diff --git a/conf/joystick/gold_simulator.xml b/conf/joystick/gold_simulator.xml
new file mode 100644
index 0000000000..8f090fc878
--- /dev/null
+++ b/conf/joystick/gold_simulator.xml
@@ -0,0 +1,20 @@
+<joystick>
+  <input>
+    <axis index="1" name="roll" />
+    <axis index="2" name="pitch" />
+    <axis index="0" name="throttle" />
+    <axis index="4" name="yaw" />
+    <button index="3" name="mode" />
+  </input>
+
+  <messages period="0.025">
+    <message class="datalink" name="RC_4CH" send_always="true">
+      <field name="mode" value="mode" />
+      <field name="throttle" value="Fit(throttle,-117,117,0,127)" />
+      <field name="roll" value="-roll" />
+      <field name="yaw" value="-yaw" />
+      <field name="pitch" value="-pitch" />
+    </message>
+  </messages>
+
+</joystick>
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
index 87c96e5cfb..8faecf40e2 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
@@ -28,6 +28,7 @@
 #define STABILIZATION_ATTITUDE_H
 
 #include "firmwares/rotorcraft/stabilization.h"
+#include "math/pprz_algebra_int.h"
 #include STABILIZATION_ATTITUDE_TYPE_H
 
 extern void stabilization_attitude_init(void);