Index: /trunk/demos/CircleFollower/simulator/CMakeLists.txt
===================================================================
--- /trunk/demos/CircleFollower/simulator/CMakeLists.txt	(revision 300)
+++ /trunk/demos/CircleFollower/simulator/CMakeLists.txt	(revision 301)
@@ -5,4 +5,5 @@
 SET(FLAIR_USE_SIMULATOR TRUE)
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
@@ -33,9 +34,9 @@
 INSTALL(
 	TARGETS ${PROJECT_NAME}_rt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/CircleFollower
+	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}/CircleFollower
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
Index: /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x4.sh
===================================================================
--- /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
+++ /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
@@ -0,0 +1,10 @@
+#! /bin/bash
+if [ -f /proc/xenomai/version ];then
+	EXEC=./CircleFollower_simulator_rt
+else
+	EXEC=./CircleFollower_simulator_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -t x4 -p 9000 -a 127.0.0.1 -x simulator_x4.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x4.xml
===================================================================
--- /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
+++ /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
@@ -0,0 +1,102 @@
+<?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="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="0" value_z="-1"/></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:"/>
+   <SpinBox name="motor timeout:" value="100"/></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" value_y="0" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></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="0.00" value_y="0.00" value_z="0.00"/><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>
+   <Tab name="front 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="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="-1" 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="1.00" value_y="0.00" value_z="0.00"/><Vector3DSpinBox name="up" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="target">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.02" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="-1.5" name="x:"/>
+    <DoubleSpinBox value="1" name="y:"/>
+    <DoubleSpinBox value="0" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="1" value_z="0"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
+    <DoubleSpinBox value="60" name="rotational speed (deg/s):"/>
+   </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/CircleFollower/simulator/resources/core2-64/simulator_x8.sh
===================================================================
--- /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
+++ /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./CircleFollower_simulator_rt
+else
+	EXEC=./CircleFollower_simulator_nrt
+fi
+
+$EXEC -n x8_0 -t x8 -p 9000 -a 127.0.0.1 -x simulator_x8.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x8.xml
===================================================================
--- /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
+++ /trunk/demos/CircleFollower/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
@@ -0,0 +1,106 @@
+<?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="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="0" value_z="-1"/></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:"/>
+   <SpinBox name="motor timeout:" value="100"/></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" value_y="0" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></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>
+   <Tab name="front 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="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="-1" 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="1.00" value_y="0.00" value_z="0.00"/><Vector3DSpinBox name="up" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="target">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.02" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="0" name="x:"/>
+    <DoubleSpinBox value="0" name="y:"/>
+    <DoubleSpinBox value="0" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="1" value_z="0"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
+    <DoubleSpinBox value="60" name="rotational speed (deg/s):"/>
+   </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/CircleFollower/uav/CMakeLists.txt
===================================================================
--- /trunk/demos/CircleFollower/uav/CMakeLists.txt	(revision 300)
+++ /trunk/demos/CircleFollower/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}/CircleFollower
+	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}/CircleFollower
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
Index: /trunk/demos/CircleFollower/uav/resources/armv5te/CircleFollower_minidrones.sh
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/armv5te/CircleFollower_minidrones.sh	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/armv5te/CircleFollower_minidrones.sh	(revision 301)
@@ -0,0 +1,1 @@
+./CircleFollower_nrt -a 192.168.2.2 -p 9000 -l /tmp -x CircleFollower_minidrones.xml -n Drone_0 -t mamboedu
Index: /trunk/demos/CircleFollower/uav/resources/armv5te/CircleFollower_minidrones.xml
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/armv5te/CircleFollower_minidrones.xml	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/armv5te/CircleFollower_minidrones.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="2" name="front left"/>
+     <ComboBox value="0" name="front rigth"/>
+     <ComboBox value="3" name="rear left"/>
+     <ComboBox value="1" 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="1" name="test motor 0"/>
+     <PushButton value="1" name="test motor 1"/>
+     <PushButton value="1" name="test motor 2"/>
+     <PushButton value="1" name="test motor 3"/>
+    </GroupBox>
+   <GroupBox name="battery"><Label name="battery"/><DoubleSpinBox name="threshold" value="10"/><SpinBox name="threshold time" value="10"/></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="0.04" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Vz">
+     <DoubleSpinBox value="0.04" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="Passe bas v">
+     <DoubleSpinBox value="0.04" 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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="minidrones-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="1">
+     <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="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>
+ <TabWidget name="minidrones-imu"><Tab name="Reglages"><GroupBox name="minidrones-imu"><ComboBox name="acc scale:" value="0"/><ComboBox name="gyr scale:" value="0"/><Vector3DSpinBox name="magnetic offset (uT)" value_x="0" value_y="0" value_z="0"/><GroupBox name="magnetometers transformation"><DoubleSpinBox name="0,0" value="1"/><DoubleSpinBox name="0,1" value="0"/><DoubleSpinBox name="0,2" value="0"/><DoubleSpinBox name="1,0" value="0"/><DoubleSpinBox name="1,1" value="1"/><DoubleSpinBox name="1,2" value="0"/><DoubleSpinBox name="2,0" value="0"/><DoubleSpinBox name="2,1" value="0"/><DoubleSpinBox name="2,2" value="1"/></GroupBox></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"/><DoubleSpinBox name="km[0]:" value="0"/><DoubleSpinBox name="km[1]:" value="0"/><DoubleSpinBox name="km[2]:" value="0"/><Vector3DSpinBox name="ref magnetic field (uT)" value_x="20.5324001312256" value_y="0.236699998378754" value_z="43.6682014465332"/></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="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" name="R"/>
+     <DoubleSpinBox value="0.5" name="velocity"/>
+     <DoubleSpinBox value="0.1" name="acceleration (absolute)"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Mesures Drone_0">
+    <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="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" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="y" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </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="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) target">
+    <DataPlot2D name="xy" period="100" enabled="0">
+     <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:"/>
+    <Label name="fps"/></GroupBox>
+    <GridLayout name="setup"/>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="uav">
+  <GridLayout name="buttons">
+   <PushButton value="0" name="kill"/>
+   <PushButton value="1" 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"/><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"/><DoubleSpinBox name="acceleration (absolute):" value="0.8"/></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>
+<Tab name="predictor"><DataPlot1D name="u_pitch" period="100" enabled="1"/></Tab><Tab name="minidrones-us"><TabWidget name="minidrones-us"><Tab name="Reglages"><GroupBox name="minidrones-us"/><GroupBox name="Passe  bas"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="1"/></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="1"/></GroupBox><GroupBox name="Passe bas"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="1"/></GroupBox><GroupBox name="Passe bas v"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="1"/></GroupBox></Tab><Tab name="Mesures"><DataPlot1D name="minidrones-us" period="100" enabled="1"/><DataPlot1D name="vz" period="100" enabled="0"/></Tab></TabWidget></Tab><Tab name="minidrones-imu_old"><TabWidget name="minidrones-imu"><Tab name="Reglages"><GroupBox name="minidrones-imu"/><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"/><DoubleSpinBox name="km[0]:" value="0.01"/><DoubleSpinBox name="km[1]:" value="0.01"/><DoubleSpinBox name="km[2]:" value="0.01"/><Vector3DSpinBox name="ref magnetic field (uT)" value_x="20.5324001312256" value_y="0.236699998378754" value_z="43.6682014465332"/></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></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (Drone_0)" value="1"/></root>
Index: /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_ardrone2.sh
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_ardrone2.sh	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_ardrone2.sh	(revision 301)
@@ -0,0 +1,1 @@
+./CircleFollower_nrt -a 192.168.147.193 -p 9000 -l /tmp -x CircleFollower_ardrone2.xml -n Drone_0 -t ardrone2
Index: /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_ardrone2.xml
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_ardrone2.xml	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_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="0.04" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Vz">
+     <DoubleSpinBox value="0.04" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="Passe bas v">
+     <DoubleSpinBox value="0.04" 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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="1">
+     <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="1">
+     <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="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" name="R"/>
+     <DoubleSpinBox value="0.5" name="velocity"/>
+     <DoubleSpinBox value="0.1" name="acceleration (absolute)"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Mesures Drone_0">
+    <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="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" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="y" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </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="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) target">
+    <DataPlot2D name="xy" period="100" enabled="0">
+     <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:"/>
+    <Label name="fps"/></GroupBox>
+    <GridLayout name="setup"/>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="uav">
+  <GridLayout name="buttons">
+   <PushButton value="0" name="kill"/>
+   <PushButton value="1" 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="1"/><DoubleSpinBox name="acceleration (absolute):" value="0.8"/></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>
+<Tab name="predictor"><DataPlot1D name="u_pitch" period="100" enabled="1"/></Tab></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget></root>
Index: /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_bebop.sh
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_bebop.sh	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_bebop.sh	(revision 301)
@@ -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/resources/armv7a-neon/CircleFollower_bebop.xml
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_bebop.xml	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_bebop.xml	(revision 301)
@@ -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"/>
+            <DoubleSpinBox name="test value:" value="0.4"/>
+            <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"/>
+          </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"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures">
+          <DataPlot1D name="bebop-us" period="100" enabled="1"/>
+          <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="180"/>
+            <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="1"/>
+          <DataPlot1D name="pitch" period="100" enabled="0"/>
+          <DataPlot1D name="yaw" period="100" enabled="0"/>
+          <DataPlot1D name="w_x" period="100" enabled="1"/>
+          <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="0.01"/>
+            <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="0.5"/>
+        <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"/>
+        <DoubleSpinBox name="acceleration (absolute):" value="1"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="control laws">
+      <TabWidget name="laws">
+        <Tab name="Setup">
+          <GroupBox name="u_roll">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="15.00"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.04"/>
+            <DoubleSpinBox name="sat u:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_pitch">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="15"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.05"/>
+            <DoubleSpinBox name="sat u:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_yaw">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.6"/>
+            <DoubleSpinBox name="ki:" value="0"/>
+            <DoubleSpinBox name="sat i:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0.15"/>
+            <DoubleSpinBox name="sat:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_z">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.3"/>
+            <DoubleSpinBox name="ki:" value="0.2"/>
+            <DoubleSpinBox name="sat i:" value="0.4"/>
+            <DoubleSpinBox name="kd:" value="0.15"/>
+            <DoubleSpinBox name="offset g:" value="0.37"/>
+            <DoubleSpinBox name="sat:" value="1"/>
+            <DoubleSpinBox name="offset step:" value="0.0002"/>
+          </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>
Index: /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_hdsx8.sh
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_hdsx8.sh	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_hdsx8.sh	(revision 301)
@@ -0,0 +1,1 @@
+./CircleFollower_rt -a 192.168.147.217 -p 9000 -l /tmp -x CircleFollower_hdsx8.xml -n x8_0 -t hds_x8
Index: /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_hdsx8.xml
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_hdsx8.xml	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/armv7a-neon/CircleFollower_hdsx8.xml	(revision 301)
@@ -0,0 +1,478 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+<TabWidget name="Main_TabWidget">
+ <Tab name="dualshock3">
+  <TabWidget name="dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="-10" name="debattement roll"/>
+     <DoubleSpinBox value="-10" name="debattement pitch"/>
+     <DoubleSpinBox value="40" name="debattement dyaw"/>
+     <DoubleSpinBox value="-0.5" name="debattement dz"/>
+     <DoubleSpinBox value="0.01" 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>
+   <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-3"/><DoubleSpinBox name="debattement y" value="3"/></GroupBox></Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="uav">
+  <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_cercle"/>
+  <PushButton value="0" name="stop_cercle"/>
+  <PushButton value="0" name="start_2D"/>
+  <PushButton value="0" name="stop_2D"/>
+  <PushButton value="0" name="Test0"/>
+  <PushButton value="0" name="Test1"/>
+  <PushButton value="0" name="Test11"/>
+  <PushButton value="0" name="Test2"/>
+  <PushButton value="0" name="Test3"/>
+  <PushButton value="0" name="Test4"/>
+  <PushButton value="0" name="Test5"/>
+  <PushButton value="0" name="f1"/>
+  <PushButton value="0" name="f2"/>
+  <PushButton value="0" name="f3"/>
+  <PushButton value="0" name="f4"/>
+  <PushButton value="0" name="f5"/>
+  <PushButton value="0" name="f6"/>
+  <PushButton value="0" name="f7"/>
+  <PushButton value="0" name="f8"/>
+  <PushButton value="0" name="Start_Obs"/>
+ <GridLayout name="buttons"><PushButton name="kill"/><PushButton name="start_log"/><PushButton name="stop_log"/><PushButton name="take_off"/><PushButton name="land"/><PushButton name="f1"/><PushButton name="f2"/><PushButton name="f3"/><PushButton name="f4"/><PushButton name="Reset"/><PushButton name="Start_Obs"/><PushButton name="Optical_flow"/><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="0.3"/><DoubleSpinBox name="acceleration (absolute):" value="0.2"/></GroupBox></Tab>
+ <Tab name="multi">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="fault">
