diff --git a/conf/Makefile.avr b/conf/Makefile.avr
index fb64ea2f1a..c187256ce5 100644
--- a/conf/Makefile.avr
+++ b/conf/Makefile.avr
@@ -26,7 +26,7 @@
 # Edit the configuration part to suit your local install
 #
 
-OBJDIR = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/$(TARGET)
+OBJDIR = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/$(TARGETDIR)
 
 CC		= $(ATMELBIN)/avr-gcc -mmcu=$(ARCH)
 LD		= $(CC) $(ATMEL_LIBPATH)
@@ -124,7 +124,7 @@ check_arch :
 	if ($(UISP) $(UISP_FLAGS) 2>&1 | tr '[:upper:]' '[:lower:]' | grep $(ARCH)); then : ; else echo "Wrong architecture (mcu0 vs mcu1 ?)"; exit 1; fi
 
 avr_clean:
-	cd $(OBJDIR); rm -f *.hex *.elf *.out core *.o *.a *~ *.s *.cm* .depend
+	rm -rf $(OBJDIR)
 
 
 #
diff --git a/conf/flight_plans/muret_mini.xml b/conf/flight_plans/muret_mini.xml
index 200ea54088..72f0637284 100644
--- a/conf/flight_plans/muret_mini.xml
+++ b/conf/flight_plans/muret_mini.xml
@@ -17,11 +17,10 @@
 
   <blocks>
     <block NAME="init">
-       <go hmode="route" wp="HOME"/>
-	<go hmode="route" wp="HOME" wp_qdr="0" wp_dist="500"/>
-      <go hmode="route" wp="HOME" wp_qdr="90" wp_dist="500"/>
-      <go hmode="route" wp="HOME"/>
-
+      <go wp="HOME"/>
+      <go hmode="route" wp="HOME" wp_qdr="0" wp_dist="500" from="HOME"/>
+      <go hmode="route" wp="HOME" wp_qdr="90" wp_dist="500" from="HOME" from_qdr="0" from_dist="500"/>
+      <go hmode="route" wp="HOME" from="HOME" from_qdr="90" from_dist="500"/>
       <circle wp="HOME" alt="GROUND_ALT+50" radius="75"/>
     </block>
   </blocks>
diff --git a/sw/airborne/autopilot/Makefile b/sw/airborne/autopilot/Makefile
index 65cf64f322..05568e83ce 100644
--- a/sw/airborne/autopilot/Makefile
+++ b/sw/airborne/autopilot/Makefile
@@ -31,6 +31,7 @@ ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
 
 ARCH	  = atmega128
 TARGET 	  = autopilot
+TARGETDIR = autopilot
 
 LOW_FUSE  = e0
 HIGH_FUSE = 99
diff --git a/sw/airborne/autopilot/cam.c b/sw/airborne/autopilot/cam.c
index 524803ac55..8387516df4 100755
--- a/sw/airborne/autopilot/cam.c
+++ b/sw/airborne/autopilot/cam.c
@@ -45,7 +45,7 @@
 float phi_c, theta_c;
 float target_x, target_y;
 
-void cam_manual() {
+void cam_manual( void ) {
   int16_t yaw = from_fbw.channels[RADIO_YAW];
   if (yaw > MIN_PPRZ_CAM || yaw < -MIN_PPRZ_CAM) {
     phi_c += FLOAT_OF_PPRZ(yaw, 0, DELTA_ALPHA);
@@ -60,12 +60,12 @@ void cam_manual() {
   }
 }
 
-void cam_nadir() {
+void cam_nadir( void ) {
   phi_c = -estimator_phi;
   theta_c = -estimator_theta;
 }
 
-void cam_target() {
+void cam_target( void ) {
   float h = estimator_z - target_alt;
   float c_psi = cos(estimator_psi);
   float s_psi = sin(estimator_psi);
@@ -75,7 +75,7 @@ void cam_target() {
 
 #define MAX_DIST_TARGET 500.
 
