diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile
new file mode 100644
index 00000000000..f7927f9745b
--- /dev/null
+++ b/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile
@@ -0,0 +1,12 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# InterMCU type CAN
+
+ifneq ($(TARGET),sim)
+$(TARGET).CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
+$(TARGET).srcs += link_mcu_can.c
+$(TARGET).srcs += mcu_periph/can.c
+$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/can_arch.c
+endif
+
+SEPARATE_FBW=1
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 5959b958fcf..d4baf211841 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -37,8 +37,8 @@
 #include "firmwares/fixedwing/main_ap.h"
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
-
-#include "link_mcu_spi.h"
+#include "inter_mcu.h"
+#include "link_mcu.h"
 
 // Sensors
 #if USE_GPS
@@ -213,7 +213,7 @@ void init_ap( void ) {
   ins_init();
 
   /************* Links initialization ***************/
-#if defined MCU_SPI_LINK || defined MCU_UART_LINK
+#if defined MCU_SPI_LINK || defined MCU_UART_LINK || defined MCU_CAN_LINK
   link_mcu_init();
 #endif
 #if USE_AUDIO_TELEMETRY
@@ -575,7 +575,7 @@ void attitude_loop( void ) {
 
   ap_state->commands[COMMAND_PITCH] = h_ctl_elevator_setpoint;
 
-#if defined MCU_SPI_LINK || defined MCU_UART_LINK
+#if defined MCU_SPI_LINK || defined MCU_UART_LINK || defined MCU_CAN_LINK
   link_mcu_send();
 #elif defined INTER_MCU && defined SINGLE_MCU
   /**Directly set the flag indicating to FBW that shared buffer is available*/
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index 0d0ec2e1758..37c94fd6ced 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -48,17 +48,10 @@
 #include "subsystems/datalink/telemetry.h"
 #endif
 
-#ifdef MCU_SPI_LINK
-#include "link_mcu_spi.h"
-#endif
-
-#ifdef MCU_UART_LINK
-#include "link_mcu_usart.h"
-#endif
-
 uint8_t fbw_mode;
 
 #include "inter_mcu.h"
+#include "link_mcu.h"
 
 #ifdef USE_NPS
 #include "nps_autopilot.h"
@@ -130,8 +123,10 @@ void init_fbw( void ) {
 #ifdef INTER_MCU
   inter_mcu_init();
 #endif
-#ifdef MCU_SPI_LINK
+#if defined MCU_SPI_LINK || defined MCU_CAN_LINK
   link_mcu_init();
+#endif
+#ifdef MCU_SPI_LINK
   link_mcu_restart();
 #endif
 
@@ -317,6 +312,11 @@ void periodic_task_fbw( void ) {
   link_mcu_periodic_task();
 #endif
 
+#ifdef MCU_CAN_LINK
+  inter_mcu_fill_fbw_state();
+  link_mcu_periodic_task();
+#endif
+
 #if PERIODIC_TELEMETRY
   periodic_telemetry_send_Fbw();
 #endif
diff --git a/sw/airborne/inter_mcu.c b/sw/airborne/inter_mcu.c
index aeb4134b3f8..0c62ae1e5d0 100644
--- a/sw/airborne/inter_mcu.c
+++ b/sw/airborne/inter_mcu.c
@@ -14,9 +14,13 @@
  * 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.
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file inter_mcu.c
+ * Communication between fbw and ap processes.
  *
  */
 
@@ -28,7 +32,7 @@ static struct ap_state _ap_state;
 struct fbw_state* fbw_state = &_fbw_state;
 struct ap_state* ap_state = &_ap_state;
 #else /* SINGLE_MCU */
-#include "link_mcu_spi.h"
+#include "link_mcu.h"
 struct fbw_state* fbw_state = &link_mcu_from_fbw_msg.payload.from_fbw;
 struct ap_state*  ap_state = &link_mcu_from_ap_msg.payload.from_ap;
 #endif /* ! SINGLE_MCU */
diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h
index b26f6b7cf33..ef7f1e31835 100644
--- a/sw/airborne/inter_mcu.h
+++ b/sw/airborne/inter_mcu.h
@@ -1,5 +1,4 @@
-/*  $Id$
- *
+/*
  * Copyright (C) 2003-2005  Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
@@ -15,19 +14,20 @@
  * 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.
- *
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
 
-/** \brief Communication between fbw and ap processes
+/**
+ * @file inter_mcu.h
+ * Communication between fbw and ap processes.
+ *
  * This unit contains the data structure used to communicate between the
  * "fly by wire" process and the "autopilot" process. It must be linked once in a
- * monoprocessor architecture, twice in a twin-processors (the historical
- * Atmel AVRs mega8-mega128 one) architecture. In the latter case, the
- * inter-mcu communication process (e.g. SPI) must fill and read these data structures.
-*/
+ * monoprocessor architecture, twice in a twin-processors architecture.
+ * In the latter case, the inter-mcu communication process (e.g. SPI) must fill and
+ * read these data structures.
+ */
 
 #ifndef INTER_MCU_H
 #define INTER_MCU_H
diff --git a/sw/airborne/link_mcu.h b/sw/airborne/link_mcu.h
new file mode 100644
index 00000000000..8ceb91197bc
--- /dev/null
+++ b/sw/airborne/link_mcu.h
@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2003-2014 The Paparazzi Team
+ *
+ * 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, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file link_mcu.h
+ * Common transport functions for the communication between FBW and AP.
+ */
+
+#ifndef LINK_MCU_H
+#define LINK_MCU_H
+
+#ifdef MCU_SPI_LINK
+#include "link_mcu_spi.h"
+#elif defined MCU_UART_LINK
+#include "link_mcu_usart.h"
+#elif defined MCU_CAN_LINK
+#include "link_mcu_can.h"
+#endif
+
+#endif /* LINK_MCU_H */
diff --git a/sw/airborne/link_mcu_can.c b/sw/airborne/link_mcu_can.c
new file mode 100644
index 00000000000..18808154920
--- /dev/null
+++ b/sw/airborne/link_mcu_can.c
@@ -0,0 +1,230 @@
+/*
+ * Copyright (C) 2010-2012 The Paparazzi Team
+ *
+ * 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 "link_mcu_can.h"
+#include "mcu_periph/can.h"
+#include "led.h"
+
+#include "subsystems/commands.h"
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+// INTERMCU CAN MESSAGES
+
+// Commands
+#define MSG_INTERMCU_COMMAND_MASTER_ID 0x01
+#define MSG_INTERMCU_COMMAND_EXTRA_ID 0x02
+// Channels
+#define MSG_INTERMCU_RADIO_LOW_ID 0x04
+#define MSG_INTERMCU_RADIO_HIGH_ID 0x05
+// Trim
+#define MSG_INTERMCU_TRIM_ID 0x09
+// Status
+#define MSG_INTERMCU_FBW_STATUS_ID 0x10
+
+
+union {
+  uint8_t data[8];
+  pprz_t cmd[4];
+} imcu_cmd_mstr, imcu_cmd_ext, imcu_chan1, imcu_chan2, imcu_trim;
+
+#define INTERMCU_COMMAND(_intermcu_payload, nr) (pprz_t)((uint16_t)(*((uint8_t*)_intermcu_payload+0+(2*(nr)))|*((uint8_t*)_intermcu_payload+1+(2*(nr)))<<8))
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+// READ MESSAGES
+
+
+void link_mcu_on_can_msg(uint32_t id, uint8_t* data, int len);
+void link_mcu_on_can_msg(uint32_t id, uint8_t* data, int len)
+{
+#if COMMANDS_NB > 8
+#error "INTERMCU_CAN CAN ONLY SEND 4 OR 8 COMMANDS (packets of 8 bytes)"
+#endif
+#if RADIO_CONTROL_NB_CHANNEL > 8
+#warning "INTERMCU_CAN CAN ONLY SEND 8 RADIO CHANNELS: CHANNELS 9 and higher will not be sent"
+#endif
+  if (len) {} //Remove compile warning
+
+  if (id == MSG_INTERMCU_COMMAND_MASTER_ID) {
+    for (int i = 0; (i < 4) && (i < COMMANDS_NB); i++) {
+      ap_state->commands[i] = INTERMCU_COMMAND(data, i);
+    }
+#ifdef LINK_MCU_LED
+    LED_TOGGLE(LINK_MCU_LED);
+#endif
+    inter_mcu_received_ap = TRUE;
+  }
+
+  if (id ==  MSG_INTERMCU_COMMAND_EXTRA_ID) {
+    for (int i = 0; (i < 4) && (i < (COMMANDS_NB - 4)); i++) {
+      ap_state->commands[4 + i] = INTERMCU_COMMAND(data, i);
+    }
+  }
+
+
+  if (id == MSG_INTERMCU_TRIM_ID) {
+    ap_state->command_roll_trim  = ((pprz_t) INTERMCU_COMMAND(data, 0));
+    ap_state->command_pitch_trim = ((pprz_t) INTERMCU_COMMAND(data, 1));
+  }
+
+  if (id == MSG_INTERMCU_RADIO_LOW_ID) {
+    for (int i = 0; (i < 4) && (i < RADIO_CONTROL_NB_CHANNEL); i++) {
+      fbw_state->channels[i] = ((pprz_t)INTERMCU_COMMAND(data, i));
+    }
+  }
+
+  if (id == MSG_INTERMCU_RADIO_HIGH_ID) {
+    for (int i = 0; (i < 4) && (i < (RADIO_CONTROL_NB_CHANNEL - 4)); i++) {
+      fbw_state->channels[4 + i] = ((pprz_t)INTERMCU_COMMAND(data, i));
+    }
+  }
+
+  if ((id == MSG_INTERMCU_FBW_STATUS_ID) && (len == 5)) {
+    fbw_state->ppm_cpt = data[0];
+    fbw_state->status = data[1];
+    fbw_state->nb_err = data[2];
+    fbw_state->vsupply = data[3] + (data[4] << 8);
+    fbw_state->current = 0;
+
+#ifdef LINK_MCU_LED
+    LED_TOGGLE(LINK_MCU_LED);
+#endif
+    inter_mcu_received_fbw = TRUE;
+  }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+// SEND MESSAGES
+
+
+#ifdef AP
+void link_mcu_send(void)
+{
+  for (int i = 0; (i < COMMANDS_NB) && (i < 4); i++) {
+    imcu_cmd_mstr.cmd[i] = ap_state->commands[i];
+  }
+  for (int i = 0; (i < (COMMANDS_NB - 4)) && (i < 4); i++) {
+    imcu_cmd_ext.cmd[i] = ap_state->commands[4 + i];
+  }
+
+  ppz_can_transmit(MSG_INTERMCU_COMMAND_MASTER_ID, imcu_cmd_mstr.data, 8);
+  ppz_can_transmit(MSG_INTERMCU_COMMAND_EXTRA_ID, imcu_cmd_ext.data, 8);
+
+  imcu_trim.cmd[0] = ap_state->command_roll_trim;
+  imcu_trim.cmd[1] = ap_state->command_pitch_trim;
+  imcu_trim.cmd[2] = ap_state->command_yaw_trim;
+  RunOnceEvery(6, ppz_can_transmit(MSG_INTERMCU_TRIM_ID, imcu_trim.data, 6));
+}
+#endif
+
+#ifdef FBW
+void link_mcu_periodic_task(void)
+{
+  // Import: Prepare the next message for AP
+  inter_mcu_fill_fbw_state();
+
+  // Transmit Status
+  uint8_t intermcu_tx_buff[8];
+  intermcu_tx_buff[0] = fbw_state->ppm_cpt;
+  intermcu_tx_buff[1] = fbw_state->status;
+  intermcu_tx_buff[2] = fbw_state->nb_err;
+  intermcu_tx_buff[3] = (uint8_t) fbw_state->vsupply;
+  intermcu_tx_buff[4] = (uint8_t)((fbw_state->vsupply & 0xff00) >> 8);
+  ppz_can_transmit(MSG_INTERMCU_FBW_STATUS_ID, intermcu_tx_buff, 5);
+
+#if defined RADIO_CONTROL || RADIO_CONTROL_AUTO1
+  // Copy the CHANNELS to the 2 CAN buffers
+  for (int i = 0; (i < RADIO_CONTROL_NB_CHANNEL) && (i < 4); i++) {
+    imcu_chan1.cmd[i] = fbw_state->channels[i];
+  }
+  for (int i = 0; (i < (RADIO_CONTROL_NB_CHANNEL - 4)) && (i < 4); i++) {
+    imcu_chan2.cmd[i] = fbw_state->channels[4 + i];
+  }
+
+  if (bit_is_set(fbw_state->status, RC_OK)) {
+    ppz_can_transmit(MSG_INTERMCU_RADIO_LOW_ID,  imcu_chan1.data, 8);
+    ppz_can_transmit(MSG_INTERMCU_RADIO_HIGH_ID, imcu_chan2.data, 8);
+  }
+#endif
+}
+#endif
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+// STATUS LOGIC AND TELEMETRY
+// Downlink FBW status from AP
+
+struct link_mcu_msg link_mcu_from_ap_msg;
+struct link_mcu_msg link_mcu_from_fbw_msg;
+
+
+#ifdef AP
+#include "subsystems/datalink/telemetry.h"
+
+#define RC_OK          0
+#define RC_LOST        1
+#define RC_REALLY_LOST 2
+
+
+static void send_commands(void)
+{
+  DOWNLINK_SEND_COMMANDS(DefaultChannel, DefaultDevice, COMMANDS_NB, ap_state->commands);
+}
+
+static void send_fbw_status(void)
+{
+  uint8_t rc_status = 0;
+  uint8_t fbw_status = 0;
+  if (bit_is_set(fbw_state->status, STATUS_MODE_AUTO)) {
+    fbw_status = FBW_MODE_AUTO;
+  }
+  if (bit_is_set(fbw_state->status, STATUS_MODE_FAILSAFE)) {
+    fbw_status = FBW_MODE_FAILSAFE;
+  }
+  if (bit_is_set(fbw_state->status, STATUS_RADIO_REALLY_LOST)) {
+    rc_status = RC_REALLY_LOST;
+  } else if (bit_is_set(fbw_state->status, RC_OK)) {
+    rc_status = RC_OK;
+  } else {
+    rc_status = RC_LOST;
+  }
+  DOWNLINK_SEND_FBW_STATUS(DefaultChannel, DefaultDevice,
+                           &(rc_status), &(fbw_state->ppm_cpt), &(fbw_status), &(fbw_state->vsupply), &(fbw_state->current));
+}
+#endif
+
+void link_mcu_init(void)
+{
+  ppz_can_init(link_mcu_on_can_msg);
+
+#ifdef AP
+#if PERIODIC_TELEMETRY
+  // If FBW has not telemetry, then AP can send some of the info
+  register_periodic_telemetry(DefaultPeriodic, "COMMANDS", send_commands);
+  register_periodic_telemetry(DefaultPeriodic, "FBW_STATUS", send_fbw_status);
+#endif
+#endif
+}
+
+void link_mcu_event_task(void)
+{
+  // No event function: CAN_RX_IRQ is called on reception of data
+}
diff --git a/sw/airborne/link_mcu_can.h b/sw/airborne/link_mcu_can.h
new file mode 100644
index 00000000000..6cab3833d76
--- /dev/null
+++ b/sw/airborne/link_mcu_can.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2010-2012 The Paparazzi Team
+ *
+ * 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, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file link_mcu_can.h
+ * Transport for the communication between FBW and AP via CAN.
+ *
+ */
+
+#ifndef LINK_MCU_CAN_H
+#define LINK_MCU_CAN_H
+
+#include <inttypes.h>
+#include "inter_mcu.h"
+
+struct link_mcu_msg {
+  union  {
+    struct fbw_state from_fbw;
+    struct ap_state  from_ap;
+  } payload;
+};
+
+extern struct link_mcu_msg link_mcu_from_ap_msg;
+extern struct link_mcu_msg link_mcu_from_fbw_msg;
+
+extern bool_t link_mcu_received;
+
+extern void link_mcu_send(void);
+extern void link_mcu_init(void);
+extern void link_mcu_event_task(void);
+extern void link_mcu_periodic_task(void);
+
+
+#endif /* LINK_MCU_CAN_H */
diff --git a/sw/airborne/link_mcu_spi.h b/sw/airborne/link_mcu_spi.h
index 118efc8f209..4b61e493a07 100644
--- a/sw/airborne/link_mcu_spi.h
+++ b/sw/airborne/link_mcu_spi.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2003-2005  Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
  *
@@ -14,18 +14,18 @@
  * 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.
- *
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
 
