diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c
index e3de35853b..466f5cd0ee 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c
@@ -62,7 +62,9 @@ void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t head
 
 void stabilization_attitude_run(bool in_flight)
 {
-  stabilization_indi_run(in_flight, FALSE);
+  struct Int32Quat quat_sp = {1, 0, 0, 0}; // always hover
+
+  stabilization_indi_attitude_run(in_flight, quat_sp);
 }
 
 void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn)
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
index 99fcb5b85e..2d4ca5ed26 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
@@ -74,7 +74,7 @@
 struct Int32Eulers stab_att_sp_euler;
 struct Int32Quat   stab_att_sp_quat;
 
-static int32_t stabilization_att_indi_cmd[COMMANDS_NB];
+// static int32_t stabilization_att_indi_cmd[COMMANDS_NB];
 static inline void lms_estimation(void);
 static void indi_init_filters(void);
 
@@ -384,14 +384,14 @@ void stabilization_indi_attitude_run(bool in_flight __attribute__((unused)), str
   rates_for_feedback.r = indi.rate[2].o[0];
 #endif
 
-  indi.angular_accel_ref.p = indi.reference_acceleration.err_p * QUAT1_FLOAT_OF_BFP(att_err->qx)
+  indi.angular_accel_ref.p = indi.reference_acceleration.err_p * QUAT1_FLOAT_OF_BFP(att_err.qx)
                              - indi.reference_acceleration.rate_p * rates_for_feedback.p;
 
-  indi.angular_accel_ref.q = indi.reference_acceleration.err_q * QUAT1_FLOAT_OF_BFP(att_err->qy)
+  indi.angular_accel_ref.q = indi.reference_acceleration.err_q * QUAT1_FLOAT_OF_BFP(att_err.qy)
                              - indi.reference_acceleration.rate_q * rates_for_feedback.q;
 
   //This separates the P and D controller and lets you impose a maximum yaw rate.
-  float rate_ref_r = indi.reference_acceleration.err_r * QUAT1_FLOAT_OF_BFP(att_err->qz) / indi.reference_acceleration.rate_r;
+  float rate_ref_r = indi.reference_acceleration.err_r * QUAT1_FLOAT_OF_BFP(att_err.qz) / indi.reference_acceleration.rate_r;
   BoundAbs(rate_ref_r, indi.attitude_max_yaw_rate);
   indi.angular_accel_ref.r = indi.reference_acceleration.rate_r * (rate_ref_r - rates_for_feedback.r);
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.h
index 0f0183e801..a475064955 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.h
@@ -88,7 +88,7 @@ extern void stabilization_indi_enter(void);
 extern void stabilization_indi_set_failsafe_setpoint(void);
 extern void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy);
 extern void stabilization_indi_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading);
-extern void stabilization_indi_calc_cmd(struct FloatRates angular_accel_ref, bool in_flight)
+extern void stabilization_indi_calc_cmd(struct FloatRates angular_accel_ref, bool in_flight);
 extern void stabilization_indi_attitude_run(bool in_flight, struct Int32Quat quat_sp);
 extern void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn);
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c
index 4f5da9959b..95b4446ca7 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c
@@ -44,7 +44,7 @@ struct ReferenceSystem reference_acceleration = {
   STABILIZATION_INDI_REF_RATE_R
 }; // these values are defined in airframe.h file
 
-// variables in case we use "stabilization_indi.c" module
+// variables in case we use "stabilization_indi.c" 
 float q_filt = 0.0;
 float r_filt = 0.0;
 
@@ -165,7 +165,7 @@ void stabilization_rate_set_setpoint_i(struct Int32Rates *pqr)
 /**
  * @brief Calculate commanded rates, given setpoint rates 
  */
-static void stabilization_rate_indi_calc_cmd(struct Int32Rates rates_sp, )
+static void stabilization_rate_indi_calc_cmd(struct Int32Rates rates_sp, bool in_flight)
 {
   struct FloatRates angular_acc_ref;