diff --git a/sw/ground_segment/cockpit/Paparazzi/MissionD.pm b/sw/ground_segment/cockpit/Paparazzi/MissionD.pm
index 9197389fb0..01a1ab42f4 100644
--- a/sw/ground_segment/cockpit/Paparazzi/MissionD.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/MissionD.pm
@@ -23,6 +23,12 @@ sub Populate {
   $self->{cur_block} = $self->{cur_stage} = -1;
 }
 
+sub set_selected_ac {
+  my ($self, $aircraft ) = @_;
+  my $notebook = $self->Subwidget('notebook');
+  $notebook->raise(scalar $aircraft->get('-ac_id'));
+}
+
 use Data::Dumper;
 
 sub get_block_id {
diff --git a/sw/ground_segment/cockpit/Paparazzi/ND.pm b/sw/ground_segment/cockpit/Paparazzi/ND.pm
index cb1a34512a..56b54f621f 100644
--- a/sw/ground_segment/cockpit/Paparazzi/ND.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/ND.pm
@@ -19,6 +19,7 @@ sub populate {
 		    -origin   => [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
 		    -width    => [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
 		    -height   => [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
+		    -selected_ac => [S_NOINIT,  S_METHOD, S_RDWR, S_OVRWRT, S_NOPRPG, undef],
 		    -page     => [S_NOINIT,  S_METHOD, S_RDWR, S_OVRWRT, S_NOPRPG, "gps"],
 		    -engine_status => [S_NOINIT, S_PRPGONLY, S_RDWR,   S_OVRWRT, S_CHILDREN, undef],
 		    -ap_status => [S_NOINIT, S_PRPGONLY, S_RDWR,   S_OVRWRT, S_CHILDREN, undef],
@@ -47,6 +48,13 @@ sub page {
 sub put_lls {
   my ($self, $value) = @_;
 #  $self->{IR}->put_lls($value);
+}
+
+sub selected_ac {
+  my ($self, $old_ac, $new_ac) = @_;
+  
+
+  
 }
 
 sub build_gui() {
diff --git a/sw/ground_segment/cockpit/Paparazzi/PFD.pm b/sw/ground_segment/cockpit/Paparazzi/PFD.pm
index 329c964985..461f945462 100644
--- a/sw/ground_segment/cockpit/Paparazzi/PFD.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/PFD.pm
@@ -60,18 +60,18 @@ sub completeinit {
 
 sub selected_ac {
   my ($self,  $previous_ac, $new_ac) = @_;
-  print "###########";
-  print "in PFD selected_ac $previous_ac $new_ac\n";
+#  print "###########\n";
+#  print "in PFD selected_ac $previous_ac $new_ac\n";
 
-  my @fields = ('roll', 'alt', 'speed', 'alt', 'target_alt', 'target_heading', 'gps_mode');
+  my @fields = ('roll', 'pitch', 'speed', 'alt', 'target_alt', 'target_heading', 'gps_mode', 'ap_mode');
 
   foreach my $field ( @fields ) {
     $previous_ac->detach($self, $field, [\&foo_cbk, $field]) if ($previous_ac);
     $new_ac->attach($self, $field, [\&foo_cbk, $field]);
   }
 
-  @fields = (['mode', 'ap_mode'],
-	     ['course', 'heading'],
+  @fields = (['course', 'heading'],
+	     ['climb', 'vz']
 	    );
   foreach my $field ( @fields ) {
     $previous_ac->detach($self, $field->[0], [\&foo_cbk, $field->[1]]) if ($previous_ac);
diff --git a/sw/ground_segment/cockpit/Paparazzi/Strip.pm b/sw/ground_segment/cockpit/Paparazzi/Strip.pm
index 588d5307c7..3b3d9997f8 100644
--- a/sw/ground_segment/cockpit/Paparazzi/Strip.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/Strip.pm
@@ -87,12 +87,12 @@ sub completeinit {
      }
     };
 
-  $self->{'frame'} = undef;
-  $self->{'frame_clip'} = undef;
+  $self->{frame} = undef;
+  $self->{frame_clip} = undef;
 
-  $self->{'battery'} = 12.5;
-  $self->{'topgroup'} = undef;
-  $self->{'contentgroup'} = undef;
+  $self->{battery} = 12.5;
+  $self->{topgroup} = undef;
+  $self->{contentgroup} = undef;
   $self->{mission} = undef;
 
   $self->{options} = {
@@ -107,8 +107,8 @@ sub completeinit {
 
 
   $self->{prefix} = "STRIP_".$self->get(-aircraft)->get('-ac_id')."_";
-  $self->{'zinc_bat'} = "";
-  $self->{'zinc_bat_value'} = "";
+  $self->{zinc_bat} = undef;
+  $self->{zinc_bat_value} = undef;
   $self->attach_to_aircraft();
   $self->draw();
 
@@ -142,15 +142,15 @@ sub draw {
 
 
   ## main group of the strip
-  $self->{'topgroup'} = $zinc->add('group', scalar $self->get('-parent_grp'), -sensitive => 1,
+  $self->{topgroup} = $zinc->add('group', scalar $self->get('-parent_grp'), -sensitive => 1,
   	-atomic => 0, -tags => ["strip_".$ident]);
-  $self->{'contentgroup'} = $zinc->add('group', $self->{'topgroup'}, -composealpha=>0, -sensitive=>1);
+  $self->{contentgroup} = $zinc->add('group', $self->{topgroup}, -composealpha=>0, -sensitive=>1);
 
   ## the strip
-  $self->{'frame'} = $zinc->add('rectangle', $self->{'topgroup'}, [5,5,$width, 95], -fillcolor => $self->{options}->{background_color}, -filled=>1, -linecolor => $self->{options}->{border_color}, -sensitive => 1, -tags => ["strip_".$ident]);
+  $self->{frame} = $zinc->add('rectangle', $self->{topgroup}, [5,5,$width, 95], -fillcolor => $self->{options}->{background_color}, -filled=>1, -linecolor => $self->{options}->{border_color}, -sensitive => 1, -tags => ["strip_".$ident]);
   # cliping contour of the strip
-  $self->{'frame_clip'} = $zinc->add('rectangle', $self->{'contentgroup'}, [5,5,$width, 95], -visible=>0);
-  $zinc->itemconfigure($self->{'contentgroup'}, -clip=> $self->{'frame_clip'});
+  $self->{frame_clip} = $zinc->add('rectangle', $self->{contentgroup}, [5,5,$width, 95], -visible=>0);
+  $zinc->itemconfigure($self->{contentgroup}, -clip=> $self->{frame_clip});
   
   ## bindings to highlight the strip when the mouse is over
   $zinc->bind($self->{frame}, '<Enter>', sub { $zinc->itemconfigure($self->{frame}, -linecolor => 'red'); });
@@ -158,7 +158,7 @@ sub draw {
   $zinc->bind($self->{frame}, '<1>', [\&onStripPressed, $self, $ident]);
 
   ## ident of the plane
-  $zinc->add('text', $self->{'contentgroup'}, -text => uc($ident), -position=>[10,10], -font => $self->{options}->{normal_font}, -color => "midnightblue");
+  $zinc->add('text', $self->{contentgroup}, -text => uc($ident), -position=>[10,10], -font => $self->{options}->{normal_font}, -color => "midnightblue");
   
   my @label_attr = (['AP',  'ap_mode',          70,  10],
 		    ['RC',  'rc_status',        70,  22],
@@ -175,23 +175,23 @@ sub draw {
     $self->add_value_text($attr->[1]);
   }
 
-  $zinc->add('text', $self->{'contentgroup'}, -text => $self->string_of_time(0), -position => [8, 82], -font => $self->{options}->{small_font}, -color => $self->{options}->{label_color}, -tags => [ $self->{prefix}."flight_time_value"] );
+  $zinc->add('text', $self->{contentgroup}, -text => $self->string_of_time(0), -position => [8, 82], -font => $self->{options}->{small_font}, -color => $self->{options}->{label_color}, -tags => [ $self->{prefix}."flight_time_value"] );
   ##
   # QUICK and DIRTY flight time an battery
   # 
   ## flight_time
   # FIXME: use tags instead of reference to zinc item
 
-  $zinc->add('rectangle', $self->{'contentgroup'}, [10,25, 41,81], -filled=>1, -fillcolor=> '#d1d1d1');
-  $self->{'zinc_bat'} = $zinc->add('rectangle', $self->{'contentgroup'}, [11,80-(($self->{'battery'}-6)/7)*55,40,80],  -filled=>1,-fillcolor=>'#8080ff', -linewidth=>0);
+  $zinc->add('rectangle', $self->{contentgroup}, [10,25, 41,81], -filled=>1, -fillcolor=> '#d1d1d1');
+  $self->{zinc_bat} = $zinc->add('rectangle', $self->{contentgroup}, [11,80-(($self->{battery}-6)/7)*55,40,80],  -filled=>1,-fillcolor=>'#8080ff', -linewidth=>0);
 
-  $self->{'zinc_bat_value'} = $zinc->add('text', $self->{'contentgroup'}, -text => sprintf("%s",$self->{'battery'}), -position=>[12,40], -font => $self->{options}->{small_font});
+  $self->{zinc_bat_value} = $zinc->add('text', $self->{contentgroup}, -text => sprintf("%s",$self->{battery}), -position=>[12,40], -font => $self->{options}->{small_font});
 
