diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index dadb5bfac2..eb8ec8f9bd 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -1161,7 +1161,7 @@ private:
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	HeightBiasEstimator _ev_hgt_b_est{HeightSensor::EV, _height_sensor_ref};
 	PositionBiasEstimator _ev_pos_b_est{static_cast<uint8_t>(PositionSensor::EV), _position_sensor_ref};
-	AlphaFilter<AxisAnglef> _ev_q_error_filt{0.001f};
+	AlphaFilter<Quatf> _ev_q_error_filt{0.001f};
 	bool _ev_q_error_initialized{false};
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
diff --git a/src/modules/ekf2/EKF/ev_control.cpp b/src/modules/ekf2/EKF/ev_control.cpp
index 461cf6e79a..6bad3d2695 100644
--- a/src/modules/ekf2/EKF/ev_control.cpp
+++ b/src/modules/ekf2/EKF/ev_control.cpp
@@ -88,7 +88,7 @@ void Ekf::controlExternalVisionFusion()
 
 void Ekf::updateEvAttitudeErrorFilter(extVisionSample &ev_sample, bool ev_reset)
 {
-	const AxisAnglef q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
+	const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
 
 	if (!q_error.isAllFinite()) {
 		return;