diff --git a/sw/ext/ardrone2_drivers/ardrone2.py b/sw/ext/ardrone2_drivers/ardrone2.py
index 25b2460d20..48625251c7 100755
--- a/sw/ext/ardrone2_drivers/ardrone2.py
+++ b/sw/ext/ardrone2_drivers/ardrone2.py
@@ -1,4 +1,6 @@
 #!/usr/bin/env python
+
+from __future__ import print_function
 import re
 import argparse
 import socket
@@ -9,161 +11,160 @@ from ftplib import FTP
 
 # Check if IP is valid
 def is_ip(address):
-  try:
-    socket.inet_aton(address)
-    ip = True
-  except socket.error:
-    ip = False
-  return ip
+    try:
+        socket.inet_aton(address)
+        ip = True
+    except socket.error:
+        ip = False
+    return ip
 
 # Execute a command
 def execute_command(command):
-  tn.write(command+'\n')
-  return tn.read_until('# ')[len(command)+2:-4]
+    tn.write(command + '\n')
+    return tn.read_until('# ')[len(command) + 2:-4]
 
 # Read from config.ini
-def read_from_config(name, config = ''):
-  if config == '':
-    config = execute_command('cat /data/config.ini')
-  search = re.search(name+'[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
-  if search == None:
-    return ''
-  else:
-    return search.group(1)
+def read_from_config(name, config=''):
+    if config == '':
+        config = execute_command('cat /data/config.ini')
+    search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
+    if search is None:
+        return ''
+    else:
+        return search.group(1)
 
 # Write to config
 def write_to_config(name, value):
-  if read_from_config(name) == '':
-    execute_command('echo "'+name+' = '+value+'\" >> /data/config.ini')
-  else:
-    execute_command('sed -i "s/\('+name+' *= *\).*/\\1'+value+'/g" /data/config.ini')
+    if read_from_config(name) == '':
+        execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
+    else:
+        execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
 
 # Check the version
 def check_version():
-  return execute_command('cat /firmware/version.txt')
+    return execute_command('cat /firmware/version.txt')
 
 # Check what currently is running on the drone
 def check_running():
-  ps_aux = execute_command('ps')
-  running = ""
+    ps_aux = execute_command('ps')
+    running = ""
 
-  if 'program.elf' in ps_aux:
-    running += ' Native (program.elf),'
-  if 'ap.elf' in ps_aux:
-    running += ' Paparazzi (ap.elf),'
-  if 'gst-launch' in ps_aux:
-    running += ' GStreamer (gst-launch)'
-  return running[1:]
+    if 'program.elf' in ps_aux:
+        running += ' Native (program.elf),'
+    if 'ap.elf' in ps_aux:
+        running += ' Paparazzi (ap.elf),'
+    if 'gst-launch' in ps_aux:
+        running += ' GStreamer (gst-launch)'
+    return running[1:]
 
 # Check if vision framework is installed
 def check_vision_installed():
-  du_opt = execute_command('du -d 2 /data/video/opt')
-  return '/data/video/opt/arm/gst' in du_opt or '/data/video/opt/arm/lib' in du_opt or '/data/video/opt/arm/tidsp-binaries-23.i3.8' in du_opt
+    du_opt = execute_command('du -d 2 /data/video/opt')
+    return '/data/video/opt/arm/gst' in du_opt or '/data/video/opt/arm/lib' in du_opt or '/data/video/opt/arm/tidsp-binaries-23.i3.8' in du_opt
 
 # Check if the vision framework is running
 def check_vision_running():
-  du_opt = execute_command('du -d 2 /opt')
-  return '/opt/arm/gst' in du_opt and '/opt/arm/lib' in du_opt and '/opt/arm/tidsp-binaries-23.i3.8' in du_opt
+    du_opt = execute_command('du -d 2 /opt')
+    return '/opt/arm/gst' in du_opt and '/opt/arm/lib' in du_opt and '/opt/arm/tidsp-binaries-23.i3.8' in du_opt
 
