diff --git a/conf/flight_plans/muret_mini.xml b/conf/flight_plans/muret_mini.xml
index 021c7b3652..10040b13a9 100644
--- a/conf/flight_plans/muret_mini.xml
+++ b/conf/flight_plans/muret_mini.xml
@@ -11,6 +11,12 @@
       <setting VAR="pitch_of_vz" RANGE=".1" RC="gain_1_up" TYPE="float"/>
     </mode>
   </rc_control>
+
+  <dl_settings>
+      <dl_setting var="ir_roll_neutral" min="-0.2" max="0.2" step="0.01"/>
+      <dl_setting var="course_pgain" min="-1" max="-0.1" step="0.05"/>
+  </dl_settings>
+
   <waypoints utm_x0="360284.8" utm_y0="4813595.5">
     <waypoint name="HOME" x="0.0" y="120.0" alt="250."/>
      </waypoints>
diff --git a/sw/airborne/traffic_info.h b/sw/airborne/traffic_info.h
index 1fe176b6ec..45c4fc5ec2 100644
--- a/sw/airborne/traffic_info.h
+++ b/sw/airborne/traffic_info.h
@@ -29,7 +29,7 @@
 #ifndef TI_H
 #define TI_H
 
-#define NB_ACS 4
+#define NB_ACS 8
 
 struct ac_info_ {
   float east; /* m */
diff --git a/sw/ground_segment/cockpit/map2d.ml b/sw/ground_segment/cockpit/map2d.ml
index ef8df663bd..18e029e4ad 100644
--- a/sw/ground_segment/cockpit/map2d.ml
+++ b/sw/ground_segment/cockpit/map2d.ml
@@ -713,8 +713,8 @@ let button_press = fun (geomap:G.widget) ev ->
     Ground_Pprz.message_send "map2d" "SEND_EVENT" 
       ["ac_id", Pprz.String ac; "event_id", Pprz.Int e]
 
-  let dl_settings = fun ac_id xml ->
-    let window = GWindow.window ~title:("Datalink settings ") () in
+  let dl_settings = fun ac_id ac_name xml ->
+    let window = GWindow.window ~title:(sprintf "Datalink settings %s" ac_name) () in
     let quit = fun () -> GMain.Main.quit (); exit 0 in
     ignore (window#connect#destroy ~callback:quit);
     let vbox = GPack.vbox ~packing:window#add () in
@@ -734,13 +734,22 @@ let button_press = fun (geomap:G.widget) ev ->
 	    let value = (lower +. upper) /. 2. in
 	    let text = ExtXml.attrib s "var" in
 	    let adj = GData.adjustment ~value ~lower ~upper:(upper+.10.) ~step_incr () in
-	    let hbox = GPack.hbox ~width:400 ~packing:vbox#add () in
+	    let hbox = GPack.hbox ~width:500 ~packing:vbox#add () in
 	    let _l = GMisc.label ~width:100 ~text ~packing:hbox#pack () in
+	    let _v = GMisc.label ~width:50 ~text:"N/A" ~packing:hbox#pack () in
 	    let _scale = GRange.scale `HORIZONTAL ~digits:2 ~adjustment:adj ~packing:hbox#add () in
 	    let ii = !i in
-	    let b = GButton.button ~label:"Update" ~stock:`REFRESH ~packing:hbox#pack () in
+(***	    let b = GButton.button ~label:"Update" ~stock:`REFRESH ~packing:hbox#pack () in
 	    let update = fun () -> adj#set_value current_values.(ii) in
-	    ignore (b#connect#clicked ~callback:update);
+	    ignore (b#connect#clicked ~callback:update); ***)
+
+	    let update_current_value = fun _ ->
+	      let s = string_of_float current_values.(ii) in
+	      if _v#text <> s then
+		_v#set_text s;
+	      true in
+
+	    ignore (Glib.Timeout.add 500 update_current_value);
 
 	    let callback = fun () -> 
 	      let vs = ["ac_id", Pprz.String ac_id; "index", Pprz.Int ii;"value", Pprz.Float adj#value] in
@@ -835,7 +844,7 @@ let create_ac = fun (geomap:G.widget) ac_id config ->
 
