Index: trunk/demos/SimpleFleet/uav/CMakeLists.txt
===================================================================
--- trunk/demos/SimpleFleet/uav/CMakeLists.txt	(revision 299)
+++ trunk/demos/SimpleFleet/uav/CMakeLists.txt	(revision 301)
@@ -8,4 +8,5 @@
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
@@ -37,9 +38,9 @@
 INSTALL(
 	TARGETS ${PROJECT_NAME}_rt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/SimpleFleet
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
 
 INSTALL(
 	TARGETS ${PROJECT_NAME}_nrt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/SimpleFleet
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
Index: trunk/demos/SimpleFleet/uav/resources/armv7a-neon/SimpleFleet.sh
===================================================================
--- trunk/demos/SimpleFleet/uav/resources/armv7a-neon/SimpleFleet.sh	(revision 301)
+++ trunk/demos/SimpleFleet/uav/resources/armv7a-neon/SimpleFleet.sh	(revision 301)
@@ -0,0 +1,1 @@
+./SimpleFleet_nrt -a 192.168.147.193 -p 9000 -l /tmp -x SimpleFleet_ardrone2.xml -n Drone_0 -t ardrone2 -b 192.168.147.255
Index: trunk/demos/SimpleFleet/uav/resources/armv7a-neon/SimpleFleet_ardrone2.xml
===================================================================
--- trunk/demos/SimpleFleet/uav/resources/armv7a-neon/SimpleFleet_ardrone2.xml	(revision 301)
+++ trunk/demos/SimpleFleet/uav/resources/armv7a-neon/SimpleFleet_ardrone2.xml	(revision 301)
@@ -0,0 +1,357 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+<TabWidget name="Main_TabWidget">
+ <Tab name="x4-multiplex">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="1" name="front left blade pitch:"/>
+    </GroupBox>
+    <GroupBox name="motor attribution">
+     <ComboBox value="0" name="front left"/>
+     <ComboBox value="1" name="front rigth"/>
+     <ComboBox value="2" name="rear left"/>
+     <ComboBox value="3" name="rear rigth"/>
+    </GroupBox>
+    <GroupBox name="bldc">
+     <Label name="flight time"/>
+     <DoubleSpinBox value="0.4" name="min value:"/>
+     <DoubleSpinBox value="1" name="max value:"/>
+     <DoubleSpinBox value="0.1" name="test value:"/>
+     <PushButton value="0" name="test motor 0"/>
+     <PushButton value="0" name="test motor 1"/>
+     <PushButton value="0" name="test motor 2"/>
+     <PushButton value="0" name="test motor 3"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Values">
+    <DataPlot1D name="front left" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="front right" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear left" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear right" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="parrot-us">
+  <TabWidget name="parrot-us">
+   <Tab name="Reglages">
+    <GroupBox name="parrot-us"/>
+    <GroupBox name="Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Vz">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="Passe bas v">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="10" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="alt cons">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+     <DoubleSpinBox value="1" name="velocity max (absolute):"/>
+     <DoubleSpinBox value="0.8" name="acceleration (absolute):"/>
+    </GroupBox>
+    <GroupBox name="decollage">
+     <DoubleSpinBox value="0.8" name="alt decollage"/>
+     <DoubleSpinBox value="0" name="alt atterissage"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="parrot-us" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="parrot-imu">
+  <TabWidget name="parrot-imu">
+   <Tab name="Reglages">
+    <GroupBox name="parrot-imu"/>
+    <GroupBox name="post rotation">
+     <DoubleSpinBox value="0" name="value"/>
+     <ComboBox value="0" name="axis"/>
+    </GroupBox>
+    <DoubleSpinBox value="0.5" name="k_a[0]:"/>
+    <DoubleSpinBox value="0.5" name="k_a[1]:"/>
+    <DoubleSpinBox value="0" name="k_a[2]:"/>
+    <DoubleSpinBox value="0.01" name="k_b[0]:"/>
+    <DoubleSpinBox value="0.01" name="k_b[1]:"/>
+    <DoubleSpinBox value="0.01" name="k_b[2]:"/>
+   </Tab>
+   <Tab name="AHRS">
+    <DataPlot1D name="roll" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_x" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_y" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_z" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="IMU">
+    <DataPlot1D name="acc_x" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="acc_y" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="acc_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="gyr_x" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="gyr_y" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="gyr_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="mag_x" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="mag_y" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="mag_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="battery">
+  <GroupBox name="battery">
+   <Label name="battery"/>
+   <DoubleSpinBox value="10.5" name="threshold"/>
+  </GroupBox>
+ </Tab>
+ <Tab name="vrpn">
+  <TabWidget name="vrpn">
+   <Tab name="Reglages">
+    <GroupBox name="post rotation 1">
+     <DoubleSpinBox value="90" name="value"/>
+     <ComboBox value="1" name="axis"/>
+    </GroupBox>
+    <GroupBox name="post rotation 2">
+     <DoubleSpinBox value="90" name="value"/>
+     <ComboBox value="0" name="axis"/>
+    </GroupBox>
