diff --git a/sw/airborne/autopilot/mainloop.c b/sw/airborne/autopilot/mainloop.c
index 016acf34b3..bd95852753 100644
--- a/sw/airborne/autopilot/mainloop.c
+++ b/sw/airborne/autopilot/mainloop.c
@@ -101,6 +101,10 @@ int main( void ) {
       /* receive radio control task from fbw */
       link_fbw_receive_complete = FALSE;
       radio_control_task();
+#ifdef IMU_TYPE_3DMG
+      DOWNLINK_SEND_IMU_3DMG(&from_fbw.euler_dot[0], &from_fbw.euler_dot[1], &from_fbw.euler_dot[2], &from_fbw.euler[0], &from_fbw.euler[1], &from_fbw.euler[2]);
+
+#endif
     }
   } 
   return 0;