diff --git a/sw/airborne/modules/ins/alt_filter.c b/sw/airborne/modules/ins/alt_filter.c
index 00b898f725..d0417d5469 100644
--- a/sw/airborne/modules/ins/alt_filter.c
+++ b/sw/airborne/modules/ins/alt_filter.c
@@ -1,262 +1,262 @@
-/*
- * Copyright (C) 2010 ENAC
- *
- * 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.
- *
- */
-
-#include "modules/ins/alt_filter.h"
-#include "gps.h"
-#include "modules/sensors/baro_ets.h"
-
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "mcu_periph/uart.h"
-#include "messages.h"
-#include "downlink.h"
-
-TypeKalman alt_filter;
-
-/* Kalman parameters */
-float SigAltiGPS;
-float SigAltiAltimetre;
-float MarcheAleaBiaisAltimetre;
-float MarcheAleaAccelerometre;
-
-/* Function declaration */
-void kalmanInit(TypeKalman *k);
-void kalmanEstimation(TypeKalman *k, float accVert);
-void kalmanCorrectionGPS(TypeKalman *k, float altitude_gps);
-void kalmanCorrectionAltimetre(TypeKalman *k, float altitude_altimetre);
-
-/* last measured values */
-float last_gps_alt;
-float last_baro_alt;
-
-void alt_filter_init(void) {
-  SigAltiGPS = 5.;
-  SigAltiAltimetre = 5.;
-  MarcheAleaBiaisAltimetre = 0.1;
-  MarcheAleaAccelerometre = 0.5;
-  last_gps_alt = 0.;
-  last_baro_alt = 0.;
-
-  kalmanInit(&alt_filter);
-}
-
-void alt_filter_periodic(void) {
-  // estimation at each step
-  kalmanEstimation(&alt_filter,0.);
-
-  // update on new data
-  float ga = (float)gps_alt / 100.;
-  if (baro_ets_altitude != last_baro_alt) {
-    kalmanCorrectionAltimetre(&alt_filter, baro_ets_altitude);
-    last_baro_alt = baro_ets_altitude;
-  }
-  if (ga != last_gps_alt && GpsFixValid()) {
-    kalmanCorrectionGPS(&alt_filter, ga);
-    last_gps_alt = ga;
-  }
-
-  RunOnceEvery(6,DOWNLINK_SEND_VFF(DefaultChannel, &baro_ets_altitude,
-        &(alt_filter.X[0]), &(alt_filter.X[1]), &(alt_filter.X[2]),
-        &(alt_filter.P[0][0]), &(alt_filter.P[1][1]), &(alt_filter.P[2][2])));
-
-}
-
-
-/*************************************************************************
- *
- * Filter Initialisation
- *
- *************************************************************************/
-
-
-void kalmanInit(TypeKalman *k){
-
-  k->W[0][0] = MarcheAleaAccelerometre*MarcheAleaAccelerometre; k->W[0][1] = 0;
-  k->W[1][0] = 0; k->W[1][1] = MarcheAleaBiaisAltimetre*MarcheAleaBiaisAltimetre;
-
-  k->X[0] = 0;
-  k->X[1] = 0;
-  k->X[2] = 0;
-
-  k->P[0][0] = 1; k->P[0][1] = 0; k->P[0][2] = 0;
-  k->P[1][0] = 0; k->P[1][1] = 1; k->P[1][2] = 0;
-  k->P[2][0] = 0; k->P[2][1] = 0; k->P[2][2] = 0.0001;
-
-  k->Te = (1./60.);
-
-  // System dynamic
-  k->Ad[0][0] = 1; k->Ad[0][1] = k->Te; k->Ad[0][2] = 0;
-  k->Ad[1][0] = 0; k->Ad[1][1] = 1; k->Ad[1][2] = 0;
-  k->Ad[2][0] = 0; k->Ad[2][1] = 0; k->Ad[2][2] = 1;
-
-  // System command
-  k->Bd[0] = pow(k->Te,2)/2;
-  k->Bd[1] = k->Te;
-  k->Bd[2] = 0;
-
-  k->Md[0][0] = pow(k->Te, 1.5)/2; k->Md[0][1] = 0;
-  k->Md[1][0] = pow(k->Te, 0.5); k->Md[1][1] = 0;
-  k->Md[2][0] = 0; k->Md[2][1] = pow(k->Te, 0.5);
-}
-
-
-/*************************************************************************
- *
- * Estimation
- *
- *************************************************************************/
-
-
-void kalmanEstimation(TypeKalman *k, float accVert){
-
-
-  int i,j;
-  float I[3][3]; // matrices temporaires
-  float J[3][2];
-
-  // Calcul de X
-  // X(k+1) = Ad*X(k) + Bd*U(k)
-  k->X[0] = k->Ad[0][0]*k->X[0] + k->Ad[0][1]*k->X[1] + k->Ad[0][2]*k->X[2] + k->Bd[0]*accVert;
