diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index b420ed8f13..1827598db7 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -5,11 +5,11 @@
      PerkinElmer TPS334 IR Sensors
      Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
      XBee modem
-     Payload: Sensirion humidity/temp, VTI pressure/temp
-     K66, LEA 4P
+     Payload: Sensirion humidity/temp, VTI pressure/temp, ETS airspeed
+     LEA 4P
 -->
 
-<airframe name="Funjet FMI 1 K66">
+<airframe name="Funjet FMI 1">
 
 <!-- commands section -->
   <servos>
@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
   </section>
-
+ 
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -97,8 +97,9 @@
 
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+    <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
-
+ 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -164,9 +165,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -174,11 +175,31 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
-
+ 
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
 
+  <section name="MICROMAG">
+
+    <define name="MM_SS_PIN" value="20"/>
+    <define name="MM_SS_IODIR" value="IO0DIR"/>
+    <define name="MM_SS_IOSET" value="IO0SET"/>
+    <define name="MM_SS_IOCLR" value="IO0CLR"/>
+
+    <define name="MM_RESET_PIN" value="29"/>
+    <define name="MM_RESET_IODIR" value="IO0DIR"/>
+    <define name="MM_RESET_IOSET" value="IO0SET"/>
+    <define name="MM_RESET_IOCLR" value="IO0CLR"/>
+
+    <define name="MM_DRDY_PINSEL" value="PINSEL1"/>
+    <define name="MM_DRDY_PINSEL_BIT" value="0"/>
+    <define name="MM_DRDY_PINSEL_VAL" value="1"/>
+    <define name="MM_DRDY_EINT" value="0"/>
+    <define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
+
+  </section>
+
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
@@ -195,7 +216,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -206,7 +227,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
+ap.srcs += inter_mcu.c 
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -225,22 +246,31 @@ ap.srcs += nav_line.c
 ap.srcs += nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
+
+ap.CFLAGS += -DUSE_I2C0
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ap.CFLAGS += -DUSE_AIRSPEED_ETS
+ap.srcs += airspeed_ets_o.c
+
+ap.CFLAGS += -DUSE_IR_MLX
+ap.srcs += ir_mlx.c
 
-ap.srcs += baro_scp.c
 ap.CFLAGS += -DUSE_BARO_SCP
+ap.srcs += baro_scp_i2c.c
 
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
+#ap.CFLAGS += -DUSE_MAG_HMC
+#ap.srcs += mag_hmc5843.c
+
+ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
+ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += nav_line.c nav_survey_rectangle.c
 
