diff --git a/sw/logalizer/tmserver.c b/sw/logalizer/tmserver.c
new file mode 100644
index 0000000000..6888725fae
--- /dev/null
+++ b/sw/logalizer/tmserver.c
@@ -0,0 +1,368 @@
+/*  $Id$
+ *
+ * tmserver, an telemetry server to distribute paparazzi location data
+ * Copyright (C) 2007  Martin Mueller <martinmm@pfump.org>
+ *
+ * This file is part of paparazzi.
+ *
+ * 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, 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.  
+ *
+ */
+
+#include <unistd.h>
+#include <error.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#define MAX(a, b) ((a > b) ? a : b)
+
+#define PORT_IN  7123
+#define PORT_OUT 7124
+#define BUFSIZE  0x10000
+
+#define PACKET_SIZE 9
+
+#define AC_NUM      10
+#define AC_TIMEOUT  5
+
+typedef struct 
+{
+  long addr;
+  struct timeval tvvalid;
+  unsigned char ac_id;
+  float fval[PACKET_SIZE];
+} ac_dat_t;
+
+static char ppfg[] = {"ppfg"};
+static char ppua[] = {"ppua"};
+static char ppac[] = {"ppac"};
+
+int getac(ac_dat_t * ac_dati, unsigned char ac_id, long addr)
+{
+  int count;
+
+  for(count=0; count < AC_NUM; count++)
+  {
+    if ((ac_dati[count].ac_id == ac_id) &&
+        (ac_dati[count].addr == addr))
+    {
+      return count;
+    }
+  }
+  for(count=0; count < AC_NUM; count++)
+  {
+    if (ac_dati[count].ac_id == 0) return count;
+  }
+  return -1;
+}
+
+int getnumac(ac_dat_t * ac_dati)
+{
+  int count, num=0;
+
+  for(count=0; count < AC_NUM; count++)
+  {
+    if (ac_dati[count].ac_id != 0) num++;
+  }
+  return num;
+}
+
+int cleanupac(ac_dat_t * ac_dati)
+{
+  int count, num=0;
+  struct timeval tvcur;
+
+  gettimeofday(&tvcur, NULL);
+
+  for(count=0; count < AC_NUM; count++)
+  {
+    if (ac_dati[count].tvvalid.tv_sec + AC_TIMEOUT < tvcur.tv_sec) 
+    {
+      ac_dati[count].ac_id = 0;
+    }
+  }
+  return num;
+}
+
+int main(int argc, char *argv[])
+{
+  int length, fromlen, tolen, n, count, cnt, fdmax, ac;
+  int sourcesock, sinksock, consock;
+  struct sockaddr_in sourceaddr, sinkaddr, from;
+  char buf[BUFSIZE];
+  char *pbuf;
+  unsigned int itemp;
+  fd_set fds;
+  struct timeval tvt, tvcur;
+  ac_dat_t ac_dat[AC_NUM];
+  int on = 1;
+
+  memset(ac_dat, 0, sizeof(ac_dat));
+
+  /* open sockets */
+  sourcesock = socket(AF_INET, SOCK_DGRAM, 0);
+  sinksock = socket(PF_INET, SOCK_STREAM, 0);
+  consock = 0;
+  if ((sourcesock < 0) || (sinksock < 0))
+  {
+    perror("socket");
+    exit(1);
+  }
+
+  tolen = sizeof(struct sockaddr_in);
+  length = sizeof(sourceaddr);
+  memset(&sourceaddr, 0, sizeof(sourceaddr));
+  memset(&sinkaddr, 0, sizeof(sinkaddr));
+                           
+  sourceaddr.sin_family = AF_INET;
+  sourceaddr.sin_addr.s_addr = INADDR_ANY;
+  sourceaddr.sin_port = htons(PORT_IN);
+  sinkaddr.sin_family = AF_INET;
+  sinkaddr.sin_addr.s_addr = INADDR_ANY;
+  sinkaddr.sin_port = htons(PORT_OUT);
+
+  setsockopt(sinksock, SOL_SOCKET, SO_REUSEADDR, (void *)&on, sizeof(on)) ;
+
+  if ((bind(sourcesock, (struct sockaddr *)&sourceaddr, length) < 0) ||
+      (bind(sinksock, (struct sockaddr *)&sinkaddr, length) < 0))
+  {
+    perror("bind");
+    exit(1);
+  }
+
+  if (listen(sinksock, 3))
+  {
