diff --git a/sw/airborne/booz_filter_telemetry.c b/sw/airborne/booz_filter_telemetry.c
new file mode 100644
index 0000000000..e5b51e4360
--- /dev/null
+++ b/sw/airborne/booz_filter_telemetry.c
@@ -0,0 +1,3 @@
+#include "booz_filter_telemetry.h"
+
+uint8_t telemetry_mode_Filter;
diff --git a/sw/airborne/booz_filter_telemetry.h b/sw/airborne/booz_filter_telemetry.h
new file mode 100644
index 0000000000..28ecec211e
--- /dev/null
+++ b/sw/airborne/booz_filter_telemetry.h
@@ -0,0 +1,74 @@
+#ifndef BOOZ_FILTER_TELEMETRY_H
+#define BOOZ_FILTER_TELEMETRY_H
+#include "std.h"
+#include "messages.h"
+#include "periodic.h"
+#include "uart.h"
+
+#include "imu_v3.h"
+#include "multitilt.h"
+
+#include "settings.h"
+
+#include "downlink.h"
+
+#define PERIODIC_SEND_IMU_GYRO()		\
+  DOWNLINK_SEND_IMU_GYRO(&imu_gyro[AXIS_X],	\
+			 &imu_gyro[AXIS_Y],	\
+			 &imu_gyro[AXIS_Z]);
+
+#define PERIODIC_SEND_IMU_GYRO_RAW()			\
+  DOWNLINK_SEND_IMU_GYRO_RAW(&imu_gyro_raw[AXIS_X],	\
+			     &imu_gyro_raw[AXIS_Y],	\
+			     &imu_gyro_raw[AXIS_Z]);
+
+#define PERIODIC_SEND_IMU_GYRO_LP()			\
+  DOWNLINK_SEND_IMU_GYRO_LP(&imu_gyro_lp[AXIS_X],	\
+			    &imu_gyro_lp[AXIS_Y],	\
+			    &imu_gyro_lp[AXIS_Z]);
+
+#define PERIODIC_SEND_IMU_ACCEL()		\
+  DOWNLINK_SEND_IMU_ACCEL(&imu_accel[AXIS_X],	\
+			  &imu_accel[AXIS_Y],	\
+			  &imu_accel[AXIS_Z]);
+
+#define PERIODIC_SEND_IMU_ACCEL_RAW()			\
+  DOWNLINK_SEND_IMU_ACCEL_RAW(&imu_accel_raw[AXIS_X],	\
+			      &imu_accel_raw[AXIS_Y],	\
+			      &imu_accel_raw[AXIS_Z]);
+
+#define PERIODIC_SEND_IMU_GYRO_RAW_AVG()			\
+  DOWNLINK_SEND_IMU_GYRO_RAW_AVG(&imu_vs_gyro_raw_avg[AXIS_X],	\
+				 &imu_vs_gyro_raw_avg[AXIS_Y],	\
+				 &imu_vs_gyro_raw_avg[AXIS_Z],	\
+				 &imu_vs_gyro_raw_var[AXIS_X],	\
+				 &imu_vs_gyro_raw_var[AXIS_Y],	\
+				 &imu_vs_gyro_raw_var[AXIS_Z]);
+
+#define PERIODIC_SEND_IMU_ACCEL_RAW_AVG()				\
+  DOWNLINK_SEND_IMU_ACCEL_RAW_AVG(&imu_vs_accel_raw_avg[AXIS_X],	\
+				  &imu_vs_accel_raw_avg[AXIS_Y],	\
+				  &imu_vs_accel_raw_avg[AXIS_Z],	\
+				  &imu_vs_accel_raw_var[AXIS_X],	\
+				  &imu_vs_accel_raw_var[AXIS_Y],	\
+				  &imu_vs_accel_raw_var[AXIS_Z]);
+
+#define PERIODIC_SEND_AHRS_STATE()					 \
+  DOWNLINK_SEND_AHRS_STATE(&mtt_phi, &mtt_theta, &mtt_theta, &mtt_theta, \
+			   &mtt_bp, &mtt_bq, &mtt_br);
+
+#define PERIODIC_SEND_AHRS_COV()					\
+  DOWNLINK_SEND_AHRS_COV(&mtt_P_phi[0][0], &mtt_P_phi[0][1],		\
+			 &mtt_P_phi[1][0], &mtt_P_phi[1][1],		\
+			 &mtt_P_theta[0][0], &mtt_P_theta[0][1],	\
+			 &mtt_P_theta[1][1]);
+
+#define PERIODIC_SEND_DL_VALUE() PeriodicSendDlValue()
+
+extern uint8_t telemetry_mode_Filter;
+
+static inline void booz_filter_telemetry_periodic_task(void) {
+  PeriodicSendFilter()
+}
+
+#endif /* BOOZ_FILTER_TELEMETRY_H */