diff --git a/sw/airborne/math/pprz_algebra_float.c b/sw/airborne/math/pprz_algebra_float.c
index 3dcb768d93..02734c3627 100644
--- a/sw/airborne/math/pprz_algebra_float.c
+++ b/sw/airborne/math/pprz_algebra_float.c
@@ -248,7 +248,7 @@ void float_rmat_integrate_fi(struct FloatRMat *rm, struct FloatRates *omega, flo
     }
   };
   struct FloatRMat R_tdt;
-  float_rmat_comp(R_tdt, *rm, exp_omega_dt);
+  float_rmat_comp(&R_tdt, rm, &exp_omega_dt);
   memcpy(rm, &R_tdt, sizeof(R_tdt));
 }
 
diff --git a/sw/airborne/state.c b/sw/airborne/state.c
index 099429a681..e2ac5174be 100644
--- a/sw/airborne/state.c
+++ b/sw/airborne/state.c
@@ -704,7 +704,7 @@ void stateCalcHorizontalSpeedNorm_i(void)
   } else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
     uint32_t n2 = (state.ned_speed_i.x * state.ned_speed_i.x +
                    state.ned_speed_i.y * state.ned_speed_i.y) >> INT32_SPEED_FRAC;
-    int32_sqrt(state.h_speed_norm_i, n2);
+    state.h_speed_norm_i = int32_sqrt(n2);
   } else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
     state.h_speed_norm_f = FLOAT_VECT2_NORM(state.ned_speed_f);
     SetBit(state.speed_status, SPEED_HNORM_F);
@@ -712,7 +712,7 @@ void stateCalcHorizontalSpeedNorm_i(void)
   } else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
     uint32_t n2 = (state.enu_speed_i.x * state.enu_speed_i.x +
                    state.enu_speed_i.y * state.enu_speed_i.y) >> INT32_SPEED_FRAC;
-    int32_sqrt(state.h_speed_norm_i, n2);
+    state.h_speed_norm_i = int32_sqrt(n2);
   } else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
     state.h_speed_norm_f = FLOAT_VECT2_NORM(state.enu_speed_f);
     SetBit(state.speed_status, SPEED_HNORM_F);
@@ -723,7 +723,7 @@ void stateCalcHorizontalSpeedNorm_i(void)
     SetBit(state.speed_status, SPEED_NED_I);
     uint32_t n2 = (state.ned_speed_i.x * state.ned_speed_i.x +
                    state.ned_speed_i.y * state.ned_speed_i.y) >> INT32_SPEED_FRAC;
-    int32_sqrt(state.h_speed_norm_i, n2);
+    state.h_speed_norm_i = int32_sqrt(n2);
   } else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
     ned_of_ecef_vect_f(&state.ned_speed_f, &state.ned_origin_f, &state.ecef_speed_f);
     SetBit(state.speed_status, SPEED_NED_F);