+    <GroupBox name="Drone_0 Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="2" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Drone_0_euler">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="target Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="2" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="target_euler">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="circle">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="1.2" name="R"/>
+     <DoubleSpinBox value="0.5" name="velocity"/>
+     <DoubleSpinBox value="0.2" name="acceleration (absolute)"/>
+    </GroupBox>
+   <DoubleSpinBox name="x circle center" value="0"/><DoubleSpinBox name="y circle center" value="0"/><DoubleSpinBox name="y displacement" value="1.0"/></Tab>
+   <Tab name="Mesures Drone_0">
+    <DataPlot1D name="x" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="y" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="z" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vx" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="vy" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="Mesures (xy) Drone_0">
+    <DataPlot2D name="xy" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot2D>
+   </Tab>
+   <Tab name="Mesures target">
+    <DataPlot1D name="x">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="y">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="z">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="vx">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="vy">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="Mesures (xy) target">
+    <DataPlot2D name="xy">
+     <Setup period="100" enabled="0"/>
+    </DataPlot2D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="camv">
+  <TabWidget name="camv">
+   <Tab name="Setup">
+    <GroupBox name="camv">
+     <DoubleSpinBox value="0" name="gain:"/>
+     <DoubleSpinBox value="0" name="exposure:"/>
+     <DoubleSpinBox value="0" name="bright:"/>
+     <DoubleSpinBox value="0" name="contrast:"/>
+     <DoubleSpinBox value="0" name="hue:"/>
+     <DoubleSpinBox value="0" name="sharpness:"/>
+     <DoubleSpinBox value="0" name="saturation:"/>
+     <CheckBox value="1" name="autogain:"/>
+     <CheckBox value="1" name="autoexposure:"/>
+     <CheckBox value="1" name="awb:"/>
+    </GroupBox>
+    <GridLayout name="setup"/>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="uav">
+  <GridLayout name="buttons">
+   <PushButton value="0" name="kill"/>
+   <PushButton value="0" name="start_log"/>
+   <PushButton value="0" name="stop_log"/>
+   <PushButton value="0" name="take_off"/>
+   <PushButton value="0" name="landing"/>
+   <PushButton value="0" name="start_circle"/>
+   <PushButton value="0" name="stop_circle"/>
+  <PushButton name="land"/></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="0.6"/><DoubleSpinBox name="acceleration (absolute):" value="0.2"/></GroupBox></Tab>
+ <Tab name="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="20" name="sat ref:"/>
+     <DoubleSpinBox value="12" name="kp:"/>
+     <DoubleSpinBox value="1000" name="sat dref:"/>
+     <DoubleSpinBox value="0.2" name="kd:"/>
+     <DoubleSpinBox value="0.4" name="sat u:"/>
+    </GroupBox>
+    <GroupBox name="u_pitch">
+     <DoubleSpinBox value="20" name="sat ref:"/>
+     <DoubleSpinBox value="12" name="kp:"/>
+     <DoubleSpinBox value="1000" name="sat dref:"/>
+     <DoubleSpinBox value="0.2" name="kd:"/>
+     <DoubleSpinBox value="0.4" name="sat u:"/>
+    </GroupBox>
+    <GroupBox name="u_yaw">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.6" name="kp:"/>
+     <DoubleSpinBox value="0.1" name="ki:"/>
+     <DoubleSpinBox value="0.2" name="sat i:"/>
+     <DoubleSpinBox value="0.2" name="kd:"/>
+     <DoubleSpinBox value="0.5" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_x">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.4" name="kp:"/>
+     <DoubleSpinBox value="0.4" name="ki:"/>
+     <DoubleSpinBox value="0" name="sat i:"/>
+     <DoubleSpinBox value="0.2" name="kd:"/>
+     <DoubleSpinBox value="0.4" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_y">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.4" name="kp:"/>
+     <DoubleSpinBox value="0.1" name="ki:"/>
+     <DoubleSpinBox value="0" name="sat i:"/>
+     <DoubleSpinBox value="0.2" name="kd:"/>
+     <DoubleSpinBox value="0.4" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_z">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.6" name="kp:"/>
+     <DoubleSpinBox value="0.2" name="ki:"/>
+     <DoubleSpinBox value="0.4" name="sat i:"/>
+     <DoubleSpinBox value="0.4" name="kd:"/>
+     <DoubleSpinBox value="0.6" name="offset g:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+     <DoubleSpinBox value="0.0002" name="offset step:"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Graphes">
+    <DataPlot1D name="u_roll" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_pitch" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_yaw" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_x" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_y" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="Dualshock3">
+  <TabWidget name="Dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="15" name="debattement roll"/>
+     <DoubleSpinBox value="15" name="debattement pitch"/>
+     <DoubleSpinBox value="90" name="debattement wz"/>
+     <DoubleSpinBox value="0.5" name="debattement dz"/>
