diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
index 40a6d86511..4901733cc5 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
@@ -121,6 +121,7 @@ static void send_energy(struct transport_tx *trans, struct link_device *dev)
 static void send_fp(struct transport_tx *trans, struct link_device *dev)
 {
   int32_t carrot_up = -guidance_v_z_sp;
+  int32_t carrot_heading = ANGLE_BFP_OF_REAL(guidance_h.sp.heading);
   pprz_msg_send_ROTORCRAFT_FP(trans, dev, AC_ID,
                               &(stateGetPositionEnu_i()->x),
                               &(stateGetPositionEnu_i()->y),
@@ -134,7 +135,7 @@ static void send_fp(struct transport_tx *trans, struct link_device *dev)
                               &guidance_h.sp.pos.y,
                               &guidance_h.sp.pos.x,
                               &carrot_up,
-                              &guidance_h.sp.heading,
+                              &carrot_heading,
                               &stabilization_cmd[COMMAND_THRUST],
                               &autopilot.flight_time);
 }
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index a2350b7ceb..f44983d59d 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -173,9 +173,9 @@ void guidance_h_init(void)
 
   INT_VECT2_ZERO(guidance_h.sp.pos);
   INT_VECT2_ZERO(guidance_h_trim_att_integrator);
-  INT_EULERS_ZERO(guidance_h.rc_sp);
-  guidance_h.sp.heading = 0;
-  guidance_h.sp.heading_rate = 0;
+  FLOAT_EULERS_ZERO(guidance_h.rc_sp);
+  guidance_h.sp.heading = 0.0;
+  guidance_h.sp.heading_rate = 0.0;
   guidance_h.gains.p = GUIDANCE_H_PGAIN;
   guidance_h.gains.i = GUIDANCE_H_IGAIN;
   guidance_h.gains.d = GUIDANCE_H_DGAIN;
@@ -318,7 +318,7 @@ void guidance_h_read_rc(bool  in_flight)
       stabilization_attitude_read_rc(in_flight, FALSE, FALSE);
       break;
     case GUIDANCE_H_MODE_HOVER:
-      stabilization_attitude_read_rc_setpoint_eulers(&guidance_h.rc_sp, in_flight, FALSE, FALSE);
+      stabilization_attitude_read_rc_setpoint_eulers_f(&guidance_h.rc_sp, in_flight, FALSE, FALSE );
 #if GUIDANCE_H_USE_SPEED_REF
       read_rc_setpoint_speed_i(&guidance_h.sp.speed, in_flight);
       /* enable x,y velocity setpoints */
@@ -334,9 +334,9 @@ void guidance_h_read_rc(bool  in_flight)
 
     case GUIDANCE_H_MODE_NAV:
       if (radio_control.status == RC_OK) {
-        stabilization_attitude_read_rc_setpoint_eulers(&guidance_h.rc_sp, in_flight, FALSE, FALSE);
+        stabilization_attitude_read_rc_setpoint_eulers_f(&guidance_h.rc_sp, in_flight, FALSE, FALSE);
       } else {
-        INT_EULERS_ZERO(guidance_h.rc_sp);
+        FLOAT_EULERS_ZERO(guidance_h.rc_sp);
       }
       break;
     case GUIDANCE_H_MODE_FLIP:
@@ -434,8 +434,8 @@ static void guidance_h_update_reference(void)
 
   /* update heading setpoint from rate */
   if (bit_is_set(guidance_h.sp.mask, 7)) {
-    guidance_h.sp.heading += (guidance_h.sp.heading_rate >> (INT32_ANGLE_FRAC - INT32_RATE_FRAC)) / PERIODIC_FREQUENCY;
-    INT32_ANGLE_NORMALIZE(guidance_h.sp.heading);
+    guidance_h.sp.heading += guidance_h.sp.heading_rate / PERIODIC_FREQUENCY;
+    FLOAT_ANGLE_NORMALIZE(guidance_h.sp.heading);
   }
 }
 
