diff --git a/conf/messages.xml b/conf/messages.xml
index d876a5d04c..c2026df6aa 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1258,13 +1258,9 @@
     <field name="err_yd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
     <field name="err_sum_x" type="int32"/>
     <field name="err_sum_y" type="int32"/>
-    <field name="err_nav_x" type="int32"/>
-    <field name="err_nav_y" type="int32"/>
     <field name="cmd_x"     type="int32"/>
     <field name="cmd_y"     type="int32"/>
-    <field name="cmd_phi"   type="int32"/>
-    <field name="cmd_theta" type="int32"/>
-    <field name="cmd_psi"   type="int32"/>
+    <field name="cmd_heading" type="int32"/>
   </message>
 
 
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index 9ce4b59ed2..4305be0691 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -77,7 +77,6 @@ struct Int32Vect2 guidance_h_speed_sp;
 struct Int32Vect2 guidance_h_pos_err;
 struct Int32Vect2 guidance_h_speed_err;
 struct Int32Vect2 guidance_h_trim_att_integrator;
-struct Int32Vect2 guidance_h_nav_err;
 
 struct Int32Vect2  guidance_h_cmd_earth;
 struct Int32Eulers guidance_h_rc_sp;
@@ -115,18 +114,20 @@ static void send_hover_loop(void) {
   struct NedCoor_i* speed = stateGetSpeedNed_i();
   struct NedCoor_i* accel = stateGetAccelNed_i();
   DOWNLINK_SEND_HOVER_LOOP(DefaultChannel, DefaultDevice,
-    &guidance_h_pos_sp.x, &guidance_h_pos_sp.y,
-    &(pos->x), &(pos->y),
-    &(speed->x), &(speed->y),
-    &(accel->x), &(accel->y),
-    &guidance_h_pos_err.x, &guidance_h_pos_err.y,
-    &guidance_h_speed_err.x, &guidance_h_speed_err.y,
-    &guidance_h_pos_err_sum.x, &guidance_h_pos_err_sum.y,
-    &guidance_h_nav_err.x, &guidance_h_nav_err.y,
-    &guidance_h_command_earth.x, &guidance_h_command_earth.y,
-    &guidance_h_command_body.phi,
-    &guidance_h_command_body.theta,
-    &guidance_h_command_body.psi);
+                           &guidance_h_pos_sp.x,
+                           &guidance_h_pos_sp.y,
+                           &(pos->x), &(pos->y),
+                           &(speed->x), &(speed->y),
+                           &(accel->x), &(accel->y),
+                           &guidance_h_pos_err.x,
+                           &guidance_h_pos_err.y,
+                           &guidance_h_speed_err.x,
+                           &guidance_h_speed_err.y,
+                           &guidance_h_trim_att_integrator.x,
+                           &guidance_h_trim_att_integrator.y,
+                           &guidance_h_cmd_earth.x,
+                           &guidance_h_cmd_earth.y,
+                           &guidance_h_heading_sp);
 }
 
 static void send_href(void) {
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
index f8a934ce43..959cdfb1d8 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
@@ -68,7 +68,6 @@ extern struct Int32Vect2 guidance_h_accel_ref;      ///< with #INT32_ACCEL_FRAC
 extern struct Int32Vect2 guidance_h_pos_err;
 extern struct Int32Vect2 guidance_h_speed_err;
 extern struct Int32Vect2 guidance_h_trim_att_integrator;
-extern struct Int32Vect2 guidance_h_nav_err;
 
 
 /** horizontal guidance command.