diff --git a/AndroidManifest.xml b/AndroidManifest.xml
new file mode 100644
index 0000000..edf2d8f
--- /dev/null
+++ b/AndroidManifest.xml
@@ -0,0 +1,25 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="se.bitcraze.crazyfliecontrol"
+    android:versionCode="1"
+    android:versionName="1.0" >
+
+    <uses-sdk
+        android:minSdkVersion="13"
+        android:targetSdkVersion="15" />
+
+    <application
+        android:icon="@drawable/ic_launcher"
+        android:label="@string/app_name"
+        android:theme="@style/AppTheme" >
+        <activity
+            android:name=".MainActivity"
+            android:label="@string/title_activity_main" >
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
+    </application>
+
+</manifest>
\ No newline at end of file
diff --git a/gen/se/bitcraze/crazyfliecontrol/BuildConfig.java b/gen/se/bitcraze/crazyfliecontrol/BuildConfig.java
new file mode 100644
index 0000000..f087bd2
--- /dev/null
+++ b/gen/se/bitcraze/crazyfliecontrol/BuildConfig.java
@@ -0,0 +1,6 @@
+/** Automatically generated file. DO NOT MODIFY */
+package se.bitcraze.crazyfliecontrol;
+
+public final class BuildConfig {
+    public final static boolean DEBUG = true;
+}
\ No newline at end of file
diff --git a/gen/se/bitcraze/crazyfliecontrol/R.java b/gen/se/bitcraze/crazyfliecontrol/R.java
new file mode 100644
index 0000000..ef2d481
--- /dev/null
+++ b/gen/se/bitcraze/crazyfliecontrol/R.java
@@ -0,0 +1,40 @@
+/* AUTO-GENERATED FILE.  DO NOT MODIFY.
+ *
+ * This class was automatically generated by the
+ * aapt tool from the resource data it found.  It
+ * should not be modified by hand.
+ */
+
+package se.bitcraze.crazyfliecontrol;
+
+public final class R {
+    public static final class attr {
+    }
+    public static final class drawable {
+        public static final int ic_action_search=0x7f020000;
+        public static final int ic_launcher=0x7f020001;
+    }
+    public static final class id {
+        public static final int joysticks=0x7f070000;
+        public static final int menu_connect=0x7f070001;
+        public static final int menu_disconnect=0x7f070002;
+    }
+    public static final class layout {
+        public static final int activity_main=0x7f030000;
+    }
+    public static final class menu {
+        public static final int activity_main=0x7f060000;
+    }
+    public static final class string {
+        public static final int app_name=0x7f040000;
+        public static final int connect=0x7f040004;
+        public static final int copter_channel=0x7f040005;
+        public static final int hello_world=0x7f040001;
+        public static final int menu_connect=0x7f040006;
+        public static final int menu_disconnect=0x7f040002;
+        public static final int title_activity_main=0x7f040003;
+    }
+    public static final class style {
+        public static final int AppTheme=0x7f050000;
+    }
+}
diff --git a/ic_launcher-web.png b/ic_launcher-web.png
new file mode 100644
index 0000000..518339f
Binary files /dev/null and b/ic_launcher-web.png differ
diff --git a/libs/android-support-v4.jar b/libs/android-support-v4.jar
new file mode 100644
index 0000000..feaf44f
Binary files /dev/null and b/libs/android-support-v4.jar differ
diff --git a/res/drawable-hdpi/ic_action_search.png b/res/drawable-hdpi/ic_action_search.png
new file mode 100644
index 0000000..67de12d
Binary files /dev/null and b/res/drawable-hdpi/ic_action_search.png differ
diff --git a/res/drawable-hdpi/ic_launcher.png b/res/drawable-hdpi/ic_launcher.png
new file mode 100644
index 0000000..fe13414
Binary files /dev/null and b/res/drawable-hdpi/ic_launcher.png differ
