diff --git a/sw/lib/ocaml/debug.ml b/sw/lib/ocaml/debug.ml
index 8a0e1524e3..c37cdbcd54 100644
--- a/sw/lib/ocaml/debug.ml
+++ b/sw/lib/ocaml/debug.ml
@@ -25,16 +25,16 @@
  *)
 
 let level = ref (try Sys.getenv "PPRZ_DEBUG" with Not_found -> "")
- let log = ref stderr
- let call lev f =
-   assert( (* assert permet au compilo de tout virer avec l'option -noassert *)
-   if (String.contains !level '*' || String.contains !level lev)
-   then begin
-     f !log;
-     flush !log
-   end;
-   true)
-
+let log = ref stderr
+let call lev f =
+  assert( (* assert permet au compilo de tout virer avec l'option -noassert *)
+  if (String.contains !level '*' || String.contains !level lev)
+  then begin
+    f !log;
+    flush !log
+  end;
+  true)
+    
 let xprint = fun s ->
   let n = String.length s in
   let a = String.make (3*n) ' ' in
diff --git a/sw/lib/ocaml/debug.mli b/sw/lib/ocaml/debug.mli
new file mode 100644
index 0000000000..b550aeebfe
--- /dev/null
+++ b/sw/lib/ocaml/debug.mli
@@ -0,0 +1,50 @@
+(*
+ * $Id$
+ *
+ * Debugging facilities
+ *  
+ * Copyright (C) 2004 CENA/ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * 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,
+ * 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
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+(** Module for outputting debug information *)
+
+val log : out_channel ref
+(** The log file. Default value is "debug_log". The debug output channel can
+    be changed by [Debug.log := out_channel].
+    The output channel gets back to its default value after each call to
+    [Debug.call] *)
+
+val call : char -> (out_channel -> unit) -> unit
+(** [call debug_level output_function] outputs a message to the current
+    channel [!Debug.log]
+    [debug_level] is a flag to categorize the debug message.
+    The environment variable OPAS_DEBUG contains the active debug levels.
+    [call debug_level output_function] outputs its message iff OPAS_DEBUG
+    contains the character [debug_level] or [*]
+    [output_function]
+    [Debug.call 'x' (fun c -> Printf.fprintf c "message")] outputs ["message"]
+    iff the flag 'x' is active (ie OPAS_DEBUG contains the character ['x']) *)
+
+(** No debug information is output if the program was compiled with the
+    -noassert flag *)
+
+val xprint : string -> string
+(** Returns the hexadecimal representation of a string *)
diff --git a/sw/lib/ocaml/env.mli b/sw/lib/ocaml/env.mli
new file mode 100644
index 0000000000..76fc5e1eb2
--- /dev/null
+++ b/sw/lib/ocaml/env.mli
@@ -0,0 +1,31 @@
+(*
+ * $Id$
+ *
+ * Configuration handling
+ *
+ * Copyright (C) 2004 CENA/ENAC, Yann Le Fablec, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * 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,
+ * 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
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+val paparazzi_home : string
+(** User's files directory *)
+
+val paparazzi_src : string
+(** Installation's files directory *)
diff --git a/sw/lib/ocaml/extXml.ml b/sw/lib/ocaml/extXml.ml
index f449f34219..5379807429 100644
--- a/sw/lib/ocaml/extXml.ml
+++ b/sw/lib/ocaml/extXml.ml
@@ -30,7 +30,7 @@ let sep = Str.regexp "\\."
 
 let child xml ?select c =
   let rec find = function
-      Xml.Element (tag, attributes, _children) as elt :: elts ->
+      Xml.Element (tag, _attributes, _children) as elt :: elts ->
 	if tag = c then
 	  match select with
 	    None -> elt
diff --git a/sw/lib/ocaml/extXml.mli b/sw/lib/ocaml/extXml.mli
new file mode 100644
index 0000000000..df33e0f402
--- /dev/null
+++ b/sw/lib/ocaml/extXml.mli
@@ -0,0 +1,48 @@
+(*
+ * $Id$
+ *
+ * Xml-Light extension
+ *  
+ * Copyright (C) 2004 CENA/ENAC, Pascal Brisset
+ *
+ * This file is part of paparazzi.
+ *
+ * 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,
+ * 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
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+exception Error of string
+val child : Xml.xml -> ?select:(Xml.xml -> bool) -> string -> Xml.xml
+(** [child xml ?p i] If [i] is an integer, returns the [i]'th child of [xml].
+Else returns the child of [xml] with tag [i] (the first one satisfying [p]
+if specified *)
+
+val get : Xml.xml -> string -> Xml.xml
+(** [get xml path] Returns the son of [xml] specified by [path] (where
+separator is [.] *)
+
+val get_attrib : Xml.xml -> string -> string -> string
+(** [get_attrib xml path attrib_name] *)
+
+val attrib : Xml.xml -> string -> string
+(** [get xml attribute_name] May raise [Error] *)
+
+val attrib_or_default : Xml.xml -> string -> string -> string
+(** [get xml attribute_name default_value] *)
+
+val to_string_fmt : Xml.xml -> string
+(** [to_string_fmt xml] Returns a formatted string where tag and attribute
+names are lowercase *)
diff --git a/sw/lib/ocaml/geometry_2d.ml b/sw/lib/ocaml/geometry_2d.ml
index 9f96f18bc0..8e20a2b3c3 100644
--- a/sw/lib/ocaml/geometry_2d.ml
+++ b/sw/lib/ocaml/geometry_2d.ml
@@ -300,7 +300,7 @@ let test_on_hl t = (test_in_segment t)||(t=T_OUT_SEG_PT4)||(t=T_OUT_SEG_PT2)
 let crossing_seg_seg a b c d =
   match crossing_point a (vect_make a b) c (vect_make c d) with
 	None -> false
-  |	Some (type1, type2, pt) -> (test_in_segment type1)&&(test_in_segment type2)
+  |	Some (type1, type2, _pt) -> (test_in_segment type1)&&(test_in_segment type2)
 
