diff --git a/conf/airframes/CDW/yapa_xsens.xml b/conf/airframes/CDW/yapa_xsens.xml
index 7116b3b719f..1bda6ecaa30 100644
--- a/conf/airframes/CDW/yapa_xsens.xml
+++ b/conf/airframes/CDW/yapa_xsens.xml
@@ -46,6 +46,7 @@
+
@@ -63,7 +64,7 @@
-
+
@@ -72,7 +73,7 @@
-
+
@@ -95,7 +96,7 @@
-
+
diff --git a/conf/modules/auto1_commands.xml b/conf/modules/auto1_commands.xml
new file mode 100644
index 00000000000..0f5da0c7fc1
--- /dev/null
+++ b/conf/modules/auto1_commands.xml
@@ -0,0 +1,16 @@
+
+
+
+
+ AUTO1 FLAPS/HATCH COMMANDS.
+ Enable RC controlled HATCH and BRAKE/FLAPS in both MANUAL and AUTO1, while automatic in AUTO2.
+
+
+
+
+
+
+
+
+
diff --git a/sw/airborne/modules/servo_switch/auto1_commands.c b/sw/airborne/modules/servo_switch/auto1_commands.c
new file mode 100644
index 00000000000..df863f4a388
--- /dev/null
+++ b/sw/airborne/modules/servo_switch/auto1_commands.c
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2014 OpenUAS
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include "auto1_commands.h"
+#include "generated/airframe.h"
+#include "firmwares/fixedwing/autopilot.h"
+#include "inter_mcu.h"
+
+void periodic_auto1_commands(void)
+{
+ // Copy Radio commands in AUTO1
+ if (pprz_mode == PPRZ_MODE_AUTO1) {
+#ifdef COMMAND_HATCH
+#ifndef RADIO_HATCH
+#error auto1_commands COMMAND_HATCH needs RADIO_HATCH channel
+#endif
+ ap_state->commands[COMMAND_HATCH] = fbw_state->channels[RADIO_HATCH];
+#endif
+#ifdef COMMAND_BRAKE
+#ifndef RADIO_BRAKE
+#error auto1_commands COMMAND_BRAKE needs RADIO_BRAKE channel
+#endif
+ ap_state->commands[COMMAND_BRAKE] = fbw_state->channels[RADIO_BRAKE];
+#endif
+#ifdef COMMAND_FLAPS
+#ifndef RADIO_FLAPS
+#error auto1_commands COMMAND_FLAPS needs RADIO_FLAPS channel
+#endif
+ ap_state->commands[COMMAND_FLAPS] = fbw_state->channels[RADIO_FLAPS];
+#endif
+ }
+}
diff --git a/sw/airborne/modules/servo_switch/auto1_commands.h b/sw/airborne/modules/servo_switch/auto1_commands.h
new file mode 100644
index 00000000000..a11621c5c6d
--- /dev/null
+++ b/sw/airborne/modules/servo_switch/auto1_commands.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2014 OpenUAS
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** \file auto1_commands.h
+ *
+ * Enable AUTO1 commands flaps and hatch from RC
+ */
+
+#ifndef AUTO1_COMMANDS_H
+#define AUTO1_COMMANDS_H
+
+extern void periodic_auto1_commands(void);
+
+#endif