diff --git a/conf/messages.xml b/conf/messages.xml
index 3ff76f27c9..a034488acd 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1298,16 +1298,13 @@
   </message>
 
   <message name="ROTORCRAFT_TUNE_HOVER" id="150">
-    <field name="rc_roll"    type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
-    <field name="rc_pitch"   type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
-    <field name="rc_yaw"     type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
+    <field name="rc_roll"    type="int16"/>
+    <field name="rc_pitch"   type="int16"/>
+    <field name="rc_yaw"     type="int16"/>
     <field name="cmd_roll"   type="int32"/>
     <field name="cmd_pitch"  type="int32"/>
     <field name="cmd_yaw"    type="int32"/>
     <field name="cmd_thrust" type="int32"/>
-    <field name="imu_phi"    type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
-    <field name="imu_theta"  type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
-    <field name="imu_psi"    type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
     <field name="body_phi"   type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
     <field name="body_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
     <field name="body_psi"   type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
index 2a79fd2c04..1987a72b9a 100644
--- a/conf/telemetry/default_rotorcraft.xml
+++ b/conf/telemetry/default_rotorcraft.xml
@@ -126,7 +126,7 @@
       <message name="ROTORCRAFT_STATUS" period="1.2"/>
       <message name="ALIVE"             period="2.1"/>
       <message name="GUIDANCE_H_INT"    period="0.05"/>
-      <!--<message name="ROTORCRAFT_TUNE_HOVER"    period=".1"/>-->
+      <message name="ROTORCRAFT_TUNE_HOVER"    period=".1"/>
       <!-- <message name="GPS_INT"               period=".20"/> -->
       <!--<message name="INS2"              period=".05"/>
       <message name="INS3"              period=".20"/>-->
diff --git a/sw/airborne/firmwares/fixedwing/datalink.c b/sw/airborne/firmwares/fixedwing/datalink.c
index d133fb5196..c55b397897 100644
--- a/sw/airborne/firmwares/fixedwing/datalink.c
+++ b/sw/airborne/firmwares/fixedwing/datalink.c
@@ -139,8 +139,7 @@ void dl_parse_msg(void) {
     DOWNLINK_SEND_WP_MOVED(DefaultChannel, DefaultDevice, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0);
   } else if (msg_id == DL_BLOCK && DL_BLOCK_ac_id(dl_buffer) == AC_ID) {
     nav_goto_block(DL_BLOCK_block_id(dl_buffer));
-    // FIXME
-    //SEND_NAVIGATION(DefaultChannel, DefaultDevice);
+    SEND_NAVIGATION(DefaultChannel, DefaultDevice);
   } else
 #endif /** NAV */
 #ifdef WIND_INFO
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index 9cdefcb3a2..8cc04af34b 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -139,25 +139,19 @@ static void send_href(void) {
       &guidance_h_speed_ref.y, &guidance_h_accel_ref.y);
 }
 
-// FIXME no idea where to put this one
-//#ifndef AHRS_FLOAT
-//#define PERIODIC_SEND_ROTORCRAFT_TUNE_HOVER(DefaultChannel, DefaultDevice) {
-//  DOWNLINK_SEND_ROTORCRAFT_TUNE_HOVER(DefaultChannel, DefaultDevice,
-//      &radio_control.values[RADIO_ROLL],
-//      &radio_control.values[RADIO_PITCH],
-//      &radio_control.values[RADIO_YAW],
-//      &stabilization_cmd[COMMAND_ROLL],
-//      &stabilization_cmd[COMMAND_PITCH],
-//      &stabilization_cmd[COMMAND_YAW],
-//      &stabilization_cmd[COMMAND_THRUST],
-//      &ahrs_impl.ltp_to_imu_euler.phi,
-//      &ahrs_impl.ltp_to_imu_euler.theta,
-//      &ahrs_impl.ltp_to_imu_euler.psi,
-//      &(stateGetNedToBodyEulers_i()->phi),
-//      &(stateGetNedToBodyEulers_i()->theta),
-//      &(stateGetNedToBodyEulers_i()->psi));
-//}
-//#endif
+static void send_tune_hover(void) {
+  DOWNLINK_SEND_ROTORCRAFT_TUNE_HOVER(DefaultChannel, DefaultDevice,
+      &radio_control.values[RADIO_ROLL],
+      &radio_control.values[RADIO_PITCH],
+      &radio_control.values[RADIO_YAW],
+      &stabilization_cmd[COMMAND_ROLL],
+      &stabilization_cmd[COMMAND_PITCH],
+      &stabilization_cmd[COMMAND_YAW],
+      &stabilization_cmd[COMMAND_THRUST],
+      &(stateGetNedToBodyEulers_i()->phi),
+      &(stateGetNedToBodyEulers_i()->theta),
+      &(stateGetNedToBodyEulers_i()->psi));
+}
 
 #endif
 
@@ -182,6 +176,7 @@ void guidance_h_init(void) {
   register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_INT", send_gh);
   register_periodic_telemetry(DefaultPeriodic, "HOVER_LOOP", send_hover_loop);
   register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_REF", send_href);
+  register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_TUNE_HOVER", send_tune_hover);
 #endif
 }