diff --git a/conf/messages.xml b/conf/messages.xml
index 435a83c755..e3d06e6d30 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1898,7 +1898,12 @@
  <!--223 is free -->
  <!--224 is free -->
  <!--225 is free -->
- <!--226 is free -->
+
+  <message name="PERIODIC_TELEMETRY_ERR" id="226">
+    <field name="process" type="uint8"/>
+    <field name="mode" type="uint8"/>
+    <field name="id" type="uint8"/>
+  </message>
 
   <message name="TIME" id="227">
     <field name="t" type="uint32"/>
diff --git a/sw/airborne/subsystems/datalink/telemetry.c b/sw/airborne/subsystems/datalink/telemetry.c
index 42b7da2079..f172d6105c 100644
--- a/sw/airborne/subsystems/datalink/telemetry.c
+++ b/sw/airborne/subsystems/datalink/telemetry.c
@@ -52,3 +52,20 @@ bool_t register_periodic_telemetry(struct pprz_telemetry * _pt, char * _msg, tel
   return FALSE;
 }
 
+#if USE_PERIODIC_TELEMETRY_REPORT
+
+#include "subsystems/datalink/downlink.h"
+
+/** Send an error report when trying to send message that as not been register
+ * @param _process telemetry process id
+ * @param _mode telemetry mode
+ * @param _id id of the message in telemetry system (see var/<AC>/generated/periodic_telemetry.h)
+ */
+void periodic_telemetry_err_report(uint8_t _process, uint8_t _mode, uint8_t _id) {
+  uint8_t process = _process;
+  uint8_t mode = _mode;
+  uint8_t id = _id;
+  DOWNLINK_SEND_PERIODIC_TELEMETRY_ERR(DefaultChannel, DefaultDevice, &process, &mode, &id);
+}
+
+#endif
diff --git a/sw/airborne/subsystems/datalink/telemetry_common.h b/sw/airborne/subsystems/datalink/telemetry_common.h
index d078e8b359..30aaf3e0e0 100644
--- a/sw/airborne/subsystems/datalink/telemetry_common.h
+++ b/sw/airborne/subsystems/datalink/telemetry_common.h
@@ -58,8 +58,16 @@ struct pprz_telemetry {
  * @param _cb callback function, called according to telemetry mode and specified period
  * @return TRUE if message registered with success, FALSE otherwise
  */
-bool_t register_periodic_telemetry(struct pprz_telemetry * _pt, char * _msg, telemetry_cb _cb);
+extern bool_t register_periodic_telemetry(struct pprz_telemetry * _pt, char * _msg, telemetry_cb _cb);
 
+#if USE_PERIODIC_TELEMETRY_REPORT
+/** Send an error report when trying to send message that as not been register
+ * @param _process telemetry process id
+ * @param _mode telemetry mode
+ * @param _id id of the message in telemetry system (see var/<AC>/generated/periodic_telemetry.h)
+ */
+extern void periodic_telemetry_err_report(uint8_t _process, uint8_t _mode, uint8_t _id);
+#endif
 
 #endif /* TELEMETRY_COMMON_H */
 
diff --git a/sw/tools/gen_periodic.ml b/sw/tools/gen_periodic.ml
index f70e5ede37..af18793702 100644
--- a/sw/tools/gen_periodic.ml
+++ b/sw/tools/gen_periodic.ml
@@ -87,7 +87,7 @@ let output_modes = fun out_h process_name modes freq modules ->
           lprintf out_h "telemetry_%s.msgs[TELEMETRY_%s_MSG_%s_ID].cb();\n" process_name (String.uppercase process_name) message_name;
           left ();
           fprintf out_h "#if USE_PERIODIC_TELEMETRY_REPORT\n";
-          lprintf out_h "else peridodic_telemetry_err_report(TELEMETRY_%s_MSG_%s_ID);\n" (String.uppercase process_name) message_name;
+          lprintf out_h "else periodic_telemetry_err_report(TELEMETRY_PROCESS_%s, telemetry_mode_%s, TELEMETRY_%s_MSG_%s_ID);\n" process_name process_name (String.uppercase process_name) message_name;
           fprintf out_h "#endif\n";
           left ();
           lprintf out_h "}\n"
@@ -160,6 +160,9 @@ let _ =
       let messages = Hashtbl.create 5 in
 
       fprintf out_h "\n/* Periodic telemetry: %s process */\n" process_name;
+      let p_id = ref 0 in
+      Xml2h.define (sprintf "TELEMETRY_PROCESS_%s" process_name) (string_of_int !p_id);
+      incr p_id;
 
       let i = ref 0 in
       (** For each mode of this process *)