+     <DoubleSpinBox value="0.72" name="Coef:"/>
+     <DoubleSpinBox value="0.0025" name="coefficientKf:"/>
+    </GroupBox>
+    <GroupBox name="x8 multiplex">
+     <ComboBox value="1" name="top front left blade pitch:"/>
+    </GroupBox>
+    <GroupBox name="motor attribution">
+     <ComboBox value="0" name="top front left"/>
+     <ComboBox value="7" name="top front rigth"/>
+     <ComboBox value="4" name="top rear left"/>
+     <ComboBox value="1" name="top rear rigth"/>
+     <ComboBox value="3" name="bottom front left"/>
+     <ComboBox value="5" name="bottom front rigth"/>
+     <ComboBox value="6" name="bottom rear left"/>
+     <ComboBox value="2" name="bottom rear rigth"/>
+    </GroupBox>
+    <GroupBox name="bldc">
+     <Label name="flight time"/>
+     <DoubleSpinBox value="0.2" name="min value:"/>
+     <DoubleSpinBox value="1" name="max value:"/>
+     <DoubleSpinBox value="0.1" name="test value:"/>
+     <PushButton value="1" name="test motor 0"/>
+     <PushButton value="1" name="test motor 1"/>
+     <PushButton value="1" name="test motor 2"/>
+     <PushButton value="1" name="test motor 3"/>
+     <PushButton value="1" name="test motor 4"/>
+     <PushButton value="1" name="test motor 5"/>
+     <PushButton value="1" name="test motor 6"/>
+     <PushButton value="1" name="test motor 7"/>
+    </GroupBox>
+    <GroupBox name="battery">
+     <Label name="battery"/>
+     <DoubleSpinBox value="10" name="threshold"/>
+    </GroupBox>
+    <GroupBox name="Motors">
+     <SpinBox value="14" name="nb poles:"/>
+    </GroupBox>
+    <GroupBox name="startup">
+     <DoubleSpinBox value="0" name="prc_fault:"/>
+     <DoubleSpinBox value="0" name="prc_retab:"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Values">
+    <DataPlot1D name="top front left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="top front right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="top rear left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="top rear right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="bottom front left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="bottom front right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="bottom rear left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="bottom 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="SRF08">
+  <TabWidget name="SRF08">
+   <Tab name="Reglages">
+    <GroupBox name="SRF08">
+     <SpinBox value="8" name="gain:"/>
+     <SpinBox value="46" name="range:"/>
+    </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="0.3" name="velocity max (absolute):"/>
+     <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
+    </GroupBox>
+    <GroupBox name="decollage">
+     <DoubleSpinBox value="0.7" name="alt decollage"/>
+     <DoubleSpinBox value="0" name="alt atterissage"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="SRF08" 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">
+     <PushButton value="0" name="gyros bias"/>
+     <SpinBox value="100" name="data rate (Hz):"/>
+     <Label name="data_rate"/>
+     <SpinBox value="15" name="gyro and acc filter win size:"/>
+     <SpinBox value="17" name="mag filter win size:"/>
+     <SpinBox value="10" name="up compensation (s):"/>
+     <SpinBox value="10" name="north compensation (s):"/>
+     <CheckBox value="1" name="enable Coning&amp;Sculling:"/>
+     <CheckBox value="1" name="disable magnetometer:"/>
+     <CheckBox value="1" name="disable magnetic north compensation:"/>
+     <CheckBox value="1" name="disable gravity compensation:"/>
+    </GroupBox>
+    <GroupBox name="post rotation">
+     <DoubleSpinBox value="180" name="value"/>
+     <ComboBox value="2" name="axis"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="AHRS">
+    <DataPlot1D name="roll" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <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="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="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="10" name="sat ref:"/>
+     <DoubleSpinBox value="10" name="satf ref:"/>
+     <DoubleSpinBox value="10" name="sat2f ref:"/>
+     <DoubleSpinBox value="7" name="kp:"/>
+     <DoubleSpinBox value="7" name="kpf:"/>
+     <DoubleSpinBox value="10" name="kp2f:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="110" name="satf dref:"/>
+     <DoubleSpinBox value="140" name="sat2f dref:"/>
+     <DoubleSpinBox value="0.12" name="kd:"/>
+     <DoubleSpinBox value="0.12" name="kdf:"/>
+     <DoubleSpinBox value="0.13" name="kd2f:"/>
+     <DoubleSpinBox value="0.4" name="sat u:"/>
+     <DoubleSpinBox value="0.4" name="satf u:"/>
+     <DoubleSpinBox value="0.6" name="sat2f u:"/>
+    </GroupBox>
+    <GroupBox name="u_pitch">
+     <DoubleSpinBox value="10" name="sat ref:"/>
+     <DoubleSpinBox value="10" name="satf ref:"/>
+     <DoubleSpinBox value="10" name="sat2f ref:"/>
+     <DoubleSpinBox value="7" name="kp:"/>
+     <DoubleSpinBox value="7" name="kpf:"/>
+     <DoubleSpinBox value="10" name="kp2f:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="110" name="satf dref:"/>
+     <DoubleSpinBox value="140" name="sat2f dref:"/>
+     <DoubleSpinBox value="0.12" name="kd:"/>
+     <DoubleSpinBox value="0.12" name="kdf:"/>
+     <DoubleSpinBox value="0.13" name="kd2f:"/>
+     <DoubleSpinBox value="0.4" name="sat u:"/>
+     <DoubleSpinBox value="0.4" name="satf u:"/>
+     <DoubleSpinBox value="0.6" name="sat2f u:"/>
+    </GroupBox>
+    <GroupBox name="u_yaw">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="1" name="kp:"/>
+     <DoubleSpinBox value="1.5" name="kpf:"/>
+     <DoubleSpinBox value="2" name="kp2f:"/>
+     <DoubleSpinBox value="0.2" name="ki:"/>
+     <DoubleSpinBox value="0.35" name="kif:"/>
+     <DoubleSpinBox value="0.5" name="ki2f:"/>
+     <DoubleSpinBox value="0.2" name="sat i:"/>
+     <DoubleSpinBox value="0.3" name="satf i:"/>
+     <DoubleSpinBox value="0.4" name="sat2f i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.2" name="kdf:"/>
+     <DoubleSpinBox value="0.3" name="kd2f:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="x_pid">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.01" name="kp:"/>
+     <DoubleSpinBox value="0.015" name="kpf:"/>
+     <DoubleSpinBox value="0.01" name="kp2f:"/>
+     <DoubleSpinBox value="0.03" name="ki:"/>
+     <DoubleSpinBox value="0.035" name="kif:"/>
+     <DoubleSpinBox value="0.02" name="ki2f:"/>
+     <DoubleSpinBox value="0.3" name="sat i:"/>
+     <DoubleSpinBox value="0.3" name="satf i:"/>
+     <DoubleSpinBox value="0.3" name="sat2f i:"/>
+     <DoubleSpinBox value="0" name="kd:"/>
+     <DoubleSpinBox value="0" name="kdf:"/>
+     <DoubleSpinBox value="0" name="kd2f:"/>
+     <DoubleSpinBox value="0.5" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="y_pid">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.01" name="kp:"/>
+     <DoubleSpinBox value="0.015" name="kpf:"/>
+     <DoubleSpinBox value="0.01" name="kp2f:"/>
+     <DoubleSpinBox value="0.03" name="ki:"/>
+     <DoubleSpinBox value="0.035" name="kif:"/>
+     <DoubleSpinBox value="0.02" name="ki2f:"/>
+     <DoubleSpinBox value="0.3" name="sat i:"/>
+     <DoubleSpinBox value="0.3" name="satf i:"/>
+     <DoubleSpinBox value="0.3" name="sat2f i:"/>
+     <DoubleSpinBox value="0" name="kd:"/>
+     <DoubleSpinBox value="0" name="kdf:"/>
+     <DoubleSpinBox value="0" name="kd2f:"/>
+     <DoubleSpinBox value="0.5" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_z">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.3" name="kp:"/>
+     <DoubleSpinBox value="0.4" name="kpf:"/>
+     <DoubleSpinBox value="0.5" name="kp2f:"/>
+     <DoubleSpinBox value="0.2" name="ki:"/>
+     <DoubleSpinBox value="0.4" name="kif:"/>
+     <DoubleSpinBox value="0.4" name="ki2f:"/>
+     <DoubleSpinBox value="0.5" name="sat i:"/>
+     <DoubleSpinBox value="0.8" name="satf i:"/>
+     <DoubleSpinBox value="0.8" name="sat2f i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.3" name="kdf:"/>
+     <DoubleSpinBox value="0.3" name="kd2f:"/>
+     <DoubleSpinBox value="0.4" name="offset g:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+     <DoubleSpinBox value="0.0001" name="offset step:"/>
+    </GroupBox>
+   <GroupBox name="u_x"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="kp:" value="0.40"/><DoubleSpinBox name="ki:" value="0.40"/><DoubleSpinBox name="sat i:" value="0.0"/><DoubleSpinBox name="kd:" value="0.200"/><DoubleSpinBox name="sat:" value="0.4"/></GroupBox><GroupBox name="u_y"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="kp:" value="0.40"/><DoubleSpinBox name="ki:" value="0.40"/><DoubleSpinBox name="sat i:" value="0.0"/><DoubleSpinBox name="kd:" value="0.200"/><DoubleSpinBox name="sat:" value="0.4"/></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_z" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   <DataPlot1D name="x_pid" period="100" enabled="1"/><DataPlot1D name="y_pid" period="100" enabled="1"/><DataPlot1D name="u_x" period="100" enabled="0"/><DataPlot1D name="u_y" period="100" enabled="0"/></Tab>
+   <Tab name="HighOrder">
+    <GroupBox name="HighOrder">
+     <DoubleSpinBox value="1" name="lambda1:"/>
+     <DoubleSpinBox value="1" name="alpha1:"/>
+     <DoubleSpinBox value="1" name="lambda2:"/>
+     <DoubleSpinBox value="1" name="alpha2:"/>
+     <DoubleSpinBox value="1.5" name="lambda3:"/>
+     <DoubleSpinBox value="2" name="alpha3:"/>
+     <DoubleSpinBox value="2" name="lambda11:"/>
+     <DoubleSpinBox value="2" name="alpha11:"/>
+     <DoubleSpinBox value="2" name="lambda21:"/>
+     <DoubleSpinBox value="2" name="alpha21:"/>
+     <DoubleSpinBox value="2.5" name="lambda31:"/>
+     <DoubleSpinBox value="3" name="alpha31:"/>
+     <DoubleSpinBox value="3" name="lambda12:"/>
+     <DoubleSpinBox value="3" name="alpha12:"/>
+     <DoubleSpinBox value="3" name="lambda22:"/>
+     <DoubleSpinBox value="3" name="alpha22:"/>
+     <DoubleSpinBox value="3" name="lambda32:"/>
+     <DoubleSpinBox value="3.5" name="alpha32:"/>
+    </GroupBox>
+    <DataPlot1D name="phi/dphi">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="theta/dtheta">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="psi/dpsi">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="F">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="Filter">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </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="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="cercle">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="1" name="R"/>
+     <DoubleSpinBox value="0.4" name="velocity"/>
+     <DoubleSpinBox value="0.1" name="acceleration (absolute)"/>
+    </GroupBox>
+    <GroupBox name="Cible Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="2" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Cible_euler">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </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="1"/><DoubleSpinBox name="velocity" value="0.5"/><DoubleSpinBox name="acceleration (absolute)" value="0.1"/></GroupBox></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="0">
+     <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 Cible">
+    <DataPlot1D name="x">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="y">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="z">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vx">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vy">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="Mesures (xy) Cible">
+    <DataPlot2D name="xy">
+     <Setup period="100" enabled="1"/>
+    </DataPlot2D>
+   </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>
+ <Tab name="camv"><TabWidget name="camv"><Tab name="Setup"><GroupBox name="camv"><DoubleSpinBox name="gain:" value="0.2"/><DoubleSpinBox name="exposure:" value="0.25"/><DoubleSpinBox name="bright:" value="0.3"/><DoubleSpinBox name="contrast:" value="0.4"/><DoubleSpinBox name="hue:" value="1"/><DoubleSpinBox name="sharpness:" value="0.5"/><DoubleSpinBox name="saturation:" value="0"/><CheckBox name="autogain:" value="0"/><CheckBox name="autoexposure:" value="0"/><CheckBox name="awb:" value="0"/><Label name="fps"/></GroupBox><GridLayout name="setup"><GroupBox name="flux optique"><GroupBox name="post rotation"><DoubleSpinBox name="value" value="-90"/><ComboBox name="axis" value="2"/></GroupBox><SpinBox name="max features:" value="64"/></GroupBox><GroupBox name="passe bas"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="5"/></GroupBox></GridLayout></Tab><Tab name="Picture"><Picture name="camv" period="200" enabled="0"/></Tab></TabWidget></Tab><Tab name="flux optique"><DataPlot1D name="x_velocity" period="100" enabled="0"/><DataPlot1D name="y_velocity" period="100" enabled="0"/></Tab><Tab name="motors"><TabWidget name="UavMultiplex"><Tab name="Setup"><GroupBox name="x8 multiplex"><ComboBox name="top front left blade pitch:" value="1"/></GroupBox><GroupBox name="motor attribution"><ComboBox name="top front left" value="0"/><ComboBox name="top front rigth" value="7"/><ComboBox name="top rear left" value="4"/><ComboBox name="top rear rigth" value="1"/><ComboBox name="bottom front left" value="3"/><ComboBox name="bottom front rigth" value="5"/><ComboBox name="bottom rear left" value="6"/><ComboBox name="bottom rear rigth" value="2"/></GroupBox><GroupBox name="bldc"><Label name="flight time"/><DoubleSpinBox name="min value:" value="0.2"/><DoubleSpinBox name="max value:" value="1"/><DoubleSpinBox name="test value:" value="0.1"/><PushButton name="test motor 0"/><PushButton name="test motor 1"/><PushButton name="test motor 2"/><PushButton name="test motor 3"/><PushButton name="test motor 4"/><PushButton name="test motor 5"/><PushButton name="test motor 6"/><PushButton name="test motor 7"/></GroupBox><GroupBox name="battery"><Label name="battery"/><DoubleSpinBox name="threshold" value="10"/><SpinBox name="threshold time" value="10"/></GroupBox><GroupBox name="Motors"><SpinBox name="nb poles:" value="14"/></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><Tab name="Currents"><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="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></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x8_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x8_0)" value="1"/></root>
Index: /trunk/demos/CircleFollower/uav/resources/core2-64/setup_x4.xml
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/core2-64/setup_x4.xml	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/core2-64/setup_x4.xml	(revision 301)
@@ -0,0 +1,361 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+<TabWidget name="Main_TabWidget">
+ <Tab name="Dualshock3">
+  <TabWidget name="Dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="Dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <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"/>
+    <DoubleSpinBox name="debattement wz" value="90"/></GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" 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>
+    <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>
+  <Tab name="Currents"><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="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"/>
+  <SpinBox name="threshold time" value="10"/></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="x4_0 Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="2" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="x4_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>
+   </Tab>
+   <Tab name="Mesures x4_0">
+    <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="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) x4_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>
+  </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="land"/>
+   <PushButton value="0" name="start_circle"/>
+   <PushButton value="0" name="stop_circle"/>
+  <PushButton name="position hold"/></GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </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>
+ </Tab>
+ <Tab name="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="15" 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="15" 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_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>
+    <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>
+   </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_z" 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>
+   </Tab>
+  </TabWidget>
+ </Tab>
+<Tab name="simu_cam_h"><TabWidget name="simu_cam_h"><Tab name="Setup"><GroupBox name="simu_cam_h"/><GridLayout name="setup"/></Tab></TabWidget></Tab></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x4_0)" value="1"/></root>
Index: /trunk/demos/CircleFollower/uav/resources/core2-64/setup_x8.xml
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/core2-64/setup_x8.xml	(revision 301)
+++ /trunk/demos/CircleFollower/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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <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>
+  </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>
+   </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>
+  </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="0.5"/><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="15.00" 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="15.00" 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></TabWidget><PushButton name="save config on target (x8_0)" value="1"/></root>
Index: /trunk/demos/CircleFollower/uav/resources/core2-64/x4.sh
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/core2-64/x4.sh	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/core2-64/x4.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./CircleFollower_rt
+else
