diff --git a/sw/airborne/autopilot/Makefile b/sw/airborne/autopilot/Makefile
index 93f54f21fa..ba3dc3956b 100644
--- a/sw/airborne/autopilot/Makefile
+++ b/sw/airborne/autopilot/Makefile
@@ -89,5 +89,9 @@ $(OBJDIR)/nav.o : $(ACINCLUDE)/flight_plan.h
 $(OBJDIR)/gps_ubx.o : $(VARINCLUDE)/ubx_protocol.h
 $(OBJDIR)/if_calib.o : $(ACINCLUDE)/inflight_calib.h
 
+wavecard_glib : wavecard_glib.c wavecard.c
+	gcc -Wall -o wavecard_glib wavecard.c wavecard_glib.c `pkg-config --cflags glib-2.0` `pkg-config --libs glib-2.0`
+
+
 clean : avr_clean
 	rm -f *.out *.cm* messages.h flight_plan.h ubx_protocol.h inflight_calib.h
diff --git a/sw/airborne/autopilot/wavecard.c b/sw/airborne/autopilot/wavecard.c
new file mode 100644
index 0000000000..4e366e0f4e
--- /dev/null
+++ b/sw/airborne/autopilot/wavecard.c
@@ -0,0 +1,112 @@
+#include <inttypes.h>
+#include <stdlib.h>
+
+#include "wavecard.h"
+
+typedef uint8_t bool_t;
+
+uint8_t  wc_payload[WC_MAX_PAYLOAD];
+
+static uint8_t wc_status;
+
+const uint16_t poly = 0x8408;
+uint16_t crc;
+uint8_t wc_length, payload_idx;
+
+#define UNINIT 0
+#define GOT_SYNC1 1
+#define GOT_STX 2
+#define GOT_LENGTH 3
+#define GOT_PAYLOAD 4
+#define GOT_CRC1 5
+#define GOT_CRC2 6
+
+
+bool_t waiting_ack, wc_msg_received;
+
+uint8_t wc_protocol_error, wc_ovrn, wc_error;
+
+void parse_payload() {
+  switch (wc_payload[0]) {
+  case WC_ACK:
+    if (waiting_ack)
+      waiting_ack = FALSE;
+    else
+      wc_protocol_error++;
+    break;
+  case WC_NAK:
+  case WC_ERROR:
+    wc_protocol_error++;
+    break;
+  default:
+    WcSendAck();
+  }
+  wc_msg_received = FALSE;
+}
+
+inline void parse_wc( uint8_t c ) {
+  //  printf("s=%d\n", wc_status);
+  switch (wc_status) {
+  case UNINIT:
+    if (c == WC_SYNC)
+      wc_status++;
+    break;
+  case GOT_SYNC1:
+    if (c != WC_STX)
+      goto error;
+    crc = 0;
+    wc_status++;
+    break;
+  case GOT_STX:
+    if (wc_msg_received) {
+      wc_ovrn++;
+      goto error;
+    }
+    wc_length = c;
+    update_crc(c);
+    wc_status++;
+    payload_idx = 0;
+    break;
+  case GOT_LENGTH:
+    wc_payload[payload_idx] = c;
+    update_crc(c);
+    payload_idx++;
+    if (payload_idx == wc_length-3)
+      wc_status++;
+    break;
+  case GOT_PAYLOAD:
+    if (c != (crc & 0xff))
+      goto error;
+    wc_status++;
+    break;
+  case GOT_CRC1:
+    if (c != (crc >> 8))
+      goto error;
+    wc_status++;
+    break;
+  case GOT_CRC2:
+    if (c != WC_ETX)
+      goto error;
+    wc_msg_received = TRUE;
+    goto restart;
+    break;
+  }
+  return;
+ error:
+  wc_error++;
+ restart:
+  wc_status = UNINIT;
+  return;
+}
+
+ 
+/***     
+#define WcPut1CtlByte(_byte) { \
+  tx_buf[tx_head] = _byte; \
+  tx_head++; \
+  if (tx_head >= TX_BUF_SIZE) tx_head = 0; \
+}
+***/
+
+
+  
diff --git a/sw/airborne/autopilot/wavecard.h b/sw/airborne/autopilot/wavecard.h
new file mode 100644
index 0000000000..1233d2b671
--- /dev/null
+++ b/sw/airborne/autopilot/wavecard.h
@@ -0,0 +1,267 @@
+#ifndef WAVECARD_H
+#define WAVECARD_H
+
+#define WC_CTL_BYTE_LEN 4
+#define WC_ADDR_LEN     6
+
+
+#include "wavecard_glib.h"
+
+
+extern uint16_t crc;
+extern const uint16_t poly;
+
+extern uint8_t wc_msg_received;
+
+#define WC_MAX_PAYLOAD 256
+extern uint8_t  wc_payload[WC_MAX_PAYLOAD];
+extern uint8_t  wc_length;
+void parse_payload(void);
+
+
+
+#define WC_SYNC 0xff
+#define WC_STX 0x02
+#define WC_ETX 0x03
+
+
+
+#define WC_ACK 0x06
+#define WC_NAK 0x15
+#define WC_ERROR 0x00
+#define WC_REQ_WRITE_RADIO_PARAM 0x40
+#define WC_RES_WRITE_RADIO_PARAM 0x41
+#define WC_REQ_READ_RADIO_PARAM 0x50
+#define WC_RES_READ_RADIO_PARAM 0x51
+#define WC_REQ_SELECT_CHANNEL 0x60
+#define WC_RES_SELECT_CHANNEL 0x61
+#define WC_REQ_READ_CHANNEL 0x62
+#define WC_RES_READ_CHANNEL 0x63
+#define WC_REQ_SELECT_PHYCONFIG 0x64
+#define WC_RES_SELECT_PHYCONFIG 0x65
+#define WC_REQ_READ_PHYCONFIG 0x66
+#define WC_RES_READ_PHYCONFIG 0x67
+#define WC_REQ_READ_REMOTE_RSSI 0x68
+#define WC_RES_READ_REMOTE_RSSI 0x69
+#define WC_REQ_READ_LOCAL_RSSI 0x6A
+#define WC_RES_READ_LOCAL_RSSI 0x6B
+#define WC_REQ_FIRMWARE_VERSION 0xA0
+#define WC_RES_FIRMWARE_VERSION 0xA1
+#define WC_MODE_TEST 0xB0
+#define WC_REQ_SEND_FRAME 0x20
+#define WC_RES_SEND_FRAME 0x21
+#define WC_REQ_SEND_MESSAGE 0x22
+#define WC_REQ_SEND_POLLING 0x26
+#define WC_REQ_SEND_BROADCAST 0x28
+#define WC_RECEIVED_FRAME 0x30
+#define WC_RECEPTION_ERROR 0x31
+#define WC_RECEIVED_FRAME_POLLING 0x32
+#define WC_RECEIVED_FRAME_BROADCAST 0x34
+#define WC_RECEIVED_MULTIFRAME 0x36
+#define WC_REQ_SEND_SERVICE 0x80
+#define WC_RES_SEND_SERVICE 0x81
+#define WC_SERVICE_RESPONSE 0x82
+
+
+#define WC_RADIO_PARAM_AWAKENING_PERIOD    0x00
+#define WC_RADIO_PARAM_WAKE_UP_TYPE        0x01
+#define WC_RADIO_PARAM_WAKE_UP_LENGTH      0x02
+#define WC_RADIO_PARAM_RADIO_ACKNOLEDGE    0x04
+#define WC_RADIO_PARAM_RADIO_ADDRESS       0x05
+#define WC_RADIO_PARAM_RELAY_ROUTE         0x07
+#define WC_RADIO_PARAM_POLLING_ROUTE       0x08
+#define WC_RADIO_PARAM_GROUP_NUMBER        0x09
+#define WC_RADIO_PARAM_POLLING_TIME        0x0A
+#define WC_RADIO_PARAM_RADIO_USER_TIMEOUT  0x0C
+#define WC_RADIO_PARAM_RECEPT_ERROR_STATUS 0x0E
+#define WC_RADIO_PARAM_SWITCH_MODE_STATUS  0x10
+
+
+void parse_wc( uint8_t);
+
+
+#define update_crc(_byte) {			\
+  uint8_t i;					\
+  crc ^= _byte;					\
+  for(i = 0; i < 8; i++) {			\
+    uint8_t carry = crc & 0x1;			\
+    crc /= 2;					\
+    if (carry)					\
+      crc ^= poly;				\
+  }						\
+}
+
+
+#define WcPut1PayloadByte(_byte) { \
+  WcPut1CtlByte(_byte); \
+  update_crc(_byte);\
+}
+
+#define WcStart() \
+  WcPut1CtlByte(WC_SYNC); \
+  WcPut1CtlByte(WC_STX); \
+  crc = 0;
+
+#define WcEnd() \
+  WcPut1CtlByte(crc&0xff); \
+  WcPut1CtlByte(crc>>8); \
+  WcPut1CtlByte(WC_ETX);
+
+#define WcSendAck() \
+  g_message("sending ACK"); \
+  WcStart(); \
+  WcPut1PayloadByte(WC_CTL_BYTE_LEN); \
+  WcPut1PayloadByte(WC_ACK); \
+  WcEnd()
+  
+#define WcSendFirmwareReq() \
+  g_message("sending REQ_FIRMWARE_VERSION");	\
+  WcStart();							\
+  WcPut1PayloadByte(WC_CTL_BYTE_LEN); \
+  WcPut1PayloadByte(WC_REQ_FIRMWARE_VERSION); \
+  WcEnd()
+
+#define WcSendReadRadioParamReq(no_param) \
+  g_message("sending REQ_READ_RADIO_PARAM %d", no_param);	\
+  WcStart(); \
+  WcPut1PayloadByte( WC_CTL_BYTE_LEN + 1); \
+  WcPut1PayloadByte(WC_REQ_READ_RADIO_PARAM); \
+  WcPut1PayloadByte(no_param); \
+  WcEnd()
+
+#define WcSendWriteRadioParamReq(no_param, value)			\
+  g_message("sending REQ_WRITE_RADIO_PARAM %d %d", no_param, value);		\
+  WcStart(); \
+  WcPut1PayloadByte( WC_CTL_BYTE_LEN + 2); \
+  WcPut1PayloadByte(WC_REQ_WRITE_RADIO_PARAM); \
+  WcPut1PayloadByte(no_param); \
+  WcPut1PayloadByte(value); \
+  WcEnd()
+
+#define WcSendReqSendService(addr, type)						\
+  {                                                                     \
+    uint8_t i;								\
+    g_message("sending REQ_SEND_SERVICE %02x %02x %02x %02x %02x %02x", addr[0], addr[1], addr[2] , addr[3], addr[4], addr[5]); \
+    WcStart();								\
+    WcPut1PayloadByte(WC_CTL_BYTE_LEN + WC_ADDR_LEN + 1);		\
+    WcPut1PayloadByte(WC_REQ_SEND_SERVICE);				\
+    WcPut1PayloadByte(addr[0]);\
+    WcPut1PayloadByte(addr[1]);\
+    WcPut1PayloadByte(addr[2]);\
+    WcPut1PayloadByte(addr[3]);\
+    WcPut1PayloadByte(addr[4]);\
+    WcPut1PayloadByte(addr[5]);\
+    WcPut1PayloadByte(type);						\
+    WcEnd()								\
+  }
+
+#define WcSendMsg(addr, len, msg)					\
+  {									\
+    uint8_t i;								\
+    GString* str = g_string_new( "sending REQ_SEND_MESSAGE " );		\
+    wc_glib_append_addr(str, addr);					\
+    g_string_append_printf(str, "%*s ", len, msg);			\
+    g_message(str->str);						\
+    g_string_free(str, TRUE);						\
+    WcStart();								\
+    WcPut1PayloadByte(WC_CTL_BYTE_LEN + WC_ADDR_LEN + len );		\
+    WcPut1PayloadByte(WC_REQ_SEND_MESSAGE);				\
+    WcPut1PayloadByte(addr[0]);						\
+    WcPut1PayloadByte(addr[1]);						\
+    WcPut1PayloadByte(addr[2]);						\
+    WcPut1PayloadByte(addr[3]);						\
+    WcPut1PayloadByte(addr[4]);						\
+    WcPut1PayloadByte(addr[5]);						\
+    WcPut1PayloadByte(msg[0]);						\
+    WcPut1PayloadByte(msg[1]);						\
+    WcPut1PayloadByte(msg[2]);						\
+    WcPut1PayloadByte(msg[3]);						\
+    WcPut1PayloadByte(msg[4]);						\
+    WcPut1PayloadByte(msg[5]);						\
+    WcPut1PayloadByte(msg[6]);						\
+    WcPut1PayloadByte(msg[7]);						\
