diff --git a/sw/airborne/math/Makefile b/sw/airborne/math/Makefile
index 3d7873a2c7..474adb25df 100644
--- a/sw/airborne/math/Makefile
+++ b/sw/airborne/math/Makefile
@@ -28,7 +28,7 @@ OBJ= $(addprefix $(BUILDDIR)/,$(SRC:.c=.o))
 LIBNAME=libpprzmath
 
 all:
-	@cat README
+	@cat README.md
 
 shared_lib: $(OBJ)
 	@echo CREATE shared $(LIBNAME)
diff --git a/sw/airborne/math/README.md b/sw/airborne/math/README.md
index 59ec0eb78d..e337f702c7 100644
--- a/sw/airborne/math/README.md
+++ b/sw/airborne/math/README.md
@@ -7,24 +7,25 @@ See also the @ref math docs.
 HOWTO install a shared library to use in other projects
 -------------------------------------------------------
 
-1. Build library: in this folder, type
+1. Build library: in sw/airborne/math, type
   `make shared_lib`
 
-  the default build directory is var/build/math
+  The default build directory is var/build/math,
   to change it: `BUILDDIR=<your_build_dir> make shared_lib`
 
 2. Install library: in this folder, type
-  make install_shared_lib
+  `make install_shared_lib`
 
   the default install dir is /usr/local
   and will install files in
-  /usr/local/lib
-  /usr/local/lib/pkgconfig
-  /usr/local/include/pprz
+  * /usr/local/lib
+  * /usr/local/lib/pkgconfig
+  * /usr/local/include/pprz
 
   to change the install dir: `PREFIX=<your_install_dir> make install_shared_lib`
 
-  note that the default install dir needs root privilege
+  note that the default install dir needs root privilege and is usually called via
+  `sudo make shared_lib`
 
 HOWTO use the shared library
 ----------------------------
diff --git a/sw/lib/python/pprz_math/pprz_algebra_float.i b/sw/lib/python/pprz_math/pprz_algebra_float.i
index bb2073928b..4a648d513b 100644
--- a/sw/lib/python/pprz_math/pprz_algebra_float.i
+++ b/sw/lib/python/pprz_math/pprz_algebra_float.i
@@ -37,6 +37,11 @@ struct FloatEulers {
   float psi; ///< in radians
 };
 
+struct FloatRates {
+  float p; ///< in rad/s
+  float q; ///< in rad/s
+  float r; ///< in rad/s
+};
 
 %extend FloatVect2 {
   char *__str__() {
@@ -265,3 +270,32 @@ struct FloatEulers {
     return r;
   }
 };
+
+%extend FloatRates {
+  char *__str__() {
+    static char tmp[1024];
+    sprintf(tmp,"Rates(%g, %g, %g)", $self->p ,$self->q, $self->r);
+    return tmp;
+  }
+  FloatRates(float p=0.0, float q=0.0, float r=0.0) {
+    struct FloatRates *fr = (struct FloatRates *) malloc(sizeof(struct FloatRates));
+    fr->p = p;
+    fr->q = q;
+    fr->r = r;
+    return fr;
+  }
+  struct FloatRates __add__(struct FloatRates *other) {
+    struct FloatRates fr;
+    fr.p = $self->p + other->p;
+    fr.q = $self->q + other->q;
+    fr.r = $self->r + other->r;
+    return fr;
+  }
+  struct FloatRates __sub__(struct FloatRates *other) {
+    struct FloatRates fr;
+    fr.p = $self->p - other->p;
+    fr.q = $self->q - other->q;
+    fr.r = $self->r - other->r;
+    return fr;
+  }
+};
diff --git a/sw/lib/python/pprz_math/setup.py b/sw/lib/python/pprz_math/setup.py
index 330c81d49c..127cd28527 100644
--- a/sw/lib/python/pprz_math/setup.py
+++ b/sw/lib/python/pprz_math/setup.py
@@ -31,7 +31,7 @@ algebra_module = Extension('_algebra',
                                 ],
                            include_dirs=common_inc_dirs)
 
-setup(name='geodetic',
+setup(name='pprz_math',
       version='0.1',
       author="Felix Ruess",
       description="""Pprz math wrappers""",