diff --git a/conf/settings/antenna_settings.xml b/conf/settings/antenna_settings.xml
index 4def560599..46eb8e62d8 100644
--- a/conf/settings/antenna_settings.xml
+++ b/conf/settings/antenna_settings.xml
@@ -5,10 +5,10 @@
 <settings>
   <dl_settings>
     <dl_settings name="trim">
-      <dl_setting var="ant_track_mode" min="0" step="1" max="3"/>
-      <dl_setting var="ant_track_azim" min="0" step="1" max="360"/>
-      <dl_setting var="ant_track_elev" min="-90" step="1" max="90"/>
-      <dl_setting var="ant_track_id"   min="0" step="1" max="255"/>
+      <dl_setting var="ant_track_mode" min="0" step="1" max="3" module="ant_tracker"/>
+      <dl_setting var="ant_track_azim" min="0" step="1" max="360" module="ant_tracker"/>
+      <dl_setting var="ant_track_elev" min="-90" step="1" max="90" module="ant_tracker"/>
+      <dl_setting var="ant_track_id"   min="0" step="1" max="255" module="ant_tracker" handler="SetId"/>
     </dl_settings>
   </dl_settings>
 </settings>
diff --git a/conf/settings/settings.dtd b/conf/settings/settings.dtd
index 0ac44e6777..0e8c0e0cc0 100644
--- a/conf/settings/settings.dtd
+++ b/conf/settings/settings.dtd
@@ -27,6 +27,8 @@ min CDATA #REQUIRED
 max CDATA #REQUIRED
 step CDATA #IMPLIED
 shortname CDATA #IMPLIED
+module CDATA #IMPLIED
+handler CDATA #IMPLIED
 >
 
 <!ATTLIST strip_button
diff --git a/sw/airborne/avr/ant_tracker.h b/sw/airborne/avr/ant_tracker.h
index db7d0d1bfc..24356cd30b 100644
--- a/sw/airborne/avr/ant_tracker.h
+++ b/sw/airborne/avr/ant_tracker.h
@@ -11,4 +11,7 @@ extern float ant_track_azim;
 extern float ant_track_elev;
 extern uint8_t ant_track_id;
 
+#define ant_tracker_SetId(i) { ant_track_id = i; }
+
+
 #endif /* ANT_TRACKER_H */
diff --git a/sw/airborne/datalink.c b/sw/airborne/datalink.c
index 740878d9a1..048c6272a6 100644
--- a/sw/airborne/datalink.c
+++ b/sw/airborne/datalink.c
@@ -45,7 +45,6 @@
 #include "gps.h"
 #include "uart.h"
 #include "gpio.h"
-#include "ant_tracker.h"
 
 #include "control_grz.h"
 #include "settings.h"
diff --git a/sw/airborne/main_antenna.c b/sw/airborne/main_antenna.c
index 77048f36ce..e7e6d0d810 100644
--- a/sw/airborne/main_antenna.c
+++ b/sw/airborne/main_antenna.c
@@ -44,6 +44,7 @@ static inline void main_init( void ) {
 }
 
 static inline void main_event_task( void ) {
+ 
   if (ant_v2x_data_available) {
     ant_v2x_read_data();
     DOWNLINK_SEND_ANTENNA_DEBUG(&ant_v2x_data.xraw, &ant_v2x_data.yraw, \
@@ -53,6 +54,19 @@ static inline void main_event_task( void ) {
                                 &ant_v2x_data.cal_status);
     ant_v2x_data_available = FALSE;
   }
+
+  if (PprzBuffer()) {
+    ReadPprzBuffer();
+    if (pprz_msg_received) {
+      pprz_parse_payload();
+      pprz_msg_received = FALSE;
+    }
+  }
+  if (dl_msg_available) {
+    dl_parse_msg();
+    dl_msg_available = FALSE;
+  }
+
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/logalizer/Makefile b/sw/logalizer/Makefile
index a8f5790cef..e7cbd7ab99 100644
--- a/sw/logalizer/Makefile
+++ b/sw/logalizer/Makefile
@@ -47,7 +47,6 @@ imuview : imuview.c sliding_plot.c
 test_sliding_plot: test_sliding_plot.c sliding_plot.c
 	$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
 