+    WcPut1PayloadByte(msg[8]);						\
+    WcPut1PayloadByte(msg[9]);						\
+    WcPut1PayloadByte(msg[10]);						\
+    WcPut1PayloadByte(msg[11]);						\
+    WcPut1PayloadByte(msg[12]);						\
+    WcEnd()								\
+      }									\
+    
+#define WcSendReqReadRemoteRssi(addr)					\
+  {									\
+    GString* str = g_string_new( "sending REQ_READ_REMOTE_RSSI " );		\
+    wc_glib_append_addr(str, addr);					\
+    g_message(str->str);						\
+    g_string_free(str, TRUE);						\
+    WcStart();								\
+    WcPut1PayloadByte(WC_CTL_BYTE_LEN + WC_ADDR_LEN );		\
+    WcPut1PayloadByte(WC_REQ_READ_REMOTE_RSSI);				\
+    WcPut1PayloadByte(addr[0]);						\
+    WcPut1PayloadByte(addr[1]);						\
+    WcPut1PayloadByte(addr[2]);						\
+    WcPut1PayloadByte(addr[3]);						\
+    WcPut1PayloadByte(addr[4]);						\
+    WcPut1PayloadByte(addr[5]);						\
+    WcEnd()								\
+      }									\
+
+#define WcSendReqReadLocalRssi(addr)					\
+  {									\
+    GString* str = g_string_new( "sending REQ_READ_LOCAL_RSSI " );	\
+    wc_glib_append_addr(str, addr);					\
+    g_message(str->str);						\
+    g_string_free(str, TRUE);						\
+    WcStart();								\
+    WcPut1PayloadByte(WC_CTL_BYTE_LEN + WC_ADDR_LEN );			\
+    WcPut1PayloadByte(WC_REQ_READ_LOCAL_RSSI);				\
+    WcPut1PayloadByte(addr[0]);						\
+    WcPut1PayloadByte(addr[1]);						\
+    WcPut1PayloadByte(addr[2]);						\
+    WcPut1PayloadByte(addr[3]);						\
+    WcPut1PayloadByte(addr[4]);						\
+    WcPut1PayloadByte(addr[5]);						\
+    WcEnd()								\
+      }									\
+
+#define WcSendReqReadPhyconfig()					\
+  {									\
+    g_message("sending REQ_READ_PHYCONFIG ");				\
+    WcStart();								\
+    WcPut1PayloadByte(WC_CTL_BYTE_LEN );				\
+    WcPut1PayloadByte(WC_REQ_READ_PHYCONFIG);				\
+    WcEnd()								\
+  }									\
+
+#define WcSendReqSelectPhyconfig(cfg)				\
+  {									\
+    g_message("sending REQ_SELECT_PHYCONFIG ");				\
+    WcStart();								\
+    WcPut1PayloadByte(WC_CTL_BYTE_LEN + 2);				\
+    WcPut1PayloadByte(WC_REQ_SELECT_PHYCONFIG);				\
+    WcPut1PayloadByte(cfg>>8);				                \
+    WcPut1PayloadByte(cfg&0xff);				                \
+    WcEnd()								\
+  }									\
+    
+#define WcSendReqReadChannel()					\
+  {									\
+    g_message("sending REQ_READ_CHANNEL ");				\
+    WcStart();								\
+    WcPut1PayloadByte(WC_CTL_BYTE_LEN );				\
+    WcPut1PayloadByte(WC_REQ_READ_CHANNEL);				\
+    WcEnd()								\
+  }									\
+
+#define WcSendReqSelectChannel(channel)					\
+  {									\
+    g_message("sending REQ_SELECT_CHANNEL ");				\
+    WcStart();								\
+    WcPut1PayloadByte(WC_CTL_BYTE_LEN + 1);				\
+    WcPut1PayloadByte(WC_REQ_SELECT_CHANNEL);				\
+    WcPut1PayloadByte(channel);				                \
+    WcEnd()								\
