diff --git a/sw/airborne/subsystems/ins/hf_float.c b/sw/airborne/subsystems/ins/hf_float.c
index 9f817cc3e0..5d6c4350d3 100644
--- a/sw/airborne/subsystems/ins/hf_float.c
+++ b/sw/airborne/subsystems/ins/hf_float.c
@@ -193,10 +193,10 @@ static int b2_hff_rb_n; ///< ringbuffer fill count
 
 
 /** by how many steps the estimated GPS validity point in time differed from GPS_LAG_N */
-static int lag_counter_err;
+static int16_t lag_counter_err;
 
 /** counts down the propagation steps until the filter state is saved again */
-static int save_counter;
+static int16_t save_counter;
 static int past_save_counter;
 #define SAVE_NOW 0
 #define SAVING -1
diff --git a/sw/airborne/subsystems/ins/hf_float.h b/sw/airborne/subsystems/ins/hf_float.h
index 7d6e43eab7..8491178f63 100644
--- a/sw/airborne/subsystems/ins/hf_float.h
+++ b/sw/airborne/subsystems/ins/hf_float.h
@@ -46,7 +46,7 @@ struct HfilterFloat {
   float ydotdot;
   float xP[HFF_STATE_SIZE][HFF_STATE_SIZE];
   float yP[HFF_STATE_SIZE][HFF_STATE_SIZE];
-  uint8_t lag_counter;
+  uint16_t lag_counter;
   bool rollback;
 };