Index: trunk/demos/PidStandalone/simulator/build_core2_64/bin/setup_x4.xml
===================================================================
--- trunk/demos/PidStandalone/simulator/build_core2_64/bin/setup_x4.xml	(revision 236)
+++ trunk/demos/PidStandalone/simulator/build_core2_64/bin/setup_x4.xml	(revision 236)
@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="x4_0">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.001" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="-1.5" name="x:"/>
+    <DoubleSpinBox value="0" name="y:"/>
+    <DoubleSpinBox value="-3.5" name="z:"/>
+    <SpinBox value="0" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.2" name="mass (kg):"/>
+    <DoubleSpinBox value="0.2" name="arm length (m):"/>
+    <DoubleSpinBox value="0.001" name="k_mot:"/>
+    <DoubleSpinBox value="0.001" name="c_mot:"/>
+    <DoubleSpinBox value="0.01" name="f_air_vert:"/>
+    <DoubleSpinBox value="0.4" name="f_air_lat:"/>
+    <DoubleSpinBox value="0.006" name="j_roll:"/>
+    <DoubleSpinBox value="0.006" name="j_pitch:"/>
+    <DoubleSpinBox value="0.1" name="j_yaw:"/>
+   </Tab>
+   <Tab name="us">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0.04" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="1" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="6" name="range:"/>
+   <Vector3DSpinBox name="position" value_x="0.00" value_y="0.00" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0.00" value_y="0.00" value_z="1.00"/></Tab>
+   <Tab name="bottom camera">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="1" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="70" name="fov:"/>
+   <Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0"/><Vector3DSpinBox name="direction" value_x="0.00" value_y="0.00" value_z="1.00"/><Vector3DSpinBox name="up" value_x="1.00" value_y="0.00" value_z="0.00"/></Tab>
+  </TabWidget>
+ </Tab>
+  </TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="simulator"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (simulator)" value="1"/></root>
Index: trunk/demos/PidStandalone/simulator/build_core2_64/bin/setup_x8.xml
===================================================================
--- trunk/demos/PidStandalone/simulator/build_core2_64/bin/setup_x8.xml	(revision 236)
+++ trunk/demos/PidStandalone/simulator/build_core2_64/bin/setup_x8.xml	(revision 236)
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="x8_0">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.001" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="-1.5" name="x:"/>
+    <DoubleSpinBox value="0" name="y:"/>
+    <DoubleSpinBox value="-1.2" name="z:"/>
+    <SpinBox value="20" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.6" name="mass (kg):"/>
+    <DoubleSpinBox value="0.2" name="arm length (m):"/>
+    <DoubleSpinBox value="0" name="position G (m):"/>
+    <DoubleSpinBox value="0.001" name="k_mot:"/>
+    <DoubleSpinBox value="0.001" name="c_mot:"/>
+    <DoubleSpinBox value="0.01" name="f_air_vert:"/>
+    <DoubleSpinBox value="0.4" name="f_air_lat:"/>
+    <DoubleSpinBox value="0.006" name="j_roll:"/>
+    <DoubleSpinBox value="0.006" name="j_pitch:"/>
+    <DoubleSpinBox value="0.1" name="j_yaw:"/>
+    <DoubleSpinBox value="0" name="j_r:"/>
+    <DoubleSpinBox value="0.72" name="sigma:"/>
+    <DoubleSpinBox value="1" name="S:"/>
+   </Tab>
+   <Tab name="us">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0.04" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="1" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="6" name="range:"/>
+   <Vector3DSpinBox name="position" value_x="0.00" value_y="0.00" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0.00" value_y="0.00" value_z="1.00"/></Tab>
+   <Tab name="bottom camera">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="1" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="70" name="fov:"/>
+   <Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0"/><Vector3DSpinBox name="direction" value_x="0.00" value_y="0.00" value_z="1.00"/><Vector3DSpinBox name="up" value_x="1.00" value_y="0.00" value_z="0.00"/></Tab>
+  </TabWidget>
+ </Tab>
+</TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="simulator"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (simulator)" value="1"/></root>
Index: trunk/demos/PidStandalone/simulator/build_core2_64/bin/simulator_x4.sh
===================================================================
--- trunk/demos/PidStandalone/simulator/build_core2_64/bin/simulator_x4.sh	(revision 236)
+++ trunk/demos/PidStandalone/simulator/build_core2_64/bin/simulator_x4.sh	(revision 236)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./simulator_pid_rt
+else
+	EXEC=./simulator_pid_nrt
+fi
+
+. $IGEP_ROOT/uav_dev/bin/noarch/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -t x4 -a 127.0.0.1 -p 9000 -x setup_x4.xml -o 10 -m $IGEP_ROOT/uav_dev/media -s $IGEP_ROOT/uav_dev/media/optitrack_b122.xml
Index: trunk/demos/PidStandalone/simulator/build_core2_64/bin/simulator_x8.sh
===================================================================
--- trunk/demos/PidStandalone/simulator/build_core2_64/bin/simulator_x8.sh	(revision 236)
+++ trunk/demos/PidStandalone/simulator/build_core2_64/bin/simulator_x8.sh	(revision 236)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./simulator_pid_rt
+else
+	EXEC=./simulator_pid_nrt
+fi
+
+. $IGEP_ROOT/uav_dev/bin/noarch/distribution_specific_hack.sh
+
+$EXEC  -n x8_0 -t x8 -a 127.0.0.1 -p 9000 -x setup_x8.xml -o 10 -m $IGEP_ROOT/uav_dev/media -s $IGEP_ROOT/uav_dev/media/optitrack_b122.xml
Index: trunk/demos/PidStandalone/simulator/src/main.cpp
===================================================================
--- trunk/demos/PidStandalone/simulator/src/main.cpp	(revision 228)
+++ trunk/demos/PidStandalone/simulator/src/main.cpp	(revision 236)
@@ -18,5 +18,4 @@
 #include <SimuImu.h>
 #ifdef GL
-#include <SimuCameraGL.h>
 #include <Parser.h>
 #include <SimuUsGL.h>
@@ -97,6 +96,4 @@
 #ifdef GL
     SimuUsGL* us_gl;
-
-    SimuCameraGL *cam_bas;
     Parser *gui;
 #endif
@@ -108,20 +105,19 @@
 
 #ifdef GL
-    gui=new Parser(simu,960,480,640,480,media_path,scene_file);
+    gui=new Parser(1024, 768, 1024, 768,media_path,scene_file);
 #endif
 
     if(type=="x4")
     {
-        drone=new X4(simu,name,0);
+        drone=new X4(name,0);
     }
     else
     {
-        drone=new X8(simu,name,0);
+        drone=new X8(name,0);
     }
-    imu=new SimuImu(drone,"imu",0);
+    imu=new SimuImu(drone,"imu",0,0);
 
 #ifdef GL
-    us_gl=new SimuUsGL(drone,"us",0);
-    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
+    us_gl=new SimuUsGL(drone,"us",0,0);
 #endif
 
