diff --git a/conf/joystick/radiomaster_TX16s.xml b/conf/joystick/radiomaster_TX16s.xml
new file mode 100644
index 0000000000..95472e50f1
--- /dev/null
+++ b/conf/joystick/radiomaster_TX16s.xml
@@ -0,0 +1,62 @@
+<joystick>
+
+  <!--
+    RadioMaster TX16S (OpenTX/EdgeTX) — Paparazzi UAV joystick configuration
+
+    Axis mapping (verify with: ./sw/ground_segment/joystick/test_stick):
+      Axis 0 : Roll       — right stick X
+      Axis 1 : Pitch      — right stick Y
+      Axis 2 : Throttle   — left stick Y
+      Axis 3 : Yaw        — left stick X
+      Axis 5 : Mode switch — 3-position (SA/SB): low / mid / high
+      Axis 6 : Arm switch  — 2-position (SF/SE): 0 = disarm, ~1024 = arm
+
+    TX16S switch axes output 0 / ~1024 / ~2047 (unsigned), which input2ivy
+    scales to -127 / 0 / +127 internally.
+
+    Pitch and throttle are inverted relative to Paparazzi convention — hence
+    the minus signs in the RC_UP field values below.
+  -->
+
+  <input>
+    <!-- deadband: eliminates stick drift at centre (range 0-127)  -->
+    <!-- exponent: finer control near centre, faster at extremes (range 0-1.0) -->
+    <axis index="0" name="roll"     deadband="10" exponent="0.5" limit="1.0" trim="0"/>
+    <axis index="1" name="pitch"    deadband="10" exponent="0.5" limit="1.0" trim="0"/>
+    <axis index="2" name="throttle" deadband="5"  exponent="0.0" limit="1.0" trim="0"/>
+    <axis index="3" name="yaw"      deadband="10" exponent="0.5" limit="1.0" trim="0"/>
+    <axis index="5" name="mode_sw"/>
+    <axis index="6" name="arm_sw"/>
+  </input>
+
+  <variables>
+    <var name="mode" default="0"/>
+  </variables>
+
+  <messages period="0.05">
+
+    <message class="datalink" name="RC_UP" send_always="true">
+      <field name="channels"
+             value="roll;
+                    -pitch;
+                    yaw;
+                    Fit(-throttle,-127,127,0,127);
+                    Fit(mode_sw,-127,127,0,2)"/>
+    </message>
+
+    <!-- Arm switch: arm_sw > -60 = armed, arm_sw < -60 = disarmed/killed -->
+    <message class="ground" name="DL_SETTING"
+             on_event="arm_sw &gt; -60">
+      <field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
+      <field name="value" value="0"/>
+    </message>
+
+    <message class="ground" name="DL_SETTING"
+             on_event="arm_sw &lt; -60">
+      <field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
+      <field name="value" value="1"/>
+    </message>
+
+  </messages>
+
+</joystick>
diff --git a/conf/joystick/radiomaster_pocket_ble.xml b/conf/joystick/radiomaster_pocket_ble.xml
new file mode 100644
index 0000000000..e5ac1cc9b5
--- /dev/null
+++ b/conf/joystick/radiomaster_pocket_ble.xml
@@ -0,0 +1,42 @@
+<!--
+RadioMaster pocket Transmitter - Used as Bluetooth Joystick
+
+The RadioMaster Pocket is a versatile 32CH radio transmitter with Bluetooth capability.
+This configuration assumes no modification were done with jstest-gtk
+
+In this file we will use it as a 6CH joystick to control a UAS.
+- The left stick vertical axis will be used for throttle
+- The right stick horizontal axis will be used for roll
+- The right stick vertical axis will be used for pitch
+- The left stick horizontal axis will be used for yaw
+- The VRA axis will be used for arming (left top switch)
+- The VRC axis will be used for mode switch (right top switch)
+
+If you want to fly your UAS via the joystick add this to your session:
+
+ /home/username/paparazzi/sw/ground_segment/joystick/input2ivy -d 0 -ac yourairframe_name radiomaster_pocket_ble.xml
+
+Where -d 0 must be -d 1 if you have a laptop with accelerometer installed
+
+The basis of steering is the standard signs of aerospace convention
+-->
+
+<joystick>
+  <input>
+    <axis index="4" name="LeftStickHorizontal"/>
+    <axis index="3" name="LeftStickVertical"/>
+    <axis index="0" name="RightStickHorizontal"/>
+    <axis index="1" name="RightStickVertical"/>
+    <!-- VRA is SA and VRC is SC switch -->
+    <axis index="2" name="VRA"/>
+    <axis index="6" name="VRC"/>
+  </input>
+
+  <!-- Follow the order of rc_datalink.h -->
+  <messages period="0.05">
+    <message class="datalink" name="RC_UP" send_always="true">
+      <field name="channels" value="RightStickHorizontal;-RightStickVertical;LeftStickHorizontal;Fit(LeftStickVertical,-127,127,0,127);VRC;VRA"/>
+    </message>
+  </messages>
+
+</joystick>
\ No newline at end of file
diff --git a/conf/joystick/radiomaster_pocket_usb.xml b/conf/joystick/radiomaster_pocket_usb.xml
new file mode 100644
index 0000000000..a62f8786b8
--- /dev/null
+++ b/conf/joystick/radiomaster_pocket_usb.xml
@@ -0,0 +1,42 @@
+<!--
+RadioMaster pocket Transmitter - Used as USB Joystick
+
+The RadioMaster Pocket is a versatile 32CH radio transmitter.
