diff --git a/conf/abi.xml b/conf/abi.xml
index ba2e08b6c3..45918ac3a0 100644
--- a/conf/abi.xml
+++ b/conf/abi.xml
@@ -22,28 +22,28 @@
 
     <message name="IMU_GYRO_INT32" id="4">
       <field name="stamp" type="uint32_t" unit="us"/>
-      <field name="gyro" type="struct Int32Rates"/>
+      <field name="gyro" type="struct Int32Rates *"/>
     </message>
 
     <message name="IMU_ACCEL_INT32" id="5">
       <field name="stamp" type="uint32_t" unit="us"/>
-      <field name="accel" type="struct Int32Vect3"/>
+      <field name="accel" type="struct Int32Vect3 *"/>
     </message>
 
     <message name="IMU_MAG_INT32" id="6">
       <field name="stamp" type="uint32_t" unit="us"/>
-      <field name="mag" type="struct Int32Vect3"/>
+      <field name="mag" type="struct Int32Vect3 *"/>
     </message>
 
     <message name="IMU_LOWPASSED" id="7">
       <field name="stamp" type="uint32_t" unit="us"/>
-      <field name="gyro" type="struct Int32Rates"/>
-      <field name="accel" type="struct Int32Vect3"/>
-      <field name="mag" type="struct Int32Vect3"/>
+      <field name="gyro" type="struct Int32Rates *"/>
+      <field name="accel" type="struct Int32Vect3 *"/>
+      <field name="mag" type="struct Int32Vect3 *"/>
     </message>
 
     <message name="BODY_TO_IMU_QUAT" id="8">
-      <field name="q_b2i_f" type="struct FloatQuat"/>
+      <field name="q_b2i_f" type="struct FloatQuat *"/>
     </message>
 
   </msg_class>
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index e423567392..9b2aab6c5b 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -766,7 +766,7 @@ static inline void on_accel_event(void)
 
   imu_scale_accel(&imu);
 
-  AbiSendMsgIMU_ACCEL_INT32(1, &now_ts, &imu.accel);
+  AbiSendMsgIMU_ACCEL_INT32(1, now_ts, &imu.accel);
 }
 
 static inline void on_gyro_event(void)
@@ -778,7 +778,7 @@ static inline void on_gyro_event(void)
 
   imu_scale_gyro(&imu);
 
-  AbiSendMsgIMU_GYRO_INT32(1, &now_ts, &imu.gyro_prev);
+  AbiSendMsgIMU_GYRO_INT32(1, now_ts, &imu.gyro_prev);
 
 #if USE_AHRS_ALIGNER
   if (ahrs_aligner.status != AHRS_ALIGNER_LOCKED) {
@@ -818,7 +818,7 @@ static inline void on_mag_event(void)
   uint32_t now_ts = get_sys_time_usec();
 
   imu_scale_mag(&imu);
-  AbiSendMsgIMU_MAG_INT32(1, &now_ts, &imu.mag);
+  AbiSendMsgIMU_MAG_INT32(1, now_ts, &imu.mag);
 #endif
 }
 
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 73bf1245ae..20493daac9 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -362,7 +362,7 @@ static inline void on_accel_event( void ) {
 
   imu_scale_accel(&imu);
 
-  AbiSendMsgIMU_ACCEL_INT32(1, &now_ts, &imu.accel);
+  AbiSendMsgIMU_ACCEL_INT32(1, now_ts, &imu.accel);
 }
 
 static inline void on_gyro_event( void ) {
@@ -371,7 +371,7 @@ static inline void on_gyro_event( void ) {
 
   imu_scale_gyro(&imu);
 
-  AbiSendMsgIMU_GYRO_INT32(1, &now_ts, &imu.gyro_prev);
+  AbiSendMsgIMU_GYRO_INT32(1, now_ts, &imu.gyro_prev);
 
 #if USE_AHRS_ALIGNER
   if (ahrs_aligner.status != AHRS_ALIGNER_LOCKED) {
@@ -420,7 +420,7 @@ static inline void on_mag_event(void)
   // current timestamp
   uint32_t now_ts = get_sys_time_usec();
 
-  AbiSendMsgIMU_MAG_INT32(1, &now_ts, &imu.mag);
+  AbiSendMsgIMU_MAG_INT32(1, now_ts, &imu.mag);
 
