diff --git a/conf/settings/estimation/ins_sonar.xml b/conf/settings/estimation/ins_sonar.xml
index e709d2c6f5..dddf144a52 100644
--- a/conf/settings/estimation/ins_sonar.xml
+++ b/conf/settings/estimation/ins_sonar.xml
@@ -3,7 +3,7 @@
 <settings>
   <dl_settings>
     <dl_settings NAME="sonar">
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="ins_impl.update_on_agl" shortname="use_sonar" values="FALSE|TRUE" module="subsystems/ins/vf_extended_float"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="ins_int.update_on_agl" shortname="use_sonar" values="FALSE|TRUE" module="subsystems/ins/vf_extended_float"/>
     </dl_settings>
   </dl_settings>
 </settings>
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
index 0fd6670461..c7c527efe1 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
@@ -203,6 +203,7 @@ static void accel_cb(uint8_t sender_id __attribute__((unused)),
   struct Int32Vect3 accel_body, accel_ned;
   struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&body_to_imu);
   int32_rmat_transp_vmult(&accel_body, body_to_imu_rmat, accel);
+  stateSetAccelBody_i(&accel_body);
   struct Int32RMat *ned_to_body_rmat = stateGetNedToBodyRMat_i();
   int32_rmat_transp_vmult(&accel_ned, ned_to_body_rmat, &accel_body);
   accel_ned.z += ACCEL_BFP_OF_REAL(9.81);