diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index 4765686d09..5fc94753bd 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -309,13 +309,13 @@ void stabilization_indi_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)
 static void stabilization_indi_calc_cmd(struct Int32Quat *att_err, bool rate_control, bool in_flight)
 {
 
+  struct FloatRates rate_ref;
   if(rate_control) {//Check if we are running the rate controller
     rate_ref.p = (float)radio_control.values[RADIO_ROLL]  / MAX_PPRZ * STABILIZATION_INDI_MAX_RATE;
     rate_ref.q = (float)radio_control.values[RADIO_PITCH] / MAX_PPRZ * STABILIZATION_INDI_MAX_RATE;
     rate_ref.r = (float)radio_control.values[RADIO_YAW]   / MAX_PPRZ * STABILIZATION_INDI_MAX_RATE;
   } else {
     //calculate the virtual control (reference acceleration) based on a PD controller
-    struct FloatRates rate_ref;
     rate_ref.p = reference_acceleration.err_p * QUAT1_FLOAT_OF_BFP(att_err->qx)
       /reference_acceleration.rate_p;
     rate_ref.q = reference_acceleration.err_q * QUAT1_FLOAT_OF_BFP(att_err->qy)