+    perror("listen");
+    exit(1);
+  }
+
+  fdmax = MAX(sourcesock, sinksock);
+  FD_ZERO(&fds);
+
+  while (1)
+  {
+    FD_SET(sourcesock, &fds);
+    FD_SET(sinksock, &fds);
+
+    /* loop every second */
+    tvt.tv_sec = 1;
+    tvt.tv_usec = 0;
+
+    count = select(fdmax+1, &fds, NULL, NULL, &tvt); 
+
+    if (FD_ISSET(sourcesock, &fds))
+    {
+      gettimeofday(&tvcur, NULL);
+      n = recvfrom(sourcesock, buf, sizeof(buf), 0, (struct sockaddr *)&sourceaddr, &fromlen);
+      if (n < 0) perror("recvfrom");
+
+      if (n == PACKET_SIZE*4)
+      {
+        ac = getac(ac_dat, *(unsigned char*)(buf), ntohl(sourceaddr.sin_addr.s_addr));
+        if (ac >= 0)
+        {
+          ac_dat[ac].ac_id = *(unsigned char*)(buf);
+          ac_dat[ac].addr = ntohl(sourceaddr.sin_addr.s_addr);
+          ac_dat[ac].tvvalid.tv_sec = tvcur.tv_sec;
+
+          for (count=1; count<PACKET_SIZE; count++)
+          {
+            itemp = 0;
+            for (cnt=0; cnt<4; cnt++)
+            {
+              itemp |= (*(unsigned char*)(buf+count*4+cnt) << (cnt*8));
+            }
+            itemp = ntohl(itemp);
+            ac_dat[ac].fval[count] = *(float*) &itemp;
+          }
+        }
+      }
+    }
+
+    if (FD_ISSET(sinksock, &fds))
+    {
+      consock = accept(sinksock, (struct sockaddr *) &sinkaddr, &fromlen);
+      if (consock < 0)
+      {
+        perror("socket");
+        exit(1);
+      }
+      FD_SET(consock, &fds);
+      fdmax=MAX(fdmax, consock);
+    }
+
+    if (FD_ISSET(consock, &fds))
+    {
+      n = recv(consock, buf, sizeof(buf), 0);
+      if (n < 0) perror("recv");
+
+      if (strncmp(ppua, buf, 4) == 0)
+      {
+        pbuf = buf;
+        ac = getnumac(ac_dat);
+        pbuf += sprintf(pbuf,"Content-type: text/xml\n\n");
+        pbuf += sprintf(pbuf,"<?xml version=\"1.0\" encoding=\"UTF-8\" ?>\n");
+        pbuf += sprintf(pbuf,"<kml xmlns=\"http://earth.google.com/kml/2.0\">\n");
+        pbuf += sprintf(pbuf,"<NetworkLinkControl>\n");
+        pbuf += sprintf(pbuf," <Update>\n");
+        pbuf += sprintf(pbuf,"  <targetHref>http://uav-flight.de/maps/fg_server_xml.cgi?ppac</targetHref>\n");
+           
+        for (count = 0; count < ac; count++)
+        {
+          if (ac_dat[count].ac_id > 0)
+          {
+            pbuf += sprintf(pbuf, "  <Change>\n");
+            pbuf += sprintf(pbuf, "   <Placemark targetId=\"%i\">\n", count);
+            pbuf += sprintf(pbuf, "    <LookAt>\n");
+            pbuf += sprintf(pbuf, "     <longitude>%f</longitude>\n", ac_dat[count].fval[4]);
+            pbuf += sprintf(pbuf, "     <latitude>%f</latitude>\n", ac_dat[count].fval[3]);
+            pbuf += sprintf(pbuf, "     <altitude>%f</altitude>\n", ac_dat[count].fval[7]);
+            pbuf += sprintf(pbuf, "     <range>100</range>\n");
+            pbuf += sprintf(pbuf, "     <tilt>55</tilt>\n");
+            pbuf += sprintf(pbuf, "     <heading>%f</heading>\n", ac_dat[count].fval[6]);
+            pbuf += sprintf(pbuf, "     <altitudeMode>absolute</altitudeMode>\n");
+            pbuf += sprintf(pbuf, "    </LookAt>\n");
+            pbuf += sprintf(pbuf, "    <Model>\n");
