diff --git a/conf/flight_plans/EMAV2009.xml b/conf/flight_plans/EMAV2009.xml
new file mode 100644
index 0000000000..e250ec1388
--- /dev/null
+++ b/conf/flight_plans/EMAV2009.xml
@@ -0,0 +1,85 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="25" ground_alt="0" lat0="52.399851" lon0="5.920303" max_dist_from_home="1500" name="Basic" security_height="100">
+  <header>
+#include "nav_line.h"
+#include "datalink.h"
+</header>
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="STDBY" x="49.5" y="100.1"/>
+    <waypoint name="1" x="10.1" y="189.9"/>
+    <waypoint name="2" x="132.3" y="139.1"/>
+    <waypoint name="MOB" x="137.0" y="-11.6"/>
+    <waypoint name="S1" x="-119.2" y="69.6"/>
+    <waypoint name="S2" x="274.4" y="209.5"/>
+    <waypoint alt="30.0" name="AF" x="177.4" y="45.1"/>
+    <waypoint alt="0.0" name="TD" x="28.8" y="57.0"/>
+    <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
+    <waypoint name="CLIMB" x="-114.5" y="162.3"/>
+  </waypoints>
+  <exceptions/>
+  <blocks>
+    <block name="Wait GPS">
+      <set value="1" var="kill_throttle"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Geo init">
+      <while cond="LessThan(NavBlockTime(), 10)"/>
+      <call fun="NavSetGroundReferenceHere()"/>
+    </block>
+    <block name="Holding point">
+      <set value="1" var="kill_throttle"/>
+      <attitude roll="0" throttle="0" vmode="throttle"/>
+    </block>
+    <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
+      <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
+      <set value="0" var="kill_throttle"/>
+      <set value="0" var="estimator_flight_time"/>
+      <go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <circle radius="nav_radius" wp="STDBY"/>
+    </block>
+    <block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
+      <eight center="1" radius="nav_radius" turn_around="2"/>
+    </block>
+    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
+      <oval p1="1" p2="2" radius="nav_radius"/>
+    </block>
+    <block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
+      <call fun="NavSetWaypointHere(WP_MOB)"/>
+      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <circle radius="nav_radius" wp="MOB"/>
+    </block>
+    <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
+      <exception cond="datalink_time > 22" deroute="Standby"/>
+      <call fun="nav_line_init()"/>
+      <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
+    </block>
+    <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
+      <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
+    </block>
+    <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
+      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="land"/>
+    </block>
+    <block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
+      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="land"/>
+    </block>
+    <block name="land">
+      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
+      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+    </block>
+    <block name="final">
+      <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
+      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
+    </block>
+    <block name="flare">
+      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
+      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
+    </block>
+  </blocks>
+</flight_plan>
diff --git a/conf/radios/mc22.xml b/conf/radios/mc22.xml
new file mode 100644
index 0000000000..a367d41f9e
--- /dev/null
+++ b/conf/radios/mc22.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<!-- $Id$
+--
+-- (c) 2003 Pascal Brisset, Antoine Drouin
+--
+-- 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.  
+-->
+
+<!--
+-- Attributes of root (Radio) tag :
+-- name: name of RC
+-- min: min width of a pulse to be considered as a data pulse
+-- max: max width of a pulse to be considered as a data pulse
+-- sync: min width of a pulse to be considered as a synchro pulse
+-- min, max and sync are expressed in micro-seconds
+-->
+
+<!-- 
+-- Attributes of channel tag :
+-- ctl: name of the command on the transmitter - only for displaying
+-- no: order in the PPM frame
+-- function: logical command
+-- averaged: channel filtered through several frames (for discrete commands)
+-- min: minimum pulse length (micro-seconds)
+-- max: maximum pulse length (micro-seconds)
+-- neutral: neutral pulse length (micro-seconds)
+Note: a command may be reversed by exchanging min and max values
+-->
+
+<!DOCTYPE radio SYSTEM "radio.dtd">
+<radio name="GroupnerMC22" data_min="950" data_max="2150" sync_min="5000" sync_max="15000">
+  <channel ctl="A" function="THROTTLE" min="1100" neutral="1100" max="1900" average="0"/>	<!-- right stick up/down -->
+  <channel ctl="B" function="ROLL" min="1100" neutral="1500" max="1900" average="0"/>     <!-- right stick left/right -->
+  <channel ctl="C" function="PITCH" min="1100" neutral="1500" max="1900" average="0"/>    <!-- left stick up/down -->
+  <channel ctl="D" function="YAW" min="1100" neutral="1500" max="1900" average="0"/>		<!-- left stick left/right-->
+  <channel ctl="E" function="MODE" min="1100" neutral="1500" max="1900" average="10"/>     <!-- left switch -->
+  <channel ctl="F" function="PAN" min="1100" neutral="1500" max="1900" average="0"/>     <!-- left switch -->
+  <channel ctl="G" function="TILT" min="1100" neutral="1500" max="1900" average="0"/>     <!-- left switch -->
+  <channel ctl="H" function="GENERAL1" min="1100" neutral="1500" max="1900" average="10"/>     <!-- left switch -->
+  <channel ctl="I" function="GENERAL2" min="1100" neutral="1500" max="1900" average="10"/>     <!-- left switch -->
+</radio>
diff --git a/conf/settings/cam_pitch.xml b/conf/settings/cam_pitch.xml
new file mode 100644
index 0000000000..d276569fb1
--- /dev/null
+++ b/conf/settings/cam_pitch.xml
@@ -0,0 +1,26 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings NAME="control">
+    <dl_settings name="cam">
+      <dl_setting MAX="5" MIN="0" STEP="1" module="cam" VAR="cam_mode">
+<!--        <strip_button name="TARGET" value="4"/>
+        <strip_button name="NADIR" value="2"/>
+-->        <strip_button name="ANGLES" value="1"/>
+      </dl_setting>
+    </dl_settings>
+
+    <dl_settings name="angles">
+      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam" VAR="cam_tilt_c">
+        <strip_button name="Look Foreward" icon="lookfore.png" value="-0.5"/>
+        <strip_button name="Look Down" icon="lookdown.png" value="0.5"/>
+      </dl_setting>
+      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam" VAR="cam_pan_c"/>
+    </dl_settings>
+<!--
+    <dl_settings name="target">
+<dl_setting min="1" max="10" step="1" module="cam" var="cam_target_wp" shortname="wp"/>
+    </dl_settings>
+-->
+  </dl_settings>
+</settings>
diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml
index a3c1ed03d0..a2d34f53f1 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/tuning.xml
@@ -19,6 +19,11 @@
       </dl_setting>
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Ap" shortname="tele_AP"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
+
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
+        <strip_button icon="circle-right.png" name="Circle right" value="1"/>        
+        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>        
+      </dl_setting>
     </dl_settings>
 
     <dl_settings NAME="control">
diff --git a/data/pictures/gcs_icons/lookdown.png b/data/pictures/gcs_icons/lookdown.png
new file mode 100644
index 0000000000..c9f4856bb0
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diff --git a/data/pictures/gcs_icons/lookfore.png b/data/pictures/gcs_icons/lookfore.png
new file mode 100644
index 0000000000..1c99e03a39
Binary files /dev/null and b/data/pictures/gcs_icons/lookfore.png differ