diff --git a/sw/airborne/cam_roll.c b/sw/airborne/cam_roll.c
new file mode 100644
index 0000000000..ff57341140
--- /dev/null
+++ b/sw/airborne/cam_roll.c
@@ -0,0 +1,79 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+/** \file cam.c
+ *  \brief Pan/Tilt camera library
+ *
+ */
+
+#include <math.h>
+#include "cam.h"
+#include "nav.h"
+#include "autopilot.h"
+#include "flight_plan.h"
+#include "estimator.h"
+#include "inter_mcu.h"
+#include "nav.h"
+
+#define MIN_PPRZ_CAM ((int16_t)(MAX_PPRZ * 0.05))
+#define DELTA_ALPHA 0.2
+
+#define MAX_CAM_ROLL M_PI/2
+
+float cam_roll_phi; /* radian */
+float phi_c; /* radian */
+float theta_c; /* have to be defined for telemetry message */
+
+float target_x, target_y, target_alt;
+
+#ifdef MOBILE_CAM
+
+#define MODE_MANUAL     0
+#define MODE_STABILIZED 1
+
+uint8_t cam_roll_mode;
+bool_t cam_roll_switch;
+
+void cam_init( void ) {
+  cam_roll_switch = 0;
+#ifdef VIDEO_SWITCH_PIN
+  IO0DIR |= _BV(VIDEO_SWITCH_PIN);
+  IO0CLR = _BV(VIDEO_SWITCH_PIN);
+#endif
+}
+
+void cam_periodic( void ) {
+  switch (cam_roll_mode) {
+  case MODE_STABILIZED:
+    phi_c = cam_roll_phi + estimator_phi;
+    break;
+  case MODE_MANUAL:
+    phi_c = cam_roll_phi;
+    break;
+  default:
+    phi_c = 0;
+  }
+  ap_state->commands[COMMAND_CAM_ROLL] = TRIM_PPRZ(phi_c * MAX_PPRZ / RadOfDeg(CAM_PHI_MAX_DEG));
+}
+
+#endif // MOBILE_CAM
diff --git a/sw/airborne/cam_roll.h b/sw/airborne/cam_roll.h
new file mode 100644
index 0000000000..fa3ec7f3d4
--- /dev/null
+++ b/sw/airborne/cam_roll.h
@@ -0,0 +1,13 @@
+#ifndef CAM_ROLL_H
+#define CAM_ROLL_H
+
+extern uint8_t cam_roll_mode;
+extern float cam_roll_phi;
+extern bool_t cam_roll_switch;
+
+#define cam_roll_SetPhiDeg(_deg) { cam_roll_phi = RadOfDeg(_deg); }
+
+#define cam_roll_Switch(_x) { cam_roll_switch = _x; if (_x) IO0SET = _BV(VIDEO_SWITCH_PIN); else IO0CLR = _BV(VIDEO_SWITCH_PIN); }
+
+
+#endif /* CAM_ROLL_H */
diff --git a/sw/logalizer/Makefile b/sw/logalizer/Makefile
index c6d7d410ce..26829adf5a 100644
--- a/sw/logalizer/Makefile
+++ b/sw/logalizer/Makefile
@@ -32,6 +32,9 @@ play : play.ml
 plotter : plotter.ml
 	$(OCAMLC) $(INCLUDES) -custom -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 -I ../lib/ocaml lablgtk.cma lib-pprz.cma gtkInit.cmo  $^
 
+plot : plot.ml
+	$(OCAMLC) $(INCLUDES) -custom -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 -I ../lib/ocaml lablgtk.cma lib-pprz.cma gtkInit.cmo  $^
+
 
 
 pt : ahrsview imuview ahrs2fg
@@ -105,4 +108,4 @@ ahrs2fg: ahrs2fg.c network.c flight_gear.c utils.c
 
 
 ivy_example: ivy_example.c
-	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy
\ No newline at end of file
+	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs`  `pcre-config --libs` -lglibivy
diff --git a/sw/logalizer/plot.ml b/sw/logalizer/plot.ml
new file mode 100644
index 0000000000..f415222a4b
--- /dev/null
+++ b/sw/logalizer/plot.ml
@@ -0,0 +1,278 @@
+(*
+ * $Id$
+ *
+ * Real time plotter
+ *  
+ * Copyright (C) 2007- ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+open Printf
+
+
+module P = Pprz.Messages (struct let name = "telemetry" end)
+
+
+let double__ = 
+  let underscore = Str.regexp "_" in
+  fun s -> Str.global_replace underscore "__" s
+
+
+let (//) = Filename.concat
+
+let colors = [|"red"; "blue"; "green"; "orange"; "purple"; "magenta"|]
+
+let labelled_entry = fun ?width_chars text value (h:GPack.box) ->
+  let label = GMisc.label ~text ~packing:h#pack () in
+  label, GEdit.entry ?width_chars ~text:value ~packing:h#pack ()
+
+class plot = fun ~width ~height ~packing () ->
+  let da = GMisc.drawing_area ~width ~height ~show:true ~packing () in
+  let curves = Hashtbl.create 3 in
+  object (self)
+    val mutable min_x = max_float
+    val mutable max_x = min_float
+    val mutable min = max_float
+    val mutable max = min_float
+    val mutable color_index = 0
+    val mutable csts = ([] : float list)
+    val mutable auto_scale = true
+
+    method auto_scale = auto_scale
+    method set_auto_scale = fun x -> auto_scale <- x
+    method min = min
+    method set_min = fun x -> min <- x
+    method max = max
+    method set_max = fun x -> max <- x
+
+    method destroy = fun () -> ()
+
+    method drawing_area = da
+
+    method add_cst = fun v ->
+      csts <- v :: csts
+
+    method delete_cst = fun v ->
+      csts <- List.filter (fun x -> x <> v) csts
+
+    method add_curve = fun (name:string) (values:(float*float) array) ->
+      Hashtbl.add curves name values
+	
+    method delete_curve = fun (name:string) ->
+      Hashtbl.remove curves name
+
+    method update_curves = fun () ->
+      let {Gtk.width=width; height=height} = da#misc#allocation in
+      let dr = GDraw.pixmap ~width ~height ~window:da () in
+      dr#set_foreground (`NAME "white");
+      dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true ();
+
+      (* Time Graduations *)
+      let context = da#misc#create_pango_context in
+      context#set_font_by_name "sans 10 ";
+      let layout = context#create_layout in
+      
+      let f = fun x y s ->
+	Pango.Layout.set_text layout s;
+	let (w, h) = Pango.Layout.get_pixel_size layout in
+	dr#put_layout ~x ~y:(y-h) ~fore:`BLACK layout in
+      ()
+  end
+
+
+(* Indexed by log *)
+let logs = Hashtbl.create 3
+
+let pprz_float = function
+    Pprz.Int i -> float i
+  | Pprz.Float f -> f 
+  | Pprz.Int32 i -> Int32.to_float i
+  | Pprz.String s -> float_of_string s
+  | Pprz.Array _ -> failwith "pprz_float"
+
+
+let load_log = fun (plot:plot) (menubar:GMenu.menu_shell GMenu.factory) xml_file ->
+  let xml = Xml.parse_file xml_file in
+  let data_file =  ExtXml.attrib xml "data_file" in
+
+  let f = Ocaml_tools.find_file [Filename.dirname xml_file] data_file in
+  let f = Ocaml_tools.open_compress f in
+  let acs = Hashtbl.create 3 in (* indexed by A/C *)
+  Hashtbl.add logs data_file acs;
+  try
+    while true do
+      let l = input_line f in
+      try
+	Scanf.sscanf l "%f %s %[^\n]"
+	  (fun t ac m ->
+	    if not (Hashtbl.mem acs ac) then
+	      Hashtbl.add acs ac (Hashtbl.create 97);
+	    let msgs = Hashtbl.find acs ac in
+
+	    let msg_id, vs = P.values_of_string m in
+	    if not (Hashtbl.mem msgs msg_id) then
+	      Hashtbl.add msgs msg_id (Hashtbl.create 97);
+	    let fields = Hashtbl.find msgs msg_id in
+
+	    List.iter (fun (f, v) -> Hashtbl.add fields f (t, v)) vs
+	  )
+      with
+	exc -> prerr_endline (Printexc.to_string exc)
+    done
+  with
+    End_of_file ->
+      close_in f;
+      (* Build the A/C menus *)
+      Hashtbl.iter
+	(fun ac msgs ->
+	  let menu_name = sprintf "%s:%s" (String.sub data_file 0 18) ac in
+	  let menu = menubar#add_submenu menu_name in
+	  let menu_fact = new GMenu.factory menu in
+	  let l = ref [] in 
+	  Hashtbl.iter (fun msg fields -> l := (P.message_of_id msg, fields):: !l) msgs;
+	  let l = List.sort (fun (a,_) (b,_) -> compare a b) !l in
+
+	  (* Build the msg menus *)
+	  List.iter
+	    (fun (msg, fields) ->
+	      let menu = menu_fact#add_submenu (double__ msg.Pprz.name) in
+	      let menu_fact = new GMenu.factory menu in
+	      let l = ref [] in 
+	      Hashtbl.iter
+		(fun f v -> if not (List.mem f !l) then l := f :: !l)
+		fields;
+	      let l = List.sort compare !l in
+	      (* Build the field menus *)
+	      List.iter
+		(fun f ->
+		  let values = Hashtbl.find_all fields f in
+		  let values = List.map (fun (t, v) -> (t, pprz_float v)) values in
+		  let values = Array.of_list values in
+		  Array.sort compare values;
+		  let name = sprintf "%s:%s:%s:%s" menu_name ac msg.Pprz.name f in
+		  let callback = fun _ -> plot#add_curve name values; plot#update_curves () in
+		  ignore (menu_fact#add_item ~callback (double__ f)))
+		l
+	      )
+	    l
+	)
+	acs
+
+
+
+let file_dialog ~title ~callback () =
