mode' => $ap_mode, 'if_mode' => $if_mode);
-      #      print "$ap_mode $if_mode $slider $label\n";
     }
   }
   else {
diff --git a/sw/ground_segment/cockpit/Paparazzi/Strip.pm b/sw/ground_segment/cockpit/Paparazzi/Strip.pm
index dd83ddeec3..d2c804b95d 100644
--- a/sw/ground_segment/cockpit/Paparazzi/Strip.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/Strip.pm
@@ -390,7 +390,8 @@ sub aircraft_config_changed {
     #    $self->border_block() if (defined $new_value) ; # display blocks of flight plan
   }
   elsif ($event eq 'airframe') {
-    $self->get('-zinc')->itemconfigure($self->{ident}, -text => scalar $new_value->get('-name')) if defined $new_value;
+    my $ac_name = $new_value->get('-ac_name');
+    $self->get('-zinc')->itemconfigure($self->{ident}, -text => $ac_name ) if defined $ac_name;
   }
   elsif ($event eq 'rc_status' or $event eq 'rc_mode' or $event eq 'contrast_status' or $event eq 'ap_mode' or $event eq 'gps_mode') {
     $self->set_item($event, $new_value, $self->get_color($event, $new_value));
diff --git a/sw/ground_segment/cockpit/cockpit.pl b/sw/ground_segment/cockpit/cockpit.pl
index e67ba5a869..84c1478391 100755
--- a/sw/ground_segment/cockpit/cockpit.pl
+++ b/sw/ground_segment/cockpit/cockpit.pl
@@ -26,7 +26,6 @@ use Paparazzi::PFD;
 use Paparazzi::ND;
 use Paparazzi::MissionD;
 use Paparazzi::StripPanel;
-use Paparazzi::Geometry;
 
 use Tk;
 #use Tk::PNG;
@@ -59,7 +58,10 @@ sub completeinit {
 			       -app_name  => APP_NAME,
 			       -loop_mode => 'TK',
 			    );
-  $self->{aircrafts_manager} = Paparazzi::AircraftsManager->new(-listen_to_all => 1);
+  $self->{aircrafts_manager} = 
+    Paparazzi::AircraftsManager->new(-listen_to_all => 
+				     ['FLIGHT_PARAM', 'AP_STATUS', 'NAV_STATUS', 'CAM_STATUS', 'ENGINE_STATUS',
+				      'FLY_BY_WIRE', 'INFRARED', 'INFLIGH_CALIB', 'SVSINFO']);
   $self->{aircrafts_manager}->attach($self, 'NEW_AIRCRAFT', [\&on_new_aircraft]);
   $self->{mw}->after(500, [\&on_foo, $self]);
 }
@@ -75,7 +77,6 @@ sub on_new_aircraft {
 sub build_gui {
   my ($self) = @_;
   $self->{mw} = MainWindow->new();
-#  $self->{mw}->geometry("1280x1024");
   my $top_frame =  $self->{mw}->Frame()->pack(-side => 'top', -fill => 'both');
   my $bot_frame =  $self->{mw}->Frame()->pack(-side => 'bottom', -fill => 'both', -expand => 1);
   my ($stp_p, $stp_w, $stp_h) = ([0, 0],                   315, 300);
@@ -106,7 +107,6 @@ sub build_gui {
  				    -width  => $nd_w,
  				    -height => $nd_h,
  				  );
-#   $self->{nd}->attach($self, 'WIND_COMMAND', ['onWindCommand']);
   my $md = $bot_frame->MissionD(-bg => '#c1daff');
   $md->pack(-side => 'bottom', -anchor => "n", -fill => 'both', -expand => 1);
   $self->{md} = $md;
@@ -135,7 +135,7 @@ sub on_aircraft_selection {
 sub select_ac {
   my ($self, $ac_id) = @_;
   $self->{selected_ac} = $ac_id;
-  $self->{aircrafts_manager}->listen_to_ac($ac_id);
+  $self->{aircrafts_manager}->configure('-selected_aircrafts' => [$ac_id]);
   my $aircraft = $self->{aircrafts_manager}->get_aircraft_by_id($ac_id);
   $self->{pfd}->configure('-selected_ac', $aircraft);
   $self->{nd}->configure('-selected_ac', $aircraft);
diff --git a/sw/lib/perl/Paparazzi/AircraftsManager.pm b/sw/lib/perl/Paparazzi/AircraftsManager.pm
index 3c680ee22e..2fd1ad76ee 100644
--- a/sw/lib/perl/Paparazzi/AircraftsManager.pm
+++ b/sw/lib/perl/Paparazzi/AircraftsManager.pm
@@ -32,13 +32,13 @@ use Paparazzi::Aircraft;
 use Paparazzi::Flightplan;
 use Paparazzi::Airframe;
 
