diff --git a/conf/modules/extra_dl.xml b/conf/modules/extra_dl.xml
index 966860b8b7..37af8b7b81 100644
--- a/conf/modules/extra_dl.xml
+++ b/conf/modules/extra_dl.xml
@@ -11,7 +11,24 @@
   </header>
   <init fun="extra_pprz_dl_init()"/>
   <periodic fun="extra_pprz_dl_periodic()" freq="TELEMETRY_FREQUENCY" autorun="TRUE"/>
-  <event fun="ExtraDatalinkEvent()"/>
+
+  <!--
+  The event function listens on the extra telemetry port (from the payload computer for example)
+  and parses the received "datalink" messages, such as MOVE_WP.
+  We need this function to be able to listen to the extra telemetry port  
+
+  As a result all messages normally handled by the autopilot (such as MOVE_WP) are processed.
+  -->
+  <event fun="extra_pprz_dl_event()"/>
+
+  <!-- 
+  The "datalink" tag appends the specified "message" at the end of dl_parse_msg() function.
+  In case their is match in the message ID, "fun" is called on the message.
+
+  This automatically checks for the specified messages in regular telemetry (from GCS)
+  as well as on the extra telemetry (from the payload computer).
+  -->
+  <datalink message="PAYLOAD_COMMAND" fun="extra_pprz_dl_parse_payload_cmd()"/>
   <makefile target="ap">
     <configure name="EXTRA_DL_PORT" default="uart1" case="upper|lower"/>
     <define name="EXTRA_DOWNLINK_DEVICE" value="$(EXTRA_DL_PORT_LOWER)"/>
diff --git a/sw/airborne/modules/datalink/extra_pprz_dl.c b/sw/airborne/modules/datalink/extra_pprz_dl.c
index 0ae723bfa1..724aabc661 100644
--- a/sw/airborne/modules/datalink/extra_pprz_dl.c
+++ b/sw/airborne/modules/datalink/extra_pprz_dl.c
@@ -45,8 +45,22 @@
 
 #include "modules/datalink/extra_pprz_dl.h"
 #include "subsystems/datalink/telemetry.h"
+#include "subsystems/datalink/datalink.h"
+#include "pprzlink/pprz_transport.h"
+
+#if USE_UDP
+#include "mcu_periph/udp.h"
+#endif
+
+#if USE_USB_SERIAL
+#include "mcu_periph/usb_serial.h"
+#endif
 
 
+bool extra_dl_msg_available;
+uint8_t extra_dl_buffer[MSG_SIZE]  __attribute__((aligned));
+
+/* PPRZ transport structure */
 struct pprz_transport extra_pprz_tp;
 
 void extra_pprz_dl_init(void)
@@ -54,6 +68,12 @@ void extra_pprz_dl_init(void)
   pprz_transport_init(&extra_pprz_tp);
 }
 
+extern void extra_pprz_dl_event(void)
+{
+  pprz_check_and_parse(&EXTRA_DOWNLINK_DEVICE.device, &extra_pprz_tp, extra_dl_buffer, &extra_dl_msg_available);
+  DlCheckAndParse(&EXTRA_DOWNLINK_DEVICE.device, &extra_pprz_tp.trans_tx, extra_dl_buffer);
+}
+
 void extra_pprz_dl_periodic(void)
 {
 #if PERIODIC_TELEMETRY && defined(TELEMETRY_PROCESS_Extra)
@@ -62,3 +82,21 @@ void extra_pprz_dl_periodic(void)
 #endif
 }
 
+
+void extra_pprz_dl_parse_payload_cmd(void)
+{
+  // check if the command it meant for me
+  if (AC_ID != DL_PAYLOAD_COMMAND_ac_id(extra_dl_buffer)){
+    return;
+  }
+
+  // check if the payload length it correct
+  if (EXPECTED_PAYLOAD_LENGTH != DL_PAYLOAD_COMMAND_command_length(extra_dl_buffer)){
+    return;
+  }
+
+  // optionally we can check for PAYLOAD_COMMAND version etc, depending on what we define in the packet
+  if (DL_PAYLOAD_COMMAND_command(extra_dl_buffer)[PAYLOAD_CMD_IDX] == PAYLOAD_CMD_INFO){
+    // TODO: do something
+  }
+}
diff --git a/sw/airborne/modules/datalink/extra_pprz_dl.h b/sw/airborne/modules/datalink/extra_pprz_dl.h
index faa940f136..b0c14515d0 100644
--- a/sw/airborne/modules/datalink/extra_pprz_dl.h
+++ b/sw/airborne/modules/datalink/extra_pprz_dl.h
@@ -27,34 +27,29 @@
 #ifndef EXTRA_PPRZ_DL_H
 #define EXTRA_PPRZ_DL_H
 
-#include "subsystems/datalink/datalink.h"
-#include "pprzlink/pprz_transport.h"
+// example of checking for correct PAYLOAD_COMMAND message
+#define EXPECTED_PAYLOAD_LENGTH 8
 
-#if USE_UDP
-#include "mcu_periph/udp.h"
-#endif
+// example of a payload command
+#define PAYLOAD_CMD_INFO 1
 
-#if USE_USB_SERIAL
-#include "mcu_periph/usb_serial.h"
-#endif
+// so we don't have to remember the index of bytes
+#define PAYLOAD_CMD_IDX 0
 
-/* PPRZ transport structure */
-extern struct pprz_transport extra_pprz_tp;
-
-/* Datalink Event */
-#define ExtraDatalinkEvent() {                            \
-    pprz_check_and_parse(&EXTRA_DOWNLINK_DEVICE.device, &extra_pprz_tp, dl_buffer, &dl_msg_available); \
-    DlCheckAndParse(&EXTRA_DOWNLINK_DEVICE.device, &extra_pprz_tp.trans_tx, dl_buffer); \
-  }
+/** Datalink Event */
+void extra_pprz_dl_event(void);
 
 /** Init function */
-extern void extra_pprz_dl_init(void);
+void extra_pprz_dl_init(void);
 
 /** Periodic function
  *
  * should be called at TELEMETRY_FREQUENCY
  */
-extern void extra_pprz_dl_periodic(void);
+void extra_pprz_dl_periodic(void);
+
+/** Process payload commands */
+void extra_pprz_dl_parse_payload_cmd(void);
 
 #endif /* EXTRA_PPRZ_DL_H */