diff --git a/conf/messages.xml b/conf/messages.xml
index 1a515899e2..3225bd0fa7 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -4,7 +4,7 @@
  <!-- messages from modem or sim to server -->
  <class name="telemetry_ap" ID="0x40">
  
-   <message name="BOOT" id="2">
+   <message name="BOOT" id="1">
      <field name="version" type="uint16"></field>
    </message>
 
@@ -119,15 +119,6 @@
     <field name="accel_z" type="float"/>
   </message>
 
-  <message name="RAW_IMU" ID="17">
-    <field name="raw_gx" type="uint16"/>
-    <field name="raw_gy" type="uint16"/>
-    <field name="raw_gz" type="uint16"/>
-    <field name="raw_ax" type="uint16"/>
-    <field name="raw_ay" type="uint16"/>
-    <field name="raw_az" type="uint16"/>
-  </message>
-
   <message name="KALMAN" ID="18">
     <field name="phi"        type="float" format="%.3f"/>
     <field name="phi_dot"    type="float" format="%.3f"/>
@@ -310,21 +301,21 @@
     <field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME"/>
     <field name="h_mode" type="uint8" values="NONE|ROLLDOT|ROLL|HEADING_DOT|HEADING|WP|ROUTE|CIRCLE"/>
     <field name="v_mode" type="uint8" values="NONE|CLIMB|ALT|GLIDE|PARABOLIC"/>
-    <field name="target_climb"   type="float" unit="m/s"/>
-    <field name="target_alt"     type="float" unit="m"/>
-    <field name="target_heading" type="float" unit="m"/>
     <field name="gps_mode" type="uint8"/>
+    <field name="flight_time" type="uint32"/>
   </message>
 
   <message name="NAV_STATUS" ID="13">
     <field name="ac_id" type="string"/>
     <field name="cur_block"   type="uint8"/>
     <field name="cur_stage"   type="uint8"/>
-    <field name="flight_time" type="uint32"/>
     <field name="block_time"  type="uint32"/>
     <field name="stage_time"  type="uint32"/>
     <field name="target_east" type="float" unit="m"/>
     <field name="target_north" type="float" unit="m"/>
+    <field name="target_climb"   type="float" unit="m/s"/>
+    <field name="target_alt"     type="float" unit="m"/>
+    <field name="target_heading" type="float" unit="m"/>
   </message>
 
   <message name="CAM_STATUS" ID="14">
diff --git a/sw/ground_segment/tmtc/receive.ml b/sw/ground_segment/tmtc/receive.ml
index 5f260ba855..3139fb5ec6 100644
--- a/sw/ground_segment/tmtc/receive.ml
+++ b/sw/ground_segment/tmtc/receive.ml
@@ -279,25 +279,25 @@ let send_infrared = fun a ->
   Ground_Pprz.message_send my_id "INFRARED"  values
 
 let send_svsinfo = fun a ->
-  let svid = ref ","
-  and flags= ref ","
-  and qi = ref ","
-  and cno = ref ","
-  and elev = ref ","
-  and azim = ref "," in
+  let svid = ref ""
+  and flags= ref ""
+  and qi = ref ""
+  and cno = ref ""
+  and elev = ref ""
+  and azim = ref "" in
   for i = 0 to gps_nb_channels - 1 do
     let concat = fun ref v ->
       ref := !ref ^ string_of_int v ^ "," in
     concat svid a.svinfo.(i).svid;
     concat flags a.svinfo.(i).flags;
-    concat qi a.svinfo.(i).qi;
+      concat qi a.svinfo.(i).qi;
     concat cno a.svinfo.(i).cno;
     concat elev a.svinfo.(i).elev;
     concat azim a.svinfo.(i).azim
   done;
   let f = fun s r -> (s, Pprz.String !r) in
   let vs = ["ac_id", Pprz.String a.id; 
-	      f "svid" svid; f "flags" flags; f "qi" qi; 
+	    f "svid" svid; f "flags" flags; f "qi" qi; 
 	    f "cno" cno; f "elev" elev; f "azim" azim] in
   Ground_Pprz.message_send my_id "SVSINFO" vs
 
@@ -320,11 +320,11 @@ let send_aircraft_msg = fun ac ->
     Ground_Pprz.message_send my_id "FLIGHT_PARAM" values;
 
     let values = ["ac_id", Pprz.String ac; 
-		  "flight_time", Pprz.Int a.flight_time;
 		  "cur_block", Pprz.Int a.cur_block;
 		  "cur_stage", Pprz.Int a.cur_stage;
 		  "target_east", f (a.nav_ref_east+.a.desired_east);
-		  "target_north", f (a.nav_ref_north+.a.desired_north)] in
+		  "target_north", f (a.nav_ref_north+.a.desired_north);
+		  "target_alt", Pprz.Float a.desired_altitude] in
     Ground_Pprz.message_send my_id "NAV_STATUS" values;
 
     let values = ["ac_id", Pprz.String ac; 
@@ -337,10 +337,10 @@ let send_aircraft_msg = fun ac ->
     Ground_Pprz.message_send my_id "ENGINE_STATUS" values;
 
     let values = ["ac_id", Pprz.String ac; 
+		  "flight_time", Pprz.Int a.flight_time;
 		  "ap_mode", Pprz.Int a.ap_mode; 
 		  "v_mode", Pprz.Int a.ap_altitude;
-		  "gps_mode", Pprz.Int a.gps_mode;
-		  "target_alt", Pprz.Float a.desired_altitude] in
+		  "gps_mode", Pprz.Int a.gps_mode] in
     Ground_Pprz.message_send my_id "AP_STATUS" values;
 
     send_cam_status a;
diff --git a/sw/lib/ocaml/pprz.ml b/sw/lib/ocaml/pprz.ml
index 09cbaf72d4..26b7d487b3 100644
--- a/sw/lib/ocaml/pprz.ml
+++ b/sw/lib/ocaml/pprz.ml
@@ -131,17 +131,16 @@ let lazy_classes =
 	and by_name = Hashtbl.create 13 in
 	List.iter
 	  (fun xml_msg ->
-	    try
-	      let name = ExtXml.attrib xml_msg "name" in
-	      let msg = {
-		name = name;
-		fields = List.map field_of_xml (Xml.children xml_msg)
-	      } in
-	      let id = int_of_string (ExtXml.attrib xml_msg "id") (* - 1 !!!!*) in
-	      Hashtbl.add by_id id msg;
-	      Hashtbl.add by_name name (id, msg)	      
-	    with x ->
-	      fprintf stderr "Warning (%s): Ignoring '%s'\n" (Printexc.to_string x) (Xml.to_string xml_msg))
+	    let name = ExtXml.attrib xml_msg "name" in
+	    let msg = {
+	      name = name;
+	      fields = List.map field_of_xml (Xml.children xml_msg)
+	    } in
+	    let id = int_of_string (ExtXml.attrib xml_msg "id") in
+	    if Hashtbl.mem by_id id then
+	      failwith (sprintf "Duplicated id in messages.xml: %d" id);
+	    Hashtbl.add by_id id msg;
+	    Hashtbl.add by_name name (id, msg))
 	  (Xml.children xml_class);
 	Hashtbl.add h (ExtXml.attrib xml_class "name") (by_id, by_name)
       )