diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index d0a2636649..8ea0c24319 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -841,7 +841,7 @@ void Ekf2::run()
 				_integrated_time_us += sensors.gyro_integral_dt;
 			}
 
-			matrix::Quaternion<float> q;
+			matrix::Quatf q;
 			_ekf.copy_quaternion(q.data());
 
 			float velocity[3];
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index 1f8374209a..cfb9749821 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -807,7 +807,7 @@ void BlockLocalPositionEstimator::updateSSParams()
 void BlockLocalPositionEstimator::predict()
 {
 	// get acceleration
-	matrix::Quaternion<float> q(&_sub_att.get().q[0]);
+	matrix::Quatf q(&_sub_att.get().q[0]);
 	_eul = matrix::Euler<float>(q);
 	_R_att = matrix::Dcm<float>(q);
 	Vector3f a(_sub_sensor.get().accelerometer_m_s2);
diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index a0b20b76b3..cf90f1bb5f 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -474,7 +474,7 @@ void Standard::update_mc_state()
 		_v_att_sp->roll_body = -asinf(tilt_new(1));
 		R_sp = matrix::Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, euler_sp(2));
 		matrix::Quatf q_sp(R_sp);
-		memcpy(&_v_att_sp->q_d[0], &q_sp._data[0], sizeof(_v_att_sp->q_d));
+		q_sp.copyTo(_v_att_sp->q_d);
 	}
 
 	_pusher_throttle = _pusher_throttle < 0.0f ? 0.0f : _pusher_throttle;