 # Check if autoboot is installed
 def check_autoboot():
-  check_update = execute_command('grep "START_PAPARAZZI" /bin/check_update.sh')
-  wifi_setup = execute_command('grep "BASE_ADRESS" /bin/wifi_setup.sh')
-  if "START_PAPARAZZI" in check_update and "BASE_ADRESS" in wifi_setup:
-    return True
-  else:
-    return False
+    check_update = execute_command('grep "START_PAPARAZZI" /bin/check_update.sh')
+    wifi_setup = execute_command('grep "BASE_ADRESS" /bin/wifi_setup.sh')
+    if "START_PAPARAZZI" in check_update and "BASE_ADRESS" in wifi_setup:
+        return True
+    else:
+        return False
 
 # Check the filesystem
 def check_filesystem():
-  return execute_command('df -h')
+    return execute_command('df -h')
 
 # Reboot the drone
 def ardrone2_reboot():
-  execute_command('reboot')
+    execute_command('reboot')
 
 # Install the vision framework
 def ardrone2_install_vision():
-  print 'Uploading GST'
-  ftp.storbinary("STOR arm_light.tgz",file("bin/arm_light.tgz","rb"))
-  print execute_command("cd /data/video && tar -xzf arm_light.tgz")
-  print execute_command("rm -rf /data/video/arm_light.tgz")
-  print 'Now Starting Vision'
-  ardrone2_start_vision()
+    print('Uploading GST')
+    ftp.storbinary("STOR arm_light.tgz", file("bin/arm_light.tgz", "rb"))
+    print(execute_command("cd /data/video && tar -xzf arm_light.tgz"))
+    print(execute_command("rm -rf /data/video/arm_light.tgz"))
+    print('Now Starting Vision')
+    ardrone2_start_vision()
 
 # Remove the vision framework
 def ardrone2_remove_vision():
-  execute_command("rm -rf /opt/arm")
-  execute_command("rm -rf /lib/dsp")
-  execute_command("rm -rf /data/video/opt")
+    execute_command("rm -rf /opt/arm")
+    execute_command("rm -rf /lib/dsp")
+    execute_command("rm -rf /data/video/opt")
 
 # Start the vision framework
 def ardrone2_start_vision():
-  # Mount the directories
-  execute_command("mkdir -p /opt/arm")
-  execute_command("mkdir -p /lib/dsp")
-  execute_command("mount --bind /data/video/opt/arm /opt/arm")
-  execute_command("mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
-  # Start The DSP programs
-  execute_command("kill -9 `pidof program.elf`")
-  execute_command("kill -9 `pidof gst-launch-0.10`")
-  execute_command("export PATH=/opt/arm/gst/bin:$PATH")
-  execute_command("export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
-  execute_command("/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
-  execute_command("/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
-  # Show result
-  execute_command("ls -altr /opt/arm/gst/bin")
+    # Mount the directories
+    execute_command("mkdir -p /opt/arm")
+    execute_command("mkdir -p /lib/dsp")
+    execute_command("mount --bind /data/video/opt/arm /opt/arm")
+    execute_command("mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
+    # Start The DSP programs
+    execute_command("kill -9 `pidof program.elf`")
+    execute_command("kill -9 `pidof gst-launch-0.10`")
+    execute_command("export PATH=/opt/arm/gst/bin:$PATH")
+    execute_command("export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
+    execute_command("/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
+    execute_command("/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
+    # Show result
+    execute_command("ls -altr /opt/arm/gst/bin")
+
 