+  }									\
+    
+    
+#endif /* WAVECARD_H */
diff --git a/sw/airborne/autopilot/wavecard_glib.c b/sw/airborne/autopilot/wavecard_glib.c
new file mode 100644
index 0000000000..0eb2891e52
--- /dev/null
+++ b/sw/airborne/autopilot/wavecard_glib.c
@@ -0,0 +1,355 @@
+// gcc -Wall -o wavecard.c wavecard_glib.c `pkg-config --cflags glib-2.0` `pkg-config --libs glib-2.0`
+#include <signal.h>
+#include <termios.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <ctype.h>
+#include <inttypes.h>
+
+#include <getopt.h>
+
+#include <glib.h>
+
+#include "wavecard.h"
+#include "wavecard_glib.h"
+uint8_t t1_addr[WC_ADDR_LEN] = { 0x01, 0x18, 0x04, 0xc0, 0x01, 0x34 };
+//uint8_t gs_addr[WC_ADDR_LEN] = { 0x01, 0x18, 0x04, 0xc0, 0x00, 0x4f };
+uint8_t gs_addr[WC_ADDR_LEN] = { 0x01, 0x18, 0x04,  0xc0,  0x01,  0x2d };
+uint8_t* hosts_adress[] = { t1_addr, gs_addr};
+uint8_t  nb_hosts = 2;
+
+struct WcGlib wc_glib;
+static void wc_glib_setup_sig_handler( void );
+static void wc_glib_quit( int i );
+static guint usage (int argc, char** argv);
+static guint parse_options (int argc, char** argv);
+
+
+
+static GIOChannel* open_serial_port( const gchar* serial_dev) {
+  GIOChannel* input_channel;
+  struct termios  orig_termios;
+  struct termios  cur_termios;
+  int fd = open(serial_dev, O_RDWR | O_NONBLOCK);
+
+   if (fd == -1) {
+     g_message("opening serial device %s : %s", serial_dev, strerror(errno));
+     return NULL;
+   } 
+   
+   if (tcgetattr(fd, &orig_termios)) {
+     g_message("getting serial device attr (%s) : %s", serial_dev, strerror(errno));
+     return NULL;
+   }
+   cur_termios = orig_termios;
+ 
+   /* input modes */
+   cur_termios.c_iflag &= ~(IGNBRK|BRKINT|IGNPAR|PARMRK|INPCK|ISTRIP|INLCR|IGNCR
+			    |ICRNL |IUCLC|IXON|IXANY|IXOFF|IMAXBEL);
+   /* pas IGNCR sinon il vire les 0x0D */
+   cur_termios.c_iflag |= BRKINT;
+   
+   /* output_flags */
+   cur_termios.c_oflag  &=~(OPOST|OLCUC|ONLCR|OCRNL|ONOCR|ONLRET|OFILL|OFDEL);
+
+   /* control modes */
+   cur_termios.c_cflag &= ~(CSIZE|CSTOPB|CREAD|PARENB|PARODD|HUPCL|CLOCAL|CRTSCTS);
+   cur_termios.c_cflag |= CREAD|CS8|CLOCAL;
+   
+   /* local modes */
+   cur_termios.c_lflag &= ~(ISIG|ICANON|IEXTEN|ECHO|FLUSHO|PENDIN);
+   cur_termios.c_lflag |= NOFLSH;
+   
+   if (cfsetispeed(&cur_termios, B9600)) {
+     g_message("setting serial device speed (%s) : %s", serial_dev, strerror(errno));
+     return NULL;
+  }
+
+  if (tcsetattr(fd, TCSADRAIN, &cur_termios)) {
+    g_message("setting serial device attr (%s) : %s", serial_dev, strerror(errno));
+    return NULL;
+  }
+  
+  input_channel = g_io_channel_unix_new(fd);
+  g_io_channel_set_encoding(input_channel, NULL, NULL);
+  return input_channel;
+}
+
+static void print_hex(gsize len, guchar* buf) {
+  const char d2h[] = "0123456789ABCDEF";