+	EXEC=./CircleFollower_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -a 127.0.0.1 -p 9000 -l /tmp -x setup_x4.xml -t x4_simu 
Index: /trunk/demos/CircleFollower/uav/resources/core2-64/x8.sh
===================================================================
--- /trunk/demos/CircleFollower/uav/resources/core2-64/x8.sh	(revision 301)
+++ /trunk/demos/CircleFollower/uav/resources/core2-64/x8.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./CircleFollower_rt
+else
+	EXEC=./CircleFollower_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_simu
Index: /trunk/demos/Gps/simulator/CMakeLists.txt
===================================================================
--- /trunk/demos/Gps/simulator/CMakeLists.txt	(revision 300)
+++ /trunk/demos/Gps/simulator/CMakeLists.txt	(revision 301)
@@ -5,4 +5,5 @@
 SET(FLAIR_USE_SIMULATOR TRUE)
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
@@ -33,9 +34,9 @@
 INSTALL(
 	TARGETS ${PROJECT_NAME}_rt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/Gps
+	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}/Gps
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
Index: /trunk/demos/Gps/simulator/resources/core2-64/simulator_x4.sh
===================================================================
--- /trunk/demos/Gps/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
+++ /trunk/demos/Gps/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./Gps_simulator_rt
+else
+	EXEC=./Gps_simulator_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -t x4 -p 9000 -a 127.0.0.1 -x simulator_x4.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: /trunk/demos/Gps/simulator/resources/core2-64/simulator_x4.xml
===================================================================
--- /trunk/demos/Gps/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
+++ /trunk/demos/Gps/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
@@ -0,0 +1,102 @@
+<?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="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="0" value_z="-1"/></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="0.00" value_y="0.00" value_z="0.00"/><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>
+   <Tab name="front 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="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="-1" 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="1.00" value_y="0.00" value_z="0.00"/><Vector3DSpinBox name="up" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="target">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.02" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="-1.5" name="x:"/>
+    <DoubleSpinBox value="1" name="y:"/>
+    <DoubleSpinBox value="0" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="1" value_z="0"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
+    <DoubleSpinBox value="60" name="rotational speed (deg/s):"/>
+   </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/Gps/simulator/resources/core2-64/simulator_x8.sh
===================================================================
--- /trunk/demos/Gps/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
+++ /trunk/demos/Gps/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./Gps_simulator_rt
+else
+	EXEC=./Gps_simulator_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x8_0 -t x8 -p 9000 -a 127.0.0.1 -x simulator_x8.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: /trunk/demos/Gps/simulator/resources/core2-64/simulator_x8.xml
===================================================================
--- /trunk/demos/Gps/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
+++ /trunk/demos/Gps/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
@@ -0,0 +1,106 @@
+<?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="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.50" 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>
+   <Tab name="front 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="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="-1" 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="1.00" value_y="0.00" value_z="0.00"/><Vector3DSpinBox name="up" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="target">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.02" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="0" name="x:"/>
+    <DoubleSpinBox value="0" name="y:"/>
+    <DoubleSpinBox value="0" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.50" value_y="1.00" value_z="0.00"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
+    <DoubleSpinBox value="60" name="rotational speed (deg/s):"/>
+   </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/Gps/uav/CMakeLists.txt
===================================================================
--- /trunk/demos/Gps/uav/CMakeLists.txt	(revision 300)
+++ /trunk/demos/Gps/uav/CMakeLists.txt	(revision 301)
@@ -1,3 +1,3 @@
-PROJECT(DemoGps)
+PROJECT(Gps)
 cmake_minimum_required(VERSION 2.8)
 
@@ -7,4 +7,5 @@
 SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META 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}/Gps
+	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}/Gps
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
Index: /trunk/demos/Gps/uav/resources/armv7a-neon/Gps_bebop.sh
===================================================================
--- /trunk/demos/Gps/uav/resources/armv7a-neon/Gps_bebop.sh	(revision 301)
+++ /trunk/demos/Gps/uav/resources/armv7a-neon/Gps_bebop.sh	(revision 301)
@@ -0,0 +1,1 @@
+./Gps_nrt -a 192.168.42.24 -p 9000 -l /tmp -x Gps_bebop.xml -n Drone_0 -t bebop
Index: /trunk/demos/Gps/uav/resources/armv7a-neon/Gps_bebop.xml
===================================================================
--- /trunk/demos/Gps/uav/resources/armv7a-neon/Gps_bebop.xml	(revision 301)
+++ /trunk/demos/Gps/uav/resources/armv7a-neon/Gps_bebop.xml	(revision 301)
@@ -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"/>
+            <DoubleSpinBox name="test value:" value="0.4"/>
+            <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"/>
+          </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"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures">
+          <DataPlot1D name="bebop-us" period="100" enabled="1"/>
+          <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="180"/>
+            <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="1"/>
+          <DataPlot1D name="pitch" period="100" enabled="0"/>
+          <DataPlot1D name="yaw" period="100" enabled="0"/>
+          <DataPlot1D name="w_x" period="100" enabled="1"/>
+          <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="0.01"/>
+            <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="0.5"/>
+        <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"/>
+        <DoubleSpinBox name="acceleration (absolute):" value="1"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="control laws">
+      <TabWidget name="laws">
+        <Tab name="Setup">
+          <GroupBox name="u_roll">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="15.00"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.04"/>
+            <DoubleSpinBox name="sat u:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_pitch">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="15"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.05"/>
+            <DoubleSpinBox name="sat u:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_yaw">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.6"/>
+            <DoubleSpinBox name="ki:" value="0"/>
+            <DoubleSpinBox name="sat i:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0.15"/>
+            <DoubleSpinBox name="sat:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_z">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.3"/>
+            <DoubleSpinBox name="ki:" value="0.2"/>
+            <DoubleSpinBox name="sat i:" value="0.4"/>
+            <DoubleSpinBox name="kd:" value="0.15"/>
+            <DoubleSpinBox name="offset g:" value="0.37"/>
+            <DoubleSpinBox name="sat:" value="1"/>
+            <DoubleSpinBox name="offset step:" value="0.0002"/>
+          </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>
Index: /trunk/demos/Gps/uav/resources/core2-64/setup_x4.xml
===================================================================
--- /trunk/demos/Gps/uav/resources/core2-64/setup_x4.xml	(revision 301)
+++ /trunk/demos/Gps/uav/resources/core2-64/setup_x4.xml	(revision 301)
@@ -0,0 +1,361 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interfac">
+<TabWidget name="Main_TabWidget">
+ <Tab name="dualshock3">
+  <TabWidget name="dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="-20" name="debattement roll"/>
+     <DoubleSpinBox value="-20" name="debattement pitch"/>
+     <DoubleSpinBox value="90" name="debattement dyaw"/>
+     <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"/>
+    <DoubleSpinBox name="debattement wz" value="90"/></GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" 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>
+    <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>
+  <Tab name="Currents"><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="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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  <Tab name="Quaternion"><DataPlot1D name="q0" period="100" enabled="1"/><DataPlot1D name="q1" period="100" enabled="1"/><DataPlot1D name="q2" period="100" enabled="1"/><DataPlot1D name="q3" period="100" enabled="1"/></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="x4_0 Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="2" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="x4_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>
+   </Tab>
+   <Tab name="Mesures x4_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) x4_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>
+  </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="land"/>
+   <PushButton value="0" name="start_circle"/>
+   <PushButton value="0" name="stop_circle"/>
+  </GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </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>
+ </Tab>
+ <Tab name="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="15" 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="15" 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_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>
+    <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>
+   </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_z" 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>
+   </Tab>
+  </TabWidget>
+ </Tab>
+<Tab name="Dualshock3"><TabWidget name="Dualshock3"><Tab name="Reglages"><GroupBox name="consignes joy"><DoubleSpinBox name="debattement roll" value="-30"/><DoubleSpinBox name="debattement pitch" value="-30"/><DoubleSpinBox name="debattement wz" value="0"/><DoubleSpinBox name="debattement dz" value="0"/><DoubleSpinBox name="trim" value="0"/><Label name="trim roll"/><PushButton name="reset roll trim"/><Label name="trim pitch"/><PushButton name="reset pitch trim"/></GroupBox></Tab></TabWidget></Tab><Tab name="gps"><TabWidget name="gps"><Tab name="Setup"><GroupBox name="gps"><PushButton name="set ref"/><Label name="nb_sat"/><Label name="fix"/><SpinBox name="data rate" value="5"/><DoubleSpinBox name="latitude ref" value="49.402313"/><DoubleSpinBox name="longitude ref" value="2.795463"/><DoubleSpinBox name="altitude ref" value="0"/><SpinBox name="fix quality" value="1"/><SpinBox name="number of satellites" value="5"/></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"><DataPlot1D name="e" period="100" enabled="0"/><DataPlot1D name="n" period="100" enabled="0"/><DataPlot1D name="u" period="100" enabled="0"/><DataPlot1D name="ve" period="100" enabled="1"/><DataPlot1D name="vn" period="100" enabled="1"/></Tab><Tab name="carte"><Map name="map" period="100" enabled="1" long0="1.532034873962402" lat0="49.35582442393555"/></Tab></TabWidget></Tab></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x4_0)" value="1"/></root>
Index: /trunk/demos/Gps/uav/resources/core2-64/setup_x8.xml
===================================================================
--- /trunk/demos/Gps/uav/resources/core2-64/setup_x8.xml	(revision 301)
+++ /trunk/demos/Gps/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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <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>
+  </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>
+   </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>
+  </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="0.5"/><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="15.00" 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="15.00" 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 dyaw"/>
+     <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></TabWidget><PushButton name="save config on target (x8_0)" value="1"/></root>
Index: /trunk/demos/Gps/uav/resources/core2-64/x4.sh
===================================================================
--- /trunk/demos/Gps/uav/resources/core2-64/x4.sh	(revision 301)
+++ /trunk/demos/Gps/uav/resources/core2-64/x4.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./Gps_rt
+else
+	EXEC=./Gps_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -a 127.0.0.1 -p 9000 -l /tmp -x setup_x4.xml -t x4_simu
Index: /trunk/demos/Gps/uav/resources/core2-64/x8.sh
===================================================================
--- /trunk/demos/Gps/uav/resources/core2-64/x8.sh	(revision 301)
+++ /trunk/demos/Gps/uav/resources/core2-64/x8.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./Gps_rt
+else
+	EXEC=./Gps_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_simu
Index: /trunk/demos/MixedReality/real/simulator/CMakeLists.txt
===================================================================
--- /trunk/demos/MixedReality/real/simulator/CMakeLists.txt	(revision 300)
+++ /trunk/demos/MixedReality/real/simulator/CMakeLists.txt	(revision 301)
@@ -5,4 +5,5 @@
 SET(FLAIR_USE_SIMULATOR TRUE)
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
@@ -35,10 +36,10 @@
 INSTALL(
 	TARGETS ${PROJECT_NAME}_rt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/MixedReality/real
+	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}/MixedReality/real
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
 
Index: /trunk/demos/MixedReality/real/simulator/resources/core2-64/simulator_x4.sh
===================================================================
--- /trunk/demos/MixedReality/real/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
+++ /trunk/demos/MixedReality/real/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
@@ -0,0 +1,10 @@
+#! /bin/bash
+if [ -f /proc/xenomai/version ];then
+	EXEC=./MixedReality_simulator_real_rt
+else
+	EXEC=./MixedReality_simulator_real_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -p 9000 -a 127.0.0.1 -x simulator_x4.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: /trunk/demos/MixedReality/real/simulator/resources/core2-64/simulator_x4.xml
===================================================================
--- /trunk/demos/MixedReality/real/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
+++ /trunk/demos/MixedReality/real/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
@@ -0,0 +1,102 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="Drone_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="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="0.0" 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:"/>
+   <SpinBox name="motor timeout:" value="100"/></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" value_y="0" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></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" value_y="0" value_z="1"/><Vector3DSpinBox name="up" value_x="1" value_y="0" value_z="0"/></Tab>
+   <Tab name="front 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="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="-1" 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="1.00" value_y="0.00" value_z="0.00"/><Vector3DSpinBox name="up" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="target">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.02" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="-1.5" name="x:"/>
+    <DoubleSpinBox value="1" name="y:"/>
+    <DoubleSpinBox value="0" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="1" value_z="0"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
+    <DoubleSpinBox value="60" name="rotational speed (deg/s):"/>
+   </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"/><PushButton name="save config on target (simulator_real)" value="1"/></root>
Index: /trunk/demos/MixedReality/real/uav/CMakeLists.txt
===================================================================
--- /trunk/demos/MixedReality/real/uav/CMakeLists.txt	(revision 300)
+++ /trunk/demos/MixedReality/real/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}/MixedReality/real
+	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}/MixedReality/real
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
Index: /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_ardrone2.sh
===================================================================
--- /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_ardrone2.sh	(revision 301)
+++ /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_ardrone2.sh	(revision 301)
@@ -0,0 +1,1 @@
+./MixedReality_uav_real_nrt -a 192.168.147.193 -p 9000 -l /tmp -x MixedReality_ardrone2.xml -n Drone_0 -t ardrone2
Index: /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_ardrone2.xml
===================================================================
--- /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_ardrone2.xml	(revision 301)