 #ifdef USE_VEHICLE_INTERFACE
   vi_notify_mag_available();
diff --git a/sw/airborne/modules/sensors/mag_hmc58xx.c b/sw/airborne/modules/sensors/mag_hmc58xx.c
index a59ec5f3ab..f3ed0cd50c 100644
--- a/sw/airborne/modules/sensors/mag_hmc58xx.c
+++ b/sw/airborne/modules/sensors/mag_hmc58xx.c
@@ -78,7 +78,7 @@ void mag_hmc58xx_module_event(void)
     // scale vector
     imu_scale_mag(&imu);
 
-    AbiSendMsgIMU_MAG_INT32(MAG_HMC58XX_SENDER_ID, &now_ts, &imu.mag);
+    AbiSendMsgIMU_MAG_INT32(MAG_HMC58XX_SENDER_ID, now_ts, &imu.mag);
 #endif
 #if MODULE_HMC58XX_SYNC_SEND
     mag_hmc58xx_report();
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
index 502e806a54..d0a7c2ab6c 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_aligner.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
@@ -136,7 +136,7 @@ void ahrs_aligner_run(void)
       LED_ON(AHRS_ALIGNER_LED);
 #endif
       uint32_t now_ts = get_sys_time_usec();
-      AbiSendMsgIMU_LOWPASSED(ABI_BROADCAST, &now_ts, &ahrs_aligner.lp_gyro,
+      AbiSendMsgIMU_LOWPASSED(ABI_BROADCAST, now_ts, &ahrs_aligner.lp_gyro,
                               &ahrs_aligner.lp_accel, &ahrs_aligner.lp_mag);
     }
   }
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
index 40a6d37a0f..175dd79226 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
@@ -69,8 +69,8 @@ static abi_event aligner_ev;
 static abi_event body_to_imu_ev;
 
 
-static void gyro_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *stamp,
-                    const struct Int32Rates *gyro)
+static void gyro_cb(uint8_t __attribute__((unused)) sender_id, uint32_t stamp,
+                    struct Int32Rates *gyro)
 {
 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_PROPAGATE_FREQUENCY)
   PRINT_CONFIG_MSG("Calculating dt for AHRS_FC propagation.")
@@ -78,31 +78,31 @@ static void gyro_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *s
   static uint32_t last_stamp = 0;
 
   if (last_stamp > 0 && ahrs_fc.is_aligned) {
-    float dt = (float)(*stamp - last_stamp) * 1e-6;
-    ahrs_fc_propagate((struct Int32Rates *)gyro, dt);
+    float dt = (float)(stamp - last_stamp) * 1e-6;
+    ahrs_fc_propagate(gyro, dt);
   }
-  last_stamp = *stamp;
+  last_stamp = stamp;
 #else
   PRINT_CONFIG_MSG("Using fixed AHRS_PROPAGATE_FREQUENCY for AHRS_FC propagation.")
   PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
   if (ahrs_fc.status == AHRS_FC_RUNNING) {
     const float dt = 1. / (AHRS_PROPAGATE_FREQUENCY);
-    ahrs_fc_propagate((struct Int32Rates *)gyro, dt);
+    ahrs_fc_propagate(gyro, dt);
   }
 #endif
 }
 
-static void accel_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *stamp,
-                     const struct Int32Vect3 *accel)
+static void accel_cb(uint8_t __attribute__((unused)) sender_id, uint32_t stamp,
+                     struct Int32Vect3 *accel)
 {
 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_CORRECT_FREQUENCY)
   PRINT_CONFIG_MSG("Calculating dt for AHRS float_cmpl accel update.")
   static uint32_t last_stamp = 0;
   if (last_stamp > 0 && ahrs_fc.is_aligned) {
-    float dt = (float)(*stamp - last_stamp) * 1e-6;
+    float dt = (float)(stamp - last_stamp) * 1e-6;
     ahrs_fc_update_accel((struct Int32Vect3 *)accel, dt);
   }
-  last_stamp = *stamp;
+  last_stamp = stamp;
 #else
   PRINT_CONFIG_MSG("Using fixed AHRS_CORRECT_FREQUENCY for AHRS float_cmpl accel update.")
   PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
@@ -113,42 +113,41 @@ static void accel_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *
 #endif
 }
 
