diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
index bcf3c695d2..a3ee9a7abc 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
@@ -83,13 +83,16 @@ void ahrs_init(void) {
 
   ahrs.status = AHRS_UNINIT;
 
-  // FIXME: make ltp_to_imu and ltp_to_body coherent
+  /* set ltp_to_body to zero */
   INT_EULERS_ZERO(ahrs.ltp_to_body_euler);
-  INT_EULERS_ZERO(ahrs.ltp_to_imu_euler);
   INT32_QUAT_ZERO(ahrs.ltp_to_body_quat);
-  INT32_QUAT_ZERO(ahrs.ltp_to_imu_quat);
   INT32_RMAT_ZERO(ahrs.ltp_to_body_rmat);
   INT_RATES_ZERO(ahrs.body_rate);
+
+  /* set ltp_to_imu so that body is zero */
+  QUAT_COPY(ahrs.ltp_to_imu_quat, imu.body_to_imu_quat);
+  RMAT_COPY(ahrs.ltp_to_imu_rmat, imu.body_to_imu_rmat);
+  INT32_EULERS_OF_RMAT(ahrs.ltp_to_imu_euler, ahrs.ltp_to_imu_rmat);
   INT_RATES_ZERO(ahrs.imu_rate);
 
   INT_RATES_ZERO(ahrs_impl.gyro_bias);
@@ -100,7 +103,6 @@ void ahrs_init(void) {
 
 void ahrs_align(void) {
 
-
   /* Compute an initial orientation using euler angles */
   ahrs_int_get_euler_from_accel_mag(&ahrs.ltp_to_imu_euler, &ahrs_aligner.lp_accel, &ahrs_aligner.lp_mag);
   /* Convert initial orientation in quaternion and rotation matrice representations. */
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
index 222673709e..2ffca07eca 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
@@ -48,12 +48,19 @@ static inline void compute_body_orientation(void);
 
 void ahrs_init(void) {
   ahrs.status = AHRS_UNINIT;
+
+  /* set ltp_to_body to zero */
   INT_EULERS_ZERO(ahrs.ltp_to_body_euler);
-  INT_EULERS_ZERO(ahrs.ltp_to_imu_euler);
   INT32_QUAT_ZERO(ahrs.ltp_to_body_quat);
-  INT32_QUAT_ZERO(ahrs.ltp_to_imu_quat);
+  INT32_RMAT_ZERO(ahrs.ltp_to_body_rmat);
   INT_RATES_ZERO(ahrs.body_rate);
+
+  /* set ltp_to_imu so that body is zero */
+  QUAT_COPY(ahrs.ltp_to_imu_quat, imu.body_to_imu_quat);
+  RMAT_COPY(ahrs.ltp_to_imu_rmat, imu.body_to_imu_rmat);
+  INT32_EULERS_OF_RMAT(ahrs.ltp_to_imu_euler, ahrs.ltp_to_imu_rmat);
   INT_RATES_ZERO(ahrs.imu_rate);
+
   INT_RATES_ZERO(ahrs_impl.gyro_bias);
   ahrs_impl.reinj_1 = FACE_REINJ_1;