diff --git a/conf/airframes/ardrone2_opticflow_hover.xml b/conf/airframes/ardrone2_opticflow_hover.xml
index acc324ea64..6cdc37a5dd 100644
--- a/conf/airframes/ardrone2_opticflow_hover.xml
+++ b/conf/airframes/ardrone2_opticflow_hover.xml
@@ -216,7 +216,7 @@
   <section name="AUTOPILOT">
     <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_MODULE_OUTERLOOP"/>
+    <define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
     <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
   </section>
 
diff --git a/conf/modules/cv_opticflow.xml b/conf/modules/cv_opticflow.xml
index 8af8ea94d1..5d2fb518a0 100644
--- a/conf/modules/cv_opticflow.xml
+++ b/conf/modules/cv_opticflow.xml
@@ -44,7 +44,6 @@
   <makefile target="ap">
     <define name="ARDRONE_VIDEO_PORT" value="2002" />
     <define name="USE_ARDRONE_VIDEO" />
-    <define name="USE_MODULE_OUTERLOOP" value="1" />
 
     <file name="opticflow_module.c"/>
     <file name="opticflow_code.c" dir="modules/computer_vision/opticflow"/>
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index cae56817ba..3ce4b1846a 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -423,8 +423,10 @@ void autopilot_set_mode(uint8_t new_autopilot_mode)
       case AP_MODE_NAV:
         guidance_h_mode_changed(GUIDANCE_H_MODE_NAV);
         break;
-      case AP_MODE_MODULE_OUTERLOOP:
-        guidance_h_mode_changed(GUIDANCE_H_MODE_MODULE_OUTERLOOP);
+      case AP_MODE_MODULE:
+#ifdef GUIDANCE_H_MODE_MODULE_SETTING
+        guidance_h_mode_changed(GUIDANCE_H_MODE_MODULE_SETTING);
+#endif
         break;
       default:
         break;
@@ -467,8 +469,10 @@ void autopilot_set_mode(uint8_t new_autopilot_mode)
       case AP_MODE_NAV:
         guidance_v_mode_changed(GUIDANCE_V_MODE_NAV);
         break;
-      case AP_MODE_MODULE_OUTERLOOP:
-        guidance_v_mode_changed(GUIDANCE_V_MODE_MODULE_OUTERLOOP);
+      case AP_MODE_MODULE:
+#ifdef GUIDANCE_V_MODE_MODULE_SETTING
+        guidance_v_mode_changed(GUIDANCE_V_MODE_MODULE);
+#endif
         break;
       default:
         break;
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h
index cad980c508..8ee77b2aff 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.h
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.h
@@ -50,7 +50,7 @@
 #define AP_MODE_RC_DIRECT         14  // Safety Pilot Direct Commands for helicopter direct control
 #define AP_MODE_CARE_FREE_DIRECT  15
 #define AP_MODE_FORWARD           16
-#define AP_MODE_MODULE_OUTERLOOP  17
+#define AP_MODE_MODULE            17
 
 extern uint8_t autopilot_mode;
 extern uint8_t autopilot_mode_auto2;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index 4b56a2f7c2..0737340fe8 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -27,6 +27,7 @@
 #include "generated/airframe.h"
 
 #include "firmwares/rotorcraft/guidance/guidance_h.h"
+#include "firmwares/rotorcraft/guidance/guidance_module.h"
 #include "firmwares/rotorcraft/stabilization.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
 #include "firmwares/rotorcraft/navigation.h"
@@ -252,7 +253,12 @@ void guidance_h_mode_changed(uint8_t new_mode)
         stabilization_attitude_enter();
       break;
 
-    case GUIDANCE_H_MODE_MODULE_OUTERLOOP:
+#if GUIDANCE_H_MODE_MODULE_SETTING == GUIDANCE_H_MODE_MODULE
+    case GUIDANCE_H_MODE_MODULE:
+      guidance_h_module_enter();
+      break;
+#endif
+
     case GUIDANCE_H_MODE_NAV:
       guidance_h_nav_enter();
 #if NO_ATTITUDE_RESET_ON_MODE_CHANGE
@@ -305,7 +311,12 @@ void guidance_h_read_rc(bool_t  in_flight)
 #endif
       break;
 
-    case GUIDANCE_H_MODE_MODULE_OUTERLOOP:
+#if GUIDANCE_H_MODE_MODULE_SETTING == GUIDANCE_H_MODE_MODULE
+    case GUIDANCE_H_MODE_MODULE:
+      guidance_h_module_read_rc();
+      break;
+#endif
+
     case GUIDANCE_H_MODE_NAV:
       if (radio_control.status == RC_OK) {
         stabilization_attitude_read_rc_setpoint_eulers(&guidance_h_rc_sp, in_flight, FALSE, FALSE);
@@ -388,15 +399,12 @@ void guidance_h_run(bool_t  in_flight)
       }
       stabilization_attitude_run(in_flight);
       break;
-    case GUIDANCE_H_MODE_MODULE_OUTERLOOP:
-      if (!in_flight) {
-        guidance_h_nav_enter();
-#if USE_MODULE_OUTERLOOP==1
-        guidance_module_run(in_flight);
-#endif
-      }
 
+#if GUIDANCE_H_MODE_MODULE_SETTING == GUIDANCE_H_MODE_MODULE
+    case GUIDANCE_H_MODE_MODULE:
+      guidance_h_module_run(in_flight);
       break;
+#endif
 
     default:
       break;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
index c9cd7ff394..574ea4444e 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
@@ -49,15 +49,15 @@
 #define GUIDANCE_H_USE_SPEED_REF TRUE
 #endif
 
-#define GUIDANCE_H_MODE_KILL             0
-#define GUIDANCE_H_MODE_RATE             1
-#define GUIDANCE_H_MODE_ATTITUDE         2
-#define GUIDANCE_H_MODE_HOVER            3
-#define GUIDANCE_H_MODE_NAV              4
-#define GUIDANCE_H_MODE_RC_DIRECT        5
-#define GUIDANCE_H_MODE_CARE_FREE        6
-#define GUIDANCE_H_MODE_FORWARD          7
-#define GUIDANCE_H_MODE_MODULE_OUTERLOOP 8
+#define GUIDANCE_H_MODE_KILL      0
+#define GUIDANCE_H_MODE_RATE      1
+#define GUIDANCE_H_MODE_ATTITUDE  2
+#define GUIDANCE_H_MODE_HOVER     3
+#define GUIDANCE_H_MODE_NAV       4
+#define GUIDANCE_H_MODE_RC_DIRECT 5
+#define GUIDANCE_H_MODE_CARE_FREE 6
+#define GUIDANCE_H_MODE_FORWARD   7
+#define GUIDANCE_H_MODE_MODULE    8
 
 
 extern uint8_t guidance_h_mode;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_module.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_module.h
new file mode 100644
index 0000000000..debdbf2005
--- /dev/null
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_module.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * 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 firmwares/rotorcraft/guidance/guidance_module.h
+ *  Guidance in a module file.
+ *
+ *  If the module implements both V and H mode, take into account that the H is called first and later V
+ */
+
+#ifndef GUIDANCE_MODULE_H_
+#define GUIDANCE_MODULE_H_
+
+#include "generated/modules.h"
+
+/**
+ *
+ * Horizontal loop default is ATTITUDE
+ * e.g.: #define GUIDANCE_H_MODE_MODULE_SETTING GUIDANCE_H_MODE_ATTITUDE
+ *
+ * Implement own Horizontal loops when GUIDANCE_H_MODE_MODULE_SETTING is set to GUIDANCE_H_MODE_MODULE
+ * extern void guidance_h_module_enter(void);
+ * extern void guidance_h_module_read_rc(void);
+ * extern void guidance_h_module_run(bool_t in_flight);
+ *
+ * Vertical loop default is ATTITUDE
+ * e.g.: #define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_RC_DIRECT
+ *
+ * Implement own Vertical loops when  GUIDANCE_V_MODE_MODULE_SETTING is set to GUIDANCE_V_MODE_MODULE
+ * extern void guidance_v_module_enter(void);
+ * extern void guidance_v_module_run(bool_t in_flight);
+ */
+
+#endif /* GUIDANCE_MODULE_H_ */
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index decc718ba0..c6d74dae38 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -26,6 +26,7 @@
 