diff --git a/res/drawable-ldpi/ic_launcher.png b/res/drawable-ldpi/ic_launcher.png
new file mode 100644
index 0000000..9f554ca
Binary files /dev/null and b/res/drawable-ldpi/ic_launcher.png differ
diff --git a/res/drawable-mdpi/ic_action_search.png b/res/drawable-mdpi/ic_action_search.png
new file mode 100644
index 0000000..134d549
Binary files /dev/null and b/res/drawable-mdpi/ic_action_search.png differ
diff --git a/res/drawable-mdpi/ic_launcher.png b/res/drawable-mdpi/ic_launcher.png
new file mode 100644
index 0000000..58f379f
Binary files /dev/null and b/res/drawable-mdpi/ic_launcher.png differ
diff --git a/res/drawable-xhdpi/ic_action_search.png b/res/drawable-xhdpi/ic_action_search.png
new file mode 100644
index 0000000..d699c6b
Binary files /dev/null and b/res/drawable-xhdpi/ic_action_search.png differ
diff --git a/res/drawable-xhdpi/ic_launcher.png b/res/drawable-xhdpi/ic_launcher.png
new file mode 100644
index 0000000..220c12a
Binary files /dev/null and b/res/drawable-xhdpi/ic_launcher.png differ
diff --git a/res/layout/activity_main.xml b/res/layout/activity_main.xml
new file mode 100644
index 0000000..122c562
--- /dev/null
+++ b/res/layout/activity_main.xml
@@ -0,0 +1,17 @@
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent" >
+
+    <com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
+        android:id="@+id/joysticks"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignParentBottom="true"
+        android:layout_alignParentLeft="true"
+        android:layout_alignParentRight="true"
+        android:layout_alignParentTop="true" >
+
+    </com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView>
+
+</RelativeLayout>
diff --git a/res/menu/activity_main.xml b/res/menu/activity_main.xml
new file mode 100644
index 0000000..53062f5
--- /dev/null
+++ b/res/menu/activity_main.xml
@@ -0,0 +1,7 @@
+<menu xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:id="@+id/menu_connect" android:title="@string/menu_connect" android:showAsAction="never"></item><item android:id="@+id/menu_disconnect"
+        android:title="@string/menu_disconnect"
+        android:orderInCategory="100"
+        android:showAsAction="never" />
+    
+</menu>
diff --git a/res/values-v11/styles.xml b/res/values-v11/styles.xml
new file mode 100644
index 0000000..d408cbc
--- /dev/null
+++ b/res/values-v11/styles.xml
@@ -0,0 +1,5 @@
+<resources>
+
+    <style name="AppTheme" parent="android:Theme.Holo.Light" />
+
+</resources>
\ No newline at end of file
diff --git a/res/values-v14/styles.xml b/res/values-v14/styles.xml
new file mode 100644
index 0000000..1c089a7
--- /dev/null
+++ b/res/values-v14/styles.xml
@@ -0,0 +1,5 @@
+<resources>
+
+    <style name="AppTheme" parent="android:Theme.Holo.Light.DarkActionBar" />
+
+</resources>
\ No newline at end of file
diff --git a/res/values/strings.xml b/res/values/strings.xml
new file mode 100644
index 0000000..8299710
--- /dev/null
+++ b/res/values/strings.xml
@@ -0,0 +1,11 @@
+<resources>
+
+    <string name="app_name">CrazyflieControl</string>
+    <string name="hello_world">Hello world!</string>
+    <string name="menu_disconnect">Disconnect</string>
+    <string name="title_activity_main">Crazyflie Control</string>
+    <string name="connect">Connect</string>
+    <string name="copter_channel">Copter channel:</string>
+    <string name="menu_connect">Connect</string>
+
+</resources>
\ No newline at end of file
diff --git a/res/values/styles.xml b/res/values/styles.xml
new file mode 100644
index 0000000..4dba0d0
--- /dev/null
+++ b/res/values/styles.xml
@@ -0,0 +1,5 @@
+<resources>
+
+    <style name="AppTheme" parent="android:Theme.Light" />
+