+This configuration assumes no modification were done with jstest-gtk
+
+In this file we will use it as a 6CH joystick to control a UAS.
+- The left stick vertical axis will be used for throttle
+- The right stick horizontal axis will be used for roll
+- The right stick vertical axis will be used for pitch
+- The left stick horizontal axis will be used for yaw
+- The VRA axis will be used for arming (left top switch)
+- The VRC axis will be used for mode switch (right top switch)
+
+If you want to fly your UAS via the joystick add this to your session:
+
+ /home/username/paparazzi/sw/ground_segment/joystick/input2ivy -d 0 -ac yourairframe_name radiomaster_pocket_usb.xml
+
+Where -d 0 must be -d 1 if you have a laptop with accelerometer installed
+
+The basis of steering is the standard signs of aerospace convention
+-->
+
+<joystick>
+  <input>
+    <axis index="3" name="LeftStickHorizontal"/>
+    <axis index="2" name="LeftStickVertical"/>
+    <axis index="0" name="RightStickHorizontal"/>
+    <axis index="1" name="RightStickVertical"/>
+    <!-- VRA is SA and VRC is SC switch -->
+    <axis index="4" name="VRA"/>
+    <axis index="6" name="VRC"/>
+  </input>
+
+  <!-- Follow the order of rc_datalink.h -->
+  <messages period="0.05">
+    <message class="datalink" name="RC_UP" send_always="true">
+      <field name="channels" value="RightStickHorizontal;-RightStickVertical;LeftStickHorizontal;Fit(LeftStickVertical,-127,127,0,127);VRC;VRA"/>
+    </message>
+  </messages>
+
+</joystick>
\ No newline at end of file
diff --git a/conf/modules/bebop_cam.xml b/conf/modules/bebop_cam.xml
index 56b56e1d41..91b6050dbd 100644
--- a/conf/modules/bebop_cam.xml
+++ b/conf/modules/bebop_cam.xml
@@ -6,9 +6,9 @@
       Compile and control the settings of the Bebop front and bottom cameras.
     </description>
     <section name="Front camera" prefix="MT9F002_">
-      <define name="RESOLUTION" value="0" description="Preset image resolutions, 0 = VGA, 1 = 720p, 2 = 720p 4:3 aspect ratio, 3 = 1080p, 4 = 1080p 4:3 aspect ratio, 5 = 2048*2048, this is the max dimention allowable with isp"/>
+      <define name="RESOLUTION" value="0" description="Preset image resolutions, 0 = VGA, 1 = 720p, 2 = 720p 4:3 aspect ratio, 3 = 1080p, 4 = 1080p 4:3 aspect ratio, 5 = 2048*2048, this is the max dimension allowable with isp"/>
       <define name="OUTPUT_WIDTH" value="640" description="Image horizontal resolution used if MT9F002_RESOLUTION not defined"/>
-      <define name="OUTPUT_HEIGHT" value="640" description="Image vertical resolution used if MT9F002_RESOLUTION not defined"/>
+      <define name="OUTPUT_HEIGHT" value="480" description="Image vertical resolution used if MT9F002_RESOLUTION not defined"/>
       <define name="OFFSET_X" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
       <define name="OFFSET_Y" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
       <define name="ZOOM" value="1" description="Zoom factor of image"/>
@@ -18,8 +18,8 @@
       <define name="GAIN_GREEN2" value="2" description="Green gain"/>
       <define name="GAIN_RED" value="1.4" description="Red gain"/>
       <define name="GAIN_BLUE" value="2.7" description="Blue gain"/>
-      <define name="FOCAL_X" value="0.48686" description="Focal length in the x-direction in pixels"/>
-      <define name="OFFSET_X" value="0.48908" description="Focal length in the y-direction in pixels"/>
+      <define name="FOCAL_X" value="0.48686" description="Normalized focal length in x-direction (fraction of image width)"/>
+      <define name="FOCAL_Y" value="0.48908" description="Normalized focal length in y-direction (fraction of image width)"/>
       <define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
       <define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
       <define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
@@ -27,60 +27,136 @@
     
     <section name="Bottom camera" prefix="MT9V117_">
       <define name="TARGET_FPS" value="30" description="Desired frame rate"/>
-      <define name="FOCAL_X" value="0.48686" description="Focal length in the x-direction in pixels"/>
-      <define name="OFFSET_X" value="0.48908" description="Focal length in the y-direction in pixels"/>
+      <define name="FOCAL_X" value="0.48686" description="Normalized focal length in x-direction (fraction of image width)"/>
+      <define name="FOCAL_Y" value="0.48908" description="Normalized focal length in y-direction (fraction of image width)"/>
       <define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
       <define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
       <define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
     </section>
   </doc>
   
+ <!-- ================= Camera runtime settings ================= -->
+  <!-- These settings appear in the Paparazzi Ground Control Station
