diff --git a/conf/messages.xml b/conf/messages.xml
index 393a1a56ab..1da80a2631 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1643,7 +1643,7 @@
       <field name="br_err"    type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
     </message>
 
-    <message name="BOOZ_SIM_SENSORS_SCALED" id="197">
+    <message name="NPS_SENSORS_SCALED" id="197">
       <field name="acc_x"    type="float" />
       <field name="acc_y"    type="float" />
       <field name="acc_z"    type="float" />
@@ -1815,7 +1815,7 @@
  <!--236 is free -->
  <!--237 is free -->
 
-  <message name="BOOZ_SIM_POS_LLH" id="238">
+  <message name="NPS_POS_LLH" id="238">
     <field name="pprz_lat"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
     <field name="lat_geod"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
     <field name="lat_geoc"   type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
@@ -1827,14 +1827,14 @@
     <field name="asl"        type="float" unit="m"/>
   </message>
 
-  <message name="BOOZ_SIM_RPMS" id="239">
+  <message name="NPS_RPMS" id="239">
     <field name="front"    type="float" unit="RPM"/>
     <field name="back"     type="float" unit="RPM"/>
     <field name="right"    type="float" unit="RPM"/>
     <field name="left"     type="float" unit="RPM"/>
   </message>
 
-  <message name="BOOZ_SIM_SPEED_POS" id="240">
+  <message name="NPS_SPEED_POS" id="240">
     <field name="ltpp_xdd" type="float" unit="m/s2"/>
     <field name="ltpp_ydd" type="float" unit="m/s2"/>
     <field name="ltpp_zdd" type="float" unit="m/s2"/>
@@ -1846,7 +1846,7 @@
     <field name="ltpp_z"   type="float" unit="m"/>
   </message>
 
-  <message name="BOOZ_SIM_RATE_ATTITUDE" id="241">
+  <message name="NPS_RATE_ATTITUDE" id="241">
     <field name="p"     type="float" unit="degres/s"/>
     <field name="q"     type="float" unit="degres/s"/>
     <field name="r"     type="float" unit="degres/s"/>
@@ -1855,18 +1855,18 @@
     <field name="psi"   type="float" unit="degres"/>
   </message>
 
-  <message name="BOOZ_SIM_GYRO_BIAS" id="242">
+  <message name="NPS_GYRO_BIAS" id="242">
     <field name="bp"     type="float" unit="degres/s"/>
     <field name="bq"     type="float" unit="degres/s"/>
     <field name="br"     type="float" unit="degres/s"/>
   </message>
 
 
-  <message name="BOOZ_SIM_RANGE_METER" id="243">
+  <message name="NPS_RANGE_METER" id="243">
     <field name="dist"   type="float" unit="adc"/>
   </message>
 
-  <message name="BOOZ_SIM_WIND" id="244">
+  <message name="NPS_WIND" id="244">
     <field name="vx"   type="float" unit="m/s"/>
     <field name="vy"   type="float" unit="m/s"/>
     <field name="vz"   type="float" unit="m/s"/>
@@ -1885,7 +1885,7 @@
     <field name="errno"   type="uint8"/>
   </message>
 
-  <message name="BOOZ_SIM_ACCEL_LTP" id="248">
+  <message name="NPS_ACCEL_LTP" id="248">
     <field name="xdd"   type="float" unit="m/s2"/>
     <field name="ydd"   type="float" unit="m/s2"/>
     <field name="zdd"   type="float" unit="m/s2"/>
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index b5adf02c09..88dc6882b9 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -832,7 +832,7 @@
 
 #ifdef BOOZ2_TRACK_CAM
 #include "cam_track.h"
-#define PERIODIC_SEND_CAM_TRACK(_trans, _dev) DOWNLINK_SEND_BOOZ_SIM_SPEED_POS(_trans, _dev, \
+#define PERIODIC_SEND_CAM_TRACK(_trans, _dev) DOWNLINK_SEND_NPS_SPEED_POS(_trans, _dev, \
     &target_accel_ned.x, \
     &target_accel_ned.y, \
     &target_accel_ned.z, \
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
index a1acd5a394..0bd0851989 100644
--- a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
+++ b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
@@ -59,7 +59,7 @@ gboolean timeout_callback(gpointer data) {
 	     ahrs_float.ltp_to_imu_euler.theta,
 	     ahrs_float.ltp_to_imu_euler.psi);
 
