diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
index cf98b16b5f..b3b68b6375 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
@@ -237,9 +237,9 @@ void v_ctl_climb_loop( void )
 
   // Actual Acceleration from IMU: attempt to reconstruct the actual kinematic acceleration
 #ifndef SITL
-  struct FloatVect3 accel_float = {0,0,0};
-  ACCELS_FLOAT_OF_BFP(accel_float, imu.accel);
-  float vdot = ( accel_float.x / 9.81f - sinf(stateGetNedToBodyEulers_f()->theta) );
+  struct Int32Vect3 accel_meas_body;
+  INT32_RMAT_TRANSP_VMULT(accel_meas_body, imu.body_to_imu_rmat, imu.accel);
+  float vdot = ACCEL_FLOAT_OF_BFP(accel_meas_body.x) / 9.81f - sinf(stateGetNedToBodyEulers_f()->theta);
 #else
   float vdot = 0;
 #endif
diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c
index 1819b81c84..6f7ee96c91 100644
--- a/sw/airborne/modules/nav/nav_catapult.c
+++ b/sw/airborne/modules/nav/nav_catapult.c
@@ -110,7 +110,9 @@ void nav_catapult_highrate_module(void)
     {
       // Five consecutive measurements > 1.5
 #ifndef SITL
-      if (ACCEL_FLOAT_OF_BFP(imu.accel.x)  < (nav_catapult_acceleration_threshold * 9.81))
+      struct Int32Vect3 accel_meas_body;
+      INT32_RMAT_TRANSP_VMULT(accel_meas_body, imu.body_to_imu_rmat, imu.accel);
+      if (ACCEL_FLOAT_OF_BFP(accel_meas_body.x)  < (nav_catapult_acceleration_threshold * 9.81))
 #else
       if (launch != 1)
 #endif