+       and allow adjusting camera parameters during flight. -->
   <settings>
-	  <dl_settings NAME="Bebop camera control">
+
+    <!-- Top-level group shown in the settings tree -->
+	  <dl_settings name="Bebop camera control">
+
+      <!-- Settings for the Bebop FRONT camera (MT9F002 sensor) -->
 	    <dl_settings name="Front camera">
-	      <dl_setting var="mt9f002.set_zoom" min="1." step="0.05" max="2.5" shortname="zoom" param="MT9F002_ZOOM"/>
-	      <dl_setting var="mt9f002.set_offset_x" min="-0.5" step="0.05" max="0.5" shortname="offset_x" param="MT9F002_OFFSET_X"/>
-	      <dl_setting var="mt9f002.set_offset_y" min="-0.5" step="0.05" max="0.5" shortname="offset_y" param="MT9F002_OFFSET_Y"/>
-	      <dl_setting var="mt9f002_send_resolution" min="1" step="1" max="1" values="SEND" shortname="update_resolution" module="boards/bebop/mt9f002" handler="setting_update_resolution"/>
-	      <dl_setting var="mt9f002.gain_green1" min="1" step="0.1" max="60" shortname="green_1" param="MT9F002_GAIN_GREEN1"/>
-	      <dl_setting var="mt9f002.gain_green2" min="1" step="0.1" max="60" shortname="green_2" param="MT9F002_GAIN_GREEN2"/>
-	      <dl_setting var="mt9f002.gain_blue" min="1" step="0.1" max="60" shortname="blue" param="MT9F002_GAIN_BLUE"/>
-	      <dl_setting var="mt9f002.gain_red" min="1" step="0.1" max="60" shortname="red" param="MT9F002_GAIN_RED"/>
-	      <dl_setting var="mt9f002_send_color" min="1" step="1" max="1" values="SEND" shortname="update_color" module="boards/bebop/mt9f002" handler="setting_update_color"/>
-	      <dl_setting var="mt9f002.target_exposure " min="0.1" step="0.1" max="80" shortname="exposure" param="MT9F002_TARGET_EXPOSURE"/>
-	      <dl_setting var="mt9f002_send_exposure" min="1" step="1" max="1" values="SEND" shortname="update_exposure" module="boards/bebop/mt9f002" handler="setting_update_exposure"/>
+
+        <!-- Digital zoom factor applied by the ISP -->
+	      <dl_setting var="mt9f002.set_zoom" min="1." step="0.05" max="2.5"
+                    shortname="zoom" param="MT9F002_ZOOM"/>
+
+        <!-- Horizontal crop offset relative to image center
+             Range [-0.5, 0.5] corresponds to fraction of sensor width -->
+	      <dl_setting var="mt9f002.set_offset_x" min="-0.5" step="0.05" max="0.5"
+                    shortname="offset_x" param="MT9F002_OFFSET_X"/>
+
+        <!-- Vertical crop offset relative to image center -->
+	      <dl_setting var="mt9f002.set_offset_y" min="-0.5" step="0.05" max="0.5"
+                    shortname="offset_y" param="MT9F002_OFFSET_Y"/>
+
+        <!-- Trigger command to send updated resolution to the camera driver -->
+	      <dl_setting var="mt9f002_send_resolution" min="1" step="1" max="1"
+                    values="SEND" shortname="update_resolution"
+                    module="boards/bebop/mt9f002"
+                    handler="setting_update_resolution"/>
+
+        <!-- White balance gains for Bayer channels -->
+	      <dl_setting var="mt9f002.gain_green1" min="1" step="0.1" max="60"
+                    shortname="green_1" param="MT9F002_GAIN_GREEN1"/>
+
+	      <dl_setting var="mt9f002.gain_green2" min="1" step="0.1" max="60"
+                    shortname="green_2" param="MT9F002_GAIN_GREEN2"/>
+
+	      <dl_setting var="mt9f002.gain_blue" min="1" step="0.1" max="60"
+                    shortname="blue" param="MT9F002_GAIN_BLUE"/>
+
+	      <dl_setting var="mt9f002.gain_red" min="1" step="0.1" max="60"
+                    shortname="red" param="MT9F002_GAIN_RED"/>
+
+        <!-- Send updated color gain values to the camera hardware -->
+	      <dl_setting var="mt9f002_send_color" min="1" step="1" max="1"
+                    values="SEND" shortname="update_color"
+                    module="boards/bebop/mt9f002"
+                    handler="setting_update_color"/>
+
+        <!-- Target exposure level used by the automatic exposure control -->
+	      <dl_setting var="mt9f002.target_exposure" min="0.1" step="0.1" max="80"
+                    shortname="exposure" param="MT9F002_TARGET_EXPOSURE"/>
+
+        <!-- Apply the new exposure setting to the camera -->
+	      <dl_setting var="mt9f002_send_exposure" min="1" step="1" max="1"
+                    values="SEND" shortname="update_exposure"
+                    module="boards/bebop/mt9f002"
+                    handler="setting_update_exposure"/>
+
   	  </dl_settings> 
     </dl_settings>
   </settings>
-  
+
+
+  <!-- ================= Module dependencies ================= -->
+  <!-- Requires I2C communication for the sensors and the
+       video processing thread for image streaming -->
   <dep>
     <depends>i2c,video_thread</depends>
   </dep>
-  
+
+
+  <!-- ================= Header files ================= -->
+  <!-- Camera driver interfaces used by this module -->
   <header>
-    <file name="mt9v117.h"/>
