diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index 54daf06145..cf2578c981 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -424,8 +424,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft_mavlink.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml  settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_secondary.xml "
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_secondary.xml"
+   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
    gui_color="blue"
   />
   <aircraft
diff --git a/sw/airborne/math/pprz_geodetic_int.c b/sw/airborne/math/pprz_geodetic_int.c
index 5eeaafdf71..f59d25c5b8 100644
--- a/sw/airborne/math/pprz_geodetic_int.c
+++ b/sw/airborne/math/pprz_geodetic_int.c
@@ -316,7 +316,7 @@ void ned_of_lla_point_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaC
  * @param[in]  def  local coordinate system definition
  * @param[in]  lla  LLA point in 1e7deg and mm
  */
-void enu_of_lla_pos_i(struct NedCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla)
+void enu_of_lla_pos_i(struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla)
 {
   struct EcefCoor_i ecef;
   ecef_of_lla_i(&ecef, lla);