diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index b2d7018f77..514e6ad987 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -202,10 +202,16 @@ void guidance_h_run(bool_t  in_flight) {
 
       if (horizontal_mode == HORIZONTAL_MODE_ATTITUDE) {
 #ifndef STABILISATION_ATTITUDE_TYPE_FLOAT
+#ifdef STABILISATION_ATTITUDE_TYPE_QUAT
+        /* FIXME: stab_att_sp_euler should always have REF_ANGLE_FRAC
+         * and not be different for quat and euler versions */
+        stab_att_sp_euler.phi = nav_roll;
+        stab_att_sp_euler.theta = nav_pitch;
+        INT32_QUAT_OF_EULERS(stab_att_sp_quat, stab_att_sp_euler);
+        INT32_QUAT_WRAP_SHORTEST(stab_att_sp_quat);
+#else
         stab_att_sp_euler.phi = nav_roll << (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
         stab_att_sp_euler.theta = nav_pitch << (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
-#ifdef STABILISATION_ATTITUDE_TYPE_QUAT
-        INT32_QUAT_OF_EULERS(stab_att_sp_quat, stab_att_sp_euler);
 #endif
 #endif
       }
@@ -287,14 +293,25 @@ __attribute__ ((always_inline)) static inline void  guidance_h_hover_run(void) {
   guidance_h_command_body.phi   += guidance_h_rc_sp.phi;
   guidance_h_command_body.theta += guidance_h_rc_sp.theta;
   guidance_h_command_body.psi    = guidance_h_psi_sp + guidance_h_rc_sp.psi;
-#ifndef STABILISATION_ATTITUDE_TYPE_FLOAT
-  ANGLE_REF_NORMALIZE(guidance_h_command_body.psi);
-#endif /* STABILISATION_ATTITUDE_TYPE_FLOAT */
 
-  EULERS_COPY(stab_att_sp_euler, guidance_h_command_body);
+#ifdef STABILISATION_ATTITUDE_TYPE_INT
+  ANGLE_REF_NORMALIZE(guidance_h_command_body.psi);
+
 #ifdef STABILISATION_ATTITUDE_TYPE_QUAT
+  /* guidance_h_command_body with REF_ANGLE_FRAC
+   * stab_att_sp_euler with INT32_ANGLE_FRAC
+   * FIXME: stab_att_sp_euler should always have REF_ANGLE_FRAC
+   */
+  INT32_EULERS_LSHIFT(stab_att_sp_euler, guidance_h_command_body, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC));
   INT32_QUAT_OF_EULERS(stab_att_sp_quat, stab_att_sp_euler);
-#endif
+  INT32_QUAT_WRAP_SHORTEST(stab_att_sp_quat);
+#else
+  EULERS_COPY(stab_att_sp_euler, guidance_h_command_body);
+#endif /* STABILISATION_ATTITUDE_TYPE_QUAT */
+
+#else
+  EULERS_COPY(stab_att_sp_euler, guidance_h_command_body);
+#endif /* STABILISATION_ATTITUDE_TYPE_INT */
 
 }
 
@@ -385,13 +402,23 @@ __attribute__ ((always_inline)) static inline void  guidance_h_nav_run(bool_t in
   guidance_h_command_body.phi   += guidance_h_rc_sp.phi;
   guidance_h_command_body.theta += guidance_h_rc_sp.theta;
   guidance_h_command_body.psi    = guidance_h_psi_sp + guidance_h_rc_sp.psi;
+
+#ifdef STABILISATION_ATTITUDE_TYPE_INT
   ANGLE_REF_NORMALIZE(guidance_h_command_body.psi);
+#endif
 
   /* Set attitude setpoint in eulers and as quaternion */
-  EULERS_COPY(stab_att_sp_euler, guidance_h_command_body);
 #ifdef STABILISATION_ATTITUDE_TYPE_QUAT
+  /* guidance_h_command_body with REF_ANGLE_FRAC
+   * stab_att_sp_euler with INT32_ANGLE_FRAC
+   * FIXME: stab_att_sp_euler should always have REF_ANGLE_FRAC
+   */
+  INT32_EULERS_LSHIFT(stab_att_sp_euler, guidance_h_command_body, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC));
   INT32_QUAT_OF_EULERS(stab_att_sp_quat, stab_att_sp_euler);
-#endif
+  INT32_QUAT_WRAP_SHORTEST(stab_att_sp_quat);
+#else
+  EULERS_COPY(stab_att_sp_euler, guidance_h_command_body);
+#endif /* STABILISATION_ATTITUDE_TYPE_QUAT */
 
