diff --git a/conf/tools/fc_rotor.xml b/conf/tools/fc_rotor.xml
new file mode 100644
index 0000000000..b47328afc6
--- /dev/null
+++ b/conf/tools/fc_rotor.xml
@@ -0,0 +1,2 @@
+<program name="FC Rotorcraft" command="sw/ground_segment/python/multi/fc_rotor/fc_rotor.py"/>
+
diff --git a/sw/airborne/modules/multi/fc_rotor/fc_rotor.c b/sw/airborne/modules/multi/fc_rotor/fc_rotor.c
index 2ac3fe666a..a948a62df6 100644
--- a/sw/airborne/modules/multi/fc_rotor/fc_rotor.c
+++ b/sw/airborne/modules/multi/fc_rotor/fc_rotor.c
@@ -20,7 +20,7 @@
  */
 #include "math/pprz_algebra_float.h"
 #include "subsystems/abi.h"
-//#include "subsystems/datalink/datalink.h" // dl_buffer
+#include "subsystems/datalink/datalink.h"
 #include "autopilot.h"
 #include "modules/multi/fc_rotor/fc_rotor.h"
 #include "firmwares/rotorcraft/navigation.h"
@@ -32,7 +32,7 @@ void fc_rotor_init(void)
 void fc_read_msg(uint8_t *buf)
 {
   struct FloatVect3 u;
-  uint8_t ac_id = DL_DESIRED_SETPOINT_ac_id();
+  uint8_t ac_id = DL_DESIRED_SETPOINT_ac_id(buf);
 
   if (ac_id == AC_ID) {
     // 0: 2D control, 1: 3D control
diff --git a/sw/ground_segment/python/multi/fc_rotor/fc_rotor.py b/sw/ground_segment/python/multi/fc_rotor/fc_rotor.py
index 374114ce78..d5e712ff99 100755
--- a/sw/ground_segment/python/multi/fc_rotor/fc_rotor.py
+++ b/sw/ground_segment/python/multi/fc_rotor/fc_rotor.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Copyright (C) 2017 Hector Garcia de Marina <hgdemarina@gmail.com>
 #                    Gautier Hattenberger <gautier.hattenberger@enac.fr>
diff --git a/sw/ground_segment/python/multi/fc_rotor/lib_rigid_formations.py b/sw/ground_segment/python/multi/fc_rotor/lib_rigid_formations.py
index 3a6b6e1cb9..04107035a4 100644
--- a/sw/ground_segment/python/multi/fc_rotor/lib_rigid_formations.py
+++ b/sw/ground_segment/python/multi/fc_rotor/lib_rigid_formations.py
@@ -28,7 +28,7 @@ def make_Bd(B):
     return Bd
 
 def make_Zh(Z, m):
-    edges = Z.size/m
+    edges = int(Z.size/m)
     Zh = np.zeros(Z.size)
 
     for i in range(0, edges):
@@ -39,7 +39,7 @@ def make_Zh(Z, m):
     return Zh
 
 def make_Dz(Z, m):
-    edges = Z.size/m
+    edges = int(Z.size/m)
     Dz = np.zeros((Z.size, edges))
     
     j = 0
@@ -51,7 +51,7 @@ def make_Dz(Z, m):
     return Dz
 
 def make_Dzt(Z, m, l):
-    edges = Z.size/m
+    edges = int(Z.size/m)
     if l == 2:
         return np.eye(edges)
 
@@ -78,7 +78,7 @@ def make_Dztstar(d, m, l):
     return np.diag(Ztstar)
 
 def make_DPzh(Z, m):
-    edges = Z.size/m
+    edges = int(Z.size/m)
     DPzh = np.zeros((2*edges, 2*edges))
     
     Zt = np.diag(make_Dzt(Z, m, 1))
@@ -93,7 +93,7 @@ def make_DPzh(Z, m):
     return DPzh
 
 def make_E(Z, d, m, l):
-    edges = Z.size/m
+    edges = int(Z.size/m)
     E = np.zeros(edges)
     if edges == 1:
         E[0] =  la.norm(Z)**l - d**l