diff --git a/conf/messages.xml b/conf/messages.xml
index a8074381fe..4ee38a0882 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -2437,7 +2437,7 @@
     <field name="ac_id" type="uint8"/>
   </message>
 
-  <message name="POSITION_TARGET_LOCAL_NED" id="40" link="forwarded">
+  <message name="GUIDED_SETPOINT_NED" id="40" link="forwarded">
     <description>
       Set vehicle position or velocity in NED.
       Frame can be specified with the bits 0-3 in the flags field:
diff --git a/sw/airborne/firmwares/rotorcraft/datalink.c b/sw/airborne/firmwares/rotorcraft/datalink.c
index d7218a8d04..a9e505b685 100644
--- a/sw/airborne/firmwares/rotorcraft/datalink.c
+++ b/sw/airborne/firmwares/rotorcraft/datalink.c
@@ -187,13 +187,13 @@ void dl_parse_msg(void)
       break;
 #endif
 
-    case DL_POSITION_TARGET_LOCAL_NED:
-      if (DL_POSITION_TARGET_LOCAL_NED_ac_id(dl_buffer) != AC_ID) { break; }
-      uint8_t flags = DL_POSITION_TARGET_LOCAL_NED_flags(dl_buffer);
-      float x = DL_POSITION_TARGET_LOCAL_NED_x(dl_buffer);
-      float y = DL_POSITION_TARGET_LOCAL_NED_y(dl_buffer);
-      float z = DL_POSITION_TARGET_LOCAL_NED_z(dl_buffer);
-      float yaw = DL_POSITION_TARGET_LOCAL_NED_yaw(dl_buffer);
+    case DL_GUIDED_SETPOINT_NED:
+      if (DL_GUIDED_SETPOINT_NED_ac_id(dl_buffer) != AC_ID) { break; }
+      uint8_t flags = DL_GUIDED_SETPOINT_NED_flags(dl_buffer);
+      float x = DL_GUIDED_SETPOINT_NED_x(dl_buffer);
+      float y = DL_GUIDED_SETPOINT_NED_y(dl_buffer);
+      float z = DL_GUIDED_SETPOINT_NED_z(dl_buffer);
+      float yaw = DL_GUIDED_SETPOINT_NED_yaw(dl_buffer);
       switch (flags) {
         case 0x00:
         case 0x02:
diff --git a/sw/ground_segment/python/guided_mode_example.py b/sw/ground_segment/python/guided_mode_example.py
index 4688657efa..aa53909326 100755
--- a/sw/ground_segment/python/guided_mode_example.py
+++ b/sw/ground_segment/python/guided_mode_example.py
@@ -75,7 +75,7 @@ class Guidance(object):
         """
         goto a local NorthEastDown position in meters (if already in GUIDED mode)
         """
-        msg = PprzMessage("datalink", "POSITION_TARGET_LOCAL_NED")
+        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
         msg['ac_id'] = self.ac_id
         msg['flags'] = 0x00
         msg['x'] = north
@@ -90,7 +90,7 @@ class Guidance(object):
         """
         goto a local NorthEastDown position relative to current position in meters (if already in GUIDED mode)
         """
-        msg = PprzMessage("datalink", "POSITION_TARGET_LOCAL_NED")
+        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
         msg['ac_id'] = self.ac_id
         msg['flags'] = 0x01
         msg['x'] = north
@@ -104,7 +104,7 @@ class Guidance(object):
         """
         goto to a position relative to current position and heading in meters (if already in GUIDED mode)
         """
-        msg = PprzMessage("datalink", "POSITION_TARGET_LOCAL_NED")
+        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
         msg['ac_id'] = self.ac_id
         msg['flags'] = 0x03
         msg['x'] = forward