-static void mag_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *stamp,
-                   const struct Int32Vect3 *mag)
+static void mag_cb(uint8_t __attribute__((unused)) sender_id, uint32_t stamp,
+                   struct Int32Vect3 *mag)
 {
 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_MAG_CORRECT_FREQUENCY)
   PRINT_CONFIG_MSG("Calculating dt for AHRS float_cmpl mag update.")
   static uint32_t last_stamp = 0;
   if (last_stamp > 0 && ahrs_fc.is_aligned) {
-    float dt = (float)(*stamp - last_stamp) * 1e-6;
-    ahrs_fc_update_mag((struct Int32Vect3 *)mag, dt);
+    float dt = (float)(stamp - last_stamp) * 1e-6;
+    ahrs_fc_update_mag(mag, dt);
   }
-  last_stamp = *stamp;
+  last_stamp = stamp;
 #else
   PRINT_CONFIG_MSG("Using fixed AHRS_MAG_CORRECT_FREQUENCY for AHRS float_cmpl mag update.")
   PRINT_CONFIG_VAR(AHRS_MAG_CORRECT_FREQUENCY)
   if (ahrs_fc.is_aligned) {
     const float dt = 1. / (AHRS_MAG_CORRECT_FREQUENCY);
-    ahrs_fc_update_mag((struct Int32Vect3 *)mag, dt);
+    ahrs_fc_update_mag(mag, dt);
   }
 #endif
 }
 
 static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
-                       const uint32_t *stamp __attribute__((unused)),
-                       const struct Int32Rates *lp_gyro, const struct Int32Vect3 *lp_accel,
-                       const struct Int32Vect3 *lp_mag)
+                       uint32_t stamp __attribute__((unused)),
+                       struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
+                       struct Int32Vect3 *lp_mag)
 {
   if (!ahrs_fc.is_aligned) {
-    ahrs_fc_align((struct Int32Rates *)lp_gyro, (struct Int32Vect3 *)lp_accel,
-                  (struct Int32Vect3 *)lp_mag);
+    ahrs_fc_align(lp_gyro, lp_accel, lp_mag);
   }
 }
 
 static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
-                           const struct FloatQuat *q_b2i_f)
+                           struct FloatQuat *q_b2i_f)
 {
-  ahrs_fc_set_body_to_imu_quat((struct FloatQuat *)q_b2i_f);
+  ahrs_fc_set_body_to_imu_quat(q_b2i_f);
 }
 
 void ahrs_fc_register(void)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
index 97e052d85d..eb0c35daae 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
@@ -42,61 +42,60 @@ static abi_event aligner_ev;
 static abi_event body_to_imu_ev;
 
 
-static void gyro_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *stamp,
-                    const struct Int32Rates *gyro)
+static void gyro_cb(uint8_t __attribute__((unused)) sender_id, uint32_t stamp,
+                    struct Int32Rates *gyro)
 {
 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_PROPAGATE_FREQUENCY)
   PRINT_CONFIG_MSG("Calculating dt for AHRS dcm propagation.")
   /* timestamp in usec when last callback was received */
   static uint32_t last_stamp = 0;
   if (last_stamp > 0 && ahrs_dcm.is_aligned) {
-    float dt = (float)(*stamp - last_stamp) * 1e-6;
-    ahrs_dcm_propagate((struct Int32Rates *)gyro, dt);
+    float dt = (float)(stamp - last_stamp) * 1e-6;
+    ahrs_dcm_propagate(gyro, dt);
   }
-  last_stamp = *stamp;
+  last_stamp = stamp;
 #else
   PRINT_CONFIG_MSG("Using fixed AHRS_PROPAGATE_FREQUENCY for AHRS dcm propagation.")
   PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
   if (ahrs_dcm.is_aligned) {
     const float dt = 1. / (AHRS_PROPAGATE_FREQUENCY);
-    ahrs_dcm_propagate((struct Int32Rates *)gyro, dt);
+    ahrs_dcm_propagate(gyro, dt);
   }
 #endif
 }
 
 static void accel_cb(uint8_t sender_id __attribute__((unused)),
-                     const uint32_t *stamp __attribute__((unused)),
-                     const struct Int32Vect3 *accel)
+                     uint32_t stamp __attribute__((unused)),
+                     struct Int32Vect3 *accel)
 {
   if (ahrs_dcm.is_aligned) {
-    ahrs_dcm_update_accel((struct Int32Vect3 *)accel);
+    ahrs_dcm_update_accel(accel);
   }
 }
 
