diff --git a/sw/lib/python/math/.gitignore b/sw/lib/python/math/.gitignore
new file mode 100644
index 0000000000..391a60a8c1
--- /dev/null
+++ b/sw/lib/python/math/.gitignore
@@ -0,0 +1,3 @@
+build
+*.c
+pprz_geodetic.py
diff --git a/sw/lib/python/math/Makefile b/sw/lib/python/math/Makefile
new file mode 100644
index 0000000000..d8b47188a3
--- /dev/null
+++ b/sw/lib/python/math/Makefile
@@ -0,0 +1,7 @@
+
+all:
+	swig2.0 -python pprz_geodetic.i
+	python setup.py build_ext --inplace
+
+clean:
+	rm -rf build *.so *.c pprz_geodetic.py
diff --git a/sw/lib/python/math/__init__.py b/sw/lib/python/math/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sw/lib/python/math/pprz_geodetic.i b/sw/lib/python/math/pprz_geodetic.i
new file mode 100644
index 0000000000..af337fc36c
--- /dev/null
+++ b/sw/lib/python/math/pprz_geodetic.i
@@ -0,0 +1,10 @@
+/* File : pprz_geodetic.i */
+%module pprz_geodetic
+%feature("autodoc", "3");
+%include "typemaps.i"
+%include pprz_geodetic_int.i
+%include pprz_geodetic_float.i
+%include pprz_geodetic_double.i
+%{
+#define SWIG_FILE_WITH_INIT
+%}
diff --git a/sw/lib/python/math/pprz_geodetic_double.i b/sw/lib/python/math/pprz_geodetic_double.i
new file mode 100644
index 0000000000..a637728e9f
--- /dev/null
+++ b/sw/lib/python/math/pprz_geodetic_double.i
@@ -0,0 +1,65 @@
+/* File : pprz_geodetic_double.i */
+%module geodetic_double
+%{
+#include "math/pprz_geodetic_double.h"
+%}
+
+struct EcefCoor_d {
+  double x; ///< in meters
+  double y; ///< in meters
+  double z; ///< in meters
+};
+
+struct LlaCoor_d {
+  double lat; ///< in radians
+  double lon; ///< in radians
+  double alt; ///< in meters above WGS84 reference ellipsoid
+};
+
+struct NedCoor_d {
+  double x; ///< in meters
+  double y; ///< in meters
+  double z; ///< in meters
+};
+
+struct EnuCoor_d {
+  double x; ///< in meters
+  double y; ///< in meters
+  double z; ///< in meters
+};
+
+struct UtmCoor_d {
+  double north; ///< in meters
+  double east; ///< in meters
+  double alt; ///< in meters above WGS84 reference ellipsoid
+  uint8_t zone; ///< UTM zone number
+};
+
+struct LtpDef_d {
+  struct EcefCoor_d  ecef; ///< origin of local frame in ECEF
+  struct LlaCoor_d   lla; ///< origin of local frame in LLA
+  struct DoubleRMat ltp_of_ecef; ///< rotation from ECEF to local frame
+  double hmsl; ///< height in meters above mean sea level
+};
+
+void lla_of_utm_d(struct LlaCoor_d *out, struct UtmCoor_d *in);
+void ltp_def_from_ecef_d(struct LtpDef_d *def, struct EcefCoor_d *ecef);
+void lla_of_ecef_d(struct LlaCoor_d *out, struct EcefCoor_d *in);
+void ecef_of_lla_d(struct EcefCoor_d *out, struct LlaCoor_d *in);
+
+void enu_of_ecef_point_d(struct EnuCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
+void ned_of_ecef_point_d(struct NedCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
+
+void enu_of_ecef_vect_d(struct EnuCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
+void ned_of_ecef_vect_d(struct NedCoor_d *ned, struct LtpDef_d *def, struct EcefCoor_d *ecef);
+
+void ecef_of_enu_point_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct EnuCoor_d *enu);
+void ecef_of_ned_point_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct NedCoor_d *ned);
+
+void ecef_of_enu_vect_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct EnuCoor_d *enu);
+void ecef_of_ned_vect_d(struct EcefCoor_d *ecef, struct LtpDef_d *def, struct NedCoor_d *ned);
+
+void enu_of_lla_point_d(struct EnuCoor_d *enu, struct LtpDef_d *def, struct LlaCoor_d *lla);
+void ned_of_lla_point_d(struct NedCoor_d *ned, struct LtpDef_d *def, struct LlaCoor_d *lla);
+
+double gc_of_gd_lat_d(double gd_lat, double hmsl);
diff --git a/sw/lib/python/math/pprz_geodetic_float.i b/sw/lib/python/math/pprz_geodetic_float.i
new file mode 100644
