diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile
new file mode 100644
index 0000000000..8362b9d26d
--- /dev/null
+++ b/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile
@@ -0,0 +1,12 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# InterMCU type CAN
+
+ifneq ($(TARGET),sim)
+$(TARGET).CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
+$(TARGET).srcs += ./link_mcu_can.c
+$(TARGET).srcs += ./mcu_periph/can.c
+$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/can_arch.c
+endif
+
+SEPARATE_FBW=1
\ No newline at end of file
diff --git a/sw/airborne/link_mcu_can.c b/sw/airborne/link_mcu_can.c
new file mode 100644
index 0000000000..7d69f66c58
--- /dev/null
+++ b/sw/airborne/link_mcu_can.c
@@ -0,0 +1,231 @@
+/*
+ * Copyright (C) 2010-2012 The Paparazzi Team
+ *
+ * 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.
+ *
+ */
+
+#include "link_mcu_can.h"
+#include "mcu_periph/can.h"
+#include "led.h"
+
+#include "subsystems/commands.h"
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+// INTERMCU CAN MESSAGES
+
+// Commands
+#define MSG_INTERMCU_COMMAND_MASTER_ID 0x01
+#define MSG_INTERMCU_COMMAND_EXTRA_ID 0x02
+// Channels
+#define MSG_INTERMCU_RADIO_LOW_ID 0x04
+#define MSG_INTERMCU_RADIO_HIGH_ID 0x05
+// Trim
+#define MSG_INTERMCU_TRIM_ID 0x09
+// Status
+#define MSG_INTERMCU_FBW_STATUS_ID 0x10
+
+
+union {
+  uint8_t data[8];
+  pprz_t cmd[4];
+} imcu_cmd_mstr, imcu_cmd_ext, imcu_chan1, imcu_chan2, imcu_trim;
+
+#define INTERMCU_COMMAND(_intermcu_payload, nr) (pprz_t)((uint16_t)(*((uint8_t*)_intermcu_payload+0+(2*(nr)))|*((uint8_t*)_intermcu_payload+1+(2*(nr)))<<8))
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+// READ MESSAGES
+
+
+void link_mcu_on_can_msg(uint32_t id, uint8_t *data, int len);
+void link_mcu_on_can_msg(uint32_t id, uint8_t *data, int len)
+{
+#if COMMANDS_NB > 8
+#error "INTERMCU_CAN CAN ONLY SEND 4 OR 8 COMMANDS (packets of 8 bytes)"
+#endif
+#if RADIO_CONTROL_NB_CHANNEL > 8
+#warning "INTERMCU_CAN CAN ONLY SEND 8 RADIO CHANNELS: CHANNELS 9 and higher will not be sent"
+#endif
+  if (len){}//Remove compile warning
+
+  if (id == MSG_INTERMCU_COMMAND_MASTER_ID)
+  {
+    for (int i=0; (i<4) && (i<COMMANDS_NB); i++)
+    {
+      ap_state->commands[i] = INTERMCU_COMMAND(data, i);
+    }
+#ifdef LINK_MCU_LED
+    LED_TOGGLE(LINK_MCU_LED);
+#endif
+    inter_mcu_received_ap = TRUE;
+  }
+
+  if (id ==  MSG_INTERMCU_COMMAND_EXTRA_ID)
+  {
+    for (int i=0; (i<4) && (i<(COMMANDS_NB-4)); i++)
+    {
+      ap_state->commands[4+i] = INTERMCU_COMMAND(data, i);
+    }
+  }
+
+
+  if (id == MSG_INTERMCU_TRIM_ID)
+  {
+    ap_state->command_roll_trim  = ((pprz_t) INTERMCU_COMMAND(data,0));
+    ap_state->command_pitch_trim = ((pprz_t) INTERMCU_COMMAND(data,1));
+  }
+
+  if (id == MSG_INTERMCU_RADIO_LOW_ID)
+  {
+    for (int i=0; (i<4) && (i< RADIO_CONTROL_NB_CHANNEL); i++)
+    {
+      fbw_state->channels[i] = ((pprz_t)INTERMCU_COMMAND(data, i));
+    }
+  }
+
+  if (id == MSG_INTERMCU_RADIO_HIGH_ID)
+  {
+    for (int i=0; (i<4) && (i< (RADIO_CONTROL_NB_CHANNEL-4)); i++)
+    {
+      fbw_state->channels[4+i] = ((pprz_t)INTERMCU_COMMAND(data, i));
+    }
+  }
+
+  if ((id == MSG_INTERMCU_FBW_STATUS_ID) && (len == 5))
+  {
+    fbw_state->ppm_cpt = data[0];
+    fbw_state->status = data[1];
+    fbw_state->nb_err = data[2];
+    fbw_state->vsupply = data[3] + (data[4] << 8);
+    fbw_state->current = 0;
+
+#ifdef LINK_MCU_LED
+    LED_TOGGLE(LINK_MCU_LED);
+#endif
+    inter_mcu_received_fbw = TRUE;
+  }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+// SEND MESSAGES
+
+
+#ifdef AP
+void link_mcu_send( void )
+{
+  for (int i=0; (i<COMMANDS_NB) && (i<4);i++)
+    imcu_cmd_mstr.cmd[i] = ap_state->commands[i];
+  for (int i=0; (i<(COMMANDS_NB-4)) && (i<4);i++)
+    imcu_cmd_ext.cmd[i] = ap_state->commands[4+i];
+
+  ppz_can_transmit(MSG_INTERMCU_COMMAND_MASTER_ID, imcu_cmd_mstr.data, 8);