 (* ============================================================================= *)
 (* = Teste l'intersection d'un segment (a,b) et d'une demi-droite (c,v)        = *)
@@ -308,7 +308,7 @@ let crossing_seg_seg a b c d =
 let crossing_seg_hl a b c v =
   match crossing_point a (vect_make a b) c v with
 	None -> false
-  |	Some (type1, type2, pt) ->
+  |	Some (type1, type2, _pt) ->
 	  (* OK si intersection sur la demi-droite *)
 	  (test_in_segment type1) && (test_on_hl type2)
 
@@ -319,7 +319,7 @@ let crossing_hl_hl a u c v =
   let inter = crossing_point a u c v in
   match inter with
 	None -> false
-  |	Some (type1, type2, pt) -> (test_on_hl type1) && (test_on_hl type2)
+  |	Some (type1, type2, _pt) -> (test_on_hl type1) && (test_on_hl type2)
 
 (* ============================================================================= *)
 (* = Teste l'intersection de deux droites et renvoie le point s'il existe      = *)
@@ -327,7 +327,7 @@ let crossing_hl_hl a u c v =
 let crossing_lines a u c v =
   match crossing_point a u c v with
 	None -> (false, null_vector)
-  |	Some (type1, type2, pt) -> (true, pt)
+  |	Some (_type1, _type2, pt) -> (true, pt)
 
 
 (* ============================================================================= *)
@@ -414,7 +414,6 @@ let convex_hull poly =
 	| [] -> raise Exit
   in
 
-  let f (x,y) = {x2D=x;y2D=y} in
   let p a b = a.x2D<b.x2D or (a.x2D=b.x2D & a.y2D>b.y2D) in
   let l2=poly in
   let debut,_=extract_mini p l2 in
@@ -431,7 +430,7 @@ let convex_hull poly =
 let crossing_seg_poly a b poly =
   (* Supprime les doublons dans une liste triee *)
   let supprime_doublons_points l =
-	let (p, new_l) = List.fold_left (fun (old, lst) pt ->
+	let (_p, new_l) = List.fold_left (fun (old, lst) pt ->
 	  match old with
 		None ->   (Some pt, [pt])
 	  |	Some p -> if point_same p pt then (old, lst) else (Some pt, pt :: lst)
@@ -604,79 +603,6 @@ let poly_centroid poly =
 (* ============================================================================= *)
 