-  k->X[1] = k->Ad[1][0]*k->X[0] + k->Ad[1][1]*k->X[1] + k->Ad[1][2]*k->X[2] + k->Bd[1]*accVert;
-  k->X[2] = k->Ad[2][0]*k->X[0] + k->Ad[2][1]*k->X[1] + k->Ad[2][2]*k->X[2] + k->Bd[2]*accVert;
-
-  // Calcul de P
-  // P(k+1) = Ad*P(k)*Ad' + Md*W*Md'
-  for(i=0;i<3;i++){
-    for (j=0;j<3;j++){
-      I[i][j] = k->Ad[i][0]*k->P[0][j] + k->Ad[i][1]*k->P[1][j] + k->Ad[i][2]*k->P[2][j];
-    }
-  }
-
-  for(i=0;i<3;i++){
-    for (j=0;j<3;j++){
-      k->P[i][j] = I[i][0]*k->Ad[j][0] + I[i][1]*k->Ad[j][1] + I[i][2]*k->Ad[j][2];
-    }
-  }
-
-  for(i=0;i<3;i++){
-    for (j=0;j<2;j++){
-      J[i][j] = k->Md[i][0]*k->W[0][j] + k->Md[i][1]*k->W[1][j];
-    }
-  }
-
-  for(i=0;i<3;i++){
-    for (j=0;j<3;j++){
-      k->P[i][j] = k->P[i][j] + J[i][0]*k->Md[j][0] + J[i][1]*k->Md[j][1];
-    }
-  }
-
-}
-
-/*************************************************************************
- *
- * Correction GPS
- *
- *************************************************************************/
-
-void kalmanCorrectionGPS(TypeKalman *k, float altitude_gps){ // altitude_gps est l'altitude telle qu'elle est mesurée par le GPS
-
-  int i, j, div;
-  float I[3][3]; // matrice temporaire
-
-  float Kf[3] = { 0., 0., 0. };
-
-  // calcul de Kf
-  // C = [1 0 0]
-  // div = C*P*C' + R
-  div = k->P[0][0] + SigAltiGPS*SigAltiGPS;
-
-  if (fabs(div) > 1e-5) {
-    // Kf = P*C'*inv(div)
-    Kf[0] = k->P[0][0] / div;
-    Kf[1] = k->P[1][0] / div;
-    Kf[2] = k->P[2][0] / div;
-
-    // calcul de X
-    // X = X + Kf*(meas - C*X)
-    float constante = k->X[0];
-    for(i=0;i<3;i++){
-      k->X[i] = k->X[i]+Kf[i]*(altitude_gps - constante);
-    }
-
-    // calcul de P
-    // P = P - Kf*C*P
-    I[0][0] = Kf[0]; I[0][1] = 0; I[0][2] = 0;
-    I[1][0] = Kf[1]; I[1][1] = 0; I[1][2] = 0;
-    I[2][0] = Kf[2]; I[2][1] = 0; I[2][2] = 0;
-	
-    for(i=0;i<3;i++){
-      for (j=0;j<3;j++){
-        k->P[i][j] = k->P[i][j] - I[i][0]*k->P[0][j] - I[i][1]*k->P[1][j] - I[i][2]*k->P[2][j];
-      }
-    }
-  }
-
-}
-
-/*************************************************************************
- *
- * Correction altimètre
- *
- *************************************************************************/
-
-void kalmanCorrectionAltimetre(TypeKalman *k, float altitude_altimetre){
-
-  int i, j, div;
-  float I[3][3]; // matrice temporaire
-
-  float Kf[3] = { 0., 0., 0. };
-
-  // calcul de Kf
-  // C = [1 0 1]
-  // div = C*P*C' + R
-  div = k->P[0][0] + k->P[2][0] + k->P[0][2] + k->P[2][2] + SigAltiAltimetre*SigAltiAltimetre;
-  
-  if (fabs(div) > 1e-5) {
-    // Kf = P*C'*inv(div)
-    Kf[0] = (k->P[0][0] + k->P[0][2]) / div;
-    Kf[1] = (k->P[1][0] + k->P[1][2]) / div;
-    Kf[2] = (k->P[2][0] + k->P[2][2]) / div;
-
-    // calcul de X
-    // X = X + Kf*(meas - C*X)
-    float constante = k->X[0] + k->X[2];
-    for(i=0;i<3;i++){
-      k->X[i] = k->X[i]+Kf[i]*(altitude_altimetre - constante);
-    }
-
-    // calcul de P
-    // P = P - Kf*C*P
-    I[0][0] = Kf[0]; I[0][1] = 0; I[0][2] = Kf[0];
-    I[1][0] = Kf[1]; I[1][1] = 0; I[1][2] = Kf[1];
-    I[2][0] = Kf[2]; I[2][1] = 0; I[2][2] = Kf[2];
-
-    for(i=0;i<3;i++){
-      for (j=0;j<3;j++){
-        k->P[i][j] = k->P[i][j] - I[i][0]*k->P[0][j] - I[i][1]*k->P[1][j] - I[i][2]*k->P[2][j];
-      }
-    }
-  }
-
-}
-
+/*
+ * Copyright (C) 2010 ENAC
+ *
+ * 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.