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
new file mode 100644
index 0000000000..c366722814
--- /dev/null
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -0,0 +1,272 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+     XBee modem
+     Payload: Sensirion humidity/temp, VTI pressure/temp, ETS airspeed
+     LEA 5H
+-->
+
+<airframe name="Funjet FMI 2">
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1500" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1500" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <set servo="MOTOR"           value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="ADC_1"/>
+    <define name="IR2" value="ADC_2"/>
+    <define name="IR_TOP" value="ADC_0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="-1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+                                        <!-- 0.0247311828 -->
+                                        <!-- 0.02432905 -->
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+  </section>
+ 
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!--    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+    <define name="MIN_CIRCLE_RADIUS" value="50."/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+   <define name="THROTTLE_SLEW" value="0.1"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-5500."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2400"/>
+
+    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/-->
+
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+ <section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="XBEE"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>
+ 
+ <section name="SIMU">
+    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+ </section>
+
+  <section name="MICROMAG">
+
+    <define name="MM_SS_PIN" value="20"/>
+    <define name="MM_SS_IODIR" value="IO0DIR"/>
+    <define name="MM_SS_IOSET" value="IO0SET"/>
+    <define name="MM_SS_IOCLR" value="IO0CLR"/>
+
+    <define name="MM_RESET_PIN" value="29"/>
+    <define name="MM_RESET_IODIR" value="IO0DIR"/>
+    <define name="MM_RESET_IOSET" value="IO0SET"/>
+    <define name="MM_RESET_IOCLR" value="IO0CLR"/>
+
+    <define name="MM_DRDY_PINSEL" value="PINSEL1"/>
+    <define name="MM_DRDY_PINSEL_BIT" value="0"/>
+    <define name="MM_DRDY_PINSEL_VAL" value="1"/>
+    <define name="MM_DRDY_EINT" value="0"/>
+    <define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
+
+  </section>
+
+ <makefile>
+CONFIG = \"tiny_2_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c 
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+ap.srcs += humid_sht.c
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
+
+ap.CFLAGS += -DUSE_I2C0
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ap.CFLAGS += -DUSE_AIRSPEED_ETS
+ap.srcs += airspeed_ets_o.c
+
+ap.CFLAGS += -DUSE_IR_MLX
+ap.srcs += ir_mlx.c
+
+ap.CFLAGS += -DUSE_BARO_SCP
+ap.srcs += baro_scp_i2c.c
+
+ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
+ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+
+  </makefile>
+</airframe>
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
new file mode 100644
index 0000000000..dfc68c5333
--- /dev/null
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -0,0 +1,272 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+     XBee modem
+     Payload: Sensirion humidity/temp, VTI pressure/temp, ETS airspeed
+     LEA 5H
+-->
+
+<airframe name="Funjet FMI 3">
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1515" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1502" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <set servo="MOTOR"           value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="ADC_1"/>
+    <define name="IR2" value="ADC_2"/>
+    <define name="IR_TOP" value="ADC_0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="-1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+                                        <!-- 0.0247311828 -->
+                                        <!-- 0.02432905 -->
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+  </section>
+ 
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!--    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+    <define name="MIN_CIRCLE_RADIUS" value="50."/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+   <define name="THROTTLE_SLEW" value="0.1"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-5500."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2400"/>
+
+    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/-->
+
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+ <section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="XBEE"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>
+ 
+ <section name="SIMU">
+    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+ </section>
+
+  <section name="MICROMAG">
+
+    <define name="MM_SS_PIN" value="20"/>
+    <define name="MM_SS_IODIR" value="IO0DIR"/>
+    <define name="MM_SS_IOSET" value="IO0SET"/>
+    <define name="MM_SS_IOCLR" value="IO0CLR"/>
+
+    <define name="MM_RESET_PIN" value="29"/>
+    <define name="MM_RESET_IODIR" value="IO0DIR"/>
+    <define name="MM_RESET_IOSET" value="IO0SET"/>
+    <define name="MM_RESET_IOCLR" value="IO0CLR"/>
+
+    <define name="MM_DRDY_PINSEL" value="PINSEL1"/>
+    <define name="MM_DRDY_PINSEL_BIT" value="0"/>
+    <define name="MM_DRDY_PINSEL_VAL" value="1"/>
+    <define name="MM_DRDY_EINT" value="0"/>
+    <define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
+
+  </section>
+
+ <makefile>
+CONFIG = \"tiny_2_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c 
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+ap.srcs += humid_sht.c
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
+
+ap.CFLAGS += -DUSE_I2C0
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ap.CFLAGS += -DUSE_AIRSPEED_ETS
+ap.srcs += airspeed_ets_o.c
+
+ap.CFLAGS += -DUSE_IR_MLX
+ap.srcs += ir_mlx.c
+
+ap.CFLAGS += -DUSE_BARO_SCP
+ap.srcs += baro_scp_i2c.c
+
+ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
+ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+
+  </makefile>
+</airframe>
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index 14964566c4..054d9b3f0e 100755
--- a/conf/airframes/mm/fixed-wing/funjetmm.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm.xml
@@ -24,7 +24,10 @@
       <define name="ALT_KALMAN"/>
       <define name="WIND_INFO"/>
       <define name="WIND_INFO_RET"/>
-      <define name="USE_I2C0"/>
+      <define name="SPI_MASTER"/>
+      <define name="USE_MICROMAG_FW"/>
+      <define name="MICROMAG_DRDY_VIC_SLOT" value="12"/>
+      <define name="SSP_VIC_SLOT" value="11"/>
     </target>
 