+            pbuf += sprintf(pbuf, "     <Location>\n");
+            pbuf += sprintf(pbuf, "      <latitude>%f</latitude>\n", ac_dat[count].fval[3]);
+            pbuf += sprintf(pbuf, "      <longitude>%f</longitude>\n", ac_dat[count].fval[4]);
+            pbuf += sprintf(pbuf, "      <altitude>%f</altitude>\n", ac_dat[count].fval[7]);
+            pbuf += sprintf(pbuf, "     </Location>\n");
+            pbuf += sprintf(pbuf, "     <Orientation>\n");
+            pbuf += sprintf(pbuf, "      <heading>%f</heading>\n", ac_dat[count].fval[6]);
+            pbuf += sprintf(pbuf, "      <tilt>%f</tilt>\n", -ac_dat[count].fval[2]);
+            pbuf += sprintf(pbuf, "      <roll>%f</roll>\n", -ac_dat[count].fval[1]);
+            pbuf += sprintf(pbuf, "     </Orientation>\n");
+            pbuf += sprintf(pbuf, "    </Model>\n");
+            pbuf += sprintf(pbuf, "   </Placemark>\n");
+            pbuf += sprintf(pbuf, "  </Change>\n");
+          }
+        }
+        pbuf += sprintf(pbuf, " </Update>\n");
+        pbuf += sprintf(pbuf, "</NetworkLinkControl>\n");
+        pbuf += sprintf(pbuf, "</kml>\n");
+      }
+      else if (strncmp(ppac, buf, 4) == 0)
+      {
+        pbuf = buf;
+        ac = getnumac(ac_dat);
+        pbuf += sprintf(pbuf,"Content-type: text/xml\n\n");
+        pbuf += sprintf(pbuf,"<?xml version=\"1.0\" encoding=\"UTF-8\" ?>\n");
+        pbuf += sprintf(pbuf,"<kml xmlns=\"http://earth.google.com/kml/2.0\">\n");
+        pbuf += sprintf(pbuf," <Document id=\"mpmap\">\n");
+        pbuf += sprintf(pbuf," <name>Paparazzi live aircrafts</name>\n");
+        pbuf += sprintf(pbuf," <visibility>1</visibility>\n");
+   
+        for (count = 0; count < ac; count++)
+        {
+          if (ac_dat[count].ac_id > 0)
+          {
+            pbuf += sprintf(pbuf, " <Placemark id=\"%i\">\n", count);
+            pbuf += sprintf(pbuf, "  <name>%i</name>\n", ac_dat[count].ac_id);
+            pbuf += sprintf(pbuf, "  <LookAt>\n");
+            pbuf += sprintf(pbuf, "   <longitude>%f</longitude>\n", ac_dat[count].fval[4]);
+            pbuf += sprintf(pbuf, "   <latitude>%f</latitude>\n", ac_dat[count].fval[3]);
+            pbuf += sprintf(pbuf, "   <altitude>%f</altitude>\n", ac_dat[count].fval[7]);
+            pbuf += sprintf(pbuf, "   <range>500</range>\n");
+            pbuf += sprintf(pbuf, "   <tilt>55</tilt>\n");
+            pbuf += sprintf(pbuf, "   <heading>%f</heading>\n", ac_dat[count].fval[7]);
+            pbuf += sprintf(pbuf, "   <altitudeMode>absolute</altitudeMode>\n");
+            pbuf += sprintf(pbuf, "  </LookAt>\n");            
+            pbuf += sprintf(pbuf, "  <description>Paparazzi</description>\n");
+            pbuf += sprintf(pbuf, "  <Model>\n");
+            pbuf += sprintf(pbuf, "   <altitudeMode>absolute</altitudeMode>\n");
+            pbuf += sprintf(pbuf, "   <Location>\n");
+            pbuf += sprintf(pbuf, "    <latitude>%f</latitude>\n", ac_dat[count].fval[3]);
+            pbuf += sprintf(pbuf, "    <longitude>%f</longitude>\n", ac_dat[count].fval[4]);
+            pbuf += sprintf(pbuf, "    <altitude>%f</altitude>\n", ac_dat[count].fval[7]);
+            pbuf += sprintf(pbuf, "   </Location>\n");