 def ardrone2_status():
-  config_ini = execute_command('cat /data/config.ini')
-
-  print '======================== ARDrone 2 Status ========================'
-  print 'Version:\t\t'+check_version()
-  print 'Host:\t\t\t'+args.host+' ('+read_from_config('static_ip_address_base', config_ini)+read_from_config('static_ip_address_probe', config_ini)+' after boot)'
-  print 'Currently running:\t'+check_running()
-  print 'Serial number:\t\t' + read_from_config('drone_serial', config_ini)
-  print 'Network id:\t\t' + read_from_config('ssid_single_player', config_ini)
-  print 'Motor software:\t\t' \
-    +read_from_config('motor1_soft', config_ini)+'\t'+read_from_config('motor2_soft', config_ini)+'\t' \
-    +read_from_config('motor3_soft', config_ini)+'\t'+read_from_config('motor4_soft', config_ini)
-  print 'Motor hardware:\t\t' \
-    +read_from_config('motor1_hard', config_ini)+'\t'+read_from_config('motor2_hard', config_ini)+'\t' \
-    +read_from_config('motor3_hard', config_ini)+'\t'+read_from_config('motor4_hard', config_ini)
-
-  autorun = {'': 'Native','0': 'Native','1': 'Paparazzi RAW','2': 'Paparazzi SDK'}
-  if check_autoboot():
-    print 'Autorun at start:\tInstalled booting ' + autorun[read_from_config('start_paparazzi', config_ini)]
-  else:
-    print 'Autorun at start:\tNot installed'
-
-  # Check if the vision framework is installed and running
-  vision_framework = ""
-  if check_vision_installed():
-    vision_framework += "Installed"
-  if check_vision_running:
-    vision_framework += " and running"
-  print 'Vision framework:\t'+vision_framework
-
-  # Request the filesystem status
-  print '\n======================== Filesystem Status ========================'
-  print check_filesystem()
+    config_ini = execute_command('cat /data/config.ini')
 
+    print('======================== ARDrone 2 Status ========================')
+    print('Version:\t\t' + check_version())
+    print('Host:\t\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
+          read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
+    print('Currently running:\t' + check_running())
+    print('Serial number:\t\t' + read_from_config('drone_serial', config_ini))
+    print('Network id:\t\t' + read_from_config('ssid_single_player', config_ini))
+    print('Motor software:\t\t' +
+          read_from_config('motor1_soft', config_ini) + '\t' + read_from_config('motor2_soft', config_ini) + '\t' +
+          read_from_config('motor3_soft', config_ini) + '\t' + read_from_config('motor4_soft', config_ini))
+    print('Motor hardware:\t\t' +
+          read_from_config('motor1_hard', config_ini) + '\t' + read_from_config('motor2_hard', config_ini) + '\t' +
+          read_from_config('motor3_hard', config_ini) + '\t' + read_from_config('motor4_hard', config_ini))
 
+    autorun = {'': 'Native', '0': 'Native', '1': 'Paparazzi RAW', '2': 'Paparazzi SDK'}
+    if check_autoboot():
+        print('Autorun at start:\tInstalled booting ' + autorun[read_from_config('start_paparazzi', config_ini)])
+    else:
+        print('Autorun at start:\tNot installed')
 
+    # Check if the vision framework is installed and running
+    vision_framework = ""
+    if check_vision_installed():
+        vision_framework += "Installed"
+    if check_vision_running:
+        vision_framework += " and running"
+    print('Vision framework:\t' + vision_framework)
 
+    # Request the filesystem status
+    print('\n======================== Filesystem Status ========================')
+    print(check_filesystem())
 
 
 # Parse the arguments
 parser = argparse.ArgumentParser(description='ARDrone 2 python helper. Use ardrone2.py -h for help')
 parser.add_argument('--host', metavar='HOST', default='192.168.1.1',
-                   help='the ip address of ardrone2')
+                    help='the ip address of ardrone2')
 subparsers = parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
 
 # All the subcommands and arguments
 subparsers.add_parser('status', help='Request the status of the ARDrone 2')
 subparsers.add_parser('reboot', help='Reboot the ARDrone 2')
 subparsers.add_parser('installvision', help='Install the vision framework')
-subparser_upload = subparsers.add_parser('upload_gst_module', help='Upload, configure and move a gstreamer0.10 module libXXX.so')
+subparser_upload = subparsers.add_parser('upload_gst_module',
+                                         help='Upload, configure and move a gstreamer0.10 module libXXX.so')
 subparser_upload.add_argument('file', help='Filename of *.so module')
 subparser_paparazzi = subparsers.add_parser('upload_paparazzi', help='Upload paparazzi autopilot software')
 subparser_paparazzi.add_argument('file', help='Filename of *.elf executable')
@@ -180,125 +181,126 @@ subparser_networkid.add_argument('name', help='the new network ID(SSID)')
 subparser_ipaddress = subparsers.add_parser('ipaddress', help='Set the IP address of the ARDrone 2')
 subparser_ipaddress.add_argument('address', help='the new IP address')
 subparser_autostart = subparsers.add_parser('autostart', help='Set what to start on boot for the ARDrone 2')
-subparser_autostart.add_argument('type', choices=['native','paparazzi_raw','paparazzi_sdk'], help='what to start on boot')
+subparser_autostart.add_argument('type', choices=['native', 'paparazzi_raw', 'paparazzi_sdk'],
+                                 help='what to start on boot')
 
