Index: trunk/demos/CircleFollower/uav/build_arm/bin/CircleFollower_bebop.sh
===================================================================
--- trunk/demos/CircleFollower/uav/build_arm/bin/CircleFollower_bebop.sh	(revision 174)
+++ trunk/demos/CircleFollower/uav/build_arm/bin/CircleFollower_bebop.sh	(revision 174)
@@ -0,0 +1,1 @@
+./CircleFollower_nrt -a 192.168.42.24 -p 9000 -l /tmp -x CircleFollower_bebop.xml -n Drone_0 -t bebop
Index: trunk/demos/CircleFollower/uav/build_arm/bin/CircleFollower_bebop.xml
===================================================================
--- trunk/demos/CircleFollower/uav/build_arm/bin/CircleFollower_bebop.xml	(revision 174)
+++ trunk/demos/CircleFollower/uav/build_arm/bin/CircleFollower_bebop.xml	(revision 174)
@@ -0,0 +1,268 @@
+<?xml version="1.0"?>
+<root name="FrameworkManager">
+  <TabWidget name="Main_TabWidget">
+    <Tab name="x4-multiplex">
+      <TabWidget name="UavMultiplex">
+        <Tab name="Setup">
+          <GroupBox name="x4 multiplex">
+            <ComboBox name="front left blade pitch:" value="0"/>
+          </GroupBox>
+          <GroupBox name="motor attribution">
+            <ComboBox name="front left" value="0"/>
+            <ComboBox name="front rigth" value="1"/>
+            <ComboBox name="rear left" value="3"/>
+            <ComboBox name="rear rigth" value="2"/>
+          </GroupBox>
+          <GroupBox name="bldc">
+            <Label name="flight time"/>
+            <DoubleSpinBox name="min value:" value="0"/>
+            <DoubleSpinBox name="max value:" value="1.00"/>
+            <DoubleSpinBox name="test value:" value="0.40"/>
+            <PushButton name="test motor 0"/>
+            <PushButton name="test motor 1"/>
+            <PushButton name="test motor 2"/>
+            <PushButton name="test motor 3"/>
+          </GroupBox>
+          <GroupBox name="battery">
+            <Label name="battery"/>
+            <DoubleSpinBox name="threshold" value="10.5"/>
+            <SpinBox name="threshold time" value="10"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Values">
+          <DataPlot1D name="front left" period="100" enabled="0"/>
+          <DataPlot1D name="front right" period="100" enabled="0"/>
+          <DataPlot1D name="rear left" period="100" enabled="0"/>
+          <DataPlot1D name="rear right" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Speeds">
+          <DataPlot1D name="front left" period="100" enabled="0"/>
+          <DataPlot1D name="front right" period="100" enabled="0"/>
+          <DataPlot1D name="rear left" period="100" enabled="0"/>
+          <DataPlot1D name="rear right" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="bebop-us">
+      <TabWidget name="bebop-us">
+        <Tab name="Reglages">
+          <GroupBox name="bebop-us"/>
+          <GroupBox name="Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="5.00"/>
+          </GroupBox>
+          <GroupBox name="Vz">
+            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+          </GroupBox>
+          <GroupBox name="Passe bas v">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="5.00"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures">
+          <DataPlot1D name="bebop-us" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="bebop-imu">
+      <TabWidget name="bebop-imu">
+        <Tab name="Reglages">
+          <GroupBox name="bebop-imu"/>
+          <GroupBox name="post rotation">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <DoubleSpinBox name="ka[0]:" value="0.5"/>
+          <DoubleSpinBox name="ka[1]:" value="0.5"/>
+          <DoubleSpinBox name="ka[2]:" value="0"/>
+          <DoubleSpinBox name="kb[0]:" value="0.01"/>
+          <DoubleSpinBox name="kb[1]:" value="0.01"/>
+          <DoubleSpinBox name="kb[2]:" value="0.01"/>
+        </Tab>
+        <Tab name="AHRS">
+          <DataPlot1D name="roll" period="100" enabled="0"/>
+          <DataPlot1D name="pitch" period="100" enabled="0"/>
+          <DataPlot1D name="yaw" period="100" enabled="0"/>
+          <DataPlot1D name="w_x" period="100" enabled="0"/>
+          <DataPlot1D name="w_y" period="100" enabled="0"/>
+          <DataPlot1D name="w_z" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Quaternion">
+          <DataPlot1D name="q0" period="100" enabled="0"/>
+          <DataPlot1D name="q1" period="100" enabled="0"/>
+          <DataPlot1D name="q2" period="100" enabled="0"/>
+          <DataPlot1D name="q3" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="IMU">
+          <DataPlot1D name="acc_x" period="100" enabled="0"/>
+          <DataPlot1D name="acc_y" period="100" enabled="0"/>
+          <DataPlot1D name="acc_z" period="100" enabled="0"/>
+          <DataPlot1D name="gyr_x" period="100" enabled="0"/>
+          <DataPlot1D name="gyr_y" period="100" enabled="0"/>
+          <DataPlot1D name="gyr_z" period="100" enabled="0"/>
+          <DataPlot1D name="mag_x" period="100" enabled="0"/>
+          <DataPlot1D name="mag_y" period="100" enabled="0"/>
+          <DataPlot1D name="mag_z" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="Dualshock3">
+      <TabWidget name="Dualshock3">
+        <Tab name="Reglages">
+          <GroupBox name="consignes joy">
+            <DoubleSpinBox name="debattement roll" value="-15"/>
+            <DoubleSpinBox name="debattement pitch" value="-15"/>
+            <DoubleSpinBox name="debattement wz" value="90"/>
