diff --git a/conf/airframes/ladybug.xml b/conf/airframes/ladybug.xml
index 6100cb1124..19b2ff3523 100755
--- a/conf/airframes/ladybug.xml
+++ b/conf/airframes/ladybug.xml
@@ -22,7 +22,7 @@
     <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
   </section>
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-5" unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
     <define name="DEFAULT_CONTRAST" value="400"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.6"/>
diff --git a/conf/airframes/plaster1.xml b/conf/airframes/plaster1.xml
index a033b1b988..6d86fa2cd3 100755
--- a/conf/airframes/plaster1.xml
+++ b/conf/airframes/plaster1.xml
@@ -87,8 +87,8 @@
     <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
     <define name="HOME_RADIUS" value="50" unit="m"/>
   </section>
+  <section name="CAM" prefix="CAM_">
+    <define name="THETA0" value="45" unit="deg"/>
+    <define name="PHI0" value="-45" unit="deg"/>
+  </section>
 </airframe>
-
-
-
-
diff --git a/conf/airframes/twinstar1.xml b/conf/airframes/twinstar1.xml
index f1bf487025..db9df688bd 100644
--- a/conf/airframes/twinstar1.xml
+++ b/conf/airframes/twinstar1.xml
@@ -79,4 +79,8 @@
     <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
 		<define name="HOME_RADIUS" value="50" unit="m"/>
 	</section>
+  <section name="CAM" prefix="CAM_">
+    <define name="THETA0" value="45" unit="deg"/>
+    <define name="PHI0" value="-45" unit="deg"/>
+  </section>
 </airframe>
diff --git a/conf/conf.xml b/conf/conf.xml
index 789e811faf..8eb8c0f913 100644
--- a/conf/conf.xml
+++ b/conf/conf.xml
@@ -14,7 +14,7 @@
     ac_id="1"
     airframe="airframes/twinstar1.xml" 
     radio="radios/mc3030.xml" 
-    flight_plan="flight_plans/mav05.xml"
+    flight_plan="flight_plans/muret_cw.xml"
   />
 
   <aircraft 
@@ -22,7 +22,7 @@
     ac_id="2"
     airframe="airframes/twinstar2.xml" 
     radio="radios/mc3030.xml" 
-    flight_plan="flight_plans/muret_cam.xml"
+    flight_plan="flight_plans/muret_ccw.xml"
   />
 
   <aircraft 
@@ -37,8 +37,8 @@
     name="Plaster1"
     ac_id="4"
     airframe="airframes/plaster1.xml" 
-    radio="radios/mc3030.xml"
-    flight_plan="flight_plans/muret_mini.xml"
+    radio="radios/cockpitMM.xml"
+    flight_plan="flight_plans/muret_cw.xml"
   />
 
   <aircraft 
@@ -70,7 +70,7 @@
     name="Ladybug"
     ac_id="8"
     airframe="airframes/ladybug.xml" 
-    radio="radios/mc3030.xml"
+    radio="radios/cockpitMM.xml"
     flight_plan="flight_plans/muret_mini.xml"
   />
 
@@ -78,8 +78,8 @@
     name="FlyingTux"
     ac_id="9"
     airframe="airframes/flyingtux.xml" 
-    radio="radios/mc3030.xml"
-    flight_plan="flight_plans/muret_mini.xml"
+    radio="radios/cockpitMM.xml"
+    flight_plan="flight_plans/muret_ccw.xml"
   />
 
   <ground name="desktop" ivy_bus="127.255.255.255:2010">
diff --git a/conf/flight_plans/muret_mini.xml b/conf/flight_plans/muret_mini.xml
index eb7ec5c05b..045a82d01f 100644
--- a/conf/flight_plans/muret_mini.xml
+++ b/conf/flight_plans/muret_mini.xml
@@ -4,15 +4,11 @@
   <rc_control>
     <mode NAME="AUTO1">
       <setting VAR="ir_pitch_neutral" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
-      <setting VAR="ir_roll_neutral" RANGE="-0.1" RC="gain_2_up" TYPE="float"/>
-      <setting VAR="pitch_pgain" RANGE="-1000." RC="gain_1_down" TYPE="int16"/>
-      <setting VAR="roll_pgain" RANGE="-1000." RC="gain_2_down" TYPE="int16"/>
+      <setting VAR="ir_roll_neutral" RANGE="-0.1" RC="gain_1_down" TYPE="float"/>
     </mode>
     <mode NAME="AUTO2">
-      <setting VAR="ir_pitch_neutral" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
-      <setting VAR="ir_roll_neutral" RANGE="-0.1" RC="gain_2_up" TYPE="float"/>
       <setting VAR="aileron_of_gaz" RANGE="0.1" RC="gain_1_down" TYPE="float"/>
-      <setting VAR="pitch_of_vz" RANGE=".1" RC="gain_2_down" TYPE="float"/>
+      <setting VAR="pitch_of_vz" RANGE=".1" RC="gain_1_up" TYPE="float"/>
     </mode>
   </rc_control>
   <waypoints utm_x0="360284.8" utm_y0="4813595.5">
diff --git a/sw/airborne/autopilot/cam.c b/sw/airborne/autopilot/cam.c
index f3e1e00f39..1aa744b430 100755
--- a/sw/airborne/autopilot/cam.c
+++ b/sw/airborne/autopilot/cam.c
@@ -42,7 +42,18 @@
 
 #define target_alt GROUND_ALT
 
-float phi_c, theta_c;
+#ifdef CAM_PHI0
+float phi_c = RadOfDeg(CAM_PHI0);
+#else
+float phi_c;
+#endif
+
+#ifdef CAM_THETA0
+float theta_c = RadOfDeg(CAM_THETA0);
+#else
+float theta_c;
+#endif
+
 float target_x, target_y;
 
 void cam_manual( void ) {
diff --git a/sw/lib/ocaml/mapTrack.ml b/sw/lib/ocaml/mapTrack.ml
index f6095f381a..f205061a8d 100644
--- a/sw/lib/ocaml/mapTrack.ml
+++ b/sw/lib/ocaml/mapTrack.ml
@@ -47,7 +47,7 @@ let fixed_cam_targeted_yw = 500.0
 
 (** variables used for handling cam moves: *)
 
-let cam_half_aperture = m_pi /. 4.0
+let cam_half_aperture = m_pi /. 6.0
 let half_pi = m_pi /. 2.0
 let sqrt_2_div_2 = sqrt 2.0
 
diff --git a/sw/tools/fp_proc.ml b/sw/tools/fp_proc.ml
index f260719056..2ff0475d5d 100644
--- a/sw/tools/fp_proc.ml
+++ b/sw/tools/fp_proc.ml
@@ -84,7 +84,6 @@ let subst_expression = fun env e ->
 
 
 let transform_expression = fun affine env e ->
-  let e = parse_expression e in
   let e' = rotate_expression affine.angle e in
   let e'' = subst_expression env e' in
   Fp_syntax.sprint_expression e''
@@ -93,10 +92,15 @@ let transform_expression = fun affine env e ->
 let transform_values = fun attribs_not_modified affine env attribs ->
   List.map
     (fun (a, v) ->
+      let e = parse_expression v in
+      let e' = 
+	if String.lowercase a = "course" 
+	then CallOperator("+", [e; Float affine.angle])
+	else e in
       let v' =
 	if List.mem (String.lowercase a) attribs_not_modified
 	then v
-	else transform_expression affine env v in
+	else transform_expression affine env e' in
       (a, v'))
     attribs