diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_int_quat_transition.makefile b/conf/autopilot/subsystems/rotorcraft/stabilization_int_quat_transition.makefile
new file mode 100644
index 0000000000..2403f25272
--- /dev/null
+++ b/conf/autopilot/subsystems/rotorcraft/stabilization_int_quat_transition.makefile
@@ -0,0 +1,7 @@
+ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
+ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
+ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
+ap.CFLAGS += -DUSE_SETPOINTS_WITH_TRANSITIONS
+ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
+ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
+ap.srcs += $(SRC_FIRMWARE)/stabilization/quat_setpoint_int.c
diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_quaternion.makefile b/conf/autopilot/subsystems/rotorcraft/stabilization_quaternion.makefile
index 965ebaf7b1..344044bbe6 100644
--- a/conf/autopilot/subsystems/rotorcraft/stabilization_quaternion.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/stabilization_quaternion.makefile
@@ -1,6 +1 @@
-ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
-ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
-ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
-ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
-ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
-ap.srcs += $(SRC_FIRMWARE)/stabilization/quat_setpoint_int.c
+$(error The stabilization quaternion subsystem has been changed, for normal rotorcrafts please use <subsystem name="stabilization" type="int_quat"/>, for transitioning rotorcrafts (quadshot) use <subsystem name="stabilization" type="int_quat_transition"/>)
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.c
index bac79356d4..10b3029f05 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.c
@@ -55,21 +55,7 @@ static void reset_sp_quat(int32_t _psi, int32_t _theta, struct Int32Quat *initia
   QUAT_COPY(stab_att_sp_quat, pitch_rotated_quat2);
 }
 
-static void update_sp_quat_from_eulers(void) {
-    struct Int32RMat sp_rmat;
-
-#ifdef STICKS_RMAT312
-    INT32_RMAT_OF_EULERS_312(sp_rmat, stab_att_sp_euler);
-#else
-    INT32_RMAT_OF_EULERS_321(sp_rmat, stab_att_sp_euler);
-#endif
-    INT32_QUAT_OF_RMAT(stab_att_sp_quat, sp_rmat);
-    INT32_QUAT_WRAP_SHORTEST(stab_att_sp_quat);
-}
-
-
-// FIXME: function parameter sp not used
-void stabilization_attitude_read_rc_absolute(struct Int32Eulers sp, bool_t in_flight) {
+void stabilization_attitude_read_rc_absolute(bool_t in_flight) {
 
   // FIXME: wtf???
 #ifdef AIRPLANE_STICKS
@@ -108,7 +94,7 @@ void stabilization_attitude_read_rc_absolute(struct Int32Eulers sp, bool_t in_fl
   INT32_EULERS_OF_QUAT(stab_att_sp_euler, stab_att_sp_quat);
 }
 
-void stabilization_attitude_sp_enter()
+void stabilization_attitude_sp_enter(void)
 {
   // reset setpoint to "hover"
   reset_sp_quat(0., 0., &ahrs.ltp_to_body_quat);
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.h
index 2525f94b23..da4b8b08ac 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.h
@@ -13,6 +13,6 @@
 
 void stabilization_attitude_sp_enter(void);
 
-void stabilization_attitude_read_rc_absolute(struct Int32Eulers sp, bool_t in_flight);
+void stabilization_attitude_read_rc_absolute(bool_t in_flight);
 
 #endif
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
index 0a2ed1933c..58ef79cce4 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
@@ -25,7 +25,10 @@
  */
 
 #include "firmwares/rotorcraft/stabilization.h"
+
+#if USE_SETPOINTS_WITH_TRANSITIONS
 #include "firmwares/rotorcraft/stabilization/quat_setpoint_int.h"
+#endif
 
 #include <stdio.h>
 #include "math/pprz_algebra_float.h"
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 a17a919cbb..be4c3218d5 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
@@ -32,6 +32,10 @@
 
 #include "stabilization_attitude_ref_int.h"
 
+#if USE_SETPOINTS_WITH_TRANSITIONS
+#include "firmwares/rotorcraft/stabilization/quat_setpoint_int.h"
+#endif
+
 #define REF_ACCEL_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)
 #define REF_ACCEL_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)
 #define REF_ACCEL_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_RDOT, REF_ACCEL_FRAC)
@@ -110,8 +114,15 @@ void stabilization_attitude_ref_init(void) {
 void stabilization_attitude_ref_enter()
 {
   reset_psi_ref_from_body();
+
+#if USE_SETPOINTS_WITH_TRANSITIONS
+  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);
-  //memcpy(&stab_att_ref_quat, &stab_att_sp_quat, sizeof(struct Int32Quat));
+#endif
+
+  /* set reference rate and acceleration to zero */
   memset(&stab_att_ref_accel, 0, sizeof(struct Int32Rates));
   memset(&stab_att_ref_rate, 0, sizeof(struct Int32Rates));
 }
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 0ff87e8d3e..a878c855f0 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
@@ -22,7 +22,6 @@
 #define STABILIZATION_ATTITUDE_INT_REF_QUAT_INT_H
 
 #include "firmwares/rotorcraft/stabilization.h"
-//#include "firmwares/rotorcraft/stabilization/quat_setpoint_int.h"
 
 #include "subsystems/radio_control.h"
 #include "math/pprz_algebra_float.h"