diff --git a/README b/README
index 82a77efe6e..4239f4a8a6 100644
--- a/README
+++ b/README
@@ -1,33 +1,33 @@
 #   Paparazzi $Id$
-#   Copyright (C) 2003-2006 Pascal Brisset Antoine Drouin
+#   Copyright (C) 2003-2010 The Paparazzi Team
 #
-# This file is part of paparazzi.
+# This file is part of Paparazzi.
 #
-# paparazzi is free software; you can redistribute it and/or modify
+# 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,
+# 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
+# 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.  
 
+
 Intro
 -----
 
-Paparazzi is an attempt to develop a cheap fixed wing UAV (Unmanned Air
-Vehicle).  As of today we have successfully flown autonomously several small
-electro powered fixed wing aircraft (Twinstar, Microjet, ...).
+Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
+ As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
 
 Up to date informations are available from the wiki website
 
-	paparazzi.enac.fr
+	http://paparazzi.enac.fr
 
 and from the mailing list (http://savannah.nongnu.org/mail/?group=paparazzi)
 and the IRC channel (freenode, #paparazzi).
@@ -62,15 +62,18 @@ For Debian or Ubuntu users, required packages are available at
 
 	http://paparazzi.enac.fr/debian
 
-Installation of the meta-package "paparazzi-dev" will install
-everything needed to compile this project (if something is missing,
-please ask) for simulation. "paparazzi-arm7" is required to compile
-the code for the ARM based boards.
+
+  - "paparazzi-dev" will provide everything needed to compile and run the ground segment and the simulator. If something is missing, please report it. 
+  - "paparazzi-arm7" is required to compile the code for LPC21 based boards ( tiny, twog, booz, etc). 
+  - "paparazzi-stm32" is needed for building code for STM32 based boards (lisa/L, lisa/M)
+  - "paparazzi-omap" is needed for building code for the optional Gumstix Overo module available on lisa/L
+
+  - "paparazzi-jsbsim" is needed for using jsbsim as flight dynamic model for the simulator.
 
 Compilation and demo simulation
 -------------------------------
 
-  1) "make" in the top directory to compile all the libraries and tools.
+  1) type "make" in the top directory to compile all the libraries and tools.
 
   2) "./paparazzi" to run the Paparazzi Center
 
diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index 4d9585943f..808669cb93 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -93,11 +93,12 @@ ARCH=stm32
 FLASH_MODE = JTAG
 
 SRC_ARCH = $(ARCH)
-SRC_BETH=beth
+SRC_BETH=firmwares/beth
 SRC_BOOZ=booz
 SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
 SRC_LISA=lisa
 SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
+SRC_FIRMWARE=subsystems
 
 main_stm32.ARCHDIR = stm32
 #main_stm32.LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
@@ -136,13 +137,13 @@ main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
 #crista IMU
 main_stm32.srcs += math/pprz_trig_int.c
 main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
-main_stm32.srcs += $(SRC_FIRMWARE)/imu.c             \
-                        $(SRC_FIRMWARE)/imu/imu_crista.c \
-                        $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
+main_stm32.srcs += subsystems/imu.c             \
+                        subsystems/imu/imu_crista.c \
+                        arch/$(ARCH)/subsystems/imu/imu_crista_arch.c
 main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
 
 main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
-main_stm32.srcs += $(SRC_BOOZ)/actuators/actuators_asctec.c 
+main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c 
 #\
 #                             $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
 main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
@@ -317,7 +318,7 @@ overo_sfb.srcs    += $(SRC_BETH)/overo_sfb_controller.c
 #
 #
 #
-include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/obsolete/lisa_test_progs.makefile
 
   </makefile>
 
diff --git a/conf/airframes/vor.xml b/conf/airframes/vor.xml
index 99b625d096..ea7f66b737 100644
--- a/conf/airframes/vor.xml
+++ b/conf/airframes/vor.xml
@@ -4,13 +4,12 @@
 
 ARCH=lpc21
 
-VOR=vor
 
 FLASH_MODE = IAP
 main.ARCHDIR = $(ARCH)
 
-main.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
-main.srcs = $(VOR)/lpc_vor_main.c
+main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\"
+main.srcs = firmwares/vor/lpc_vor_main.c
 
