diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 9298c1dd16..4e35e77dbc 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -475,7 +475,17 @@
                    &(stateGetNedToBodyEulers_i()->psi));  \
   }
 #else
-#define PERIODIC_SEND_AHRS_EULER_INT(_trans, _dev) {}
+#define PERIODIC_SEND_AHRS_EULER_INT(_trans, _dev) {                    \
+    struct Int32Eulers ltp_to_imu_euler;                                \
+    INT32_EULERS_OF_QUAT(ltp_to_imu_euler, ahrs_impl.ltp_to_imu_quat);  \
+    DOWNLINK_SEND_AHRS_EULER_INT(_trans, _dev,                          \
+                                 &ltp_to_imu_euler.phi,                 \
+                                 &ltp_to_imu_euler.theta,               \
+                                 &ltp_to_imu_euler.psi,                 \
+                                 &(stateGetNedToBodyEulers_i()->phi),   \
+                                 &(stateGetNedToBodyEulers_i()->theta), \
+                                 &(stateGetNedToBodyEulers_i()->psi));  \
+}
 #endif
 
 #define PERIODIC_SEND_AHRS_RMAT_INT(_trans, _dev) {       \
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
index a71c60e058..b5e2ac3df3 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
@@ -42,7 +42,6 @@ struct AhrsIntCmpl {
   struct Int64Quat   high_rez_quat;
   struct Int64Rates  high_rez_bias;
   struct Int32Quat   ltp_to_imu_quat;
-  struct Int32Eulers ltp_to_imu_euler; // FIXME to compile telemetry
   struct Int32Vect3 mag_h;
   int32_t ltp_vel_norm;
   bool_t ltp_vel_norm_valid;