+</resources>
\ No newline at end of file
diff --git a/src/com/MobileAnarchy/Android/Widgets/Joystick/DualJoystickView.java b/src/com/MobileAnarchy/Android/Widgets/Joystick/DualJoystickView.java
new file mode 100644
index 0000000..bb419d4
--- /dev/null
+++ b/src/com/MobileAnarchy/Android/Widgets/Joystick/DualJoystickView.java
@@ -0,0 +1,147 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.LinearLayout;
+
+public class DualJoystickView extends LinearLayout {
+	@SuppressWarnings("unused")
+	private static final String TAG = DualJoystickView.class.getSimpleName();
+	
+	private final boolean D = false;
+	private Paint dbgPaint1;
+
+	private JoystickView stickL;
+	private JoystickView stickR;
+
+	private View pad;
+
+	public DualJoystickView(Context context) {
+		super(context);
+		stickL = new JoystickView(context);
+		stickR = new JoystickView(context);
+		initDualJoystickView();
+	}
+
+	public DualJoystickView(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		stickL = new JoystickView(context, attrs);
+		stickR = new JoystickView(context, attrs);
+		initDualJoystickView();
+	}
+
+	private void initDualJoystickView() {
+		setOrientation(LinearLayout.HORIZONTAL);
+		
+		if ( D ) {
+			dbgPaint1 = new Paint(Paint.ANTI_ALIAS_FLAG);
+			dbgPaint1.setColor(Color.CYAN);
+			dbgPaint1.setStrokeWidth(1);
+			dbgPaint1.setStyle(Paint.Style.STROKE);
+		}
+		
+		pad = new View(getContext());
+	}
+	
+	@Override
+	protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		super.onMeasure(widthMeasureSpec, heightMeasureSpec);
+		removeView(stickL);
+		removeView(stickR);
+
+		float padW = getMeasuredWidth()-(getMeasuredHeight()*2);
+		int joyWidth = (int) ((getMeasuredWidth()-padW)/2);
+		LayoutParams joyLParams = new LayoutParams(joyWidth,getMeasuredHeight());
+		
+		stickL.setLayoutParams(joyLParams);
+		stickR.setLayoutParams(joyLParams);
+		
+		stickL.TAG = "L";
+		stickR.TAG = "R";
+		stickL.setPointerId(JoystickView.INVALID_POINTER_ID);
+		stickR.setPointerId(JoystickView.INVALID_POINTER_ID);
+
+		addView(stickL);
+
+		ViewGroup.LayoutParams padLParams = new ViewGroup.LayoutParams((int) padW,getMeasuredHeight());
+		removeView(pad);
+		pad.setLayoutParams(padLParams);
+		addView(pad);
+		
+		addView(stickR);
+	}
+	
+	@Override
+	protected void onLayout(boolean changed, int l, int t, int r, int b) {
+		super.onLayout(changed, l, t, r, b);
+		stickR.setTouchOffset(stickR.getLeft(), stickR.getTop());
+	}
+	
+	public void setAutoReturnToCenter(boolean left, boolean right) {
+		stickL.setAutoReturnToCenter(left);
+		stickR.setAutoReturnToCenter(right);
+	}
+	
+	public void setOnJostickMovedListener(JoystickMovedListener left, JoystickMovedListener right) {
+		stickL.setOnJostickMovedListener(left);
+		stickR.setOnJostickMovedListener(right);
+	}
+	
+	public void setOnJostickClickedListener(JoystickClickedListener left, JoystickClickedListener right) {
+		stickL.setOnJostickClickedListener(left);
+		stickR.setOnJostickClickedListener(right);
+	}
+	
+	public void setYAxisInverted(boolean leftYAxisInverted, boolean rightYAxisInverted) {
+		stickL.setYAxisInverted(leftYAxisInverted);
+		stickL.setYAxisInverted(rightYAxisInverted);
+	}
+
+	public void setMovementConstraint(int movementConstraint) {
+		stickL.setMovementConstraint(movementConstraint);
+		stickR.setMovementConstraint(movementConstraint);
+	}
+
+	public void setMovementRange(float movementRangeLeft, float movementRangeRight) {
+		stickL.setMovementRange(movementRangeLeft);
+		stickR.setMovementRange(movementRangeRight);
+	}
+
+	public void setMoveResolution(float leftMoveResolution, float rightMoveResolution) {
