diff --git a/conf/telemetry/iridium.xml b/conf/telemetry/iridium.xml
new file mode 100644
index 0000000000..6ca164367e
--- /dev/null
+++ b/conf/telemetry/iridium.xml
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
+<telemetry>
+  <process name="Ap">
+    <mode name="default">
+      <message name="ESTIMATOR"      period="2."	phase="0."/>
+      <message name="NAVIGATION"     period="2."	phase="0."/>
+      <message name="GPS"	     period="2."	phase="0."/>
+
+      <message name="ATTITUDE"       period="4."	phase="1"/>
+      <message name="DL_VALUE"       period="4."	phase="3"/>
+      <message name="WP_MOVED"       period="4."	phase="3"/>
+
+      <message name="DESIRED"        period="8."	phase="1"/>
+      <!-- Only one of the following is active at the same time: give them same time stamp -->
+      <message name="SEGMENT"        period="8."	phase="5"/>
+      <message name="CIRCLE"         period="8."	phase="5"/>
+      <message name="SURVEY"         period="8."	phase="5"/>
+
+      <message name="ALIVE"          period="16."	phase="1"/>
+      <message name="BAT"            period="16."	phase="1"/>
+      <message name="CALIBRATION"    period="16."	phase="1"/>
+      <message name="DOWNLINK"       period="16."	phase="5"/>
+      <message name="GPS_SOL"        period="16."	phase="5"/>
+      <message name="NAVIGATION_REF" period="16."	phase="9"/>
+      <message name="PPRZ_MODE"      period="16."	phase="9"/>
+    </mode>
+  </process>
+  <process name="Fbw">
+    <mode name="default">
+      <message name="FBW_STATUS"     period="16."	phase="13"/>
+      <message name="COMMANDS"       period="16."	phase="13"/>
+      <message name="ACTUATORS"      period="16."	phase="13"/>
+    </mode>
+  </process>
+</telemetry>
diff --git a/sw/airborne/ap_downlink.h b/sw/airborne/ap_downlink.h
index 66b81a3c31..9b305617de 100644
--- a/sw/airborne/ap_downlink.h
+++ b/sw/airborne/ap_downlink.h
@@ -159,6 +159,11 @@
 #define PERIODIC_SEND_GPS() DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone, &gps_nb_ovrn)
 #define PERIODIC_SEND_GPS_SOL() DOWNLINK_SEND_GPS_SOL(&gps_Pacc, &gps_Sacc, &gps_PDOP, &gps_numSV)
 #define PERIODIC_SEND_DebugChao() DOWNLINK_SEND_DebugChao(&ugear_debug1, &ugear_debug2, &ugear_debug3, &ugear_debug4, &ugear_debug5, &ugear_debug6)
+#else
+#  ifdef PERIOD_GPS_0
+#  include "gps.h"
+#    define PERIODIC_SEND_GPS() gps_send()
+#  endif
 #endif
 
 #ifdef USE_BARO_MS5534A
diff --git a/sw/airborne/gps.c b/sw/airborne/gps.c
index 313e0d92cd..b8affff9d0 100644
--- a/sw/airborne/gps.c
+++ b/sw/airborne/gps.c
@@ -33,6 +33,7 @@
 #include "latlong.h"
 #include "sys_time.h"
 #include "airframe.h"
+#include "periodic.h"
 
 #ifdef USE_USB_SERIAL
 #include "usb_serial.h"
@@ -56,13 +57,19 @@ volatile uint16_t gps_msg_received_counter;
 #endif
 
 void gps_downlink( void ) {
-  static uint8_t _4Hz;
-  _4Hz++; if (_4Hz > 3) _4Hz = 0;
 
-  
-#if defined DOWNLINK_GPS_1Hz
-  if (_4Hz == 0)
+#  ifdef DOWNLINK_GPS_1Hz
+#  warning "Deperecated DOWNLINK_GPS_1Hz: Please Use Telemetry xml to reduce data rate"
+#  endif
+
+
+#ifndef PERIOD_GPS_0
+   gps_send();
 #endif
+}
+
+void gps_send( void ) {
+  
     DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone, &gps_nb_ovrn);
   
   static uint8_t i;
diff --git a/sw/airborne/gps.h b/sw/airborne/gps.h
index 9d1e882229..b5c0b1e6f4 100644
--- a/sw/airborne/gps.h
+++ b/sw/airborne/gps.h
@@ -67,6 +67,7 @@ void gps_init( void );
 void gps_configure( void );
 void parse_gps_msg( void );
 void gps_downlink( void );
+void gps_send( void );
 void gps_configure_uart( void );
 
 
@@ -115,24 +116,13 @@ extern struct svinfo gps_svinfos[GPS_NB_CHANNELS];
 #define GpsToggleLed() {}
 #endif
 
-#define UseGpsPos(_callback) {			\
-    if (GpsFixValid()) {			\
-      last_gps_msg_t = cpu_time_sec;		\
-      _callback();				\
-      GpsToggleLed();				\
-    }						\
-    gps_downlink();				\
-  }
-
-#ifdef UGEAR
-#define UseGpsPosUgear(_callback) {		\
+#define UseGpsPosNoSend(_callback) {			\
     if (GpsFixValid()) {			\
       last_gps_msg_t = cpu_time_sec;		\
       _callback();				\
       GpsToggleLed();				\
     }						\
   }
-#endif
 
 #ifdef GPS_CONFIGURE
 #define GpsParseOrConfigure() {			\
diff --git a/sw/airborne/main_ap.c b/sw/airborne/main_ap.c
index e2afe0d8c5..994a535f3b 100644
--- a/sw/airborne/main_ap.c
+++ b/sw/airborne/main_ap.c
@@ -777,18 +777,17 @@ void event_task_ap( void ) {
 		if (gps_pos_available){
 			//gps_downlink();
 			gps_verbose_downlink = !launch;
-//			UseGpsPos(estimator_update_state_gps);
-			UseGpsPosUgear(estimator_update_state_gps);
+			UseGpsPosNoSend(estimator_update_state_gps);
 			gps_msg_received_counter = gps_msg_received_counter+1;
 			#ifdef GX2			
 			if (gps_msg_received_counter == 1){
-				gps_downlink();
+				gps_send();
 				gps_msg_received_counter = 0;
 			}
 			#endif
 			#ifdef XSENSDL
 			if (gps_msg_received_counter == 25){
-				gps_downlink();
+				gps_send();
 				gps_msg_received_counter = 0;
 			}
 			#endif
@@ -814,7 +813,8 @@ void event_task_ap( void ) {
     gps_msg_received = FALSE;
     if (gps_pos_available) {
       gps_verbose_downlink = !launch;
-      UseGpsPos(estimator_update_state_gps);
+      UseGpsPosNoSend(estimator_update_state_gps);
+      gps_downlink();
       gps_pos_available = FALSE;
     }
   }
diff --git a/sw/airborne/sim/sim_gps.c b/sw/airborne/sim/sim_gps.c
index c47de8d00a..52d7aeade2 100644
--- a/sw/airborne/sim/sim_gps.c
+++ b/sw/airborne/sim/sim_gps.c
@@ -73,7 +73,9 @@ value sim_use_gps_pos(value x, value y, value z, value c, value a, value s, valu
   gps_numSV = 7;
       
   gps_verbose_downlink = !launch;
-  UseGpsPos(estimator_update_state_gps);
+  UseGpsPosNoSend(estimator_update_state_gps);
+  gps_downlink();
+
 
   return Val_unit;
 }