diff --git a/sw/airborne/subsystems/ins.h b/sw/airborne/subsystems/ins.h
index 771cfd4a91..fa42c8f3ca 100644
--- a/sw/airborne/subsystems/ins.h
+++ b/sw/airborne/subsystems/ins.h
@@ -32,11 +32,6 @@
 #include "math/pprz_algebra_float.h"
 #include "state.h"
 
-enum InsStatus {
-  INS_UNINIT = 0,
-  INS_RUNNING = 1
-};
-
 /* underlying includes (needed for parameters) */
 #ifdef INS_TYPE_H
 #include INS_TYPE_H
@@ -44,7 +39,6 @@ enum InsStatus {
 
 /** Inertial Navigation System state */
 struct Ins {
-  enum InsStatus status;     ///< status of the INS
 };
 
 /** global INS state */
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c
index 848cfcb389..d24bf40a56 100644
--- a/sw/airborne/subsystems/ins/ins_alt_float.c
+++ b/sw/airborne/subsystems/ins/ins_alt_float.c
@@ -95,8 +95,6 @@ void ins_init(void)
 
   // why do we have this here?
   alt_kalman(0.0f, 0.1);
-
-  ins.status = INS_RUNNING;
 }
 
 
diff --git a/sw/airborne/subsystems/ins/ins_ardrone2.c b/sw/airborne/subsystems/ins/ins_ardrone2.c
index b081d7f7ca..9d27e334df 100644
--- a/sw/airborne/subsystems/ins/ins_ardrone2.c
+++ b/sw/airborne/subsystems/ins/ins_ardrone2.c
@@ -69,13 +69,6 @@ void ins_init()
   INT32_VECT3_ZERO(ins_impl.ltp_accel);
 }
 
-void ins_periodic(void)
-{
-  if (ins_impl.ltp_initialized) {
-    ins.status = INS_RUNNING;
-  }
-}
-
 void ins_reset_local_origin(void)
 {
 #if USE_GPS
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c
index d5d4e6ed50..d14126bfd1 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.c
@@ -282,7 +282,6 @@ void ins_init()
   ins_impl.gains.rh   = INS_INV_RH;
   ins_impl.gains.sh   = INS_INV_SH;
 
-  ins.status = INS_UNINIT;
   ins_impl.is_aligned = FALSE;
   ins_impl.reset = FALSE;
 
@@ -357,7 +356,6 @@ void ins_float_invariant_align(struct Int32Rates *lp_gyro,
 
   // ins and ahrs are now running
   ins_impl.is_aligned = TRUE;
-  ins.status = INS_RUNNING;
 }
 
 void ins_float_invariant_propagate(struct Int32Rates* gyro, struct Int32Vect3* accel, float dt)
@@ -368,7 +366,6 @@ void ins_float_invariant_propagate(struct Int32Rates* gyro, struct Int32Vect3* a
   // a complete init cycle is required
   if (ins_impl.reset) {
     ins_impl.reset = FALSE;
-    ins.status = INS_UNINIT;
     ins_impl.is_aligned = FALSE;
     init_invariant_state();
   }
@@ -488,7 +485,7 @@ void ins_float_invariant_propagate(struct Int32Rates* gyro, struct Int32Vect3* a
 void ins_update_gps(void)
 {
 
-  if (gps.fix == GPS_FIX_3D && ins.status == INS_RUNNING) {
+  if (gps.fix == GPS_FIX_3D && ins_impl.is_aligned) {
     ins_gps_fix_once = TRUE;
 
 #if INS_UPDATE_FW_ESTIMATOR
@@ -672,7 +669,7 @@ static inline void error_output(struct InsFloatInv *_ins)
 
   // pos and speed error only if GPS data are valid
   // or while waiting first GPS data to prevent diverging
-  if ((gps.fix == GPS_FIX_3D && ins.status == INS_RUNNING
+  if ((gps.fix == GPS_FIX_3D && ins_impl.is_aligned
 #if INS_UPDATE_FW_ESTIMATOR
        && state.utm_initialized_f
 #else
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
index 7de8c6dcc2..3ad4e5c8f2 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
@@ -119,14 +119,6 @@ void ins_init(void)
 #endif
 }
 
-void ins_periodic(void)
-{
-  if (ins_impl.ltp_initialized) {
-    ins.status = INS_RUNNING;
-  }
-}
-
-
 void ins_reset_local_origin(void)
 {
   ltp_def_from_ecef_i(&ins_impl.ltp_def, &gps.ecef_pos);
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
index f655f47f99..57f6830bb4 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
@@ -40,8 +40,6 @@ void ins_init(void)
   struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, 0., nav_utm_zone0 };
   stateSetLocalUtmOrigin_f(&utm0);
   stateSetPositionUtm_f(&utm0);
-
-  ins.status = INS_RUNNING;
 }
 
 void ins_reset_local_origin(void)
diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
index ee73131fba..c3a5531717 100644
--- a/sw/airborne/subsystems/ins/ins_int.c
+++ b/sw/airborne/subsystems/ins/ins_int.c
@@ -194,13 +194,6 @@ void ins_init(void)
 #endif
 }
 
-void ins_periodic(void)
-{
-  if (ins_impl.ltp_initialized) {
-    ins.status = INS_RUNNING;
-  }
-}
-
 void ins_reset_local_origin(void)
 {
 #if USE_GPS