diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index d46f18790b..03b0d1ac33 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1003,7 +1003,7 @@ MulticopterPositionControl::control_manual(float dt)
 		R_input_fame.from_euler(0.0f, 0.0f, _yaw_takeoff);
 
 	} else {
-		R_input_fame.from_euler(0.0f, 0.0f, _att_sp.yaw_body);
+		R_input_fame.from_euler(0.0f, 0.0f, _local_pos.yaw);
 
 	}