diff --git a/conf/airframes/twinjet1.xml b/conf/airframes/twinjet1.xml
index 1d0ebda8b1..6a9bf2cf74 100644
--- a/conf/airframes/twinjet1.xml
+++ b/conf/airframes/twinjet1.xml
@@ -237,7 +237,7 @@ ap.srcs += nav_survey_rectangle.c snav.c
 ap.srcs += light.c
 ap.CFLAGS += -DUSE_LIGHT
 
-ap.CFLAGS += -DNAV_JOYSTICK
+# ap.CFLAGS += -DUSE_JOYSTICK
 
 
 
@@ -254,7 +254,10 @@ sim.CFLAGS += -DCONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
 sim.srcs += nav_survey_rectangle.c nav_line.c light.c snav.c
 sim.CFLAGS += -DUSE_LIGHT
 
-sim.CFLAGS += -DNAV_JOYSTICK
+sim.CFLAGS += -DUSE_ADC_GENERIC
+
+sim.srcs += joystick.c
+sim.CFLAGS += -DUSE_JOYSTICK
 
 
   </makefile>
diff --git a/sw/airborne/joystick.c b/sw/airborne/joystick.c
index 51031860c5..c7e951c7a9 100644
--- a/sw/airborne/joystick.c
+++ b/sw/airborne/joystick.c
@@ -1,9 +1,3 @@
 #include "joystick.h"
 
-float joystick_x;
-float joystick_y;
-
-void joystick_init(void) {
-  joystick_x = 0.;
-  joystick_y = 0.;
-}
+uint8_t joystick_block;
diff --git a/sw/airborne/joystick.h b/sw/airborne/joystick.h
index 5b9456e390..8fd386e734 100644
--- a/sw/airborne/joystick.h
+++ b/sw/airborne/joystick.h
@@ -1,13 +1,13 @@
 #ifndef JOYSTICK_H
 #define JOYSTICK_H
 
-extern float joystick_x;
-extern float joystick_y;
+#include "std.h"
+#include "fw_h_ctl.h"
 
-extern void joystick_init(void);
+extern uint8_t joystick_block;
 
 #define JoystickHandeDatalink(_roll_int8, _pitch_int8, _throttle_int8) { \
-  if (pprz_mode == PPRZ_MODE_AUTO2) { \
+  if (pprz_mode == PPRZ_MODE_AUTO2 && nav_block == joystick_block) { \
     h_ctl_roll_setpoint = _roll_int8 * (AUTO1_MAX_ROLL / 0x7f); \
     h_ctl_pitch_setpoint = _pitch_int8 * (AUTO1_MAX_PITCH / 0x7f); \
     v_ctl_throttle_setpoint = (MAX_PPRZ/0x7f) * _throttle_int8; \