diff --git a/sw/airborne/modules/cam_control/cam.c b/sw/airborne/modules/cam_control/cam.c
index 41a994dab1..5c9689f161 100644
--- a/sw/airborne/modules/cam_control/cam.c
+++ b/sw/airborne/modules/cam_control/cam.c
@@ -101,7 +101,11 @@ void cam_waypoint_target(void);
 void cam_ac_target(void);
 
 static void send_cam(struct transport_tx *trans, struct link_device *dev) {
-  SEND_CAM(DefaultChannel, DefaultDevice);
+  int16_t x = cam_target_x;
+  int16_t y = cam_target_y;
+  int16_t phi = DegOfRad(cam_phi_c);
+  int16_t theta = DegOfRad(cam_theta_c);
+  pprz_msg_send_CAM(trans, dev, AC_ID, &phi, &theta, &x, &y);
 }
 
 #ifdef SHOW_CAM_COORDINATES
diff --git a/sw/airborne/modules/cam_control/cam.h b/sw/airborne/modules/cam_control/cam.h
index ce75971d6d..9517d0740a 100644
--- a/sw/airborne/modules/cam_control/cam.h
+++ b/sw/airborne/modules/cam_control/cam.h
@@ -96,12 +96,4 @@ extern bool_t video_tx_state;
 
 #endif
 
-#define SEND_CAM(_trans, _dev) { \
-  int16_t x = cam_target_x; \
-  int16_t y = cam_target_y; \
-  int16_t phi = DegOfRad(cam_phi_c); \
-  int16_t theta = DegOfRad(cam_theta_c); \
-  DOWNLINK_SEND_CAM(_trans, _dev, &phi, &theta, &x, &y); \
-}
-
 #endif // CAM_H
diff --git a/sw/airborne/modules/cam_control/point.c b/sw/airborne/modules/cam_control/point.c
index 467de88361..df96419253 100644
--- a/sw/airborne/modules/cam_control/point.c
+++ b/sw/airborne/modules/cam_control/point.c
@@ -97,7 +97,7 @@ float  memory_x, memory_y, memory_z;
 #if defined(SHOW_CAM_COORDINATES)
 float   cam_point_x;
 float   cam_point_y;
-unsigned int cam_point_distance_from_home;
+uint16_t cam_point_distance_from_home;
 float cam_point_lon,  cam_point_lat;
 float distance_correction = 1;
 #endif
diff --git a/sw/airborne/modules/cam_control/point.h b/sw/airborne/modules/cam_control/point.h
index 2f78a517bd..584d926bdd 100644
--- a/sw/airborne/modules/cam_control/point.h
+++ b/sw/airborne/modules/cam_control/point.h
@@ -25,7 +25,7 @@
 #define POINT_H
 
 #if defined(SHOW_CAM_COORDINATES)
-extern unsigned int cam_point_distance_from_home;
+extern uint16_t cam_point_distance_from_home;
 extern float cam_point_lon,  cam_point_lat;
 extern float distance_correction;
 #endif