+  let sel = GWindow.file_selection ~title ~filename:"var/logs/*.log" ~modal:true () in
+  ignore (sel#cancel_button#connect#clicked ~callback:sel#destroy);
+  ignore
+    (sel#ok_button#connect#clicked
+       ~callback:(fun () ->
+	 let name = sel#filename in
+	 sel#destroy ();
+	 callback name));
+  sel#show ()
+
+
+let open_log = fun plot menubar () ->
+  ignore (file_dialog ~title:"Open Log" ~callback:(fun name -> load_log plot menubar name) ())
+
+
+let rec plot_window = fun init ->
+  let plotter = GWindow.window ~allow_shrink:true ~title:"Log Plotter" () in
+  let vbox = GPack.vbox ~packing:plotter#add () in
+  let quit = fun () -> GMain.Main.quit (); exit 0 in
+
+  let tooltips = GData.tooltips () in
+
+  let menubar = GMenu.menu_bar ~packing:vbox#pack () in
+  let factory = new GMenu.factory menubar in
+  let accel_group = factory#accel_group in
+  let file_menu = factory#add_submenu "File" in
+  let file_menu_fact = new GMenu.factory file_menu ~accel_group in
+
+  let width = 900 and height = 200 in
+  let plot = new plot ~width ~height ~packing:(vbox#pack ~expand:true) () in
+
+  ignore (file_menu_fact#add_item "Open Log" ~key:GdkKeysyms._O ~callback:(open_log plot factory));  
+  
+  ignore (file_menu_fact#add_item "New" ~key:GdkKeysyms._N ~callback:(fun () -> plot_window []));
+(*
+  let close = fun () -> plotter#destroy () in
+  ignore (file_menu_fact#add_item "Close" ~key:GdkKeysyms._W ~callback:close); *)
+
+  ignore (file_menu_fact#add_item "Quit" ~key:GdkKeysyms._Q ~callback:quit);
+  let curves_menu = factory#add_submenu "Curves" in
+  let curves_menu_fact = new GMenu.factory curves_menu in
+
+  let h = GPack.hbox ~packing:vbox#pack () in
+
+  tooltips#set_tip plot#drawing_area#coerce ~text:"Drop a messages field here to draw it";
+  ignore (plotter#connect#destroy ~callback:(fun () -> plot#destroy ()));
+
+  (* Auto Scale *)
+  let auto_scale = GButton.check_button ~label:"Auto Scale" ~active:true ~packing:h#pack () in
+  ignore (auto_scale#connect#toggled (fun () -> plot#set_auto_scale auto_scale#active));
+  let _, min_entry= labelled_entry ~width_chars:5 "Min" "" h in
+  let _, max_entry= labelled_entry ~width_chars:5 "Max" "" h in
+  ignore (GMain.Timeout.add 1000 (fun () -> if plot#auto_scale then begin min_entry#set_text (string_of_float plot#min);  max_entry#set_text (string_of_float plot#max) end; true));
+  ignore (min_entry#connect#activate ~callback:(fun () -> if not plot#auto_scale then plot#set_min (float_of_string min_entry#text)));
+  ignore (max_entry#connect#activate ~callback:(fun () -> if not plot#auto_scale then plot#set_max (float_of_string max_entry#text)));
+
+  (* X range *)
+  let _, _x_min_entry= labelled_entry ~width_chars:5 "Min" "" h in
+  let _, _x_max_entry= labelled_entry ~width_chars:5 "Max" "" h in
+
+  (* Constants *)
+  let _, cst = labelled_entry ~width_chars:5 "Constant:" "" h in
+  let add_cst = fun s ->
+    let v = float_of_string s in
+    plot#add_cst v;
+    let eb = GBin.event_box ~width:10 ~height:10 () in
+    eb#coerce#misc#modify_bg [`NORMAL, `NAME "black"];
+    let item = curves_menu_fact#add_image_item ~image:eb#coerce ~label:s () in
+    
+    let delete = fun () ->
+      plot#delete_cst v;
+      curves_menu#remove (item :> GMenu.menu_item) in
+    ignore (item#connect#activate ~callback:delete);
+  in
+  ignore (cst#connect#activate ~callback:(fun () ->add_cst cst#text));
+  tooltips#set_tip cst#coerce ~text:"Enter value for a constant curve";
+
+  List.iter (fun f -> load_log plot factory f) init;
+
+  plotter#add_accel_group accel_group;
+  plotter#show ()
+
+
+
+
+let _ =
+  let logs = ref [] in
+  Arg.parse
+    []
+    (fun x -> logs := x :: !logs)
+    "Usage: ";
+
+  plot_window !logs;
+
+  let loop = Glib.Main.create true in
+  while Glib.Main.is_running loop do 
+    ignore (Glib.Main.iteration true) 
+  done