     <subsystem name="radio_control"    type="ppm"/>
@@ -43,6 +46,7 @@
     </subsystem>
     <subsystem name="navigation"/>
     <subsystem name="i2c"/>
+    <subsystem name="spi"/>
   </firmware>
 
   <firmware name="setup">
@@ -55,8 +59,9 @@
 
   <!-- modules -->
   <modules>
-    <load name="alt_srf08.xml"/>
-    <!--load name="baro_MS5534A.xml"/>
+    <load name="mag_micromag_fw.xml"/>
+    <!--load name="alt_srf08.xml"/>
+    <load name="baro_MS5534A.xml"/>
     <load name="baro_bmp.xml"/>
     <load name="baro_scp_i2c.xml"/>
     <load name="light_temt.xml"/>
@@ -234,4 +239,23 @@
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
+  <section name="MICROMAG">
+
+    <define name="MM_SS_PIN" value="20"/>
+    <define name="MM_SS_IODIR" value="IO0DIR"/>
+    <define name="MM_SS_IOSET" value="IO0SET"/>
+    <define name="MM_SS_IOCLR" value="IO0CLR"/>
+
+    <define name="MM_RESET_PIN" value="29"/>
+    <define name="MM_RESET_IODIR" value="IO0DIR"/>
+    <define name="MM_RESET_IOSET" value="IO0SET"/>
+    <define name="MM_RESET_IOCLR" value="IO0CLR"/>
+
+    <define name="MM_DRDY_PINSEL" value="PINSEL1"/>
+    <define name="MM_DRDY_PINSEL_BIT" value="0"/>
+    <define name="MM_DRDY_PINSEL_VAL" value="1"/>
+    <define name="MM_DRDY_EINT" value="0"/>
+    <define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
+
+  </section>
 </airframe>
diff --git a/conf/modules/mag_micromag_fw.xml b/conf/modules/mag_micromag_fw.xml
new file mode 100644
index 0000000000..cb1c9a2a44
--- /dev/null
+++ b/conf/modules/mag_micromag_fw.xml
@@ -0,0 +1,16 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="mag_micromag_fw" dir="meteo">
+  <header>
+    <file name="micromag_fw_hw.h"/>
+    <file name="micromag_fw.h"/>
+  </header>
+  <init fun="micromag_init()"/>
+  <periodic fun="micromag_periodic()" freq="60"/>
+  <event fun="micromag_event()"/>
+  <makefile>
+    <file_hw name="micromag_fw_hw.c"/>
+    <file name="micromag_fw.c"/>
+  </makefile>
+</module>
+
diff --git a/sw/airborne/arch/lpc21/micromag_fw_hw.c b/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
similarity index 67%
rename from sw/airborne/arch/lpc21/micromag_fw_hw.c
rename to sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
index 6c941bb44f..a656677b04 100644
--- a/sw/airborne/arch/lpc21/micromag_fw_hw.c
+++ b/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
@@ -7,13 +7,51 @@
 */
 
 #include "led.h"
-#include "micromag_fw.h"
+#include "micromag_fw_hw.h"
+#include "meteo/micromag_fw.h"
 
 volatile uint8_t micromag_cur_axe;
 
+static void SSP_ISR(void) __attribute__((naked));
 static void EXTINT_ISR(void) __attribute__((naked));
 
+
+static void SSP_ISR(void) {
+ ISR_ENTRY();
+
+ MmOnSpiIt();
+
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+
+void EXTINT_ISR(void) {
+  ISR_ENTRY();
+//LED_TOGGLE(3); 
+
+  /* no, we won't do anything asynchronously, so just notify */
+  micromag_status = MM_GOT_EOC;
+  /* clear EINT */
+  SetBit(EXTINT,MM_DRDY_EINT);
+//  EXTINT = (1<<MM_DRDY_EINT);
+  VICVectAddr = 0x00000000;    /* clear this interrupt from the VIC */
+  ISR_EXIT();
+}
+
 void micromag_hw_init( void ) {
+  /* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
+  PINSEL1 |= SSP_PINSEL1_SCK  | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
+  
+  /* setup SSP */
+  SSPCR0 = SSPCR0_VAL;;
+  SSPCR1 = SSPCR1_VAL;
+  SSPCPSR = 0x02;
+  
+  /* initialize interrupt vector */
+  VICIntSelect &= ~VIC_BIT( VIC_SPI1 );  /* SPI1 selected as IRQ */
+  VICIntEnable = VIC_BIT( VIC_SPI1 );    /* enable it            */
+  _VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
+  _VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR;      /* address of the ISR   */
 