-  $zinc->translate($self->{'topgroup'}, $x, $y);
-  $zinc->raise($self->{'topgroup'});
-  $zinc->raise($self->{'contentgroup'});
+  $zinc->translate($self->{topgroup}, $x, $y);
+  $zinc->raise($self->{topgroup});
+  $zinc->raise($self->{contentgroup});
 #  $self->border_block(); # display blocks of flight plan
-  return $self->{'topgroup'};
+  return $self->{topgroup};
 }
 
 # add_label
@@ -199,8 +199,8 @@ sub draw {
 ##############################################################################
 sub add_label {
   my ($self, $label, $tag, $x, $y) = @_;
-  print "adding $tag\n";
-  $self->get('-zinc')->add('text',$self->{'contentgroup'}, -text => $label, -position => [$x, $y], -font => $self->{options}->{normal_font}, -color => $self->{options}->{label_color}, -tags => [ $self->{prefix}.$tag ]);
+#  print "adding $tag\n";
+  $self->get('-zinc')->add('text',$self->{contentgroup}, -text => $label, -position => [$x, $y], -font => $self->{options}->{normal_font}, -color => $self->{options}->{label_color}, -tags => [ $self->{prefix}.$tag ]);
 }
 
 # add_value_text
@@ -322,19 +322,20 @@ sub set_block {
 
 
 # FIXME: should be deprecated and we should use set_item or something like that
-sub setBat {
+sub set_bat {
   my ($self, $bat) = @_;
-  print "in Strip::set_bat $bat ($self->{prefix})\n";
-  $self->{'battery'} = $bat;
+#  print "in Strip::set_bat $bat ($self->{prefix})\n";
+  my $zinc = $self->get('-zinc');
+  $self->{battery} = $bat;
   my $batcolor = '#8080ff';
-  $self->{'zinc'}->remove($self->{'zinc_bat'});
-  $self->{'zinc_bat'} = 
-    $self->{'zinc'}->add('rectangle',
-			 $self->{'contentgroup'}, [11,80-(($self->{'battery'}-6)/7)*55,40,80],
-			 -filled=>1,-fillcolor=>$batcolor, -linewidth=>0);
-  $self->{'zinc'}->itemconfigure($self->{'zinc_bat_value'},
-				 -text => sprintf("%2.1f",$self->{'battery'}),);
-  $self->{'zinc'}->raise($self->{'zinc_bat_value'});
+  $zinc->remove($self->{zinc_bat}) if (defined $self->{zinc_bat});
+  $self->{zinc_bat} = $zinc->add('rectangle',
+				 $self->{contentgroup},
+				 [11,80-(($self->{battery}-6)/7)*55,40,80],
+				 -filled=>1, -fillcolor=>$batcolor, -linewidth=>0) if (defined $self->{contentgroup});
+  $zinc->itemconfigure($self->{zinc_bat_value},
+		       -text => sprintf("%2.1f",$self->{battery}),);
+  $zinc->raise($self->{zinc_bat_value});
 }
 
