diff --git a/conf/flight_plans/flight_plan.dtd b/conf/flight_plans/flight_plan.dtd
index e0f84cb147..079a87eb70 100644
--- a/conf/flight_plans/flight_plan.dtd
+++ b/conf/flight_plans/flight_plan.dtd
@@ -14,8 +14,9 @@
 <!ELEMENT corner EMPTY>
 <!ELEMENT kml EMPTY>
 
-<!ELEMENT variables (variable*)>
+<!ELEMENT variables (variable|abi_binding)*>
 <!ELEMENT variable EMPTY>
+<!ELEMENT abi_binding EMPTY>
 
 <!ELEMENT modules (module*)>
 <!ELEMENT module  (configure|define)*>
@@ -114,6 +115,11 @@ alt_unit CDATA #IMPLIED
 alt_unit_coef CDATA #IMPLIED
 values CDATA #IMPLIED>
 
+<!ATTLIST abi_binding
+name CDATA #REQUIRED
+vars CDATA #REQUIRED
+id CDATA #IMPLIED>
+
 <!ATTLIST modules>
 
 <!ATTLIST module
diff --git a/sw/airborne/firmwares/fixedwing/nav.c b/sw/airborne/firmwares/fixedwing/nav.c
index 39d2b33941..eeb7c94290 100644
--- a/sw/airborne/firmwares/fixedwing/nav.c
+++ b/sw/airborne/firmwares/fixedwing/nav.c
@@ -549,6 +549,9 @@ void nav_init(void)
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_SEGMENT, send_segment);
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_SURVEY, send_survey);
 #endif
+
+  // generated init function
+  auto_nav_init();
 }
 
 /**
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
index 7347a7aab6..5528c9e968 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.c
+++ b/sw/airborne/firmwares/rotorcraft/navigation.c
@@ -213,6 +213,9 @@ void nav_init(void)
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_NAV_STATUS, send_nav_status);
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_WP_MOVED, send_wp_moved);
 #endif
+
+  // generated init function
+  auto_nav_init();
 }
 
 static inline void UNUSED nav_advance_carrot(void)
diff --git a/sw/tools/generators/gen_flight_plan.ml b/sw/tools/generators/gen_flight_plan.ml
index 8adb1b48d4..d4064d188c 100644
--- a/sw/tools/generators/gen_flight_plan.ml
+++ b/sw/tools/generators/gen_flight_plan.ml
@@ -817,20 +817,92 @@ let parse_wpt_sector = fun indexes waypoints xml ->
   (sector_name, List.map p2D_of (Xml.children xml))
 
 
+(** FP variables and ABI auto bindings *)
+type fp_var = FP_var of (string * string * string) | FP_binding of (string * string list * string)
+
+(* get a Hashtbl of ABI messages (name, field_types) *)
+let extract_abi_msg = fun filename class_ ->
+    let xml = ExtXml.parse_file filename in
+    try
+      let xml_class = ExtXml.child ~select:(fun x -> Xml.attrib x "name" = class_) xml "msg_class" in
+      let t = Hashtbl.create (List.length (Xml.children xml_class)) in
+      List.iter (fun x ->
+        let name = ExtXml.attrib x "name"
+        and field_types = List.map (fun field -> ExtXml.attrib field "type") (Xml.children x) in
+        Hashtbl.add t name field_types
+      ) (Xml.children xml_class);
+      t
+    with
+        Not_found -> failwith (sprintf "No msg_class '%s' found" class_)
+
 let parse_variables = fun xml ->
   List.map (fun var ->
-    let v = ExtXml.attrib var "var"
-    and t = ExtXml.attrib_or_default var "type" "float"
-    and i = ExtXml.attrib_or_default var "init" "0" in
-    (t, v, i)
+    match Xml.tag var with
+    | "variable" ->
+        let v = ExtXml.attrib var "var"
+        and t = ExtXml.attrib_or_default var "type" "float"
+        and i = ExtXml.attrib_or_default var "init" "0" in
+        FP_var (v, t, i)
+    | "abi_binding" ->
+        let n = ExtXml.attrib var "name"
+        and vs = ExtXml.attrib var "vars"
+        and i = ExtXml.attrib_or_default var "id" "ABI_BROADCAST" in
+        let vs = Str.split (Str.regexp "[ ]*,[ ]*") vs in
+        FP_binding (n, vs, i)
+    | _ -> failwith "Gen_flight_plan: unexpected variables tag"
   ) xml
 