 static void mag_cb(uint8_t sender_id __attribute__((unused)),
-                   const uint32_t *stamp __attribute__((unused)),
-                   const struct Int32Vect3 *mag)
+                   uint32_t stamp __attribute__((unused)),
+                   struct Int32Vect3 *mag)
 {
   if (ahrs_dcm.is_aligned) {
-    ahrs_dcm_update_mag((struct Int32Vect3 *)mag);
+    ahrs_dcm_update_mag(mag);
   }
 }
 
 static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
-                       const uint32_t *stamp __attribute__((unused)),
-                       const struct Int32Rates *lp_gyro, const struct Int32Vect3 *lp_accel,
-                       const struct Int32Vect3 *lp_mag)
+                       uint32_t stamp __attribute__((unused)),
+                       struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
+                       struct Int32Vect3 *lp_mag)
 {
   if (!ahrs_dcm.is_aligned) {
-    ahrs_dcm_align((struct Int32Rates *)lp_gyro, (struct Int32Vect3 *)lp_accel,
-                   (struct Int32Vect3 *)lp_mag);
+    ahrs_dcm_align(lp_gyro, lp_accel, lp_mag);
   }
 }
 
 static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
-                           const struct FloatQuat *q_b2i_f)
+                           struct FloatQuat *q_b2i_f)
 {
-  ahrs_dcm_set_body_to_imu_quat((struct FloatQuat *)q_b2i_f);
+  ahrs_dcm_set_body_to_imu_quat(q_b2i_f);
 }
 
 void ahrs_dcm_register(void)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
index 081606ba49..1d1714f6b4 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
@@ -53,8 +53,8 @@ static abi_event aligner_ev;
 static abi_event body_to_imu_ev;
 
 
-static void gyro_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *stamp,
-                    const struct Int32Rates *gyro)
+static void gyro_cb(uint8_t __attribute__((unused)) sender_id, uint32_t stamp,
+                    struct Int32Rates *gyro)
 {
 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_PROPAGATE_FREQUENCY)
   PRINT_CONFIG_MSG("Calculating dt for AHRS_MLKF propagation.")
@@ -62,53 +62,52 @@ static void gyro_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *s
   static uint32_t last_stamp = 0;
 
   if (last_stamp > 0 && ahrs_mlkf.is_aligned) {
-    float dt = (float)(*stamp - last_stamp) * 1e-6;
-    ahrs_mlkf_propagate((struct Int32Rates *)gyro, dt);
+    float dt = (float)(stamp - last_stamp) * 1e-6;
+    ahrs_mlkf_propagate(gyro, dt);
   }
-  last_stamp = *stamp;
+  last_stamp = stamp;
 #else
   PRINT_CONFIG_MSG("Using fixed AHRS_PROPAGATE_FREQUENCY for AHRS_MLKF propagation.")
   PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
   if (ahrs_mlkf.status == AHRS_MLKF_RUNNING) {
     const float dt = 1. / (AHRS_PROPAGATE_FREQUENCY);
-    ahrs_mlkf_propagate((struct Int32Rates *)gyro, dt);
+    ahrs_mlkf_propagate(gyro, dt);
   }
 #endif
 }
 
 static void accel_cb(uint8_t sender_id __attribute__((unused)),
-                     const uint32_t *stamp __attribute__((unused)),
-                     const struct Int32Vect3 *accel)
+                     uint32_t stamp __attribute__((unused)),
+                     struct Int32Vect3 *accel)
 {
   if (ahrs_mlkf.is_aligned) {
-    ahrs_mlkf_update_accel((struct Int32Vect3 *)accel);
+    ahrs_mlkf_update_accel(accel);
   }
 }
 
 static void mag_cb(uint8_t sender_id __attribute__((unused)),
-                   const uint32_t *stamp __attribute__((unused)),
-                   const struct Int32Vect3 *mag)
+                   uint32_t stamp __attribute__((unused)),
+                   struct Int32Vect3 *mag)
 {
   if (ahrs_mlkf.is_aligned) {
-    ahrs_mlkf_update_mag((struct Int32Vect3 *)mag);
+    ahrs_mlkf_update_mag(mag);
   }
 }
 