index 0000000000..7865fe1f57
--- /dev/null
+++ b/sw/lib/python/math/pprz_geodetic_float.i
@@ -0,0 +1,80 @@
+/* File : pprz_geodetic_float.i */
+%module geodetic_float
+%{
+#include "math/pprz_geodetic_float.h"
+%}
+
+struct EcefCoor_f {
+  float x; ///< in meters
+  float y; ///< in meters
+  float z; ///< in meters
+};
+
+/**
+ * @brief vector in Latitude, Longitude and Altitude
+ */
+struct LlaCoor_f {
+  float lat; ///< in radians
+  float lon; ///< in radians
+  float alt; ///< in meters above WGS84 reference ellipsoid
+};
+
+/**
+ * @brief vector in North East Down coordinates
+ * Units: meters */
+struct NedCoor_f {
+  float x; ///< in meters
+  float y; ///< in meters
+  float z; ///< in meters
+};
+
+/**
+ * @brief vector in East North Up coordinates
+ * Units: meters */
+struct EnuCoor_f {
+  float x; ///< in meters
+  float y; ///< in meters
+  float z; ///< in meters
+};
+
+/**
+ * @brief position in UTM coordinates
+ * Units: meters */
+struct UtmCoor_f {
+  float north; ///< in meters
+  float east; ///< in meters
+  float alt; ///< in meters above WGS84 reference ellipsoid
+  uint8_t zone; ///< UTM zone number
+};
+
+/**
+ * @brief definition of the local (flat earth) coordinate system
+ * @details Defines the origin of the local coordinate system
+ * in ECEF and LLA coordinates and the roation matrix from
+ * ECEF to local frame */
+struct LtpDef_f {
+  struct EcefCoor_f ecef; ///< origin of local frame in ECEF
+  struct LlaCoor_f  lla; ///< origin of local frame in LLA
+  struct FloatRMat ltp_of_ecef; ///< rotation from ECEF to local frame
+  float hmsl; ///< Height above mean sea level in meters
+};
+
+void lla_of_utm_f(struct LlaCoor_f *lla, struct UtmCoor_f *utm);
+void utm_of_lla_f(struct UtmCoor_f *utm, struct LlaCoor_f *lla);
+void ltp_def_from_ecef_f(struct LtpDef_f *def, struct EcefCoor_f *ecef);
+void ltp_def_from_lla_f(struct LtpDef_f *def, struct LlaCoor_f *lla);
+void lla_of_ecef_f(struct LlaCoor_f *out, struct EcefCoor_f *in);
+void ecef_of_lla_f(struct EcefCoor_f *out, struct LlaCoor_f *in);
+void enu_of_ecef_point_f(struct EnuCoor_f *enu, struct LtpDef_f *def, struct EcefCoor_f *ecef);
+void ned_of_ecef_point_f(struct NedCoor_f *ned, struct LtpDef_f *def, struct EcefCoor_f *ecef);
+void enu_of_ecef_vect_f(struct EnuCoor_f *enu, struct LtpDef_f *def, struct EcefCoor_f *ecef);
+void ned_of_ecef_vect_f(struct NedCoor_f *ned, struct LtpDef_f *def, struct EcefCoor_f *ecef);
+void enu_of_lla_point_f(struct EnuCoor_f *enu, struct LtpDef_f *def, struct LlaCoor_f *lla);
+void ned_of_lla_point_f(struct NedCoor_f *ned, struct LtpDef_f *def, struct LlaCoor_f *lla);
+
+/*  not enought precision with floats - used the double version */
+void ecef_of_enu_point_f(struct EcefCoor_f *ecef, struct LtpDef_f *def, struct EnuCoor_f *enu);
+void ecef_of_ned_point_f(struct EcefCoor_f *ecef, struct LtpDef_f *def, struct NedCoor_f *ned);
+void ecef_of_enu_vect_f(struct EcefCoor_f *ecef, struct LtpDef_f *def, struct EnuCoor_f *enu);
+void ecef_of_ned_vect_f(struct EcefCoor_f *ecef, struct LtpDef_f *def, struct NedCoor_f *ned);
+/* end use double versions */
diff --git a/sw/lib/python/math/pprz_geodetic_int.i b/sw/lib/python/math/pprz_geodetic_int.i
new file mode 100644
index 0000000000..884b8d7400
--- /dev/null
+++ b/sw/lib/python/math/pprz_geodetic_int.i
@@ -0,0 +1,90 @@
+/* File : pprz_geodetic_int.i */
+%module geodetic_int
+%include "stdint.i"
+%{
+#include "math/pprz_geodetic_int.h"
+%}
+
+
+/**
+ * @brief vector in EarthCenteredEarthFixed coordinates
+ * @details Origin at center of mass of the Earth. Z-axis is pointing north,
+ * the x-axis intersects the sphere of the earth at 0° latitude (Equator)
+ * and 0° longitude (Greenwich). Y-axis completes it to right-hand system.