 args = parser.parse_args()
 
 # Connect with telnet and ftp
 try:
-  tn = telnetlib.Telnet(args.host)
-  ftp = FTP(args.host)
-  ftp.login()
+    tn = telnetlib.Telnet(args.host)
+    ftp = FTP(args.host)
+    ftp.login()
 except:
-  print 'Could not connect to ARDrone 2 (host: '+args.host+')'
-  exit(2)
+    print('Could not connect to ARDrone 2 (host: ' + args.host + ')')
+    exit(2)
 
 # Read until after login
 tn.read_until('# ')
 
 # Check the ARDrone 2 status
 if args.command == 'status':
-  ardrone2_status()
+    ardrone2_status()
 
 # Reboot the drone
 elif args.command == 'reboot':
-  ardrone2_reboot()
-  print 'The ARDrone 2 is rebooting...'
+    ardrone2_reboot()
+    print('The ARDrone 2 is rebooting...')
 
 # Kill a program
 elif args.command == 'kill':
-  execute_command('killall -9 '+args.program)
-  print 'Program "'+args.program+'" is now killed'
+    execute_command('killall -9 ' + args.program)
+    print('Program "' + args.program + '" is now killed')
 
 # Start a program
 elif args.command == 'start':
-  execute_command(args.start+' &')
-  print 'Program "'+args.start+'" is now started'
+    execute_command(args.start + ' &')
+    print('Program "' + args.start + '" is now started')
 
 # Change the network ID
 elif args.command == 'networkid':
-  write_to_config('ssid_single_player', args.name)
-  print 'The network ID (SSID) of the ARDrone 2 is changed to '+args.name
+    write_to_config('ssid_single_player', args.name)
+    print('The network ID (SSID) of the ARDrone 2 is changed to ' + args.name)
 
-  if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
-    ardrone2_reboot()
+    if input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
+        ardrone2_reboot()
 
 # Change the IP address
 elif args.command == 'ipaddress':
-  splitted_ip = args.address.split(".")
-  write_to_config('static_ip_address_base', splitted_ip[0]+'.'+splitted_ip[1]+'.'+splitted_ip[2]+'.')
-  write_to_config('static_ip_address_probe', splitted_ip[3])
-  print 'The IP Address of the ARDrone 2 is changed to '+args.address
+    splitted_ip = args.address.split(".")
+    write_to_config('static_ip_address_base', splitted_ip[0] + '.' + splitted_ip[1] + '.' + splitted_ip[2] + '.')
+    write_to_config('static_ip_address_probe', splitted_ip[3])
+    print('The IP Address of the ARDrone 2 is changed to ' + args.address)
 
-  if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
-    ardrone2_reboot()
+    if input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
+        ardrone2_reboot()
 
 # Change the autostart
 elif args.command == 'autostart':
-  autorun = {'native': '0','paparazzi_raw': '1','paparazzi_sdk': '2'}
-  write_to_config('start_paparazzi', autorun[args.type])
-  print 'The autostart on boot is changed to '+args.type
+    autorun = {'native': '0', 'paparazzi_raw': '1', 'paparazzi_sdk': '2'}
+    write_to_config('start_paparazzi', autorun[args.type])
+    print('The autostart on boot is changed to ' + args.type)
 