+            pbuf += sprintf(pbuf, "   <Orientation>\n");
+            pbuf += sprintf(pbuf, "    <heading>%f</heading>\n", ac_dat[count].fval[6]);
+            pbuf += sprintf(pbuf, "    <tilt>%f</tilt>\n", -ac_dat[count].fval[2]);
+            pbuf += sprintf(pbuf, "    <roll>%f</roll>\n", -ac_dat[count].fval[1]);
+            pbuf += sprintf(pbuf, "   </Orientation>\n");
+            pbuf += sprintf(pbuf, "   <Scale>\n");
+            pbuf += sprintf(pbuf, "    <x>150.0</x>\n");
+            pbuf += sprintf(pbuf, "    <y>150.0</y>\n");
+            pbuf += sprintf(pbuf, "    <z>150.0</z>\n");
+            pbuf += sprintf(pbuf, "   </Scale>\n");
+            pbuf += sprintf(pbuf, "   <Link>\n");
+            pbuf += sprintf(pbuf, "    <href>http://pigeond.net/flightgear/fgmap/ge/daes/c172p/c172p.dae</href>\n");
+            pbuf += sprintf(pbuf, "    <refreshMode>onChange</refreshMode>\n");
+            pbuf += sprintf(pbuf, "   </Link>\n");
+            pbuf += sprintf(pbuf, "  </Model>\n");
+            pbuf += sprintf(pbuf, " </Placemark>\n\n");
+          }
+        }
+        pbuf += sprintf(pbuf, " <NetworkLink id=\"fgmap_update\">\n");
+        pbuf += sprintf(pbuf, "  <name>Update</name>\n");
+        pbuf += sprintf(pbuf, "  <Link>\n");
+        pbuf += sprintf(pbuf, "   <href>http://uav-flight.de/maps/fg_server_xml.cgi?ppua</href>\n");
+        pbuf += sprintf(pbuf, "   <refreshMode>onInterval</refreshMode>\n");
+        pbuf += sprintf(pbuf, "   <refreshInterval>1</refreshInterval>\n");
+        pbuf += sprintf(pbuf, "  </Link>\n");
+        pbuf += sprintf(pbuf, " </NetworkLink>\n</Document>\n");
+        pbuf += sprintf(pbuf, "</kml>\n");
+      }
+      else //if strncmp(ppfg, buf, 4) == 0)
+      {
+        pbuf=buf;
+        ac = getnumac(ac_dat);
+  
+        pbuf += sprintf(pbuf, "Content-type: text/xml\n\n<fg_server pilot_cnt=\"%d\">\n", ac);
+   
+        for (count = 0; count < ac; count++)
+        {
+          if (ac_dat[count].ac_id > 0)
+          {
+            pbuf += sprintf(pbuf, "<marker callsign=\"%i\" server_ip=\"%u.%u.%u.%u\" model=\"c172p\" lat=\"%f\" lng=\"%f\" alt=\"%f\" heading=\"%f\" pitch=\"%f\" roll=\"%f\"/>\n",
+                     ac_dat[count].ac_id, 
+                     (unsigned char)(ac_dat[count].addr >> 24),
+                     (unsigned char)(ac_dat[count].addr >> 16),
+                     (unsigned char)(ac_dat[count].addr >> 8),
+                     (unsigned char)(ac_dat[count].addr & 0xff),
+                     ac_dat[count].fval[3],
+                     ac_dat[count].fval[4],
+                     ac_dat[count].fval[7],
+                     ac_dat[count].fval[6], 
+                     ac_dat[count].fval[2], 
+                     ac_dat[count].fval[1]);
+          }
+        }
+        pbuf += sprintf(pbuf, "</fg_server>\n");
+      }
+//      else buf[0]=0;
+
+      if (ntohl(sinkaddr.sin_addr.s_addr) == INADDR_LOOPBACK) 
+      {
+        count = send(consock, buf, strlen(buf), 0);
+      }
+      close(consock);
+      FD_CLR(consock, &fds);
+      fdmax = MAX(sourcesock, sinksock);
+    }
+
+    cleanupac(ac_dat);
+  }
+
+  return 0;
+}