diff --git a/sw/airborne/autopilot/mainloop.c b/sw/airborne/autopilot/mainloop.c
index 2dfcfb660e..77c9da88b6 100644
--- a/sw/airborne/autopilot/mainloop.c
+++ b/sw/airborne/autopilot/mainloop.c
@@ -69,6 +69,7 @@ int main( void ) {
   nav_init();
   ir_init();
   estimator_init();
+  uart0_init();
 
   /** - start interrupt task */
   sei();
@@ -114,12 +115,12 @@ int main( void ) {
       estimator_update_state_3DMG();
 #endif
 #ifdef SECTION_IMU_ANALOG
-	  /** - ahrs update */
-	  ahrs_update();
-	  Rajouter en init:  uart0_init();
-	  uart0_transmit('E');
+      /** - ahrs update */
+      ahrs_update();
+      //Rajouter en init:  uart0_init();
+      uart0_transmit('E');
       uart0_transmit(' ');
- 	  uart0_print_hex16(euler[0]);
+      uart0_print_hex16(euler[0]);
       uart0_transmit(',');
       uart0_print_hex16(euler[1]);
       uart0_transmit(',');