diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 32b78ff463..1be2ecf208 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -12,8 +12,6 @@ extern const AP_HAL::HAL& hal;
 
 // constructor
 NavEKF3_core::NavEKF3_core(void) :
-    stateStruct(*reinterpret_cast<struct state_elements *>(&statesArray)),
-
     _perf_UpdateFilter(hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "EK3_UpdateFilter")),
     _perf_CovariancePrediction(hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "EK3_CovariancePrediction")),
     _perf_FuseVelPosNED(hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "EK3_FuseVelPosNED")),
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 3e79c6b7ed..79c43d5759 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -415,7 +415,6 @@ private:
     // the states are available in two forms, either as a Vector24, or
     // broken down as individual elements. Both are equivalent (same
     // memory)
-    Vector24 statesArray;
     struct state_elements {
         Quaternion  quat;           // quaternion defining rotation from local NED earth frame to body frame
         Vector3f    velocity;       // velocity of IMU in local NED earth frame (m/sec)
@@ -425,7 +424,12 @@ private:
         Vector3f    earth_magfield; // earth frame magnetic field vector (Gauss)
         Vector3f    body_magfield;  // body frame magnetic field vector (Gauss)
         Vector2f    wind_vel;       // horizontal North East wind velocity vector in local NED earth frame (m/sec)
-    } &stateStruct;
+    };
+
+    union {
+        Vector24 statesArray;
+        struct state_elements stateStruct;
+    };
 
     struct output_elements {
         Quaternion  quat;           // quaternion defining rotation from local NED earth frame to body frame