+ * Units: centimeters */
+struct EcefCoor_i {
+  int32_t x; ///< in centimeters
+  int32_t y; ///< in centimeters
+  int32_t z; ///< in centimeters
+};
+
+/**
+ * @brief vector in Latitude, Longitude and Altitude
+ */
+struct LlaCoor_i {
+  int32_t lat; ///< in degrees*1e7
+  int32_t lon; ///< in degrees*1e7
+  int32_t alt; ///< in millimeters above WGS84 reference ellipsoid
+};
+
+/**
+ * @brief vector in North East Down coordinates
+ */
+struct NedCoor_i {
+  int32_t x;  ///< North
+  int32_t y;  ///< East
+  int32_t z;  ///< Down
+};
+
+/**
+ * @brief vector in East North Up coordinates
+ */
+struct EnuCoor_i {
+  int32_t x;  ///< East
+  int32_t y;  ///< North
+  int32_t z;  ///< Up
+};
+
+/**
+ * @brief position in UTM coordinates
+ */
+struct UtmCoor_i {
+  int32_t north; ///< in centimeters
+  int32_t east; ///< in centimeters
+  int32_t alt; ///< in millimeters above WGS84 reference ellipsoid
+  uint8_t zone; ///< UTM zone number
+};
+
+/**
+ * @brief definition of the local (flat earth) coordinate system
+ * @details Defines the origin of the local coordinate system
+ * in ECEF and LLA coordinates and the roation matrix from
+ * ECEF to local frame */
+struct LtpDef_i {
+  struct EcefCoor_i ecef;        ///< Reference point in ecef
+  struct LlaCoor_i  lla;         ///< Reference point in lla
+  struct Int32RMat ltp_of_ecef; ///< Rotation matrix
+  int32_t hmsl;                  ///< Height above mean sea level in mm
+};
+
+extern void ltp_of_ecef_rmat_from_lla_i(struct Int32RMat *ltp_of_ecef, struct LlaCoor_i *lla);
+extern void ltp_def_from_ecef_i(struct LtpDef_i *def, struct EcefCoor_i *ecef);
+extern void ltp_def_from_lla_i(struct LtpDef_i *def, struct LlaCoor_i *lla);
+extern void lla_of_ecef_i(struct LlaCoor_i *out, struct EcefCoor_i *in);
+extern void ecef_of_lla_i(struct EcefCoor_i *out, struct LlaCoor_i *in);
+extern void enu_of_ecef_point_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef);
+extern void ned_of_ecef_point_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef);
+extern void enu_of_ecef_pos_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef);
+extern void ned_of_ecef_pos_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef);
+extern void enu_of_ecef_vect_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef);
+extern void ned_of_ecef_vect_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef);
+extern void enu_of_lla_point_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla);
+extern void ned_of_lla_point_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla);
+extern void enu_of_lla_vect_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla);
+extern void ned_of_lla_vect_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla);
+extern void ecef_of_enu_point_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu);
+extern void ecef_of_ned_point_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned);
+extern void ecef_of_enu_pos_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu);
+extern void ecef_of_ned_pos_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned);
+extern void ecef_of_enu_vect_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu);
+extern void ecef_of_ned_vect_i(struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned);
diff --git a/sw/lib/python/math/setup.py b/sw/lib/python/math/setup.py
new file mode 100644
index 0000000000..90a971ff3c
--- /dev/null
+++ b/sw/lib/python/math/setup.py
@@ -0,0 +1,32 @@
+#!/usr/bin/env python
+
+"""
+setup.py file for pprz_geodetic math wrapper
+"""
+
+from distutils.core import setup, Extension
+
+from os import path, getenv
+
+# if PAPARAZZI_SRC not set, then assume the tree containing this
+# file is a reasonable substitute
+pprz_src = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+pprz_airborne = path.join(pprz_src, "sw/airborne")
+
+common_inc_dirs = ["./", path.join(pprz_src, "sw/include"), pprz_airborne]
+
+pprz_geodetic_module = Extension('_pprz_geodetic',
+                                   sources=['pprz_geodetic_wrap.c',
+                                            path.join(pprz_airborne, 'math/pprz_geodetic_int.c'),
+                                            path.join(pprz_airborne, 'math/pprz_geodetic_double.c'),
+                                            path.join(pprz_airborne, 'math/pprz_geodetic_float.c')
+                                        ],
+                                   include_dirs=common_inc_dirs)
+
+setup(name='geodetic_double',
+      version='0.1',
+      author="Felix Ruess",
+      description="""Pprz geodetic math wrapper""",
+      ext_modules=[pprz_geodetic_module],
+      py_modules=["pprz_geodetic"],
+      )