diff --git a/conf/telemetry/ugv.xml b/conf/telemetry/ugv.xml
index 886d6bb052..bb153041b8 100644
--- a/conf/telemetry/ugv.xml
+++ b/conf/telemetry/ugv.xml
@@ -4,17 +4,13 @@
   <process name="Ap">
     <mode name="default">
       <message name="ALIVE"          period="5"/>
-      <message name="ESTIMATOR"      period="0.5"/>
-      <message name="WP_MOVED"       period="0.5"/>
+      <message name="WP_MOVED"       period="2"/>
       <message name="DESIRED"        period="1.05"/>
-      <message name="BAT"            period="1.1"/>
-      <message name="SEGMENT"        period="1.2"/>
-      <message name="CALIBRATION"    period="2.1"/>
       <message name="NAVIGATION_REF" period="9."/>
       <message name="PPRZ_MODE"      period="5."/>
-      <message name="DOWNLINK"       period="5.1"/>
       <message name="DL_VALUE"       period="1.5"/>
-      <message name="GPS_SOL"        period="2.0"/>
+      <message name="GPS_SOL"        period="5.0"/>
+      <message name="NAVIGATION"     period="1.0"/>
     </mode>
     <mode name="debug">
       <message name="DEBUG_MCU_LINK" period="5."/>
@@ -22,9 +18,6 @@
   </process>
   <process name="Fbw">
     <mode name="default">
-      <message name="COMMANDS"       period="1"/>
-      <message name="FBW_STATUS"     period="1"/>
-      <message name="ACTUATORS"      period="5"/> <!-- For trimming -->
     </mode>
     <mode name="debug">
       <message name="PPM"            period="0.5"/>