   MmUnselect();                   /* pin idles high */
   /* configure SS pin */
@@ -37,16 +75,4 @@ void micromag_hw_init( void ) {
   _VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR;         // address of the ISR 
 }
 
-void EXTINT_ISR(void) {
-  ISR_ENTRY();
-//LED_TOGGLE(3); 
-
-  /* no, we won't do anything asynchronously, so just notify */
-  micromag_status = MM_GOT_EOC;
-  /* clear EINT */
-  SetBit(EXTINT,MM_DRDY_EINT);
-//  EXTINT = (1<<MM_DRDY_EINT);
-  VICVectAddr = 0x00000000;    /* clear this interrupt from the VIC */
-  ISR_EXIT();
-}
 
diff --git a/sw/airborne/arch/lpc21/micromag_fw_hw.h b/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
similarity index 98%
rename from sw/airborne/arch/lpc21/micromag_fw_hw.h
rename to sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
index 82dfef554d..5d2ea95b49 100644
--- a/sw/airborne/arch/lpc21/micromag_fw_hw.h
+++ b/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
@@ -88,6 +88,6 @@ extern volatile uint8_t micromag_cur_axe;
     SpiEnableRti();							\
   }
 
-
+extern void micromag_hw_init( void );
 
 #endif /* MICROMAG_HW_H */
diff --git a/sw/airborne/main_ap.c b/sw/airborne/main_ap.c
index ecc96ba699..e27e5ea66d 100644
--- a/sw/airborne/main_ap.c
+++ b/sw/airborne/main_ap.c
@@ -95,10 +95,6 @@
 #include "usb_serial.h"
 #endif
 
-#ifdef USE_MICROMAG_FW
-#include "micromag_fw.h"
-#endif
-
 #ifdef USE_AIRSPEED_ETS
 #include "airspeed_ets.h"
 #endif // USE_AIRSPEED_ETS
@@ -497,10 +493,6 @@ void periodic_task_ap( void ) {
     /*  default: */
   }
 
-#ifdef USE_MICROMAG_FW
-    micromag_periodic();
-#endif
-
 #ifndef CONTROL_RATE
 #define CONTROL_RATE 20
 #endif
@@ -650,11 +642,6 @@ void init_ap( void ) {
 #endif
   nav_init();
 
-#ifdef USE_MICROMAG_FW
-  micromag_init_ssp();
-  micromag_init();
-#endif
-
   modules_init();
 
   /** - start interrupt task */
@@ -806,16 +793,6 @@ void event_task_ap( void ) {
   }
 #endif
 