-#MORE_FLAGS = -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include -rdynamic  /home/poine/tmp/gtkglarea-1.2.3/gtkgl/.libs/libgtkgl.so -L/usr/lib -L/usr/X11R6/lib /usr/lib/libgtk.so /usr/lib/libgdk.so /usr/lib/libgmodule.so /usr/lib/libglib.so -ldl -lXi -lXext -lX11 -lm -lGLU -lGL  -Wl,--rpath -Wl,/usr/local/lib
 MORE_FLAGS = -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include -rdynamic  /usr/lib/libgtkgl.so -L/usr/lib -L/usr/X11R6/lib /usr/lib/libgtk.so /usr/lib/libgdk.so /usr/lib/libgmodule.so /usr/lib/libglib.so -ldl -lXi -lXext -lX11 -lm -lGLU -lGL  -Wl,--rpath -Wl,/usr/local/lib `pcre-config --libs` -lglibivy
  
 MORE_CFLAGS = -DHAVE_DLFCN_H=1 -DSTDC_HEADERS=1  -I. -I.  -I..    -g -O2 -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include
@@ -65,15 +64,17 @@ clean:
 	rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play ahrsview imuview ahrs2fg
 
 #FGFS_PREFIX=/home/poine/local
-FGFS_PREFIX=/usr/local
+FGFS_PREFIX=/home/poine/flightgear
+#FGFS_PREFIX=/usr/local
 
-FGFS_ROOT = /home/poine/local
-#FGFS = $(FGFS_PREFIX)/bin/fgfs
-FGFS = /usr/games/fgfs
+#FGFS_ROOT = /home/poine/local
+FGFS_ROOT = /home/poine/flightgear
+FGFS = $(FGFS_PREFIX)/bin/fgfs
+#FGFS = /usr/games/fgfs
 #FGFS_ENV = LD_LIBRARY_PATH=/usr/local/lib:$(FGFS_ROOT)/lib
 FGFS_ENV = LD_LIBRARY_PATH=$(FGFS_ROOT)/lib
-#FGFS_COMMON_ARGS = --fg-root=$(FGFS_ROOT)  --aircraft=A320 --timeofday=noon
-FGFS_COMMON_ARGS = --aircraft=737-300 --timeofday=noon
+FGFS_COMMON_ARGS = --fg-root=$(FGFS_ROOT)  --aircraft=A320 --timeofday=noon
+#FGFS_COMMON_ARGS = --aircraft=737-300 --timeofday=noon
 FGFS_IN_FDM_ARGS = $(FGFS_COMMON_ARGS) --fdm=null --native-fdm=socket,in,30,,5501,udp
 FGFS_OUT_FDM_ARGS = $(FGFS_COMMON_ARGS) --native-fdm=socket,out,30,,5500,udp
 FGFS_IN_GUI_ARGS = $(FGFS_COMMON_ARGS) --fdm=null --native-gui=socket,in,30,,5501,udp
diff --git a/sw/tools/gen_settings.ml b/sw/tools/gen_settings.ml
index 2ff47bc03d..dc80d94a2d 100644
--- a/sw/tools/gen_settings.ml
+++ b/sw/tools/gen_settings.ml
@@ -50,6 +50,19 @@ let rec flatten = fun xml r ->
 
 let print_dl_settings = fun settings ->
   let settings = flatten settings [] in
+    (** include  headers **)
+    (** FIXME : add header only once **)
+    printf "\n";
+    List.iter 
+    (fun s ->
+       try
+	 let v = ExtXml.attrib s "module" in
+	   printf "#include \"%s.h\"\n" v
+       with  ExtXml.Error e -> ()
+    ) 
+      settings;
+    printf "\n";
+    
   (** Macro to call to set one variable *)
   lprintf "#define DlSetting(_idx, _value) { \\\n";
   right ();
@@ -59,7 +72,16 @@ let print_dl_settings = fun settings ->
   List.iter 
     (fun s ->
       let v = ExtXml.attrib s "var" in
-      lprintf "case %d: %s = _value; break;\\\n" !idx v; incr idx) 
+	begin
+	try
+	  let h = ExtXml.attrib s "handler" and
+	      m =  ExtXml.attrib s "module" in
+	    lprintf "case %d: %s_%s( _value ); break;\\\n" !idx m h 
+	with  
+	    ExtXml.Error e -> lprintf "case %d: %s = _value; break;\\\n" !idx v
+	end;
+	incr idx
+    ) 
     settings;
   left ();
   lprintf "}\\\n";
@@ -67,7 +89,7 @@ let print_dl_settings = fun settings ->
   lprintf "}\n";
   let nb_values = !idx in
 
-  (** Macro to call to download current values *)
+  (** Macro to call to downlink current values *)
   lprintf "#define PeriodicSendDlValue() { \\\n";
   if nb_values > 0 then begin
     right ();