diff --git a/conf/flight_plans/tudelft/rotating_wing_EHR8.xml b/conf/flight_plans/tudelft/rotating_wing_EHR8.xml
index 0dc509fa8d..49c2874f26 100644
--- a/conf/flight_plans/tudelft/rotating_wing_EHR8.xml
+++ b/conf/flight_plans/tudelft/rotating_wing_EHR8.xml
@@ -64,7 +64,7 @@
     <block name="Holding point">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <call_once fun="NavKillThrottle()"/>
-      <set var="stabilization_cmd[COMMAND_THRUST_X]" value="0"/>
+      <set var="stabilization.cmd[COMMAND_THRUST_X]" value="0"/>
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
diff --git a/conf/flight_plans/tudelft/rotating_wing_EHVB.xml b/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
index be1e0a0ab9..0d42c16b22 100644
--- a/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
+++ b/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
@@ -64,7 +64,7 @@
     <block name="Holding point">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <call_once fun="NavKillThrottle()"/>
-      <set var="stabilization_cmd[COMMAND_THRUST_X]" value="0"/>
+      <set var="stabilization.cmd[COMMAND_THRUST_X]" value="0"/>
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
diff --git a/conf/flight_plans/tudelft/rotating_wing_terschelling.xml b/conf/flight_plans/tudelft/rotating_wing_terschelling.xml
index 172b59c92f..9d5002a803 100644
--- a/conf/flight_plans/tudelft/rotating_wing_terschelling.xml
+++ b/conf/flight_plans/tudelft/rotating_wing_terschelling.xml
@@ -64,7 +64,7 @@
     <block name="Holding point">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <call_once fun="NavKillThrottle()"/>
-      <set var="stabilization_cmd[COMMAND_THRUST_X]" value="0"/>
+      <set var="stabilization.cmd[COMMAND_THRUST_X]" value="0"/>
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
diff --git a/conf/flight_plans/tudelft/rotating_wing_tharde.xml b/conf/flight_plans/tudelft/rotating_wing_tharde.xml
index 74deffbfd5..05ea7581f2 100644
--- a/conf/flight_plans/tudelft/rotating_wing_tharde.xml
+++ b/conf/flight_plans/tudelft/rotating_wing_tharde.xml
@@ -56,7 +56,7 @@
     <block name="Holding point">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <call_once fun="NavKillThrottle()"/>
-      <set var="stabilization_cmd[COMMAND_THRUST_X]" value="0"/>
+      <set var="stabilization.cmd[COMMAND_THRUST_X]" value="0"/>
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index d0652e40dc..4861954efa 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -200,7 +200,7 @@ float indi_Wu[INDI_NUM_ACT] = {[0 ... INDI_NUM_ACT - 1] = 1.0};
  * Limit the maximum specific moment that can be compensated (units rad/s^2)
 */
 #ifdef STABILIZATION_INDI_YAW_DISTURBANCE_LIMIT
-float stablization_indi_yaw_dist_limit = STABILIZATION_INDI_YAW_DISTURBANCE_LIMIT
+float stablization_indi_yaw_dist_limit = STABILIZATION_INDI_YAW_DISTURBANCE_LIMIT;
 #else // Put a rediculously high limit
 float stablization_indi_yaw_dist_limit = 99999.f;
 #endif
diff --git a/sw/airborne/modules/rot_wing_drone/rotwing_state.c b/sw/airborne/modules/rot_wing_drone/rotwing_state.c
index 6df0fb6132..c75bfb28c1 100644
--- a/sw/airborne/modules/rot_wing_drone/rotwing_state.c
+++ b/sw/airborne/modules/rot_wing_drone/rotwing_state.c
@@ -195,10 +195,14 @@ void periodic_rotwing_state(void)
   // Check and update desired state
   if (guidance_h.mode == GUIDANCE_H_MODE_NAV) {
     rotwing_switch_state();
-  } else if (guidance_h.mode == GUIDANCE_H_MODE_ATTITUDE) {
-    rotwing_state_set_hover_settings();
-  } else if (guidance_h.mode == GUIDANCE_H_MODE_FORWARD) {
-    rotwing_state_set_fw_settings();
+  } else if (guidance_h.mode == GUIDANCE_H_MODE_NONE) {
+    if (stabilization.mode == STABILIZATION_MODE_ATTITUDE) {
+      if (stabilization.att_submode == STABILIZATION_ATT_SUBMODE_FORWARD) {
+        rotwing_state_set_fw_settings();
+      } else {
+        rotwing_state_set_hover_settings();
+      }
+    }
   }
 
   // Run the wing skewer
@@ -206,9 +210,7 @@ void periodic_rotwing_state(void)
 
   //TODO: incorparate motor active / disbaling depending on called flight state
   // Switch on motors if flight mode is attitude
-  if (guidance_h.mode == GUIDANCE_H_MODE_ATTITUDE) {
-    bool_disable_hover_motors = false;
-  } else if (guidance_h.mode == GUIDANCE_H_MODE_FORWARD) {
+  if (guidance_h.mode == GUIDANCE_H_MODE_NONE) {
     bool_disable_hover_motors = false;
   }
 }