+++ /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_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="0.04" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Vz">
+     <DoubleSpinBox value="0.04" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="Passe bas v">
+     <DoubleSpinBox value="0.04" 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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="1">
+     <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="1">
+     <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="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" name="R"/>
+     <DoubleSpinBox value="0.5" name="velocity"/>
+     <DoubleSpinBox value="0.1" name="acceleration (absolute)"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Mesures Drone_0">
+    <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="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" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="y" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </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="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) target">
+    <DataPlot2D name="xy" period="100" enabled="0">
+     <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:"/>
+    <Label name="fps"/></GroupBox>
+    <GridLayout name="setup"/>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="uav">
+  <GridLayout name="buttons">
+   <PushButton value="0" name="kill"/>
+   <PushButton value="1" 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="1"/><DoubleSpinBox name="acceleration (absolute):" value="0.8"/></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>
+<Tab name="predictor"><DataPlot1D name="u_pitch" period="100" enabled="1"/></Tab></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget></root>
Index: /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_bebop.sh
===================================================================
--- /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_bebop.sh	(revision 301)
+++ /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_bebop.sh	(revision 301)
@@ -0,0 +1,1 @@
+./MixedReality_uav_real_nrt -a 192.168.42.24 -p 9000 -l /tmp -x MixedReality_bebop.xml -n Drone_0 -t bebop
Index: /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_bebop.xml
===================================================================
--- /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_bebop.xml	(revision 301)
+++ /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_bebop.xml	(revision 301)
@@ -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"/>
+            <DoubleSpinBox name="test value:" value="0.4"/>
+            <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"/>
+          </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"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures">
+          <DataPlot1D name="bebop-us" period="100" enabled="1"/>
+          <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="180"/>
+            <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="1"/>
+          <DataPlot1D name="pitch" period="100" enabled="0"/>
+          <DataPlot1D name="yaw" period="100" enabled="0"/>
+          <DataPlot1D name="w_x" period="100" enabled="1"/>
+          <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="0.01"/>
+            <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="0.5"/>
+        <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"/>
+        <DoubleSpinBox name="acceleration (absolute):" value="1"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="control laws">
+      <TabWidget name="laws">
+        <Tab name="Setup">
+          <GroupBox name="u_roll">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="15.00"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.04"/>
+            <DoubleSpinBox name="sat u:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_pitch">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="15"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.05"/>
+            <DoubleSpinBox name="sat u:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_yaw">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.6"/>
+            <DoubleSpinBox name="ki:" value="0"/>
+            <DoubleSpinBox name="sat i:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0.15"/>
+            <DoubleSpinBox name="sat:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_z">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.3"/>
+            <DoubleSpinBox name="ki:" value="0.2"/>
+            <DoubleSpinBox name="sat i:" value="0.4"/>
+            <DoubleSpinBox name="kd:" value="0.15"/>
+            <DoubleSpinBox name="offset g:" value="0.37"/>
+            <DoubleSpinBox name="sat:" value="1"/>
+            <DoubleSpinBox name="offset step:" value="0.0002"/>
+          </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>
Index: /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_hdsx8.sh
===================================================================
--- /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_hdsx8.sh	(revision 301)
+++ /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_hdsx8.sh	(revision 301)
@@ -0,0 +1,1 @@
+./MixedReality_uav_real_rt -a 192.168.147.217 -p 9000 -l /tmp -x MixedReality_hdsx8.xml -n x8_0 -t hds_x8
Index: /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_hdsx8.xml
===================================================================
--- /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_hdsx8.xml	(revision 301)
+++ /trunk/demos/MixedReality/real/uav/resources/armv7a-neon/MixedReality_hdsx8.xml	(revision 301)
@@ -0,0 +1,478 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+<TabWidget name="Main_TabWidget">
+ <Tab name="dualshock3">
+  <TabWidget name="dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="-10" name="debattement roll"/>
+     <DoubleSpinBox value="-10" name="debattement pitch"/>
+     <DoubleSpinBox value="40" name="debattement dyaw"/>
+     <DoubleSpinBox value="-0.5" name="debattement dz"/>
+     <DoubleSpinBox value="0.01" 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>
+   <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-3"/><DoubleSpinBox name="debattement y" value="3"/></GroupBox></Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="uav">
+  <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_cercle"/>
+  <PushButton value="0" name="stop_cercle"/>
+  <PushButton value="0" name="start_2D"/>
+  <PushButton value="0" name="stop_2D"/>
+  <PushButton value="0" name="Test0"/>
+  <PushButton value="0" name="Test1"/>
+  <PushButton value="0" name="Test11"/>
+  <PushButton value="0" name="Test2"/>
+  <PushButton value="0" name="Test3"/>
+  <PushButton value="0" name="Test4"/>
+  <PushButton value="0" name="Test5"/>
+  <PushButton value="0" name="f1"/>
+  <PushButton value="0" name="f2"/>
+  <PushButton value="0" name="f3"/>
+  <PushButton value="0" name="f4"/>
+  <PushButton value="0" name="f5"/>
+  <PushButton value="0" name="f6"/>
+  <PushButton value="0" name="f7"/>
+  <PushButton value="0" name="f8"/>
+  <PushButton value="0" name="Start_Obs"/>
+ <GridLayout name="buttons"><PushButton name="kill"/><PushButton name="start_log"/><PushButton name="stop_log"/><PushButton name="take_off"/><PushButton name="land"/><PushButton name="f1"/><PushButton name="f2"/><PushButton name="f3"/><PushButton name="f4"/><PushButton name="Reset"/><PushButton name="Start_Obs"/><PushButton name="Optical_flow"/><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="0.3"/><DoubleSpinBox name="acceleration (absolute):" value="0.2"/></GroupBox></Tab>
+ <Tab name="multi">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="fault">
+     <DoubleSpinBox value="0.72" name="Coef:"/>
+     <DoubleSpinBox value="0.0025" name="coefficientKf:"/>
+    </GroupBox>
+    <GroupBox name="x8 multiplex">
+     <ComboBox value="1" name="top front left blade pitch:"/>
+    </GroupBox>
+    <GroupBox name="motor attribution">
+     <ComboBox value="0" name="top front left"/>
+     <ComboBox value="7" name="top front rigth"/>
+     <ComboBox value="4" name="top rear left"/>
+     <ComboBox value="1" name="top rear rigth"/>
+     <ComboBox value="3" name="bottom front left"/>
+     <ComboBox value="5" name="bottom front rigth"/>
+     <ComboBox value="6" name="bottom rear left"/>
+     <ComboBox value="2" name="bottom rear rigth"/>
+    </GroupBox>
+    <GroupBox name="bldc">
+     <Label name="flight time"/>
+     <DoubleSpinBox value="0.2" name="min value:"/>
+     <DoubleSpinBox value="1" name="max value:"/>
+     <DoubleSpinBox value="0.1" name="test value:"/>
+     <PushButton value="1" name="test motor 0"/>
+     <PushButton value="1" name="test motor 1"/>
+     <PushButton value="1" name="test motor 2"/>
+     <PushButton value="1" name="test motor 3"/>
+     <PushButton value="1" name="test motor 4"/>
+     <PushButton value="1" name="test motor 5"/>
+     <PushButton value="1" name="test motor 6"/>
+     <PushButton value="1" name="test motor 7"/>
+    </GroupBox>
+    <GroupBox name="battery">
+     <Label name="battery"/>
+     <DoubleSpinBox value="10" name="threshold"/>
+    </GroupBox>
+    <GroupBox name="Motors">
+     <SpinBox value="14" name="nb poles:"/>
+    </GroupBox>
+    <GroupBox name="startup">
+     <DoubleSpinBox value="0" name="prc_fault:"/>
+     <DoubleSpinBox value="0" name="prc_retab:"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Values">
+    <DataPlot1D name="top front left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="top front right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="top rear left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="top rear right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="bottom front left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="bottom front right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="bottom rear left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="bottom 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="SRF08">
+  <TabWidget name="SRF08">
+   <Tab name="Reglages">
+    <GroupBox name="SRF08">
+     <SpinBox value="8" name="gain:"/>
+     <SpinBox value="46" name="range:"/>
+    </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="0.3" name="velocity max (absolute):"/>
+     <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
+    </GroupBox>
+    <GroupBox name="decollage">
+     <DoubleSpinBox value="0.7" name="alt decollage"/>
+     <DoubleSpinBox value="0" name="alt atterissage"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="SRF08" 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">
+     <PushButton value="0" name="gyros bias"/>
+     <SpinBox value="100" name="data rate (Hz):"/>
+     <Label name="data_rate"/>
+     <SpinBox value="15" name="gyro and acc filter win size:"/>
+     <SpinBox value="17" name="mag filter win size:"/>
+     <SpinBox value="10" name="up compensation (s):"/>
+     <SpinBox value="10" name="north compensation (s):"/>
+     <CheckBox value="1" name="enable Coning&amp;Sculling:"/>
+     <CheckBox value="1" name="disable magnetometer:"/>
+     <CheckBox value="1" name="disable magnetic north compensation:"/>
+     <CheckBox value="1" name="disable gravity compensation:"/>
+    </GroupBox>
+    <GroupBox name="post rotation">
+     <DoubleSpinBox value="180" name="value"/>
+     <ComboBox value="2" name="axis"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="AHRS">
+    <DataPlot1D name="roll" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <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="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="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="10" name="sat ref:"/>
+     <DoubleSpinBox value="10" name="satf ref:"/>
+     <DoubleSpinBox value="10" name="sat2f ref:"/>
+     <DoubleSpinBox value="7" name="kp:"/>
+     <DoubleSpinBox value="7" name="kpf:"/>
+     <DoubleSpinBox value="10" name="kp2f:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="110" name="satf dref:"/>
+     <DoubleSpinBox value="140" name="sat2f dref:"/>
+     <DoubleSpinBox value="0.12" name="kd:"/>
+     <DoubleSpinBox value="0.12" name="kdf:"/>
+     <DoubleSpinBox value="0.13" name="kd2f:"/>
+     <DoubleSpinBox value="0.4" name="sat u:"/>
+     <DoubleSpinBox value="0.4" name="satf u:"/>
+     <DoubleSpinBox value="0.6" name="sat2f u:"/>
+    </GroupBox>
+    <GroupBox name="u_pitch">
+     <DoubleSpinBox value="10" name="sat ref:"/>
+     <DoubleSpinBox value="10" name="satf ref:"/>
+     <DoubleSpinBox value="10" name="sat2f ref:"/>
+     <DoubleSpinBox value="7" name="kp:"/>
+     <DoubleSpinBox value="7" name="kpf:"/>
+     <DoubleSpinBox value="10" name="kp2f:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="110" name="satf dref:"/>
+     <DoubleSpinBox value="140" name="sat2f dref:"/>
+     <DoubleSpinBox value="0.12" name="kd:"/>
+     <DoubleSpinBox value="0.12" name="kdf:"/>
+     <DoubleSpinBox value="0.13" name="kd2f:"/>
+     <DoubleSpinBox value="0.4" name="sat u:"/>
+     <DoubleSpinBox value="0.4" name="satf u:"/>
+     <DoubleSpinBox value="0.6" name="sat2f u:"/>
+    </GroupBox>
+    <GroupBox name="u_yaw">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="1" name="kp:"/>
+     <DoubleSpinBox value="1.5" name="kpf:"/>
+     <DoubleSpinBox value="2" name="kp2f:"/>
+     <DoubleSpinBox value="0.2" name="ki:"/>
+     <DoubleSpinBox value="0.35" name="kif:"/>
+     <DoubleSpinBox value="0.5" name="ki2f:"/>
+     <DoubleSpinBox value="0.2" name="sat i:"/>
+     <DoubleSpinBox value="0.3" name="satf i:"/>
+     <DoubleSpinBox value="0.4" name="sat2f i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.2" name="kdf:"/>
+     <DoubleSpinBox value="0.3" name="kd2f:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="x_pid">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.01" name="kp:"/>
+     <DoubleSpinBox value="0.015" name="kpf:"/>
+     <DoubleSpinBox value="0.01" name="kp2f:"/>
+     <DoubleSpinBox value="0.03" name="ki:"/>
+     <DoubleSpinBox value="0.035" name="kif:"/>
+     <DoubleSpinBox value="0.02" name="ki2f:"/>
+     <DoubleSpinBox value="0.3" name="sat i:"/>
+     <DoubleSpinBox value="0.3" name="satf i:"/>
+     <DoubleSpinBox value="0.3" name="sat2f i:"/>
+     <DoubleSpinBox value="0" name="kd:"/>
+     <DoubleSpinBox value="0" name="kdf:"/>
+     <DoubleSpinBox value="0" name="kd2f:"/>
+     <DoubleSpinBox value="0.5" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="y_pid">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.01" name="kp:"/>
+     <DoubleSpinBox value="0.015" name="kpf:"/>
+     <DoubleSpinBox value="0.01" name="kp2f:"/>
+     <DoubleSpinBox value="0.03" name="ki:"/>
+     <DoubleSpinBox value="0.035" name="kif:"/>
+     <DoubleSpinBox value="0.02" name="ki2f:"/>
+     <DoubleSpinBox value="0.3" name="sat i:"/>
+     <DoubleSpinBox value="0.3" name="satf i:"/>
+     <DoubleSpinBox value="0.3" name="sat2f i:"/>
+     <DoubleSpinBox value="0" name="kd:"/>
+     <DoubleSpinBox value="0" name="kdf:"/>
+     <DoubleSpinBox value="0" name="kd2f:"/>
+     <DoubleSpinBox value="0.5" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_z">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.3" name="kp:"/>
+     <DoubleSpinBox value="0.4" name="kpf:"/>
+     <DoubleSpinBox value="0.5" name="kp2f:"/>
+     <DoubleSpinBox value="0.2" name="ki:"/>
+     <DoubleSpinBox value="0.4" name="kif:"/>
+     <DoubleSpinBox value="0.4" name="ki2f:"/>
+     <DoubleSpinBox value="0.5" name="sat i:"/>
+     <DoubleSpinBox value="0.8" name="satf i:"/>
+     <DoubleSpinBox value="0.8" name="sat2f i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.3" name="kdf:"/>
+     <DoubleSpinBox value="0.3" name="kd2f:"/>
+     <DoubleSpinBox value="0.4" name="offset g:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+     <DoubleSpinBox value="0.0001" name="offset step:"/>
+    </GroupBox>
+   <GroupBox name="u_x"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="kp:" value="0.40"/><DoubleSpinBox name="ki:" value="0.40"/><DoubleSpinBox name="sat i:" value="0.0"/><DoubleSpinBox name="kd:" value="0.200"/><DoubleSpinBox name="sat:" value="0.4"/></GroupBox><GroupBox name="u_y"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="kp:" value="0.40"/><DoubleSpinBox name="ki:" value="0.40"/><DoubleSpinBox name="sat i:" value="0.0"/><DoubleSpinBox name="kd:" value="0.200"/><DoubleSpinBox name="sat:" value="0.4"/></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_z" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   <DataPlot1D name="x_pid" period="100" enabled="1"/><DataPlot1D name="y_pid" period="100" enabled="1"/><DataPlot1D name="u_x" period="100" enabled="0"/><DataPlot1D name="u_y" period="100" enabled="0"/></Tab>
+   <Tab name="HighOrder">
+    <GroupBox name="HighOrder">
+     <DoubleSpinBox value="1" name="lambda1:"/>
+     <DoubleSpinBox value="1" name="alpha1:"/>
+     <DoubleSpinBox value="1" name="lambda2:"/>
+     <DoubleSpinBox value="1" name="alpha2:"/>
+     <DoubleSpinBox value="1.5" name="lambda3:"/>
+     <DoubleSpinBox value="2" name="alpha3:"/>
+     <DoubleSpinBox value="2" name="lambda11:"/>
+     <DoubleSpinBox value="2" name="alpha11:"/>
+     <DoubleSpinBox value="2" name="lambda21:"/>
+     <DoubleSpinBox value="2" name="alpha21:"/>
+     <DoubleSpinBox value="2.5" name="lambda31:"/>
+     <DoubleSpinBox value="3" name="alpha31:"/>
+     <DoubleSpinBox value="3" name="lambda12:"/>
+     <DoubleSpinBox value="3" name="alpha12:"/>
+     <DoubleSpinBox value="3" name="lambda22:"/>
+     <DoubleSpinBox value="3" name="alpha22:"/>
+     <DoubleSpinBox value="3" name="lambda32:"/>
+     <DoubleSpinBox value="3.5" name="alpha32:"/>
+    </GroupBox>