 static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
-                       const uint32_t *stamp __attribute__((unused)),
-                       const struct Int32Rates *lp_gyro, const struct Int32Vect3 *lp_accel,
-                       const struct Int32Vect3 *lp_mag)
+                       uint32_t stamp __attribute__((unused)),
+                       struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
+                       struct Int32Vect3 *lp_mag)
 {
   if (!ahrs_mlkf.is_aligned) {
-    ahrs_mlkf_align((struct Int32Rates *)lp_gyro, (struct Int32Vect3 *)lp_accel,
-                    (struct Int32Vect3 *)lp_mag);
+    ahrs_mlkf_align(lp_accel, lp_accel, lp_mag);
   }
 }
 
 static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
-                           const struct FloatQuat *q_b2i_f)
+                           struct FloatQuat *q_b2i_f)
 {
-  ahrs_mlkf_set_body_to_imu_quat((struct FloatQuat *)q_b2i_f);
+  ahrs_mlkf_set_body_to_imu_quat(q_b2i_f);
 }
 
 void ahrs_mlkf_register(void)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_infrared.c b/sw/airborne/subsystems/ahrs/ahrs_infrared.c
index 1d4034a83b..a2cf3a6fe9 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_infrared.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_infrared.c
@@ -51,10 +51,10 @@ float heading;
 static abi_event gyro_ev;
 
 static void gyro_cb(uint8_t sender_id __attribute__((unused)),
-                    const uint32_t *stamp __attribute__((unused)),
-                    const struct Int32Rates *gyro)
+                    uint32_t stamp __attribute__((unused)),
+                    struct Int32Rates *gyro)
 {
-  stateSetBodyRates_i((struct Int32Rates *)gyro);
+  stateSetBodyRates_i(gyro);
 }
 
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
index 4e38277e81..9937e44db8 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
@@ -85,48 +85,47 @@ static abi_event body_to_imu_ev;
 
 
 static void gyro_cb(uint8_t sender_id __attribute__((unused)),
-                    const uint32_t *stamp __attribute__((unused)),
-                    const struct Int32Rates *gyro)
+                    uint32_t stamp __attribute__((unused)),
+                    struct Int32Rates *gyro)
 {
   if (ahrs_ice.is_aligned) {
-    ahrs_ice_propagate((struct Int32Rates *)gyro);
+    ahrs_ice_propagate(gyro);
   }
 
 }
 
 static void accel_cb(uint8_t sender_id __attribute__((unused)),
-                     const uint32_t *stamp __attribute__((unused)),
-                     const struct Int32Vect3 *accel)
+                     uint32_t stamp __attribute__((unused)),
+                     struct Int32Vect3 *accel)
 {
   if (ahrs_ice.is_aligned) {
-    ahrs_ice_update_accel((struct Int32Vect3 *)accel);
+    ahrs_ice_update_accel(accel);
   }
 }
 
 static void mag_cb(uint8_t sender_id __attribute__((unused)),
-                   const uint32_t *stamp __attribute__((unused)),
-                   const struct Int32Vect3 *mag)
+                   uint32_t stamp __attribute__((unused)),
+                   struct Int32Vect3 *mag)
 {
   if (ahrs_ice.is_aligned) {
-    ahrs_ice_update_mag((struct Int32Vect3 *)mag);
+    ahrs_ice_update_mag(mag);
   }
 }
 
 static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
-                       const uint32_t *stamp __attribute__((unused)),
-                       const struct Int32Rates *lp_gyro, const struct Int32Vect3 *lp_accel,
-                       const struct Int32Vect3 *lp_mag)
+                       uint32_t stamp __attribute__((unused)),
+                       struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
+                       struct Int32Vect3 *lp_mag)
 {
   if (!ahrs_ice.is_aligned) {
-    ahrs_ice_align((struct Int32Rates *)lp_gyro, (struct Int32Vect3 *)lp_accel,
-                   (struct Int32Vect3 *)lp_mag);
+    ahrs_ice_align(lp_gyro, lp_accel, lp_mag);
   }
 }
 
 static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
-                           const struct FloatQuat *q_b2i_f)
+                           struct FloatQuat *q_b2i_f)
 {
-  ahrs_ice_set_body_to_imu_quat((struct FloatQuat *)q_b2i_f);
+  ahrs_ice_set_body_to_imu_quat(q_b2i_f);
 }
 
 void ahrs_ice_register(void)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
index 6d2c69d2d5..015f1053fd 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
@@ -91,8 +91,8 @@ static abi_event aligner_ev;
 static abi_event body_to_imu_ev;
 
