diff --git a/conf/messages.xml b/conf/messages.xml
index a5e5e008bf..9fb975e628 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -244,11 +244,7 @@
     <field name="utm_zone" type="uint8"/>
   </message>
 
-  <message name="GYRO_RATES" id="36">
-    <field name="roll_adc" type="int16"/>
-    <field name="roll" type="float" unit="rad/s"/>
-    <field name="pitch" type="float" unit="rad/s"/>
-  </message>
+  <!-- 36 is free -->
 
   <message name="ENERGY" id="37">
     <field name="bat"      type="float" unit="V"/>
diff --git a/conf/telemetry/aerocomm.xml b/conf/telemetry/aerocomm.xml
index d564c043b6..7870513dfb 100644
--- a/conf/telemetry/aerocomm.xml
+++ b/conf/telemetry/aerocomm.xml
@@ -18,7 +18,7 @@
       <message name="DOWNLINK"       period="7.1"/>
       <message name="DL_VALUE"       period="1.8"/>
       <message name="IR_SENSORS"     period="3.1"/>
-      <message name="GYRO_RATES"     period="2.9"/>
+      <message name="IMU_GYRO"       period="2.9"/>
       <message name="SURVEY"         period="2.7"/>
       <message name="GPS_SOL"        period="2.0"/>
       <message name="AIRSPEED"       period="0.5"/>
diff --git a/conf/telemetry/default.xml b/conf/telemetry/default.xml
index 6cde67ad03..89fee5251a 100644
--- a/conf/telemetry/default.xml
+++ b/conf/telemetry/default.xml
@@ -25,7 +25,7 @@
       <message name="DOWNLINK"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
       <message name="IR_SENSORS"          period="1.2"/>
-      <message name="GYRO_RATES"          period="1.1"/>
+      <message name="IMU_GYRO"            period="1.1"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
     </mode>
@@ -47,7 +47,7 @@
       <message name="DOWNLINK"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
       <message name="IR_SENSORS"          period="5.2"/>
-      <message name="GYRO_RATES"          period="10.1"/>
+      <message name="IMU_GYRO"            period="10.1"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
     </mode>
diff --git a/conf/telemetry/default_fixedwing_imu.xml b/conf/telemetry/default_fixedwing_imu.xml
index f1a70731a9..1b83499095 100644
--- a/conf/telemetry/default_fixedwing_imu.xml
+++ b/conf/telemetry/default_fixedwing_imu.xml
@@ -25,7 +25,6 @@
       <message name="DOWNLINK"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
       <message name="IR_SENSORS"          period="1.2"/>
-      <message name="GYRO_RATES"          period="1.1"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
       <message name="IMU_ACCEL"           period=".8"/>
@@ -50,7 +49,6 @@
       <message name="DOWNLINK"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
       <message name="IR_SENSORS"          period="5.2"/>
-      <message name="GYRO_RATES"          period="10.1"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
     </mode>
diff --git a/conf/telemetry/default_fixedwing_imu_9k6.xml b/conf/telemetry/default_fixedwing_imu_9k6.xml
index 02087f6deb..ee2f0f4e93 100644
--- a/conf/telemetry/default_fixedwing_imu_9k6.xml
+++ b/conf/telemetry/default_fixedwing_imu_9k6.xml
@@ -25,7 +25,6 @@
       <message name="DOWNLINK"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
       <message name="IR_SENSORS"          period="1.2"/>
-      <message name="GYRO_RATES"          period="1.1"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
       <message name="IMU_ACCEL"           period=".8"/>
@@ -50,7 +49,6 @@
       <message name="DOWNLINK"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>
       <message name="IR_SENSORS"          period="5.2"/>
-      <message name="GYRO_RATES"          period="10.1"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="5.0"/>
     </mode>
diff --git a/conf/telemetry/fw_h_ctl_a.xml b/conf/telemetry/fw_h_ctl_a.xml
index 855a5500c0..d9bf211906 100644
--- a/conf/telemetry/fw_h_ctl_a.xml
+++ b/conf/telemetry/fw_h_ctl_a.xml
@@ -19,7 +19,7 @@
       <message name="DOWNLINK"       period="5.1"/>
       <message name="DL_VALUE"       period="1.5"/>
       <message name="IR_SENSORS"     period="1.2"/>
-      <message name="GYRO_RATES"     period="0.2"/>
+      <message name="IMU_GYRO"       period="0.2"/>
       <message name="SURVEY"         period="2.1"/>
       <message name="GPS_SOL"        period="2.0"/>
     </mode>
diff --git a/conf/telemetry/hitl.xml b/conf/telemetry/hitl.xml
index 2be7dfff25..034ed1b653 100644
--- a/conf/telemetry/hitl.xml
+++ b/conf/telemetry/hitl.xml
@@ -17,7 +17,6 @@
       <message name="DOWNLINK"       period="5.1"/>
       <message name="DL_VALUE"       period="1.5"/>
       <message name="IR_SENSORS"     period="1.2"/>
-      <message name="GYRO_RATES"     period="1.1"/>
       <message name="SURVEY"         period="2.1"/>
       <message name="GPS_SOL"        period="2.0"/>
     </mode>
diff --git a/conf/telemetry/minimal.xml b/conf/telemetry/minimal.xml
index 771d9070c0..3789235f91 100644
--- a/conf/telemetry/minimal.xml
+++ b/conf/telemetry/minimal.xml
@@ -20,7 +20,7 @@
       <message name="DOWNLINK"       period="5.1"/>
       <message name="DL_VALUE"       period="1.5"/>
       <message name="IR_SENSORS"     period="1.2"/>
-      <message name="GYRO_RATES"     period="2.1"/>
+      <message name="IMU_GYRO"       period="2.1"/>
       <message name="SURVEY"         period="2.1"/>
       <message name="GPS_SOL"        period="2.0"/>
     </mode>
diff --git a/conf/telemetry/osam_imu.xml b/conf/telemetry/osam_imu.xml
index 5d3b3007dd..22efef2abc 100644
--- a/conf/telemetry/osam_imu.xml
+++ b/conf/telemetry/osam_imu.xml
@@ -18,7 +18,7 @@
       <message name="DOWNLINK"       period="5.1"/>
       <message name="DL_VALUE"       period="1.5"/>
       <message name="IR_SENSORS"     period="1.2"/>
-      <message name="GYRO_RATES"     period="1.1"/>
+      <message name="IMU_GYRO"       period="1.1"/>
       <message name="SURVEY"         period="2.1"/>
       <message name="GPS_SOL"        period="2.0"/>
       <message name="GPS"            period="1.0"/>
diff --git a/sw/airborne/ap_downlink.h b/sw/airborne/ap_downlink.h
index e9446a0fb1..aa0d6757cf 100644
--- a/sw/airborne/ap_downlink.h
+++ b/sw/airborne/ap_downlink.h
@@ -132,8 +132,6 @@
 
 #define PERIODIC_SEND_ADC(_chan) {}
 
-#define PERIODIC_SEND_GYRO_RATES(_chan) {}
-
 
 #define PERIODIC_SEND_CALIBRATION(_chan) DOWNLINK_SEND_CALIBRATION(_chan, &v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode)