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diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Api/vp_api_io_multi_stage.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Api/vp_api_io_multi_stage.c
new file mode 100644
index 0000000..fb0b736
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Api/vp_api_io_multi_stage.c
@@ -0,0 +1,70 @@
+/**
+ *  \brief    VP Api. Composite Stage Declaration
+ *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.fr>
+ *  \author   Aurelien Morelle <aurelien.morelle@parrot.fr>
+ *  \author   Thomas Landais <thomas.landais@parrot.fr>
+ *  \version  1.0
+ *  \date     first release 21/03/2007
+ */
+
+#include <VP_Api/vp_api_io_multi_stage.h>
+#include <VP_Api/vp_api_error.h>
+#include <VP_Os/vp_os_assert.h>
+
+C_RESULT
+vp_api_multi_stage_open(vp_api_io_multi_stage_config_t *cfg)
+{
+  uint32_t i;
+
+  for(i = 0; i < cfg->nb_stages; i++)
+  {
+    VP_OS_ASSERT(cfg->stages[i].funcs.open);
+    VP_OS_ASSERT(cfg->stages[i].funcs.transform);
+    VP_OS_ASSERT(cfg->stages[i].funcs.close);
+
+    if(VP_FAILED(cfg->stages[i].funcs.open(cfg->stages[i].cfg)))
+      return (VP_FAILURE);
+  }
+
+  return (VP_SUCCESS);
+}
+
+C_RESULT
+vp_api_multi_stage_transform(vp_api_io_multi_stage_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+  uint32_t i;
+  C_RESULT res = (VP_FAILURE);
+
+  // if a stage is selected then execute only this one
+  if(cfg->activ_stage >= 0 && cfg->activ_stage < (int32_t)cfg->nb_stages)
+    res = cfg->stages[cfg->activ_stage].funcs.transform(cfg->stages[cfg->activ_stage].cfg, in, out);
+
+  // Otherwise if activ_stage == -1 then execute all stages
+  if(cfg->activ_stage == VP_API_EXECUTE_ALL_STAGES)
+  {
+    res = VP_SUCCESS;
+    for(i = 0; i < cfg->nb_stages && res == VP_SUCCESS; i++)
+    {
+      res = cfg->stages[i].funcs.transform(cfg->stages[i].cfg, in, out);
+    }
+  }
+
+  if(cfg->activ_stage == VP_API_EXECUTE_NO_STAGE)
+    res = VP_SUCCESS;
+
+  return res;
+}
+
+C_RESULT
+vp_api_multi_stage_close(vp_api_io_multi_stage_config_t *cfg)
+{
+  uint32_t i;
+
+  for(i = 0; i < cfg->nb_stages; i++)
+  {
+    if(VP_FAILED(cfg->stages[i].funcs.close(cfg->stages[i].cfg)))
+      return (VP_FAILURE);
+  }
+
+  return (VP_SUCCESS);
+}