+    <DataPlot1D name="phi/dphi">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="theta/dtheta">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="psi/dpsi">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="F">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="Filter">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </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="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="cercle">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="1" name="R"/>
+     <DoubleSpinBox value="0.4" name="velocity"/>
+     <DoubleSpinBox value="0.1" name="acceleration (absolute)"/>
+    </GroupBox>
+    <GroupBox name="Cible Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="2" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Cible_euler">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </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="1"/><DoubleSpinBox name="velocity" value="0.5"/><DoubleSpinBox name="acceleration (absolute)" value="0.1"/></GroupBox></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="0">
+     <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 Cible">
+    <DataPlot1D name="x">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="y">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="z">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vx">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vy">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="Mesures (xy) Cible">
+    <DataPlot2D name="xy">
+     <Setup period="100" enabled="1"/>
+    </DataPlot2D>
+   </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>
+ <Tab name="camv"><TabWidget name="camv"><Tab name="Setup"><GroupBox name="camv"><DoubleSpinBox name="gain:" value="0.2"/><DoubleSpinBox name="exposure:" value="0.25"/><DoubleSpinBox name="bright:" value="0.3"/><DoubleSpinBox name="contrast:" value="0.4"/><DoubleSpinBox name="hue:" value="1"/><DoubleSpinBox name="sharpness:" value="0.5"/><DoubleSpinBox name="saturation:" value="0"/><CheckBox name="autogain:" value="0"/><CheckBox name="autoexposure:" value="0"/><CheckBox name="awb:" value="0"/><Label name="fps"/></GroupBox><GridLayout name="setup"><GroupBox name="flux optique"><GroupBox name="post rotation"><DoubleSpinBox name="value" value="-90"/><ComboBox name="axis" value="2"/></GroupBox><SpinBox name="max features:" value="64"/></GroupBox><GroupBox name="passe bas"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="5"/></GroupBox></GridLayout></Tab><Tab name="Picture"><Picture name="camv" period="200" enabled="0"/></Tab></TabWidget></Tab><Tab name="flux optique"><DataPlot1D name="x_velocity" period="100" enabled="0"/><DataPlot1D name="y_velocity" period="100" enabled="0"/></Tab><Tab name="motors"><TabWidget name="UavMultiplex"><Tab name="Setup"><GroupBox name="x8 multiplex"><ComboBox name="top front left blade pitch:" value="1"/></GroupBox><GroupBox name="motor attribution"><ComboBox name="top front left" value="0"/><ComboBox name="top front rigth" value="7"/><ComboBox name="top rear left" value="4"/><ComboBox name="top rear rigth" value="1"/><ComboBox name="bottom front left" value="3"/><ComboBox name="bottom front rigth" value="5"/><ComboBox name="bottom rear left" value="6"/><ComboBox name="bottom rear rigth" value="2"/></GroupBox><GroupBox name="bldc"><Label name="flight time"/><DoubleSpinBox name="min value:" value="0.2"/><DoubleSpinBox name="max value:" value="1"/><DoubleSpinBox name="test value:" value="0.1"/><PushButton name="test motor 0"/><PushButton name="test motor 1"/><PushButton name="test motor 2"/><PushButton name="test motor 3"/><PushButton name="test motor 4"/><PushButton name="test motor 5"/><PushButton name="test motor 6"/><PushButton name="test motor 7"/></GroupBox><GroupBox name="battery"><Label name="battery"/><DoubleSpinBox name="threshold" value="10"/><SpinBox name="threshold time" value="10"/></GroupBox><GroupBox name="Motors"><SpinBox name="nb poles:" value="14"/></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><Tab name="Currents"><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="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></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x8_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x8_0)" value="1"/></root>
Index: /trunk/demos/MixedReality/real/uav/resources/core2-64/setup_x4.xml
===================================================================
--- /trunk/demos/MixedReality/real/uav/resources/core2-64/setup_x4.xml	(revision 301)
+++ /trunk/demos/MixedReality/real/uav/resources/core2-64/setup_x4.xml	(revision 301)
@@ -0,0 +1,361 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+<TabWidget name="Main_TabWidget">
+ <Tab name="Dualshock3">
+  <TabWidget name="Dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="Dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <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"/>
+    <DoubleSpinBox name="debattement wz" value="90"/></GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" 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>
+    <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>
+  <Tab name="Currents"><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="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:"/>
+    <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></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"/>
+  <SpinBox name="threshold time" value="10"/></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="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:"/>
+    <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></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:"/>
+    <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></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>
+   </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="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) Drone_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>
+  </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="land"/>
+   <PushButton value="0" name="start_circle"/>
+   <PushButton value="0" name="stop_circle"/>
+  <PushButton name="position hold"/></GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </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>
+ </Tab>
+ <Tab name="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="15" 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="15" 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_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>
+    <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>
+   </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_z" 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>
+   </Tab>
+  </TabWidget>
+ </Tab>
+<Tab name="simu_cam_h"><TabWidget name="simu_cam_h"><Tab name="Setup"><GroupBox name="simu_cam_h"/><GridLayout name="setup"/></Tab></TabWidget></Tab><Tab name="real_vrpn"><TabWidget name="real_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"/><DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox><GroupBox name="circle"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="R" value="1.50"/><DoubleSpinBox name="velocity" value="1.00"/><DoubleSpinBox name="acceleration (absolute)" value="0.10"/></GroupBox></Tab><Tab name="Mesures Drone_0"><DataPlot1D name="x" period="100" enabled="1"/><DataPlot1D name="y" period="100" enabled="1"/><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></TabWidget></Tab><Tab name="simu_vrpn"><TabWidget name="simu_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_1 Passe bas"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="1"/></GroupBox><GroupBox name="Drone_1_euler"><DoubleSpinBox name="period, 0 for auto:" value="0"/><DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox></Tab><Tab name="Mesures Drone_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) Drone_1"><DataPlot2D name="xy" period="100" enabled="0"/></Tab></TabWidget></Tab></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (Drone_0)" value="1"/></root>
Index: /trunk/demos/MixedReality/real/uav/resources/core2-64/x4.sh
===================================================================
--- /trunk/demos/MixedReality/real/uav/resources/core2-64/x4.sh	(revision 301)
+++ /trunk/demos/MixedReality/real/uav/resources/core2-64/x4.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./MixedReality_uav_real_rt
+else
+	EXEC=./MixedReality_uav_real_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -a 127.0.0.1 -p 9000 -l /tmp -x setup_x4.xml -t x4_simu0 -v 127.0.0.1:3884
Index: /trunk/demos/MixedReality/virtual/simulator/CMakeLists.txt
===================================================================
--- /trunk/demos/MixedReality/virtual/simulator/CMakeLists.txt	(revision 300)
+++ /trunk/demos/MixedReality/virtual/simulator/CMakeLists.txt	(revision 301)
@@ -6,4 +6,5 @@
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
@@ -36,10 +37,10 @@
 INSTALL(
 	TARGETS ${PROJECT_NAME}_rt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/MixedReality/virtual
+	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}/MixedReality/virtual
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
 
Index: /trunk/demos/MixedReality/virtual/simulator/resources/core2-64/simulator_x4.sh
===================================================================
--- /trunk/demos/MixedReality/virtual/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
+++ /trunk/demos/MixedReality/virtual/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
@@ -0,0 +1,10 @@
+#! /bin/bash
+if [ -f /proc/xenomai/version ];then
+	EXEC=./MixedReality_simulator_virtual_rt
+else
+	EXEC=./MixedReality_simulator_virtual_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -p 9000 -a 127.0.0.1 -x simulator_x4.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml -v 127.0.0.1:3883
Index: /trunk/demos/MixedReality/virtual/simulator/resources/core2-64/simulator_x4.xml
===================================================================
--- /trunk/demos/MixedReality/virtual/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
+++ /trunk/demos/MixedReality/virtual/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
@@ -0,0 +1,102 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="Drone_1">
+  <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="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="0" value_z="-1"/></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:"/>
+   <SpinBox name="motor timeout:" value="100"/></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" value_y="0" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></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" value_y="0" value_z="1"/><Vector3DSpinBox name="up" value_x="1" value_y="0" value_z="0"/></Tab>
+   <Tab name="front 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="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="-1" 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="1.00" value_y="0.00" value_z="0.00"/><Vector3DSpinBox name="up" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="target">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.02" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="-1.5" name="x:"/>
+    <DoubleSpinBox value="1" name="y:"/>
+    <DoubleSpinBox value="0" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="1" value_z="0"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
+    <DoubleSpinBox value="60" name="rotational speed (deg/s):"/>
+   </Tab>
+  </TabWidget>
+</Tab>
+  <Tab name="Drone_0"><DoubleSpinBox name="arm length (m):" value="0.20"/></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"/><PushButton name="save config on target (simulator_simu)" value="1"/></root>
Index: /trunk/demos/MixedReality/virtual/uav/CMakeLists.txt
===================================================================
--- /trunk/demos/MixedReality/virtual/uav/CMakeLists.txt	(revision 300)
+++ /trunk/demos/MixedReality/virtual/uav/CMakeLists.txt	(revision 301)
@@ -8,7 +8,10 @@
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
 include(${FLAIR_USE_FILE})
+
+if("${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "core2-64")
 
 SET(SRC_FILES
@@ -34,2 +37,20 @@
 
 TARGET_LINK_LIBRARIES(${PROJECT_NAME}_nrt ${FLAIR_LIBRARIES_NRT})
+
+INSTALL(
+	TARGETS ${PROJECT_NAME}_rt
+	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}/${PROJECT_NAME}
+)
+
+else()
+    if(DEFINED CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE)
+        warn("${PROJECT_NAME} will not be built for ${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE} architecture")
+    else()
+        warn("${PROJECT_NAME} will not be built for ${CMAKE_SYSTEM_PROCESSOR} architecture")
+    endif()
+endif()
Index: /trunk/demos/MixedReality/virtual/uav/resources/core2-64/setup_x4.xml
===================================================================
--- /trunk/demos/MixedReality/virtual/uav/resources/core2-64/setup_x4.xml	(revision 301)
+++ /trunk/demos/MixedReality/virtual/uav/resources/core2-64/setup_x4.xml	(revision 301)
@@ -0,0 +1,361 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+<TabWidget name="Main_TabWidget">
+ <Tab name="Dualshock3">
+  <TabWidget name="Dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="Dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <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"/>
+    <DoubleSpinBox name="debattement wz" value="90"/></GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" 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>
+    <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>
+  <Tab name="Currents"><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="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:"/>
+    <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></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"/>
+  <SpinBox name="threshold time" value="10"/></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="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:"/>
+    <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></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:"/>
+    <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></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>
+   </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="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) Drone_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>
+  </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="land"/>
+   <PushButton value="0" name="start_circle"/>
+   <PushButton value="0" name="stop_circle"/>
+  <PushButton name="position hold"/></GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </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>
+ </Tab>
+ <Tab name="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="15" 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="15" 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_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>
+    <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>
+   </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_z" 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>
+   </Tab>
+  </TabWidget>
+ </Tab>
+<Tab name="simu_cam_h"><TabWidget name="simu_cam_h"><Tab name="Setup"><GroupBox name="simu_cam_h"/><GridLayout name="setup"/></Tab></TabWidget></Tab><Tab name="real_vrpn"><TabWidget name="real_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"/><DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox><GroupBox name="circle"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="R" value="1.50"/><DoubleSpinBox name="velocity" value="1.00"/><DoubleSpinBox name="acceleration (absolute)" value="0.10"/></GroupBox></Tab><Tab name="Mesures Drone_0"><DataPlot1D name="x" period="100" enabled="1"/><DataPlot1D name="y" period="100" enabled="1"/><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></TabWidget></Tab><Tab name="simu_vrpn"><TabWidget name="simu_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_1 Passe bas"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="1"/></GroupBox><GroupBox name="Drone_1_euler"><DoubleSpinBox name="period, 0 for auto:" value="0"/><DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox></Tab><Tab name="Mesures Drone_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) Drone_1"><DataPlot2D name="xy" period="100" enabled="0"/></Tab></TabWidget></Tab></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (Drone_0)" value="1"/></root>
Index: /trunk/demos/MixedReality/virtual/uav/resources/core2-64/x4.sh
===================================================================
--- /trunk/demos/MixedReality/virtual/uav/resources/core2-64/x4.sh	(revision 301)
+++ /trunk/demos/MixedReality/virtual/uav/resources/core2-64/x4.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./MixedReality_uav_virtual_rt
+else
+	EXEC=./MixedReality_uav_virtual_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -a 127.0.0.1 -p 9000 -l /tmp -x setup_x4.xml -t x4_simu0 -v 127.0.0.1:3884
Index: /trunk/demos/OpticalFlow/simulator/CMakeLists.txt
===================================================================
--- /trunk/demos/OpticalFlow/simulator/CMakeLists.txt	(revision 300)
+++ /trunk/demos/OpticalFlow/simulator/CMakeLists.txt	(revision 301)
@@ -5,5 +5,5 @@
 SET(FLAIR_USE_SIMULATOR TRUE)
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
-#SET(FLAIR_USE_VISION_FILTER TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
@@ -38,9 +38,9 @@
 INSTALL(
 	TARGETS ${PROJECT_NAME}_rt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/OpticalFlow
+	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}/OpticalFlow
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
Index: /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x4.sh
===================================================================
--- /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
+++ /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./OpticalFlow_simulator_rt
+else
