diff --git a/sw/airborne/subsystems/radio_control/rc_datalink.c b/sw/airborne/subsystems/radio_control/rc_datalink.c
index 1d7a39ccb5..265ba528cd 100644
--- a/sw/airborne/subsystems/radio_control/rc_datalink.c
+++ b/sw/airborne/subsystems/radio_control/rc_datalink.c
@@ -44,6 +44,7 @@ void parse_rc_3ch_datalink( uint8_t throttle_mode,
   rc_dl_values[RADIO_PITCH] = pitch;
   rc_dl_values[RADIO_THROTTLE] = (int8_t)throttle;
   rc_dl_values[RADIO_MODE] = (int8_t)mode;
+  rc_dl_values[RADIO_YAW] = 0;
 
   rc_dl_frame_available = TRUE;
 }
diff --git a/sw/airborne/subsystems/radio_control/rc_datalink.h b/sw/airborne/subsystems/radio_control/rc_datalink.h
index ca72750480..acc03a218a 100644
--- a/sw/airborne/subsystems/radio_control/rc_datalink.h
+++ b/sw/airborne/subsystems/radio_control/rc_datalink.h
@@ -64,14 +64,14 @@ extern void parse_rc_4ch_datalink(
 /**
  * Macro that normalize rc_dl_values to radio values
  */
-#define NormalizeRcDl(_in, _out) {  \
+#define NormalizeRcDl(_in, _out) {                                \
   _out[RADIO_ROLL] = (MAX_PPRZ/128) * _in[RADIO_ROLL];            \
   Bound(_out[RADIO_ROLL], MIN_PPRZ, MAX_PPRZ);                    \
   _out[RADIO_PITCH] = (MAX_PPRZ/128) * _in[RADIO_PITCH];          \
   Bound(_out[RADIO_PITCH], MIN_PPRZ, MAX_PPRZ);                   \
-  _out[RADIO_YAW] = 0;                                            \
+  _out[RADIO_YAW] = (MAX_PPRZ/128) * _in[RADIO_YAW];              \
   Bound(_out[RADIO_YAW], MIN_PPRZ, MAX_PPRZ);                     \
-  _out[RADIO_THROTTLE] = ((MAX_PPRZ/128) * _in[RADIO_THROTTLE]);   \
+  _out[RADIO_THROTTLE] = ((MAX_PPRZ/128) * _in[RADIO_THROTTLE]);  \
   Bound(_out[RADIO_THROTTLE], 0, MAX_PPRZ);                       \
   _out[RADIO_MODE] = MAX_PPRZ * (_in[RADIO_MODE] - 1);            \
   Bound(_out[RADIO_MODE], MIN_PPRZ, MAX_PPRZ);                    \