+ *
+ */
+
+#include "modules/ins/alt_filter.h"
+#include "gps.h"
+#include "modules/sensors/baro_ets.h"
+
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+#include "mcu_periph/uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+TypeKalman alt_filter;
+
+/* Kalman parameters */
+float SigAltiGPS;
+float SigAltiAltimetre;
+float MarcheAleaBiaisAltimetre;
+float MarcheAleaAccelerometre;
+
+/* Function declaration */
+void kalmanInit(TypeKalman *k);
+void kalmanEstimation(TypeKalman *k, float accVert);
+void kalmanCorrectionGPS(TypeKalman *k, float altitude_gps);
+void kalmanCorrectionAltimetre(TypeKalman *k, float altitude_altimetre);
+
+/* last measured values */
+float last_gps_alt;
+float last_baro_alt;
+
+void alt_filter_init(void) {
+  SigAltiGPS = 5.;
+  SigAltiAltimetre = 5.;
+  MarcheAleaBiaisAltimetre = 0.1;
+  MarcheAleaAccelerometre = 0.5;
+  last_gps_alt = 0.;
+  last_baro_alt = 0.;
+
+  kalmanInit(&alt_filter);
+}
+
+void alt_filter_periodic(void) {
+  // estimation at each step
+  kalmanEstimation(&alt_filter,0.);
+
+  // update on new data
+  float ga = (float)gps_alt / 100.;
+  if (baro_ets_altitude != last_baro_alt) {
+    kalmanCorrectionAltimetre(&alt_filter, baro_ets_altitude);
+    last_baro_alt = baro_ets_altitude;
+  }
+  if (ga != last_gps_alt && GpsFixValid()) {
+    kalmanCorrectionGPS(&alt_filter, ga);
+    last_gps_alt = ga;
+  }
+
+  RunOnceEvery(6,DOWNLINK_SEND_VFF(DefaultChannel, &baro_ets_altitude,
+        &(alt_filter.X[0]), &(alt_filter.X[1]), &(alt_filter.X[2]),
+        &(alt_filter.P[0][0]), &(alt_filter.P[1][1]), &(alt_filter.P[2][2])));
+
+}
+
+
+/*************************************************************************
+ *
+ * Filter Initialisation
+ *
+ *************************************************************************/
+
+
+void kalmanInit(TypeKalman *k){
+
+  k->W[0][0] = MarcheAleaAccelerometre*MarcheAleaAccelerometre; k->W[0][1] = 0;
+  k->W[1][0] = 0; k->W[1][1] = MarcheAleaBiaisAltimetre*MarcheAleaBiaisAltimetre;
+
+  k->X[0] = 0;
+  k->X[1] = 0;
+  k->X[2] = 0;
+
+  k->P[0][0] = 1; k->P[0][1] = 0; k->P[0][2] = 0;
+  k->P[1][0] = 0; k->P[1][1] = 1; k->P[1][2] = 0;
+  k->P[2][0] = 0; k->P[2][1] = 0; k->P[2][2] = 0.0001;
+
+  k->Te = (1./60.);
+
+  // System dynamic
+  k->Ad[0][0] = 1; k->Ad[0][1] = k->Te; k->Ad[0][2] = 0;
+  k->Ad[1][0] = 0; k->Ad[1][1] = 1; k->Ad[1][2] = 0;
+  k->Ad[2][0] = 0; k->Ad[2][1] = 0; k->Ad[2][2] = 1;
+
+  // System command
+  k->Bd[0] = pow(k->Te,2)/2;
+  k->Bd[1] = k->Te;
+  k->Bd[2] = 0;
+
+  k->Md[0][0] = pow(k->Te, 1.5)/2; k->Md[0][1] = 0;
+  k->Md[1][0] = pow(k->Te, 0.5); k->Md[1][1] = 0;
+  k->Md[2][0] = 0; k->Md[2][1] = pow(k->Te, 0.5);
+}
+
+
+/*************************************************************************
+ *
+ * Estimation
+ *
+ *************************************************************************/