 
-(* ============================================================================= *)
-(* = Triangulation d'un polygone. Vielle version incorrecte dans certains cas  = *)
-(* ============================================================================= *)
-let in_tesselation_old l0 =
-  (* Recherche des extremes et du centre *)
-  let {x2D=x; y2D=y} = List.hd l0 in
-  let xmin = ref x and xmax = ref x and ymin = ref y and ymax = ref y in
-  List.iter (fun {x2D=x; y2D=y} ->
-	if x< !xmin then xmin:=x; if x> !xmax then xmax:=x;
-	if y< !ymin then ymin:=y; if y> !ymax then ymax:=y) l0 ;
-  let dmax = max (!xmax -. !xmin) (!ymax -. !ymin) in
-  let pmid = point_middle {x2D= !xmin; y2D= !ymin} {x2D= !xmax; y2D= !ymax} in
-
-  (* Recherche du triangle englobant (supertriangle) *)
-  let n = List.length l0 in
-  let t = Array.of_list (l0@[{x2D=pmid.x2D-.2.*.dmax; y2D=pmid.y2D-.dmax} ;
-							 {x2D=pmid.x2D;           y2D=pmid.y2D+.2.*.dmax} ;
-							 {x2D=pmid.x2D+.2.*.dmax; y2D=pmid.y2D-.dmax}]) in
-  let triangles = ref [(n, n+1, n+2)] in
-
-  (* Tous les points du contour sont inseres les uns apres les autres *)
-  Array.iteri (fun i point ->
-	let edges = ref [] in
-
-	triangles := List.fold_left (fun l (p1, p2, p3) ->
-	  (* Cercle circonscrit au triangle *)
-	  let circle = circumcircle t.(p1) t.(p2) t.(p3) in
-	  if point_in_circle point circle then begin
-		(* Ajout de 3 arretes et suppression du triangle en cours *)
-		edges := (p3,p1)::(p2,p3)::(p1,p2)::!edges ; l
-	  end else (p1, p2, p3)::l) [] !triangles ;
-
-	(* Creation de nouveaux triangles a partir du point courant pour les  *)
-	(* arretes non multiples ou qui apparaissent un nombre impair de fois *)
-	let ledges = ref !edges in
-	List.iter (fun (n1, n2) ->
-	  let l = List.find_all (fun (n01, n02) ->
-		(n01=n1&&n02=n2) or (n01=n2&&n02=n1)) !ledges in
-	  if List.length l mod 2 <> 0 then begin
-		triangles:=(n1, n2, i)::!triangles;
-		(* Si l'arrete apparait un nombre impair de fois > 1 alors *)
-		(* on n'insere que ce triangle et pas les suivants, sinon  *)
-		(* certains triangles apparaissent plusieurs fois *)
-		if List.length l>=3 then ledges:=!ledges@[(n1, n2)]
-	  end) !edges) t ;
-
-  let triangle_ok (p1, p2, p3) =
-	let check p1 p2 =
-	  if p1-p2=1 or p2-p1=1 or (p1=0&&p2=n-1) or (p1=n-1&&p2=0) then true
-	  else point_in_poly (point_middle t.(p1) t.(p2)) l0
-	in
-	check p1 p2 && check p2 p3 && check p3 p1
-  in
-
-  (* Les triangles ayant des points du supertriangle sont elimines ainsi *)
-  (* que tous les triangles se trouvant a l'exterieur du contour initial *)
-  (* car ce cas arrive lorsque le contour original est concave... *)
-  let l = List.fold_left (fun l (p1, p2, p3) ->
-	if p1>=n or p2>=n or p3>=n or not (triangle_ok (p1, p2, p3)) then l
-	else (p1, p2, p3)::l) [] !triangles in
-
-  (* Renvoie la liste des triangles CW *)
-  let l = List.map (fun (p1, p2, p3) ->
-	if ccw_angle t.(p1) t.(p2) t.(p3) = CW then (p1, p2, p3) else (p1, p3, p2)) l in
-
-  (* Tableau des points et liste des triangles *)
-  (* Normalement, si n points differents au depart -> n-2 triangles en sortie *)
-  if List.length l0<>(List.length l)+2 then begin
-	Printf.printf "AAAA %d points %d triangles\n" (List.length l0) (List.length l);
-	flush stdout
-  end ;
-  (Array.of_list l0, l)
-
 (* ============================================================================= *)
 (* = Triangulation d'un polygone                                               = *)
 (* ============================================================================= *)
@@ -797,7 +723,7 @@ let tesselation l =
 let in_tesselation_fans l =
   let t = Array.of_list l in
   let l = in_tesselation l in
-  let tt = Array.mapi (fun i x -> (i, 0)) t in
+  let tt = Array.mapi (fun i _x -> (i, 0)) t in
   let add_val x = let (p, n) = tt.(x) in tt.(x) <- (p, n+1) in
   List.iter (fun (p1, p2, p3) ->
 	add_val p1; add_val p2; add_val p3) l ;
diff --git a/sw/lib/ocaml/geometry_3d.ml b/sw/lib/ocaml/geometry_3d.ml
index 6867fe79e5..19729cfe59 100644
--- a/sw/lib/ocaml/geometry_3d.ml
+++ b/sw/lib/ocaml/geometry_3d.ml
@@ -228,7 +228,7 @@ let test_on_hl t = (test_in_segment t)||(t=T_OUT_SEG_PT4)||(t=T_OUT_SEG_PT2)
 let crossing_seg_seg a b c d =
   match crossing_point a (vect_make a b) c (vect_make c d) with
 	None -> false
-  |	Some (type1, type2, pt) -> (test_in_segment type1)&&(test_in_segment type2)
+  |	Some (type1, type2, _pt) -> (test_in_segment type1)&&(test_in_segment type2)
 
 (* ============================================================================= *)
 (* = Teste l'intersection d'un segment (a,b) et d'une demi-droite (c,v)        = *)
@@ -236,7 +236,7 @@ let crossing_seg_seg a b c d =
 let crossing_seg_hl a b c v =
   match crossing_point a (vect_make a b) c v with
 	None -> false
-  |	Some (type1, type2, pt) ->
+  |	Some (type1, type2, _pt) ->
 	  (* OK si intersection sur la demi-droite *)
 	  (test_in_segment type1) && (test_on_hl type2)
 
@@ -247,7 +247,7 @@ let crossing_hl_hl a u c v =
   let inter = crossing_point a u c v in
   match inter with
 	None -> false
-  |	Some (type1, type2, pt) -> (test_on_hl type1) && (test_on_hl type2)
+  |	Some (type1, type2, _pt) -> (test_on_hl type1) && (test_on_hl type2)
 
 (* ============================================================================= *)
 (* = Teste l'intersection de deux droites et renvoie le point s'il existe      = *)
@@ -255,7 +255,7 @@ let crossing_hl_hl a u c v =
 let crossing_lines a u c v =
   match crossing_point a u c v with
 	None -> (false, null_vector)
-  |	Some (type1, type2, pt) -> (true, pt)
+  |	Some (_type1, _type2, pt) -> (true, pt)
 
 (* ============================================================================= *)
 (* = Intersection d'une droite (a, u) et d'un plan (c, d, e)                   = *)
@@ -544,7 +544,7 @@ let point_in_volume pt vol =
   (* On compte le nombre d'intersections entre la demi-droite issue du point *)
   (* a tester de vecteur directeur dir avec le volume *)
 
