diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.h
index 9077bbd8cb..8655fc23ac 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.h
@@ -31,13 +31,6 @@
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_float.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h"
 
-#ifndef STABILIZATION_ATTITUDE_GAIN_NB
-#define STABILIZATION_ATTITUDE_GAIN_NB 1
-#endif
-
-#ifndef STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
-#define STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT 0
-#endif
 
 extern struct FloatAttitudeGains stabilization_gains[];
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
index a70e780560..04e3e60b10 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
@@ -1,4 +1,5 @@
-#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h"
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h"
 #include "generated/airframe.h"
 
 struct FloatEulers stab_att_sp_euler;
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
index 762e66ed96..ba55615872 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
@@ -22,10 +22,7 @@
 #ifndef STABILIZATION_ATTITUDE_FLOAT_REF_EULER_FLOAT_H
 #define STABILIZATION_ATTITUDE_FLOAT_REF_EULER_FLOAT_H
 
-#include "math/pprz_algebra_float.h"
-
 #include "stabilization_attitude_ref_float.h"
-#include "stabilization_attitude_ref.h"
 
 void stabilization_attitude_ref_enter(void);
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
index d7e8566a8b..14472fbb03 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
@@ -24,7 +24,8 @@
  *
  */
 
-#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h"
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h"
 #include "generated/airframe.h"
 
 struct Int32Eulers stab_att_sp_euler;
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
index bf3aacf19c..08579a412a 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
@@ -28,7 +28,5 @@
 #define STABILIZATION_ATTITUDE_REF_EULER_INT_H
 
 #include "stabilization_attitude_ref_int.h"
-#include "stabilization_attitude_ref.h"
-
 
 #endif /* STABILIZATION_ATTITUDE_REF_EULER_INT_H */
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
index 2faf9e0bc9..fb62bcc457 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
@@ -27,9 +27,7 @@
 #ifndef STABILIZATION_ATTITUDE_REF_FLOAT_H
 #define STABILIZATION_ATTITUDE_REF_FLOAT_H
 
-#include "generated/airframe.h"
-
-#include "state.h"
+#include "math/pprz_algebra_float.h"
 
 extern struct FloatEulers stab_att_sp_euler;
 extern struct FloatQuat   stab_att_sp_quat;
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
index c0ef65a2b8..24175b5fc2 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
@@ -29,8 +29,6 @@
 
 #include "math/pprz_algebra_int.h"
 
-#include "state.h"
-
 extern struct Int32Eulers stab_att_ref_euler; ///< with #REF_ANGLE_FRAC
 extern struct Int32Quat   stab_att_ref_quat;  ///< with #INT32_QUAT_FRAC
 extern struct Int32Rates  stab_att_ref_rate;  ///< with #REF_RATE_FRAC
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
index da50880f15..ff15cf95a8 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
@@ -28,10 +28,9 @@
  */
 
 #include "generated/airframe.h"
-#include "firmwares/rotorcraft/stabilization.h"
-#include "state.h"
 
-#include "stabilization_attitude_ref_float.h"
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h"
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h"
 
 #define REF_ACCEL_MAX_P STABILIZATION_ATTITUDE_REF_MAX_PDOT
 #define REF_ACCEL_MAX_Q STABILIZATION_ATTITUDE_REF_MAX_QDOT
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
index 0424fbf820..b5543ed82b 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
@@ -30,14 +30,15 @@
 #ifndef STABILIZATION_ATTITUDE_FLOAT_REF_QUAT_FLOAT_H
 #define STABILIZATION_ATTITUDE_FLOAT_REF_QUAT_FLOAT_H
 
-#include "subsystems/radio_control.h"
-#include "math/pprz_algebra_float.h"
-
 #include "stabilization_attitude_ref_float.h"
-#include "stabilization_attitude_ref.h"
 
-#define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE < -VALUE))
-#define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0)
+#ifndef STABILIZATION_ATTITUDE_GAIN_NB
+#define STABILIZATION_ATTITUDE_GAIN_NB 1
+#endif
+
+#ifndef STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
+#define STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT 0
+#endif
 
 void stabilization_attitude_ref_enter(void);
 void stabilization_attitude_ref_schedule(uint8_t idx);
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
index b0202847dd..aacd33d198 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
@@ -28,9 +28,8 @@
  */
 
 #include "generated/airframe.h"
-#include "firmwares/rotorcraft/stabilization.h"
-
-#include "stabilization_attitude_ref_int.h"
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h"
+#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h"
 
 #define REF_ACCEL_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)
 #define REF_ACCEL_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
index 3b1cbaa3e8..4fe03f3218 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
@@ -31,7 +31,6 @@
 #define STABILIZATION_ATTITUDE_INT_REF_QUAT_INT_H
 
 #include "stabilization_attitude_ref_int.h"
-#include "stabilization_attitude_ref.h"
 
 void stabilization_attitude_ref_enter(void);
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h
similarity index 92%
rename from sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h
index 11d41dfb39..5bb4efb06d 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h
@@ -19,12 +19,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
- *  Common rotorcraft attitude reference generation include.
+/** @file firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h
+ *  Common rotorcraft attitude reference saturation include.
  */
 
-#ifndef STABILIZATION_ATTITUDE_REF_H
-#define STABILIZATION_ATTITUDE_REF_H
+#ifndef STABILIZATION_ATTITUDE_REF_SATURATE_H
+#define STABILIZATION_ATTITUDE_REF_SATURATE_H
 
 #define SATURATE_SPEED_TRIM_ACCEL() {                   \
     if (stab_att_ref_rate.p >= REF_RATE_MAX_P) {		\
@@ -60,4 +60,4 @@
   }
 
 
-#endif /* STABILIZATION_ATTITUDE_REF_H */
+#endif /* STABILIZATION_ATTITUDE_REF_SATURATE_H */