-    <file name="mt9f002.h"/>
+    <file name="mt9v117.h"/> <!-- bottom camera sensor -->
+    <file name="mt9f002.h"/> <!-- front camera sensor -->
   </header>
 
+
+  <!-- ================= Module initialization ================= -->
+  <!-- Called during autopilot startup to initialize sensors -->
   <init fun="mt9v117_init(PTR(mt9v117))"/>
   <init fun="mt9f002_init(PTR(mt9f002))"/>
+
+
+  <!-- ================= Build rules for autopilot target ================= -->
   <makefile target="ap">
+
+    <!-- Camera driver implementations -->
     <file name="mt9v117.c"/>
     <file name="mt9f002.c"/>
+
+    <!-- Bebop image signal processor (ISP) library -->
     <file name="libisp.c" dir="boards/bebop/isp"/>
 
+    <!-- Size of I2C communication buffer -->
     <define name="I2C_BUF_LEN" value="56"/>
+
+    <!-- Use Bebop I2C bus 0 -->
     <define name="USE_I2C0"/>
+
+    <!-- Also define for test builds -->
     <test>
       <define name="USE_I2C0"/>
     </test>
+
   </makefile>
+
+
+  <!-- ================= Build rules for NPS simulator ================= -->
   <makefile target="nps">
+
+    <!-- Simulated camera drivers -->
     <file name="mt9v117_nps.c"/>
     <file name="mt9f002_nps.c"/>
+
+    <!-- Same ISP library used for simulation -->
     <file name="libisp.c" dir="boards/bebop/isp"/>
 
     <define name="I2C_BUF_LEN" value="56"/>
     <define name="USE_I2C0"/>
+
   </makefile>
 </module>
diff --git a/conf/userconf/tudelft/course_control_panel.xml b/conf/userconf/tudelft/course_control_panel.xml
index 7e08e91e52..e3bb6d7ff0 100644
--- a/conf/userconf/tudelft/course_control_panel.xml
+++ b/conf/userconf/tudelft/course_control_panel.xml
@@ -23,7 +23,7 @@
       <program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
         <arg flag="-ac" constant="@AIRCRAFT"/>
         <arg flag="sm600.xml"/>
-        <arg flag="-d 0"/>
+        <arg flag="-d" constant="0"/>
       </program>
       <program name="Gazebo"/>
       <program name="RtpViewer">
@@ -65,7 +65,7 @@
       <program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
         <arg flag="-ac" constant="@AIRCRAFT"/>
         <arg flag="sm600.xml"/>
-        <arg flag="-d 0"/>
+        <arg flag="-d" constant="0"/>
       </program>
       <!--program name="NatNet3">
         <arg flag="-ac 9999" constant="@AC_ID"/>
diff --git a/sw/ext/README b/sw/ext/README
deleted file mode 100644
index 2757a67603..0000000000
--- a/sw/ext/README
+++ /dev/null
@@ -1 +0,0 @@
-This directory contains libraries and tools in external git repositories used in paparazzi.
diff --git a/sw/ext/README.md b/sw/ext/README.md
new file mode 100644
index 0000000000..be69805e12
--- /dev/null
+++ b/sw/ext/README.md
@@ -0,0 +1,214 @@
+# External Libraries and Tools
+
+This directory contains git submodules referencing external libraries and tools used by Paparazzi. These modules provide essential functionality for communications, flight control, simulation, cryptography, and more.
+
+## Table of Contents
+- [Quick Start](#quick-start)
+- [Installing All Modules](#installing-all-modules)
+- [Installing Individual Modules](#installing-individual-modules)
+- [Available Modules](#available-modules)
+- [OpenCV Bebop Setup](#opencv-bebop-setup)
+- [Troubleshooting](#troubleshooting)
+
+---
+
+## Quick Start
+
+Initialize and build all external modules:
+
+```bash
+make -C sw/ext
+```
+
+This will checkout and compile all dependencies automatically.
+
+---
+
+## Installing All Modules
+
+To install and build all external modules at once:
+
+```bash
+make -C sw/ext
+```
+
+This runs the complete build chain for all modules that require compilation (chibios, fatfs, libsbp, TRICAL, hacl-c, key_generator, rustlink, ecl, matrix, mavlink, dronecan, and unifiedmocaprouter).
+
+---
+
+## Installing Individual Modules
+
+To install or update only a specific module, run:
+
+```bash
+make -C sw/ext <module-name>
+```
+
+**Example:**
+```bash
+make -C sw/ext chibios
+make -C sw/ext mavlink
+```
+
+Each module target will sync and update the git submodule, then build if required.
+
+---
+
+## Available Modules
+
+See the main [Makefile in this directory](Makefile) for the complete list of modules and their build targets. Common modules include:
+
+- **chibios** — Operating system for embedded systems
+- **fatfs** — FAT filesystem library
+- **mavlink** — MAVLink message definitions and code generation
+- **pprzlink** — Paparazzi-specific communications protocol
+- **libsbp** — Swift Binary Protocol for GNSS/RTK
+- **TRICAL** — Magnetometer automatic calibration
+- **opencv_bebop** — Computer vision library (see detailed instructions below)
+- **dronecan** — DroneCAN protocol support
+- **And many more...** — See [Makefile](Makefile) for details
+
+---
+
+## OpenCV Bebop Setup
+
+This module provides advanced computer vision capabilities for Bebop drones.