+	EXEC=./OpticalFlow_simulator_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -t x4 -a 127.0.0.1 -p 9000 -x simulator_x4.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x4.xml
===================================================================
--- /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
+++ /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
@@ -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/OpticalFlow/simulator/resources/core2-64/simulator_x8.sh
===================================================================
--- /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
+++ /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./OpticalFlow_simulator_rt
+else
+	EXEC=./OpticalFlow_simulator_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x8_0 -t x8 -a 127.0.0.1 -p 9000 -x simulator_x8.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x8.xml
===================================================================
--- /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
+++ /trunk/demos/OpticalFlow/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
@@ -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/OpticalFlow/uav/CMakeLists.txt
===================================================================
--- /trunk/demos/OpticalFlow/uav/CMakeLists.txt	(revision 300)
+++ /trunk/demos/OpticalFlow/uav/CMakeLists.txt	(revision 301)
@@ -10,4 +10,5 @@
 SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include(${FLAIR_USE_FILE})
@@ -38,10 +39,10 @@
 INSTALL(
 	TARGETS ${PROJECT_NAME}_rt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/OpticalFlow
+	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}/OpticalFlow
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
 
Index: /trunk/demos/OpticalFlow/uav/resources/armv7a-neon/OpticalFlow_ardrone2.sh
===================================================================
--- /trunk/demos/OpticalFlow/uav/resources/armv7a-neon/OpticalFlow_ardrone2.sh	(revision 301)
+++ /trunk/demos/OpticalFlow/uav/resources/armv7a-neon/OpticalFlow_ardrone2.sh	(revision 301)
@@ -0,0 +1,1 @@
+./OpticalFlow_nrt -a 192.168.147.217 -p 9000 -l /tmp -x OpticalFlow_ardrone2.xml -n Drone_0 -t ardrone2 -v ./dspcv_dsp.out
Index: /trunk/demos/OpticalFlow/uav/resources/armv7a-neon/OpticalFlow_ardrone2.xml
===================================================================
--- /trunk/demos/OpticalFlow/uav/resources/armv7a-neon/OpticalFlow_ardrone2.xml	(revision 301)
+++ /trunk/demos/OpticalFlow/uav/resources/armv7a-neon/OpticalFlow_ardrone2.xml	(revision 301)
@@ -0,0 +1,267 @@
+<?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="1"/>
+          </GroupBox>
+          <GroupBox name="motor attribution">
+            <ComboBox name="front left" value="0"/>
+            <ComboBox name="front rigth" value="1"/>
+            <ComboBox name="rear left" value="2"/>
+            <ComboBox name="rear rigth" value="3"/>
+          </GroupBox>
+          <GroupBox name="bldc">
+            <Label name="flight time"/>
+            <DoubleSpinBox name="min value:" value="0.4"/>
+            <DoubleSpinBox name="max value:" value="1"/>
+            <DoubleSpinBox name="test value:" value="0.2"/>
+            <PushButton name="test motor 0"/>
+            <PushButton name="test motor 1"/>
+            <PushButton name="test motor 2"/>
+            <PushButton name="test motor 3"/>
+          </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>
+      </TabWidget>
+    </Tab>
+    <Tab name="parrot-us">
+      <TabWidget name="parrot-us">
+        <Tab name="Reglages">
+          <GroupBox name="parrot-us"/>
+          <GroupBox name="Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="5"/>
+          </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="10"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures">
+          <DataPlot1D name="parrot-us" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="parrot-imu">
+      <TabWidget name="parrot-imu">
+        <Tab name="Reglages">
+          <GroupBox name="parrot-imu"/>
+          <GroupBox name="post rotation">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <DoubleSpinBox name="k_a[0]:" value="0.5"/>
+          <DoubleSpinBox name="k_a[1]:" value="0.5"/>
+          <DoubleSpinBox name="k_a[2]:" value="0"/>
+          <DoubleSpinBox name="k_b[0]:" value="0.01"/>
+          <DoubleSpinBox name="k_b[1]:" value="0.01"/>
+          <DoubleSpinBox name="k_b[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="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 name="threshold" value="10.5"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="camv">
+      <TabWidget name="camv">
+        <Tab name="Setup">
+          <GroupBox name="camv">
+            <DoubleSpinBox name="gain:" value="0.5"/>
+            <DoubleSpinBox name="exposure:" value="0.5"/>
+            <DoubleSpinBox name="bright:" value="0.5"/>
+            <DoubleSpinBox name="contrast:" value="0.5"/>
+            <DoubleSpinBox name="hue:" value="0.5"/>
+            <DoubleSpinBox name="sharpness:" value="0.5"/>
+            <DoubleSpinBox name="saturation:" value="0.5"/>
+            <CheckBox name="autogain:" value="1"/>
+            <CheckBox name="autoexposure:" value="1"/>
+            <CheckBox name="awb:" value="1"/>
+          <Label name="fps"/></GroupBox>
+          <GridLayout name="setup">
+            <GroupBox name="flux optique">
+              <GroupBox name="post rotation">
+                <DoubleSpinBox name="value" value="90"/>
+                <ComboBox name="axis" value="2"/>
+              </GroupBox>
+              <SpinBox name="max features:" value="64"/>
+            </GroupBox>
+            <GroupBox name="passe bas">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="2"/>
+            </GroupBox>
+            <GroupBox name="sobel along x">
+              <SpinBox name="dx:" value="1"/>
+              <SpinBox name="dy:" value="0"/>
+            </GroupBox>
+            <GroupBox name="threshold">
+              <SpinBox name="threshold:" value="127"/>
+            </GroupBox>
+            <GroupBox name="houghlines">
+              <SpinBox name="full rho step:" value="4"/>
+              <DoubleSpinBox name="full theta step:" value="4"/>
+              <SpinBox name="tracking rho step:" value="4"/>
+              <DoubleSpinBox name="tracking theta step:" value="1"/>
+              <DoubleSpinBox name="tracking delta theta:" value="10"/>
+              <SpinBox name="nb points:" value="100"/>
+            </GroupBox>
+          </GridLayout>
+        </Tab>
+        <Tab name="Picture">
+          <Picture name="camv" period="500" enabled="0"/>
+          <Picture name="sobel along x" period="500" enabled="0"/>
+          <Picture name="threshold" period="500" enabled="0"/>
+          <GridLayout name="hough">
+            <DataPlot1D name="distance" period="100" enabled="1"/>
+            <DataPlot1D name="orientation" period="100" enabled="1"/>
+            <DataPlot1D name="line detected" period="100" enabled="1"/>
+          </GridLayout>
+        <DataPlot1D name="distance" period="100" enabled="1"/><DataPlot1D name="orientation" period="100" enabled="1"/><DataPlot1D name="line detected" period="100" enabled="1"/></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"/>
+      </GridLayout>
+      <GroupBox name="takeoff/landing">
+        <DoubleSpinBox name="desired takeoff altitude" value="0.7"/>
+        <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"/>
+        <DoubleSpinBox name="acceleration (absolute):" value="0.8"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="control laws">
+      <TabWidget name="laws">
+        <Tab name="Setup">
+          <GroupBox name="u_roll">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="12"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.2"/>
+            <DoubleSpinBox name="sat u:" value="0.4"/>
+          </GroupBox>
+          <GroupBox name="u_pitch">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="12"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.2"/>
+            <DoubleSpinBox name="sat u:" value="0.4"/>
+          </GroupBox>
+          <GroupBox name="u_yaw">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.6"/>
+            <DoubleSpinBox name="ki:" value="0.1"/>
+            <DoubleSpinBox name="sat i:" value="0.2"/>
+            <DoubleSpinBox name="kd:" value="0.2"/>
+            <DoubleSpinBox name="sat:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_z">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.6"/>
+            <DoubleSpinBox name="ki:" value="0.2"/>
+            <DoubleSpinBox name="sat i:" value="0.4"/>
+            <DoubleSpinBox name="kd:" value="0.4"/>
+            <DoubleSpinBox name="offset g:" value="0.6"/>
+            <DoubleSpinBox name="sat:" value="1"/>
+            <DoubleSpinBox name="offset step:" value="0.0002"/>
+          </GroupBox>
+          <GroupBox name="u_x">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.015"/>
+            <DoubleSpinBox name="ki:" value="0.02"/>
+            <DoubleSpinBox name="sat i:" value="0.15"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0.3"/>
+          </GroupBox>
+          <GroupBox name="u_y">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.015"/>
+            <DoubleSpinBox name="ki:" value="0.02"/>
+            <DoubleSpinBox name="sat i:" value="0.15"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0.3"/>
+          </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="1"/>
+          <DataPlot1D name="u_x" period="100" enabled="1"/>
+          <DataPlot1D name="u_y" 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>
+          <GroupBox name="consignes fo">
+            <DoubleSpinBox name="debattement x" value="0"/>
+            <DoubleSpinBox name="debattement y" value="0"/>
+            <DoubleSpinBox name="speed step" value="5"/>
+          </GroupBox>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="flux optique">
+      <DataPlot1D name="x_velocity" period="100" enabled="1"/>
+      <DataPlot1D name="y_velocity" period="100" enabled="1"/>
+    </Tab>
+  </TabWidget>
+  <TabWidget name="App_TabWidget">
+    <Tab name="demo_line">
+      <PushButton name="save config on target" value="1"/>
+    </Tab>
+  <Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget>
+</root>
Index: /trunk/demos/OpticalFlow/uav/resources/core2-64/setup_x4.xml
===================================================================
--- /trunk/demos/OpticalFlow/uav/resources/core2-64/setup_x4.xml	(revision 301)
+++ /trunk/demos/OpticalFlow/uav/resources/core2-64/setup_x4.xml	(revision 301)
@@ -0,0 +1,287 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="Dualshock3">
+  <TabWidget name="Dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="-10" name="debattement roll"/>
+     <DoubleSpinBox value="-10" 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>
+   <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1"/><DoubleSpinBox name="debattement y" value="1"/></GroupBox></Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" 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>
+    <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="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="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>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="us" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="1">
+     <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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <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="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="0" 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">
+     <GroupBox name="flux optique">
+      <SpinBox value="64" name="max features:"/>
+     <GroupBox name="post rotation"><DoubleSpinBox name="value" value="90"/><ComboBox name="axis" value="2"/></GroupBox></GroupBox>
+     <GroupBox name="passe bas">
+      <DoubleSpinBox value="0" name="period, 0 for auto"/>
+      <DoubleSpinBox value="1" name="cutoff frequency"/>
+     </GroupBox>
+    <GroupBox name="derivative"><DoubleSpinBox name="period, 0 for auto:" value="0.02"/></GroupBox><GroupBox name="Speed lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox><GroupBox name="Acceleration lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox><GroupBox name="flux optique compens&#xE9;"><SpinBox name="gyro delay (in video frames):" value="2"/></GroupBox></GridLayout>
+   </Tab>
+   <Tab name="Picture">
+    <Picture name="simu_cam_v" period="200" enabled="0">
+     <Setup period="50" enabled="1"/>
+    </Picture>
+   </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="land"/>
+  <PushButton name="start optical flow"/></GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </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>
+ </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_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>
+    <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="1" name="sat i:"/>
+     <DoubleSpinBox value="0.005" 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="1" name="sat i:"/>
+     <DoubleSpinBox value="0.005" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </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_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_x" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_y" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="flux optique">
+  <DataPlot1D name="x_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+  <DataPlot1D name="y_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+ <DataPlot1D name="x_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="y_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="x_acceleration" period="100" enabled="1"/><DataPlot1D name="y_acceleration" period="100" enabled="1"/><DataPlot1D name="x speed (px/s)" period="100" enabled="1"/><DataPlot1D name="y speed (px/s)" period="100" enabled="1"/><DataPlot1D name="x movement first point" period="100" enabled="0"/><DataPlot1D name="y movement first point" period="100" enabled="0"/></Tab>
+  <Tab name="real speed"><DataPlot1D name="x speed (m/s)" period="100" enabled="1"/><DataPlot1D name="y speed (m/s)" period="100" enabled="1"/><DataPlot1D name="x acceleration (m/s2)" period="100" enabled="0"/><DataPlot1D name="y acceleration (m/s2)" period="100" enabled="0"/></Tab></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x4_0)" value="1"/></root>
Index: /trunk/demos/OpticalFlow/uav/resources/core2-64/setup_x8.xml
===================================================================
--- /trunk/demos/OpticalFlow/uav/resources/core2-64/setup_x8.xml	(revision 301)
+++ /trunk/demos/OpticalFlow/uav/resources/core2-64/setup_x8.xml	(revision 301)
@@ -0,0 +1,287 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="Dualshock3">
+  <TabWidget name="Dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <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>
+   <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1"/><DoubleSpinBox name="debattement y" value="1"/></GroupBox></Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" 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"/>
+    <ComboBox name="top front left" value="0"/><ComboBox name="top front rigth" value="1"/><ComboBox name="top rear left" value="2"/><ComboBox name="top rear rigth" value="3"/><ComboBox name="bottom front left" value="4"/><ComboBox name="bottom front rigth" value="5"/><ComboBox name="bottom rear left" value="6"/><ComboBox name="bottom rear rigth" value="7"/></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 name="test motor 4"/><PushButton name="test motor 5"/><PushButton name="test motor 6"/><PushButton name="test motor 7"/></GroupBox>
+    <GroupBox name="simubldc">
+     <DoubleSpinBox value="86" name="k driver:"/>
+    </GroupBox>
+   <GroupBox name="x8 multiplex"><ComboBox name="top front left blade pitch:" value="0"/></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="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="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>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="us" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="1">
+     <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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <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>
+  </TabWidget>
+ </Tab>
+ <Tab name="battery">
+  <GroupBox name="battery">
+   <Label name="battery"/>
+   <DoubleSpinBox value="0" 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">
+     <GroupBox name="flux optique">
+      <SpinBox value="64" name="max features:"/>
+     <GroupBox name="post rotation"><DoubleSpinBox name="value" value="90"/><ComboBox name="axis" value="2"/></GroupBox></GroupBox>
+     <GroupBox name="passe bas">
+      <DoubleSpinBox value="0" name="period, 0 for auto"/>
+      <DoubleSpinBox value="1" name="cutoff frequency"/>
+     </GroupBox>
+    </GridLayout>
+   </Tab>
+   <Tab name="Picture">
+    <Picture name="simu_cam_v">
+     <Setup period="50" enabled="1"/>
+    </Picture>
+   </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="land"/>
+  </GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </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>
+ </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_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>
+    <GroupBox name="u_x">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.03" name="kp:"/>
+     <DoubleSpinBox value="0.020" name="ki:"/>
+     <DoubleSpinBox value="0.2" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_y">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.03" name="kp:"/>
+     <DoubleSpinBox value="0.020" name="ki:"/>