-#ifdef USE_MICROMAG_FW
-  if (micromag_status == MM_DATA_AVAILABLE) {
-    DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
-                &micromag_values[0],
-                &micromag_values[1],
-                &micromag_values[2] );
-    micromag_status = MM_IDLE;
-  }
-#endif
-
   if (inter_mcu_received_fbw) {
     /* receive radio control task from fbw */
     inter_mcu_received_fbw = FALSE;
diff --git a/sw/airborne/micromag_fw.c b/sw/airborne/micromag_fw.c
deleted file mode 100644
index a84e33beec..0000000000
--- a/sw/airborne/micromag_fw.c
+++ /dev/null
@@ -1,110 +0,0 @@
-#include "micromag_fw.h"
-#include "led.h"
-
-
-/* SSPCR0 settings */
-#define SSP_DDS  0x07 << 0  /* data size         : 8 bits        */
-#define SSP_FRF  0x00 << 4  /* frame format      : SPI           */
-#define SSP_CPOL 0x00 << 6  /* clock polarity    : data captured on first clock transition */  
-#define SSP_CPHA 0x00 << 7  /* clock phase       : SCK idles low */
-#define SSP_SCR  0x0F << 8  /* serial clock rate : divide by 16  */
-
-/* SSPCR1 settings */
-#define SSP_LBM  0x00 << 0  /* loopback mode     : disabled                  */
-#define SSP_SSE  0x00 << 1  /* SSP enable        : disabled                  */
-#define SSP_MS   0x00 << 2  /* master slave mode : master                    */
-#define SSP_SOD  0x00 << 3  /* slave output disable : don't care when master */
-
-#define SSPCR0_VAL (SSP_DDS |  SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
-#define SSPCR1_VAL (SSP_LBM |  SSP_SSE | SSP_MS | SSP_SOD )
-
-#define SSP_PINSEL1_SCK  (2<<2)
-#define SSP_PINSEL1_MISO (2<<4)
-#define SSP_PINSEL1_MOSI (2<<6)
-
-#define SSP_Enable()     SetBit(SSPCR1, SSE);
-#define SSP_Disable()    ClearBit(SSPCR1, SSE);
-#define SSP_EnableRxi()  SetBit(SSPIMSC, RXIM)
-#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
-#define SSP_EnableTxi()  SetBit(SSPIMSC, TXIM)
-#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
-#define SSP_EnableRti()  SetBit(SSPIMSC, RTIM);
-#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
-#define SSP_ClearRti()   SetBit(SSPICR, RTIC);
-
-volatile uint8_t micromag_status;
-volatile int16_t micromag_values[MM_NB_AXIS];
-
-static void SSP_ISR(void) __attribute__((naked));
-
-void micromag_periodic( void ) {
-
-  static uint8_t cnt = 0;
-
-  if (micromag_status == MM_IDLE) {
-    //    uint8_t * tab = &cnt;
-    //    DOWNLINK_SEND_DEBUG(1,tab);
-    cnt = 0;
-    MmSendReq();
-  }
-  else if (micromag_status ==  MM_GOT_EOC) {
-    MmReadRes();
-  }
-  else if (micromag_status == MM_WAITING_EOC) {
-    cnt++;
-    if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
-  }
-}
-
-static void SSP_ISR(void) {
- ISR_ENTRY();
-
- MmOnSpiIt();
-
- VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
- ISR_EXIT();
-}
-
-void micromag_init_ssp(void) {
-
-  /* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
-  PINSEL1 |= SSP_PINSEL1_SCK  | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
-  
-  /* setup SSP */
-  SSPCR0 = SSPCR0_VAL;;
-  SSPCR1 = SSPCR1_VAL;
-  SSPCPSR = 0x02;
-  
-  /* initialize interrupt vector */
-  VICIntSelect &= ~VIC_BIT( VIC_SPI1 );  /* SPI1 selected as IRQ */
-  VICIntEnable = VIC_BIT( VIC_SPI1 );    /* enable it            */
-  _VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
-  _VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR;      /* address of the ISR   */
-}
-
-void micromag_init( void ) {
-
-  micromag_hw_init();
-  
-  uint8_t i;
-  for (i=0; i<MM_NB_AXIS; i++)
-    micromag_values[i] = 0;
-  micromag_status = MM_IDLE;
-}
-
-void micromag_reset() {
-  micromag_status = MM_IDLE;
-}
-
-void micromag_read() {
-  if (micromag_status == MM_IDLE) {
-    MmSendReq();
-  }
-  else if (micromag_status ==  MM_GOT_EOC) {
-    MmReadRes();
-  }
-  else if (micromag_status ==  MM_DATA_AVAILABLE) {
-    micromag_status == MM_IDLE;
-  }
-}
-
diff --git a/sw/airborne/modules/meteo/micromag_fw.c b/sw/airborne/modules/meteo/micromag_fw.c
new file mode 100644
index 0000000000..957ffdecfd
--- /dev/null
+++ b/sw/airborne/modules/meteo/micromag_fw.c
@@ -0,0 +1,71 @@
+#include "micromag_fw.h"
+#include "meteo/micromag_fw_hw.h"
+#include "led.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+volatile uint8_t micromag_status;
+volatile int16_t micromag_values[MM_NB_AXIS];
+
+
+void micromag_periodic( void ) {
+
+  static uint8_t cnt = 0;
+
+  if (micromag_status == MM_IDLE) {
+    //    uint8_t * tab = &cnt;
+    //    DOWNLINK_SEND_DEBUG(1,tab);
+    cnt = 0;
+    MmSendReq();
+  }
+  else if (micromag_status ==  MM_GOT_EOC) {
+    MmReadRes();
+  }
+  else if (micromag_status == MM_WAITING_EOC) {
+    cnt++;
+    if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
+  }
+}
+
+void micromag_event( void ) {
+
+  int32_t mx=micromag_values[0];
+  int32_t my=micromag_values[1];
+  int32_t mz=micromag_values[2];
+
+  if (micromag_status == MM_DATA_AVAILABLE) {
+    DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
+                &mx,
+                &my,
+                &mz );
+    micromag_status = MM_IDLE;
+  }
+}
+
+void micromag_init( void ) {
+
+  micromag_hw_init();
+  
+  uint8_t i;
+  for (i=0; i<MM_NB_AXIS; i++)
+    micromag_values[i] = 0;
+  micromag_status = MM_IDLE;
+}
+
+void micromag_reset() {
+  micromag_status = MM_IDLE;
+}
+
+void micromag_read() {
+  if (micromag_status == MM_IDLE) {
+    MmSendReq();
+  }
+  else if (micromag_status ==  MM_GOT_EOC) {
+    MmReadRes();
+  }
+  else if (micromag_status ==  MM_DATA_AVAILABLE) {
+    micromag_status == MM_IDLE;
+  }
+}
+
diff --git a/sw/airborne/micromag_fw.h b/sw/airborne/modules/meteo/micromag_fw.h
similarity index 67%
rename from sw/airborne/micromag_fw.h
rename to sw/airborne/modules/meteo/micromag_fw.h
index b6dd40e93b..ab8e29c8c1 100644
--- a/sw/airborne/micromag_fw.h
+++ b/sw/airborne/modules/meteo/micromag_fw.h
@@ -5,12 +5,12 @@
 #include "std.h"
 #define MM_NB_AXIS 3
 
