diff --git a/conf/messages.xml b/conf/messages.xml
index 41507a747a..393a1a56ab 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1116,7 +1116,7 @@
     <field name="ref_rd"    type="float" alt_unit="degres/s2" alt_unit_coef="57.29578"/>
  </message>
 
- <message name="BOOZ2_CMD" id="143">
+ <message name="ROTORCRAFT_CMD" id="143">
     <field name="cmd_roll"   type="int32"/>
     <field name="cmd_pitch"  type="int32"/>
     <field name="cmd_yaw"    type="int32"/>
@@ -1207,7 +1207,7 @@
     <field name="ref_ydd" type="int32" alt_unit="m/s2"  alt_unit_coef="0.0009766"/>
   </message>
 
-  <message name="BOOZ2_TUNE_HOVER" id="150">
+  <message name="ROTORCRAFT_TUNE_HOVER" id="150">
     <field name="rc_roll"    type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
     <field name="rc_pitch"   type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
     <field name="rc_yaw"     type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
index 8a1aba364f..61cdfac796 100644
--- a/conf/telemetry/default_rotorcraft.xml
+++ b/conf/telemetry/default_rotorcraft.xml
@@ -6,28 +6,28 @@
   <process name="Main">
 
     <mode name="default" key_press="d">
-      <message name="DL_VALUE"          period="1.1"/>
-      <message name="ROTORCRAFT_STATUS"       period="1.2"/>
+      <message name="DL_VALUE"               period="1.1"/>
+      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
       <message name="ROTORCRAFT_FP"          period="0.25"/>
-      <message name="ALIVE"             period="2.1"/>
-      <message name="INS_REF"     period="5.1"/>
+      <message name="ALIVE"                  period="2.1"/>
+      <message name="INS_REF"                period="5.1"/>
       <message name="ROTORCRAFT_NAV_STATUS"  period="1.6"/>
-      <message name="WP_MOVED"          period="1.3"/>
-      <message name="BOOZ2_CAM"         period="1."/>
-      <message name="GPS_INT"         period=".25"/>
-      <message name="INS"          period=".25"/>
+      <message name="WP_MOVED"               period="1.3"/>
+      <message name="BOOZ2_CAM"              period="1."/>
+      <message name="GPS_INT"                period=".25"/>
+      <message name="INS"                    period=".25"/>
     </mode>
 
     <mode name="ppm">
-      <message name="BOOZ2_CMD"           period=".05"/>
-      <message name="PPM"                 period="0.5"/>
-      <message name="RC"                  period="0.5"/>
+      <message name="ROTORCRAFT_CMD"           period=".05"/>
+      <message name="PPM"                      period="0.5"/>
+      <message name="RC"                       period="0.5"/>
       <message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
-      <message name="ROTORCRAFT_STATUS"       period="1"/>
+      <message name="ROTORCRAFT_STATUS"        period="1"/>
     </mode>
 
     <mode name="raw_sensors">
-      <message name="ROTORCRAFT_STATUS"       period="1.2"/>
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
       <message name="DL_VALUE"          period="0.5"/>
       <message name="ALIVE"             period="2.1"/>
       <message name="IMU_ACCEL_RAW"     period=".05"/>
@@ -37,71 +37,70 @@
     </mode>
 
     <mode name="scaled_sensors">
-      <message name="ROTORCRAFT_STATUS"       period="1.2"/>
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="2.1"/>
+      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
+      <message name="DL_VALUE"               period="0.5"/>
+      <message name="ALIVE"                  period="2.1"/>
       <message name="IMU_GYRO_SCALED"        period=".075"/>
       <message name="IMU_ACCEL_SCALED"       period=".075"/>
       <message name="IMU_MAG_SCALED"         period=".1"/>
     </mode>
 
