diff --git a/conf/airframes/twinstar6.xml b/conf/airframes/twinstar6.xml
index 6e29bd9b52..38a6034f92 100644
--- a/conf/airframes/twinstar6.xml
+++ b/conf/airframes/twinstar6.xml
@@ -8,12 +8,12 @@ des 2 variateurs -->
 
 <!-- Servo aileron gauche = rouge -->
     <servo name="AILERON_LEFT"  no="0" min="1000" neutral="1530" max="2000"/>
-    <servo name="MOTOR_LEFT"   no="1" min="1200" neutral="1200" max="2000"/>
+    <servo name="MOTOR_LEFT"   no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="ELEVATOR" no="2" min="1000" neutral="1640" max="2100"/>
 
 <!-- Servo aileron droit = bleu -->
     <servo name="AILERON_RIGHT" no="4" min="1000" neutral="1520" max="2000"/>
-    <servo name="MOTOR_RIGHT"   no="5" min="1200" neutral="1200" max="2000"/>
+    <servo name="MOTOR_RIGHT"   no="5" min="1000" neutral="1000" max="2000"/>
     <servo name="RUDDER" no="6" min="2100" neutral="1470" max="900"/>
   </servos>
 
diff --git a/conf/airframes/xxx1.xml b/conf/airframes/xxx1.xml
index e5860177cb..350a4bb2f9 100644
--- a/conf/airframes/xxx1.xml
+++ b/conf/airframes/xxx1.xml
@@ -8,19 +8,21 @@
     <servo name="AILEVON_LEFT"  no="5" min="2000" neutral="1450" max="1000"/>
     <servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1550" max="2000"/>
     <servo name="ELEVATOR"      no="0" min="2000" neutral="1490" max="1000"/>
+    <servo name="CAM_ROLL"      no="3" min="1980" neutral="1480" max="980"/>
   </servos>
 
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL"     failsafe_value="0"/>
     <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="HATCH"    failsafe_value="0"/>
+    <axis name="CAM_ROLL" failsafe_value="0"/>
   </commands>
 
   <rc_commands>
     <set command="THROTTLE" value="@THROTTLE"/>
     <set command="ROLL"     value="@ROLL"/>
     <set command="PITCH"    value="@PITCH"/>
+    <set command="CAM_ROLL" value="-@YAW"/>
   </rc_commands>
 
   <section name="MIXER">
@@ -35,6 +37,7 @@
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
     <set servo="ELEVATOR"      value="@PITCH"/>
+    <set servo="CAM_ROLL"      value="@CAM_ROLL"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
@@ -110,6 +113,9 @@
 
     <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
     <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
+
+    <define name="CAM_PHI_MAX_DEG" value="45"/>
+    <define name="VIDEO_SWITCH_PIN" value="20"/>
   </section>
  
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -267,9 +273,13 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 ap.srcs += jeremy_tuning.c
 
-ap.srcs += i2c.c arm7/i2c_hw.c enose.c chemo_detect.c
+ap.srcs += chemo_detect.c
+ap.srcs += i2c.c arm7/i2c_hw.c enose.c
 ap.CFLAGS += -DUSE_I2C -DENOSE
 
+ap.srcs += cam_roll.c
+ap.CFLAGS += -DMOBILE_CAM
+
 # Harware In The Loop
 
 #ap.CFLAGS += -DHITL
@@ -277,8 +287,8 @@ ap.CFLAGS += -DUSE_I2C -DENOSE
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DENOSE
-sim.srcs += nav_line.c chemotaxis.c anemotaxis.c discsurvey.c jeremy_tuning.c nav_survey_rectangle.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
+sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DENOSE -DMOBILE_CAM
+sim.srcs += nav_line.c chemotaxis.c anemotaxis.c discsurvey.c jeremy_tuning.c nav_survey_rectangle.c $(SRC_ARCH)/sim_enose.c chemo_detect.c cam_roll.c
 
