diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
index efaf3ad17c..1c24f46a1b 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
@@ -144,6 +144,17 @@ static void send_fp(struct transport_tx *trans, struct link_device *dev)
                               &autopilot.flight_time);
 }
 
+static void send_body_rates_accel(struct transport_tx *trans, struct link_device *dev)
+{
+  pprz_msg_send_BODY_RATES_ACCEL(trans, dev, AC_ID,
+                                  &(stateGetBodyRates_f()->p),
+                                  &(stateGetBodyRates_f()->q),
+                                  &(stateGetBodyRates_f()->r),
+                                  &(stateGetAccelBody_i()->x),
+                                  &(stateGetAccelBody_i()->y),
+                                  &(stateGetAccelBody_i()->z));
+}
+
 static void send_fp_min(struct transport_tx *trans, struct link_device *dev)
 {
 #if USE_GPS
@@ -199,6 +210,7 @@ void autopilot_firmware_init(void)
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP, send_fp);
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP_MIN, send_fp_min);
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_CMD, send_rotorcraft_cmd);
+  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_BODY_RATES_ACCEL, send_body_rates_accel);
 #ifdef RADIO_CONTROL
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_RADIO_CONTROL, send_rotorcraft_rc);
 #endif
diff --git a/sw/ext/pprzlink b/sw/ext/pprzlink
index 710bf6bd94..20cf56bcd0 160000
--- a/sw/ext/pprzlink
+++ b/sw/ext/pprzlink
@@ -1 +1 @@
-Subproject commit 710bf6bd94e1aad2449d146efb82934a0bbcaae8
+Subproject commit 20cf56bcd0d24896a81abc682ed4b082b7391d78