diff --git a/conf/airframes/twinstar2.xml b/conf/airframes/twinstar2.xml
index 3e8bd4e91a..0f231a5897 100644
--- a/conf/airframes/twinstar2.xml
+++ b/conf/airframes/twinstar2.xml
@@ -18,8 +18,6 @@
     <axis name="YAW"    failsafe_value="0"/>
     <axis name="MODE"    failsafe_value="0"/>
     <axis name="GAIN1"    failsafe_value="0"/>
-    <axis name="GAIN2"    failsafe_value="0"/>
-    <axis name="SWITCH1"    failsafe_value="0"/>
     <axis name="CALIB"    failsafe_value="0"/>
   </commands>
 
diff --git a/sw/airborne/autopilot.h b/sw/airborne/autopilot.h
index ba7948b8bd..c1bcd69f73 100644
--- a/sw/airborne/autopilot.h
+++ b/sw/airborne/autopilot.h
@@ -38,7 +38,7 @@
 #define TRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2)
 
 #define TRESHOLD1 TRESHOLD_MANUAL_PPRZ
-#define TRESHOLD2 SYS_TICS_OF_USEC(200)
+#define TRESHOLD2 (MAX_PPRZ/2)
 
 
 #define  PPRZ_MODE_MANUAL 0
@@ -49,7 +49,7 @@
 #define  PPRZ_MODE_NB 5
 
 #define PPRZ_MODE_OF_PULSE(pprz, mega8_status) \
-  ((uint16_t)pprz > TRESHOLD2 ? PPRZ_MODE_AUTO2 : \
+  (pprz > TRESHOLD2 ? PPRZ_MODE_AUTO2 : \
         (pprz > TRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL))
 
 extern uint8_t pprz_mode;
diff --git a/sw/simulator/Makefile b/sw/simulator/Makefile
index b8fcceee15..66f3a5b38e 100644
--- a/sw/simulator/Makefile
+++ b/sw/simulator/Makefile
@@ -32,7 +32,7 @@ SIMHCMO=$(SIMHML:%.ml=%.cmo)
 SIMSML = stdlib.ml data.ml flightModel.ml gps.ml sitl.ml sim.ml
 SIMSCMO=$(SIMSML:%.ml=%.cmo)
 SIMSCMX=$(SIMSML:%.ml=%.cmx)
-SIMSC = sim_ir.c sim_gps.c sim_ap.c sys_time.c estimator.c infrared.c gps.c pid.c nav.c main_ap.c cam.c traffic_info.c
+SIMSC = sim_ir.c sim_gps.c sim_ap.c sys_time.c estimator.c infrared.c gps.c pid.c nav.c radio_control.c main_ap.c cam.c traffic_info.c
 SIMSO=$(SIMSC:%.c=$(OBJDIR)/%.o)
 SIMSA=sims.cma
 
diff --git a/sw/simulator/sim_ap.c b/sw/simulator/sim_ap.c
index fa56818530..52bf2b3dfa 100644
--- a/sw/simulator/sim_ap.c
+++ b/sw/simulator/sim_ap.c
@@ -32,7 +32,7 @@ struct inter_mcu_msg from_fbw, from_ap;
 
 static int16_t values_from_ap[RADIO_CTL_NB];
 
-void inflight_calib(void) { }
+uint16_t ppm_pulses[ PPM_NB_PULSES ]; /** From ppm_hw.c */
 
 value sim_periodic_task(value _unit) {
   periodic_task();
@@ -55,6 +55,12 @@ value set_really_lost(value on) {
 }
 
 value sim_rc_task(value _unit) {
+  NormalizePpm(); /** -> rc_values */
+  /***  printf("update: %d : %f (%d)\n", Int_val(c), Double_val(v), rc_values[COMMAND_GAIN1]); ***/
+  int i;
+  for(i = 0; i < COMMANDS_NB; i++)
+    from_fbw.channels[i] = rc_values[i];
+
   from_fbw.status = (radio_status << STATUS_RADIO_OK) | (radio_really_lost << RADIO_REALLY_LOST) | (1 << AVERAGED_CHANNELS_SENT);
   link_fbw_receive_valid = TRUE;
   telecommand_task();
@@ -83,7 +89,7 @@ value update_bat(value bat) {
 }
 
 value update_rc_channel(value c, value v) {
-  from_fbw.channels[Int_val(c)] = Double_val(v)*MAX_PPRZ;
+  ppm_pulses[Int_val(c)] = Double_val(v);
   return Val_unit;
 }
 
@@ -107,6 +113,7 @@ value set_servos(value servos) {
   /** Get values computed by the autopilot */
   for(i = 0; i < RADIO_CTL_NB; i++) {
     values_from_ap[i] =  US_OF_CLOCK(from_ap.channels[i]);
+    /***printf("%d:%d\n", i, values_from_ap[i]); ***/
   }
   
 
diff --git a/sw/simulator/sitl.ml b/sw/simulator/sitl.ml
index c1609e3878..e36a39ccc1 100644
--- a/sw/simulator/sitl.ml
+++ b/sw/simulator/sitl.ml
@@ -85,15 +85,21 @@ module Make(A:Data.MISSION) = struct
     let vbox = GPack.vbox ~height:10 ~spacing: 1 ~border_width: 1 ~packing:window#add () in
     let on_off = GButton.check_button ~label:"On" ~active:true ~packing:vbox#pack () in
     let sliders = GPack.vbox ~packing:vbox#add () in
+    let float_attrib = fun a x -> float_of_string (ExtXml.attrib x a) in
     Array.iteri
       (fun i c ->
-	let adj = GData.adjustment ~value:0. ~lower:(-100.) ~upper:110. ~step_incr:1.0 () in
+	let mi = float_attrib "min" c
+	and ma = float_attrib "max" c
+	and value = float_attrib "neutral" c in
+	let lower = min mi ma
+	and upper = max mi ma in
+	let adj = GData.adjustment ~value ~lower ~upper ~step_incr:1.0 () in
 	let hbox = GPack.hbox ~packing:sliders#add () in
 	let f = (ExtXml.attrib c "function") in
 	let l = GMisc.label ~width:75 ~text:f ~packing:hbox#pack () in
-	let inv = List.mem f inverted in
+	let inv = not ((List.mem f inverted) == (ma < mi)) in
 	let _scale = GRange.scale `HORIZONTAL ~inverted:inv ~adjustment:adj ~packing:hbox#add () in
-	let update = fun () -> update_channel i (adj#value /. 100.) in
+	let update = fun () -> update_channel i adj#value in
 	
 	ignore (adj#connect#value_changed update);
 	update ())
diff --git a/sw/simulator/sys_time_hw.h b/sw/simulator/sys_time_hw.h
index a193503ec7..e9480b55ef 100644
--- a/sw/simulator/sys_time_hw.h
+++ b/sw/simulator/sys_time_hw.h
@@ -1,3 +1,4 @@
-#define SYS_TICS_OF_USEC(x) (x)
-#define US_OF_CLOCK(x) (x)
+#define SYS_TICS_OF_USEC(x) ((x))
+#define SIGNED_SYS_TICS_OF_USEC(x) ((x))
+#define US_OF_CLOCK(x) ((x))
 #define SERVOS_TICS_OF_USEC(s) SYS_TICS_OF_USEC(s)