+  int i=0;
+  for (i=0; i<len; i++)
+    printf("%c%c ", d2h[(int)buf[i]/16], d2h[(int)buf[i]%16]);
+  printf("\n");
+}
+
+#define LINE_LEN 8
+static void print_both(gsize len, guchar* buf) {
+  const char d2h[] = "0123456789ABCDEF";
+  int i,j;
+  for (i=0; i<len && i < LINE_LEN; i++) {
+    printf("%c%c ", d2h[(int)buf[i]/16], d2h[(int)buf[i]%16]);
+  }
+  if (i<LINE_LEN)
+    for (j=0; j<LINE_LEN-i; j++)
+      printf("   ");
+  printf("\t");
+  for (i=0; i<len && i < LINE_LEN; i++)
+    if (isalnum(buf[i])) 
+      printf("%c", buf[i]);
+    else
+      printf(".");
+  printf("\n");
+  if (i<len) print_both(len-i, buf+i);
+}
+
+static void wc_glib_print_addr(uint8_t* addr) {
+  int i;
+  for(i = 0; i < WC_ADDR_LEN ; i++)
+    printf("%02x ", addr[i]);
+}
+
+static void wc_glib_append_addr(GString* str, uint8_t* addr) {
+  int i;
+  for(i = 0; i < WC_ADDR_LEN ; i++)
+    g_string_append_printf(str, "%02x ", addr[i]);
+}
+
+
+
+static void priv_parse_payload() {
+  printf("got_message ");
+  int i;
+  for(i = 0; i < wc_length - 3; i++)
+    printf("%02x ", wc_payload[i]);
+  printf("\n"); 
+  switch (wc_payload[0]) {
+ 
+  case WC_RES_READ_RADIO_PARAM :
+    g_message("got WC_RES_READ_RADIO_PARAM");
+    if (wc_payload[1] == 0) {
+      switch (wc_glib.radio_param) {
+      case WC_RADIO_PARAM_AWAKENING_PERIOD :
+	g_message("awakening period %d", wc_payload[2]);
+	break;
+      case WC_RADIO_PARAM_WAKE_UP_TYPE:
+	g_message("wake_up_type %d", wc_payload[2]);
+	break;
+      case WC_RADIO_PARAM_RADIO_ACKNOLEDGE :
+	g_message("radio_acknoledge %d", wc_payload[2]);
+	break;
+      case WC_RADIO_PARAM_WAKE_UP_LENGTH : {
+	uint16_t* len = (uint16_t*)&wc_payload[2];
+	g_message("wake_up_length %d", *len);
+      }
+	break;
+      case WC_RADIO_PARAM_RADIO_ADDRESS :	
+	memcpy(wc_glib.self_addr, wc_payload, WC_ADDR_LEN);
+	GString* str = g_string_new("self_address ");
+	wc_glib_append_addr(str, &wc_payload[2]);
+	g_message(str->str);
+	g_string_free(str, TRUE);
+
+	if (!memcmp(&wc_payload[2], gs_addr, WC_ADDR_LEN))
+	  wc_glib.distant_addr = t1_addr;
+	else
+	  wc_glib.distant_addr = gs_addr;
+
+	break;
+      case WC_RADIO_PARAM_SWITCH_MODE_STATUS:
+	g_message("switch_mode_status %s", wc_payload[2]?"ON":"OFF");
+	break;
+      default:
+	g_message("radio param %02x  %d", wc_glib.radio_param, wc_payload[2]);
+	break;
+      }
+    }
+    else
+      g_message("WC_RES_READ_RADIO_PARAM failed");
+    break;
+  case WC_RES_WRITE_RADIO_PARAM :
+    g_message("WC_RES_WRITE_RADIO_PARAM %s", wc_payload[1]?"FAILED":"OK");
+    break;
+  case WC_RES_SEND_SERVICE :
+    g_message("got WC_RES_SEND_SERVICE");
+    break;
+  case  WC_SERVICE_RESPONSE :
+    g_message("got WC_SERVICE_RESPONSE");
+    printf("addr : "); wc_glib_print_addr(&wc_payload[1]);
+    printf("\n");
