diff --git a/Makefile.ac b/Makefile.ac
index b8b4a941bc..8ecc58ab29 100644
--- a/Makefile.ac
+++ b/Makefile.ac
@@ -174,11 +174,11 @@ $(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML) $(GENERATORS)/gen_radio.out
 	$(Q)chmod a+r $@
 	$(Q)cp $< $(AIRCRAFT_CONF_DIR)/radios
 
-$(PERIODIC_H) : $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY) $(MAKEFILE_AC)
+$(PERIODIC_H) : $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY) $(MAKEFILE_AC)
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
 	@echo GENERATE $@ from $(TELEMETRY)
 	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)$(GENERATORS)/gen_periodic.out $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(TELEMETRY_FREQUENCY) $(SETTINGS_TELEMETRY) > $($@_TMP)
+	$(Q)$(GENERATORS)/gen_periodic.out $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(TELEMETRY_FREQUENCY) $(SETTINGS_TELEMETRY) > $($@_TMP)
 	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 	$(Q)cp $(CONF)/$(TELEMETRY) $(AIRCRAFT_CONF_DIR)/telemetry
diff --git a/conf/telemetry/telemetry.dtd b/conf/telemetry/telemetry.dtd
index 09389a37e0..b0abfa7a74 100644
--- a/conf/telemetry/telemetry.dtd
+++ b/conf/telemetry/telemetry.dtd
@@ -16,5 +16,4 @@
   name CDATA #REQUIRED
   period CDATA #REQUIRED
   phase CDATA #IMPLIED
-  module CDATA #IMPLIED
 >
diff --git a/sw/tools/generators/gen_periodic.ml b/sw/tools/generators/gen_periodic.ml
index fcf20fead3..8069ad71a6 100644
--- a/sw/tools/generators/gen_periodic.ml
+++ b/sw/tools/generators/gen_periodic.ml
@@ -37,7 +37,7 @@ let lprintf = fun c f ->
   fprintf c "%s" (String.make !margin ' ');
   fprintf c f
 
-let output_modes = fun out_h process_name telem_type modes freq modules ->
+let output_modes = fun out_h process_name telem_type modes freq ->
   let min_period = 1./.float freq in
   let max_period = 65536. /. float freq in
 
@@ -48,17 +48,13 @@ let output_modes = fun out_h process_name telem_type modes freq modules ->
       lprintf out_h "if (telemetry_mode_%s == TELEMETRY_MODE_%s_%s) {\n" process_name process_name mode_name;
       right ();
 
-      (** Filter message list to remove messages linked to unloaded modules *)
-      let filtered_msg = List.filter (fun msg ->
-        try let att = Xml.attrib msg "module" in List.exists (fun name -> String.compare name att = 0) modules with _ -> true
-      ) (Xml.children mode) in
       (** Computes the required modulos *)
       let messages = List.map (fun x ->
         let p = float_of_string (ExtXml.attrib x "period") in
         if p < min_period || p > max_period then
           fprintf stderr "Warning: period is bound between %.3fs and %.3fs for message %s\n%!" min_period max_period (ExtXml.attrib x "name");
         (x, min 65535 (max 1 (int_of_float (p*.float_of_int freq))))
-      ) filtered_msg in
+      ) (Xml.children mode) in
       let modulos = GC.singletonize (List.map snd messages) in
       List.iter (fun m ->
         let v = sprintf "i%d" m in
@@ -175,7 +171,7 @@ let print_message_table = fun out_h xml ->
     fprintf out_h "}\n\n"
   ) telemetry_types
 
-let print_process_send = fun out_h xml freq modules ->
+let print_process_send = fun out_h xml freq ->
   (** For each process *)
   List.iter
     (fun process ->
@@ -214,7 +210,7 @@ let print_process_send = fun out_h xml freq modules ->
 
       lprintf out_h "static inline void periodic_telemetry_send_%s(struct periodic_telemetry *telemetry, struct transport_tx *trans, struct link_device *dev) {  /* %dHz */\n" process_name freq;
       right ();
-      output_modes out_h process_name telem_type modes freq modules;
+      output_modes out_h process_name telem_type modes freq;
       left ();
       lprintf out_h "}\n"
     )
@@ -223,23 +219,21 @@ let print_process_send = fun out_h xml freq modules ->
 
 
 let _ =
-  if Array.length Sys.argv <> 6 then begin
-    failwith (sprintf "Usage: %s <airframe.xml> <messages.xml> <telemetry.xml> frequency_in_hz out_settings_file" Sys.argv.(0))
+  if Array.length Sys.argv <> 5 then begin
+    failwith (sprintf "Usage: %s <messages.xml> <telemetry.xml> frequency_in_hz out_settings_file" Sys.argv.(0))
   end;
 
-  let freq = int_of_string(Sys.argv.(4)) in
+  let freq = int_of_string(Sys.argv.(3)) in
   let telemetry_xml =
     try
-      Xml.parse_file Sys.argv.(3)
+      Xml.parse_file Sys.argv.(2)
     with Dtd.Check_error e -> failwith (Dtd.check_error e)
-
   in
-  let modules_name = GC.get_modules_name (ExtXml.parse_file Sys.argv.(1)) in
 
   let out_h = stdout in
 
   (** Print header *)
-  fprintf out_h "/* This file has been generated by gen_periodic from %s and %s */\n" Sys.argv.(2) Sys.argv.(3);
+  fprintf out_h "/* This file has been generated by gen_periodic from %s and %s */\n" Sys.argv.(1) Sys.argv.(2);
   fprintf out_h "/* Version %s */\n" (Env.get_paparazzi_version ());
   fprintf out_h "/* Please DO NOT EDIT */\n\n";
   fprintf out_h "#ifndef _VAR_PERIODIC_H_\n";
@@ -253,11 +247,11 @@ let _ =
   print_message_table out_h telemetry_xml;
 
   (** Print process sending functions *)
-  print_process_send out_h telemetry_xml freq modules_name;
+  print_process_send out_h telemetry_xml freq;
 
   (** Output XML settings file with telemetry modes *)
-  let out_set = open_out Sys.argv.(5) in
-  write_settings Sys.argv.(3) out_set telemetry_xml;
+  let out_set = open_out Sys.argv.(4) in
+  write_settings Sys.argv.(2) out_set telemetry_xml;
   close_out out_set;
 
   fprintf out_h "#endif // _VAR_PERIODIC_H_\n";