diff --git a/conf/joystick/xbox_cx10_mission.xml b/conf/joystick/xbox_cx10_mission.xml
new file mode 100644
index 0000000000..308e69dde3
--- /dev/null
+++ b/conf/joystick/xbox_cx10_mission.xml
@@ -0,0 +1,81 @@
+<!--
+X-Box gamepad for CX10DS mission mode
+
+This config is for Xinput mode. Make sure slider switch on back of controller is on X (not D)
+Also make sure controller not in sports mode (mode light should be off)
+
+  Has six axes:
+  axis 0: LTS_H (left thumb stick horizontal) (or DPad horizontal in sports mode)
+  axis 1: LTS_V (left thumb stick vertical) (or DPad vertical in sports mode)
+  axis 2: LT (left trigger)
+  axis 3: RTS_H (right thumb stick horizontal)
+  axis 4: RTS_V (right thumb stick vertical)
+  axis 5: RT (right trigger)
+
+It has 10 buttons.
+ b0  - A (green)
+ b1  - B (red)
+ b2  - RB (right shoulder button)
+ b3  - X (blue)
+ b4  - Y (yellow)
+ b5  - LB (left shoulder button)
+ b6  - back
+ b7  - start
+ b8  - press left stick
+ b9  - press right stick
+
+and the DPad as a hat (in normal mode)
+You can use the Hat<Position>(<hat_name>) function to trigger events,
+where <Position> is one of
+Centered/Up/Right/Down/Left/RightUp/RightDown/LeftUp/LeftDown
+so e.g. HatDown(dpad)
+
+-->
+
+<joystick>
+  <input>
+    <axis index="0" name="roll" limit="1.00" exponent="0.7" trim="0" deadband="10"/>
+    <axis index="1" name="pitch" limit="1.00" exponent="0.7" trim="0" deadband="10"/>
+    <axis index="2" name="LT" limit="1.00" trim="127"/>
+    <axis index="3" name="yaw" limit="1.00" exponent="0.7" trim="0" deadband="10"/>
+    <axis index="4" name="throttle" deadband="10"/>
+    <axis index="5" name="RT" limit="1.00" trim="127"/>
+    <button index="0" name="A"/>
+    <button index="1" name="B"/>
+    <button index="2" name="RB"/>
+    <button index="3" name="X"/>
+    <button index="4" name="Y"/>
+    <button index="5" name="LB"/>
+    <button index="6" name="back"/>
+    <button index="7" name="start"/>
+    <hat index="0" name="dpad"/>
+  </input>
+
+  <variables>
+    <var name="auto" default="0"/>
+    <var name="mode" default="0"/>
+    <set var="auto" value="0" on_event="back"/>
+    <set var="auto" value="1" on_event="start"/>
+    <set var="mode" value="0" on_event="B"/>
+    <set var="mode" value="1" on_event="RB"/>
+    <set var="mode" value="2" on_event="A"/>
+    <set var="mode" value="64" on_event="X"/>
+    <set var="mode" value="128" on_event="Y"/>
+  </variables>
+
+  <messages period="0.05">
+
+    <message class="ground" name="JOYSTICK" send_always="true">
+      <field name="id"      value="JoystickID()"/>
+      <field name="axis1"   value="Fit(yaw,-128,127,0,255)"/>
+      <field name="axis2"   value="Fit(-throttle,-128,127,0,255)"/>
+      <field name="axis3"   value="Fit(roll,-128,127,0,255)"/>
+      <field name="axis4"   value="Fit(-pitch,-128,127,0,255)"/>
+      <field name="button1" value="255"/>
+      <field name="button2" value="mode"/>
+      <field name="button3" value="auto"/>
+      <field name="button4" value="LB"/>
+    </message>
+
+  </messages>
+</joystick>
diff --git a/sw/ground_segment/python/cx10ds/cx10ds.py b/sw/ground_segment/python/cx10ds/cx10ds.py
new file mode 100644
index 0000000000..c87d95b9fc
--- /dev/null
+++ b/sw/ground_segment/python/cx10ds/cx10ds.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python
+#
+# MIT License
+#
+# Copyright (c) 2018 Nagy Arpad Peter
+# Copyright (c) 2018 Gautier Hattenberger (for Paparazzi UAV)
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
+
+import socket
+from time import sleep
+
+class CX10DS:
+    def __init__(self, verbose=False):
+        self.verbose = verbose
+
+        self.IP = "192.168.4.1"
+        self.PORT = 8033
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        self.header = b'\xcc' #first byte of every payload
+        self.footer = b'\x33' # last byte of every payload
+        self.message = ''
+
+        self.throttle = 128 # controls the throttle range 0-255
+        self.rudder = 128 # controls the rudder range 48-208 ?? CHECK
+        self.aileron = 128 #todo: range check
+        self.elevator = 128 #todo: range check
+        self.crc = 0 #crc calculated from thr, rdr, ail, elev, mode xor product
+        self.mode = 0 # 0 = idle, 1 = takeoff, 2 = land
+
+        self.trim_roll = 0
+        self.trim_pitch = 0
+        self.trim_yaw = 0
+
+    def __del__(self):
+        self.sock.close()
+
+    def set_cmd(self, aileron, elevator, rudder, throttle, mode):
+        self.throttle = self.valid_range(throttle)
+        self.rudder = self.valid_range(rudder+self.trim_yaw)
+        self.aileron = self.valid_range(aileron+self.trim_roll)
