diff --git a/interface/esb.h b/interface/esb.h
index d13b8ac1..8bf6c658 100644
--- a/interface/esb.h
+++ b/interface/esb.h
@@ -37,7 +37,7 @@ typedef struct esbPacket_s {
     union {
       uint8_t s1;
       struct {
-        uint8_t noack :1;
+        uint8_t ack :1;
         uint8_t pid :2;
       };
     };
@@ -48,6 +48,7 @@ typedef struct esbPacket_s {
    * from uint32_t to uint8_t without lose of precision */
   uint8_t rssi;
   unsigned int crc;
+  uint8_t match;
 } EsbPacket;
 
 typedef enum esbDatarate_e { esbDatarate250K=0,
diff --git a/interface/syslink.h b/interface/syslink.h
index 16cd241e..bf999104 100644
--- a/interface/syslink.h
+++ b/interface/syslink.h
@@ -44,12 +44,13 @@ bool syslinkSend(struct syslinkPacket *packet);
 
 
 // Defined packet types
-#define SYSLINK_RADIO_RAW      0x00
-#define SYSLINK_RADIO_CHANNEL  0x01
-#define SYSLINK_RADIO_DATARATE 0x02
-#define SYSLINK_RADIO_CONTWAVE 0x03
-#define SYSLINK_RADIO_RSSI     0x04
-#define SYSLINK_RADIO_ADDRESS  0x05
+#define SYSLINK_RADIO_RAW           0x00
+#define SYSLINK_RADIO_CHANNEL       0x01
+#define SYSLINK_RADIO_DATARATE      0x02
+#define SYSLINK_RADIO_CONTWAVE      0x03
+#define SYSLINK_RADIO_RSSI          0x04
+#define SYSLINK_RADIO_ADDRESS       0x05
+#define SYSLINK_RADIO_RAW_BROADCAST 0x06
 
 
 #define SYSLINK_PM_SOURCE 0x10
diff --git a/src/esb.c b/src/esb.c
index 13be453f..dc7a624e 100644
--- a/src/esb.c
+++ b/src/esb.c
@@ -194,6 +194,7 @@ void esbInterruptHandler()
       pk = &rxPackets[rxq_head];
       pk->rssi = (uint8_t) NRF_RADIO->RSSISAMPLE;
       pk->crc = NRF_RADIO->RXCRC;
+      pk->match = NRF_RADIO->RXMATCH;
 
       // If no more space available on RX queue, drop packet!
       if (((rxq_head+1)%RXQ_LEN) == rxq_tail) {
@@ -202,7 +203,7 @@ void esbInterruptHandler()
       }
 
       // If this packet is a retry, send the same ACK again
-      if (isRetry(pk)) {
+      if (pk->ack && isRetry(pk)) {
         setupTx(true);
         return;
       }
@@ -226,12 +227,19 @@ void esbInterruptHandler()
         curr_up = 1-curr_up;
       }
 
-
-      if (!has_safelink || (pk->data[0]&0x04) != curr_down<<2) {
-        curr_down = 1-curr_down;
-        setupTx(false);
-      } else {
-        setupTx(true);
+      if (pk->ack)
+      {
+        if (!has_safelink || (pk->data[0]&0x04) != curr_down<<2) {
+          curr_down = 1-curr_down;
+          setupTx(false);
+        } else {
+          setupTx(true);
+        }
+      } else
+      {
+        // broadcast => no ack
+        NRF_RADIO->PACKETPTR = (uint32_t)&rxPackets[rxq_head];
+        NRF_RADIO->TASKS_START = 1UL;
       }
 
 
@@ -296,13 +304,17 @@ void esbInit()
   }
 
   // Radio address config
-  // Using logical address 0 so only BASE0 and PREFIX0 & 0xFF are used
-  NRF_RADIO->PREFIX0 = 0xC4C3C200UL | (bytewise_bitswap(address >> 32) & 0xFF);  // Prefix byte of addresses 3 to 0
+  // We use local addresses 0 and 1
+  //  * local address 0 is the unique address of the Crazyflie, used for 1-to-1 communication.
+  //    This can be set dynamically and the current address is stored in EEPROM.
+  //  * local address 1 is used for broadcasts
+  //    This is currently 0xFFE7E7E7E7.
+  NRF_RADIO->PREFIX0 = 0xC4C3FF00UL | (bytewise_bitswap(address >> 32) & 0xFF);  // Prefix byte of addresses 3 to 0
   NRF_RADIO->PREFIX1 = 0xC5C6C7C8UL;  // Prefix byte of addresses 7 to 4
   NRF_RADIO->BASE0   = bytewise_bitswap((uint32_t)address);  // Base address for prefix 0
-  NRF_RADIO->BASE1   = 0x00C2C2C2UL;  // Base address for prefix 1-7
+  NRF_RADIO->BASE1   = 0xE7E7E7E7UL;  // Base address for prefix 1-7
   NRF_RADIO->TXADDRESS = 0x00UL;      // Set device address 0 to use when transmitting
-  NRF_RADIO->RXADDRESSES = 0x01UL;    // Enable device address 0 to use which receiving
+  NRF_RADIO->RXADDRESSES = (1<<0) | (1<<1);    // Enable device address 0 and 1 to use which receiving
 
   // Packet configuration
   NRF_RADIO->PCNF0 = (PACKET0_S1_SIZE << RADIO_PCNF0_S1LEN_Pos) |
diff --git a/src/main.c b/src/main.c
index f9f38de0..9b1e568f 100644
--- a/src/main.c
+++ b/src/main.c
@@ -142,6 +142,7 @@ void mainloop()
   static int vbatSendTime;
 	static int radioRSSISendTime;
 	static uint8_t rssi;
+  static bool broadcast;
 
   while(1)
   {
@@ -163,6 +164,8 @@ void mainloop()
       EsbPacket* packet = esbGetRxPacket();
       //Store RSSI here so that we can send it to STM later
       rssi = packet->rssi;
+      // The received packet was a broadcast, if received on local address 1
+      broadcast = packet->match == 1;
       memcpy(esbRxPacket.data, packet->data, packet->size);
       esbRxPacket.size = packet->size;
       esbReceived = true;
@@ -186,7 +189,11 @@ void mainloop()
       {
         memcpy(slTxPacket.data, packet->data, packet->size);
         slTxPacket.length = packet->size;
-        slTxPacket.type = SYSLINK_RADIO_RAW;
+        if (broadcast) {
+          slTxPacket.type = SYSLINK_RADIO_RAW_BROADCAST;
+        } else {
+          slTxPacket.type = SYSLINK_RADIO_RAW;
+        }
 
         syslinkSend(&slTxPacket);
       }