 sub string_of_time {
@@ -350,8 +351,8 @@ sub string_of_time {
 ##############################################################################
 sub attach_to_aircraft {
   my ($self) = @_;
-  my @options = ('flight_plan', 'ap_mode', 'rc_mode', 'gps_mode', 'contrast_status', 'contrast_value',
-		 'flight_time', 'alt', 'target_alt', 'speed', 'climb');
+  my @options = ('flight_plan', 'ap_mode', 'rc_status', 'gps_mode', 'contrast_status', 'contrast_value',
+		 'flight_time', 'alt', 'target_alt', 'speed', 'climb', 'bat');
   foreach my $option (@options) {
     $self->get('-aircraft')->attach($self, $option, [\&aircraft_config_changed]);
   }
@@ -364,8 +365,8 @@ sub aircraft_config_changed {
   if ($event eq 'flight_plan') {
     #    $self->border_block() if (defined $new_value) ; # display blocks of flight plan
   }
-  elsif ($event eq 'ap_mode' or $event eq 'rc_status' or 
-	 $event eq 'gps_mode' or $event eq 'contrast_status') {
+  elsif ($event eq 'ap_mode' or $event eq 'rc_status' or #$event eq 'rc_mode' or
+	 $event eq 'gps_mode' or $event eq 'contrast_status' ) {
     my $names = $self->{modes}->{$event}->{name};
     my $colors = $self->{modes}->{$event}->{color};
     if ($new_value < @{$names} ) {
@@ -377,15 +378,17 @@ sub aircraft_config_changed {
     $self->set_item("flight_time",$self->string_of_time($new_value), $self->{options}->{value_color});
   }
   elsif ($event eq 'bat') {
-    $self->set_bat($new_value); # display blocks of flight plan
+    $self->set_bat($new_value);
   }
-  elsif ( $event eq 'speed' or $event eq 'climb' or $event eq 'alt' or $event eq 'target_alt') {
+  elsif ( $event eq 'speed' or $event eq 'climb' or $event eq 'alt' or $event eq 'target_alt' or $event eq 'contrast_value') {
     my $fmt = { speed => "%2.1fm/s",
 		climb => "%+2.1fm/s",
 		alt   => "%4.1fm",
-		target_alt => "%4.1fm"
+		target_alt => "%4.1fm",
+		contrast_value => "%03d",
 	      };
     $self->set_item($event, sprintf($fmt->{$event}, $new_value), $self->{options}->{value_color});
+
   }
   # cur_block
   elsif ($event eq 'cur_block') {
@@ -401,7 +404,7 @@ sub aircraft_config_changed {
 sub selected {
   my ($self, $previous_val, $new_val) = @_;
   my $zinc = $self->get('-zinc');
-  $zinc->itemconfigure($self->{'frame'},
+  $zinc->itemconfigure($self->{frame},
 		       -fillcolor => $new_val ? $self->{options}->{selected_background_color} :
 		       $self->{options}->{background_color});
 }
diff --git a/sw/ground_segment/cockpit/Paparazzi/StripPanel.pm b/sw/ground_segment/cockpit/Paparazzi/StripPanel.pm
index 050c6dc90b..6b150fefb7 100644
--- a/sw/ground_segment/cockpit/Paparazzi/StripPanel.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/StripPanel.pm
@@ -70,7 +70,7 @@ sub add_strip {
 }
 
 sub OnStripPressed {
-  print ("OnStripPressed @_\n");
+#  print ("OnStripPressed @_\n");
   my ($zinc, $self, $ac_id) = @_;
   $self->{strips}->{$self->get('-selected')}->configure('-selected' => 0) if defined $self->get('-selected');
   $self->configure('-selected' => $ac_id);
diff --git a/sw/ground_segment/cockpit/cockpit.pl b/sw/ground_segment/cockpit/cockpit.pl
index e3bfc15170..840445030e 100755
--- a/sw/ground_segment/cockpit/cockpit.pl
+++ b/sw/ground_segment/cockpit/cockpit.pl
@@ -129,11 +129,8 @@ sub ivy_on_selected {
 }
 
 sub on_aircraft_selection {
-  #  print ("onAircratftSelection @_\n");
   my ($self, $_sp, $what, $new_selected_ac ) = @_;
-  print "on_aircraft_selection @_\n";
   $self->select_ac($new_selected_ac);
-
 }
 
 sub select_ac {
@@ -142,6 +139,7 @@ sub select_ac {
   $self->{aircrafts_manager}->listen_to_ac($ac_id);
   my $aircraft = $self->{aircrafts_manager}->get_aircraft_by_id($ac_id);
   $self->{pfd}->configure('-selected_ac', $aircraft);
+  $self->{nd}->configure('-selected_ac', $aircraft);
   $self->{md}->set_selected_ac($aircraft);
 }
 
diff --git a/sw/lib/perl/Paparazzi/IvyProtocol.pm b/sw/lib/perl/Paparazzi/IvyProtocol.pm
index 330f4ced23..64109ee28a 100644
--- a/sw/lib/perl/Paparazzi/IvyProtocol.pm
+++ b/sw/lib/perl/Paparazzi/IvyProtocol.pm
@@ -29,8 +29,8 @@ sub init {
 
 sub send_request {
   my ($sender_name, $msg_class, $msg_name, $known_fields, $user_cb) = @_;
-  print "in send request $msg_class $msg_name\n";
-  print Dumper($known_fields);
+#  print "in send request $msg_class $msg_name\n";
+#  print Dumper($known_fields);
   my $result_name = $msg_name;#."_RES";
   my $regexp = get_regexp($sender_name, $msg_class, $msg_name, $known_fields);
   $regexp =~ s/$msg_name/$result_name/;
@@ -45,8 +45,8 @@ sub send_request {
 
 sub on_res_received {
   my ($sender_name, $msg_class, $msg_name, $known_fields, $regexp, $user_cb, @matched_regexps) = @_;
-  print "on res received\n";
-  print Dumper($known_fields);
+#  print "on res received\n";
+#  print Dumper($known_fields);
   $ivy->bindRegexp($regexp);
   on_msg_received($sender_name, $msg_class, $msg_name, $known_fields, $user_cb, @matched_regexps);