diff --git a/conf/messages.xml b/conf/messages.xml
index 3b09735149..96afa66c52 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1318,7 +1318,7 @@
   </message>
 
   <message name="INS_Z" id="151">
-    <field name="baro_alt"  type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <field name="baro_z"    type="float" unit="m"/>
     <field name="ins_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
     <field name="ins_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
     <field name="ins_zdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 240927a70d..1bb181c8ff 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -596,7 +596,7 @@
 
 #define PERIODIC_SEND_INS_Z(_trans, _dev) {				\
   DOWNLINK_SEND_INS_Z(_trans, _dev,                     \
-                      &ins_baro_alt,                    \
+                      &ins_impl.baro_z,                 \
                       &(stateGetPositionNed_i()->z),    \
                       &(stateGetSpeedNed_i()->z),       \
                       &(stateGetAccelNed_i()->z));      \