+
+### Prerequisites
+
+This guide has been tested on **Ubuntu 22.04**. For Ubuntu 20.04 instructions, see: [`conf/modules/cv_opencvdemo.xml`](../../conf/modules/cv_opencvdemo.xml)
+
+### Building OpenCV Bebop
+
+From the paparazzi source directory:
+
+```bash
+cd sw/ext
+make opencv_bebop
+```
+
+### Verify Installation
+
+After a successful build, you should have these directories:
+
+```
+sw/ext/opencv_bebop/build_arm/
+sw/ext/opencv_bebop/build_pc/
+sw/ext/opencv_bebop/install_arm/
+sw/ext/opencv_bebop/install_pc/
+```
+
+These contain compiled binaries for ARM (autopilot) and PC (simulation) targets.
+
+### Configuring Your Airframe Module
+
+To use OpenCV in your airframe, configure your module XML with build flags for both autopilot (`ap`) and simulation (`nps`) targets.
+
+**Example airframe module configuration:**
+
+```xml
+<makefile target="ap">
+    <file name="opencv_example.cpp"/>
+    <file name="opencv_image_functions.cpp"/>
+    <flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install_arm/include/opencv4"/>
+    
+    <flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_arm/lib"/>
+    <flag name="LDFLAGS" value="lopencv_world"/>
+    <flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_arm/lib/opencv4/3rdparty"/>
+    <flag name="LDFLAGS" value="llibprotobuf"/>
+    <flag name="LDFLAGS" value="llibjpeg-turbo"/>
+    <flag name="LDFLAGS" value="llibpng"/>
+    <flag name="LDFLAGS" value="llibtiff"/>
+    <flag name="LDFLAGS" value="llibopenjp2"/>
+    <flag name="LDFLAGS" value="lzlib"/>
+    <flag name="LDFLAGS" value="lade"/>
+    <flag name="LDFLAGS" value="ldl"/>
+    <flag name="LDFLAGS" value="lm"/>
+    <flag name="LDFLAGS" value="lpthread"/>
+    <flag name="LDFLAGS" value="lrt"/>
+  </makefile>
+  <makefile target="nps">
+    <file name="opencv_example.cpp"/>
+    <file name="opencv_image_functions.cpp"/>
+    
+    <flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install_pc/include/opencv4"/>
+    
+    <flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/lib"/>
+    <flag name="LDFLAGS" value="lopencv_world"/>
+    <flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/lib/opencv4/3rdparty"/>
+    <flag name="LDFLAGS" value="llibprotobuf"/>
+    <flag name="LDFLAGS" value="lade"/>
+    <flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu"/>
+    <flag name="LDFLAGS" value="ljpeg"/>
+    <flag name="LDFLAGS" value="lpng"/>
+    <flag name="LDFLAGS" value="ltiff"/>
+    <flag name="LDFLAGS" value="lopenjp2"/>
+    <flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu/hdf5/serial"/>
+    <flag name="LDFLAGS" value="lhdf5"/>
+    <flag name="LDFLAGS" value="lcrypto"/>
+    <flag name="LDFLAGS" value="lcurl"/>
+    <flag name="LDFLAGS" value="lpthread"/>
+    <flag name="LDFLAGS" value="lsz"/>
+    <flag name="LDFLAGS" value="lz"/>
+    <flag name="LDFLAGS" value="ldl"/>
+    <flag name="LDFLAGS" value="lm"/>
+    <flag name="LDFLAGS" value="lfreetype"/>
+    <flag name="LDFLAGS" value="lharfbuzz"/>
+    <flag name="LDFLAGS" value="lrt"/>
+
+  </makefile>
+</module>
+```
+
+### Using OpenCV in C++ Code
+
+Include the OpenCV headers in your C++ files:
+
+```cpp
+#include "opencv_image_functions.h"
+
+using namespace std;
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+using namespace cv;
+```
+
+You can then use provided wrapper functions like `grayscale_opencv_to_yuv422()` in your code:
+
+```cpp
+// Convert and process images
+Mat image = imread("image.jpg");
+Mat gray;
+cvtColor(image, gray, COLOR_BGR2GRAY);
+// ... your vision processing
+```
+
+### Team Consistency
+
+**Important:** Ensure all team members use the same build environment and configuration. Inconsistent builds can lead to compatibility issues during testing and deployment, leading to high dependency on one laptop/person.