-  let is_in = ref false and list_inter = ref [] in
+  let is_in = ref false in
   List.iter (fun poly_face ->
 	if List.length poly_face>=3 then begin
 	  (* 3 points definissant le plan contenant la face *)
diff --git a/sw/lib/ocaml/gtk_3d.ml b/sw/lib/ocaml/gtk_3d.ml
index a65dc5324b..914695cab5 100644
--- a/sw/lib/ocaml/gtk_3d.ml
+++ b/sw/lib/ocaml/gtk_3d.ml
@@ -94,7 +94,6 @@ type t_action = ACTION_NONE | ACTION_ZOOM of (int*int) | ACTION_ROTATE of (int*i
 let cursor_standard  = Gdk.Cursor.create `LEFT_PTR
 let cursor_zoom_up   = Gdk.Cursor.create `BASED_ARROW_UP
 let cursor_zoom_down = Gdk.Cursor.create `BASED_ARROW_DOWN
-let cursor_wait      = Gdk.Cursor.create `WATCH
 let cursor_rotate    = Gdk.Cursor.create `EXCHANGE
 
 (* Valeurs OpenGL pour utiliser une source de lumiere *)
@@ -413,8 +412,8 @@ let get_object_color obj =
   |	ENVELOPPE_3D_DOUBLE e -> e.env3d_double_color_out
   | ARROW_3D a            -> a.arr3d_color
   | POINT_3D p            -> p.p3d_color
-  | SURFACE_3D s          -> glcolor_white
-  | SURFACE_3D_TEX s      -> glcolor_white
+  | SURFACE_3D _s          -> glcolor_white
+  | SURFACE_3D_TEX _s      -> glcolor_white
 
 (* [set_object_color objet color] met a jour la couleur de l'objet *)
 let set_object_color obj color =
@@ -450,9 +449,9 @@ let get_object_fill obj =
   |	ENVELOPPE_3D e        -> e.env3d_filled
   |	ENVELOPPE_3D_DOUBLE e -> e.env3d_double_filled
   | ARROW_3D a            -> a.arr3d_filled
-  | POINT_3D p            -> false
+  | POINT_3D _p            -> false
   | SURFACE_3D s          -> s.s3d_filled
-  | SURFACE_3D_TEX s      -> true
+  | SURFACE_3D_TEX _s      -> true
 
 (* [set_object_filled objet filled] force l'objet en mode plein ou fil de fer *)
 let set_object_fill obj filled =
@@ -463,9 +462,9 @@ let set_object_fill obj filled =
   |	ENVELOPPE_3D e        -> e.env3d_filled <- filled
   |	ENVELOPPE_3D_DOUBLE e -> e.env3d_double_filled <- filled
   | ARROW_3D a            -> a.arr3d_filled <- filled
-  | POINT_3D p            -> ()
+  | POINT_3D _p            -> ()
   | SURFACE_3D s          -> s.s3d_filled <- filled
-  | SURFACE_3D_TEX s      -> ()
+  | SURFACE_3D_TEX _s      -> ()
 
 (* [get_line_width objet id] renvoie l'epaisseur d'un objet ligne. Si l'objet
    passe n'est pas du type [LINE_3D] alors l'exception {!Gtk_3d.NOT_A_3D_LINE}
@@ -524,7 +523,7 @@ class widget_3d pack with_status_bar n =
       (a, fun msg -> ignore(ss#push msg))
     end else
       (GlGtk.area [`RGBA; `DOUBLEBUFFER; `DEPTH_SIZE 1] ~packing:pack (),
-       fun msg -> ())
+       fun _msg -> ())
   in
 
   object (self)
@@ -885,12 +884,12 @@ class widget_3d pack with_status_bar n =
       let old_rs = rs in
       let (do_it, l) =
 	match o with
-	  OUTLINE_3D o          -> (false, [])
+	  OUTLINE_3D _o          -> (false, [])
 	| LINE_3D l             -> (true, l.line3d_points)
 	| VOLUME1_3D v          -> (true, v.vol3d_contour)
 	| ENVELOPPE_3D e        -> (true, e.env3d_contour)
 	| ENVELOPPE_3D_DOUBLE e -> (true, e.env3d_double_contour_out)
-	| ARROW_3D a            -> (false, [])
+	| ARROW_3D _a            -> (false, [])
 	| POINT_3D p            -> (true, [p.p3d_pos; p.p3d_pos2])
 	| SURFACE_3D s          ->
 	    let l = Array.to_list (Array.map (fun t -> Array.to_list t) s.s3d_pts) in
@@ -1271,7 +1270,7 @@ class widget_3d pack with_status_bar n =
 	  current_action <- (ACTION_ROTATE mouse_pos) ; true
 
 	    (* [mouse_release ev] traite un evenement de relachement de bouton *)
-    method private mouse_release ev =
+    method private mouse_release _ev =
       (match current_action with ACTION_NONE -> () | _ -> self#reset_cursor) ;
       current_action <- ACTION_NONE ;
       true
@@ -1437,7 +1436,7 @@ class widget_3d pack with_status_bar n =
       ignore(area#event#connect#any ~callback:scroll_cb) ;
       
       (* Attachement des callbacks pour les evenements clavier *)
-      Gtk_tools_GL.glarea_key_connect area self#key_pressed (fun k -> (); false)
+      Gtk_tools_GL.glarea_key_connect area self#key_pressed (fun _k -> (); false)
   end
 
 (* =============================== FIN ========================================= *)
diff --git a/sw/lib/ocaml/gtk_draw.ml b/sw/lib/ocaml/gtk_draw.ml
index ae53980752..487954600d 100644
--- a/sw/lib/ocaml/gtk_draw.ml
+++ b/sw/lib/ocaml/gtk_draw.ml
@@ -205,6 +205,5 @@ let gd_put_transp_pixmap p dest x y =
   dest#put_pixmap ~x:x ~y:y p#pixmap ;
 
