diff --git a/sw/airborne/csc/csc_ap_main.c b/sw/airborne/csc/csc_ap_main.c
index 850be760e8..61da5d4e50 100644
--- a/sw/airborne/csc/csc_ap_main.c
+++ b/sw/airborne/csc/csc_ap_main.c
@@ -98,7 +98,7 @@ static void on_rc_cmd(struct CscRCMsg *msg)
   pprz_mode = PPRZ_MODE_OF_RC(rc_values[RADIO_MODE]);
   if (pprz_mode == PPRZ_MODE_MANUAL) {
     csc_ap_clear_ierrors();
-    SetCommandsFromRC(commands);
+    SetCommandsFromRC(commands, rc_values);
   }
 }
 
diff --git a/sw/airborne/csc/csc_telemetry.h b/sw/airborne/csc/csc_telemetry.h
index 0a0fbf22df..2b154e51a2 100644
--- a/sw/airborne/csc/csc_telemetry.h
+++ b/sw/airborne/csc/csc_telemetry.h
@@ -112,6 +112,7 @@ DOWNLINK_SEND_BOOZ2_INS3(&booz_ins_gps_pos_cm_ned.x, \
   &zero, \
   &zero, \
   &zero, \
+  &zero, \
   &zero, &zero) }
 
 extern uint8_t telemetry_mode_Ap;