+		stickL.setMoveResolution(leftMoveResolution);
+		stickR.setMoveResolution(rightMoveResolution);
+	}
+
+	public void setUserCoordinateSystem(int leftCoordinateSystem, int rightCoordinateSystem) {
+		stickL.setUserCoordinateSystem(leftCoordinateSystem);
+		stickR.setUserCoordinateSystem(rightCoordinateSystem);
+	}
+	
+	@Override
+	protected void dispatchDraw(Canvas canvas) {
+		super.dispatchDraw(canvas);
+		if (D) {
+			canvas.drawRect(1, 1, getMeasuredWidth()-1, getMeasuredHeight()-1, dbgPaint1);
+		}
+	}
+	
+	@Override
+	public boolean dispatchTouchEvent(MotionEvent ev) {
+    	boolean l = stickL.dispatchTouchEvent(ev);
+    	boolean r = stickR.dispatchTouchEvent(ev);
+    	return l || r;
+	}
+	
+	@Override
+	public boolean onTouchEvent(MotionEvent ev) {
+    	boolean l = stickL.onTouchEvent(ev);
+    	boolean r = stickR.onTouchEvent(ev);
+    	return l || r;
+	}
+}
diff --git a/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickClickedListener.java b/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickClickedListener.java
new file mode 100644
index 0000000..1288289
--- /dev/null
+++ b/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickClickedListener.java
@@ -0,0 +1,6 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+public interface JoystickClickedListener {
+	public void OnClicked();
+	public void OnReleased();
+}
diff --git a/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickMovedListener.java b/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickMovedListener.java
new file mode 100644
index 0000000..346f2ef
--- /dev/null
+++ b/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickMovedListener.java
@@ -0,0 +1,7 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+public interface JoystickMovedListener {
+	public void OnMoved(int pan, int tilt);
+	public void OnReleased();
+	public void OnReturnedToCenter();
+}
diff --git a/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java b/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
new file mode 100644
index 0000000..3411b8a
--- /dev/null
+++ b/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
@@ -0,0 +1,520 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.util.FloatMath;
+import android.util.Log;
+import android.view.HapticFeedbackConstants;
+import android.view.MotionEvent;
+import android.view.View;
+
+public class JoystickView extends View {
+	public static final int INVALID_POINTER_ID = -1;
+	
+	// =========================================
+	// Private Members
+	// =========================================
+	private final boolean D = false;
+	String TAG = "JoystickView";
+	
+	private Paint dbgPaint1;
+	private Paint dbgPaint2;
+	
+	private Paint bgPaint;
+	private Paint handlePaint;
+	
+	private int innerPadding;
+	private int bgRadius;
+	private int handleRadius;
+	private int movementRadius;
+	private int handleInnerBoundaries;
+	
+	private JoystickMovedListener moveListener;
+	private JoystickClickedListener clickListener;
+
+	//# of pixels movement required between reporting to the listener
+	private float moveResolution;
+
+	private boolean yAxisInverted;
+	private boolean autoReturnToCenter;
+	
+	//Max range of movement in user coordinate system
+	public final static int CONSTRAIN_BOX = 0;
+	public final static int CONSTRAIN_CIRCLE = 1;
+	private int movementConstraint;
+	private float movementRange;
+
+	public final static int COORDINATE_CARTESIAN = 0;		//Regular cartesian coordinates
+	public final static int COORDINATE_DIFFERENTIAL = 1;	//Uses polar rotation of 45 degrees to calc differential drive paramaters
+	private int userCoordinateSystem;
+	
+	//Records touch pressure for click handling