 #include "generated/airframe.h"
 #include "firmwares/rotorcraft/guidance/guidance_v.h"
+#include "firmwares/rotorcraft/guidance/guidance_module.h"
 
 #include "subsystems/radio_control.h"
 #include "firmwares/rotorcraft/stabilization.h"
@@ -232,12 +233,17 @@ void guidance_v_mode_changed(uint8_t new_mode)
     case GUIDANCE_V_MODE_RC_CLIMB:
     case GUIDANCE_V_MODE_CLIMB:
       guidance_v_zd_sp = 0;
-    case GUIDANCE_V_MODE_MODULE_OUTERLOOP:
     case GUIDANCE_V_MODE_NAV:
       guidance_v_z_sum_err = 0;
       GuidanceVSetRef(stateGetPositionNed_i()->z, stateGetSpeedNed_i()->z, 0);
       break;
 
+#if GUIDANCE_V_MODE_MODULE_SETTING == GUIDANCE_V_MODE_MODULE
+    case GUIDANCE_V_MODE_MODULE:
+      guidance_v_module_enter();
+      break;
+#endif
+
     default:
       break;
 
@@ -308,19 +314,12 @@ void guidance_v_run(bool_t in_flight)
         stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
       break;
 
-    case GUIDANCE_V_MODE_MODULE_OUTERLOOP:
-      guidance_v_z_sp = -nav_flight_altitude;
-      guidance_v_zd_sp = 0;
-      gv_update_ref_from_z_sp(guidance_v_z_sp);
-      run_hover_loop(in_flight);
-#if !NO_RC_THRUST_LIMIT
-      /* use rc limitation if available */
-      if (radio_control.status == RC_OK) {
-        stabilization_cmd[COMMAND_THRUST] = Min(guidance_v_rc_delta_t, guidance_v_delta_t);
-      } else
-#endif
-        stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
+#if GUIDANCE_V_MODE_MODULE_SETTING == GUIDANCE_V_MODE_MODULE
+    case GUIDANCE_V_MODE_MODULE:
+      guidance_v_module_run(in_flight);
       break;
+#endif
+
     case GUIDANCE_V_MODE_NAV: {
       if (vertical_mode == VERTICAL_MODE_ALT) {
         guidance_v_z_sp = -nav_flight_altitude;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
index 241757bab9..49053be7fd 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
@@ -32,13 +32,13 @@
 #include "firmwares/rotorcraft/guidance/guidance_v_ref.h"
 #include "firmwares/rotorcraft/guidance/guidance_v_adapt.h"
 
-#define GUIDANCE_V_MODE_KILL             0
-#define GUIDANCE_V_MODE_RC_DIRECT        1
-#define GUIDANCE_V_MODE_RC_CLIMB         2
-#define GUIDANCE_V_MODE_CLIMB            3
-#define GUIDANCE_V_MODE_HOVER            4
-#define GUIDANCE_V_MODE_NAV              5
-#define GUIDANCE_V_MODE_MODULE_OUTERLOOP 6
+#define GUIDANCE_V_MODE_KILL      0
+#define GUIDANCE_V_MODE_RC_DIRECT 1
+#define GUIDANCE_V_MODE_RC_CLIMB  2
+#define GUIDANCE_V_MODE_CLIMB     3
+#define GUIDANCE_V_MODE_HOVER     4
+#define GUIDANCE_V_MODE_NAV       5
+#define GUIDANCE_V_MODE_MODULE    6
 
 extern uint8_t guidance_v_mode;
 
diff --git a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c
index ec643f5205..983ea022d9 100644
--- a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c
+++ b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c
@@ -98,6 +98,27 @@ unsigned int set_heading;
 #define VISION_DESIRED_VY 0.
 #endif
 