+
+---
+
+## Troubleshooting
+
+### Build Failures
+
+- **Module not found:** Ensure you're running `make` from the paparazzi root or using `make -C sw/ext`
+- **Dependency errors:** Check that required packages are installed (see individual module documentation)
+- **Python build issues:** Some modules (mavlink, dronecan) require Python packages. See [Makefile](Makefile) for details on `MY_MAVLINKTOOLS` and `MY_DRONECANTOOLS`
+
+### Submodule Issues
+
+If a submodule is in a bad state, reinitialize it:
+
+```bash
+# Sync and reset a specific module
+cd <paparazzi-root>
+git submodule sync sw/ext/<module-name>
+git submodule update --init --recursive sw/ext/<module-name>
+
+# Or reset all modules
+git submodule update --init --recursive
+```
+
+---
diff --git a/sw/ext/tudelft_gazebo_models b/sw/ext/tudelft_gazebo_models
index c865ea02fb..2becbf6fdf 160000
--- a/sw/ext/tudelft_gazebo_models
+++ b/sw/ext/tudelft_gazebo_models
@@ -1 +1 @@
-Subproject commit c865ea02fbc8562c9a2dd387e91455554f6eec65
+Subproject commit 2becbf6fdfa6692264ca0d77925adb621f9d62e7
diff --git a/sw/tools/opti_dist/dist.py b/sw/tools/opti_dist/dist.py
index 1325123444..406feed531 100755
--- a/sw/tools/opti_dist/dist.py
+++ b/sw/tools/opti_dist/dist.py
@@ -1,126 +1,193 @@
-#!/usr/bin/env python3
-import time
-import sys
-import os
-import math
-import argparse
-import matplotlib.pyplot as plt
-import matplotlib.patches as mpatches
-
-# if PAPARAZZI_HOME not set, then assume the tree containing this
-# file is a reasonable substitute
-PPRZ_HOME = os.getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '../../../')))
-sys.path.append(PPRZ_HOME + "/sw/ground_segment/python/natnet3.x")
-
-from NatNetClient import NatNetClient
-
-recording = False
-
-def on_press(event):
-    global recording
-    if event.key == 'r':
-        recording = not recording
-    if event.key == 'q':
-        plt.close()
-
-
-# This is a callback function that gets connected to the NatNet client. It is called once per rigid body per frame
-def receiveRigidBodyFrame(rigidBodyList, stamp):
-    # print(rigidBodyList)
-    for (id, position, quat, valid) in rigidBodyList:
-        # print( "Received frame for rigid body", id )
-        global pos_x, pos_y, pos_z
-        global track_id
-        if track_id and id != track_id:
-            continue
-        
-        # print( "Received frame for rigid body", id )
-        pos_x = position[0]
-        pos_y = position[1]
-        pos_z = position[2]
-
-
-def main(args):
-    global track_id
-    track_id = args.id
-    
-    global pos_x, pos_y, pos_z
-    pos_x, pos_y, pos_z = 0.0, 0.0, 0.0
-    fig = plt.figure()
-    plt.axis([-6, 6, -6, 6])
-    
-    # add key press event
-    fig.canvas.mpl_connect('key_press_event', on_press)
-    
-    # title
-    plt.title('Press r to start/stop recording \n press q to quit')
-    
-    # This will create a new NatNet client
-    streamingClient = NatNetClient(
-        server=args.server,
-        multicast=args.multicast,
-        commandPort=args.commandPort,
-        dataPort=args.dataPort,
-        rigidBodyListListener=receiveRigidBodyFrame,
-        version=(3,0,0,0))
-    # Start up the streaming client now that the callbacks are set up.
-    # This will run perpetually, and operate on a separate thread.
-    streamingClient.run()
-    
-    time.sleep(2)
-    print('Start tracking')
-    if args.outputfile:
-        file = open(args.outputfile, 'w')
-        file.write('time, distance, x, y, z, recording \n')
-    
-    old_z = pos_z
-    old_x = pos_x
-    distance = 0
-    start_time = time.time()
-    pre_time = time.time()
-    
-    while plt.fignum_exists(fig.number):
-            
-        h = math.hypot(pos_z - old_z, pos_x - old_x)
-        
-        if h > 0.10:
-            if recording:
-                distance += h
-            old_z = pos_z
-            old_x = pos_x
-        if time.time() - pre_time > .1:
-            current_time = time.time() - start_time
-            print(f'distance: {distance}; time: {current_time:.2f}; recording: {recording}')
-            pre_time = time.time()
-            
-            if args.outputfile:
-                # data = '{}, {}, {}, {}, {}, {} \n'.format(time.time() - start_time, distance, pos_x, pos_y, pos_z, recording)
-                data = f'{current_time}, {distance}, {pos_x}, {pos_y}, {pos_z}, {recording} \n'
-                file.write(data)
-                
-            if recording:
-                plt.plot(pos_z, pos_x, 'ro')
-                plt.title('Press r to start/stop recording \n press q to quit \n RECORDING')
-            else:
-                plt.plot(pos_z, pos_x, 'bo')
-                plt.title('Press r to start/stop recording \n press q to quit \n NOT RECORDING')
-                
-        plt.pause(0.001)
-        # time.sleep(0.01)
-    
-    streamingClient.stop()
-    if args.outputfile:
-        file.close()
-
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--server', default="127.0.0.1")
-    parser.add_argument('--multicast', default="239.255.42.99")
-    parser.add_argument('--commandPort', type=int, default=1510)
-    parser.add_argument('--dataPort', type=int, default=1511)
-    parser.add_argument('--id', type=int, default=None)
-    parser.add_argument('--outputfile', type=str, default=None)
-    args = parser.parse_args()
-    
-    main(args)
+#!/usr/bin/env python3
+import time
+from datetime import datetime
+import sys
+import os
+import math
+import socket
+import struct
+import argparse
+import matplotlib.pyplot as plt
+
+PPRZ_HOME = os.getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '../../../')))
+sys.path.append(PPRZ_HOME + "/sw/ground_segment/python/natnet3.x")
+
+from NatNetClient import NatNetClient
+
+
+def discover_motive(multicast="239.255.42.99", data_port=1511, timeout=3):
+    """Discover a Motive server by listening for NatNet multicast data."""
