diff --git a/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c b/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
index 75393851bc..6217fbfeac 100644
--- a/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
+++ b/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
@@ -499,7 +499,6 @@ static void send_eff_mat_stab_oneloop_andi(struct transport_tx *trans, struct li
                 ANDI_NUM_ACT, EFF_MAT_RW[3],
                 ANDI_NUM_ACT, EFF_MAT_RW[4],
                 ANDI_NUM_ACT, EFF_MAT_RW[5], 
-                                    1, &zero,
                                     1, &zero);
 }
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_andi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_andi.c
index 970fa1c2b4..0503a7501d 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_andi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_andi.c
@@ -425,13 +425,11 @@ static void send_wls_u_stabilization_andi(struct transport_tx *trans, struct lin
 
 static void send_eff_mat_stabilization_andi(struct transport_tx *trans, struct link_device *dev)
 {
-  float zero = 0.0f;
   pprz_msg_send_EFF_MAT_STAB(trans, dev, AC_ID,
                              ANDI_NUM_ACT, &ce_mat[0 * ANDI_NUM_ACT],
                              ANDI_NUM_ACT, &ce_mat[1 * ANDI_NUM_ACT],
                              ANDI_NUM_ACT, &ce_mat[2 * ANDI_NUM_ACT],
-                             ANDI_NUM_ACT, &ce_mat[3 * ANDI_NUM_ACT],
-                             1,  &zero);
+                             ANDI_NUM_ACT, &ce_mat[3 * ANDI_NUM_ACT]);
 }
 
 static void send_stab_attitude_stabilization_andi(struct transport_tx *trans, struct link_device *dev)
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index bee83175ba..09340ee2b0 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -347,8 +347,27 @@ static void send_eff_mat_g_indi(struct transport_tx *trans, struct link_device *
                       INDI_NUM_ACT, g1g2[0],
                       INDI_NUM_ACT, g1g2[1],
                       INDI_NUM_ACT, g1g2[2],
-                      INDI_NUM_ACT, g1g2[3],
                       INDI_NUM_ACT, g2_est);
+#if INDI_OUTPUTS <= 5
+  float zero = 0;
+#endif
+#if INDI_OUTPUTS > 3
+  pprz_msg_send_EFF_MAT_STAB_THRUST(trans, dev, AC_ID,
+#if INDI_OUTPUTS == 4
+      1, &zero,
+      1, &zero,
+      INDI_NUM_ACT, g1g2[3]
+#elif INDI_OUTPUTS == 5
+      INDI_NUM_ACT, g1g2[4],
+      1, &zero,
+      INDI_NUM_ACT, g1g2[3]
+#elif INDI_OUTPUTS == 6
+      INDI_NUM_ACT, g1g2[3],
+      INDI_NUM_ACT, g1g2[4],
+      INDI_NUM_ACT, g1g2[5]
+#endif
+      );
+#endif
 }
 
 static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev)
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
index 3f097086a5..97a7e260fd 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
@@ -169,13 +169,11 @@ static void send_eff_mat_g_indi_simple(struct transport_tx *trans, struct link_d
   struct FloatRates g1_disp;
   RATES_SMUL(g1_disp, indi.est.g1, INDI_EST_SCALE);
   float g2_disp = indi.est.g2 * INDI_EST_SCALE;
-  float zero = 0.0;
   pprz_msg_send_EFF_MAT_STAB(trans, dev, AC_ID,
                                     1, &g1_disp.p,
                                     1, &g1_disp.q,
                                     1, &g1_disp.r,
-                                    1, &g2_disp,
-                                    1, &zero);
+                                    1, &g2_disp);
 }
 
 static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev)