diff --git a/conf/firmwares/subsystems/rotorcraft/stabilization_passthrough.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_passthrough.makefile
index 3926b05ab9..8eb38047ac 100644
--- a/conf/firmwares/subsystems/rotorcraft/stabilization_passthrough.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/stabilization_passthrough.makefile
@@ -1,5 +1,5 @@
 STAB_ATT_CFLAGS  = -DSTABILIZATION_ATTITUDE_NO_REF
-STAB_ATT_CFLAGS  = -DSTABILIZATION_ATTITUDE_TYPE_INT
+STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_INT
 STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_passthrough.h\"
 STAB_ATT_SRCS  = $(SRC_FIRMWARE)/stabilization/stabilization_attitude_passthrough.c
 STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_rc_setpoint.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
index 9bda1b8820..69f7004aca 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
@@ -23,8 +23,8 @@
  * @file stabilization_attitude_passthrough.c
  * @brief passthrough attitude stabilization
  *
- * This is usefull for instance when having an AC that has needs no
- * stabilization because it is allready been done by other stabilization
+ * This is useful for instance when having an AC that has needs no
+ * stabilization because it is already been done by other stabilization
  * software onboard or just does not need it at all.
  */
 
@@ -72,3 +72,13 @@ void stabilization_attitude_run(bool_t  in_flight __attribute__ ((unused))) {
   BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
 }
 
+void stabilization_attitude_set_failsafe_setpoint(void) {
+  stab_att_sp_euler.phi = 0;
+  stab_att_sp_euler.theta = 0;
+  stab_att_sp_euler.psi = stateGetNedToBodyEulers_i()->psi;
+}
+
+void stabilization_attitude_set_from_eulers_i(struct Int32Eulers *sp_euler) {
+  memcpy(&stab_att_sp_euler, sp_euler, sizeof(struct Int32Eulers));
+}
+
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.h
index 72031365c0..4c0209674f 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.h
@@ -23,11 +23,6 @@
 #define STABILIZATION_ATTITUDE_PASSTHROUGH_H
 
 #include "math/pprz_algebra_int.h"
-
-#include "generated/airframe.h"
-
-
-extern struct Int32Eulers stab_att_sp_euler;  ///< with #INT32_ANGLE_FRAC
-
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h"
 
 #endif /* STABILIZATION_ATTITUDE_PASSTHROUGH_H */