diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c
index 0488c44dc7..b12c50b66f 100644
--- a/sw/airborne/subsystems/ins/ins_alt_float.c
+++ b/sw/airborne/subsystems/ins/ins_alt_float.c
@@ -82,6 +82,7 @@ void ins_init() {
 
   EstimatorSetAlt(0.);
 
+  ins.status = INS_RUNNING;
 }
 
 void ins_periodic( void ) {
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
index c274b32024..ab1d5356f1 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
@@ -38,6 +38,8 @@ void ins_init() {
   struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, 0., nav_utm_zone0 };
   stateSetLocalUtmOrigin_f(&utm0);
   stateSetPositionUtm_f(&utm0);
+
+  ins.status = INS_RUNNING;
 }
 
 void ins_periodic( void ) {