diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index 3dec5711d4..4c23c3e4b2 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -71,7 +71,7 @@ PositionControl::PositionControl()
 	_setParams();
 };
 
-void PositionControl::updateState(const struct vehicle_local_position_s state, const Vector3f &vel_dot)
+void PositionControl::updateState(const vehicle_local_position_s &state, const Vector3f &vel_dot)
 {
 	_pos = Vector3f(&state.x);
 	_vel = Vector3f(&state.vx);
@@ -79,7 +79,7 @@ void PositionControl::updateState(const struct vehicle_local_position_s state, c
 	_vel_dot = vel_dot;
 }
 
-void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s setpoint)
+void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &setpoint)
 {
 	_pos_sp = Vector3f(&setpoint.x);
 	_vel_sp = Vector3f(&setpoint.vx);
diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp
index 62905137aa..ba9dd97685 100644
--- a/src/modules/mc_pos_control/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl.hpp
@@ -64,8 +64,8 @@ public:
 
 	~PositionControl() {};
 
-	void updateState(const struct vehicle_local_position_s state, const matrix::Vector3f &vel_dot);
-	void updateSetpoint(struct vehicle_local_position_setpoint_s setpoint);
+	void updateState(const vehicle_local_position_s &state, const matrix::Vector3f &vel_dot);
+	void updateSetpoint(const vehicle_local_position_setpoint_s &setpoint);
 	void updateConstraints(const Controller::Constraints &constraints);
 	void generateThrustYawSetpoint(const float &dt);