diff --git a/shared/uavobjectdefinition/airspeedsensor.xml b/shared/uavobjectdefinition/airspeedsensor.xml
index f61cb63fc..d4c5f4e43 100644
--- a/shared/uavobjectdefinition/airspeedsensor.xml
+++ b/shared/uavobjectdefinition/airspeedsensor.xml
@@ -10,7 +10,7 @@
         <field name="TrueAirspeed" units="m/s" type="float" elements="1" defaultvalue="-1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/airspeedstate.xml b/shared/uavobjectdefinition/airspeedstate.xml
index f38473bae..1976aa539 100644
--- a/shared/uavobjectdefinition/airspeedstate.xml
+++ b/shared/uavobjectdefinition/airspeedstate.xml
@@ -5,7 +5,7 @@
         <field name="TrueAirspeed" units="m/s" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/altitudeholdstatus.xml b/shared/uavobjectdefinition/altitudeholdstatus.xml
index 0918785c5..f4f31070b 100644
--- a/shared/uavobjectdefinition/altitudeholdstatus.xml
+++ b/shared/uavobjectdefinition/altitudeholdstatus.xml
@@ -6,7 +6,7 @@
         <field name="ThrustDemand" units="" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/auxmagsensor.xml b/shared/uavobjectdefinition/auxmagsensor.xml
index 1deb44da8..27ad87b91 100644
--- a/shared/uavobjectdefinition/auxmagsensor.xml
+++ b/shared/uavobjectdefinition/auxmagsensor.xml
@@ -7,7 +7,7 @@
         <field name="Status" units="" type="enum" elements="1" options="None,Ok" defaultvalue="None"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="10000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="10000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/barosensor.xml b/shared/uavobjectdefinition/barosensor.xml
index cb6f64beb..24d8c926a 100644
--- a/shared/uavobjectdefinition/barosensor.xml
+++ b/shared/uavobjectdefinition/barosensor.xml
@@ -6,7 +6,7 @@
         <field name="Pressure" units="Pa" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/cameradesired.xml b/shared/uavobjectdefinition/cameradesired.xml
index 41510047b..aedfaebca 100644
--- a/shared/uavobjectdefinition/cameradesired.xml
+++ b/shared/uavobjectdefinition/cameradesired.xml
@@ -7,7 +7,7 @@
         <field name="Trigger" units="" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/debuglogstatus.xml b/shared/uavobjectdefinition/debuglogstatus.xml
index b1183d684..169c1d2e2 100644
--- a/shared/uavobjectdefinition/debuglogstatus.xml
+++ b/shared/uavobjectdefinition/debuglogstatus.xml
@@ -7,7 +7,7 @@
         <field name="FreeSlots" units="" type="uint16" elements="1" description="The number of free log slots available"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/ekfstatevariance.xml b/shared/uavobjectdefinition/ekfstatevariance.xml
index cd9cc412a..f13637fd1 100644
--- a/shared/uavobjectdefinition/ekfstatevariance.xml
+++ b/shared/uavobjectdefinition/ekfstatevariance.xml
@@ -20,7 +20,7 @@
 	</field>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="10000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="10000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml b/shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml
index 26fd4cdfc..73c529d5b 100644
--- a/shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml
+++ b/shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml
@@ -7,7 +7,7 @@
 	<field name="Errors" units="" type="uint8" elementnames="Wind,Stallspeed,Lowspeed,Highspeed,Overspeed,Lowpower,Highpower,Rollcontrol,Pitchcontrol,AirspeedSensor" />
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="500"/>
+        <telemetryflight acked="false" updatemode="throttled" period="500"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/flightplanstatus.xml b/shared/uavobjectdefinition/flightplanstatus.xml
index e5b31a6e6..062ed98c5 100644
--- a/shared/uavobjectdefinition/flightplanstatus.xml
+++ b/shared/uavobjectdefinition/flightplanstatus.xml
@@ -8,7 +8,7 @@
 		<field name="Debug" units="" type="float" elements="2" defaultvalue="0.0"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="2000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="2000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/gpspositionsensor.xml b/shared/uavobjectdefinition/gpspositionsensor.xml
index f548974be..3980960b6 100644
--- a/shared/uavobjectdefinition/gpspositionsensor.xml
+++ b/shared/uavobjectdefinition/gpspositionsensor.xml
@@ -17,7 +17,7 @@
         <field name="BaudRate" units="" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200,230400,Unknown" defaultvalue="Unknown" />
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
 	</object>
 </xml>
diff --git a/shared/uavobjectdefinition/gpssatellites.xml b/shared/uavobjectdefinition/gpssatellites.xml
index 9267c2617..550f3a21e 100644
--- a/shared/uavobjectdefinition/gpssatellites.xml
+++ b/shared/uavobjectdefinition/gpssatellites.xml
@@ -8,7 +8,7 @@
         <field name="SNR" units="" type="int8" elements="24"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="10000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="10000"/>
         <logging updatemode="manual" period="0"/>
 	</object>
 </xml>
diff --git a/shared/uavobjectdefinition/gpstime.xml b/shared/uavobjectdefinition/gpstime.xml
index 558b8ce04..69b0024c3 100644
--- a/shared/uavobjectdefinition/gpstime.xml
+++ b/shared/uavobjectdefinition/gpstime.xml
@@ -10,7 +10,7 @@