+    g_message("acquitement %d", wc_payload[7]);
+    g_message("type %d", wc_payload[8]);
+    g_message("rssi %d", wc_payload[9]);
+    g_message("periode reveil %d", wc_payload[10]);
+    g_message("type_2 %d", wc_payload[11]);
+    break;
+
+  case WC_RES_SEND_FRAME :
+    g_message("got WC_RES_SEND_FRAME");
+    break;
+
+  case WC_RES_READ_REMOTE_RSSI : 
+    g_message("got WC_RES_READ_REMOTE_RSSI %d", wc_payload[1] );
+    break;
+
+  case WC_RES_READ_LOCAL_RSSI : 
+    g_message("got WC_RES_READ_LOCAL_RSSI %d", wc_payload[1] );
+    break;
+
+  case WC_RECEIVED_FRAME :
+    g_message("got WC_RECEIVED_FRAME");
+    GString* str = g_string_new("sender_address ");
+    wc_glib_append_addr(str, &wc_payload[1]);
+    g_string_append_printf(str, "data : %*s ", wc_length - WC_ADDR_LEN, &wc_payload[1+WC_ADDR_LEN]);     
+    g_message(str->str);
+    g_string_free(str, TRUE);	
+    break;
+
+  case WC_ACK :
+    g_message("got ACK");
+    break;
+
+  case WC_NAK :
+    g_message("got NAK");
+    break;
+
+  default:
+    g_message("received unhandled %02x", wc_payload[0]);
+  }
+}
+
+static gboolean on_data_received(GIOChannel *source, GIOCondition condition, gpointer data) {
+  guchar buf[128];
+  gsize len;
+  GError *err = NULL;
+  g_io_channel_read_chars(source, buf, 3, &len, &err);
+  int i;
+  //  g_message("received");
+  //  print_both(len, buf);
+  for (i=0; i<len; i++)
+    parse_wc(buf[i]);
+
+  if (wc_msg_received) {
+    priv_parse_payload();
+    parse_payload();
+  }
+  return TRUE;
+}
+
+
+uint8_t hello[] = "HELLO WORLD W";
+
+static gboolean timeout_callback(gpointer data) {
+  static uint8_t foo1 = 1;
+  if ( foo1 == 1) {
+    wc_glib.radio_param = WC_RADIO_PARAM_RADIO_ADDRESS;
+    WcSendReadRadioParamReq(WC_RADIO_PARAM_RADIO_ADDRESS);
+  }
+  else if ( foo1 == 2) {
+    wc_glib.radio_param = WC_RADIO_PARAM_SWITCH_MODE_STATUS;
+    //WcSendWriteRadioParamReq(WC_RADIO_PARAM_SWITCH_MODE_STATUS, 0);
+    WcSendReadRadioParamReq(WC_RADIO_PARAM_SWITCH_MODE_STATUS);
+  }
+  else if ( foo1 == 3) {
+    //wc_glib.radio_param = WC_RADIO_PARAM_RADIO_ACKNOLEDGE;
+    //WcSendWriteRadioParamReq(WC_RADIO_PARAM_RADIO_ACKNOLEDGE, 1);
+    WcSendReadRadioParamReq(WC_RADIO_PARAM_RADIO_ACKNOLEDGE);
+  }
+  //  else if ( foo1 == 2) {
+    // WcSendReqSelectChannel(0x01);
+  //    WcSendReqReadChannel();
+  //  }
+  else if ( foo1 == 4) {
+    //WcSendReqSelectPhyconfig(0x00a3);
+    WcSendReqReadPhyconfig();
+  }
+  //  else if ( foo1 == 4) {
+  //    WcSendReqReadRemoteRssi(wc_glib.distant_addr);
+  //  }
+  //  else if (foo1 == 5) {
+  //    WcSendReqReadLocalRssi(wc_glib.distant_addr);
+  //  }
+  else if (foo1 == 6) {
+      WcSendReqSendService(wc_glib.distant_addr, 0x20);
+  }
+  // else if (foo1 == 7) {
+  //    WcSendFirmwareReq();
+  //  }
+  else if (foo1 > 7) {
