diff --git a/sw/airborne/modules/rotwing_drone/rotwing_state.c b/sw/airborne/modules/rotwing_drone/rotwing_state.c
index 1c69f112d3..ca03850eff 100644
--- a/sw/airborne/modules/rotwing_drone/rotwing_state.c
+++ b/sw/airborne/modules/rotwing_drone/rotwing_state.c
@@ -150,6 +150,20 @@ static void send_rotating_wing_state(struct transport_tx *trans, struct link_dev
 }
 #endif // PERIODIC_TELEMETRY
 
+#if PREFLIGHT_CHECKS
+/* Preflight checks */
+#include "modules/checks/preflight_checks.h"
+static struct preflight_check_t rotwing_state_skew_pfc;
+
+static void rotwing_state_skew_preflight(struct preflight_result_t *result) {
+  if(fabsf(rotwing_state.meas_skew_angle_deg - rotwing_state.sp_skew_angle_deg) < ROTWING_SKEW_REF_MODEL_MAX_DIFF) {
+    preflight_success(result, "Rotwing skew success");
+  } else {
+    preflight_error(result, "Rotwing skew error [meas: %.1f, sp: %.1f]", rotwing_state.meas_skew_angle_deg, rotwing_state.sp_skew_angle_deg);
+  }
+}
+#endif // PREFLIGHT_CHECKS
+
 void rotwing_state_init(void)
 {
   // Initialize rotwing state
@@ -177,6 +191,11 @@ void rotwing_state_init(void)
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTATING_WING_STATE, send_rotating_wing_state);
 #endif
+
+  /* Register preflight checks */
+#if PREFLIGHT_CHECKS
+  preflight_check_register(&rotwing_state_skew_pfc, rotwing_state_skew_preflight);
+#endif
 }
 
 /**
@@ -310,7 +329,7 @@ void rotwing_state_periodic(void)
   }
 
   /* Bound max bank angle, climb speed and descend speed if the rotwing drone is transitioning and not in FREE mode */
-  if (rotwing_state.meas_skew_angle_deg < ROTWING_FW_SKEW_ANGLE && rotwing_state.meas_skew_angle_deg > ROTWING_QUAD_SKEW_ANGLE 
+  if (meas_skew_angle < ROTWING_FW_SKEW_ANGLE && meas_skew_angle > ROTWING_QUAD_SKEW_ANGLE 
       && rotwing_state.state != ROTWING_STATE_FREE) {
     guidance_set_max_bank_angle(ROTWING_TRANSITION_MAX_BANK);
     guidance_set_max_climb_speed(ROTWING_TRANSITION_MAX_CLIMB_SPEED, ROTWING_TRANSITION_MAX_CLIMB_SPEED);