+     <DoubleSpinBox value="0.02" name="trim"/>
+     <Label name="trim roll"/>
+     <PushButton value="0" name="reset roll trim"/>
+     <Label name="trim pitch"/>
+     <PushButton value="0" name="reset pitch trim"/>
+    </GroupBox>
+   </Tab>
+  </TabWidget>
+ </Tab>
+</TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget></root>
Index: trunk/demos/SimpleFleet/uav/resources/core2-64/setup_x8.xml
===================================================================
--- trunk/demos/SimpleFleet/uav/resources/core2-64/setup_x8.xml	(revision 301)
+++ trunk/demos/SimpleFleet/uav/resources/core2-64/setup_x8.xml	(revision 301)
@@ -0,0 +1,342 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+<TabWidget name="Main_TabWidget">
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x8 multiplex">
+     <ComboBox value="0" name="top front left blade pitch:"/>
+    </GroupBox>
+    <GroupBox name="motor attribution">
+     <ComboBox value="0" name="top front left"/>
+     <ComboBox value="1" name="top front rigth"/>
+     <ComboBox value="2" name="top rear left"/>
+     <ComboBox value="3" name="top rear rigth"/>
+     <ComboBox value="4" name="bottom front left"/>
+     <ComboBox value="5" name="bottom front rigth"/>
+     <ComboBox value="6" name="bottom rear left"/>
+     <ComboBox value="7" name="bottom rear rigth"/>
+    </GroupBox>
+    <GroupBox name="bldc">
+     <Label name="flight time"/>
+     <DoubleSpinBox value="0.4" name="min value:"/>
+     <DoubleSpinBox value="1" name="max value:"/>
+     <DoubleSpinBox value="0.1" name="test value:"/>
+     <PushButton value="0" name="test motor 0"/>
+     <PushButton value="0" name="test motor 1"/>
+     <PushButton value="0" name="test motor 2"/>
+     <PushButton value="0" name="test motor 3"/>
+     <PushButton value="0" name="test motor 4"/>
+     <PushButton value="0" name="test motor 5"/>
+     <PushButton value="0" name="test motor 6"/>
+     <PushButton value="0" name="test motor 7"/>
+    </GroupBox>
+    <GroupBox name="simubldc">
+     <DoubleSpinBox value="86" name="k driver:"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Values">
+    <DataPlot1D name="front left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="front right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="Speeds">
+    <DataPlot1D name="front left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="front right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="us">
+  <TabWidget name="us">
+   <Tab name="Reglages">
+    <GroupBox name="us">
+     <SpinBox value="50" name="data rate"/>
+    </GroupBox>
+    <GroupBox name="Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Vz">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="Passe bas v">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="alt cons">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+     <DoubleSpinBox value="0.5" name="velocity max (absolute):"/>
+     <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
+    </GroupBox>
+    <GroupBox name="decollage">
+     <DoubleSpinBox value="1" name="alt decollage"/>
+     <DoubleSpinBox value="0" name="alt atterissage"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="us" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="imu">
+  <TabWidget name="imu">
+   <Tab name="Reglages">
+    <GroupBox name="imu">
+     <SpinBox value="200" name="data rate"/>
+    </GroupBox>
+    <GroupBox name="post rotation">
+     <DoubleSpinBox value="0" name="value"/>
+     <ComboBox value="0" name="axis"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="AHRS">
+    <DataPlot1D name="roll" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_x" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_y" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_z" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </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="battery">
+  <GroupBox name="battery">
+   <Label name="battery"/>
+   <DoubleSpinBox value="10" name="threshold"/>
+  </GroupBox>
+ </Tab>
+ <Tab name="simu_cam_v">
+  <TabWidget name="simu_cam_v">
+   <Tab name="Setup">
+    <GroupBox name="simu_cam_v">
+     <SpinBox value="50" name="data rate"/>
+    </GroupBox>
+    <GridLayout name="setup"/>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="vrpn">
+  <TabWidget name="vrpn">
+   <Tab name="Reglages">
+    <GroupBox name="post rotation 1">
+     <DoubleSpinBox value="0" name="value"/>
+     <ComboBox value="0" name="axis"/>
+    </GroupBox>
+    <GroupBox name="post rotation 2">
+     <DoubleSpinBox value="0" name="value"/>
+     <ComboBox value="0" name="axis"/>
+    </GroupBox>
+    <GroupBox name="x8_0 Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="2" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="x8_0_euler">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="target Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="2" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="target_euler">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="circle">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="1.5" name="R"/>
+     <DoubleSpinBox value="1" name="velocity"/>
+     <DoubleSpinBox value="0.1" name="acceleration (absolute)"/>
+    </GroupBox>