+    static uint8_t foo = 1;
+    hello[12] = foo++;
+    if (!wc_glib.options.silent) WcSendMsg(wc_glib.distant_addr, strlen(hello), hello);
+  } 
+  foo1++;
+
+  return TRUE;
+}
+
+int main (int argc, char** argv) {
+
+  if (parse_options(argc, argv))
+    return usage(argc, argv);
+
+  wc_glib_setup_sig_handler();
+  wc_glib.in_ch = open_serial_port(wc_glib.options.serial_device);
+  in_ch = wc_glib.in_ch;
+  g_io_add_watch (wc_glib.in_ch, G_IO_IN , on_data_received, NULL);
+  g_timeout_add(2000, timeout_callback, in_ch);
+  wc_glib.ml =  g_main_loop_new(NULL, FALSE);
+  wc_glib.distant_addr = t1_addr;
+  g_main_loop_run(wc_glib.ml);
+  
+  return 0;
+}
+
+static void wc_glib_setup_sig_handler( void ) {
+  struct sigaction act;
+  act.sa_handler = wc_glib_quit;
+  act.sa_restorer = NULL;
+  if (sigaction(SIGINT, &act, NULL) < 0)
+    g_message("Could not install signal handler for quitting\n i will be unable to close log\n");
+}
+
+static void wc_glib_quit( int i ) {
+  printf("\nquitting\n");
+  g_main_loop_quit(wc_glib.ml);
+}
+
+static guint usage (int argc, char** argv) {
+  g_message("%s [-h] [-d serial_device]", argv[0]);
+  return -1;
+}
+
+
+static guint parse_options (int argc, char** argv) {
+  const gchar *optstr = "h:d:s";
+  gchar ch;
+  wc_glib.options.serial_device = "/dev/ttyS0";
+  wc_glib.options.silent = FALSE;
+  while ((ch=getopt(argc,argv,optstr)) != -1) {
+    switch(ch) {
+    case 'h':
+      return -1;
+    case 'd':
+      wc_glib.options.serial_device = strdup(optarg);
+      break;
+ case 's':
+      wc_glib.options.silent = TRUE;
+      break;
+     case '?':
+      printf("unrecognized option: %c\n",optopt);
+      return -1;
+    default:
+      printf("error?  condition unaccounted for?\n");
+      break;
+    }
+  }
+  g_message("%s starting", argv[0]);
+  g_message("  serial device : %s", wc_glib.options.serial_device);
+  return 0;
+}
diff --git a/sw/airborne/autopilot/wavecard_glib.h b/sw/airborne/autopilot/wavecard_glib.h
new file mode 100644
index 0000000000..cfd74c6a5c
--- /dev/null
+++ b/sw/airborne/autopilot/wavecard_glib.h
@@ -0,0 +1,34 @@
+#ifndef WAVECARD_GLIB_H
+#define WAVECARD_GLIB_H
+
+#include <glib.h>
+#include <stdio.h>
+
+#include "wavecard.h"
+
+struct WcGlibOptions {
+  gchar*    serial_device;
+  gboolean  silent;
+};
+
+struct WcGlib {
+  GMainLoop* ml;
+  GIOChannel* in_ch;
+  uint8_t radio_param;
+  uint8_t self_addr[WC_ADDR_LEN];
+  uint8_t* distant_addr;
+  struct WcGlibOptions options;
+};
+
+GIOChannel* in_ch;
+
+extern struct WcGlib wc_glib;
+
+#define  WcPut1CtlByte(_byte) { \
+    int bytes_written; \
+    uint8_t b = _byte; \
+    g_io_channel_write_chars (wc_glib.in_ch, &b, 1, &bytes_written, NULL); \
+    g_io_channel_flush(wc_glib.in_ch, NULL); \
+}
+
+#endif /* WAVECARD_GLIB_H */