diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index 024523eea9..556bd779ff 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -306,9 +306,9 @@ void stabilization_indi_set_failsafe_setpoint(void)
 void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
 {
   // stab_att_sp_euler.psi still used in ref..
-  memcpy(&stab_att_sp_euler, rpy, sizeof(struct Int32Eulers));
+  stab_att_sp_euler = *rpy;
 
-  quat_from_rpy_cmd_i(&stab_att_sp_quat, &stab_att_sp_euler);
+  int32_quat_of_eulers(&stab_att_sp_quat, &stab_att_sp_euler);
 }
 
 /**
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
index ff1b9d696a..169c1bb0ba 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
@@ -196,7 +196,7 @@ void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
   // stab_att_sp_euler.psi still used in ref..
   stab_att_sp_euler = *rpy;
 
-  quat_from_rpy_cmd_i(&stab_att_sp_quat, &stab_att_sp_euler);
+  int32_quat_of_eulers(&stab_att_sp_quat, &stab_att_sp_euler);
 }
 
 /**