diff --git a/sot-talos/Makefile b/sot-talos/Makefile
index bf00ace7de1cde2afa8b2fc967e9cec026a6d23b..2d75ed758ead1f6500a2304ad4fda69719af417e 100644
--- a/sot-talos/Makefile
+++ b/sot-talos/Makefile
@@ -4,7 +4,7 @@
 DISTNAME=		sot-talos-0.0.2
 MASTER_SITES=		${MASTER_SITE_JRL:=talos/sot-talos/}
 MASTER_REPOSITORY=	https://redmine.laas.fr/laas/users/
-PKGREVISION=		2
+PKGREVISION=		3
 
 CATEGORIES=		wip
 COMMENT=		This packages provides a generic Stack Of Tasks library for the humanoid robot Pyrene.
diff --git a/sot-talos/distinfo b/sot-talos/distinfo
index bc6e2d84bd304cba95927ab09717f547f2a083cd..32e7a2d28626eca552fbd1bf1208723fec144b20 100644
--- a/sot-talos/distinfo
+++ b/sot-talos/distinfo
@@ -2,3 +2,4 @@ SHA1 (sot-talos-0.0.2.tar.gz) = 032a75e579bec14be3b5516693cbca68f5f744cf
 RMD160 (sot-talos-0.0.2.tar.gz) = 47c0afd4a706ff0e57eccf9aa81ac80ef6a30a7a
 Size (sot-talos-0.0.2.tar.gz) = 749436 bytes
 SHA1 (patch-aa) = 068f01d154b5081b8bcfc379451f1f972f0a95fb
+SHA1 (patch-ab) = 91dce0eee45495c6dd82ae090f3dc39971702746
diff --git a/sot-talos/patches/patch-ab b/sot-talos/patches/patch-ab
new file mode 100644
index 0000000000000000000000000000000000000000..c3a413806f924624437eb20b73d150c8d2ded2d4
--- /dev/null
+++ b/sot-talos/patches/patch-ab
@@ -0,0 +1,53 @@
+diff --git src/sot-talos-controller.cpp src/sot-talos-controller.cpp
+index 3d49f5c..231637d 100644
+--- src/sot-talos-controller.cpp
++++ src/sot-talos-controller.cpp
+@@ -116,6 +116,18 @@ getControl(map<string,dgsot::ControlValues> &controlOut)
+ }
+ 
+ void SoTTalosController::
++setNoIntegration(void)
++{
++  device_.setNoIntegration();
++}
++
++void SoTTalosController::
++setSecondOrderIntegration(void)
++{
++  device_.setSecondOrderIntegration();
++}
++
++void SoTTalosController::
+ runPython(std::ostream& file,
+ 	  const std::string& command,
+ 	  dynamicgraph::Interpreter& interpreter)
+diff --git src/sot-talos-controller.hh src/sot-talos-controller.hh
+index b58cc7e..bd1957c 100644
+--- src/sot-talos-controller.hh
++++ src/sot-talos-controller.hh
+@@ -42,6 +42,9 @@ class SoTTalosController: public
+ 
+   void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
+ 
++  void setNoIntegration(void);
++  void setSecondOrderIntegration(void);
++
+   /// Embedded python interpreter accessible via Corba/ros
+   boost::shared_ptr<dynamicgraph::Interpreter> interpreter_;
+ 
+diff --git src/sot-talos-device.cpp src/sot-talos-device.cpp
+index 7f80772..3061f92 100644
+--- src/sot-talos-device.cpp
++++ src/sot-talos-device.cpp
+@@ -258,7 +258,7 @@ void SoTTalosDevice::getControl(map<string,dgsot::ControlValues> &controlOut)
+ 
+   for(unsigned int i=6; i < state_.size();++i)
+     anglesOut[i-6] = state_(i);
+-  controlOut["joints"].setValues(anglesOut);
++  controlOut["control"].setValues(anglesOut);
+   // Read zmp reference from input signal if plugged
+   int time = controlSIN.getTime ();
+   zmpSIN.recompute (time + 1);
+-- 
+1.9.1
+