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
+    sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    sock.settimeout(timeout)
+    sock.bind(('', data_port))
+
+    # Join the NatNet multicast group
+    mreq = struct.pack('4sL', socket.inet_aton(multicast), socket.INADDR_ANY)
+    sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq)
+
+    try:
+        _, addr = sock.recvfrom(4096)
+        sock.close()
+        return addr[0]
+    except socket.timeout:
+        sock.close()
+        return None
+
+# Global state
+recording = False
+pos_x, pos_y, pos_z = 0.0, 0.0, 0.0
+track_id = None
+frame_count = 0
+seen_ids = set()
+
+
+def on_press(event):
+    global recording
+    if event.key == 'r':
+        recording = not recording
+    if event.key == 'q':
+        plt.close()
+
+
+def receive_rigid_body_frame(rigid_body_data, stamp):
+    global pos_x, pos_y, pos_z, frame_count, seen_ids
+    frame_count += 1
+    for rb in rigid_body_data.rigid_body_list:
+        seen_ids.add(rb.id_num)
+        if track_id is not None and rb.id_num != track_id:
+            continue
+        pos_x = rb.pos[0]
+        pos_y = rb.pos[1]
+        pos_z = rb.pos[2]
+
+
+def main(args):
+    global track_id
+
+    # Discover or use provided server IP
+    if args.server:
+        server_ip = args.server
+        print(f"Using provided server IP: {server_ip}")
+    else:
+        print("Discovering Motive server on the network...")
+        server_ip = discover_motive()
+        if server_ip is None:
+            print("ERROR: No Motive server found. Check that Motive is running and streaming.")
+            print("You can also specify the IP manually with --server <ip>")
+            return
+        print(f"Found Motive server at {server_ip}")
+
+    client = NatNetClient()
+    client.server_ip_address = server_ip
+    client.local_ip_address = "0.0.0.0"
+    client.set_print_level(0)
+    client.rigid_body_list_listener = receive_rigid_body_frame
+    client.run()
+
+    print("Waiting for rigid body data...")
+    time.sleep(3)
+
+    if frame_count == 0:
+        print("ERROR: No data received. Check that Motive is streaming.")
+        client.shutdown()
+        return
+
+    print(f"Receiving data: {frame_count} frames, rigid body IDs: {sorted(seen_ids)}")
+
+    # Pick which rigid body to track
+    if len(seen_ids) == 1:
+        track_id = list(seen_ids)[0]
+        print(f"Auto-selected ID {track_id}")
+    else:
+        while True:
+            choice = input(f"Enter rigid body ID to track {sorted(seen_ids)}: ").strip()
+            try:
+                choice = int(choice)
+                if choice in seen_ids:
+                    track_id = choice
+                    break
+                print(f"ID {choice} not available.")
+            except ValueError:
+                print("Please enter a valid integer.")
+
+    print(f"Tracking ID {track_id}. Press r to record, q to quit.")
+
+    # Output file with timestamp and rigid body ID
+    if args.outputfile:
+        output_path = args.outputfile
+    else:
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+        output_path = f"dist_rb{track_id}_{timestamp}.csv"
+    file = open(output_path, 'w')
+    file.write('time, distance, x, y, z, recording\n')
+    print(f"Writing data to {output_path}")
+
+    # Setup plot
+    fig = plt.figure()
+    plt.axis([-6, 6, -6, 6])
+    fig.canvas.mpl_connect('key_press_event', on_press)
+
+    old_x = pos_x
+    old_z = pos_z
+    distance = 0
+    glitch_count = 0
+    start_time = time.time()
+    pre_time = time.time()
+    freq_count = 0
+    freq_time = time.time()
+    data_freq = 0.0
+
+    while plt.fignum_exists(fig.number):
+        h = math.hypot(pos_x - old_x, pos_z - old_z)
+
+        if h > 1.0:
+            # Glitch: jump too large, ignore but update position
+            glitch_count += 1
+            old_x = pos_x
+            old_z = pos_z
+        elif h > 0.10:
+            if recording:
+                distance += h
+            old_x = pos_x
+            old_z = pos_z
+
+        # Track data frequency
+        freq_count += 1
+        now = time.time()
+        if now - freq_time >= 1.0:
+            data_freq = freq_count / (now - freq_time)
+            freq_count = 0
+            freq_time = now
+
+        if now - pre_time > 0.1:
+            current_time = now - start_time
+            print(f'distance: {distance:.2f} m; time: {current_time:.2f} s; freq: {data_freq:.0f} Hz; recording: {recording}')
+            pre_time = now
+
+            data = f'{current_time}, {distance}, {pos_x}, {pos_y}, {pos_z}, {recording}\n'
+            file.write(data)
+
+            rec_str = "RECORDING" if recording else "NOT RECORDING"
+            plt.title(f'Distance: {distance:.2f} m | {data_freq:.0f} Hz | {rec_str}\nPress r to record, q to quit')
+
+            if recording:
+                plt.plot(pos_z, pos_x, 'ro')
+            else:
+                plt.plot(pos_z, pos_x, 'bo')
+
+        plt.pause(0.001)
+
+    client.shutdown()
+    file.close()
+    print(f"Total distance: {distance:.2f} m ({glitch_count} glitches ignored)")
+    print(f"Data saved to {output_path}")
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Distance counter using Optitrack NatNet stream")
+    parser.add_argument('--server', default=None, help="Motive server IP (auto-discovers if not set)")
+    parser.add_argument('--outputfile', type=str, default=None, help="CSV output file (default: dist_rb<id>_<timestamp>.csv)")
+    args = parser.parse_args()
+
+    main(args)
diff --git a/sw/tools/opti_dist/plot_summary.py b/sw/tools/opti_dist/plot_summary.py
new file mode 100644
index 0000000000..78635d08a8
--- /dev/null
+++ b/sw/tools/opti_dist/plot_summary.py
@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+"""Plot summary of a dist.py recording: distance over time, recording regions, totals."""