         <field name="Millisecond" units="ms" type="int16" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="10000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="10000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/gpsvelocitysensor.xml b/shared/uavobjectdefinition/gpsvelocitysensor.xml
index a9fa3ce2b..2d58bd0de 100644
--- a/shared/uavobjectdefinition/gpsvelocitysensor.xml
+++ b/shared/uavobjectdefinition/gpsvelocitysensor.xml
@@ -6,7 +6,7 @@
         <field name="Down" units="m/s" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/magsensor.xml b/shared/uavobjectdefinition/magsensor.xml
index 9b11393e9..7dd13afc6 100644
--- a/shared/uavobjectdefinition/magsensor.xml
+++ b/shared/uavobjectdefinition/magsensor.xml
@@ -7,7 +7,7 @@
         <field name="temperature" units="deg C" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="10000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="10000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/magstate.xml b/shared/uavobjectdefinition/magstate.xml
index 0de27ce17..0c0971a5e 100644
--- a/shared/uavobjectdefinition/magstate.xml
+++ b/shared/uavobjectdefinition/magstate.xml
@@ -7,7 +7,7 @@
         <field name="Source" units="" type="enum" elements="1" options="Invalid,OnBoard,Aux" defaultvalue="Invalid"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/oplinkreceiver.xml b/shared/uavobjectdefinition/oplinkreceiver.xml
index eab503e76..bd710abbe 100644
--- a/shared/uavobjectdefinition/oplinkreceiver.xml
+++ b/shared/uavobjectdefinition/oplinkreceiver.xml
@@ -6,7 +6,7 @@
         <field name="LinkQuality" units="%" type="uint8" elements="1" defaultvalue="0"/>
         <access gcs="readonly" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/pathdesired.xml b/shared/uavobjectdefinition/pathdesired.xml
index f277403ec..1f8ca2422 100644
--- a/shared/uavobjectdefinition/pathdesired.xml
+++ b/shared/uavobjectdefinition/pathdesired.xml
@@ -21,7 +21,7 @@
 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/pathstatus.xml b/shared/uavobjectdefinition/pathstatus.xml
index 0735d8374..71459a382 100644
--- a/shared/uavobjectdefinition/pathstatus.xml
+++ b/shared/uavobjectdefinition/pathstatus.xml
@@ -16,7 +16,7 @@
 	<field name="path_time" units="s" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
 	<logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/pathsummary.xml b/shared/uavobjectdefinition/pathsummary.xml
index c4b5a4340..ba4578dbd 100644
--- a/shared/uavobjectdefinition/pathsummary.xml
+++ b/shared/uavobjectdefinition/pathsummary.xml
@@ -15,7 +15,7 @@
             FixedAttitude,SetAccessory,DisarmAlarm,Land,Brake,Velocity,AutoTakeoff" default="GoToEndpoint" />
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
 	<logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/pidstatus.xml b/shared/uavobjectdefinition/pidstatus.xml
index 54fe10bfd..4198cc8d5 100644
--- a/shared/uavobjectdefinition/pidstatus.xml
+++ b/shared/uavobjectdefinition/pidstatus.xml
@@ -12,7 +12,7 @@
 	<field name="D" units="m" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
 	<logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/poilocation.xml b/shared/uavobjectdefinition/poilocation.xml
index 52298f017..19a938841 100644
--- a/shared/uavobjectdefinition/poilocation.xml
+++ b/shared/uavobjectdefinition/poilocation.xml
@@ -6,7 +6,7 @@
         <field name="Down" units="m" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
 	<logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/positionstate.xml b/shared/uavobjectdefinition/positionstate.xml
index 2a054a648..3919b25fb 100644
--- a/shared/uavobjectdefinition/positionstate.xml
+++ b/shared/uavobjectdefinition/positionstate.xml
@@ -6,7 +6,7 @@
         <field name="Down" units="m" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
 	<logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/systemidentstate.xml b/shared/uavobjectdefinition/systemidentstate.xml
index a23d339c7..4482c3e04 100644
--- a/shared/uavobjectdefinition/systemidentstate.xml
+++ b/shared/uavobjectdefinition/systemidentstate.xml
@@ -14,7 +14,7 @@
         <field name="Complete" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False" description="Automatically set True for a good complete tune or False for incomplete or bad"/>
         <access gcs="readonly" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/velocitydesired.xml b/shared/uavobjectdefinition/velocitydesired.xml
index 957c09b1a..c24978cf1 100644
--- a/shared/uavobjectdefinition/velocitydesired.xml
+++ b/shared/uavobjectdefinition/velocitydesired.xml
@@ -6,7 +6,7 @@
         <field name="Down" units="m/s" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
 	<logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/velocitystate.xml b/shared/uavobjectdefinition/velocitystate.xml
index 9b922f6a9..551b2f31c 100644
--- a/shared/uavobjectdefinition/velocitystate.xml
+++ b/shared/uavobjectdefinition/velocitystate.xml
@@ -6,7 +6,7 @@
         <field name="Down" units="m/s" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
 	<logging updatemode="manual" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/vtolselftuningstats.xml b/shared/uavobjectdefinition/vtolselftuningstats.xml
index c36bb2cfe..ed520d612 100644
--- a/shared/uavobjectdefinition/vtolselftuningstats.xml
+++ b/shared/uavobjectdefinition/vtolselftuningstats.xml
@@ -9,7 +9,7 @@
 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="false" updatemode="throttled" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>