-/** \brief Transport for the communication between FBW and AP in a bi-process
-    architecture. Essentially adds a checksum to the inter_mcu structure.
+/**
+ * @file link_mcu_spi.h
+ * Transport for the communication between FBW and AP via SPI.
+ *
  */
 
-#ifndef LINK_MCU_H
-#define LINK_MCU_H
+#ifndef LINK_MCU_SPI_H
+#define LINK_MCU_SPI_H
 
 #include <inttypes.h>
 #include "inter_mcu.h"
@@ -64,4 +64,4 @@ extern uint8_t link_mcu_fbw_nb_err;
 extern void link_mcu_send(void);
 #endif /* AP */
 
-#endif
+#endif /* LINK_MCU_SPI_H */
diff --git a/sw/airborne/link_mcu_usart.h b/sw/airborne/link_mcu_usart.h
index 775ef90008e..0140c4146ac 100644
--- a/sw/airborne/link_mcu_usart.h
+++ b/sw/airborne/link_mcu_usart.h
@@ -14,17 +14,18 @@
  * 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.
- *
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
 
-/** \brief Transport for the communication between FBW and AP via UART.
+/**
+ * @file link_mcu_usart.h
+ * Transport for the communication between FBW and AP via UART.
+ *
  */
 
-#ifndef LINK_MCU_H
-#define LINK_MCU_H
+#ifndef LINK_MCU_USART_H
+#define LINK_MCU_USART_H
 
 #include <inttypes.h>
 #include "inter_mcu.h"
@@ -47,4 +48,4 @@ extern void link_mcu_event_task( void );
 extern void link_mcu_periodic_task( void );
 
 
-#endif
+#endif /* LINK_MCU_USART_H */