Index: trunk/lib/FlairFilter/src/AhrsComplementaryFilter.cpp
===================================================================
--- trunk/lib/FlairFilter/src/AhrsComplementaryFilter.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/AhrsComplementaryFilter.cpp	(revision 157)
@@ -51,5 +51,6 @@
     kb[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[1]:",0.,10,0.1,2,0.01);
     kb[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[2]:",0.,10,0.1,2,0.01);
-
+  
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/AhrsKalman.cpp
===================================================================
--- trunk/lib/FlairFilter/src/AhrsKalman.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/AhrsKalman.cpp	(revision 157)
@@ -31,4 +31,6 @@
     GetDatas(&ahrsData);
     pimpl_=new AhrsKalman_impl(parent->GetLayout(),ahrsData);
+    
+    SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/ButterworthLowPass.cpp
===================================================================
--- trunk/lib/FlairFilter/src/ButterworthLowPass.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/ButterworthLowPass.cpp	(revision 157)
@@ -35,4 +35,6 @@
   pimpl_ = new ButterworthLowPass_impl(this, position, name, order);
   AddDataToLog(pimpl_->output);
+  
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/EulerDerivative.cpp
===================================================================
--- trunk/lib/FlairFilter/src/EulerDerivative.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/EulerDerivative.cpp	(revision 157)
@@ -34,4 +34,6 @@
   pimpl_ = new EulerDerivative_impl(this, position, name, init_value);
   AddDataToLog(pimpl_->output);
+  
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp
===================================================================
--- trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp	(revision 157)
@@ -30,9 +30,10 @@
                          SerialPort *serialport, Gx3_25_imu::Command_t command,
                          uint8_t priority)
-    : Ahrs(new Gx3_25_imu( name, serialport, command, priority), name) {}
+    : Ahrs(new Gx3_25_imu( name, serialport, command, priority), name) {
+
+  SetIsReady(true);
+}
 
 Gx3_25_ahrs::~Gx3_25_ahrs() {}
-
-void Gx3_25_ahrs::Start(void) { ((Gx3_25_imu *)GetImu())->Start(); }
 
 // datas from Gx3_25_imu are AhrsData!
Index: trunk/lib/FlairFilter/src/Gx3_25_ahrs.h
===================================================================
--- trunk/lib/FlairFilter/src/Gx3_25_ahrs.h	(revision 148)
+++ trunk/lib/FlairFilter/src/Gx3_25_ahrs.h	(revision 157)
@@ -47,10 +47,4 @@
   ~Gx3_25_ahrs();
 
-  /*!
-  * \brief Start Gx3_25_imu Thread
-  *
-  */
-  void Start(void);
-
 private:
   /*!
Index: trunk/lib/FlairFilter/src/JoyReference.cpp
===================================================================
--- trunk/lib/FlairFilter/src/JoyReference.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/JoyReference.cpp	(revision 157)
@@ -37,4 +37,6 @@
   AddDataToLog(pimpl_->output);
   AddDataToLog(pimpl_->ahrsData);
+  
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/LowPassFilter.cpp
===================================================================
--- trunk/lib/FlairFilter/src/LowPassFilter.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/LowPassFilter.cpp	(revision 157)
@@ -34,4 +34,6 @@
   pimpl_ = new LowPassFilter_impl(this, position, name, init_value);
   AddDataToLog(pimpl_->output);
+  
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/NestedSat.cpp
===================================================================
--- trunk/lib/FlairFilter/src/NestedSat.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/NestedSat.cpp	(revision 157)
@@ -33,4 +33,6 @@
     : ControlLaw(position->getLayout(), name) {
   pimpl_ = new NestedSat_impl(this, position, name);
+  
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/Pid.cpp
===================================================================
--- trunk/lib/FlairFilter/src/Pid.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/Pid.cpp	(revision 157)
@@ -32,4 +32,6 @@
     : ControlLaw(position->getLayout(), name) {
   pimpl_ = new Pid_impl(this, position, name);
+  
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/PidThrust.cpp
===================================================================
--- trunk/lib/FlairFilter/src/PidThrust.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/PidThrust.cpp	(revision 157)
@@ -33,4 +33,6 @@
     : ControlLaw(position->getLayout(), name) {
   pimpl_ = new PidThrust_impl(this, position, name);
+  
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/SimuAhrs.cpp
===================================================================
--- trunk/lib/FlairFilter/src/SimuAhrs.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/SimuAhrs.cpp	(revision 157)
@@ -29,9 +29,9 @@
 SimuAhrs::SimuAhrs(string name, uint32_t dev_id,
                    uint8_t priority)
-    : Ahrs(new SimuImu(name, dev_id, priority), name) {}
+    : Ahrs(new SimuImu(name, dev_id, priority), name) {
+  SetIsReady(true);
+}
 
 SimuAhrs::~SimuAhrs() {}
-
-void SimuAhrs::Start(void) { ((SimuImu *)GetImu())->Start(); }
 
 // datas from SimuImu are AhrsData!
Index: trunk/lib/FlairFilter/src/SimuAhrs.h
===================================================================
--- trunk/lib/FlairFilter/src/SimuAhrs.h	(revision 148)
+++ trunk/lib/FlairFilter/src/SimuAhrs.h	(revision 157)
@@ -45,10 +45,4 @@
   ~SimuAhrs();
 
-  /*!
- * \brief Start SimuImu Thread
- *
- */
-  void Start(void);
-
 private:
   /*!
Index: trunk/lib/FlairFilter/src/TrajectoryGenerator1D.cpp
===================================================================
--- trunk/lib/FlairFilter/src/TrajectoryGenerator1D.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/TrajectoryGenerator1D.cpp	(revision 157)
@@ -34,4 +34,5 @@
   pimpl_ = new TrajectoryGenerator1D_impl(this, position, name, unit);
   AddDataToLog(pimpl_->output);
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.cpp
===================================================================
--- trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.cpp	(revision 157)
@@ -35,4 +35,5 @@
   pimpl_ = new TrajectoryGenerator2DCircle_impl(this, position, name);
   AddDataToLog(pimpl_->output);
+  SetIsReady(true);
 }
 
Index: trunk/lib/FlairFilter/src/X4X8Multiplex.cpp
===================================================================
--- trunk/lib/FlairFilter/src/X4X8Multiplex.cpp	(revision 148)
+++ trunk/lib/FlairFilter/src/X4X8Multiplex.cpp	(revision 157)
@@ -47,4 +47,6 @@
     SetMultiplexComboBox(pimpl_->MotorName(i), i);
   }
+  
+  SetIsReady(true);
 }
 