 
-static void gyro_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *stamp,
-                    const struct Int32Rates *gyro)
+static void gyro_cb(uint8_t __attribute__((unused)) sender_id, uint32_t stamp,
+                    struct Int32Rates *gyro)
 {
 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_PROPAGATE_FREQUENCY)
   PRINT_CONFIG_MSG("Calculating dt for AHRS_ICQ propagation.")
@@ -100,77 +100,76 @@ static void gyro_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *s
   static uint32_t last_stamp = 0;
 
   if (last_stamp > 0 && ahrs_icq.is_aligned) {
-    float dt = (float)(*stamp - last_stamp) * 1e-6;
-    ahrs_icq_propagate((struct Int32Rates *)gyro, dt);
+    float dt = (float)(stamp - last_stamp) * 1e-6;
+    ahrs_icq_propagate(gyro, dt);
   }
-  last_stamp = *stamp;
+  last_stamp = stamp;
 #else
   PRINT_CONFIG_MSG("Using fixed AHRS_PROPAGATE_FREQUENCY for AHRS_ICQ propagation.")
   PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
   if (ahrs_icq.status == AHRS_ICQ_RUNNING) {
     const float dt = 1. / (AHRS_PROPAGATE_FREQUENCY);
-    ahrs_icq_propagate((struct Int32Rates *)gyro, dt);
+    ahrs_icq_propagate(gyro, dt);
   }
 #endif
 }
 
-static void accel_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *stamp,
-                     const struct Int32Vect3 *accel)
+static void accel_cb(uint8_t __attribute__((unused)) sender_id, uint32_t stamp,
+                     struct Int32Vect3 *accel)
 {
 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_CORRECT_FREQUENCY)
   PRINT_CONFIG_MSG("Calculating dt for AHRS int_cmpl_quat accel update.")
   static uint32_t last_stamp = 0;
   if (last_stamp > 0 && ahrs_icq.is_aligned) {
-    float dt = (float)(*stamp - last_stamp) * 1e-6;
-    ahrs_icq_update_accel((struct Int32Vect3 *)accel, dt);
+    float dt = (float)(stamp - last_stamp) * 1e-6;
+    ahrs_icq_update_accel(accel, dt);
   }
-  last_stamp = *stamp;
+  last_stamp = stamp;
 #else
   PRINT_CONFIG_MSG("Using fixed AHRS_CORRECT_FREQUENCY for AHRS int_cmpl_quat accel update.")
   PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
   if (ahrs_icq.is_aligned) {
     const float dt = 1. / (AHRS_CORRECT_FREQUENCY);
-    ahrs_icq_update_accel((struct Int32Vect3 *)accel, dt);
+    ahrs_icq_update_accel(accel, dt);
   }
 #endif
 }
 
-static void mag_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *stamp,
-                   const struct Int32Vect3 *mag)
+static void mag_cb(uint8_t __attribute__((unused)) sender_id, uint32_t stamp,
+                   struct Int32Vect3 *mag)
 {
 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_MAG_CORRECT_FREQUENCY)
   PRINT_CONFIG_MSG("Calculating dt for AHRS int_cmpl_quat mag update.")
   static uint32_t last_stamp = 0;
   if (last_stamp > 0 && ahrs_icq.is_aligned) {
-    float dt = (float)(*stamp - last_stamp) * 1e-6;
-    ahrs_icq_update_mag((struct Int32Vect3 *)mag, dt);
+    float dt = (float)(stamp - last_stamp) * 1e-6;
+    ahrs_icq_update_mag(mag, dt);
   }
-  last_stamp = *stamp;
+  last_stamp = stamp;
 #else
   PRINT_CONFIG_MSG("Using fixed AHRS_MAG_CORRECT_FREQUENCY for AHRS int_cmpl_quat mag update.")
   PRINT_CONFIG_VAR(AHRS_MAG_CORRECT_FREQUENCY)
   if (ahrs_icq.is_aligned) {
     const float dt = 1. / (AHRS_MAG_CORRECT_FREQUENCY);
-    ahrs_icq_update_mag((struct Int32Vect3 *)mag, dt);
+    ahrs_icq_update_mag(mag, dt);
   }
 #endif
 }
 