+	private float touchPressure;
+	private boolean clicked;
+	private float clickThreshold;
+	
+	//Last touch point in view coordinates
+	private int pointerId = INVALID_POINTER_ID;
+	private float touchX, touchY;
+	
+	//Last reported position in view coordinates (allows different reporting sensitivities)
+	private float reportX, reportY;
+	
+	//Handle center in view coordinates
+	private float handleX, handleY;
+	
+	//Center of the view in view coordinates
+	private int cX, cY;
+
+	//Size of the view in view coordinates
+	private int dimX; //, dimY;
+
+	//Cartesian coordinates of last touch point - joystick center is (0,0)
+	private int cartX, cartY;
+	
+	//Polar coordinates of the touch point from joystick center
+	private double radial;
+	private double angle;
+	
+	//User coordinates of last touch point
+	private int userX, userY;
+
+	//Offset co-ordinates (used when touch events are received from parent's coordinate origin)
+	private int offsetX;
+	private int offsetY;
+
+	// =========================================
+	// Constructors
+	// =========================================
+
+	public JoystickView(Context context) {
+		super(context);
+		initJoystickView();
+	}
+
+	public JoystickView(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		initJoystickView();
+	}
+
+	public JoystickView(Context context, AttributeSet attrs, int defStyle) {
+		super(context, attrs, defStyle);
+		initJoystickView();
+	}
+
+	// =========================================
+	// Initialization
+	// =========================================
+
+	private void initJoystickView() {
+		setFocusable(true);
+
+		dbgPaint1 = new Paint(Paint.ANTI_ALIAS_FLAG);
+		dbgPaint1.setColor(Color.RED);
+		dbgPaint1.setStrokeWidth(1);
+		dbgPaint1.setStyle(Paint.Style.STROKE);
+		
+		dbgPaint2 = new Paint(Paint.ANTI_ALIAS_FLAG);
+		dbgPaint2.setColor(Color.GREEN);
+		dbgPaint2.setStrokeWidth(1);
+		dbgPaint2.setStyle(Paint.Style.STROKE);
+		
+		bgPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		bgPaint.setColor(Color.GRAY);
+		bgPaint.setStrokeWidth(1);
+		bgPaint.setStyle(Paint.Style.FILL_AND_STROKE);
+
+		handlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		handlePaint.setColor(Color.DKGRAY);
+		handlePaint.setStrokeWidth(1);
+		handlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
+
+		innerPadding = 10;
+		
+		setMovementRange(10);
+		setMoveResolution(1.0f);
+		setClickThreshold(0.4f);
+		setYAxisInverted(true);
+		setUserCoordinateSystem(COORDINATE_CARTESIAN);
+		setAutoReturnToCenter(true);
+	}
+
+	public void setAutoReturnToCenter(boolean autoReturnToCenter) {
+		this.autoReturnToCenter = autoReturnToCenter;
+	}
+	
+	public boolean isAutoReturnToCenter() {
+		return autoReturnToCenter;
+	}
+	
+	public void setUserCoordinateSystem(int userCoordinateSystem) {
+		if (userCoordinateSystem < COORDINATE_CARTESIAN || movementConstraint > COORDINATE_DIFFERENTIAL)
+			Log.e(TAG, "invalid value for userCoordinateSystem");
+		else
+			this.userCoordinateSystem = userCoordinateSystem;
+	}
+	
+	public int getUserCoordinateSystem() {
+		return userCoordinateSystem;
+	}
+	
+	public void setMovementConstraint(int movementConstraint) {
+		if (movementConstraint < CONSTRAIN_BOX || movementConstraint > CONSTRAIN_CIRCLE)
+			Log.e(TAG, "invalid value for movementConstraint");
+		else
+			this.movementConstraint = movementConstraint;
+	}
+	
+	public int getMovementConstraint() {
+		return movementConstraint;
+	}
+	
+	public boolean isYAxisInverted() {
+		return yAxisInverted;
+	}
+	
+	public void setYAxisInverted(boolean yAxisInverted) {
+		this.yAxisInverted = yAxisInverted;
+	}
+	
+	/**
