diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
index 66d884c5ecd..a2a5be25a6a 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
@@ -391,7 +391,7 @@ void ahrs_update_mag_2d(float dt) {
   // normalize measured ltp in 2D (x,y)
   float_vect2_normalize(&measured_ltp_2d);
 
-  const struct FloatVect3 residual_ltp =
+  struct FloatVect3 residual_ltp =
     { 0,
       0,
       measured_ltp_2d.x * expected_ltp.y - measured_ltp_2d.y * expected_ltp.x };
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
index 77d5b82c5e1..5dcf7b7f34c 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
@@ -68,7 +68,8 @@ static void send_ins(struct transport_tx *trans, struct link_device *dev) {
 static void send_ins_z(struct transport_tx *trans, struct link_device *dev) {
   static const float fake_baro_z = 0.0;
   pprz_msg_send_INS_Z(trans, dev, AC_ID,
-      &fake_baro_z, &ins_impl.ltp_pos.z, &ins_impl.ltp_speed.z, &ins_impl.ltp_accel.z);
+                      (float*)&fake_baro_z, &ins_impl.ltp_pos.z,
+                      &ins_impl.ltp_speed.z, &ins_impl.ltp_accel.z);
 }
 
 static void send_ins_ref(struct transport_tx *trans, struct link_device *dev) {
@@ -77,7 +78,7 @@ static void send_ins_ref(struct transport_tx *trans, struct link_device *dev) {
     pprz_msg_send_INS_REF(trans, dev, AC_ID,
         &ins_impl.ltp_def.ecef.x, &ins_impl.ltp_def.ecef.y, &ins_impl.ltp_def.ecef.z,
         &ins_impl.ltp_def.lla.lat, &ins_impl.ltp_def.lla.lon, &ins_impl.ltp_def.lla.alt,
-        &ins_impl.ltp_def.hmsl, &fake_qfe);
+        &ins_impl.ltp_def.hmsl, (float*)&fake_qfe);
   }
 }
 #endif