diff --git a/conf/airframes/motor_bench.xml b/conf/airframes/motor_bench.xml
index 1a151bec33..e4de2c7e6f 100644
--- a/conf/airframes/motor_bench.xml
+++ b/conf/airframes/motor_bench.xml
@@ -32,7 +32,7 @@ main.srcs += $(SRC_ARCH)/mb_servo.c
 main.CFLAGS += -DMB_TACHO
 main.srcs += $(SRC_ARCH)/mb_tacho.c
 
-main.CFLAGS += -DADC -DUSE_ADC_0
+main.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1
 main.srcs += $(SRC_ARCH)/adc_hw.c
 main.srcs += $(SRC_ARCH)/mb_current.c
 
diff --git a/conf/autopilot/conf_motor_bench.h b/conf/autopilot/conf_motor_bench.h
index 2fabfd1327..0b79017167 100644
--- a/conf/autopilot/conf_motor_bench.h
+++ b/conf/autopilot/conf_motor_bench.h
@@ -30,4 +30,15 @@
 //#define USE_AD0_0
 #endif
 
+#define ADC_1 AdcBank0(1)
+#ifdef USE_ADC_1
+#ifndef USE_AD0
+#define USE_AD0
+#endif
+#define USE_AD0_1
+#endif
+
+
+
+
 #endif /* CONFIG_MOTOR_BENCH_H */
diff --git a/sw/airborne/arm7/adc_hw.c b/sw/airborne/arm7/adc_hw.c
index 6dbe17d498..6c68918e4f 100644
--- a/sw/airborne/arm7/adc_hw.c
+++ b/sw/airborne/arm7/adc_hw.c
@@ -181,6 +181,7 @@ void adc_init( void ) {
 }
 
 #include "led.h"
+
 #include "uart.h"
 #include "messages.h"
 #include "downlink.h"
@@ -192,7 +193,6 @@ void adcISR0 ( void ) {
   uint8_t  channel = (uint8_t)(tmp >> 24) & 0x07;
   uint16_t value = (uint16_t)(tmp >> 6) & 0x03FF;
   adc0_val[channel] = value;
-  DOWNLINK_SEND_BOOT(&value);
 
   struct adc_buf* buf = buffers[channel];
   if (buf) {
diff --git a/sw/airborne/arm7/mb_current.c b/sw/airborne/arm7/mb_current.c
index c62f2378d7..b97b784a51 100644
--- a/sw/airborne/arm7/mb_current.c
+++ b/sw/airborne/arm7/mb_current.c
@@ -14,6 +14,8 @@ void mb_current_init(void) {
 
 void mb_current_periodic(void) {
   uint16_t cur_int = mb_current_buf.sum / mb_current_buf.av_nb_sample;
-  //  uint16_t cur_int = adc0_val[0];
-  mb_current_amp = cur_int * 1.;
+  //  mb_current_amp = (float)mb_current_buf.sum;
+  //  mb_current_amp = (((float)cur_int / 1024 * 5) - 0.77)/ 0.185;
+  mb_current_amp = (float)mb_current_buf.sum * 0.00113607  - 2.8202;
+
 }
diff --git a/sw/airborne/arm7/mb_modes.c b/sw/airborne/arm7/mb_modes.c
index 82f7836ca5..62d93db7e5 100644
--- a/sw/airborne/arm7/mb_modes.c
+++ b/sw/airborne/arm7/mb_modes.c
@@ -1,21 +1,38 @@
 #include "mb_modes.h"
 
+#include "adc.h"
+
 
 uint8_t mb_modes_mode;
 float mb_modes_throttle;
 
+
+static struct adc_buf mb_modes_adc_buf; /* manual mode */
+
 void mb_mode_init(void) {
-  mb_modes_mode = MB_MODES_IDLE;
+  adc_buf_channel(1, &mb_modes_adc_buf, 16);
+  mb_modes_mode = MB_MODES_MANUAL;
   mb_modes_throttle = 0.;
 }
 
 
 void mb_mode_event(void) {} 
 
-
 void mb_mode_periodic(void) {
-  mb_modes_throttle += 0.0001;
-  if (mb_modes_throttle > 1.)
+
+  uint16_t poti =  mb_modes_adc_buf.sum;
+
+  switch (mb_modes_mode) {
+  case MB_MODES_MANUAL :
+    mb_modes_throttle = (float)poti/(16.*1024.);
+    break;
+  case MB_MODES_RAMP :
+    mb_modes_throttle += 0.0001;
+    if (mb_modes_throttle > 1.)
+      mb_modes_throttle = 0.;
+    break;
+  default:
     mb_modes_throttle = 0.;
+  }
 }
 
diff --git a/sw/airborne/arm7/mb_modes.h b/sw/airborne/arm7/mb_modes.h
index a406b353f6..b65b438866 100644
--- a/sw/airborne/arm7/mb_modes.h
+++ b/sw/airborne/arm7/mb_modes.h
@@ -4,10 +4,11 @@
 #include "std.h"
 