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./29880.)'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -19,7 +18,7 @@ main.CFLAGS += -DLED
 
 main.srcs += $(SRC_ARCH)/armVIC.c
 
-main.srcs += $(VOR)/lpc_vor_convertions.c
+main.srcs += firmwares/vor/lpc_vor_convertions.c
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600
 main.srcs += $(SRC_ARCH)/uart_hw.c
@@ -27,7 +26,7 @@ main.srcs += $(SRC_ARCH)/uart_hw.c
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 main.srcs += downlink.c pprz_transport.c
 
-main.srcs += $(VOR)/vor_int_demod_decim.c
+main.srcs += firmwares/vor/vor_int_demod_decim.c
 
 
   </makefile>
diff --git a/conf/autopilot/conf_demo.h b/conf/autopilot/conf_demo.h
deleted file mode 100644
index 804b8def03..0000000000
--- a/conf/autopilot/conf_demo.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef CONFIG_DEMO_H
-#define CONFIG_DEMO_H
-
-/* Master oscillator freq.       */
-#define FOSC (12000000) 
-/* PLL multiplier                */
-#define PLL_MUL (5)         
-/* CPU clock freq.               */
-#define CCLK (FOSC * PLL_MUL) 
-/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2   */
-#define PBSD_BITS 0x00    
-#define PBSD_VAL 4
-/* Peripheral bus clock freq.    */
-#define PCLK (CCLK / PBSD_VAL) 
-
-#define LED_1_BANK 1
-#define LED_1_PIN 24
-
-
-#endif /* CONFIG_DEMO_H */
diff --git a/conf/messages.xml b/conf/messages.xml
index efc4d578ed..3a69a1fb30 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -743,7 +743,12 @@
   </message>
 
  <!--113 is free -->
- <!--114 is free -->
+
+  <message name="PAYLOAD" id="114">
+    <field name="values" type="uint8[]" unit="none"/>
+  </message>
+
+
  <!--115 is free -->
  <!--116 is free -->
  <!--117 is free -->
@@ -1931,6 +1936,11 @@
     <field name="TURN"      type="uint16"/>
   </message>
 
+  <message name="PAYLOAD_COMMAND" id="97" link="forwarded">
+    <field name="ac_id" type="uint8"/>
+    <field name="command"     type="uint8[]"/>
+  </message>
+
  <message name="SET_ACTUATOR" id="100" link="forwarded">
    <field name="value" type="uint16"/>
    <field name="no" type="uint8"/>
diff --git a/conf/settings/settings_beth.xml b/conf/settings/settings_beth.xml
index b2cfa56c1a..135a0d60d8 100644
--- a/conf/settings/settings_beth.xml
+++ b/conf/settings/settings_beth.xml
@@ -4,7 +4,7 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_twist_controller" shortname ="mode"/>
+      <dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_twist_controller" shortname ="mode"/>
 
     </dl_settings>
   </dl_settings>
diff --git a/conf/settings/settings_beth_full.xml b/conf/settings/settings_beth_full.xml
index 5540784647..dea2c22efd 100644
--- a/conf/settings/settings_beth_full.xml
+++ b/conf/settings/settings_beth_full.xml
@@ -4,24 +4,24 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator"  shortname="azim_gain">
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator"  shortname="azim_gain">
       </dl_setting>
 
-      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
 
       <dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
diff --git a/conf/settings/settings_beth_pid.xml b/conf/settings/settings_beth_pid.xml
index b26c65f493..f59904e713 100644
--- a/conf/settings/settings_beth_pid.xml
+++ b/conf/settings/settings_beth_pid.xml
@@ -4,24 +4,24 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator"  shortname="azim_gain">
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator"  shortname="azim_gain">
       </dl_setting>
 
-      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
 
       <dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
diff --git a/conf/settings/settings_beth_reduced.xml b/conf/settings/settings_beth_reduced.xml
index 934b6a2574..a89f7cacf0 100644
--- a/conf/settings/settings_beth_reduced.xml
+++ b/conf/settings/settings_beth_reduced.xml
@@ -4,7 +4,7 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_controller" shortname ="mode"/>
+      <dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_controller" shortname ="mode"/>
 
     </dl_settings>
   </dl_settings>
diff --git a/conf/settings/settings_beth_sfb.xml b/conf/settings/settings_beth_sfb.xml
index 72524a21f6..9d213de5bb 100644
--- a/conf/settings/settings_beth_sfb.xml
+++ b/conf/settings/settings_beth_sfb.xml
@@ -4,27 +4,27 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_sfb_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_sfb_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_sfb_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_sfb_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
       
-      <dl_setting var="controller.a" min=".001" step=".01" max=".06" module="beth/overo_sfb_controller">
+      <dl_setting var="controller.a" min=".001" step=".01" max=".06" module="firmwares/beth/overo_sfb_controller">
       </dl_setting>
       
-     <dl_setting var="controller.b" min=".01" step=".01" max=".54" module="beth/overo_sfb_controller">
+     <dl_setting var="controller.b" min=".01" step=".01" max=".54" module="firmwares/beth/overo_sfb_controller">
       </dl_setting>
 
-      <dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_sfb_controller" shortname ="mode"/>
+      <dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_sfb_controller" shortname ="mode"/>
 
     </dl_settings>
   </dl_settings>
diff --git a/conf/settings/settings_beth_twist.xml b/conf/settings/settings_beth_twist.xml
index 606781002c..c9d13c8588 100644
--- a/conf/settings/settings_beth_twist.xml
+++ b/conf/settings/settings_beth_twist.xml
@@ -4,37 +4,37 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator"  shortname="azim_gain">
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator"  shortname="azim_gain">
       </dl_setting>
 
-      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="2" module="beth/overo_twist_controller" shortname="ulim">
+      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="2" module="firmwares/beth/overo_twist_controller" shortname="ulim">
       </dl_setting>
-      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="0.2" module="beth/overo_twist_controller"  shortname="Vm">
+      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="0.2" module="firmwares/beth/overo_twist_controller"  shortname="Vm">
       </dl_setting>
-      <dl_setting var="controller.VM" min="100" step="10" max="700" module="beth/overo_twist_controller"  shortname="VM">
+      <dl_setting var="controller.VM" min="100" step="10" max="700" module="firmwares/beth/overo_twist_controller"  shortname="VM">
       </dl_setting>
-      <dl_setting var="controller.satval1" min=".01" step="0.05" max="0.174" module="beth/overo_twist_controller"  shortname="satval1">
+      <dl_setting var="controller.satval1" min=".01" step="0.05" max="0.174" module="firmwares/beth/overo_twist_controller"  shortname="satval1">
       </dl_setting>
-      <dl_setting var="controller.satval2" min="0.01" step="0.01" max=".282" module="beth/overo_twist_controller"  shortname="satval2">
+      <dl_setting var="controller.satval2" min="0.01" step="0.01" max=".282" module="firmwares/beth/overo_twist_controller"  shortname="satval2">
       </dl_setting>
-      <dl_setting var="controller.c" min="0.001" step="0.1" max="9.5" module="beth/overo_twist_controller"  shortname="c">
+      <dl_setting var="controller.c" min="0.001" step="0.1" max="9.5" module="firmwares/beth/overo_twist_controller"  shortname="c">
       </dl_setting>
 
   <!--float ulim;  1 
diff --git a/conf/settings/settings_beth_twist_old.xml b/conf/settings/settings_beth_twist_old.xml
index 3f053c7a29..faf1d5cf8b 100644
--- a/conf/settings/settings_beth_twist_old.xml
+++ b/conf/settings/settings_beth_twist_old.xml
@@ -4,37 +4,37 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator"  shortname="azim_gain">
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator"  shortname="azim_gain">
       </dl_setting>
 
