diff --git a/conf/airframes/plaster1.xml b/conf/airframes/plaster1.xml
index bc7ecff23f..8d55076b56 100755
--- a/conf/airframes/plaster1.xml
+++ b/conf/airframes/plaster1.xml
@@ -4,6 +4,7 @@
   <section name="adc" prefix="ADC_CHANNEL_">
     <define name="IR1" value="1"/>
     <define name="IR2" value="0"/>
+    <define name="VSUPPLY" value="3"/>
     <define name="IR_NB_SAMPLES" value="16"/>
   </section>
 
diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h
index 8ad55a6290..8acd9fcc57 100644
--- a/sw/airborne/inter_mcu.h
+++ b/sw/airborne/inter_mcu.h
@@ -154,19 +154,18 @@ static inline void to_autopilot_from_rc_values (void) {
 #endif
 }
 
+/** Prepares date for next comm with AP. Set ::ap_ok to TRUE */
 static inline void inter_mcu_event_task( void) {
-  if (from_ap_receive_valid) {
-    from_ap_receive_valid = FALSE;
-    time_since_last_ap = 0;
-    ap_ok = TRUE;
-    to_autopilot_from_rc_values();
+  time_since_last_ap = 0;
+  ap_ok = TRUE;
+  to_autopilot_from_rc_values();
 #if defined AP
-    /**Directly set the flag indicating to AP that shared buffer is available*/
-    from_fbw_receive_valid = TRUE;
+  /**Directly set the flag indicating to AP that shared buffer is available*/
+  from_fbw_receive_valid = TRUE;
 #endif
-  }
 }
 
+/** Monitors AP. Set ::rc_ok to false if AP is down for a long time. */
 static inline void inter_mcu_periodic_task(void) {
   if (time_since_last_ap >= AP_STALLED_TIME) {
     ap_ok = FALSE;
diff --git a/sw/airborne/main_fbw.c b/sw/airborne/main_fbw.c
index d96fb627f2..5cd5904c99 100644
--- a/sw/airborne/main_fbw.c
+++ b/sw/airborne/main_fbw.c
@@ -91,15 +91,14 @@ void init_fbw( void ) {
 void event_task_fbw( void) {
 
 #ifdef RADIO_CONTROL
-  radio_control_event_task();
-  if ( rc_status == RC_OK ) {
+  if (ppm_valid) {
+    ppm_valid = FALSE;
+    radio_control_event_task();
     if (rc_values_contains_avg_channels) {
       fbw_mode = FBW_MODE_OF_PPRZ(rc_values[RADIO_MODE]);
     }
     if (fbw_mode == FBW_MODE_MANUAL)
       SetCommandsFromRC(commands);
-  } else if (rc_status == RC_REALLY_LOST) {
-    fbw_mode = FBW_MODE_AUTO;
   }
 #endif
 
@@ -108,9 +107,12 @@ void event_task_fbw( void) {
 #endif
 
 #ifdef INTER_MCU
-  inter_mcu_event_task();
-  if (ap_ok && fbw_mode == FBW_MODE_AUTO) {
-    SetCommands(from_ap.from_ap.commands);
+  if (from_ap_receive_valid) {
+    from_ap_receive_valid = FALSE;
+    inter_mcu_event_task();
+    if (fbw_mode == FBW_MODE_AUTO) {
+      SetCommands(from_ap.from_ap.commands);
+    }
   }
 #endif
 
@@ -141,6 +143,9 @@ void periodic_task_fbw( void ) {
 
 #ifdef RADIO_CONTROL
   radio_control_periodic_task();
+  if (rc_status == RC_REALLY_LOST) {
+    fbw_mode = FBW_MODE_AUTO;
+  }
 #endif
 
 #ifdef INTER_MCU
diff --git a/sw/airborne/radio_control.h b/sw/airborne/radio_control.h
index 29eab94977..a253136c7b 100644
--- a/sw/airborne/radio_control.h
+++ b/sw/airborne/radio_control.h
@@ -84,24 +84,20 @@ static inline void radio_control_periodic_task ( void ) {
 
 /********** EVENT ************************************************************/
 static inline void radio_control_event_task ( void ) {
-  if (ppm_valid) {
-    ppm_cpt++;
-    time_since_last_ppm = 0;
-    rc_status = RC_OK;
+  ppm_cpt++;
+  time_since_last_ppm = 0;
+  rc_status = RC_OK;
 
-    /** From ppm values to normalised rc_values */
-    NormalizePpm();
+  /** From ppm values to normalised rc_values */
+  NormalizePpm();
 
 #ifdef DEBUG_RC
-    uint8_t i;
-    for(i = 0; i < 7; i++) {
-      PrintHex16(uart0_transmit, rc_values[i]);
-    }
-    uart0_transmit('\n');
-#endif
-
-    ppm_valid = FALSE;
+  uint8_t i;
+  for(i = 0; i < 7; i++) {
+    PrintHex16(uart0_transmit, rc_values[i]);
   }
+  uart0_transmit('\n');
+#endif
 }
 
 #endif /* RADIO_CONTROL */