 static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
-                       const uint32_t *stamp __attribute__((unused)),
-                       const struct Int32Rates *lp_gyro, const struct Int32Vect3 *lp_accel,
-                       const struct Int32Vect3 *lp_mag)
+                       uint32_t stamp __attribute__((unused)),
+                       struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
+                       struct Int32Vect3 *lp_mag)
 {
   if (!ahrs_icq.is_aligned) {
-    ahrs_icq_align((struct Int32Rates *)lp_gyro, (struct Int32Vect3 *)lp_accel,
-                   (struct Int32Vect3 *)lp_mag);
+    ahrs_icq_align(lp_gyro, lp_accel, lp_mag);
   }
 }
 
 static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
-                           const struct FloatQuat *q_b2i_f)
+                           struct FloatQuat *q_b2i_f)
 {
-  ahrs_icq_set_body_to_imu_quat((struct FloatQuat *)q_b2i_f);
+  ahrs_icq_set_body_to_imu_quat(q_b2i_f);
 }
 
 void ahrs_icq_register(void)
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c
index ccb64a5984..63b9f515e0 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.c
@@ -186,14 +186,14 @@ static void baro_cb(uint8_t sender_id, float pressure);
 #define INS_MAG_ID ABI_BROADCAST
 #endif
 static abi_event mag_ev;
-static void mag_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t *stamp,
-                   const struct Int32Vect3 *mag);
+static void mag_cb(uint8_t __attribute__((unused)) sender_id, uint32_t stamp,
+                   struct Int32Vect3 *mag);
 
 static abi_event aligner_ev;
 static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
-                       const uint32_t *stamp __attribute__((unused)),
-                       const struct Int32Rates *lp_gyro, const struct Int32Vect3 *lp_accel,
-                       const struct Int32Vect3 *lp_mag);
+                       uint32_t stamp __attribute__((unused)),
+                       struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
+                       struct Int32Vect3 *lp_mag);
 
 
 /* gps */
@@ -756,21 +756,20 @@ void ins_propagate(float dt)
 }
 
 static void mag_cb(uint8_t sender_id __attribute__((unused)),
-                   const uint32_t *stamp __attribute__((unused)),
-                   const struct Int32Vect3 *mag)
+                   uint32_t stamp __attribute__((unused)),
+                   struct Int32Vect3 *mag)
 {
   if (ins_impl.is_aligned) {
-    ins_float_invariant_update_mag((struct Int32Vect3 *)mag);
+    ins_float_invariant_update_mag(mag);
   }
 }
 
 static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
-                       const uint32_t *stamp __attribute__((unused)),
-                       const struct Int32Rates *lp_gyro, const struct Int32Vect3 *lp_accel,
-                       const struct Int32Vect3 *lp_mag)
+                       uint32_t stamp __attribute__((unused)),
+                       struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
+                       struct Int32Vect3 *lp_mag)
 {
   if (!ins_impl.is_aligned) {
-    ins_float_invariant_align((struct Int32Rates *)lp_gyro, (struct Int32Vect3 *)lp_accel,
-                              (struct Int32Vect3 *)lp_mag);
+    ins_float_invariant_align(lp_gyro, lp_accel, lp_mag);
   }
 }
diff --git a/sw/airborne/test/subsystems/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c
index bd80c96c1e..62ca08e2f4 100644
--- a/sw/airborne/test/subsystems/test_ahrs.c
+++ b/sw/airborne/test/subsystems/test_ahrs.c
@@ -107,7 +107,7 @@ static inline void on_gyro_event(void)
 
   imu_scale_gyro(&imu);
 
-  AbiSendMsgIMU_GYRO_INT32(1, &now_ts, &imu.gyro_prev);
+  AbiSendMsgIMU_GYRO_INT32(1, now_ts, &imu.gyro_prev);
 
 #if USE_AHRS_ALIGNER
   if (ahrs_aligner.status != AHRS_ALIGNER_LOCKED) {
@@ -124,7 +124,7 @@ static inline void on_accel_event(void)
 
   imu_scale_accel(&imu);
 
-  AbiSendMsgIMU_ACCEL_INT32(1, &now_ts, &imu.accel);
+  AbiSendMsgIMU_ACCEL_INT32(1, now_ts, &imu.accel);
 }
 
 static inline void on_mag_event(void)
@@ -134,7 +134,7 @@ static inline void on_mag_event(void)
 
   imu_scale_mag(&imu);
 
-  AbiSendMsgIMU_MAG_INT32(1, &now_ts, &imu.mag);
+  AbiSendMsgIMU_MAG_INT32(1, now_ts, &imu.mag);
 }