     <mode name="ahrs">
-      <message name="ROTORCRAFT_STATUS"       period="1.2"/>
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="2.1"/>
+      <message name="ROTORCRAFT_STATUS"  period="1.2"/>
+      <message name="DL_VALUE"           period="0.5"/>
+      <message name="ALIVE"              period="2.1"/>
 <!--      <message name="FILTER_ALIGNER"     period=".1"/> -->
-      <message name="FILTER"      period=".5"/>
+      <message name="FILTER"             period=".5"/>
 <!--      <message name="AHRS_QUAT_INT"   period=".25"/> -->
-      <message name="AHRS_EULER_INT"  period=".1"/>
+      <message name="AHRS_EULER_INT"     period=".1"/>
 <!--      <message name="AHRS_RMAT_INT"   period=".5"/> -->
     </mode>
 
     <mode name="rate_loop">
-      <message name="ROTORCRAFT_STATUS"       period="1.2"/>
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
       <message name="DL_VALUE"          period="0.5"/>
       <message name="ALIVE"             period="2.1"/>
-      <message name="RATE_LOOP"   period=".02"/>
+      <message name="RATE_LOOP"         period=".02"/>
     </mode>
 
     <mode name="attitude_loop" key_press="a">
-      <message name="ROTORCRAFT_STATUS"             period="1.2"/>
-      <message name="DL_VALUE"                period="0.5"/>
-      <message name="ALIVE"                   period="0.9"/>
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="0.9"/>
       <message name="STAB_ATTITUDE"     period=".03"/>
       <message name="STAB_ATTITUDE_REF" period=".03"/>
     </mode>
 
     <mode name="vert_loop" key_press="v">
-      <message name="ROTORCRAFT_STATUS"             period="1.2"/>
-      <message name="DL_VALUE"                period="0.5"/>
-      <message name="ALIVE"                   period="0.9"/>
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="0.9"/>
       <message name="VFF"               period=".05"/>
       <message name="VERT_LOOP"         period=".05"/>
-<!--      <message name="BOOZ2_CMD"               period=".05"/> -->
       <message name="INS"               period=".05"/>
       <message name="INS_REF"           period="5.1"/>
     </mode>
 
     <mode name="h_loop" key_press="h">
-      <message name="ALIVE"                   period="0.9"/>
-      <message name="HOVER_LOOP"        period="0.062"/>
-      <message name="STAB_ATTITUDE"     period=".4"/>
-      <message name="HFF_DBG"           period=".2"/>
+      <message name="ALIVE"                 period="0.9"/>
+      <message name="HOVER_LOOP"            period="0.062"/>
+      <message name="STAB_ATTITUDE"         period=".4"/>
+      <message name="HFF_DBG"               period=".2"/>
       <!--<message name="STAB_ATTITUDE_REF" period=".4"/>-->
-      <message name="ROTORCRAFT_FP"                period="0.8"/>
-      <message name="ROTORCRAFT_STATUS"             period="1.2"/>
-      <message name="ROTORCRAFT_NAV_STATUS"        period="1.6"/>
-	  <message name="HFF_GPS"           period=".03"/>
-      <message name="INS_REF"           period="5.1"/>
+      <message name="ROTORCRAFT_FP"         period="0.8"/>
+      <message name="ROTORCRAFT_STATUS"     period="1.2"/>
+      <message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
+	  <message name="HFF_GPS"               period=".03"/>
+      <message name="INS_REF"               period="5.1"/>
     </mode>
 
     <mode name="aligner">
-      <message name="ALIVE"                   period="0.9"/>
+      <message name="ALIVE"             period="0.9"/>
       <message name="FILTER_ALIGNER"    period="0.02"/>
     </mode>
 
     <mode name="hs_att_roll">
-      <message name="ROTORCRAFT_STATUS"                 period="1.2"/>
+      <message name="ROTORCRAFT_STATUS"           period="1.2"/>
       <message name="ALIVE"                       period="0.9"/>
       <message name="DL_VALUE"                    period="0.5"/>
 <!--      <message name="STAB_ATTITUDE_HS_ROLL" period="0.02"/> -->
@@ -109,10 +108,10 @@
 