   let fp_xml = ExtXml.child fp_xml_dump "flight_plan" in
 
-  let ds_window, ds_adjs = dl_settings ac_id fp_xml in
+  let ds_window, ds_adjs = dl_settings ac_id name fp_xml in
 
   let fp = load_mission color geomap fp_xml in
   fp#hide ();
diff --git a/sw/ground_segment/tmtc/link.ml b/sw/ground_segment/tmtc/link.ml
index af61f16be0..64189bf319 100644
--- a/sw/ground_segment/tmtc/link.ml
+++ b/sw/ground_segment/tmtc/link.ml
@@ -125,15 +125,18 @@ module Wc = struct
     done;
     b.(buffer_size-1) <- null_buffer_entry
 
-  let rec flush = fun () ->
+  let rec repeat_send = fun fd cmd n ->
+    W.send fd cmd;
+    timer := Some (GMain.Timeout.add 300 (fun _ -> Debug.trace 'b' (sprintf "Retry %d" n); repeat_send fd cmd (n+1); false))
+
+  let rec flush = fun n ->
     let status, b = buffer in
     if !status = Ready then
       let (priority, fd, cmd) = b.(0) in
       if priority <> Null then begin
-	Debug.trace 'w' (sprintf "%.2f send" (Unix.gettimeofday ()));
-	W.send fd cmd;
+	shift_buffer b;
 	status := Busy;
-	timer := Some (GMain.Timeout.add 300 (fun _ -> Debug.trace 'b' "Retry"; flush (); false))
+	repeat_send fd cmd 0
       end
 
   let buffer_ready = fun () ->
@@ -155,6 +158,7 @@ module Wc = struct
 	    for j = i + 1 to buffer_size - 1 do (** Shift *)
 	      b.(j) <- b.(j-1)
 	    done;
+	    Debug.trace 'b' (sprintf "Set in %d" i);
 	    b.(i) <- (priority, fd, cmd)
 	  end 
       else
@@ -174,15 +178,19 @@ module Wc = struct
     match com with
       W.RECEIVED_FRAME ->
 	use_tele_message (Serial.payload_of_string data)
+    | W.RES_SEND_FRAME ->
+	Debug.trace 'b' "RES_SEND_FRAME";
+	ignore (GMain.Timeout.add 100 (fun _ -> buffer_ready (); false))
+	
     | W.RES_READ_REMOTE_RSSI ->
-      Tm_Pprz.message_send "link" "WC_RSSI" ["raw_level", Pprz.Int (Char.code data.[0])];
+	Tm_Pprz.message_send "link" "WC_RSSI" ["raw_level", Pprz.Int (Char.code data.[0])];
 	Debug.call 'w' (fun f -> fprintf f "%.2f wv remote RSSI %d\n" (Unix.gettimeofday ()) (Char.code data.[0]));
+	ignore (GMain.Timeout.add 100 (fun _ -> buffer_ready (); false))
     | W.RES_READ_RADIO_PARAM ->
 	Ivy.send (sprintf "WC_ADDR %s" data);
 	Debug.call 'w' (fun f -> fprintf f "wv local addr : %s\n" (Debug.xprint data));
     | W.ACK -> 
-	Debug.trace 'w' (sprintf "%.2f wv ACK" (Unix.gettimeofday ()));
-	buffer_ready ()
+	Debug.trace 'w' (sprintf "%.2f wv ACK" (Unix.gettimeofday ()))
     | _ -> 
 	Debug.call 'w' (fun f -> fprintf f "wv receiving: %02x %s\n" (W.code_of_cmd com) (Debug.xprint data));
 	()
@@ -221,6 +229,7 @@ let get_fp = fun device _sender vs ->
     (fun (dest_id, _) ->
       if dest_id <> ac_id then (** Do not send to itself *)
 	try
+	  Debug.trace 'b' (sprintf "ACINFO %d for %d" ac_id dest_id);
 	  let ac_device = airborne_device dest_id airframes device.transport in
 	  let f = fun a -> Pprz.float_assoc a vs in
 	  let lat = (Deg>>Rad) (f "lat")