diff --git a/conf/airframes/minimag1.xml b/conf/airframes/minimag1.xml
index 18c2ffa752..3e335c5851 100644
--- a/conf/airframes/minimag1.xml
+++ b/conf/airframes/minimag1.xml
@@ -263,7 +263,5 @@ sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -D
 sim.srcs += traffic_info.c
 # sim.srcs += bomb.c
 
-
-
   </makefile>
 </airframe>
diff --git a/conf/airframes/twinjet1.xml b/conf/airframes/twinjet1.xml
index cb720abd57..1ab5cc8606 100644
--- a/conf/airframes/twinjet1.xml
+++ b/conf/airframes/twinjet1.xml
@@ -87,6 +87,7 @@
     <define name="ROLL_SCALE" value="0.44"/>   
   </section>
  
+<!-- cf section HORIZONTAL CONTROL
   <section name="PID">
     <define name="ROLL_PGAIN" value="5000."/>
     <define name="PITCH_OF_ROLL" value="0.0"/>
@@ -97,6 +98,7 @@
     <define name="AILERON_OF_GAZ" value="0.0"/>
     <define name="CRUISE_THROTTLE" value="0.30"/>
   </section>
+-->
  
   <section name="GYRO">
     <define name="GYRO_MAX_RATE" value="150."/>
@@ -107,6 +109,7 @@
     <define name="ROLL_RATE_DGAIN" value="0.0"/>
   </section>
 
+<!-- cf section VERTICAL CONTROL
   <section name="ALT" prefix="CLIMB_">
     <define name="PITCH_PGAIN" value="-0.1"/>
     <define name="PITCH_IGAIN" value="0.025"/>
@@ -117,6 +120,7 @@
     <define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
     <define name="MAX_DIFF_GAZ" value="0.05" unit="%"/>
   </section>
+-->
  
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
@@ -203,7 +207,7 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    <define name="DEFAULT_THROTTLE" value="CRUISE_THROTTLE+0.05" unit="%"/>
+    <define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
     <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
     <define name="HOME_RADIUS" value="50" unit="m"/>
diff --git a/conf/autopilot/tiny.makefile b/conf/autopilot/tiny.makefile
index dcdb9fa52b..13f493e319 100644
--- a/conf/autopilot/tiny.makefile
+++ b/conf/autopilot/tiny.makefile
@@ -10,10 +10,6 @@ ap.TARGETDIR = autopilot
 LPC21ISP_BAUD = 38400
 LPC21ISP_XTAL = 12000
 
-
-
-
-
 # a test program to setup actuators 
 setup_actuators.ARCHDIR = $(ARCHI)
 setup_actuators.ARCH = arm7tdmi
@@ -31,4 +27,17 @@ tunnel.TARGET = tunnel
 tunnel.TARGETDIR = tunnel
 
 tunnel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
-tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
\ No newline at end of file
+tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
+
+
+# A test program to monitor the ADC values
+test_adcs.ARCHDIR = $(ARCHI)
+test_adcs.ARCH = arm7tdmi
+test_adcs.TARGET = test_adcs
+test_adcs.TARGETDIR = test_adcs
+
+test_adcs.CFLAGS += -DCONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
+test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
+test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c
+
+test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c test_adcs.c
diff --git a/sw/airborne/pprz_transport.h b/sw/airborne/pprz_transport.h
index b1a27e5e68..feafcab38e 100644
--- a/sw/airborne/pprz_transport.h
+++ b/sw/airborne/pprz_transport.h
@@ -93,8 +93,8 @@ extern uint8_t ck_a, ck_b;
 #define PprzTransportPutArray(_put, _n, _x) { \
   uint8_t i; \
   PprzTransportPutUint8(_n); \
-  for(i = 0; i < _n; i++) { \
-    _put(&_x[i]); \
+  for(_i = 0; _i < _n; _i++) { \
+    _put(&_x[_i]); \
   } \
 }
 
diff --git a/sw/airborne/test_adcs.c b/sw/airborne/test_adcs.c
new file mode 100644
index 0000000000..f031791011
--- /dev/null
+++ b/sw/airborne/test_adcs.c
@@ -0,0 +1,63 @@
+/*
+ * Basic program periodically sending the values of the 8 ADCs
+ */
+
+
+#include "interrupt_hw.h"
+#include "std.h"
+#include "init_hw.h"
+#include "sys_time.h"
+#include "adc.h"
+#include "messages.h"
+#include "led.h"
+#include "uart.h"
+#include "downlink.h"
+
+
+#define NB_ADC 8
+#define ADC_NB_SAMPLES 16
+
+static struct adc_buf buf_adc[NB_ADC];
+
+int main (int argc, char** argv) {
+  hw_init();
+  sys_time_init();
+  led_init();
+  adc_init();
+
+  adc_buf_channel(ADC_0, &buf_adc[0], ADC_NB_SAMPLES);
+  adc_buf_channel(ADC_1, &buf_adc[1], ADC_NB_SAMPLES);
+  adc_buf_channel(ADC_2, &buf_adc[2], ADC_NB_SAMPLES);
+  adc_buf_channel(ADC_3, &buf_adc[3], ADC_NB_SAMPLES);
+  adc_buf_channel(ADC_4, &buf_adc[4], ADC_NB_SAMPLES);
+  adc_buf_channel(ADC_5, &buf_adc[5], ADC_NB_SAMPLES);
+  adc_buf_channel(ADC_6, &buf_adc[6], ADC_NB_SAMPLES);
+  adc_buf_channel(ADC_7, &buf_adc[7], ADC_NB_SAMPLES);
+
+#if NB_ADC != 8
+#error "8 ADCs expected !"
+#endif
+
+#ifdef USE_UART0
+  Uart0Init();
+#endif
+#ifdef USE_UART1
+  Uart1Init();
+#endif
+
+  int_enable();
+
+  while(1) {
+    if (sys_time_periodic()) {
+      LED_TOGGLE(1);
+      uint16_t values[NB_ADC];
+      uint8_t i;
+      for(i = 0; i < NB_ADC; i++)
+	values[i] = buf_adc[i].sum / ADC_NB_SAMPLES;
+
+      uint8_t id = 42;
+      DOWNLINK_SEND_ADC(&id, NB_ADC, values);
+    }
+  }
+  return 0;
+}
diff --git a/sw/airborne/xbee.h b/sw/airborne/xbee.h
index 849dcd7f13..8d2454dd82 100644
--- a/sw/airborne/xbee.h
+++ b/sw/airborne/xbee.h
@@ -97,10 +97,10 @@ void xbee_init( void );
 #define XBeeTransportPutNamedUint8(_name, _byte) XBeeTransportPutUint8(_byte)
 
 #define XBeeTransportPutArray(_put, _n, _x) { \
-  uint8_t i; \
+  uint8_t _i; \
   XBeeTransportPutUint8(_n); \
-  for(i = 0; i < _n; i++) { \
-    _put(&_x[i]); \
+  for(_i = 0; _i < _n; _i++) { \
+    _put(&_x[_i]); \
   } \
 }