+	 * Set the pressure sensitivity for registering a click
+	 * @param clickThreshold threshold 0...1.0f inclusive. 0 will cause clicks to never be reported, 1.0 is a very hard click
+	 */
+	public void setClickThreshold(float clickThreshold) {
+		if (clickThreshold < 0 || clickThreshold > 1.0f)
+			Log.e(TAG, "clickThreshold must range from 0...1.0f inclusive");
+		else
+			this.clickThreshold = clickThreshold;
+	}
+	
+	public float getClickThreshold() {
+		return clickThreshold;
+	}
+	
+	public void setMovementRange(float movementRange) {
+		this.movementRange = movementRange;
+	}
+	
+	public float getMovementRange() {
+		return movementRange;
+	}
+	
+	public void setMoveResolution(float moveResolution) {
+		this.moveResolution = moveResolution;
+	}
+	
+	public float getMoveResolution() {
+		return moveResolution;
+	}
+	
+	// =========================================
+	// Public Methods 
+	// =========================================
+
+	public void setOnJostickMovedListener(JoystickMovedListener listener) {
+		this.moveListener = listener;
+	}
+	
+	public void setOnJostickClickedListener(JoystickClickedListener listener) {
+		this.clickListener = listener;
+	}
+	
+	// =========================================
+	// Drawing Functionality 
+	// =========================================
+
+	@Override
+	protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		// Here we make sure that we have a perfect circle
+		int measuredWidth = measure(widthMeasureSpec);
+		int measuredHeight = measure(heightMeasureSpec);
+		setMeasuredDimension(measuredWidth, measuredHeight);
+	}
+
+	@Override
+	protected void onLayout(boolean changed, int left, int top, int right, int bottom) {
+		super.onLayout(changed, left, top, right, bottom);
+
+		int d = Math.min(getMeasuredWidth(), getMeasuredHeight());
+
+		dimX = d;
+		/*dimY = d;*/
+
+		cX = d / 2;
+		cY = d / 2;
+		
+		bgRadius = dimX/2 - innerPadding;
+		handleRadius = (int)(d * 0.25);
+		handleInnerBoundaries = handleRadius;
+		movementRadius = Math.min(cX, cY) - handleInnerBoundaries;
+	}
+
+	private int measure(int measureSpec) {
+		int result = 0;
+		// Decode the measurement specifications.
+		int specMode = MeasureSpec.getMode(measureSpec);
+		int specSize = MeasureSpec.getSize(measureSpec);
+		if (specMode == MeasureSpec.UNSPECIFIED) {
+			// Return a default size of 200 if no bounds are specified.
+			result = 200;
+		} else {
+			// As you want to fill the available space
+			// always return the full available bounds.
+			result = specSize;
+		}
+		return result;
+	}
+
+	@Override
+	protected void onDraw(Canvas canvas) {
+		canvas.save();
+		// Draw the background
+		canvas.drawCircle(cX, cY, bgRadius, bgPaint);
+
+		// Draw the handle
+		handleX = touchX + cX;
+		handleY = touchY + cY;
+		canvas.drawCircle(handleX, handleY, handleRadius, handlePaint);
+
+		if (D) {
+			canvas.drawRect(1, 1, getMeasuredWidth()-1, getMeasuredHeight()-1, dbgPaint1);
+			
+			canvas.drawCircle(handleX, handleY, 3, dbgPaint1);
+			
+			if ( movementConstraint == CONSTRAIN_CIRCLE ) {
+				canvas.drawCircle(cX, cY, this.movementRadius, dbgPaint1);
+			}
+			else {
+				canvas.drawRect(cX-movementRadius, cY-movementRadius, cX+movementRadius, cY+movementRadius, dbgPaint1);
+			}
+			
+			//Origin to touch point
+			canvas.drawLine(cX, cY, handleX, handleY, dbgPaint2);
+			
+			int baseY = (int) (touchY < 0 ? cY + handleRadius : cY - handleRadius);
+			canvas.drawText(String.format("%s (%.0f,%.0f)", TAG, touchX, touchY), handleX-20, baseY-7, dbgPaint2);
+			canvas.drawText("("+ String.format("%.0f, %.1f", radial, angle * 57.2957795) + (char) 0x00B0 + ")", handleX-20, baseY+15, dbgPaint2);
