diff --git a/conf/messages.xml b/conf/messages.xml
index 634e566051..693fdd0511 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -802,9 +802,6 @@
  </message>
 
  <message name="BOOZ2_RATE_LOOP" id="136">   
-   <field name="gp"  type="int32"/>
-   <field name="gq"  type="int32"/>
-   <field name="gr"  type="int32"/>
    <field name="spp" type="int32"/>
    <field name="spq" type="int32"/>
    <field name="spr" type="int32"/>
diff --git a/sw/airborne/booz/booz2_telemetry.h b/sw/airborne/booz/booz2_telemetry.h
index 6beaf6c67f..807cf43d56 100644
--- a/sw/airborne/booz/booz2_telemetry.h
+++ b/sw/airborne/booz/booz2_telemetry.h
@@ -169,9 +169,6 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 #include "booz_stabilization.h"
 #define PERIODIC_SEND_BOOZ2_RATE_LOOP(_chan) {				    \
     DOWNLINK_SEND_BOOZ2_RATE_LOOP(_chan,				    \
-				  &booz_stabilization_rate_measure.p,	    \
-				  &booz_stabilization_rate_measure.q,	    \
-				  &booz_stabilization_rate_measure.r,	    \
 				  &booz_stabilization_rate_sp.p,	    \
 				  &booz_stabilization_rate_sp.q,	    \
 				  &booz_stabilization_rate_sp.r,	    \
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_rate.c b/sw/airborne/booz/stabilization/booz_stabilization_rate.c
index 451e011d6c..9169bb0fc6 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_rate.c
+++ b/sw/airborne/booz/stabilization/booz_stabilization_rate.c
@@ -29,7 +29,6 @@
 #include "booz_radio_control.h"
 #include "airframe.h"
 
-struct Int32Rates booz_stabilization_rate_measure;
 struct Int32Rates booz_stabilization_rate_sp;
 struct Int32Rates booz_stabilization_rate_gain;
 
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_rate.h b/sw/airborne/booz/stabilization/booz_stabilization_rate.h
index 203025166b..481d0b81ee 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_rate.h
+++ b/sw/airborne/booz/stabilization/booz_stabilization_rate.h
@@ -30,7 +30,6 @@ extern void booz_stabilization_rate_init(void);
 extern void booz_stabilization_rate_read_rc(void);
 extern void booz_stabilization_rate_run(void);
 
-extern struct Int32Rates booz_stabilization_rate_measure;
 extern struct Int32Rates booz_stabilization_rate_sp;
 extern struct Int32Rates booz_stabilization_rate_gain;