diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
index b7b216771e..1aadf44037 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
@@ -84,16 +84,16 @@ float stabilization_attitude_get_heading_f(void) {
  * @param[out] sp         attitude setpoint as euler angles
  */
 void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool_t in_flight) {
-  const int32_t max_phi_scale = (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI) /  MAX_PPRZ;
-  const int32_t max_theta_scale = (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA) /  MAX_PPRZ;
-  const int32_t max_r_scale = (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R) /  MAX_PPRZ;
+  const float max_phi_scale = ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI) /  MAX_PPRZ;
+  const float max_theta_scale = ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA) /  MAX_PPRZ;
+  const float max_r_scale = ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R) /  MAX_PPRZ;
 
-  sp->phi = ((int32_t) radio_control.values[RADIO_ROLL]  * max_phi_scale);
-  sp->theta = ((int32_t) radio_control.values[RADIO_PITCH] * max_theta_scale);
+  sp->phi = (int32_t) (radio_control.values[RADIO_ROLL] * max_phi_scale);
+  sp->theta = (int32_t) (radio_control.values[RADIO_PITCH] * max_theta_scale);
 
   if (in_flight) {
     if (YAW_DEADBAND_EXCEEDED()) {
-      sp->psi += ((int32_t) radio_control.values[RADIO_YAW] * max_r_scale / RC_UPDATE_FREQ);
+      sp->psi += (int32_t) (radio_control.values[RADIO_YAW] * max_r_scale / RC_UPDATE_FREQ);
       INT32_ANGLE_NORMALIZE(sp->psi);
     }
     if (autopilot_mode == AP_MODE_FORWARD) {