@@ -540,7 +540,7 @@ void guidance_h_hover_enter(void)
   reset_guidance_reference_from_current_position();
 
   /* set guidance to current heading and position */
-  guidance_h.rc_sp.psi = stateGetNedToBodyEulers_i()->psi;
+  guidance_h.rc_sp.psi = stateGetNedToBodyEulers_f()->psi;
   guidance_h.sp.heading = guidance_h.rc_sp.psi;
 }
 
@@ -555,6 +555,7 @@ void guidance_h_nav_enter(void)
   reset_guidance_reference_from_current_position();
 
   nav_heading = stateGetNedToBodyEulers_i()->psi;
+  guidance_h.sp.heading = stateGetNedToBodyEulers_f()->psi;
 }
 
 void guidance_h_from_nav(bool in_flight)
@@ -590,8 +591,8 @@ void guidance_h_from_nav(bool in_flight)
     guidance_h_update_reference();
 
     /* set psi command */
-    guidance_h.sp.heading = nav_heading;
-    INT32_ANGLE_NORMALIZE(guidance_h.sp.heading);
+    guidance_h.sp.heading = ANGLE_FLOAT_OF_BFP(nav_heading);
+    FLOAT_ANGLE_NORMALIZE(guidance_h.sp.heading);
 
 #if GUIDANCE_INDI
     guidance_indi_run(in_flight, guidance_h.sp.heading);
@@ -599,8 +600,9 @@ void guidance_h_from_nav(bool in_flight)
     /* compute x,y earth commands */
     guidance_h_traj_run(in_flight);
     /* set final attitude setpoint */
+    int32_t heading_sp_i = ANGLE_BFP_OF_REAL(guidance_h.sp.heading);
     stabilization_attitude_set_earth_cmd_i(&guidance_h_cmd_earth,
-        guidance_h.sp.heading);
+        heading_sp_i);
 #endif
 
 #endif
@@ -678,7 +680,8 @@ void guidance_h_guided_run(bool in_flight)
   /* compute x,y earth commands */
   guidance_h_traj_run(in_flight);
   /* set final attitude setpoint */
-  stabilization_attitude_set_earth_cmd_i(&guidance_h_cmd_earth, guidance_h.sp.heading);
+  int32_t heading_sp_i = ANGLE_BFP_OF_REAL(guidance_h.sp.heading);
+  stabilization_attitude_set_earth_cmd_i(&guidance_h_cmd_earth, heading_sp_i);
 #endif
   stabilization_attitude_run(in_flight);
 }
@@ -698,8 +701,8 @@ bool guidance_h_set_guided_heading(float heading)
 {
   if (guidance_h.mode == GUIDANCE_H_MODE_GUIDED) {
     ClearBit(guidance_h.sp.mask, 7);
-    guidance_h.sp.heading = ANGLE_BFP_OF_REAL(heading);
-    INT32_ANGLE_NORMALIZE(guidance_h.sp.heading);
+    guidance_h.sp.heading = heading;
+    FLOAT_ANGLE_NORMALIZE(guidance_h.sp.heading);
     return true;
   }
   return false;
@@ -728,7 +731,7 @@ bool guidance_h_set_guided_heading_rate(float rate)
 {
   if (guidance_h.mode == GUIDANCE_H_MODE_GUIDED) {
     SetBit(guidance_h.sp.mask, 7);
-    guidance_h.sp.heading_rate = RATE_BFP_OF_REAL(rate);
+    guidance_h.sp.heading_rate = rate;
     return true;
   }
   return false;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
index 39fda02140..cc1b4c67b5 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
@@ -29,6 +29,7 @@
 
 
 #include "math/pprz_algebra_int.h"
+#include "math/pprz_algebra_float.h"
 