-      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" module="beth/overo_twist_controller" shortname="ulim">
+      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" module="firmwares/beth/overo_twist_controller" shortname="ulim">
       </dl_setting>
-      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" module="beth/overo_twist_controller"  shortname="Vm">
+      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" module="firmwares/beth/overo_twist_controller"  shortname="Vm">
       </dl_setting>
-      <dl_setting var="controller.VM" min="100" step="10" max="600" module="beth/overo_twist_controller"  shortname="VM">
+      <dl_setting var="controller.VM" min="100" step="10" max="600" module="firmwares/beth/overo_twist_controller"  shortname="VM">
       </dl_setting>
-      <dl_setting var="controller.satval1" min="0" step="0.1" max="100" module="beth/overo_twist_controller"  shortname="satval1">
+      <dl_setting var="controller.satval1" min="0" step="0.1" max="100" module="firmwares/beth/overo_twist_controller"  shortname="satval1">
       </dl_setting>
-      <dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" module="beth/overo_twist_controller"  shortname="satval2">
+      <dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" module="firmwares/beth/overo_twist_controller"  shortname="satval2">
       </dl_setting>
-      <dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="beth/overo_twist_controller"  shortname="c">
+      <dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="firmwares/beth/overo_twist_controller"  shortname="c">
       </dl_setting>
 
   <!--float ulim;  1 
diff --git a/sw/airborne/boards/olimex_lpc_h2148.h b/sw/airborne/boards/olimex_lpc_h2148.h
index 1af49983a6..310ac6fe91 100644
--- a/sw/airborne/boards/olimex_lpc_h2148.h
+++ b/sw/airborne/boards/olimex_lpc_h2148.h
@@ -16,5 +16,7 @@
 #define LED_1_BANK 1
 #define LED_1_PIN 24
 
+#define LED_2_BANK 1
+#define LED_2_PIN 23
 
 #endif /* CONFIG_OLIMEX_H2148_H */
diff --git a/sw/airborne/firmwares/beth/main_coders.c b/sw/airborne/firmwares/beth/main_coders.c
index 5b127f2b70..2e927c02ab 100644
--- a/sw/airborne/firmwares/beth/main_coders.c
+++ b/sw/airborne/firmwares/beth/main_coders.c
@@ -15,7 +15,7 @@
 
 #include <string.h>
 
-#include "beth/bench_sensors.h"
+#include "firmwares/beth/bench_sensors.h"
 
 /*
  *
diff --git a/sw/airborne/firmwares/beth/main_stm32.c b/sw/airborne/firmwares/beth/main_stm32.c
index 6c8278eed7..e34bf8518e 100644
--- a/sw/airborne/firmwares/beth/main_stm32.c
+++ b/sw/airborne/firmwares/beth/main_stm32.c
@@ -33,7 +33,7 @@
 //#include "booz/booz_radio_control.h"
 #include "subsystems/imu.h"
 #include "lisa/lisa_overo_link.h"
-#include "beth/bench_sensors.h"
+#include "bench_sensors.h"
 
 static inline void main_init( void );
 static inline void main_periodic( void );
diff --git a/sw/airborne/firmwares/beth/overo_gcs_com.c b/sw/airborne/firmwares/beth/overo_gcs_com.c
index d2a74517fc..854a778db5 100644
--- a/sw/airborne/firmwares/beth/overo_gcs_com.c
+++ b/sw/airborne/firmwares/beth/overo_gcs_com.c
@@ -10,11 +10,12 @@
 #include "settings.h"
 
 //bill laptop
-#define GCS_HOST "10.31.4.5"
+//#define GCS_HOST "10.31.4.5"
 //#define GCS_HOST "192.168.2.10"
 //#define GCS_HOST "192.168.2.1"
 //auto4
 //#define GCS_HOST "10.31.4.104"
+#define GCS_HOST "10.31.4.107"
 #define GCS_PORT 4242
 #define DATALINK_PORT 4243
 
diff --git a/sw/airborne/firmwares/vor/lpc_vor_convertions.c b/sw/airborne/firmwares/vor/lpc_vor_convertions.c
index d21ad6a419..3359bfef42 100644
--- a/sw/airborne/firmwares/vor/lpc_vor_convertions.c
+++ b/sw/airborne/firmwares/vor/lpc_vor_convertions.c
@@ -55,7 +55,7 @@ void vor_adc_init( void ) {
   /* clear match */
   T0EMR &= ~TEMR_EM1;
   /* set high on match 1 */
-  T0EMR |= TEMR_EMC11;
+  T0EMR |= (3<<6);//TEMR_EMC1_1;
   /* first match in a while */
   T0MR1 = 1024;
   vor_adc_overrun = FALSE;
@@ -64,6 +64,9 @@ void vor_adc_init( void ) {
 
