diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
index 48ed47932f..4d296a1f21 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
@@ -30,6 +30,7 @@
 
 #include "state.h"
 #include "firmwares/rotorcraft/stabilization.h"
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
 #include "paparazzi.h"
 
diff --git a/sw/airborne/subsystems/ins/ins_ardrone2.c b/sw/airborne/subsystems/ins/ins_ardrone2.c
index bf59909878..893bdbff7f 100644
--- a/sw/airborne/subsystems/ins/ins_ardrone2.c
+++ b/sw/airborne/subsystems/ins/ins_ardrone2.c
@@ -92,8 +92,12 @@ void ins_reset_altitude_ref( void ) {
 
 void ins_propagate(float __attribute__((unused)) dt) {
   /* untilt accels and speeds */
-  float_rmat_transp_vmult(&ins_impl.ltp_accel, stateGetNedToBodyRMat_f(), &ahrs_impl.accel);
-  float_rmat_transp_vmult(&ins_impl.ltp_speed, stateGetNedToBodyRMat_f(), &ahrs_impl.speed);
+  float_rmat_transp_vmult((struct FloatVect3*)&ins_impl.ltp_accel,
+                          stateGetNedToBodyRMat_f(),
+                          (struct FloatVect3*)&ahrs_impl.accel);
+  float_rmat_transp_vmult((struct FloatVect3*)&ins_impl.ltp_speed,
+                          stateGetNedToBodyRMat_f(),
+                          (struct FloatVect3*)&ahrs_impl.speed);
 
   //Add g to the accelerations
   ins_impl.ltp_accel.z += 9.81;