-void cam_manual_target() {
+void cam_manual_target( void ) {
   int16_t yaw = from_fbw.channels[RADIO_YAW];
   if (yaw > MIN_PPRZ_CAM || yaw < -MIN_PPRZ_CAM) {
     target_x += FLOAT_OF_PPRZ(yaw, 0, -20.);
@@ -91,13 +91,13 @@ void cam_manual_target() {
   cam_target();
 }
 
-void cam_waypoint_target(uint8_t wp) {
+void cam_waypoint_target( uint8_t wp ) {
   target_x = waypoints[wp].x;
   target_y = waypoints[wp].y;
   cam_target();
 }
 
-void cam_carrot() {
+void cam_carrot( void ) {
   target_x = carrot_x;
   target_y = carrot_y;
   cam_target();
diff --git a/sw/airborne/autopilot/infrared.c b/sw/airborne/autopilot/infrared.c
index 5aa64ab6a2..80bb15f9e1 100644
--- a/sw/airborne/autopilot/infrared.c
+++ b/sw/airborne/autopilot/infrared.c
@@ -25,6 +25,8 @@
  *  \brief Regroup all functions link to \a ir
  */
 
+#include <stdlib.h>
+
 #include "adc.h"
 #include "infrared.h"
 #include "autopilot.h"
diff --git a/sw/airborne/autopilot/test/Makefile b/sw/airborne/autopilot/test/Makefile
index 658c86ffd6..cb9abb68c1 100644
--- a/sw/airborne/autopilot/test/Makefile
+++ b/sw/airborne/autopilot/test/Makefile
@@ -4,7 +4,7 @@ all:
 	@echo "call with 'make TARGET=... compile (or load)'"
 
 TARGET=check_uart
-
+TARGETDIR=autopilot/test
 ARCH      = atmega128
 VARINCLUDE = ../../../var/include
 INCLUDES = -I .. -I ../../../include -I $(VARINCLUDE)
diff --git a/sw/airborne/fly_by_wire/Makefile b/sw/airborne/fly_by_wire/Makefile
index e518678576..37359b4629 100644
--- a/sw/airborne/fly_by_wire/Makefile
+++ b/sw/airborne/fly_by_wire/Makefile
@@ -24,6 +24,7 @@ LOCAL_CFLAGS= $(CTL_BRD_FLAGS)
 
 ARCH	  = atmega8
 TARGET	  = fbw
+TARGETDIR = fbw
 #LOW_FUSE  = 3f # crystal       #
 #LOW_FUSE  = 31 # internal 1MHz #
 #LOW_FUSE  = 1e  # ceramic resonator slow rising power p26 #
diff --git a/sw/airborne/fly_by_wire/test/Makefile b/sw/airborne/fly_by_wire/test/Makefile
index 2c52e77bf3..4413f053a3 100644
--- a/sw/airborne/fly_by_wire/test/Makefile
+++ b/sw/airborne/fly_by_wire/test/Makefile
@@ -28,6 +28,7 @@ LOCAL_CFLAGS= $(CTL_BRD_FLAGS)
 
 ARCH      = atmega8
 TARGET	  = check_uart
+TARGETDIR = fbw/check_uart
 
 
 VARINCLUDE = $(PAPARAZZI_HOME)/var/include
diff --git a/sw/ground_segment/cockpit/Paparazzi/Strip.pm b/sw/ground_segment/cockpit/Paparazzi/Strip.pm
index 537d2813e7..f3f84242c3 100644
--- a/sw/ground_segment/cockpit/Paparazzi/Strip.pm
+++ b/sw/ground_segment/cockpit/Paparazzi/Strip.pm
@@ -318,6 +318,7 @@ sub set_item {
 #  print "in Strip::set_item $item_name $string $color ($self->{prefix})\n";
   my $zinc = $self->get('-zinc');
   my $item = $zinc->find('withtag', $self->{prefix}.$item_name."_value");
+  print "in Strip::set_item $item_name $string color $color\n";
   $zinc->itemconfigure($item, -text => $string, -color  => $color);
 }
 
diff --git a/sw/ground_segment/modem/Makefile b/sw/ground_segment/modem/Makefile
index 88dfbb8d45..75922eeb53 100644
--- a/sw/ground_segment/modem/Makefile
+++ b/sw/ground_segment/modem/Makefile
@@ -22,6 +22,7 @@
 
 ARCH		= atmega8
 TARGET		= modem_gnd
+TARGETDIR       = modem_gnd
 LOW_FUSE =  3f
 HIGH_FUSE = cb
 EXT_FUSE=   ff