+
+
+void kalmanEstimation(TypeKalman *k, float accVert){
+
+
+  int i,j;
+  float I[3][3]; // matrices temporaires
+  float J[3][2];
+
+  // Calcul de X
+  // X(k+1) = Ad*X(k) + Bd*U(k)
+  k->X[0] = k->Ad[0][0]*k->X[0] + k->Ad[0][1]*k->X[1] + k->Ad[0][2]*k->X[2] + k->Bd[0]*accVert;
+  k->X[1] = k->Ad[1][0]*k->X[0] + k->Ad[1][1]*k->X[1] + k->Ad[1][2]*k->X[2] + k->Bd[1]*accVert;
+  k->X[2] = k->Ad[2][0]*k->X[0] + k->Ad[2][1]*k->X[1] + k->Ad[2][2]*k->X[2] + k->Bd[2]*accVert;
+
+  // Calcul de P
+  // P(k+1) = Ad*P(k)*Ad' + Md*W*Md'
+  for(i=0;i<3;i++){
+    for (j=0;j<3;j++){
+      I[i][j] = k->Ad[i][0]*k->P[0][j] + k->Ad[i][1]*k->P[1][j] + k->Ad[i][2]*k->P[2][j];
+    }
+  }
+
+  for(i=0;i<3;i++){
+    for (j=0;j<3;j++){
+      k->P[i][j] = I[i][0]*k->Ad[j][0] + I[i][1]*k->Ad[j][1] + I[i][2]*k->Ad[j][2];
+    }
+  }
+
+  for(i=0;i<3;i++){
+    for (j=0;j<2;j++){
+      J[i][j] = k->Md[i][0]*k->W[0][j] + k->Md[i][1]*k->W[1][j];
+    }
+  }
+
+  for(i=0;i<3;i++){
+    for (j=0;j<3;j++){
+      k->P[i][j] = k->P[i][j] + J[i][0]*k->Md[j][0] + J[i][1]*k->Md[j][1];
+    }
+  }
+
+}
+
+/*************************************************************************
+ *
+ * Correction GPS
+ *
+ *************************************************************************/
+
+void kalmanCorrectionGPS(TypeKalman *k, float altitude_gps){ // altitude_gps est l'altitude telle qu'elle est mesurée par le GPS
+
+  int i, j, div;
+  float I[3][3]; // matrice temporaire
+
+  float Kf[3] = { 0., 0., 0. };
+
+  // calcul de Kf
+  // C = [1 0 0]
+  // div = C*P*C' + R
+  div = k->P[0][0] + SigAltiGPS*SigAltiGPS;
+
+  if (fabs(div) > 1e-5) {
+    // Kf = P*C'*inv(div)
+    Kf[0] = k->P[0][0] / div;
+    Kf[1] = k->P[1][0] / div;
+    Kf[2] = k->P[2][0] / div;
+
+    // calcul de X
+    // X = X + Kf*(meas - C*X)
+    float constante = k->X[0];
+    for(i=0;i<3;i++){
+      k->X[i] = k->X[i]+Kf[i]*(altitude_gps - constante);
+    }
+
+    // calcul de P
+    // P = P - Kf*C*P
+    I[0][0] = Kf[0]; I[0][1] = 0; I[0][2] = 0;
+    I[1][0] = Kf[1]; I[1][1] = 0; I[1][2] = 0;
+    I[2][0] = Kf[2]; I[2][1] = 0; I[2][2] = 0;
+	
+    for(i=0;i<3;i++){
+      for (j=0;j<3;j++){
+        k->P[i][j] = k->P[i][j] - I[i][0]*k->P[0][j] - I[i][1]*k->P[1][j] - I[i][2]*k->P[2][j];
+      }
+    }
+  }
+
+}
+
+/*************************************************************************
+ *
+ * Correction altimètre
+ *
+ *************************************************************************/
+
+void kalmanCorrectionAltimetre(TypeKalman *k, float altitude_altimetre){
+
+  int i, j, div;
+  float I[3][3]; // matrice temporaire
+
+  float Kf[3] = { 0., 0., 0. };
+
+  // calcul de Kf
+  // C = [1 0 1]
+  // div = C*P*C' + R
+  div = k->P[0][0] + k->P[2][0] + k->P[0][2] + k->P[2][2] + SigAltiAltimetre*SigAltiAltimetre;
+  
+  if (fabs(div) > 1e-5) {
