diff --git a/sw/airborne/subsystems/gps/gps_sim_hitl.h b/sw/airborne/subsystems/gps/gps_sim_hitl.h
index bbd66579ef..b3e6395bc4 100644
--- a/sw/airborne/subsystems/gps/gps_sim_hitl.h
+++ b/sw/airborne/subsystems/gps/gps_sim_hitl.h
@@ -28,7 +28,7 @@
 #define GPS_SIM_HITL_H
 
 #include "std.h"
-#include "subsystems/ins.h"
+#include "state.h"
 #include "guidance/guidance_h.h"
 #include "guidance/guidance_v.h"
 
@@ -40,9 +40,7 @@ extern uint32_t gps_sim_hitl_timer;
       SysTimeTimerStart(gps_sim_hitl_timer);                            \
       gps.last_msg_ticks = sys_time.nb_sec_rem;                         \
       gps.last_msg_time = sys_time.nb_sec;                              \
-      if (ins_impl.ltp_initialized) {                                   \
-        struct NedCoor_i ned_coor;                                      \
-        struct NedCoor_i ned_vel;                                       \
+      if (state.ned_initialized_i) {                                    \
         if (!autopilot_in_flight) {                                     \
           struct Int32Vect2 zero_vector;                                \
           INT_VECT2_ZERO(zero_vector);                                  \
@@ -55,14 +53,17 @@ extern uint32_t gps_sim_hitl_timer;
           guidance_v_zd_ref = 0;                                        \
           guidance_v_zdd_ref = 0;                                       \
         }                                                               \
-        VECT3_ASSIGN(ned_coor, guidance_h_pos_ref.x * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM, \
-                     guidance_h_pos_ref.y * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM, \
-                     guidance_v_z_ref * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM); \
-        VECT3_ASSIGN(ned_vel, guidance_h_speed_ref.x * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM, \
-                     guidance_h_speed_ref.y * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM, \
-                     guidance_v_zd_ref * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM); \
-        ecef_of_ned_point_i(&gps.ecef_pos, &ins_impl.ltp_def, &ned_coor); \
-        ecef_of_ned_vect_i(&gps.ecef_vel, &ins_impl.ltp_def, &ned_vel); \
+        struct NedCoor_i ned_c;                                      \
+        ned_c.x = guidance_h_pos_ref.x * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM; \
+        ned_c.y = guidance_h_pos_ref.y * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM; \
+        ned_c.z = guidance_v_z_ref * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM; \
+        ecef_of_ned_point_i(&gps.ecef_pos, &state.ned_origin_i, &ned_c); \
+        gps.lla_pos.alt = state.ned_origin_i.lla.alt - ned_c.z;         \
+        gps.hmsl = state.ned_origin_i.hmsl - ned_c.z;                   \
+        ned_c.x = guidance_h_speed_ref.x * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM; \
+        ned_c.y = guidance_h_speed_ref.y * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM; \
+        ned_c.z = guidance_v_zd_ref * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM; \
+        ecef_of_ned_vect_i(&gps.ecef_vel, &state.ned_origin_i, &ned_c); \
         gps.fix = GPS_FIX_3D;                                           \
         gps.last_3dfix_ticks = sys_time.nb_sec_rem;                     \
         gps.last_3dfix_time = sys_time.nb_sec;                          \