     <mode name="tune_hover">
       <message name="DL_VALUE"          period="1.1"/>
-      <message name="ROTORCRAFT_STATUS"       period="1.2"/>
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
       <message name="ALIVE"             period="2.1"/>
       <!--<message name="BOOZ2_SONAR"       period="0.1"/>-->
-      <!--<message name="BOOZ2_TUNE_HOVER"               period=".1"/>-->
+      <!--<message name="ROTORCRAFT_TUNE_HOVER"    period=".1"/>-->
       <!-- <message name="GPS_INT"               period=".20"/> -->
       <!--<message name="INS2"              period=".05"/>
       <message name="INS3"              period=".20"/>-->
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 7b26608664..88e22748d6 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -316,12 +316,12 @@
   }
 
 
-#define PERIODIC_SEND_BOOZ2_CMD(_trans, _dev) {				\
-    DOWNLINK_SEND_BOOZ2_CMD(_trans, _dev,					\
-                &stabilization_cmd[COMMAND_ROLL],	\
-                &stabilization_cmd[COMMAND_PITCH],	\
-                &stabilization_cmd[COMMAND_YAW],	\
-                &stabilization_cmd[COMMAND_THRUST]);	\
+#define PERIODIC_SEND_ROTORCRAFT_CMD(_trans, _dev) {                    \
+    DOWNLINK_SEND_ROTORCRAFT_CMD(_trans, _dev,                          \
+                                 &stabilization_cmd[COMMAND_ROLL],      \
+                                 &stabilization_cmd[COMMAND_PITCH],     \
+                                 &stabilization_cmd[COMMAND_YAW],       \
+                                 &stabilization_cmd[COMMAND_THRUST]);   \
   }
 
 
@@ -719,22 +719,21 @@
 #define PERIODIC_SEND_BOOZ2_CAM(_trans, _dev) {}
 #endif
 
-#define PERIODIC_SEND_BOOZ2_TUNE_HOVER(_trans, _dev) {                     \
-    DOWNLINK_SEND_BOOZ2_TUNE_HOVER(_trans, _dev,                       \
-                   &radio_control.values[RADIO_ROLL],  \
-                   &radio_control.values[RADIO_PITCH], \
-                   &radio_control.values[RADIO_YAW],   \
-                   &stabilization_cmd[COMMAND_ROLL],      \
-                   &stabilization_cmd[COMMAND_PITCH],     \
-                   &stabilization_cmd[COMMAND_YAW],       \
-                   &stabilization_cmd[COMMAND_THRUST],    \
-                   &ahrs.ltp_to_imu_euler.phi,         \
-                   &ahrs.ltp_to_imu_euler.theta,           \
-                   &ahrs.ltp_to_imu_euler.psi,         \
-                   &ahrs.ltp_to_body_euler.phi,        \
-                   &ahrs.ltp_to_body_euler.theta,          \
-                   &ahrs.ltp_to_body_euler.psi         \
-                   );                          \
+#define PERIODIC_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev) {             \
+    DOWNLINK_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev,                   \
+                                        &radio_control.values[RADIO_ROLL], \
+                                        &radio_control.values[RADIO_PITCH], \
+                                        &radio_control.values[RADIO_YAW], \
+                                        &stabilization_cmd[COMMAND_ROLL], \
+                                        &stabilization_cmd[COMMAND_PITCH], \
+                                        &stabilization_cmd[COMMAND_YAW], \
+                                        &stabilization_cmd[COMMAND_THRUST], \
+                                        &ahrs.ltp_to_imu_euler.phi,     \
+                                        &ahrs.ltp_to_imu_euler.theta,   \
+                                        &ahrs.ltp_to_imu_euler.psi,     \
+                                        &ahrs.ltp_to_body_euler.phi,    \
+                                        &ahrs.ltp_to_body_euler.theta,  \
+                                        &ahrs.ltp_to_body_euler.psi);   \
   }
 
 #define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) {                       \