-  IvySendMsg("183 BOOZ_SIM_RATE_ATTITUDE %f %f %f %f %f %f",
+  IvySendMsg("183 NPS_RATE_ATTITUDE %f %f %f %f %f %f",
 	     DegOfRad(aos.imu_rates.p),
 	     DegOfRad(aos.imu_rates.q),
 	     DegOfRad(aos.imu_rates.r),
@@ -67,7 +67,7 @@ gboolean timeout_callback(gpointer data) {
 	     DegOfRad(aos.ltp_to_imu_euler.theta),
 	     DegOfRad(aos.ltp_to_imu_euler.psi));
 
-  IvySendMsg("183 BOOZ_SIM_GYRO_BIAS %f %f %f",
+  IvySendMsg("183 NPS_GYRO_BIAS %f %f %f",
 	     DegOfRad(aos.gyro_bias.p),
 	     DegOfRad(aos.gyro_bias.q),
 	     DegOfRad(aos.gyro_bias.r));
diff --git a/sw/simulator/nps/nps_ivy.c b/sw/simulator/nps/nps_ivy.c
index 06dbafbd3c..e31623b71b 100644
--- a/sw/simulator/nps/nps_ivy.c
+++ b/sw/simulator/nps/nps_ivy.c
@@ -109,23 +109,15 @@ static void on_DL_MOVE_WP(IvyClientPtr app __attribute__ ((unused)),
 
 
 void nps_ivy_display(void) {
-  /*
-    IvySendMsg("%d COMMANDS %f %f %f %f",
-    AC_ID,
-    autopilot.commands[SERVO_FRONT],
-    autopilot.commands[SERVO_BACK],
-    autopilot.commands[SERVO_RIGHT],
-    autopilot.commands[SERVO_LEFT]);
-  */
-  IvySendMsg("%d BOOZ_SIM_RATE_ATTITUDE %f %f %f %f %f %f",
-	     AC_ID,
-	     DegOfRad(fdm.body_ecef_rotvel.p),
-	     DegOfRad(fdm.body_ecef_rotvel.q),
-	     DegOfRad(fdm.body_ecef_rotvel.r),
-	     DegOfRad(fdm.ltp_to_body_eulers.phi),
-	     DegOfRad(fdm.ltp_to_body_eulers.theta),
-	     DegOfRad(fdm.ltp_to_body_eulers.psi));
-  IvySendMsg("%d BOOZ_SIM_POS_LLH %f %f %f %f %f %f %f %f %f",
+  IvySendMsg("%d NPS_RATE_ATTITUDE %f %f %f %f %f %f",
+             AC_ID,
+             DegOfRad(fdm.body_ecef_rotvel.p),
+             DegOfRad(fdm.body_ecef_rotvel.q),
+             DegOfRad(fdm.body_ecef_rotvel.r),
+             DegOfRad(fdm.ltp_to_body_eulers.phi),
+             DegOfRad(fdm.ltp_to_body_eulers.theta),
+             DegOfRad(fdm.ltp_to_body_eulers.psi));
+  IvySendMsg("%d NPS_POS_LLH %f %f %f %f %f %f %f %f %f",
              AC_ID,
              (fdm.lla_pos_pprz.lat),
              (fdm.lla_pos_geod.lat),
@@ -136,28 +128,28 @@ void nps_ivy_display(void) {
              (fdm.lla_pos_geod.alt),
              (fdm.agl),
              (fdm.hmsl));
-  IvySendMsg("%d BOOZ_SIM_SPEED_POS %f %f %f %f %f %f %f %f %f",
-	     AC_ID,
-	     (fdm.ltpprz_ecef_accel.x),
-	     (fdm.ltpprz_ecef_accel.y),
-	     (fdm.ltpprz_ecef_accel.z),
-	     (fdm.ltpprz_ecef_vel.x),
-	     (fdm.ltpprz_ecef_vel.y),
-	     (fdm.ltpprz_ecef_vel.z),
-	     (fdm.ltpprz_pos.x),
-	     (fdm.ltpprz_pos.y),
-	     (fdm.ltpprz_pos.z));
-  IvySendMsg("%d BOOZ_SIM_GYRO_BIAS %f %f %f",
-         AC_ID,
-         DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.x)+sensors.gyro.bias_initial.x),
-         DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.y)+sensors.gyro.bias_initial.y),
-         DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.z)+sensors.gyro.bias_initial.z));
+  IvySendMsg("%d NPS_SPEED_POS %f %f %f %f %f %f %f %f %f",
+             AC_ID,
+             (fdm.ltpprz_ecef_accel.x),
+             (fdm.ltpprz_ecef_accel.y),
+             (fdm.ltpprz_ecef_accel.z),
+             (fdm.ltpprz_ecef_vel.x),
+             (fdm.ltpprz_ecef_vel.y),
+             (fdm.ltpprz_ecef_vel.z),
+             (fdm.ltpprz_pos.x),
+             (fdm.ltpprz_pos.y),
+             (fdm.ltpprz_pos.z));
+  IvySendMsg("%d NPS_GYRO_BIAS %f %f %f",
+             AC_ID,
+             DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.x)+sensors.gyro.bias_initial.x),
+             DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.y)+sensors.gyro.bias_initial.y),
+             DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.z)+sensors.gyro.bias_initial.z));
 
   /* transform magnetic field to body frame */
   struct DoubleVect3 h_body;
   FLOAT_QUAT_VMULT(h_body, fdm.ltp_to_body_quat, fdm.ltp_h);
 
-  IvySendMsg("%d BOOZ_SIM_SENSORS_SCALED %f %f %f %f %f %f",
+  IvySendMsg("%d NPS_SENSORS_SCALED %f %f %f %f %f %f",
          AC_ID,
          ((sensors.accel.value.x - sensors.accel.neutral.x)/NPS_ACCEL_SENSITIVITY_XX),
          ((sensors.accel.value.y - sensors.accel.neutral.y)/NPS_ACCEL_SENSITIVITY_YY),
diff --git a/sw/simulator/old_booz/booz2_sim_main.c b/sw/simulator/old_booz/booz2_sim_main.c
index 16384ce71c..f2fb021d6a 100644
--- a/sw/simulator/old_booz/booz2_sim_main.c
+++ b/sw/simulator/old_booz/booz2_sim_main.c
@@ -260,13 +260,13 @@ static void booz2_sim_display(void) {
   if (sim_time >= disp_time) {
     disp_time+= DT_DISPLAY;
     //    booz_flightgear_send();
-    IvySendMsg("%d BOOZ_SIM_RPMS %f %f %f %f",
+    IvySendMsg("%d NPS_RPMS %f %f %f %f",
 	       AC_ID,
 	       RPM_OF_RAD_S(bfm.omega->ve[SERVO_FRONT]),
 	       RPM_OF_RAD_S(bfm.omega->ve[SERVO_BACK]),
 	       RPM_OF_RAD_S(bfm.omega->ve[SERVO_RIGHT]),
 	       RPM_OF_RAD_S(bfm.omega->ve[SERVO_LEFT]) );
-    IvySendMsg("%d BOOZ_SIM_RATE_ATTITUDE %f %f %f %f %f %f",
+    IvySendMsg("%d NPS_RATE_ATTITUDE %f %f %f %f %f %f",
 	       AC_ID,
 	       DegOfRad(bfm.ang_rate_body->ve[AXIS_X]),
 	       DegOfRad(bfm.ang_rate_body->ve[AXIS_Y]),
@@ -274,7 +274,7 @@ static void booz2_sim_display(void) {
 	       DegOfRad(bfm.eulers->ve[AXIS_X]),
 	       DegOfRad(bfm.eulers->ve[AXIS_Y]),
 	       DegOfRad(bfm.eulers->ve[AXIS_Z]));
-    IvySendMsg("%d BOOZ_SIM_SPEED_POS %f %f %f %f %f %f",
+    IvySendMsg("%d NPS_SPEED_POS %f %f %f %f %f %f",
 	       AC_ID,
 	       (bfm.speed_ltp->ve[AXIS_X]),
 	       (bfm.speed_ltp->ve[AXIS_Y]),
@@ -283,13 +283,13 @@ static void booz2_sim_display(void) {
 	       (bfm.pos_ltp->ve[AXIS_Y]),
 	       (bfm.pos_ltp->ve[AXIS_Z]));
 #if 0
-    IvySendMsg("%d BOOZ_SIM_WIND %f %f %f",
+    IvySendMsg("%d NPS_WIND %f %f %f",
     	       AC_ID,
 	       bwm.velocity->ve[AXIS_X],
     	       bwm.velocity->ve[AXIS_Y],
     	       bwm.velocity->ve[AXIS_Z]);
 #endif
-    IvySendMsg("%d BOOZ_SIM_ACCEL_LTP %f %f %f",
+    IvySendMsg("%d NPS_ACCEL_LTP %f %f %f",
     	       AC_ID,
 	       bfm.accel_ltp->ve[AXIS_X],
     	       bfm.accel_ltp->ve[AXIS_Y],