+void guidance_h_module_enter(void)
+{
+  // INIT
+  Velx_Int = 0;
+  Vely_Int = 0;
+  // GUIDANCE: Set Hover-z-hold
+  guidance_v_z_sp = -1;
+}
+
+void guidance_h_module_read_rc(void)
+{
+  // Do not read RC
+  // Setpoint being set by vision
+}
+
+void guidance_h_module_run(bool_t in_flight)
+{
+  // Run
+  // Setpoint being set by vision
+  stabilization_attitude_run(in_flight);
+}
 
 
 void init_hover_stabilization_onvision()
@@ -122,11 +143,8 @@ void init_hover_stabilization_onvision()
 
 void run_hover_stabilization_onvision(void)
 {
-  if (autopilot_mode == AP_MODE_MODULE_OUTERLOOP) {
+  if (autopilot_mode == AP_MODE_MODULE) {
     run_opticflow_hover();
-  } else {
-    Velx_Int = 0;
-    Vely_Int = 0;
   }
 }
 
diff --git a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h
index a0a69dda9c..6e5ec518cb 100644
--- a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h
+++ b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h
@@ -31,6 +31,20 @@
 
 #include <std.h>
 
+// Controller module
+
+// Vertical loop re-uses Alt-hold
+#define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_HOVER
+
+// Horizontal mode is a specific controller
+#define GUIDANCE_H_MODE_MODULE_SETTING GUIDANCE_H_MODE_MODULE
+
+// Implement own Horizontal loops
+extern void guidance_h_module_enter(void);
+extern void guidance_h_module_read_rc(void);
+extern void guidance_h_module_run(bool_t in_flight);
+
+
 void init_hover_stabilization_onvision(void);
 void run_hover_stabilization_onvision(void);
 void run_opticflow_hover(void);
diff --git a/sw/airborne/modules/computer_vision/opticflow_module.c b/sw/airborne/modules/computer_vision/opticflow_module.c
index 4e62418a8b..3e9872e2e5 100644
--- a/sw/airborne/modules/computer_vision/opticflow_module.c
+++ b/sw/airborne/modules/computer_vision/opticflow_module.c
@@ -30,9 +30,6 @@
 // Own header
 #include "opticflow_module.h"
 
-// Navigate Based On Vision
-#include "opticflow/hover_stabilization.h"
-
 // Paparazzi
 #include "state.h" // for attitude
 #include "boards/ardrone/navdata.h" // for ultrasound Height
@@ -96,13 +93,6 @@ void opticflow_module_run(void)
   }
 }
 
-#include "firmwares/rotorcraft/navigation.h"
-
-void guidance_module_run(bool_t inflight)
-{
-  nav_flight_altitude = -1;
-}
-
 
 /////////////////////////////////////////////////////////////////////////
 // COMPUTER VISION THREAD
diff --git a/sw/airborne/modules/computer_vision/opticflow_module.h b/sw/airborne/modules/computer_vision/opticflow_module.h
index 14256bdb5e..e75f084bab 100644
--- a/sw/airborne/modules/computer_vision/opticflow_module.h
+++ b/sw/airborne/modules/computer_vision/opticflow_module.h
@@ -31,6 +31,9 @@
 
 #include "std.h"
 
+// Navigate Based On Vision
+#include "opticflow/hover_stabilization.h"
+
 // Module functions
 extern void opticflow_module_init(void);
 extern void opticflow_module_run(void);