diff --git a/py-sot-core-v3/Makefile b/py-sot-core-v3/Makefile
index 1a3aea029206746a60c05377605f3f948ce8bf04..39def480791bbcff48ef62d960f0bc638ed60fb7 100644
--- a/py-sot-core-v3/Makefile
+++ b/py-sot-core-v3/Makefile
@@ -5,7 +5,7 @@
 ORG=			stack-of-tasks
 NAME=			sot-core
 VERSION=		4.3.0
-PKGREVISION=		1
+PKGREVISION=		2
 
 DISTNAME=		${NAME}-${VERSION}
 PKGNAME=		${PKGTAG.python-}${NAME}-v3-${VERSION}
diff --git a/py-sot-core-v3/PLIST b/py-sot-core-v3/PLIST
index 044ddb61677fa0f68c8d7b95dd27dd8be1499c60..a63317c81619b5d8d99e9c298e7fe7a9208b28ac 100644
--- a/py-sot-core-v3/PLIST
+++ b/py-sot-core-v3/PLIST
@@ -41,6 +41,8 @@ ${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_vector3/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_vector3/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_visual_point/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_visual_point/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/core/filter_differentiator/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/core/filter_differentiator/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/fir_filter/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/fir_filter/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/gain_adaptive/__init__.py
@@ -63,6 +65,8 @@ ${PYTHON_SITELIB}/dynamic_graph/sot/core/kalman/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/kalman/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/latch/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/latch/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/core/madgwickahrs/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/core/madgwickahrs	/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/mailbox_vector/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/mailbox_vector/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/math_small_entities.py
diff --git a/py-sot-core-v3/distinfo b/py-sot-core-v3/distinfo
index 0e0d71fff87f18a40fe5fd2f4b0a597f7dd8fe74..f4e13b672ca78bff71e4f91f5bb72f7e04533127 100644
--- a/py-sot-core-v3/distinfo
+++ b/py-sot-core-v3/distinfo
@@ -1,3 +1,4 @@
-SHA1 (sot-core-4.3.0.tar.gz) = bd29d4731f630ae9dbae056e89ce3e042d8c4d99
-RMD160 (sot-core-4.3.0.tar.gz) = b63834c43e023f25ca026a1db8e65a72c4d8a4e4
-Size (sot-core-4.3.0.tar.gz) = 1102958 bytes
+SHA1 (sot-core-4.3.0.tar.gz) = 86c69cb3f15b782ed64d02501a5077d6bf800a9a
+RMD160 (sot-core-4.3.0.tar.gz) = 89926953ec674eff26a0be6b82106349885045cf
+Size (sot-core-4.3.0.tar.gz) = 1102927 bytes
+SHA1 (patch-aa) = c9046835b2583616c8d23b29d11902d74dba710f
diff --git a/py-sot-core-v3/patches/patch-aa b/py-sot-core-v3/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..8ce34870ed9feef53fefbb2ea3eb0ec9562f6526
--- /dev/null
+++ b/py-sot-core-v3/patches/patch-aa
@@ -0,0 +1,20 @@
+--- src/CMakeLists.txt
++++ src/CMakeLists.txt
+@@ -230,9 +230,13 @@ FOREACH(plugin ${plugins})
+       sot-core-${PYTHON_LIBRARY_NAME}-wrap
+       )
+   ENDIF(BUILD_PYTHON_INTERFACE)
+-  # Install plugins
+-  INSTALL(TARGETS ${LIBRARY_NAME}
+-    DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
++
++  IF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
++    # Install plugins
++    INSTALL(TARGETS ${LIBRARY_NAME}
++      DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
++  ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
++  
+ ENDFOREACH(plugin)
+ 
+ IF(BUILD_PYTHON_INTERFACE)
+