diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
index f2b4c6229ae..77bb62acdc7 100644
--- a/conf/firmwares/rotorcraft.makefile
+++ b/conf/firmwares/rotorcraft.makefile
@@ -198,6 +198,8 @@ endif
 
 ap.srcs += $(SRC_FIRMWARE)/autopilot.c
 
+ap.srcs += state.c
+
 ap.srcs += $(SRC_FIRMWARE)/stabilization.c
 ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
 ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
diff --git a/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
index 03c68288a49..b884d3b9037 100644
--- a/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
@@ -107,6 +107,8 @@ nps.srcs   += subsystems/electrical.c
 
 nps.srcs += $(SRC_FIRMWARE)/autopilot.c
 
+nps.srcs += state.c
+
 #
 # in makefile section of airframe xml
 # include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index ed193506ffd..26fe749ae55 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -59,6 +59,8 @@
 #include "subsystems/ahrs.h"
 #include "subsystems/ins.h"
 
+#include "state.h"
+
 #include "firmwares/rotorcraft/main.h"
 
 #ifdef SITL
@@ -100,6 +102,8 @@ STATIC_INLINE void main_init( void ) {
 
   electrical_init();
 
+  stateInit();
+
   actuators_init();
   radio_control_init();