+		}
+
+//		Log.d(TAG, String.format("touch(%f,%f)", touchX, touchY));
+//		Log.d(TAG, String.format("onDraw(%.1f,%.1f)\n\n", handleX, handleY));
+		canvas.restore();
+	}
+
+	// Constrain touch within a box
+	private void constrainBox() {
+		touchX = Math.max(Math.min(touchX, movementRadius), -movementRadius);
+		touchY = Math.max(Math.min(touchY, movementRadius), -movementRadius);
+	}
+
+	// Constrain touch within a circle
+	private void constrainCircle() {
+		float diffX = touchX;
+		float diffY = touchY;
+		double radial = FloatMath.sqrt((diffX*diffX) + (diffY*diffY));
+		if ( radial > movementRadius ) {
+			touchX = (int)((diffX / radial) * movementRadius);
+			touchY = (int)((diffY / radial) * movementRadius);
+		}
+	}
+	
+	public void setPointerId(int id) {
+		this.pointerId = id;
+	}
+	
+	public int getPointerId() {
+		return pointerId;
+	}
+
+	@Override
+	public boolean onTouchEvent(MotionEvent ev) {
+	    final int action = ev.getAction();
+		switch (action & MotionEvent.ACTION_MASK) {
+		    case MotionEvent.ACTION_MOVE: {
+	    		return processMoveEvent(ev);
+		    }	    
+		    case MotionEvent.ACTION_CANCEL: 
+		    case MotionEvent.ACTION_UP: {
+		    	if ( pointerId != INVALID_POINTER_ID ) {
+//			    	Log.d(TAG, "ACTION_UP");
+			    	returnHandleToCenter();
+		        	setPointerId(INVALID_POINTER_ID);
+		    	}
+		        break;
+		    }
+		    case MotionEvent.ACTION_POINTER_UP: {
+		    	if ( pointerId != INVALID_POINTER_ID ) {
+			        final int pointerIndex = (action & MotionEvent.ACTION_POINTER_INDEX_MASK) >> MotionEvent.ACTION_POINTER_INDEX_SHIFT;
+			        final int pointerId = ev.getPointerId(pointerIndex);
+			        if ( pointerId == this.pointerId ) {
+//			        	Log.d(TAG, "ACTION_POINTER_UP: " + pointerId);
+			        	returnHandleToCenter();
+			        	setPointerId(INVALID_POINTER_ID);
+			    		return true;
+			        }
+		    	}
+		        break;
+		    }
+		    case MotionEvent.ACTION_DOWN: {
+		    	if ( pointerId == INVALID_POINTER_ID ) {
+		    		int x = (int) ev.getX();
+		    		if ( x >= offsetX && x < offsetX + dimX ) {
+			        	setPointerId(ev.getPointerId(0));
+//			        	Log.d(TAG, "ACTION_DOWN: " + getPointerId());
+			    		return true;
+		    		}
+		    	}
+		        break;
+		    }
+		    case MotionEvent.ACTION_POINTER_DOWN: {
+		    	if ( pointerId == INVALID_POINTER_ID ) {
+			        final int pointerIndex = (action & MotionEvent.ACTION_POINTER_INDEX_MASK) >> MotionEvent.ACTION_POINTER_INDEX_SHIFT;
+			        final int pointerId = ev.getPointerId(pointerIndex);
+		    		int x = (int) ev.getX(pointerId);
+		    		if ( x >= offsetX && x < offsetX + dimX ) {
+//			        	Log.d(TAG, "ACTION_POINTER_DOWN: " + pointerId);
+			        	setPointerId(pointerId);
+			    		return true;
+		    		}
+		    	}
+		        break;
+		    }
+	    }
+		return false;
+	}
+	
+	private boolean processMoveEvent(MotionEvent ev) {
+		if ( pointerId != INVALID_POINTER_ID ) {
+			final int pointerIndex = ev.findPointerIndex(pointerId);
+			
+			// Translate touch position to center of view
+			float x = ev.getX(pointerIndex);
+			touchX = x - cX - offsetX;
+			float y = ev.getY(pointerIndex);
+			touchY = y - cY - offsetY;
+
+//        	Log.d(TAG, String.format("ACTION_MOVE: (%03.0f, %03.0f) => (%03.0f, %03.0f)", x, y, touchX, touchY));
+        	
+			reportOnMoved();
+			invalidate();
+			
+			touchPressure = ev.getPressure(pointerIndex);
+			reportOnPressure();
+			
+			return true;
+		}
+		return false;
+	}
+
+	private void reportOnMoved() {
+		if ( movementConstraint == CONSTRAIN_CIRCLE )
+			constrainCircle();
+		else