 #include "firmwares/rotorcraft/guidance/guidance_h_ref.h"
 #include "generated/airframe.h"
@@ -69,8 +70,8 @@ struct HorizontalGuidanceSetpoint {
    */
   struct Int32Vect2 pos;
   struct Int32Vect2 speed;  ///< only used in HOVER mode if GUIDANCE_H_USE_SPEED_REF or in GUIDED mode
-  int32_t heading;          ///< with #INT32_ANGLE_FRAC
-  int32_t heading_rate;     ///< with #INT32_RATE_FRAC
+  float heading;
+  float heading_rate;
   uint8_t mask;             ///< bit 5: vx & vy, bit 6: vz, bit 7: vyaw
 };
 
@@ -99,7 +100,7 @@ struct HorizontalGuidance {
   struct HorizontalGuidanceSetpoint sp; ///< setpoints
   struct HorizontalGuidanceReference ref; ///< reference calculated from setpoints
 
-  struct Int32Eulers rc_sp;    ///< with #INT32_ANGLE_FRAC
+  struct FloatEulers rc_sp;
 };
 
 extern struct HorizontalGuidance guidance_h;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
index f52cf1898d..051c3e5ff4 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
@@ -122,11 +122,11 @@ void guidance_indi_enter(void) {
 
 /**
  * @param in_flight in flight boolean
- * @param heading the desired heading [rad]
+ * @param heading_sp the desired heading [rad]
  *
  * main indi guidance function
  */
-void guidance_indi_run(bool in_flight, int32_t heading) {
+void guidance_indi_run(bool in_flight, float heading_sp) {
 
   //filter accel to get rid of noise and filter attitude to synchronize with accel
   guidance_indi_propagate_filters();
@@ -209,7 +209,7 @@ void guidance_indi_run(bool in_flight, int32_t heading) {
   Bound(guidance_euler_cmd.theta, -GUIDANCE_H_MAX_BANK, GUIDANCE_H_MAX_BANK);
 
   //set the quat setpoint with the calculated roll and pitch
-  stabilization_attitude_set_setpoint_rp_quat_f(&guidance_euler_cmd, in_flight, heading);
+  stabilization_attitude_set_setpoint_rp_quat_f(&guidance_euler_cmd, in_flight, heading_sp);
 }
 
 #ifdef GUIDANCE_INDI_SPECIFIC_FORCE_GAIN
@@ -278,7 +278,7 @@ void guidance_indi_calcG(struct FloatMat33 *Gmat) {
  *
  * function that creates a quaternion from a roll, pitch and yaw setpoint
  */
-void stabilization_attitude_set_setpoint_rp_quat_f(struct FloatEulers* indi_rp_cmd, bool in_flight, int32_t heading)
+void stabilization_attitude_set_setpoint_rp_quat_f(struct FloatEulers* indi_rp_cmd, bool in_flight, float heading)
 {
   struct FloatQuat q_rp_cmd;
   //this is a quaternion without yaw! add the desired yaw before you use it!
@@ -300,7 +300,7 @@ void stabilization_attitude_set_setpoint_rp_quat_f(struct FloatEulers* indi_rp_c
   if (in_flight) {
     /* get current heading setpoint */
     struct FloatQuat q_yaw_sp;
-    float_quat_of_axis_angle(&q_yaw_sp, &zaxis, ANGLE_FLOAT_OF_BFP(heading));
+    float_quat_of_axis_angle(&q_yaw_sp, &zaxis, heading);
 
 
     /* rotation between current yaw and yaw setpoint */
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
index 959891de1c..50d6ac447b 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
@@ -35,8 +35,8 @@
 #include "math/pprz_algebra_float.h"
 
 extern void guidance_indi_enter(void);
-extern void guidance_indi_run(bool in_flight, int32_t heading);
-extern void stabilization_attitude_set_setpoint_rp_quat_f(struct FloatEulers* indi_rp_cmd, bool in_flight, int32_t heading);
+extern void guidance_indi_run(bool in_flight, float heading_sp);
+extern void stabilization_attitude_set_setpoint_rp_quat_f(struct FloatEulers* indi_rp_cmd, bool in_flight, float heading);
 
 extern float guidance_indi_thrust_specific_force_gain;
 extern struct FloatVect3 euler_cmd;