 # Install Vision framework
 elif args.command == 'installvision':
-  if check_vision_installed():
-    print 'Vision framework already installed'
-    if raw_input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y':
-      ardrone2_remove_vision()
-      ardrone2_install_vision()
+    if check_vision_installed():
+        print('Vision framework already installed')
+        if input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y':
+            ardrone2_remove_vision()
+            ardrone2_install_vision()
 
-  ardrone2_install_vision()
-  print 'Vision framework installed'
+    ardrone2_install_vision()
+    print('Vision framework installed')
 
 # Start Vision framework
 elif args.command == 'startvision':
-  if check_vision_running():
-    print 'Vision framework already started'
-  else:
-    if not check_vision_installed():
-      print 'No vision framework installed'
-      if raw_input("Shall I install the vision framework? (y/N) ").lower() == 'y':
-        ardrone2_install_vision()
+    if check_vision_running():
+        print('Vision framework already started')
+    else:
+        if not check_vision_installed():
+            print('No vision framework installed')
+            if input("Shall I install the vision framework? (y/N) ").lower() == 'y':
+                ardrone2_install_vision()
 
-    if check_vision_installed():
-      ardrone2_start_vision()
-      print 'Vision framework started'
+        if check_vision_installed():
+            ardrone2_start_vision()
+            print('Vision framework started')
 
 elif args.command == 'upload_gst_module':
-  print 'Uploading ...' + args.file
-  ftp.storbinary("STOR " + args.file,file(args.file,"rb"))
-  execute_command("chmod 777 /data/video/" + args.file)
-  print execute_command("mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10")
-  if check_vision_running():
-    print 'Info: Vision framework already started'
-  else:
-    if not check_vision_installed():
-      print 'Warning: No vision framework installed'
-      if raw_input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y':
-        ardrone2_install_vision()
+    print('Uploading ...' + args.file)
+    ftp.storbinary("STOR " + args.file, file(args.file, "rb"))
+    execute_command("chmod 777 /data/video/" + args.file)
+    print(execute_command("mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10"))
+    if check_vision_running():
+        print('Info: Vision framework already started')
+    else:
+        if not check_vision_installed():
+            print('Warning: No vision framework installed')
+            if input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y':
+                ardrone2_install_vision()
 
-    if check_vision_installed():
-      ardrone2_start_vision()
-      print '#pragma message: Vision framework started'
-  print '#pragma message: Vision Plugin Uploaded and DSP Started.'
+        if check_vision_installed():
+            ardrone2_start_vision()
+            print('#pragma message: Vision framework started')
+    print('#pragma message: Vision Plugin Uploaded and DSP Started.')
 
 
 elif args.command == 'insmod':
-    modfile = args.file.rsplit('/',1)
-    print 'Uploading \'' + modfile[1]
-    ftp.storbinary("STOR " + modfile[1], file(args.file,"rb"))
-    print execute_command("insmod /data/video/"+modfile[1])
+    modfile = args.file.rsplit('/', 1)
+    print('Uploading \'' + modfile[1])
+    ftp.storbinary("STOR " + modfile[1], file(args.file, "rb"))
+    print(execute_command("insmod /data/video/" + modfile[1]))
 
 elif args.command == 'upload_paparazzi':
     # Split filename and path
     f = args.file.rsplit('/', 1)
 
-    print "Kill running ap.elf and make folder " + args.folder
+    print("Kill running ap.elf and make folder " + args.folder)
     execute_command("killall " + f[1])
     sleep(1)
     execute_command("mkdir -p " + args.folder)
-    print 'Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder
-    ftp.storbinary("STOR "  + args.folder + "/" + f[1], file(args.file,"rb"))
+    print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
+    ftp.storbinary("STOR " + args.folder + "/" + f[1], file(args.file, "rb"))
     sleep(0.5)
     execute_command("chmod 777 /data/video/" + args.folder + "/" + f[1])
     execute_command("/data/video/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
@@ -307,6 +309,6 @@ elif args.command == 'upload_paparazzi':
 
 
 # Close the telnet and python script
-tn.close();
-ftp.close();
+tn.close()
+ftp.close()
 exit(0)