   (* On enleve le masque *)
-  (match p#mask with None -> () | Some m -> prerr_endline "TODO (Gtk_draw): dest#unset_clip_mask")
+  (match p#mask with None -> () | Some _m -> prerr_endline "TODO (Gtk_draw): dest#unset_clip_mask")
 
-(* =============================== FIN ========================================= *)
diff --git a/sw/lib/ocaml/gtk_image.ml b/sw/lib/ocaml/gtk_image.ml
index 922fa8016f..b2581fcbe6 100644
--- a/sw/lib/ocaml/gtk_image.ml
+++ b/sw/lib/ocaml/gtk_image.ml
@@ -309,7 +309,7 @@ let gtk_image_rgb24_of_image image =
   | Images.Rgb24  i  -> i
   | Images.Index16 i -> Index16.to_rgb24 i
   | Images.Rgba32  i -> Rgb24.of_rgba32 i
-  | Images.Cmyk32  i -> Printf.printf "Pb : Image Cmyk32 !!!\n"; flush stdout ; exit 1
+  | Images.Cmyk32  _i -> Printf.printf "Pb : Image Cmyk32 !!!\n"; flush stdout ; exit 1
 
 (* ============================================================================= *)
 (* = Lecture d'une image et creation d'une pixmap                              = *)
@@ -330,7 +330,7 @@ let gtk_image_load filename win format =
 	(pix, pixmap)
   in
 
-  let (pix, pixmap) = create_pixmap win w h in
+  let (_pix, pixmap) = create_pixmap win w h in
 
   (* Creation d'une image Rgb24 quel que soit le format d'origine *)
   let rgb = gtk_image_rgb24_of_image image in
diff --git a/sw/lib/ocaml/gtk_tools.ml b/sw/lib/ocaml/gtk_tools.ml
index 2b5edf626a..3c0207abc6 100644
--- a/sw/lib/ocaml/gtk_tools.ml
+++ b/sw/lib/ocaml/gtk_tools.ml
@@ -1138,7 +1138,7 @@ let set_window_position window (x, y) =
 (* = callback = le callback a appeler                                          = *)
 (* ============================================================================= *)
 let window_modify_connect window callback =
-  (window:GWindow.window)#event#connect#configure ~callback:(fun ev ->
+  (window:GWindow.window)#event#connect#configure ~callback:(fun _ev ->
 	callback (get_window_geometry window) ;
 	true)
 
@@ -1315,9 +1315,9 @@ let scw window colors tooltips update_func vbox destroy_func =
   (* et un bouton de selection de couleur dont la couleur est color *)
   let create_boite v title color callback =
 	let hbox = create_hbox (v:GPack.box)#pack in
-	let lab = create_label title hbox#pack and
-		but = create_color_selection_button (window:GWindow.window)
-		taille_x taille_y color	(hbox#pack ~from:`END) callback in
+	let _lab = create_label title hbox#pack and
+	    but = create_color_selection_button (window:GWindow.window)
+	    taille_x taille_y color	(hbox#pack ~from:`END) callback in
 	but
   in
 
@@ -1329,10 +1329,10 @@ let scw window colors tooltips update_func vbox destroy_func =
 	List.iter (fun (nom, lst) ->
 	  let v = snd (create_vframe nom !vb#pack) in
 	  let do_boites (title, couleur, _) =
-		let b = create_boite v title !couleur
-			(fun color -> couleur := color;
-			  (* Recreation de toute la liste pour mise a jour de la couleur de la boite *)
-			  creation_liste () ;
+	    let _b = create_boite v title !couleur
+		(fun color -> couleur := color;
+		  (* Recreation de toute la liste pour mise a jour de la couleur de la boite *)
+		  creation_liste () ;
 			  (* Application automatique ? *)
 			  if !application_auto then begin
 				clicked_apply := true ;	update_func ()
@@ -1463,7 +1463,7 @@ let creation_fen_capture default_filename default_format tooltips with_caption =
 		contour_color = ref (`RGB(65535, 65535, 65535)) and
 		back_color    = ref (`RGB(0, 0, 0)) in
 
-	let (fr, hbox) = create_hframe "Legende" vbox#pack in
+	let (_fr, hbox) = create_hframe "Legende" vbox#pack in
 	let entry_caption = GEdit.entry ~text:"" ~packing:hbox#add () and
 		hb = ref (create_hbox (hbox#pack ~from:`END)) in
 
@@ -1507,7 +1507,7 @@ let creation_fen_capture default_filename default_format tooltips with_caption =
   end ;
 
   (* Selection du format de sauvegarde *)
-  let (fr, hbox) = create_hframe "Format" vbox#pack in
+  let (_fr, hbox) = create_hframe "Format" vbox#pack in
   let lst_but = List.fold_left (fun lst typ ->
 	let name = Gtk_image.string_of_format_capture typ in
 	let but =
@@ -1527,19 +1527,19 @@ let creation_fen_capture default_filename default_format tooltips with_caption =
 
   (* Nom du fichier *)
   let pm = GDraw.pixmap_from_xpm_d ~data:open_file_pixmap ~window:window () and
-	  (fr, hbox) = create_hframe "Nom du fichier" vbox#pack in
+	  (_fr, hbox) = create_hframe "Nom du fichier" vbox#pack in
   let entry = GEdit.entry ~text: !filename ~packing:hbox#add () and
 	  but_fic = create_pixbutton pm hbox#pack in
 