-extern void micromag_init_ssp(void);
 extern void micromag_init( void );
 extern void micromag_read( void );
 
 extern void micromag_reset( void);
 extern void micromag_periodic( void );
+extern void micromag_event( void );
 
 #define MM_IDLE            0
 #define MM_BUSY            1
@@ -41,13 +41,24 @@ extern void micromag_periodic( void );
 #define SS_IOSET IO0SET
 #define SS_IOCLR IO0CLR
 
+#define SSPCR0_VAL (SSP_DDS |  SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
+#define SSPCR1_VAL (SSP_LBM |  SSP_SSE | SSP_MS | SSP_SOD )
+
+#define SSP_PINSEL1_SCK  (2<<2)
+#define SSP_PINSEL1_MISO (2<<4)
+#define SSP_PINSEL1_MOSI (2<<6)
+
+#define SSP_Enable()     SetBit(SSPCR1, SSE);
+#define SSP_Disable()    ClearBit(SSPCR1, SSE);
+#define SSP_EnableRxi()  SetBit(SSPIMSC, RXIM)
+#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
+#define SSP_EnableTxi()  SetBit(SSPIMSC, TXIM)
+#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
+#define SSP_EnableRti()  SetBit(SSPIMSC, RTIM);
+#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
+#define SSP_ClearRti()   SetBit(SSPICR, RTIC);
 
 extern volatile uint8_t micromag_status;
 extern volatile int16_t micromag_values[MM_NB_AXIS];
 
-extern void micromag_hw_init( void );
-
-#include "micromag_fw_hw.h"
-
-
 #endif /* MICROMAG_H */