+  ppz_can_transmit(MSG_INTERMCU_COMMAND_EXTRA_ID, imcu_cmd_ext.data, 8);
+
+  imcu_trim.cmd[0] = ap_state->command_roll_trim;
+  imcu_trim.cmd[1] = ap_state->command_pitch_trim;
+  imcu_trim.cmd[2] = ap_state->command_yaw_trim;
+  RunOnceEvery(6, ppz_can_transmit(MSG_INTERMCU_TRIM_ID, imcu_trim.data, 6));
+}
+#endif
+
+#ifdef FBW
+void link_mcu_periodic_task( void )
+{
+  // Import: Prepare the next message for AP
+  inter_mcu_fill_fbw_state();
+
+  // Transmit Status
+  uint8_t intermcu_tx_buff[8];
+  intermcu_tx_buff[0] = fbw_state->ppm_cpt;
+  intermcu_tx_buff[1] = fbw_state->status;
+  intermcu_tx_buff[2] = fbw_state->nb_err;
+  intermcu_tx_buff[3] = (uint8_t) fbw_state->vsupply;
+  intermcu_tx_buff[4] = (uint8_t) ((fbw_state->vsupply & 0xff00) >> 8);
+  ppz_can_transmit(MSG_INTERMCU_FBW_STATUS_ID, intermcu_tx_buff, 5);
+
+#if defined RADIO_CONTROL || RADIO_CONTROL_AUTO1
+  // Copy the CHANNELS to the 2 CAN buffers
+  for (int i=0; (i<RADIO_CONTROL_NB_CHANNEL) && (i<4);i++)
+    imcu_chan1.cmd[i] = fbw_state->channels[i];
+  for (int i=0; (i<(RADIO_CONTROL_NB_CHANNEL-4)) && (i<4);i++)
+    imcu_chan2.cmd[i] = fbw_state->channels[4+i];
+
+  if (bit_is_set(fbw_state->status, RC_OK))
+  {
+    ppz_can_transmit(MSG_INTERMCU_RADIO_LOW_ID,  imcu_chan1.data, 8);
+    ppz_can_transmit(MSG_INTERMCU_RADIO_HIGH_ID, imcu_chan2.data, 8);
+  }
+#endif
+}
+#endif
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+// STATUS LOGIC AND TELEMETRY
+// Downlink FBW status from AP
+
+struct link_mcu_msg link_mcu_from_ap_msg;
+struct link_mcu_msg link_mcu_from_fbw_msg;
+
+
+#ifdef AP
+#include "subsystems/datalink/telemetry.h"
+
+#define RC_OK          0
+#define RC_LOST        1
+#define RC_REALLY_LOST 2
+
+
+static void send_commands(void) {
+  DOWNLINK_SEND_COMMANDS(DefaultChannel, DefaultDevice, COMMANDS_NB, ap_state->commands);
+}
+
+static void send_fbw_status(void) {
+  uint8_t rc_status = 0;
+  uint8_t fbw_status = 0;
+  if (bit_is_set(fbw_state->status, STATUS_MODE_AUTO))
+    fbw_status = FBW_MODE_AUTO;
+  if (bit_is_set(fbw_state->status, STATUS_MODE_FAILSAFE))
+    fbw_status = FBW_MODE_FAILSAFE;
+  if (bit_is_set(fbw_state->status, STATUS_RADIO_REALLY_LOST))
+    rc_status = RC_REALLY_LOST;
+  else if (bit_is_set(fbw_state->status, RC_OK))
+    rc_status = RC_OK;
+  else
+    rc_status = RC_LOST;
+  DOWNLINK_SEND_FBW_STATUS(DefaultChannel, DefaultDevice,
+      &(rc_status), &(fbw_state->ppm_cpt), &(fbw_status), &(fbw_state->vsupply), &(fbw_state->current));
+}
+#endif
+
+void link_mcu_init( void )
+{
+  ppz_can_init(link_mcu_on_can_msg);
+
+#ifdef AP
+  #if PERIODIC_TELEMETRY
+    // If FBW has not telemetry, then AP can send some of the info
+    register_periodic_telemetry(DefaultPeriodic, "COMMANDS", send_commands);
+    register_periodic_telemetry(DefaultPeriodic, "FBW_STATUS", send_fbw_status);
+  #endif
+#endif
+}
+
+void link_mcu_event_task( void ) {
+  // No event function: CAN_RX_IRQ is called on reception of data
+}
diff --git a/sw/airborne/link_mcu_can.h b/sw/airborne/link_mcu_can.h
new file mode 100644
index 0000000000..910842693d
--- /dev/null
+++ b/sw/airborne/link_mcu_can.h
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2010-2012 The Paparazzi Team
+ *
+ * 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.
+ *
+ */
+
+/** \brief Transport for the communication between FBW and AP via CAN.
+ */
+
+#ifndef LINK_MCU_H
+#define LINK_MCU_H
+
+#include <inttypes.h>
+#include "inter_mcu.h"
+
+struct link_mcu_msg {
+  union  {
+    struct fbw_state from_fbw;
+    struct ap_state  from_ap;
+  } payload;
+};
+
+extern struct link_mcu_msg link_mcu_from_ap_msg;
+extern struct link_mcu_msg link_mcu_from_fbw_msg;
+
+extern bool_t link_mcu_received;
+
+extern void link_mcu_send( void );
+extern void link_mcu_init( void );
+extern void link_mcu_event_task( void );
+extern void link_mcu_periodic_task( void );
+
+
+#endif