 }
 
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
index fdc49cb05d..1a09409830 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
@@ -48,7 +48,7 @@ extern uint8_t guidance_h_mode;
  */
 extern struct Int32Vect2 guidance_h_pos_sp;
 
-extern int32_t           guidance_h_psi_sp;
+extern int32_t           guidance_h_psi_sp;      ///< with #REF_ANGLE_FRAC
 extern struct Int32Vect2 guidance_h_pos_ref;
 extern struct Int32Vect2 guidance_h_speed_ref;
 extern struct Int32Vect2 guidance_h_accel_ref;
@@ -58,9 +58,9 @@ extern struct Int32Vect2 guidance_h_speed_err;
 extern struct Int32Vect2 guidance_h_pos_err_sum;
 extern struct Int32Vect2 guidance_h_nav_err;
 
-extern struct Int32Eulers guidance_h_rc_sp;
+extern struct Int32Eulers guidance_h_rc_sp;         ///< with #REF_ANGLE_FRAC
 extern struct Int32Vect2  guidance_h_command_earth;
-extern struct Int32Eulers guidance_h_command_body;
+extern struct Int32Eulers guidance_h_command_body;  ///< with #REF_ANGLE_FRAC
 
 extern int32_t guidance_h_pgain;
 extern int32_t guidance_h_dgain;
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.h b/sw/airborne/firmwares/rotorcraft/navigation.h
index 5ce687f4cf..5ec26c7ff8 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.h
+++ b/sw/airborne/firmwares/rotorcraft/navigation.h
@@ -54,8 +54,8 @@ extern int32_t nav_circle_radius, nav_circle_qdr, nav_circle_radians;
 #define HORIZONTAL_MODE_ROUTE     1
 #define HORIZONTAL_MODE_CIRCLE    2
 #define HORIZONTAL_MODE_ATTITUDE  3
-extern int32_t nav_roll, nav_pitch;
-extern int32_t nav_heading, nav_course;
+extern int32_t nav_roll, nav_pitch;     ///< with #INT32_ANGLE_FRAC
+extern int32_t nav_heading, nav_course; ///< with #INT32_ANGLE_FRAC
 extern float nav_radius;
 
 extern uint8_t vertical_mode;
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 88484d7ca2..d711e1de0e 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
@@ -109,7 +109,8 @@ void stabilization_attitude_ref_enter()
   stabilization_attitude_sp_enter();
   memcpy(&stab_att_ref_quat, &stab_att_sp_quat, sizeof(struct Int32Quat));
 #else
-  update_quat_from_eulers(&stab_att_ref_quat, &stab_att_ref_euler);
+  INT32_QUAT_OF_EULERS(stab_att_ref_quat, stab_att_ref_euler);
+  INT32_QUAT_WRAP_SHORTEST(stab_att_ref_quat);
 #endif
 
   /* set reference rate and acceleration to zero */
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 aa1124e674..f79e3268f5 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
@@ -53,18 +53,6 @@
 
 #define STABILIZATION_ATTITUDE_RESET_PSI_REF(_sp) {}
 
-static inline void update_quat_from_eulers(struct Int32Quat *quat, struct Int32Eulers *eulers) {
-  struct Int32RMat rmat;
-
-#ifdef STICKS_RMAT312
-  INT32_RMAT_OF_EULERS_312(rmat, *eulers);
-#else
-  INT32_RMAT_OF_EULERS_321(rmat, *eulers);
-#endif
-  INT32_QUAT_OF_RMAT(*quat, rmat);
-  INT32_QUAT_WRAP_SHORTEST(*quat);
-}
-
 
 static inline void stabilization_attitude_read_rc_setpoint(bool_t in_flight) {
 
@@ -82,7 +70,8 @@ static inline void stabilization_attitude_read_rc_setpoint(bool_t in_flight) {
   }
 
   /* update quaternion setpoint from euler setpoint */
-  update_quat_from_eulers(&stab_att_sp_quat, &stab_att_sp_euler);
+  INT32_QUAT_OF_EULERS(stab_att_sp_quat, stab_att_sp_euler);
+  INT32_QUAT_WRAP_SHORTEST(stab_att_sp_quat);
 
 }