diff --git a/sw/airborne/booz/ahrs/booz2_filter_attitude_cmpl_euler.c b/sw/airborne/booz/ahrs/booz2_filter_attitude_cmpl_euler.c
index 4f2f0ddadc..f1afa96881 100644
--- a/sw/airborne/booz/ahrs/booz2_filter_attitude_cmpl_euler.c
+++ b/sw/airborne/booz/ahrs/booz2_filter_attitude_cmpl_euler.c
@@ -29,8 +29,6 @@
 #include "airframe.h"
 #include "math/pprz_trig_int.h"
 
-struct BoozAhrs booz_ahrs;
-
 
 struct Int32Rates  booz2_face_gyro_bias;
 struct Int32Eulers booz2_face_measure;
diff --git a/sw/airborne/booz/booz_ahrs.h b/sw/airborne/booz/booz_ahrs.h
index 75408c8288..f511d257e8 100644
--- a/sw/airborne/booz/booz_ahrs.h
+++ b/sw/airborne/booz/booz_ahrs.h
@@ -26,6 +26,7 @@
 
 #include "std.h"
 #include "math/pprz_algebra_int.h"
+#include "math/pprz_algebra_float.h"
 #include "ahrs/booz_ahrs_aligner.h"
 
 #define BOOZ_AHRS_UNINIT  0
@@ -43,7 +44,23 @@ struct BoozAhrs {
   uint8_t status;
 };
 
+struct BoozAhrsFloat {
+  struct FloatQuat   ltp_to_body_quat;
+  struct FloatEulers   ltp_to_body_euler;
+  struct FloatRates  body_rate;  
+  uint8_t status;
+};
+
 extern struct BoozAhrs booz_ahrs;
+extern struct BoozAhrsFloat booz_ahrs_float;
+
+#define BOOZ_AHRS_FLOAT_OF_INT32() { \
+    QUAT_FLOAT_OF_BFP(booz_ahrs_float.ltp_to_body_quat, booz_ahrs.ltp_to_body_quat);	\
+    RATES_FLOAT_OF_BFP(booz_ahrs_float.body_rate, booz_ahrs.body_rate); \
+    booz_ahrs_float.ltp_to_body_euler.phi = ANGLE_FLOAT_OF_BFP(booz_ahrs.ltp_to_body_euler.phi); \
+    booz_ahrs_float.ltp_to_body_euler.theta = ANGLE_FLOAT_OF_BFP(booz_ahrs.ltp_to_body_euler.theta); \
+    booz_ahrs_float.ltp_to_body_euler.psi = ANGLE_FLOAT_OF_BFP(booz_ahrs.ltp_to_body_euler.psi); \
+  }
 
 extern void booz_ahrs_init(void);
 extern void booz_ahrs_align(void);
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c b/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
index 7ca24a0488..63fff456db 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
+++ b/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
@@ -87,7 +87,11 @@ void booz_stabilization_attitude_enter(void) {
 #define MAX_SUM_ERR RadOfDeg(56000)
 
 void booz_stabilization_attitude_run(bool_t  in_flight) {
+  #ifdef BOOZ_AHRS_FIXED_POINT
+  BOOZ_AHRS_FLOAT_OF_INT32();
+  #endif 
 
+  
   /* 
    * Update reference
    */
@@ -109,10 +113,10 @@ void booz_stabilization_attitude_run(bool_t  in_flight) {
    */
 
   /* attitude error                          */
-  struct FloatQuat att_quat_float;
-  QUAT_FLOAT_OF_BFP(att_quat_float, booz_ahrs.ltp_to_body_quat);
+
+
   struct FloatQuat att_err; 
-  FLOAT_QUAT_INV_COMP(att_err, att_quat_float, booz_stab_att_ref_quat);
+  FLOAT_QUAT_INV_COMP(att_err, booz_ahrs_float.ltp_to_body_quat, booz_stab_att_ref_quat);
   /* wrap it in the shortest direction       */
   FLOAT_QUAT_WRAP_SHORTEST(att_err);  
 
@@ -127,10 +131,9 @@ void booz_stabilization_attitude_run(bool_t  in_flight) {
   }
   
   /*  rate error                */
-  struct FloatRates rate_float;
-  RATES_FLOAT_OF_BFP(rate_float, booz_ahrs.body_rate);
+
   struct FloatRates rate_err;
-  RATES_DIFF(rate_err, rate_float, booz_stab_att_ref_rate);
+  RATES_DIFF(rate_err, booz_ahrs_float.body_rate, booz_stab_att_ref_rate);
 
   /*  PID                  */
 
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h b/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
index d15b3c59d5..3742ec8aa4 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
+++ b/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
@@ -50,7 +50,7 @@
       }									\
     }									\
     else { /* if not flying, use current yaw as setpoint */		\
-      _sp.psi = ANGLE_FLOAT_OF_BFP(booz_ahrs.ltp_to_body_euler.psi);	\
+      _sp.psi = booz_ahrs_float.ltp_to_body_euler.psi;			\
     }									\
 									\
     struct FloatRMat   sp_rmat;						\
@@ -65,7 +65,7 @@
     booz_stab_att_ref_euler.psi = _sp.psi;				\
     booz_stab_att_ref_rate.r = 0;					\
     struct FloatRMat   sp_rmat;						\
-    /*    FLOAT_RMAT_OF_EULERS_312(sp_rmat, _sp); */			\
+    /*FLOAT_RMAT_OF_EULERS_312(sp_rmat, _sp);*/				\
     FLOAT_RMAT_OF_EULERS_321(sp_rmat, _sp);				\
     FLOAT_QUAT_OF_RMAT(booz_stab_att_sp_quat, sp_rmat);			\
     /*FLOAT_EULERS_OF_QUAT(sp_euler321, sp_quat);*/			\