diff --git a/conf/messages.xml b/conf/messages.xml
index 7f83e6d5fa..61dddc1290 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -26,9 +26,9 @@
    </message>
 
    <message name="ATTITUDE" ID="6">
-     <field name="phi" type="int8" unit="deg"></field>
-     <field name="psi" type="int8" unit="deg"></field>
-     <field name="theta" type="int8" unit="deg"></field>
+     <field name="phi" type="int16" unit="deg"></field>
+     <field name="psi" type="int16" unit="deg"></field>
+     <field name="theta" type="int16" unit="deg"></field>
    </message>
 
    <message name="IR_SENSORS" ID="7">
diff --git a/sw/airborne/ap_downlink.h b/sw/airborne/ap_downlink.h
index bb563c3c0c..14c0a1031e 100644
--- a/sw/airborne/ap_downlink.h
+++ b/sw/airborne/ap_downlink.h
@@ -72,9 +72,9 @@
 
 
 #define PERIODIC_SEND_ATTITUDE() Downlink({ \
-  int8_t phi = DegOfRad(estimator_phi); \
-  int8_t psi = DegOfRad(estimator_psi); \
-  int8_t theta = DegOfRad(estimator_theta); \
+  int16_t phi = DegOfRad(estimator_phi); \
+  int16_t psi = DegOfRad(estimator_psi); \
+  int16_t theta = DegOfRad(estimator_theta); \
   DOWNLINK_SEND_ATTITUDE(&phi, &psi, &theta); \
 })