+     <DoubleSpinBox value="0.2" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </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_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_x" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_y" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="flux optique">
+  <DataPlot1D name="x_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+  <DataPlot1D name="y_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+ </Tab>
+  </TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab><Tab name="x8_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget></root>
Index: /trunk/demos/OpticalFlow/uav/resources/core2-64/x4.sh
===================================================================
--- /trunk/demos/OpticalFlow/uav/resources/core2-64/x4.sh	(revision 301)
+++ /trunk/demos/OpticalFlow/uav/resources/core2-64/x4.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./OpticalFlow_rt
+else
+	EXEC=./OpticalFlow_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -a 127.0.0.1 -p 9000 -l /tmp -x setup_x4.xml -t x4_simu -v dsp_stub
Index: /trunk/demos/OpticalFlow/uav/resources/core2-64/x8.sh
===================================================================
--- /trunk/demos/OpticalFlow/uav/resources/core2-64/x8.sh	(revision 301)
+++ /trunk/demos/OpticalFlow/uav/resources/core2-64/x8.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./OpticalFlow_rt
+else
+	EXEC=./OpticalFlow_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x8_0 -a 127.0.0.1 -p 9000 -l /tmp -x setup_x8.xml -t x8_simu -v dsp_stub
Index: /trunk/demos/PidStandalone/simulator/CMakeLists.txt
===================================================================
--- /trunk/demos/PidStandalone/simulator/CMakeLists.txt	(revision 300)
+++ /trunk/demos/PidStandalone/simulator/CMakeLists.txt	(revision 301)
@@ -5,7 +5,9 @@
 SET(FLAIR_USE_SIMULATOR TRUE)
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
 include(${FLAIR_USE_FILE})
+
 
 SET(SRC_FILES
@@ -33,10 +35,10 @@
 INSTALL(
 	TARGETS ${PROJECT_NAME}_rt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/PidStandalone
+	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}/PidStandalone
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
 
Index: /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x4.sh
===================================================================
--- /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
+++ /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x4.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./PidStandalone_simulator_rt
+else
+	EXEC=./PidStandalone_simulator_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 simulator_x4.xml -o 10 -m $IGEP_ROOT/uav_dev/media -s $IGEP_ROOT/uav_dev/media/optitrack_b122.xml
Index: /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x4.xml
===================================================================
--- /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
+++ /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x4.xml	(revision 301)
@@ -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/resources/core2-64/simulator_x8.sh
===================================================================
--- /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
+++ /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./PidStandalone_simulator_rt
+else
+	EXEC=./PidStandalone_simulator_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 simulator_x8.xml -o 10 -m $IGEP_ROOT/uav_dev/media -s $IGEP_ROOT/uav_dev/media/optitrack_b122.xml
Index: /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x8.xml
===================================================================
--- /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
+++ /trunk/demos/PidStandalone/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
@@ -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/uav/CMakeLists.txt
===================================================================
--- /trunk/demos/PidStandalone/uav/CMakeLists.txt	(revision 300)
+++ /trunk/demos/PidStandalone/uav/CMakeLists.txt	(revision 301)
@@ -7,4 +7,5 @@
 SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
@@ -36,9 +37,9 @@
 INSTALL(
 	TARGETS ${PROJECT_NAME}_rt
-	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/PidStandalone
+	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}/PidStandalone
+	RUNTIME DESTINATION $ENV{FLAIR_ROOT}/flair-bin/demos/${ARCH_DIR}/${PROJECT_NAME}
 )
Index: /trunk/demos/PidStandalone/uav/resources/armv7a-neon/demo_pid_ardrone2.sh
===================================================================
--- /trunk/demos/PidStandalone/uav/resources/armv7a-neon/demo_pid_ardrone2.sh	(revision 301)
+++ /trunk/demos/PidStandalone/uav/resources/armv7a-neon/demo_pid_ardrone2.sh	(revision 301)
@@ -0,0 +1,1 @@
+./PidStandalone_nrt -a 192.168.147.192 -p 9000 -l /tmp -x reglages_ardrone2.xml -n Drone_0 -t ardrone2
Index: /trunk/demos/PidStandalone/uav/resources/armv7a-neon/reglages_ardrone2.xml
===================================================================
--- /trunk/demos/PidStandalone/uav/resources/armv7a-neon/reglages_ardrone2.xml	(revision 301)
+++ /trunk/demos/PidStandalone/uav/resources/armv7a-neon/reglages_ardrone2.xml	(revision 301)
@@ -0,0 +1,267 @@
+<?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="1"/>
+          </GroupBox>
+          <GroupBox name="motor attribution">
+            <ComboBox name="front left" value="0"/>
+            <ComboBox name="front rigth" value="1"/>
+            <ComboBox name="rear left" value="2"/>
+            <ComboBox name="rear rigth" value="3"/>
+          </GroupBox>
+          <GroupBox name="bldc">
+            <Label name="flight time"/>
+            <DoubleSpinBox name="min value:" value="0.4"/>
+            <DoubleSpinBox name="max value:" value="1"/>
+            <DoubleSpinBox name="test value:" value="0.2"/>
+            <PushButton name="test motor 0"/>
+            <PushButton name="test motor 1"/>
+            <PushButton name="test motor 2"/>
+            <PushButton name="test motor 3"/>
+          </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>
+      </TabWidget>
+    </Tab>
+    <Tab name="parrot-us">
+      <TabWidget name="parrot-us">
+        <Tab name="Reglages">
+          <GroupBox name="parrot-us"/>
+          <GroupBox name="Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="5"/>
+          </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="10"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures">
+          <DataPlot1D name="parrot-us" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="parrot-imu">
+      <TabWidget name="parrot-imu">
+        <Tab name="Reglages">
+          <GroupBox name="parrot-imu"/>
+          <GroupBox name="post rotation">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <DoubleSpinBox name="k_a[0]:" value="0.5"/>
+          <DoubleSpinBox name="k_a[1]:" value="0.5"/>
+          <DoubleSpinBox name="k_a[2]:" value="0"/>
+          <DoubleSpinBox name="k_b[0]:" value="0.01"/>
+          <DoubleSpinBox name="k_b[1]:" value="0.01"/>
+          <DoubleSpinBox name="k_b[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="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 name="threshold" value="10.5"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="camv">
+      <TabWidget name="camv">
+        <Tab name="Setup">
+          <GroupBox name="camv">
+            <DoubleSpinBox name="gain:" value="0.5"/>
+            <DoubleSpinBox name="exposure:" value="0.5"/>
+            <DoubleSpinBox name="bright:" value="0.5"/>
+            <DoubleSpinBox name="contrast:" value="0.5"/>
+            <DoubleSpinBox name="hue:" value="0.5"/>
+            <DoubleSpinBox name="sharpness:" value="0.5"/>
+            <DoubleSpinBox name="saturation:" value="0.5"/>
+            <CheckBox name="autogain:" value="1"/>
+            <CheckBox name="autoexposure:" value="1"/>
+            <CheckBox name="awb:" value="1"/>
+          <Label name="fps"/></GroupBox>
+          <GridLayout name="setup">
+            <GroupBox name="flux optique">
+              <GroupBox name="post rotation">
+                <DoubleSpinBox name="value" value="90"/>
+                <ComboBox name="axis" value="2"/>
+              </GroupBox>
+              <SpinBox name="max features:" value="64"/>
+            </GroupBox>
+            <GroupBox name="passe bas">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="2"/>
+            </GroupBox>
+            <GroupBox name="sobel along x">
+              <SpinBox name="dx:" value="1"/>
+              <SpinBox name="dy:" value="0"/>
+            </GroupBox>
+            <GroupBox name="threshold">
+              <SpinBox name="threshold:" value="127"/>
+            </GroupBox>
+            <GroupBox name="houghlines">
+              <SpinBox name="full rho step:" value="4"/>
+              <DoubleSpinBox name="full theta step:" value="4"/>
+              <SpinBox name="tracking rho step:" value="4"/>
+              <DoubleSpinBox name="tracking theta step:" value="1"/>
+              <DoubleSpinBox name="tracking delta theta:" value="10"/>
+              <SpinBox name="nb points:" value="100"/>
+            </GroupBox>
+          </GridLayout>
+        </Tab>
+        <Tab name="Picture">
+          <Picture name="camv" period="500" enabled="0"/>
+          <Picture name="sobel along x" period="500" enabled="0"/>
+          <Picture name="threshold" period="500" enabled="0"/>
+          <GridLayout name="hough">
+            <DataPlot1D name="distance" period="100" enabled="1"/>
+            <DataPlot1D name="orientation" period="100" enabled="1"/>
+            <DataPlot1D name="line detected" period="100" enabled="1"/>
+          </GridLayout>
+        <DataPlot1D name="distance" period="100" enabled="1"/><DataPlot1D name="orientation" period="100" enabled="1"/><DataPlot1D name="line detected" period="100" enabled="1"/></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"/>
+      </GridLayout>
+      <GroupBox name="takeoff/landing">
+        <DoubleSpinBox name="desired takeoff altitude" value="0.7"/>
+        <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"/>
+        <DoubleSpinBox name="acceleration (absolute):" value="0.8"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="control laws">
+      <TabWidget name="laws">
+        <Tab name="Setup">
+          <GroupBox name="u_roll">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="12"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.2"/>
+            <DoubleSpinBox name="sat u:" value="0.4"/>
+          </GroupBox>
+          <GroupBox name="u_pitch">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="12"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.2"/>
+            <DoubleSpinBox name="sat u:" value="0.4"/>
+          </GroupBox>
+          <GroupBox name="u_yaw">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.6"/>
+            <DoubleSpinBox name="ki:" value="0.1"/>
+            <DoubleSpinBox name="sat i:" value="0.2"/>
+            <DoubleSpinBox name="kd:" value="0.2"/>
+            <DoubleSpinBox name="sat:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_z">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.6"/>
+            <DoubleSpinBox name="ki:" value="0.2"/>
+            <DoubleSpinBox name="sat i:" value="0.4"/>
+            <DoubleSpinBox name="kd:" value="0.4"/>
+            <DoubleSpinBox name="offset g:" value="0.6"/>
+            <DoubleSpinBox name="sat:" value="1"/>
+            <DoubleSpinBox name="offset step:" value="0.0002"/>
+          </GroupBox>
+          <GroupBox name="u_x">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.015"/>
+            <DoubleSpinBox name="ki:" value="0.02"/>
+            <DoubleSpinBox name="sat i:" value="0.15"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0.3"/>
+          </GroupBox>
+          <GroupBox name="u_y">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.015"/>
+            <DoubleSpinBox name="ki:" value="0.02"/>
+            <DoubleSpinBox name="sat i:" value="0.15"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0.3"/>
+          </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="1"/>
+          <DataPlot1D name="u_x" period="100" enabled="1"/>
+          <DataPlot1D name="u_y" 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 dyaw" 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>
+          <GroupBox name="consignes fo">
+            <DoubleSpinBox name="debattement x" value="0"/>
+            <DoubleSpinBox name="debattement y" value="0"/>
+            <DoubleSpinBox name="speed step" value="5"/>
+          </GroupBox>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="flux optique">
+      <DataPlot1D name="x_velocity" period="100" enabled="1"/>
+      <DataPlot1D name="y_velocity" period="100" enabled="1"/>
+    </Tab>
+  </TabWidget>
+  <TabWidget name="App_TabWidget">
+    <Tab name="demo_line">
+      <PushButton name="save config on target" value="1"/>
+    </Tab>
+  <Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget>
+</root>
Index: /trunk/demos/PidStandalone/uav/resources/core2-64/setup_x4.xml
===================================================================
--- /trunk/demos/PidStandalone/uav/resources/core2-64/setup_x4.xml	(revision 301)
+++ /trunk/demos/PidStandalone/uav/resources/core2-64/setup_x4.xml	(revision 301)
@@ -0,0 +1,287 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="dualshock3">
+  <TabWidget name="dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="-20" name="debattement roll"/>
+     <DoubleSpinBox value="-20" name="debattement pitch"/>
+     <DoubleSpinBox value="90" name="debattement dyaw"/>
+     <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>
+   <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1"/><DoubleSpinBox name="debattement y" value="1"/></GroupBox></Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" 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>
+    <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="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="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>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="us" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="1">
+     <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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <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="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="0" 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">
+     <GroupBox name="flux optique">
+      <SpinBox value="64" name="max features:"/>
+     <GroupBox name="post rotation"><DoubleSpinBox name="value" value="90"/><ComboBox name="axis" value="2"/></GroupBox></GroupBox>
+     <GroupBox name="passe bas">
+      <DoubleSpinBox value="0" name="period, 0 for auto"/>
+      <DoubleSpinBox value="1" name="cutoff frequency"/>
+     </GroupBox>
+    </GridLayout>
+   </Tab>
+   <Tab name="Picture">
+    <Picture name="simu_cam_v">
+     <Setup period="50" enabled="1"/>
+    </Picture>
+   </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="land"/>
+  </GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </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>
+ </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_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>
+    <GroupBox name="u_x">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.030" name="kp:"/>
+     <DoubleSpinBox value="0.020" name="ki:"/>
+     <DoubleSpinBox value="0.20" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_y">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.03" name="kp:"/>
+     <DoubleSpinBox value="0.020" name="ki:"/>
+     <DoubleSpinBox value="0.20" name="sat i:"/>
+     <DoubleSpinBox value="0.2" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+   <GroupBox name="custom uRoll"><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="custom uPitch"><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">
+     <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_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_x" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_y" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   <DataPlot1D name="custom uRoll" period="100" enabled="0"/><DataPlot1D name="custom uPitch" period="100" enabled="0"/></Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="flux optique">
+  <DataPlot1D name="x_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+  <DataPlot1D name="y_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+ </Tab>
+  <Tab name="Emulated Controller"><TabWidget name="Emulated Controller"><Tab name="Reglages"><GroupBox name="consignes joy"><DoubleSpinBox name="debattement roll" value="-20"/><DoubleSpinBox name="debattement pitch" value="-20"/><DoubleSpinBox name="debattement wz" value="90"/><DoubleSpinBox name="debattement dz" value="-0.7"/><DoubleSpinBox name="trim" value="0"/><Label name="trim roll"/><PushButton name="reset roll trim"/><Label name="trim pitch"/><PushButton name="reset pitch trim"/></GroupBox></Tab></TabWidget></Tab></TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x4_0)" value="1"/></root>
Index: /trunk/demos/PidStandalone/uav/resources/core2-64/setup_x8.xml
===================================================================
--- /trunk/demos/PidStandalone/uav/resources/core2-64/setup_x8.xml	(revision 301)
+++ /trunk/demos/PidStandalone/uav/resources/core2-64/setup_x8.xml	(revision 301)
@@ -0,0 +1,287 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="dualshock3">
+  <TabWidget name="dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="-20" name="debattement roll"/>
+     <DoubleSpinBox value="-20" name="debattement pitch"/>
+     <DoubleSpinBox value="90" name="debattement dyaw"/>
+     <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>