 void adcISR0 ( void ) {
   ISR_ENTRY();
+
+  LED_TOGGLE(2);
+
   uint32_t tmp = AD0GDR;
   //  uint32_t tmp = AD0DR3;
   //  uint8_t  channel = (uint8_t)(tmp >> 24) & 0x07;
diff --git a/sw/airborne/firmwares/vor/lpc_vor_main.c b/sw/airborne/firmwares/vor/lpc_vor_main.c
index 048725c5de..aa136c3c0f 100644
--- a/sw/airborne/firmwares/vor/lpc_vor_main.c
+++ b/sw/airborne/firmwares/vor/lpc_vor_main.c
@@ -17,23 +17,24 @@ static inline void main_report( void );
 
 int main( void ) {
   main_init();
+
   while(1) {
     if (vor_adc_sample_available) {
       int16_t off_sample = vor_adc_sample - 512;
       //      off_sample *= 2;
-
+      
       vor_int_demod_run (off_sample);
-
+      
       if (vid_qdr_available) {
       	vid_qdr_available = FALSE;
 	main_report();
       }
-
+      
       VorDacSet(vor_adc_sample);
       vor_adc_sample_available = FALSE;
     }
+    
   }
-
   return 0;
 }
 
diff --git a/sw/airborne/gps.c b/sw/airborne/gps.c
index 9997abd34f..ba189dff39 100644
--- a/sw/airborne/gps.c
+++ b/sw/airborne/gps.c
@@ -51,7 +51,7 @@
 
 #ifdef FMS_PERIODIC_FREQ
 #include "messages2.h"
-#include "beth/overo_gcs_com.h"
+#include "firmwares/beth/overo_gcs_com.h"
 #define DefaultChannel gcs_com.udp_transport
 #else
 #define DOWNLINK_DEVICE DOWNLINK_GPS_DEVICE
diff --git a/sw/lib/ocaml/cserial.c b/sw/lib/ocaml/cserial.c
index 7854ce5553..878a3b4b44 100644
--- a/sw/lib/ocaml/cserial.c
+++ b/sw/lib/ocaml/cserial.c
@@ -70,7 +70,7 @@ value c_init_serial(value device, value speed)
   cur_termios.c_lflag &= ~(ISIG|ICANON|IEXTEN|ECHO|FLUSHO|PENDIN);
   cur_termios.c_lflag |= NOFLSH;
   
-  if (cfsetispeed(&cur_termios, br)) failwith("setting modem serial device speed");
+  if (cfsetspeed(&cur_termios, br)) failwith("setting modem serial device speed");
 
   if (tcsetattr(fd, TCSADRAIN, &cur_termios)) failwith("setting modem serial device attr");
   
diff --git a/sw/lib/ocaml/ivy/Makefile b/sw/lib/ocaml/ivy/Makefile
index 8d7d35e4e1..e738db897c 100644
--- a/sw/lib/ocaml/ivy/Makefile
+++ b/sw/lib/ocaml/ivy/Makefile
@@ -17,7 +17,7 @@ OCAMLFLAGS =
 endif
 
 OCAMLOPTFLAGS=
-CFLAGS=-Wall
+CFLAGS+=-Wall
 OCAMLINC=-I `ocamlc -where`
 GLIBINC=`pkg-config --cflags glib-2.0`
 
diff --git a/sw/lib/ocaml/ivy/civyloop.c b/sw/lib/ocaml/ivy/civyloop.c
index 529e5dae1f..d774e9923c 100644
--- a/sw/lib/ocaml/ivy/civyloop.c
+++ b/sw/lib/ocaml/ivy/civyloop.c
@@ -25,7 +25,7 @@ value ivy_mainLoop(value unit)
 void timer_cb(TimerId id, void *data, unsigned long delta)
 {
   value closure = *(value*)data;
-  callback(closure, Val_long((int) id));	
+  callback(closure, Val_long(id));	
 }
 
 value ivy_timerRepeatafter(value nb_ticks,value delay, value closure_name)