diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index 459a5e9d2f..3429c24465 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -506,17 +506,16 @@ bool Ekf::realignYawGPS()
 			_flt_mag_align_start_time = _imu_sample_delayed.time_us;
 
 			// calculate the amount that the quaternion has changed by
-			_state_reset_status.quat_change = quat_before_reset.inversed() * _state.quat_nominal;
+			_state_reset_status.quat_change = _state.quat_nominal * quat_before_reset.inversed();
 
 			// add the reset amount to the output observer buffered data
-			// Note q1 *= q2 is equivalent to q1 = q1 * q2
 			for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
-				_output_buffer[i].quat_nominal *= _state_reset_status.quat_change;
+				_output_buffer[i].quat_nominal = _state_reset_status.quat_change * _output_buffer[i].quat_nominal;
 			}
 
 			// apply the change in attitude quaternion to our newest quaternion estimate
 			// which was already taken out from the output buffer
-			_output_new.quat_nominal = _output_new.quat_nominal * _state_reset_status.quat_change;
+			_output_new.quat_nominal = _state_reset_status.quat_change * _output_new.quat_nominal;
 
 			// capture the reset event
 			_state_reset_status.quat_counter++;
@@ -718,7 +717,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update
 	_flt_mag_align_start_time = _imu_sample_delayed.time_us;
 
 	// calculate the amount that the quaternion has changed by
-	Quatf q_error =  quat_before_reset.inversed() * quat_after_reset;
+	Quatf q_error =  quat_after_reset * quat_before_reset.inversed();
 	q_error.normalize();
 
 	// update quaternion states
@@ -750,13 +749,12 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update
 	if (update_buffer) {
 		// add the reset amount to the output observer buffered data
 		for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
-			// Note q1 *= q2 is equivalent to q1 = q1 * q2
-			_output_buffer[i].quat_nominal *= _state_reset_status.quat_change;
+			_output_buffer[i].quat_nominal = _state_reset_status.quat_change * _output_buffer[i].quat_nominal;
 		}
 
 		// apply the change in attitude quaternion to our newest quaternion estimate
 		// which was already taken out from the output buffer
-		_output_new.quat_nominal = _output_new.quat_nominal * _state_reset_status.quat_change;
+		_output_new.quat_nominal = _state_reset_status.quat_change * _output_new.quat_nominal;
 	}
 
 	// capture the reset event