-
-
 sub populate {
   my ($self, $args) = @_;
   $self->SUPER::populate($args);
-  $self->configspec( 
-		    -listen_to_all => [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0],
+  $self->configspec(
+		    -listen_to_all => [S_NOINIT, S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, []],
+		    -listen_to_selected => [S_NOINIT, S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, []],
+		    -selected_aircrafts => [S_NOINIT, S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, []],
 		    -aircrafts => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, {}],
 		    -pubevts   => [S_NEEDINIT, S_PASSIVE, S_RDWR, S_APPEND, S_NOPRPG,[]],
 		   );
@@ -54,7 +54,7 @@ sub completeinit {
 sub start {
   my ($self) = @_;
   Paparazzi::IvyProtocol::send_request("ground", "ground", "AIRCRAFTS", {}, [\&on_aircrafts, $self]);
-  Paparazzi::IvyProtocol::bind_msg("ground", "ground", "NEW_AIRCRAFT", 
+  Paparazzi::IvyProtocol::bind_msg("ground", "ground", "NEW_AIRCRAFT",
 				   {}, [\&on_aircraft_new_die, $self]);
 }
 
@@ -64,46 +64,35 @@ sub on_aircraft_new_die {
 }
 
 sub on_aircrafts {
-#  print "AircraftsManager::on_aircrafts\n";
   my ($sender_name, $msg_class, $msg_name, $fields, $self) = @_;
-#  use Data::Dumper;
-#  print "in AircraftsManager::on_aircrafts : dumping fields\n ".Dumper($fields);
   my $ac_list = $fields->{ac_list};
   foreach my $ac_id (@{$ac_list}) {
     $self->add_aircraft($ac_id) unless $ac_id eq "";
   }
 }
 
-
 sub add_aircraft {
   my ($self, $ac_id) = @_;
   Paparazzi::IvyProtocol::send_request("ground", "ground", "CONFIG",
 				       {ac_id => $ac_id}, [\&on_config, $self]) unless $ac_id eq "";
   my $aircraft = Paparazzi::Aircraft->new(-ac_id => $ac_id);
   $self->get('-aircrafts')->{$ac_id} = $aircraft;
-  $self->listen_to_ac($ac_id) if ($self->get('-listen_to_all'));
-
-#  print "int AircraftsManager : notifying new ac $ac_id\n";
+  my $all_ac_msg = $self->get('-listen_to_all');
+  foreach my $msg_name (@{$all_ac_msg}) {
+    Paparazzi::IvyProtocol::bind_msg("ground", "ground", $msg_name, {aircraft_id => $ac_id},
+				     [\&on_ac_msg, $self]);
+  }
   $self->notify('NEW_AIRCRAFT', $ac_id);
 }
 
-
 sub on_config {
   my ($sender_name, $msg_class, $msg_name, $fields, $self) = @_;
-#  print "AircraftsManager::on_config\n";
-#  use Data::Dumper;
-#  print "fields ".Dumper($fields)."\n";
   my $ac_id = $fields->{ac_id};
   my $ac = $self->get('-aircrafts')->{$ac_id};
   delete $fields->{ac_id};
-
   my $fp_url = $fields->{flight_plan};
   if (defined $fp_url) {
-    #    print "in AircraftsManager : on_config creating new flight plan\n";
     my $fp = Paparazzi::Flightplan->new(-url => $fp_url);
-#    use Data::Dumper; 
-#    print "##### waypoints\n".Dumper($fp->get('-waypoints'));
-#    print "##### mission\n".Dumper($fp->get('-mission'));
     $fields->{flight_plan} = $fp;
   }
   my $airframe_url = $fields->{airframe};
@@ -111,7 +100,6 @@ sub on_config {
     my $af = Paparazzi::Airframe->new(-url => $airframe_url);
     $fields->{airframe} = $af;
   }
-
   $ac->configure(%{$fields});
 }
 
@@ -119,7 +107,6 @@ sub on_ac_msg {
   my ($sender_name, $msg_class, $msg_name, $fields, $self) = @_;
   my $ac_id = $fields->{ac_id};
   my $aircraft = $self->get('-aircrafts')->{$ac_id};
-#  print "AircraftsManager::on_ac_msg : $msg_name\n".Dumper($fields);
   if (defined ($aircraft)) {
     delete $fields->{ac_id};
     if ($msg_name eq "SVSINFO" or $msg_name eq "ENGINE_STATUS") {
@@ -134,20 +121,6 @@ sub on_ac_msg {
   }
 }
 
