diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
index 8b7b7b5d9a..ffd50c40aa 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
@@ -345,7 +345,7 @@ void ahrs_update_fw_estimator(void)
   estimator_psi   = att.psi;
 
   struct FloatRates rates;
-  RATES_FLOAT_OF_BFP(rates, ahrs_float.body_rate);
+  RATES_FLOAT_OF_BFP(rates, ahrs.body_rate);
   estimator_p = rates.p;
   estimator_q = rates.q;