   (* Progression de la sauvegarde *)
-  let (fr, vb) = create_vframe "Sauvegarde" vbox#pack in
+  let (_fr, vb) = create_vframe "Sauvegarde" vbox#pack in
   let hbox = create_hbox vb#pack in
-  let l = create_label " Etat :        " hbox#pack and
-	  lab_save = create_label "" hbox#add in
+  let _l = create_label " Etat :        " hbox#pack
+  and lab_save = create_label "" hbox#add in
 
   let hbox = create_hbox vb#pack in
-  let l = create_label " Progression : " hbox#pack and
-	  pbar_save = GRange.progress_bar ~packing:hbox#add () in
+  let _l = create_label " Progression : " hbox#pack
+  and pbar_save = GRange.progress_bar ~packing:hbox#add () in
   pbar_save#set_fraction 0. ;
 
   let but_ok      = create_button "Capture" window#action_area#add and
@@ -1717,12 +1717,12 @@ let screenshot_box_with_caption default_filename default_format
 let create_int_spinner_simple label lab_width init_value min_value
 	max_value value_width step_incr page_incr tip tooltips pack_method =
   let hbox = create_hbox pack_method in
-  let l = create_sized_label label lab_width hbox#pack and
-	  spinner = GEdit.spin_button
-	  ~adjustment:(GData.adjustment ~value:(float_of_int init_value)
-					 ~lower:(float_of_int min_value) ~upper:(float_of_int max_value)
-					 ~step_incr:(float_of_int step_incr)
-					 ~page_incr:(float_of_int page_incr) ~page_size:0.0 ())
+  let _l = create_sized_label label lab_width hbox#pack 
+  and spinner = GEdit.spin_button
+      ~adjustment:(GData.adjustment ~value:(float_of_int init_value)
+		     ~lower:(float_of_int min_value) ~upper:(float_of_int max_value)
+		     ~step_incr:(float_of_int step_incr)
+		     ~page_incr:(float_of_int page_incr) ~page_size:0.0 ())
 	  ~rate:0. ~digits:0 ~width:value_width () in
   hbox#pack spinner#coerce ;
   if tip <> "" then	add_tooltips tooltips spinner tip ;
@@ -1836,7 +1836,7 @@ let create_hslider init_val min_val max_val step page draw_val
 let create_float_spinner_simple label lab_width init_value min_value
 	max_value value_width nb_digits step_incr page_incr tip tooltips pack_method =
   let hbox = create_hbox pack_method in
-  let l = create_sized_label label lab_width hbox#pack and
+  let _l = create_sized_label label lab_width hbox#pack and
 	  spinner = GEdit.spin_button
 	  ~adjustment:(GData.adjustment ~value:init_value
 					 ~lower:min_value ~upper:max_value
@@ -2709,7 +2709,7 @@ let display_file filename title width height tooltips font =
 (* = fonction prend en parametre un flottant entre 0.0 et 1.0.                 = *)
 (* = Lorsque ce flottant vaut 1.0, la fenetre est detruite                     = *)
 (* ============================================================================= *)
-let create_progress_bar_win nb_blocks title =
+let create_progress_bar_win title =
   let window = GWindow.window ~title:title ~border_width:10 ~width:200 () in
   let pbar = GRange.progress_bar ~packing:window#add () in
 (* GTK2 AAA GRange.progress_bar ~bar_style:`DISCRETE ~discrete_blocks:nb_blocks ()
@@ -2965,7 +2965,7 @@ let calendar lst_dates callback_select only_available_dates_selectable
   let current_month = ref 0 and current_year = ref 0 in
   if init_with_last_available_date && lst_dates<>[] then begin
 	let d = List.hd (List.fast_sort (fun d1 d2 -> cmp_int d2 d1) lst_dates) in
-	let (j, m, a) = decompose_date d in current_month := m; current_year := a
+	let (_j, m, a) = decompose_date d in current_month := m; current_year := a
   end else begin
 	let tm = timer_get_time () in
 	current_month := (tm.Unix.tm_mon+1); current_year:= (tm.Unix.tm_year+1900)
@@ -3014,7 +3014,7 @@ let calendar lst_dates callback_select only_available_dates_selectable
 		callback_select (compose_date (i+1, !current_month, !current_year))
 	  end) ;
 	b) in
-  let buttons_shown = Array.init 31 (fun i -> false) in
+  let buttons_shown = Array.create 31 false in
 
   (* Mise a jour des boutons dans le calendrier *)
   let update_calendar () =
diff --git a/sw/lib/ocaml/gtk_tools.mli b/sw/lib/ocaml/gtk_tools.mli
index 2eb3f888ad..2e4e36bee3 100644
--- a/sw/lib/ocaml/gtk_tools.mli
+++ b/sw/lib/ocaml/gtk_tools.mli
@@ -1232,12 +1232,11 @@ val set_log_verbose_level : int -> unit
 (** {6 Barres de progression} *)
 