+    // Kf = P*C'*inv(div)
+    Kf[0] = (k->P[0][0] + k->P[0][2]) / div;
+    Kf[1] = (k->P[1][0] + k->P[1][2]) / div;
+    Kf[2] = (k->P[2][0] + k->P[2][2]) / div;
+
+    // calcul de X
+    // X = X + Kf*(meas - C*X)
+    float constante = k->X[0] + k->X[2];
+    for(i=0;i<3;i++){
+      k->X[i] = k->X[i]+Kf[i]*(altitude_altimetre - constante);
+    }
+
+    // calcul de P
+    // P = P - Kf*C*P
+    I[0][0] = Kf[0]; I[0][1] = 0; I[0][2] = Kf[0];
+    I[1][0] = Kf[1]; I[1][1] = 0; I[1][2] = Kf[1];
+    I[2][0] = Kf[2]; I[2][1] = 0; I[2][2] = Kf[2];
+
+    for(i=0;i<3;i++){
+      for (j=0;j<3;j++){
+        k->P[i][j] = k->P[i][j] - I[i][0]*k->P[0][j] - I[i][1]*k->P[1][j] - I[i][2]*k->P[2][j];
+      }
+    }
+  }
+
+}
+
diff --git a/sw/airborne/modules/ins/alt_filter.h b/sw/airborne/modules/ins/alt_filter.h
index 476b9eea39..b21af56ffa 100644
--- a/sw/airborne/modules/ins/alt_filter.h
+++ b/sw/airborne/modules/ins/alt_filter.h
@@ -1,54 +1,54 @@
-/*
- * Copyright (C) 2010 ENAC
- *
- * 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.
- *
- */
-
-#ifndef ALT_FILTER_H
-#define ALT_FILTER_H
-
-
-/*************************************************************************/
-/*************************************************************************/
-
-/* Kalman 3 states Filter for GPS / barometer and IMU fusion
- */
-
-/*************************************************************************/
-/*************************************************************************/
-
-#define KALT_N_ETAT 3
-
-typedef struct
-{
-  float Te;
-  float P[KALT_N_ETAT][KALT_N_ETAT];
-  float W[KALT_N_ETAT-1][KALT_N_ETAT-1];
-  float X[KALT_N_ETAT];
-  float Bd[KALT_N_ETAT];
-  float Ad[KALT_N_ETAT][KALT_N_ETAT];
-  float Md[KALT_N_ETAT][KALT_N_ETAT-1];
-} TypeKalman;
-
-extern TypeKalman alt_filter;
-
-extern void alt_filter_init(void);
-extern void alt_filter_periodic(void);
-
-#endif
+/*
+ * Copyright (C) 2010 ENAC
+ *
+ * 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.
+ *
+ */
+
+#ifndef ALT_FILTER_H
+#define ALT_FILTER_H
+
+
+/*************************************************************************/
+/*************************************************************************/
+
+/* Kalman 3 states Filter for GPS / barometer and IMU fusion
+ */
+
+/*************************************************************************/
+/*************************************************************************/
+
+#define KALT_N_ETAT 3
+
+typedef struct
+{
+  float Te;
+  float P[KALT_N_ETAT][KALT_N_ETAT];
+  float W[KALT_N_ETAT-1][KALT_N_ETAT-1];
+  float X[KALT_N_ETAT];
+  float Bd[KALT_N_ETAT];
+  float Ad[KALT_N_ETAT][KALT_N_ETAT];
+  float Md[KALT_N_ETAT][KALT_N_ETAT-1];
+} TypeKalman;
+
+extern TypeKalman alt_filter;
+
+extern void alt_filter_init(void);
+extern void alt_filter_periodic(void);
+
+#endif