+   <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1"/><DoubleSpinBox name="debattement y" value="1"/></GroupBox></Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" 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"/>
+    <ComboBox name="top front left" value="0"/><ComboBox name="top front rigth" value="1"/><ComboBox name="top rear left" value="2"/><ComboBox name="top rear rigth" value="3"/><ComboBox name="bottom front left" value="4"/><ComboBox name="bottom front rigth" value="5"/><ComboBox name="bottom rear left" value="6"/><ComboBox name="bottom rear rigth" value="7"/></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 name="test motor 4"/><PushButton name="test motor 5"/><PushButton name="test motor 6"/><PushButton name="test motor 7"/></GroupBox>
+    <GroupBox name="simubldc">
+     <DoubleSpinBox value="86" name="k driver:"/>
+    </GroupBox>
+   <GroupBox name="x8 multiplex"><ComboBox name="top front left blade pitch:" value="0"/></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="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="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>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="us" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="1">
+     <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="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <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>
+  </TabWidget>
+ </Tab>
+ <Tab name="battery">
+  <GroupBox name="battery">
+   <Label name="battery"/>
+   <DoubleSpinBox value="0" 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">
+     <GroupBox name="flux optique">
+      <SpinBox value="64" name="max features:"/>
+     <GroupBox name="post rotation"><DoubleSpinBox name="value" value="90"/><ComboBox name="axis" value="2"/></GroupBox></GroupBox>
+     <GroupBox name="passe bas">
+      <DoubleSpinBox value="0" name="period, 0 for auto"/>
+      <DoubleSpinBox value="1" name="cutoff frequency"/>
+     </GroupBox>
+    </GridLayout>
+   </Tab>
+   <Tab name="Picture">
+    <Picture name="simu_cam_v">
+     <Setup period="50" enabled="1"/>
+    </Picture>
+   </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="land"/>
+  </GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </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>
+ </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_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>
+    <GroupBox name="u_x">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.03" name="kp:"/>
+     <DoubleSpinBox value="0.020" name="ki:"/>
+     <DoubleSpinBox value="0.2" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_y">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.03" name="kp:"/>
+     <DoubleSpinBox value="0.020" name="ki:"/>
+     <DoubleSpinBox value="0.2" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </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_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_x" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_y" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="flux optique">
+  <DataPlot1D name="x_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+  <DataPlot1D name="y_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+ </Tab>
+  </TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab><Tab name="x8_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget></root>
Index: /trunk/demos/PidStandalone/uav/resources/core2-64/x4.sh
===================================================================
--- /trunk/demos/PidStandalone/uav/resources/core2-64/x4.sh	(revision 301)
+++ /trunk/demos/PidStandalone/uav/resources/core2-64/x4.sh	(revision 301)
@@ -0,0 +1,10 @@
+#! /bin/bash
+if [ -f /proc/xenomai/version ];then
+	EXEC=./PidStandalone_rt
+else
+	EXEC=./PidStandalone_nrt
+fi
+
+. $IGEP_ROOT/uav_dev/bin/noarch/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -a 127.0.0.1 -p 9000 -l ./ -x setup_x4.xml -t x4_simu $*
Index: /trunk/demos/PidStandalone/uav/resources/core2-64/x8.sh
===================================================================
--- /trunk/demos/PidStandalone/uav/resources/core2-64/x8.sh	(revision 301)
+++ /trunk/demos/PidStandalone/uav/resources/core2-64/x8.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./PidStandalone_rt
+else
+	EXEC=./PidStandalone_nrt
+fi
+
+. $IGEP_ROOT/uav_dev/bin/noarch/distribution_specific_hack.sh
+
+$EXEC -n x8_0 -a 127.0.0.1 -p 9000 -l ./ -x setup_x8.xml -t x8_simu
Index: /trunk/demos/SimpleFleet/simulator/CMakeLists.txt
===================================================================
--- /trunk/demos/SimpleFleet/simulator/CMakeLists.txt	(revision 300)
+++ /trunk/demos/SimpleFleet/simulator/CMakeLists.txt	(revision 301)
@@ -5,4 +5,5 @@
 SET(FLAIR_USE_SIMULATOR TRUE)
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
@@ -33,9 +34,9 @@
 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/simulator/resources/core2-64/simulator_x8.sh
===================================================================
--- /trunk/demos/SimpleFleet/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
+++ /trunk/demos/SimpleFleet/simulator/resources/core2-64/simulator_x8.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./SimpleFleet_simulator_rt
+else
+	EXEC=./SimpleFleet_simulator_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x8 -a 127.0.0.1 -p 9000 -x simulator_x8.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: /trunk/demos/SimpleFleet/simulator/resources/core2-64/simulator_x8.xml
===================================================================
--- /trunk/demos/SimpleFleet/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
+++ /trunk/demos/SimpleFleet/simulator/resources/core2-64/simulator_x8.xml	(revision 301)
@@ -0,0 +1,106 @@
+<?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="-1.50" name="x:"/>
+    <DoubleSpinBox value="0.0" name="y:"/>
+    <DoubleSpinBox value="-1.2" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="1.5" 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" value_y="0" value_z="0.0399999991059303"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></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:"/>
+   </Tab>
+   <Tab name="front 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="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="-1" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="70" name="fov:"/>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="target">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.02" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="0" name="x:"/>
+    <DoubleSpinBox value="0" name="y:"/>
+    <DoubleSpinBox value="0" name="z:"/>
+    <SpinBox value="0" name="yaw (deg):"/>
+   </Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
+    <DoubleSpinBox value="60" name="rotational speed (deg/s):"/>
+   </Tab>
+  </TabWidget>
+ </Tab>
+<Tab name="x8_1"><TabWidget name="tabs"><Tab name="sampling"><DoubleSpinBox name="Tech (s):" value="0.001"/></Tab><Tab name="optitrack"><CheckBox name="enabled" value="1"/></Tab><Tab name="init"><DoubleSpinBox name="x:" value="1.50"/><DoubleSpinBox name="y:" value="0.0"/><DoubleSpinBox name="z:" value="-1.2"/><SpinBox name="yaw (deg):" value="-90"/><Vector3DSpinBox name="position" value_x="-1.5" value_y="0.00" value_z="-1.00"/></Tab><Tab name="model"><DoubleSpinBox name="mass (kg):" value="1.6"/><DoubleSpinBox name="arm length (m):" value="0.2"/><DoubleSpinBox name="position G (m):" value="0"/><DoubleSpinBox name="k_mot:" value="0.001"/><DoubleSpinBox name="c_mot:" value="0.001"/><DoubleSpinBox name="f_air_vert:" value="0.01"/><DoubleSpinBox name="f_air_lat:" value="0.4"/><DoubleSpinBox name="j_roll:" value="0.006"/><DoubleSpinBox name="j_pitch:" value="0.006"/><DoubleSpinBox name="j_yaw:" value="0.1"/><DoubleSpinBox name="j_r:" value="0"/><DoubleSpinBox name="sigma:" value="0.72"/><DoubleSpinBox name="S:" value="1"/></Tab><Tab name="us"><GroupBox name="position"><DoubleSpinBox name="x:" value="0"/><DoubleSpinBox name="y:" value="0"/><DoubleSpinBox name="z:" value="0.04"/></GroupBox><GroupBox name="direction"><DoubleSpinBox name="x:" value="0"/><DoubleSpinBox name="y:" value="0"/><DoubleSpinBox name="z:" value="1"/></GroupBox><DoubleSpinBox name="range:" value="6"/><Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0.0399999991059303"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></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/SimpleFleet/uav/CMakeLists.txt
===================================================================
--- /trunk/demos/SimpleFleet/uav/CMakeLists.txt	(revision 300)
+++ /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
Index: /trunk/demos/Sinus/CMakeLists.txt
===================================================================
--- /trunk/demos/Sinus/CMakeLists.txt	(revision 300)
+++ /trunk/demos/Sinus/CMakeLists.txt	(revision 301)
@@ -4,4 +4,5 @@
 SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
 SET(FLAIR_USE_FILTER TRUE)
+SET(COPY_RESOURCE_FILES true)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
Index: /trunk/demos/Sinus/resources/armv5te/Sinus.sh
===================================================================
--- /trunk/demos/Sinus/resources/armv5te/Sinus.sh	(revision 301)
+++ /trunk/demos/Sinus/resources/armv5te/Sinus.sh	(revision 301)
@@ -0,0 +1,10 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./Sinus_rt
+else
+	EXEC=./Sinus_nrt
+fi
+
+$EXEC  -a ${1}
+
Index: /trunk/demos/Sinus/resources/armv5te/Sinus.xml
===================================================================
--- /trunk/demos/Sinus/resources/armv5te/Sinus.xml	(revision 301)
+++ /trunk/demos/Sinus/resources/armv5te/Sinus.xml	(revision 301)
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<root name="FrameworkManager">
+  <TabWidget name="Main_TabWidget">
+    <Tab name="Loop">
+      <PushButton name="kill"/>
+      <PushButton name="start_log"/>
+      <PushButton name="stop_log"/>
+      <SpinBox name="period thread:" value="10"/>
+    </Tab>
+    <Tab name="sinus">
+      <TabWidget name="sinus">
+        <Tab name="Settings">
+          <GroupBox name="sinus">
+            <DoubleSpinBox name="frequence:" value="1.00"/>
+            <DoubleSpinBox name="amplitude:" value="1.00"/>
+            <DoubleSpinBox name="offset:" value="8.00"/>
+          </GroupBox>
+          <SpinBox name="period thread:" value="10"/>
+          <GridLayout name="setup">
+            <GroupBox name="1st order lawpass filter">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="1"/>
+            </GroupBox>
+            <GroupBox name="3rd order lawpass filter">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="1"/>
+            </GroupBox>
+            <GroupBox name="Mean filter">
+              <SpinBox name="numberOfElements:" value="10"/>
+            </GroupBox>
+            <GroupBox name="Mean filter on 1st order lawpass filter">
+              <SpinBox name="numberOfElements:" value="10"/>
+            </GroupBox>
+          </GridLayout>
+        </Tab>
+        <Tab name="Graph">
+          <DataPlot1D name="Sinus" period="100" enabled="1"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+  </TabWidget>
+  <PushButton name="save config on target (Sinus)" value="1"/>
+</root>
Index: /trunk/demos/Sinus/resources/armv7a-neon/Sinus.sh
===================================================================
--- /trunk/demos/Sinus/resources/armv7a-neon/Sinus.sh	(revision 301)
+++ /trunk/demos/Sinus/resources/armv7a-neon/Sinus.sh	(revision 301)
@@ -0,0 +1,10 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./Sinus_rt
+else
+	EXEC=./Sinus_nrt
+fi
+
+$EXEC  -a ${1}
+
Index: /trunk/demos/Sinus/resources/armv7a-neon/Sinus.xml
===================================================================
--- /trunk/demos/Sinus/resources/armv7a-neon/Sinus.xml	(revision 301)
+++ /trunk/demos/Sinus/resources/armv7a-neon/Sinus.xml	(revision 301)
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<root name="FrameworkManager">
+  <TabWidget name="Main_TabWidget">
+    <Tab name="Loop">
+      <PushButton name="kill"/>
+      <PushButton name="start_log"/>
+      <PushButton name="stop_log"/>
+      <SpinBox name="period thread:" value="10"/>
+    </Tab>
+    <Tab name="sinus">
+      <TabWidget name="sinus">
+        <Tab name="Settings">
+          <GroupBox name="sinus">
+            <DoubleSpinBox name="frequence:" value="1.00"/>
+            <DoubleSpinBox name="amplitude:" value="1.00"/>
+            <DoubleSpinBox name="offset:" value="8.00"/>
+          </GroupBox>
+          <SpinBox name="period thread:" value="10"/>
+          <GridLayout name="setup">
+            <GroupBox name="1st order lawpass filter">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="1"/>
+            </GroupBox>
+            <GroupBox name="3rd order lawpass filter">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="1"/>
+            </GroupBox>
+            <GroupBox name="Mean filter">
+              <SpinBox name="numberOfElements:" value="10"/>
+            </GroupBox>
+            <GroupBox name="Mean filter on 1st order lawpass filter">
+              <SpinBox name="numberOfElements:" value="10"/>
+            </GroupBox>
+          </GridLayout>
+        </Tab>
+        <Tab name="Graph">
+          <DataPlot1D name="Sinus" period="100" enabled="1"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+  </TabWidget>
+  <PushButton name="save config on target (Sinus)" value="1"/>
+</root>
Index: /trunk/demos/Sinus/resources/core2-64/Sinus.sh
===================================================================
--- /trunk/demos/Sinus/resources/core2-64/Sinus.sh	(revision 301)
+++ /trunk/demos/Sinus/resources/core2-64/Sinus.sh	(revision 301)
@@ -0,0 +1,11 @@
+#! /bin/bash
+if [ -f /proc/xenomai/version ];then
+	EXEC=./Sinus_rt
+else
+	EXEC=./Sinus_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC
+
Index: /trunk/demos/Sinus/resources/core2-64/Sinus.xml
===================================================================
--- /trunk/demos/Sinus/resources/core2-64/Sinus.xml	(revision 301)
+++ /trunk/demos/Sinus/resources/core2-64/Sinus.xml	(revision 301)
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<root name="FrameworkManager">
+  <TabWidget name="Main_TabWidget">
+    <Tab name="Loop">
+      <PushButton name="kill"/>
+      <PushButton name="start_log"/>
+      <PushButton name="stop_log"/>
+      <SpinBox name="period thread:" value="10"/>
+    </Tab>
+    <Tab name="sinus">
+      <TabWidget name="sinus">
+        <Tab name="Settings">
+          <GroupBox name="sinus">
+            <DoubleSpinBox name="frequence:" value="1.00"/>
+            <DoubleSpinBox name="amplitude:" value="1.00"/>
+            <DoubleSpinBox name="offset:" value="8.00"/>
+          </GroupBox>
+          <SpinBox name="period thread:" value="10"/>
+          <GridLayout name="setup">
+            <GroupBox name="1st order lawpass filter">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="1"/>
+            </GroupBox>
+            <GroupBox name="3rd order lawpass filter">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="1"/>
+            </GroupBox>
+            <GroupBox name="Mean filter">
+              <SpinBox name="numberOfElements:" value="10"/>
+            </GroupBox>
+            <GroupBox name="Mean filter on 1st order lawpass filter">
+              <SpinBox name="numberOfElements:" value="10"/>
+            </GroupBox>
+          </GridLayout>
+        </Tab>
+        <Tab name="Graph">
+          <DataPlot1D name="Sinus" period="100" enabled="1"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+  </TabWidget>
+  <PushButton name="save config on target (Sinus)" value="1"/>
+</root>
Index: /trunk/demos/Sinus/resources/cortexa7thf-neon-vfpv4/Sinus.sh
===================================================================
--- /trunk/demos/Sinus/resources/cortexa7thf-neon-vfpv4/Sinus.sh	(revision 301)
+++ /trunk/demos/Sinus/resources/cortexa7thf-neon-vfpv4/Sinus.sh	(revision 301)
@@ -0,0 +1,10 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./Sinus_rt
+else
+	EXEC=./Sinus_nrt
+fi
+
+$EXEC  -a ${1}
+
Index: /trunk/demos/Sinus/resources/cortexa7thf-neon-vfpv4/Sinus.xml
===================================================================
--- /trunk/demos/Sinus/resources/cortexa7thf-neon-vfpv4/Sinus.xml	(revision 301)
+++ /trunk/demos/Sinus/resources/cortexa7thf-neon-vfpv4/Sinus.xml	(revision 301)
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<root name="FrameworkManager">
+  <TabWidget name="Main_TabWidget">
+    <Tab name="Loop">
+      <PushButton name="kill"/>
+      <PushButton name="start_log"/>
+      <PushButton name="stop_log"/>
+      <SpinBox name="period thread:" value="10"/>
+    </Tab>
+    <Tab name="sinus">
+      <TabWidget name="sinus">
+        <Tab name="Settings">
+          <GroupBox name="sinus">
+            <DoubleSpinBox name="frequence:" value="1.00"/>
+            <DoubleSpinBox name="amplitude:" value="1.00"/>
+            <DoubleSpinBox name="offset:" value="8.00"/>
+          </GroupBox>
+          <SpinBox name="period thread:" value="10"/>
+          <GridLayout name="setup">
+            <GroupBox name="1st order lawpass filter">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="1"/>
+            </GroupBox>
+            <GroupBox name="3rd order lawpass filter">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="1"/>
+            </GroupBox>
+            <GroupBox name="Mean filter">
+              <SpinBox name="numberOfElements:" value="10"/>
+            </GroupBox>
+            <GroupBox name="Mean filter on 1st order lawpass filter">
+              <SpinBox name="numberOfElements:" value="10"/>
+            </GroupBox>
+          </GridLayout>
+        </Tab>
+        <Tab name="Graph">
+          <DataPlot1D name="Sinus" period="100" enabled="1"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+  </TabWidget>
+  <PushButton name="save config on target (Sinus)" value="1"/>
+</root>