 
 
diff --git a/conf/autopilot/sitl.makefile b/conf/autopilot/sitl.makefile
index 36a1783aaa..df94dfb15d 100644
--- a/conf/autopilot/sitl.makefile
+++ b/conf/autopilot/sitl.makefile
@@ -3,4 +3,4 @@ sim.ARCH = sitl
 sim.TARGET = autopilot
 sim.TARGETDIR = autopilot
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DRADIO_CONTROL_SETTINGS
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c sys_time.c main_fbw.c main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/ivy_transport.c 
+sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/ivy_transport.c 
diff --git a/conf/flight_plans/IS.xml b/conf/flight_plans/IS.xml
index 1b5144948a..c908b06d06 100644
--- a/conf/flight_plans/IS.xml
+++ b/conf/flight_plans/IS.xml
@@ -24,7 +24,8 @@
     <waypoint name="C1" x="-250" y="-200"/>
     <waypoint name="C2" x="350" y="400"/>
     <waypoint name="PLUME" x="400" y="300"/>
-    <waypoint name="BASELEG" x="400" y="300"/>
+    <waypoint name="BASELEG" x="400" y="350"/>
+    <waypoint name="CAM_TARGET" x="100" y="-200" alt="0"/>
   </waypoints>
   <blocks>
     <block name="wait GPS">
@@ -50,7 +51,7 @@
       <eight radius="nav_radius" center="1" turn_around="2"/>
     </block>
 
-    <block name="Line" strip_button="Line">
+    <block name="Line">
          <call fun="nav_line_init()"/>
          <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
     </block>
@@ -60,7 +61,7 @@
       <oval p1="1" p2="2" radius="nav_radius"/>
     </block>
 
-    <block name="MOB">
+    <block name="MOB" strip_button="MOB">
       <call fun="NavSetWaypointHere(WP_MOB)"/>
       <circle wp="MOB" radius="nav_radius"/>
     </block>
diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml
index 8599576e58..ebb80d0c68 100644
--- a/conf/flight_plans/versatile.xml
+++ b/conf/flight_plans/versatile.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
 
-<flight_plan ground_alt="200" alt="250" lat0="43.46223" lon0="1.27289" max_dist_from_home="1000" name="Versatile" qfu="270" security_height="25">
+<flight_plan ground_alt="0" alt="75" lat0="45.726" lon0="1.2121" max_dist_from_home="1000" name="Versatile" qfu="270" security_height="25">
 <header>
 #include "bomb.h"
 </header>
diff --git a/conf/radios/T9cap.xml b/conf/radios/T9cap.xml
index 281e2b2bd1..b70e18b2e7 100755
--- a/conf/radios/T9cap.xml
+++ b/conf/radios/T9cap.xml
@@ -5,7 +5,7 @@
   <channel ctl="right_stick_horiz" function="ROLL" min="1939" neutral="1525" max="1114" average="0"/>
   <channel ctl="right_stick_vert" function="PITCH" min="1112" neutral="1518" max="1937" average="0"/>
   <channel ctl="left_stick_vert" function="THROTTLE" min="1940" neutral="1940" max="1115" average="0"/> 
-  <channel ctl="left_stick_horiz" function="LLS" min="1940" neutral="1498" max="1115" average="0"/>
+  <channel ctl="left_stick_horiz" function="YAW" min="1940" neutral="1498" max="1115" average="0"/>
   <channel ctl="switch_G" function="CALIB" min="2080" neutral="1525" max="969" average="10"/>
   <channel ctl="VRA" function="GAIN1" min="970" neutral="1520" max="2078" average="10"/>
   <channel ctl="VRC" function="GAIN2" min="970" neutral="1518" max="2077" average="10"/>
diff --git a/conf/settings/cam_roll.xml b/conf/settings/cam_roll.xml
new file mode 100644
index 0000000000..6896c3adc1
--- /dev/null
+++ b/conf/settings/cam_roll.xml
@@ -0,0 +1,14 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+    <dl_settings NAME="Cam">
+      <dl_setting MAX="45" MIN="-45" STEP="1" VAR="phi_c" module="cam_roll" handler="SetPhiDeg" shortname="phi deg" auto="true">
+      </dl_setting>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_mode" module="cam_roll" shortname="manual - stablzd">
+      </dl_setting>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_switch" module="cam_roll" shortname="still - mobile" handler="Switch">
+      </dl_setting>
+    </dl_settings>
+  </dl_settings>
+</settings>
diff --git a/conf/settings/settings.dtd b/conf/settings/settings.dtd
index 38b66b7df8..4741283b3f 100644
--- a/conf/settings/settings.dtd
+++ b/conf/settings/settings.dtd
@@ -29,6 +29,7 @@ step CDATA #IMPLIED
 shortname CDATA #IMPLIED
 module CDATA #IMPLIED
 handler CDATA #IMPLIED
+auto CDATA #IMPLIED
 >
 
 <!ATTLIST strip_button