diff --git a/sw/simulator/Makefile b/sw/simulator/Makefile
index 21d3641ef2..8de05c1053 100644
--- a/sw/simulator/Makefile
+++ b/sw/simulator/Makefile
@@ -91,8 +91,10 @@ JSBSIM = /home/violato/JSBSim
 CC = g++
 CFLAGS  = -Wall -I $(JSBSIM)/src -I../include
 LDFLAGS = -L $(JSBSIM)/lib -lJSBSim
-CFLAGS  += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
-LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
+CFLAGS  += -I /usr/include/meschach
+LDFLAGS += -lmeschach
+#CFLAGS  += `pkg-config glib-2.0 --cflags`
+#LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy
 
 test1: nps_test1.c
 	$(CC) $(CFLAGS) -o $@ $< $(LDFLAGS)
diff --git a/sw/simulator/nps_fdm.h b/sw/simulator/nps_fdm.h
index 506643e1bf..6df67dc036 100644
--- a/sw/simulator/nps_fdm.h
+++ b/sw/simulator/nps_fdm.h
@@ -5,6 +5,45 @@
 #include <matrix.h>
 
 
+/* Vehicle specific descriptions */
+
+struct NpsDummy {
+  /* force applied to the ball in Newton */
+  double f_input;
+};
+
+
+#define NPS_QUAD_MOTOR_FRONT 0
+#define NPS_QUAD_MOTOR_BACK  1
+#define NPS_QUAD_MOTOR_RIGHT 2
+#define NPS_QUAD_MOTOR_LEFT  3
+#define NPS_QUAD_MOTOR_NB    4
+
+struct NpsQuad {
+  /* battery voltage in V */
+  double battery;
+  /* motor commands [0:1] */
+  VEC* motor_commands;
+  /* propeller rotation speed in rad/s */
+  VEC* prop_omega;
+};
+
+
+#define NPS_SFW_ACTUATOR_THROTTLE   0
+#define NPS_SFW_ACTUATOR_AILERON_R  1
+#define NPS_SFW_ACTUATOR_AILERON_L  2
+#define NPS_SFW_ACTUATOR_NB         3
+
+struct NpsSFW {
+
+  double prop_omega;
+  /*
+    Deflection of control surfaces in radian
+    Normalized throttle [0:1]
+  */
+  VEC* actuators;
+};
+
 
 
 struct NpsFdmState {
@@ -22,54 +61,17 @@ struct NpsFdmState {
 
   VEC* ecef_to_ltp_quat;
   
-  // vehicle specific
+  /* vehicle specific */
   union {
     struct NpsDummy dummy;
     struct NpsQuad  quad;
     struct NpsSFW   fw;
-  };
+  } vehicle;
 
 };
 
 
 
-struct NpsDummy {
-  /* force applied to the ball in Newton */
-  double f_input;
-};
-
-
-#define NPS_QUAD_MOTOR_FRONT 0
-#define NPS_QUAD_MOTOR_BACK  1
-#define NPS_QUAD_MOTOR_RIGHT 2
-#define NPS_QUAD_MOTOR_LEFT  3
-#define NPS_QUAD_MOTOR_NB    4
-
-struct NpsQuad {
-  /* battery voltage in V */
-  double battery;
-  /* motor commands [0:1]
-  VEC* motor_commands;
-  /* propeller rotation speed in rad/s */
-  VEC* prop_omega;
-};
-
-
-
-#define NPS_SFW_ACTUATOR_THROTTLE   0
-#define NPS_SFW_ACTUATOR_AILERON_R  1
-#define NPS_SFW_ACTUATOR_AILERON_L  2
-#define NPS_SFW_ACTUATOR_NB         3
-
-struct NpsSFW {
-
-  double prop_omega;
-  /*
-    deflection of control surfaces in radian
-    normalized throttle [0:1]
-  */
-  VEC* actuators;
-}
 
 
 
diff --git a/sw/simulator/nps_test1.c b/sw/simulator/nps_test1.c
index 0a64d508db..2917f78149 100644
--- a/sw/simulator/nps_test1.c
+++ b/sw/simulator/nps_test1.c
@@ -1,7 +1,8 @@
-#include "nps_fdm.h"
 #include <FGFDMExec.h>
 #include <math/FGColumnVector3.h>
 
+#include "nps_fdm.h"
+
 string RootDir = "/home/violato/JSBSim/";
 string AircraftName = "ball";
 string ResetName = "reset00";
@@ -9,14 +10,12 @@ string ResetName = "reset00";
 static struct NpsFdmState fdm_state;
 
 
-
 static void feed_inputs(JSBSim::FGFDMExec* fdmex) {
 
   //double hover_force = 0.;
 
-  fdmex->SetPropertyValue("/fdm/jsbsim/fcs/parachute_reef_pos_norm", fdm_state.dummy.f_input);
+  fdmex->SetPropertyValue("/fdm/jsbsim/fcs/parachute_reef_pos_norm", fdm_state.vehicle.dummy.f_input);
   
-
 }
 
 static void fetch_state(JSBSim::FGFDMExec* fdmex) {