diff --git a/sw/airborne/math/pprz_algebra_float.c b/sw/airborne/math/pprz_algebra_float.c
index 59b5b85c23..fb8bd2ee02 100644
--- a/sw/airborne/math/pprz_algebra_float.c
+++ b/sw/airborne/math/pprz_algebra_float.c
@@ -629,9 +629,13 @@ void float_eulers_of_rmat(struct FloatEulers *e, struct FloatRMat *rm)
 {
   const float dcm00 = rm->m[0];
   const float dcm01 = rm->m[1];
-  const float dcm02 = rm->m[2];
+  float dcm02 = rm->m[2];
   const float dcm12 = rm->m[5];
   const float dcm22 = rm->m[8];
+
+  // asinf does not exist outside [-1,1]
+  BoundAbs(dcm02, 1.0);
+
   e->phi   = atan2f(dcm12, dcm22);
   e->theta = -asinf(dcm02);
   e->psi   = atan2f(dcm01, dcm00);
@@ -656,10 +660,13 @@ void float_eulers_of_quat(struct FloatEulers *e, struct FloatQuat *q)
   const float qyqz = q->qy * q->qz;
   const float dcm00 = 1.0 - 2.*(qy2 +  qz2);
   const float dcm01 =       2.*(qxqy + qiqz);
-  const float dcm02 =       2.*(qxqz - qiqy);
+  float dcm02 =       2.*(qxqz - qiqy);
   const float dcm12 =       2.*(qyqz + qiqx);
   const float dcm22 = 1.0 - 2.*(qx2 +  qy2);
 
+  // asinf does not exist outside [-1,1]
+  BoundAbs(dcm02, 1.0);
+
   e->phi = atan2f(dcm12, dcm22);
   e->theta = -asinf(dcm02);
   e->psi = atan2f(dcm01, dcm00);
@@ -688,10 +695,13 @@ void float_eulers_of_quat_yxz(struct FloatEulers *e, struct FloatQuat *q)
   const float qyqz = q->qy * q->qz;
   const float r11  = 2.f * (qxqz + qiqy);
   const float r12  = qi2 - qx2 + qy2 + qz2;
-  const float r21  = -2.f * (qyqz - qiqx);
+  float r21  = -2.f * (qyqz - qiqx);
   const float r31  = 2.f * (qxqy + qiqz);
   const float r32  = qi2 - qx2 + qy2 - qz2;
 
+  // asinf does not exist outside [-1,1]
+  BoundAbs(r21, 1.0);
+
   e->theta = atan2f(r11, r12);
   e->phi = asinf(r21);
   e->psi = atan2f(r31, r32);
@@ -718,10 +728,13 @@ void float_eulers_of_quat_zxy(struct FloatEulers *e, struct FloatQuat *q)
   const float qyqz = q->qy * q->qz;
   const float r11  = -2 * (qxqy - qiqz);
   const float r12  = qi2 - qx2 + qy2 - qz2;
-  const float r21  =  2 * (qyqz + qiqx);
+  float r21  =  2 * (qyqz + qiqx);
   const float r31  = -2 * (qxqz - qiqy);
   const float r32  = qi2 - qx2 - qy2 + qz2;
 
+  // asinf does not exist outside [-1,1]
+  BoundAbs(r21, 1.0);
+
   e->psi = atan2f(r11, r12);
   e->phi = asinf(r21);
   e->theta = atan2f(r31, r32);
diff --git a/sw/airborne/math/pprz_algebra_int.c b/sw/airborne/math/pprz_algebra_int.c
index 07e3c75784..77838e93a3 100644
--- a/sw/airborne/math/pprz_algebra_int.c
+++ b/sw/airborne/math/pprz_algebra_int.c
@@ -505,9 +505,13 @@ void int32_eulers_of_rmat(struct Int32Eulers *e, struct Int32RMat *rm)
 {
   const float dcm00 = TRIG_FLOAT_OF_BFP(rm->m[0]);
   const float dcm01 = TRIG_FLOAT_OF_BFP(rm->m[1]);
-  const float dcm02 = TRIG_FLOAT_OF_BFP(rm->m[2]);
+  float dcm02 = TRIG_FLOAT_OF_BFP(rm->m[2]);
   const float dcm12 = TRIG_FLOAT_OF_BFP(rm->m[5]);
   const float dcm22 = TRIG_FLOAT_OF_BFP(rm->m[8]);
+
+  // asinf does not exist outside [-1,1]
+  BoundAbs(dcm02, 1.0);
+
   const float phi   = atan2f(dcm12, dcm22);
   const float theta = -asinf(dcm02);
   const float psi   = atan2f(dcm01, dcm00);
@@ -547,10 +551,13 @@ void int32_eulers_of_quat(struct Int32Eulers *e, struct Int32Quat *q)
                          INT32_TRIG_FRAC + INT32_QUAT_FRAC - INT32_TRIG_FRAC);
   const float dcm00 = (float)idcm00 / (1 << INT32_TRIG_FRAC);
   const float dcm01 = (float)idcm01 / (1 << INT32_TRIG_FRAC);
-  const float dcm02 = (float)idcm02 / (1 << INT32_TRIG_FRAC);
+  float dcm02 = (float)idcm02 / (1 << INT32_TRIG_FRAC);
   const float dcm12 = (float)idcm12 / (1 << INT32_TRIG_FRAC);
   const float dcm22 = (float)idcm22 / (1 << INT32_TRIG_FRAC);
 
+  // asinf does not exist outside [-1,1]
+  BoundAbs(dcm02, 1.0);
+
   const float phi   = atan2f(dcm12, dcm22);
   const float theta = -asinf(dcm02);
   const float psi   = atan2f(dcm01, dcm00);