-sub listen_to_ac {
-  my ($self, $ac_id)  = @_;
-  my @ac_msgs = ( 'FLIGHT_PARAM', 'AP_STATUS', 'NAV_STATUS', 'CAM_STATUS', 'ENGINE_STATUS',
-		  'FLY_BY_WIRE', 'INFRARED', 'INFLIGH_CALIB', 'SVSINFO');
-  foreach my $msg_name (@ac_msgs) {
-    Paparazzi::IvyProtocol::bind_msg("ground", "ground", $msg_name, {aircraft_id => $ac_id}, 
-				     [\&on_ac_msg, $self]);
-  }
-}
-
-sub listen_to_all {
-
-}
-
 sub get_aircraft_by_id {
   my ($self, $id) = @_;
   return $self->get('-aircrafts')->{$id};
diff --git a/sw/lib/perl/Paparazzi/Airframe.pm b/sw/lib/perl/Paparazzi/Airframe.pm
index 805e772911..6726dcc27c 100644
--- a/sw/lib/perl/Paparazzi/Airframe.pm
+++ b/sw/lib/perl/Paparazzi/Airframe.pm
@@ -4,7 +4,7 @@ use Subject;
 @ISA = ("Subject");
 use strict;
 
-use XML::DOM;
+require XML::DOM;
 require LWP::Simple;
 
 sub populate {
@@ -12,7 +12,7 @@ sub populate {
   $self->SUPER::populate($args);
   $self->configspec(
                     -url	        => [S_NEEDINIT, S_PASSIVE,  S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
-		    -name	        => [S_NOINIT,   S_PASSIVE,  S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
+		    -ac_name	        => [S_NOINIT,   S_PASSIVE,  S_RDWR, S_OVRWRT, S_NOPRPG, undef],
 		   );
 }
 
@@ -20,19 +20,17 @@ sub completeinit {
   my $self = shift;
   $self->SUPER::completeinit();
   my $airframe_url = $self->get('-url');
-  print "in Airframe::compleetinit url $airframe_url\n";
+#  print "in Airframe::completeinit url $airframe_url\n";
   my $airframe_xml = LWP::Simple::get($airframe_url);
-
   $self->parse_airframe($airframe_xml) if defined $airframe_xml;
 }
 
 sub parse_airframe {
   my ($self, $airframe_xml) = @_;
-
   my $parser = XML::DOM::Parser->new();
   my $doc = $parser->parse($airframe_xml);
   my $airframe = $doc->getElementsByTagName('airframe')->[0];
-  $self->configure( -name => $airframe->getAttribute('name'));
+  $self->configure( -ac_name => $airframe->getAttribute('name'));
 }
 
 1;
diff --git a/sw/lib/perl/Paparazzi/Flightplan.pm b/sw/lib/perl/Paparazzi/Flightplan.pm
index 727e027f7f..51a6d60687 100644
--- a/sw/lib/perl/Paparazzi/Flightplan.pm
+++ b/sw/lib/perl/Paparazzi/Flightplan.pm
@@ -87,22 +87,17 @@ sub completeinit {
 
   print "###### flight_plan_url $flight_plan_url\n";
 
-#  my $flight_plan_xml ="";
   my $flight_plan_xml = LWP::Simple::get($flight_plan_url);
   if (defined $flight_plan_xml) {
     $self->configure( -compiled_xml => $flight_plan_xml);
+    my $doc = $parser->parse($flight_plan_xml);
+    $self->{doc} = $doc;
+    $self->parse_flight_plan();
   }
   else {
     print "############WARNING : could not get $flight_plan_url\n";
     return;
   }
-
-#  print "#######flight_plan_xml\n".$flight_plan_xml;
-
-  my $doc = $parser->parse($flight_plan_xml);
-#  print "in Flightplan : parsing $file $doc \n";
-  $self->{doc} = $doc;
-  $self->parse_flight_plan();
 }
 
 sub parse_flight_plan {
@@ -125,12 +120,13 @@ sub parse_flight_plan {
 
 sub configure_spec {
   my ($self) = @_;
-  $self->configure(	-nav_utm_east0	 => $self->{nav_utm_east0},
-			-nav_utm_north0	 => $self->{nav_utm_north0},
-			-max_dist_from_home	=> $self->{max_dist_from_home},
-			-waypoints	 => $self->{waypoints},
-			-nb_waypoints	 => $self->{nb_waypoints},
-			-mission	 => $self->{mission});
+  $self->configure( -nav_utm_east0	=> $self->{nav_utm_east0},
+		    -nav_utm_north0	=> $self->{nav_utm_north0},
+		    -max_dist_from_home => $self->{max_dist_from_home},
+		    -waypoints	        => $self->{waypoints},
+		    -nb_waypoints	=> $self->{nb_waypoints},
+		    -mission	        => $self->{mission},
+		  );
 }
 
 sub parse_rc_control {