diff --git a/conf/messages.xml b/conf/messages.xml
index d703536005..872611d9b1 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -803,12 +803,21 @@
  </message>
 
  <message name="BOOZ2_RATE_LOOP" id="136">   
-   <field name="spp" type="int32"/>
-   <field name="spq" type="int32"/>
-   <field name="spr" type="int32"/>
-   <field name="delta_a" type="int32"/>
-   <field name="delta_e" type="int32"/>
-   <field name="delta_r" type="int32"/>
+   <field name="sp_p" type="int32"/>
+   <field name="sp_q" type="int32"/>
+   <field name="sp_r" type="int32"/>
+   <field name="ref_p" type="int32"/>
+   <field name="ref_q" type="int32"/>
+   <field name="ref_r" type="int32"/>
+   <field name="refdot_p" type="int32"/>
+   <field name="refdot_q" type="int32"/>
+   <field name="refdot_r" type="int32"/>
+   <field name="ff_p" type="int32"/>
+   <field name="ff_q" type="int32"/>
+   <field name="ff_r" type="int32"/>
+   <field name="fb_p" type="int32"/>
+   <field name="fb_q" type="int32"/>
+   <field name="fb_r" type="int32"/>
    <field name="delta_t" type="int32"/>
  </message>
 
diff --git a/sw/airborne/booz/booz2_telemetry.h b/sw/airborne/booz/booz2_telemetry.h
index 807cf43d56..80ecdba9a2 100644
--- a/sw/airborne/booz/booz2_telemetry.h
+++ b/sw/airborne/booz/booz2_telemetry.h
@@ -167,15 +167,24 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
   }
 
 #include "booz_stabilization.h"
-#define PERIODIC_SEND_BOOZ2_RATE_LOOP(_chan) {				    \
-    DOWNLINK_SEND_BOOZ2_RATE_LOOP(_chan,				    \
-				  &booz_stabilization_rate_sp.p,	    \
-				  &booz_stabilization_rate_sp.q,	    \
-				  &booz_stabilization_rate_sp.r,	    \
-				  &booz_stabilization_cmd[COMMAND_ROLL],    \
-				  &booz_stabilization_cmd[COMMAND_PITCH],   \
-				  &booz_stabilization_cmd[COMMAND_YAW],     \
-				  &booz_stabilization_cmd[COMMAND_THRUST]); \
+#define PERIODIC_SEND_BOOZ2_RATE_LOOP(_chan) {                          \
+    DOWNLINK_SEND_BOOZ2_RATE_LOOP(_chan,                                \
+                                  &booz_stabilization_rate_sp.p,        \
+                                  &booz_stabilization_rate_sp.q,        \
+                                  &booz_stabilization_rate_sp.r,        \
+                                  &booz_stabilization_rate_ref.p,      \
+                                  &booz_stabilization_rate_ref.q,       \
+                                  &booz_stabilization_rate_ref.r,       \
+                                  &booz_stabilization_rate_refdot.p,       \
+                                  &booz_stabilization_rate_refdot.q,       \
+                                  &booz_stabilization_rate_refdot.r,       \
+                                  &booz_stabilization_rate_ff_cmd.p,    \
+                                  &booz_stabilization_rate_ff_cmd.q,    \
+                                  &booz_stabilization_rate_ff_cmd.r,    \
+                                  &booz_stabilization_rate_fb_cmd.p,    \
+                                  &booz_stabilization_rate_fb_cmd.q,    \
+                                  &booz_stabilization_rate_fb_cmd.r,    \
+                                  &booz_stabilization_cmd[COMMAND_THRUST]); \
   }
 
 #ifdef STABILISATION_ATTITUDE_TYPE_INT