+import csv
+import argparse
+import matplotlib.pyplot as plt
+import matplotlib.patches as mpatches
+
+
+def main(csvfile):
+    times = []
+    distances = []
+    recording = []
+
+    with open(csvfile) as f:
+        reader = csv.reader(f)
+        next(reader)  # skip header
+        for row in reader:
+            times.append(float(row[0]))
+            distances.append(float(row[1]))
+            recording.append(row[5].strip() == 'True')
+
+    # Compute total distance and total time spent recording
+    total_distance = distances[-1] if distances else 0.0
+    total_rec_time = 0.0
+    for i in range(1, len(times)):
+        if recording[i]:
+            total_rec_time += times[i] - times[i - 1]
+
+    print(f"File: {csvfile}")
+    print(f"Total distance: {total_distance:.2f} m")
+    print(f"Total recording time: {total_rec_time:.1f} s")
+    print(f"Total session time: {times[-1]:.1f} s")
+
+    fig, ax = plt.subplots()
+    ax.plot(times, distances, 'b-', linewidth=1.5)
+    ax.set_xlabel('Time (s)')
+    ax.set_ylabel('Distance (m)')
+    ax.set_title(f'{csvfile}\nTotal distance: {total_distance:.2f} m | Recording time: {total_rec_time:.1f} s')
+
+    # Shade recording regions
+    in_region = False
+    region_start = 0
+    for i, rec in enumerate(recording):
+        if rec and not in_region:
+            region_start = times[i]
+            in_region = True
+        elif not rec and in_region:
+            ax.axvspan(region_start, times[i], alpha=0.2, color='red')
+            in_region = False
+    if in_region:
+        ax.axvspan(region_start, times[-1], alpha=0.2, color='red')
+
+    rec_patch = mpatches.Patch(color='red', alpha=0.2, label='Recording active')
+    ax.legend(handles=[rec_patch])
+    ax.grid(True, alpha=0.3)
+
+    plt.tight_layout()
+    plt.show()
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Plot summary of a dist.py recording")
+    parser.add_argument('csvfile', help="CSV file from dist.py")
+    args = parser.parse_args()
+    main(args.csvfile)
diff --git a/tests/math/test_pprz_math.c b/tests/math/test_pprz_math.c
index dc8476c143..31cd7e8982 100644
--- a/tests/math/test_pprz_math.c
+++ b/tests/math/test_pprz_math.c
@@ -34,7 +34,7 @@
 int main()
 {
   note("running algebra math tests");
-  plan(3);
+   plan(6); // number of tests in this file to run
 
   /* test int32_vect2_normalize */
   struct Int32Vect2 v = {2300, -4200};
@@ -57,6 +57,24 @@ int main()
   ok((fabs(quat_zxy.qi - 0.9266) < 0.01 && fabs(quat_zxy.qx - -0.2317) < 0.01 && fabs(quat_zxy.qy - 0.1165) < 0.01) && fabs(quat_zxy.qz - 0.2722),
      "float_quat_of_eulers_zxy(float_eulers_of_quat_zxy(0.9266,   -0.2317,    0.1165,    0.2722)) returned [%f, %f, %f, %f]", quat_zxy.qi, quat_zxy.qx, quat_zxy.qy, quat_zxy.qz);
 
+  /* test int32_quat_normalize */
+  struct Int32Quat q = {32768, 0, 0, 0}; // 1.0 in Q15 format
+  q.qx = 16384; // 0.5 in Q15
+  q.qy = 0;
+  q.qz = 0;
+  int32_quat_normalize(&q);
+  // After normalization, the quaternion should be unit length (|q| = 1.0 in Q15)
+  // For [1, 0.5, 0, 0], norm = sqrt(1^2 + 0.5^2) = sqrt(1.25) ≈ 1.118
+  // Normalized: [1/1.118, 0.5/1.118, 0, 0] ≈ [0.894, 0.447, 0, 0]
+  // In Q15: 0.894*32768 ≈ 29300, 0.447*32768 ≈ 14650
+  ok((q.qi >= 29295 && q.qi <= 29315) && (q.qx >= 14645 && q.qx <= 14655), // allowing a small margin of error due to integer rounding
+     "int32_quat_normalize([32768,16384,0,0]) returned [%d, %d, %d, %d] (expected approx [29300,14650,0,0] +/- 15)", q.qi, q.qx, q.qy, q.qz);
+
+  uint32_t sqrt_100 = int32_sqrt(100);
+  ok(sqrt_100 == 10, "int32_sqrt(100) == %d (expected 10)", sqrt_100);
+
+  uint32_t sqrt_12345 = int32_sqrt(12345);
+  ok(sqrt_12345 >= 111 && sqrt_12345 <= 112, "int32_sqrt(12345) == %d (expected approx 111)", sqrt_12345);
 
   done_testing();
 }