+let print_var_decl abi_msgs = function
+  | FP_var (v, t, _) -> printf "extern %s %s;\n" t v
+  | _ -> () (* ABI variables are not public *)
+
+let print_var_impl abi_msgs = function
+  | FP_var (v, t, i) -> printf "%s %s = %s;\n" t v i
+  | FP_binding (n, vs, _) ->
+      printf "static abi_event FP_%s_ev;\n" n;
+      let field_types = Hashtbl.find abi_msgs n in
+      List.iter2 (fun abi_t user -> if not (user = "_") then printf "static %s %s;\n" abi_t user) field_types vs
+
+let print_auto_init_bindings = fun abi_msgs variables ->
+  let print_cb = function
+    | FP_binding (n, vs, _) ->
+        let field_types = Hashtbl.find abi_msgs n in
+        printf "static void FP_%s_cb(uint8_t sender_id __attribute__((unused))" n;
+        List.iteri (fun i v ->
+          if v = "_" then printf ", %s _unused_%d __attribute__((unused))" (List.nth field_types i) i
+          else printf ", %s _%s" (List.nth field_types i) v
+        ) vs;
+        printf ") {\n";
+        List.iter (fun v ->
+          if not (v = "_") then printf "  %s = _%s;\n" v v
+        ) vs;
+        printf "}\n\n"
+    | _ -> ()
+  in
+  let print_bindings = function
+    | FP_binding (n, _, i) ->
+        printf "  AbiBindMsg%s(%s, &FP_%s_ev, FP_%s_cb);\n" n i n n
+    | _ -> ()
+  in
+  List.iter print_cb variables;
+  printf "static inline void auto_nav_init(void) {\n";
+  List.iter print_bindings variables;
+  printf "}\n\n"
+
 let write_settings = fun xml_file out_set variables ->
   fprintf out_set "<!-- This file has been generated by gen_flight_plan from %s -->\n" xml_file;
   fprintf out_set "<!-- Version %s -->\n" (Env.get_paparazzi_version ());
   fprintf out_set "<!-- Please DO NOT EDIT -->\n\n";
   fprintf out_set "<settings>\n";
   fprintf out_set " <dl_settings>\n";
+  (* remove some incompatible variables and all ABI bindings *)
+  let att_exists = fun x a ->
+    try let _ = Xml.attrib x a in true with Xml.No_attribute _ -> false
+  in
+  let variables = List.filter (fun x ->
+    if Xml.tag x = "variable" && att_exists x "min" && att_exists x "max" && att_exists x "step" then
+      true
+    else false) variables in
   (* add tab only if their are some variables *)
   if List.length variables > 0 then
     fprintf out_set "   <dl_settings name=\"Flight Plan\">\n";
@@ -905,6 +977,8 @@ let () =
 
       printf "#include \"std.h\"\n";
       printf "#include \"generated/modules.h\"\n";
+      printf "#include \"subsystems/abi.h\"\n";
+      printf "#include \"autopilot.h\"\n";
 
       begin
         try
@@ -1043,12 +1117,14 @@ let () =
       end;
       lprintf "\n";
       let variables = parse_variables variables in
-      List.iter (fun (t, v, _) -> printf "extern %s %s;\n" t v) variables;
+      let abi_msgs = extract_abi_msg (Env.paparazzi_home ^ "/conf/abi.xml") "airborne" in
+      List.iter (fun v -> print_var_decl abi_msgs v) variables;
 
       lprintf "\n#ifdef NAV_C\n\n";
 
-      List.iter (fun (t, v, i) -> printf "%s %s = %s;\n" t v i) variables;
+      List.iter (fun v -> print_var_impl abi_msgs v) variables;
       lprintf "\n";
+      print_auto_init_bindings abi_msgs variables;
 
       let index_of_waypoints =
         let i = ref (-1) in