+        self.elevator = self.valid_range(elevator+self.trim_pitch)
+        self.mode = mode
+        #print("commands: {} {} {} {}".format(self.aileron, self.elevator, self.rudder, self.throttle))
+
+    #sends out a message to the given IP/PORT
+    def send(self):
+        self.createMSG()
+        try:
+            self.sock.sendto(self.message, (self.IP, self.PORT))
+            if self.verbose:
+                print(":".join(x.encode('hex') for x in self.message))
+        except:
+            if self.verbose:
+                print("cx10ds disconnected")
+
+    # crc calculation
+    def crc_calculate(self):
+        self.crc = self.throttle ^ self.rudder ^ self.aileron ^ self.elevator ^ self.mode
+
+    # create the message from the actual values of the virtual remote, must be called before each send
+    def createMSG(self):
+        self.crc_calculate()
+        data = chr(self.aileron) + chr(self.elevator) + chr(self.throttle) + chr(self.rudder) + chr(self.mode) + chr(self.crc)
+
+        self.message = self.header + data + self.footer
+
+    # validate range with constraints
+    def valid_range(self, value, MIN = 0, MAX = 255):
+        return max(min(MAX, value), MIN)
+
+    def set_trim(self):
+        self.trim_roll = self.aileron - 128
+        self.trim_pitch = self.elevator - 128
+        self.trim_yaw = self.rudder - 128
+        if self.verbose:
+            print("trim: {} {} {}".format(self.trim_roll, self.trim_pitch, self.trim_yaw))
+
+
diff --git a/sw/ground_segment/python/cx10ds/cx10ds_ivy.py b/sw/ground_segment/python/cx10ds/cx10ds_ivy.py
new file mode 100755
index 0000000000..4c5a70c70d
--- /dev/null
+++ b/sw/ground_segment/python/cx10ds/cx10ds_ivy.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python
+#
+# MIT License
+#
+# Copyright (c) 2018 Gautier Hattenberger
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
+
+import socket
+from time import sleep
+
+from cx10ds import CX10DS
+
+import sys
+from os import path, getenv
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+sys.path.append(PPRZ_HOME + "/var/lib/python/")
+from pprzlink.ivy import IvyMessagesInterface
+from pprzlink.message import PprzMessage 
+
+
+class Cx10ds2ivy:
+    def __init__(self, verbose=False):
+        self.verbose = verbose
+        self.step = 0.1 # period in seconds
+        self.button_trim = False
+
+        self._cx10 = CX10DS(verbose)
+
+        # Start IVY interface
+        self._interface = IvyMessagesInterface("Cx10ds2ivy")
+
+        # bind to JOYSTICK message
+        def joystick_cb(ac_id, msg):
+            aileron = int(msg['axis1'])
+            elevator = int(msg['axis2'])
+            rudder = int(msg['axis3'])
+            if int(msg['button1']) == 255:
+                throttle = int(msg['axis4']) # direct throttle reading
+            else:
+                throttle = 128
+                direction = int(msg['button1'])-1
+                throttle_incr = self._cx10.valid_range(int(msg['axis4']), 0, 127)
+                throttle = 128 + direction * throttle_incr # up
+            mode = int(msg['button2'])
+            if msg['button4'] == '1' and not self.button_trim:
+                self._cx10.set_trim()
+            self.button_trim = (msg['button4'] == '1')
+
+            self._cx10.set_cmd(aileron,elevator,rudder,throttle,mode)
+
+            if self.verbose:
+                print("Throttle {0}".format(throttle))
+                print("Rudder {0}".format(rudder))
+                print("elevator {0}".format(elevator))
+                print("aileron {0}".format(aileron))
+                print("Mode {0}".format(mode))
+
+        self._interface.subscribe(joystick_cb, PprzMessage("ground", "JOYSTICK"))
+
+    def __del__(self):
+        self.stop()
+
+    def stop(self):
+        # Stop IVY interface
+        if self._interface is not None:
+            self._interface.shutdown()
+
+    # main loop
+    def run(self):
+        try:
+            while True:
+                # TODO: make better frequency managing
+                self._cx10.send()
+                sleep(self.step)
+
+        except KeyboardInterrupt:
+            if self.verbose:
+                print("Exiting..")
+            self.stop()
+
+
+# example for using the class
+if __name__ == "__main__":
+    import argparse
+    parser = argparse.ArgumentParser(description="CX10DS Remote Control")
+    parser.add_argument('-v', '--verbose', dest='verbose', default=False, action='store_true', help="display debug messages")
+    args = parser.parse_args()
+
+    rmt = Cx10ds2ivy(verbose=args.verbose)
+    rmt.run()
+