+   <GroupBox name="x8_1 Passe bas"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="1"/></GroupBox><GroupBox name="x8_1_euler"><DoubleSpinBox name="period, 0 for auto:" value="0"/></GroupBox><DoubleSpinBox name="x circle center" value="0"/><DoubleSpinBox name="y circle center" value="0"/><DoubleSpinBox name="y displacement" value="1"/></Tab>
+   <Tab name="Mesures x8_0">
+    <DataPlot1D name="x" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="y" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="z" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vx" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vy" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="Mesures (xy) x8_0">
+    <DataPlot2D name="xy" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot2D>
+   </Tab>
+   <Tab name="Mesures target">
+    <DataPlot1D name="x" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="y" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="vx" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vy" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="Mesures (xy) target">
+    <DataPlot2D name="xy" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot2D>
+   </Tab>
+  <Tab name="Mesures x8_1"><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) x8_1"><DataPlot2D name="xy" period="100" enabled="0"/></Tab></TabWidget>
+ </Tab>
+ <Tab name="uav">
+  <GridLayout name="buttons">
+   <PushButton value="0" name="kill"/>
+   <PushButton value="0" name="start_log"/>
+   <PushButton value="0" name="stop_log"/>
+   <PushButton value="1" name="take_off"/>
+   <PushButton value="0" name="landing"/>
+   <PushButton value="0" name="start_circle"/>
+   <PushButton value="0" name="stop_circle"/>
+  <PushButton name="land"/></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="0.5"/><DoubleSpinBox name="acceleration (absolute):" value="0.2"/></GroupBox></Tab>
+ <Tab name="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="5" name="kp:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.5" name="sat u:"/>
+    </GroupBox>
+    <GroupBox name="u_pitch">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="5" name="kp:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.5" name="sat u:"/>
+    </GroupBox>
+    <GroupBox name="u_yaw">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="1" name="kp:"/>
+     <DoubleSpinBox value="0" name="ki:"/>
+     <DoubleSpinBox value="0" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.2" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_x">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.2" name="kp:"/>
+     <DoubleSpinBox value="0" name="ki:"/>
+     <DoubleSpinBox value="0" name="sat i:"/>
+     <DoubleSpinBox value="0.2" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_y">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.2" name="kp:"/>
+     <DoubleSpinBox value="0" name="ki:"/>
+     <DoubleSpinBox value="0" name="sat i:"/>
+     <DoubleSpinBox value="0.2" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_z">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.3" name="kp:"/>
+     <DoubleSpinBox value="0.2" name="ki:"/>
+     <DoubleSpinBox value="0.5" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.6" name="offset g:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+     <DoubleSpinBox value="0.0002" name="offset step:"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Graphes">
+    <DataPlot1D name="u_roll" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_pitch" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_yaw" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_x" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_y" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_z" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="Dualshock3">
+  <TabWidget name="Dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="-20" name="debattement roll"/>
+     <DoubleSpinBox value="-20" name="debattement pitch"/>
+     <DoubleSpinBox value="90" name="debattement wz"/>
+     <DoubleSpinBox value="-0.7" name="debattement dz"/>
+     <DoubleSpinBox value="0" name="trim"/>
+     <Label name="trim roll"/>
+     <PushButton value="0" name="reset roll trim"/>
+     <Label name="trim pitch"/>
+     <PushButton value="0" name="reset pitch trim"/>
+    </GroupBox>
+   </Tab>
+  </TabWidget>
+ </Tab>
+</TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x8_0"><PushButton name="save config on target" value="1"/></Tab><Tab name="x8_1"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x8_0)" value="1"/></root>
Index: trunk/demos/SimpleFleet/uav/resources/core2-64/x8_0.sh
===================================================================
--- trunk/demos/SimpleFleet/uav/resources/core2-64/x8_0.sh	(revision 301)
+++ trunk/demos/SimpleFleet/uav/resources/core2-64/x8_0.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./SimpleFleet_rt
+else
+	EXEC=./SimpleFleet_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x8_0 -a 127.0.0.1 -p 9000 -l ./ -x setup_x8.xml -t x8_simu0 -b 127.255.255.255:20010
Index: trunk/demos/SimpleFleet/uav/resources/core2-64/x8_1.sh
===================================================================
--- trunk/demos/SimpleFleet/uav/resources/core2-64/x8_1.sh	(revision 301)
+++ trunk/demos/SimpleFleet/uav/resources/core2-64/x8_1.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./SimpleFleet_rt
+else
+	EXEC=./SimpleFleet_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x8_1 -a 127.0.0.1 -p 9000 -l ./ -x setup_x8.xml -t x8_simu1 -b 127.255.255.255:20010 -d 21000
