diff --git a/conf/telemetry/default_fixedwing_imu.xml b/conf/telemetry/default_fixedwing_imu.xml
index c106da4e29..5435f10112 100644
--- a/conf/telemetry/default_fixedwing_imu.xml
+++ b/conf/telemetry/default_fixedwing_imu.xml
@@ -28,6 +28,7 @@
       <message name="GPS_SOL"        period="2.0"/>
       <message name="IMU_ACCEL"      period=".8"/>
       <message name="IMU_GYRO"       period=".6"/>
+      <message name="IMU_MAG"        period="1.3"/>
     </mode>
     <mode name="minimal">
       <message name="ALIVE"          period="5"/>
@@ -50,6 +51,23 @@
       <message name="SURVEY"         period="2.1"/>
       <message name="GPS_SOL"        period="5.0"/>
     </mode>
+    <mode name="debug_imu">
+      <message name="ATTITUDE"       period="0.1"/>
+      <message name="ALIVE"          period="5"/>
+      <message name="GPS"            period="5.1"/>
+      <message name="ESTIMATOR"      period="5.3"/>
+      <message name="BAT"            period="10.1"/>
+      <message name="DESIRED"        period="10.2"/>
+      <message name="NAVIGATION"     period="5.4"/>
+      <message name="PPRZ_MODE"      period="5.5"/>
+      <message name="DOWNLINK"       period="5.7"/>
+      <message name="IMU_ACCEL"      period=".5"/>
+      <message name="IMU_GYRO"       period=".5"/>
+      <message name="IMU_MAG"        period=".5"/>
+      <message name="IMU_ACCEL_RAW"  period=".5"/>
+      <message name="IMU_GYRO_RAW"   period=".5"/>
+      <message name="IMU_MAG_RAW"    period=".5"/>
+    </mode>
     <mode name="extremal">
       <message name="ALIVE"          period="5"/>
       <message name="GPS"            period="5.1"/>
diff --git a/sw/airborne/ap_downlink.h b/sw/airborne/ap_downlink.h
index abfcdba69d..8947b97a6f 100644
--- a/sw/airborne/ap_downlink.h
+++ b/sw/airborne/ap_downlink.h
@@ -145,12 +145,18 @@
 #define PERIODIC_SEND_IMU_MAG_RAW(_chan) { DOWNLINK_SEND_IMU_MAG_RAW(_chan, &imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z)}
 #define PERIODIC_SEND_IMU_ACCEL(_chan) { struct FloatVect3 accel_float; ACCELS_FLOAT_OF_BFP(accel_float, imu.accel); DOWNLINK_SEND_IMU_ACCEL(_chan, &accel_float.x, &accel_float.y, &accel_float.z)}
 #define PERIODIC_SEND_IMU_GYRO(_chan) { struct FloatRates gyro_float; RATES_FLOAT_OF_BFP(gyro_float, imu.gyro); DOWNLINK_SEND_IMU_GYRO(_chan, &gyro_float.p, &gyro_float.q, &gyro_float.r)}
-#define PERIODIC_SEND_IMU_MAG(_chan) { struct FloatVect3 mag_float; MAGS_FLOAT_OF_BFP(mag_float, imu.mag); DOWNLINK_SEND_IMU_MAG(_chan, &mag_float.x, &mag_float.y, &mag_float.z)}
+#  ifdef USE_MAGNETOMETER
+#    define PERIODIC_SEND_IMU_MAG(_chan) { struct FloatVect3 mag_float; MAGS_FLOAT_OF_BFP(mag_float, imu.mag); DOWNLINK_SEND_IMU_MAG(_chan, &mag_float.x, &mag_float.y, &mag_float.z)}
+#  else
+#    define PERIODIC_SEND_IMU_MAG_RAW(_chan) {}
+#  endif
 #else
 #define PERIODIC_SEND_IMU_ACCEL_RAW(_chan) {}
 #define PERIODIC_SEND_IMU_GYRO_RAW(_chan) {}
+#define PERIODIC_SEND_IMU_MAG_RAW(_chan) {}
 #define PERIODIC_SEND_IMU_ACCEL(_chan) {}
 #define PERIODIC_SEND_IMU_GYRO(_chan) {}
+#define PERIODIC_SEND_IMU_MAG(_chan) {}
 #endif
 
 #ifdef IMU_ANALOG