 
-(** [gtk_tools_create_progress_bar_win nb_blocks title] crée une barre de progression
-   dans une fenetre externe. [nb_blocks] désigne le nombre de subdivisions de
-   la barre. En sortie, la fonction de mise à jour de la barre de progression
+(** [gtk_tools_create_progress_bar_win title] crée une barre de progression
+   dans une fenetre externe. En sortie, la fonction de mise à jour de la barre de progression
    est renvoyée. Cette fonction prend en paramètre un flottant compris entre
    0.0 et 1.0, lorsqu'on lui passe 1.0, la fenetre est fermée *)
-val create_progress_bar_win : int -> string -> float -> unit
+val create_progress_bar_win : string -> float -> unit
 
 (** [gtk_tools_create_progress_bar pack_method] creation d'une barre de
    progression continue et sans fenetre (donc différente de
diff --git a/sw/lib/ocaml/gtk_tools_icons.mli b/sw/lib/ocaml/gtk_tools_icons.mli
new file mode 100644
index 0000000000..f753496e74
--- /dev/null
+++ b/sw/lib/ocaml/gtk_tools_icons.mli
@@ -0,0 +1,29 @@
+(*
+ * $Id$
+ *
+ * Icons library
+ *  
+ * Copyright (C) 2004 CENA/ENAC, Yann Le Fablec
+ *
+ * This file is part of paparazzi.
+ *
+ * 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,
+ * 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
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+val question_icon : string array
+val error_icon : string array
+val warning_icon : string array
diff --git a/sw/lib/ocaml/latlong.ml b/sw/lib/ocaml/latlong.ml
index 571a6d7873..2f03f7b977 100644
--- a/sw/lib/ocaml/latlong.ml
+++ b/sw/lib/ocaml/latlong.ml
@@ -179,9 +179,6 @@ let lambert_c l =
   let n = lambert_n l in
   l.r0 *. exp (l.lphi0 *. n)
   
-let lambert = function
-    1 -> lambertI |  2 -> lambertII |  3 -> lambertIII |  4 -> lambertIV | _ -> failwith "lambert";;
-
 
 let of_lambert l { lbt_x = x; lbt_y = y } =
   let c = lambert_c l and n = lambert_n l in
@@ -238,7 +235,7 @@ let utm_of geo {posn_long = lambda; posn_lat = phi} =
   and ys = if phi > 0. then 0. else 10000000. in
   let lambda_deg = truncate (floor ((Rad>>Deg)lambda)) in
   let zone = (lambda_deg + 180) / 6 + 1 in
-  let lambda_c = (Deg>>Rad) (float (lambda_deg - lambda_deg mod 6 + 3)) in
+  let lambda_c = (Deg>>Rad) (float (lambda_deg - ((lambda_deg mod 6)+6) mod 6 + 3)) in
   let e = ellipsoid.e
   and n = k0 *. ellipsoid.a in
   let ll = latitude_isometrique phi e
diff --git a/sw/lib/ocaml/mapCanvas.ml b/sw/lib/ocaml/mapCanvas.ml
index acdc49f7cf..61a562440b 100644
--- a/sw/lib/ocaml/mapCanvas.ml
+++ b/sw/lib/ocaml/mapCanvas.ml
@@ -22,7 +22,7 @@ class widget = fun  ?(height=800) ?width ?wgs84_of_en () ->
   let canvas = GnoCanvas.canvas ~height ~packing:(frame#pack ~expand:true) () in
 
   let bottom = GPack.hbox ~height:30 ~packing:frame#pack () in
-  let w = GEdit.spin_button ~adjustment:adj ~rate:0. ~digits:2 ~width:50 ~height:20 ~packing:bottom#pack () in
+  let _w = GEdit.spin_button ~adjustment:adj ~rate:0. ~digits:2 ~width:50 ~height:20 ~packing:bottom#pack () in
 
 
   let lbl_xy = GMisc.label ~height:50 ~packing:bottom#pack () in
@@ -158,7 +158,6 @@ class widget = fun  ?(height=800) ?width ?wgs84_of_en () ->
     false
 
   method button_release = fun ev ->
-    let state = GdkEvent.Button.state ev in
     match GdkEvent.Button.button ev, grouping with
       2, _ ->
 	dragging <- None; false
@@ -173,7 +172,6 @@ class widget = fun  ?(height=800) ?width ?wgs84_of_en () ->
     | _ -> false
 
   method button_press = fun ev ->
-    let state = GdkEvent.Button.state ev in
     let xc = GdkEvent.Button.x ev in
     let yc = GdkEvent.Button.y ev in  
     match GdkEvent.Button.button ev with
diff --git a/sw/lib/ocaml/mapTrack.ml b/sw/lib/ocaml/mapTrack.ml
index e58f434459..b95456f930 100644
--- a/sw/lib/ocaml/mapTrack.ml
+++ b/sw/lib/ocaml/mapTrack.ml
@@ -1,3 +1,29 @@
+(*
+ * $Id$
+ *
+ * Track objects
+ *  
+ * Copyright (C) 2004 CENA/ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * 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,
+ * 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
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
 open Printf
 
 module G = MapCanvas
@@ -13,7 +39,7 @@ class track = fun ?(name="coucou") ?(size = 50) ?(color="red") (geomap:MapCanvas
   let empty = ({ G.east = 0.; north = 0. },  GnoCanvas.line group) in
 
   let aircraft = GnoCanvas.group group in
-  let ac_icon =
+  let _ac_icon =
     ignore (GnoCanvas.line ~fill_color:color ~props:[`WIDTH_PIXELS 4;`CAP_STYLE `ROUND] ~points:[|0.;-6.;0.;14.|] aircraft);
     ignore (GnoCanvas.line ~fill_color:color ~props:[`WIDTH_PIXELS 4;`CAP_STYLE `ROUND] ~points:[|-9.;0.;9.;0.|] aircraft);
     ignore (GnoCanvas.line ~fill_color:color ~props:[`WIDTH_PIXELS 4;`CAP_STYLE `ROUND] ~points:[|-4.;10.;4.;10.|] aircraft) in
diff --git a/sw/lib/ocaml/mapWaypoints.ml b/sw/lib/ocaml/mapWaypoints.ml
index 071336ef53..1b91851936 100644
--- a/sw/lib/ocaml/mapWaypoints.ml
+++ b/sw/lib/ocaml/mapWaypoints.ml
@@ -1,3 +1,29 @@
+(*
+ * $Id$
+ *
+ * Waypoints objects
+ *  
+ * Copyright (C) 2004 CENA/ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * 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,
+ * 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
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
 open Printf
 
 let s = 5.
@@ -64,7 +90,6 @@ class waypoint = fun (group:group) (name :string) ?(alt=0.) en ->
       begin
 	match ev with
 	| `BUTTON_PRESS ev ->
-	    let state = GdkEvent.Button.state ev in
 	    begin
 	      match GdkEvent.Button.button ev with
 	      |	1 -> self#edit
diff --git a/sw/lib/ocaml/mapWaypoints.mli b/sw/lib/ocaml/mapWaypoints.mli
new file mode 100644
index 0000000000..b059f9dddb
--- /dev/null
+++ b/sw/lib/ocaml/mapWaypoints.mli
@@ -0,0 +1,66 @@
+(*
+ * $Id$
+ *
+ * Waypoints objects
+ *  
+ * Copyright (C) 2004 CENA/ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * 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,
+ * 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
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+class group :
+  ?color:string ->
+  ?editable:bool ->
+  MapCanvas.widget ->
+  object
+    method color : string
+    method editable : bool
+    method geomap : MapCanvas.widget
+    method group : GnoCanvas.group
+  end
+
+class waypoint :
+  group ->
+  string ->
+  ?alt:float ->
+  MapCanvas.en ->
+  object
+    val mutable alt : float
+    val item : GnoCanvas.polygon
+    val label : GnoCanvas.text
+    val mutable name : string
+    val mutable x0 : float
+    val mutable y0 : float
+    method alt : float
+    method delete : unit
+    method edit : unit
+    method en : MapCanvas.en
+    method event : GnoCanvas.item_event -> bool
+    method item : GnoCanvas.polygon
+    method label : GnoCanvas.text
+    method move : float -> float -> unit
+    method name : string
+    method set : MapCanvas.en -> unit
+    method set_name : string -> unit
+    method xy : float * float
+    method zoom : float -> unit
+  end
+
+
+val waypoint : group -> ?name:string -> ?alt:float -> MapCanvas.en -> waypoint
diff --git a/sw/lib/ocaml/ubx.ml b/sw/lib/ocaml/ubx.ml
index a067460c8f..09b1b62719 100644
--- a/sw/lib/ocaml/ubx.ml
+++ b/sw/lib/ocaml/ubx.ml
@@ -73,7 +73,6 @@ let ubx_get_msg = fun ubx_class name ->
 
 let ubx_get_nav_msg = fun name -> ubx_get_msg ubx_nav name
 
-let nav_posllh = ubx_nav_id, ubx_get_nav_msg "POSLLH"
 let nav_posutm = ubx_nav_id, ubx_get_nav_msg "POSUTM"
 let nav_status = ubx_nav_id, ubx_get_nav_msg "STATUS"
 let nav_velned = ubx_nav_id, ubx_get_nav_msg "VELNED"
diff --git a/sw/lib/ocaml/ubx.mli b/sw/lib/ocaml/ubx.mli
new file mode 100644
index 0000000000..920f7bb0e5
--- /dev/null
+++ b/sw/lib/ocaml/ubx.mli
@@ -0,0 +1,41 @@
+(*
+ * $Id$
+ *
+ * UBX protocol handling
+ *
+ * Copyright (C) 2004 CENA/ENAC, Yann Le Fablec, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * 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,
+ * 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
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+module Protocol :
+  sig
+    val index_start : string -> int
+    val payload_length : string -> int -> int
+    val length : string -> int -> int
+    val payload : string -> int -> string
+    val uint8_t : int -> int
+    val ( += ) : int ref -> int -> unit
+    val checksum : string -> int -> string -> bool
+  end
+
+val nav_posutm : int * Xml.xml
+val nav_status : int * Xml.xml
+val nav_velned : int * Xml.xml
+val send : out_channel -> int * Xml.xml -> (string * int) list -> unit
diff --git a/sw/lib/ocaml/xml2h.mli b/sw/lib/ocaml/xml2h.mli
new file mode 100644
index 0000000000..9273886c8c
--- /dev/null
+++ b/sw/lib/ocaml/xml2h.mli
@@ -0,0 +1,35 @@
+(*
+ * $Id$
+ *
+ * XML preprocessing tools
+ *  
+ * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * 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,
+ * 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
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+exception Error of string
+val nl : unit -> unit
+val define : string -> string -> unit
+val define_string : string -> string -> unit
+val xml_error : string -> 'a
+val sprint_float_array : string list -> string
+val start_and_begin : string -> string -> Xml.xml
+val finish : string -> unit
+val warning : string -> unit