diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c
index d25b367a84..c5b87519bf 100644
--- a/sw/airborne/subsystems/ins.c
+++ b/sw/airborne/subsystems/ins.c
@@ -91,16 +91,16 @@ void ins_init() {
   ins_ltp_initialised = TRUE;
 
   /** FIXME: should use the same code than MOVE_WP in firmwares/rotorcraft/datalink.c */
-  struct LlaCoor_i llh; /* Height above the ellipsoid */
-  llh.lat = INT32_RAD_OF_DEG(NAV_LAT0);
-  llh.lon = INT32_RAD_OF_DEG(NAV_LON0);
+  struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
+  llh_nav0.lat = INT32_RAD_OF_DEG(NAV_LAT0);
+  llh_nav0.lon = INT32_RAD_OF_DEG(NAV_LON0);
   /* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
-  llh.alt = NAV_ALT0 + NAV_MSL0;
+  llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
 
-  struct EcefCoor_i nav_init;
-  ecef_of_lla_i(&nav_init, &llh);
+  struct EcefCoor_i ecef_nav0;
+  ecef_of_lla_i(&ecef_nav0, &llh_nav0);
 
-  ltp_def_from_ecef_i(&ins_ltp_def, &nav_init);
+  ltp_def_from_ecef_i(&ins_ltp_def, &ecef_nav0);
   ins_ltp_def.hmsl = NAV_ALT0;
 #else
   ins_ltp_initialised  = FALSE;