+			constrainBox();
+
+		calcUserCoordinates();
+
+		if (moveListener != null) {
+			boolean rx = Math.abs(touchX - reportX) >= moveResolution;
+			boolean ry = Math.abs(touchY - reportY) >= moveResolution;
+			if (rx || ry) {
+				this.reportX = touchX;
+				this.reportY = touchY;
+				
+//				Log.d(TAG, String.format("moveListener.OnMoved(%d,%d)", (int)userX, (int)userY));
+				moveListener.OnMoved(userX, userY);
+			}
+		}
+	}
+
+	private void calcUserCoordinates() {
+		//First convert to cartesian coordinates
+		cartX = (int)(touchX / movementRadius * movementRange);
+		cartY = (int)(touchY / movementRadius * movementRange);
+		
+		radial = Math.sqrt((cartX*cartX) + (cartY*cartY));
+		angle = Math.atan2(cartY, cartX);
+		
+		//Invert Y axis if requested
+		if ( !yAxisInverted )
+			cartY  *= -1;
+		
+		if ( userCoordinateSystem == COORDINATE_CARTESIAN ) {
+			userX = cartX;
+			userY = cartY;
+		}
+		else if ( userCoordinateSystem == COORDINATE_DIFFERENTIAL ) {
+			userX = cartY + cartX / 4;
+			userY = cartY - cartX / 4;
+			
+			if ( userX < -movementRange )
+				userX = (int)-movementRange;
+			if ( userX > movementRange )
+				userX = (int)movementRange;
+
+			if ( userY < -movementRange )
+				userY = (int)-movementRange;
+			if ( userY > movementRange )
+				userY = (int)movementRange;
+		}
+		
+	}
+	
+	//Simple pressure click
+	private void reportOnPressure() {
+//		Log.d(TAG, String.format("touchPressure=%.2f", this.touchPressure));
+		if ( clickListener != null ) {
+			if ( clicked && touchPressure < clickThreshold ) {
+				clickListener.OnReleased();
+				this.clicked = false;
+//				Log.d(TAG, "reset click");
+				invalidate();
+			}
+			else if ( !clicked && touchPressure >= clickThreshold ) {
+				clicked = true;
+				clickListener.OnClicked();
+//				Log.d(TAG, "click");
+				invalidate();
+				performHapticFeedback(HapticFeedbackConstants.VIRTUAL_KEY);
+			}
+		}
+	}
+
+	private void returnHandleToCenter() {
+		if ( autoReturnToCenter ) {
+			final int numberOfFrames = 5;
+			final double intervalsX = (0 - touchX) / numberOfFrames;
+			final double intervalsY = (0 - touchY) / numberOfFrames;
+
+			for (int i = 0; i < numberOfFrames; i++) {
+				final int j = i;
+				postDelayed(new Runnable() {
+					public void run() {
+						touchX += intervalsX;
+						touchY += intervalsY;
+						
+						reportOnMoved();
+						invalidate();
+						
+						if (moveListener != null && j == numberOfFrames - 1) {
+							moveListener.OnReturnedToCenter();
+						}
+					}
+				}, i * 40);
+			}
+
+			if (moveListener != null) {
+				moveListener.OnReleased();
+			}
+		}
+	}
+
+	public void setTouchOffset(int x, int y) {
+		offsetX = x;
+		offsetY = y;
+	}
+}
diff --git a/src/se/bitcraze/crazyfliecontrol/MainActivity.java b/src/se/bitcraze/crazyfliecontrol/MainActivity.java
new file mode 100644
index 0000000..9c8c32f
--- /dev/null
+++ b/src/se/bitcraze/crazyfliecontrol/MainActivity.java
@@ -0,0 +1,27 @@
+package se.bitcraze.crazyfliecontrol;
+
+import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
+import android.os.Bundle;
+import android.app.Activity;
+import android.content.pm.ActivityInfo;
+import android.view.Menu;
+
+public class MainActivity extends Activity {
+
+	DualJoystickView joysticks;
+	
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_main);
+        this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);
+    
+        this.joysticks = (DualJoystickView) findViewById(R.id.joysticks);
+    }
+
+    @Override
+    public boolean onCreateOptionsMenu(Menu menu) {
+        getMenuInflater().inflate(R.menu.activity_main, menu);
+        return true;
+    }
+}