diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
index ce8d9c62ae..9f1f4a1d7a 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
@@ -67,18 +67,28 @@ static void send_bias(struct transport_tx *trans, struct link_device *dev)
 
 static void send_euler_int(struct transport_tx *trans, struct link_device *dev)
 {
+  /* compute eulers in int (IMU frame) */
   struct FloatEulers ltp_to_imu_euler;
   float_eulers_of_quat(&ltp_to_imu_euler, &ahrs_fc.ltp_to_imu_quat);
-  struct Int32Eulers euler_i;
-  EULERS_BFP_OF_REAL(euler_i, ltp_to_imu_euler);
-  struct Int32Eulers *eulers_body = stateGetNedToBodyEulers_i();
+  struct Int32Eulers eulers_imu;
+  EULERS_BFP_OF_REAL(eulers_imu, ltp_to_imu_euler);
+
+  /* compute Eulers in int (body frame) */
+  struct FloatQuat ltp_to_body_quat;
+  struct FloatQuat *body_to_imu_quat = orientationGetQuat_f(&ahrs_fc.body_to_imu);
+  float_quat_comp_inv(&ltp_to_body_quat, &ahrs_fc.ltp_to_imu_quat, body_to_imu_quat);
+  struct FloatEulers ltp_to_body_euler;
+  float_eulers_of_quat(&ltp_to_body_euler, &ltp_to_body_quat);
+  struct Int32Eulers eulers_body;
+  EULERS_BFP_OF_REAL(eulers_body, ltp_to_body_euler);
+
   pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
-                               &euler_i.phi,
-                               &euler_i.theta,
-                               &euler_i.psi,
-                               &(eulers_body->phi),
-                               &(eulers_body->theta),
-                               &(eulers_body->psi)
+                               &eulers_imu.phi,
+                               &eulers_imu.theta,
+                               &eulers_imu.psi,
+                               &eulers_body.phi,
+                               &eulers_body.theta,
+                               &eulers_body.psi,
                                &ahrs_fc_id);
 }
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c
index c11e1ab417..77e31dd0cb 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c
@@ -50,18 +50,28 @@ static void compute_body_orientation_and_rates(void);
 
 static void send_att(struct transport_tx *trans, struct link_device *dev)
 {
+  /* compute eulers in int (IMU frame) */
   struct FloatEulers ltp_to_imu_euler;
   float_eulers_of_quat(&ltp_to_imu_euler, &ahrs_float_inv.state.quat);
-  struct Int32Eulers euler_i;
-  EULERS_BFP_OF_REAL(euler_i, ltp_to_imu_euler);
-  struct Int32Eulers *eulers_body = stateGetNedToBodyEulers_i();
+  struct Int32Eulers eulers_imu;
+  EULERS_BFP_OF_REAL(eulers_imu, ltp_to_imu_euler);
+
+  /* compute Eulers in int (body frame) */
+  struct FloatQuat ltp_to_body_quat;
+  struct FloatQuat *body_to_imu_quat = orientationGetQuat_f(&ahrs_float_inv.body_to_imu);
+  float_quat_comp_inv(&ltp_to_body_quat, &ahrs_float_inv.state.quat, body_to_imu_quat);
+  struct FloatEulers ltp_to_body_euler;
+  float_eulers_of_quat(&ltp_to_body_euler, &ltp_to_body_quat);
+  struct Int32Eulers eulers_body;
+  EULERS_BFP_OF_REAL(eulers_body, ltp_to_body_euler);
+
   pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
-                               &euler_i.phi,
-                               &euler_i.theta,
-                               &euler_i.psi,
-                               &(eulers_body->phi),
-                               &(eulers_body->theta),
-                               &(eulers_body->psi),
+                               &eulers_imu.phi,
+                               &eulers_imu.theta,
+                               &eulers_imu.psi,
+                               &eulers_body.phi,
+                               &eulers_body.theta,
+                               &eulers_body.psi,
                                &ahrs_finv_id);
 }