 
-#define MB_MODES_IDLE 0
-#define MB_MODES_RAMP 1
-#define MB_MODES_STEP 2
-#define MB_MODES_PRBS 3
+#define MB_MODES_IDLE   0
+#define MB_MODES_MANUAL 1
+#define MB_MODES_RAMP   2
+#define MB_MODES_STEP   3
+#define MB_MODES_PRBS   4
 
 extern uint8_t mb_modes_mode;
 extern float mb_modes_throttle;
diff --git a/sw/airborne/main_motor_bench.c b/sw/airborne/main_motor_bench.c
index 24e2a7b846..df98d2b742 100644
--- a/sw/airborne/main_motor_bench.c
+++ b/sw/airborne/main_motor_bench.c
@@ -53,6 +53,7 @@ static inline void main_periodic_task( void ) {
   float throttle = mb_modes_throttle;
   mb_servo_set(throttle);
   float rpm = mb_tacho_get_averaged();
+  mb_current_periodic();
   float amps = mb_current_amp;
   static uint8_t my_cnt = 0;
   my_cnt++;
diff --git a/sw/in_progress/motor_bench/Makefile b/sw/in_progress/motor_bench/Makefile
new file mode 100644
index 0000000000..c07d127fea
--- /dev/null
+++ b/sw/in_progress/motor_bench/Makefile
@@ -0,0 +1,9 @@
+CC = gcc
+CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags`
+LDFLAGS=`pkg-config gtk+-2.0 --libs` -s `pcre-config --libs` -lglibivy
+
+
+motor_bench : main.c
+	$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
+
+# -lgtkdatabox
\ No newline at end of file
diff --git a/sw/in_progress/motor_bench/main.c b/sw/in_progress/motor_bench/main.c
new file mode 100644
index 0000000000..08811a4d43
--- /dev/null
+++ b/sw/in_progress/motor_bench/main.c
@@ -0,0 +1,57 @@
+#include <gtk/gtk.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <Ivy/ivy.h>
+#include <Ivy/ivyglibloop.h>
+
+//#include "sliding_plot.h"
+
+
+GtkWidget* build_gui ( void ) {
+
+  GtkWidget *window1;
+  GtkWidget *vbox1;
+
+
+  window1 = gtk_window_new (GTK_WINDOW_TOPLEVEL);
+  gtk_window_set_title (GTK_WINDOW (window1), "motor_bench");
+
+  vbox1 = gtk_vbox_new (FALSE, 0);
+  gtk_container_add (GTK_CONTAINER (window1), vbox1);
+
+  return window1;
+}
+
+#if 0
+void on_scale_value_changed (GtkScale  *scale, gpointer user_data) {
+  gfloat cf = gtk_range_get_value(GTK_RANGE(scale));
+  gint c = round(cf);
+  g_message("foo %d %f", user_data, c);
+  IvySendMsg("ME RAW_DATALINK 16 SETTING;%d;0;%d", (gint)user_data, c);
+}
+#endif
+
+
+void on_MOTOR_BENCH_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
+  int time_ticks =  atoi(argv[0]);
+  g_message("foo %d", time_ticks);
+
+}
+
+int main (int argc, char** argv) {
+
+  gtk_init(&argc, &argv);
+
+  GtkWidget* window = build_gui();
+  gtk_widget_show_all(window);
+
+  IvyInit ("MotorBench", "MotorBench READY", NULL, NULL, NULL, NULL);
+  IvyBindMsg(on_MOTOR_BENCH_STATUS, NULL, "^\\S* MOTOR_BENCH_STATUS (\\S*) (\\S*) (\\S*) (\\S*),(\\S*),(\\S*)");
+  IvyStart("127.255.255.255");
+
+  gtk_main();
+  return 0;
+}