+            <DoubleSpinBox name="debattement dz" value="-0.5"/>
+            <DoubleSpinBox name="trim" value="0.02"/>
+            <Label name="trim roll"/>
+            <PushButton name="reset roll trim"/>
+            <Label name="trim pitch"/>
+            <PushButton name="reset pitch trim"/>
+          </GroupBox>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="uav">
+      <GridLayout name="buttons">
+        <PushButton name="kill"/>
+        <PushButton name="start_log"/>
+        <PushButton name="stop_log"/>
+        <PushButton name="take_off"/>
+        <PushButton name="land"/>
+        <PushButton name="start_circle"/>
+        <PushButton name="stop_circle"/>
+        <PushButton name="position hold"/>
+      </GridLayout>
+      <GroupBox name="takeoff/landing">
+        <DoubleSpinBox name="desired takeoff altitude" value="1"/>
+        <DoubleSpinBox name="desired landing altitude" value="0"/>
+      </GroupBox>
+      <GroupBox name="alt cons">
+        <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+        <DoubleSpinBox name="velocity max (absolute):" value="1.00"/>
+        <DoubleSpinBox name="acceleration (absolute):" value="0.80"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="control laws">
+      <TabWidget name="laws">
+        <Tab name="Setup">
+          <GroupBox name="u_roll">
+            <DoubleSpinBox name="sat ref:" value="0"/>
+            <DoubleSpinBox name="kp:" value="0"/>
+            <DoubleSpinBox name="sat dref:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat u:" value="0"/>
+          </GroupBox>
+          <GroupBox name="u_pitch">
+            <DoubleSpinBox name="sat ref:" value="0"/>
+            <DoubleSpinBox name="kp:" value="0"/>
+            <DoubleSpinBox name="sat dref:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat u:" value="0"/>
+          </GroupBox>
+          <GroupBox name="u_yaw">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0"/>
+            <DoubleSpinBox name="ki:" value="0"/>
+            <DoubleSpinBox name="sat i:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0"/>
+          </GroupBox>
+          <GroupBox name="u_z">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0"/>
+            <DoubleSpinBox name="ki:" value="0"/>
+            <DoubleSpinBox name="sat i:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="offset g:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0"/>
+            <DoubleSpinBox name="offset step:" value="0"/>
+          </GroupBox>
+          <GroupBox name="u_x">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0"/>
+            <DoubleSpinBox name="ki:" value="0"/>
+            <DoubleSpinBox name="sat i:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0"/>
+          </GroupBox>
+          <GroupBox name="u_y">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0"/>
+            <DoubleSpinBox name="ki:" value="0"/>
+            <DoubleSpinBox name="sat i:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Graphes">
+          <DataPlot1D name="u_roll" period="100" enabled="0"/>
+          <DataPlot1D name="u_pitch" period="100" enabled="0"/>
+          <DataPlot1D name="u_yaw" period="100" enabled="0"/>
+          <DataPlot1D name="u_z" period="100" enabled="0"/>
+          <DataPlot1D name="u_x" period="100" enabled="0"/>
+          <DataPlot1D name="u_y" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="vrpn">
+      <TabWidget name="vrpn">
+        <Tab name="Reglages">
+          <GroupBox name="post rotation 1">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <GroupBox name="post rotation 2">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <GroupBox name="Drone_0 Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="1"/>
+          </GroupBox>
+          <GroupBox name="Drone_0_euler">
+            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+          </GroupBox>
+          <GroupBox name="target Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="1"/>
+          </GroupBox>
+          <GroupBox name="target_euler">
+            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+          </GroupBox>
+          <GroupBox name="circle">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="R" value="0"/>
+            <DoubleSpinBox name="velocity" value="0"/>
+            <DoubleSpinBox name="acceleration (absolute)" value="0"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures Drone_0">
+          <DataPlot1D name="x" period="100" enabled="0"/>
+          <DataPlot1D name="y" period="100" enabled="0"/>
+          <DataPlot1D name="z" period="100" enabled="0"/>
+          <DataPlot1D name="vx" period="100" enabled="0"/>
+          <DataPlot1D name="vy" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures (xy) Drone_0">
+          <DataPlot2D name="xy" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures target">
+          <DataPlot1D name="x" period="100" enabled="0"/>
+          <DataPlot1D name="y" period="100" enabled="0"/>
+          <DataPlot1D name="z" period="100" enabled="0"/>
+          <DataPlot1D name="vx" period="100" enabled="0"/>
+          <DataPlot1D name="vy" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures (xy) target">
+          <DataPlot2D name="xy" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+  </TabWidget>
+  <PushButton name="save config on target (Drone_0)" value="1"/>
+</root>
