diff --git a/src/modules/local_position_estimator/sensors/gps.cpp b/src/modules/local_position_estimator/sensors/gps.cpp
index 0a512e99a7..7e49f4c88c 100644
--- a/src/modules/local_position_estimator/sensors/gps.cpp
+++ b/src/modules/local_position_estimator/sensors/gps.cpp
@@ -189,20 +189,20 @@ void BlockLocalPositionEstimator::gpsCorrect()
 	Matrix<float, n_y_gps, n_y_gps> S = C * m_P * C.transpose() + R;
 
 	// publish innovations
-	_pub_innov.get().gps_hvel[0] = r(3);
-	_pub_innov.get().gps_hvel[1] = r(4);
-	_pub_innov.get().gps_vvel    = r(5);
 	_pub_innov.get().gps_hpos[0] = r(0);
 	_pub_innov.get().gps_hpos[1] = r(1);
 	_pub_innov.get().gps_vpos    = r(2);
+	_pub_innov.get().gps_hvel[0] = r(3);
+	_pub_innov.get().gps_hvel[1] = r(4);
+	_pub_innov.get().gps_vvel    = r(5);
 
 	// publish innovation variances
-	_pub_innov_var.get().gps_hvel[0] = S(3, 3);
-	_pub_innov_var.get().gps_hvel[1] = S(4, 4);
-	_pub_innov_var.get().gps_vvel    = S(5, 5);
 	_pub_innov_var.get().gps_hpos[0] = S(0, 0);
 	_pub_innov_var.get().gps_hpos[1] = S(1, 1);
 	_pub_innov_var.get().gps_vpos    = S(2, 2);
+	_pub_innov_var.get().gps_hvel[0] = S(3, 3);
+	_pub_innov_var.get().gps_hvel[1] = S(4, 4);
+	_pub_innov_var.get().gps_vvel    = S(5, 5);
 
 	// residual covariance, (inverse)
 	Matrix<float, n_y_gps, n_y_gps> S_I = inv<float, n_y_gps>(S);
diff --git a/src/modules/local_position_estimator/sensors/mocap.cpp b/src/modules/local_position_estimator/sensors/mocap.cpp
index 2349c8f3d4..734634e6ce 100644
--- a/src/modules/local_position_estimator/sensors/mocap.cpp
+++ b/src/modules/local_position_estimator/sensors/mocap.cpp
@@ -145,20 +145,20 @@ void BlockLocalPositionEstimator::mocapCorrect()
 	Matrix<float, n_y_mocap, n_y_mocap> S = C * m_P * C.transpose() + R;
 
 	// publish innovations
-	_pub_innov.get().ev_hvel[0] = NAN;
-	_pub_innov.get().ev_hvel[1] = NAN;
-	_pub_innov.get().ev_vvel    = NAN;
 	_pub_innov.get().ev_hpos[0] = r(0);
 	_pub_innov.get().ev_hpos[1] = r(1);
 	_pub_innov.get().ev_vpos    = r(2);
+	_pub_innov.get().ev_hvel[0] = NAN;
+	_pub_innov.get().ev_hvel[1] = NAN;
+	_pub_innov.get().ev_vvel    = NAN;
 
 	// publish innovation variances
-	_pub_innov_var.get().ev_hvel[0] = NAN;
-	_pub_innov_var.get().ev_hvel[1] = NAN;
-	_pub_innov_var.get().ev_vvel    = NAN;
 	_pub_innov_var.get().ev_hpos[0] = S(0, 0);
 	_pub_innov_var.get().ev_hpos[1] = S(1, 1);
 	_pub_innov_var.get().ev_vpos    = S(2, 2);
+	_pub_innov_var.get().ev_hvel[0] = NAN;
+	_pub_innov_var.get().ev_hvel[1] = NAN;
+	_pub_innov_var.get().ev_vvel    = NAN;
 
 	// residual covariance, (inverse)
 	Matrix<float, n_y_mocap, n_y_mocap> S_I = inv<float, n_y_mocap>(S);
diff --git a/src/modules/local_position_estimator/sensors/vision.cpp b/src/modules/local_position_estimator/sensors/vision.cpp
index 8172caee96..a69e4c91ae 100644
--- a/src/modules/local_position_estimator/sensors/vision.cpp
+++ b/src/modules/local_position_estimator/sensors/vision.cpp
@@ -162,20 +162,20 @@ void BlockLocalPositionEstimator::visionCorrect()
 	Matrix<float, n_y_vision, n_y_vision> S = C * m_P * C.transpose() + R;
 
 	// publish innovations
-	_pub_innov.get().ev_hvel[0] = NAN;
-	_pub_innov.get().ev_hvel[1] = NAN;
-	_pub_innov.get().ev_vvel    = NAN;
 	_pub_innov.get().ev_hpos[0] = r(0, 0);
 	_pub_innov.get().ev_hpos[1] = r(1, 0);
 	_pub_innov.get().ev_vpos    = r(2, 0);
+	_pub_innov.get().ev_hvel[0] = NAN;
+	_pub_innov.get().ev_hvel[1] = NAN;
+	_pub_innov.get().ev_vvel    = NAN;
 
 	// publish innovation variances
-	_pub_innov_var.get().ev_hvel[0] = NAN;
-	_pub_innov_var.get().ev_hvel[1] = NAN;
-	_pub_innov_var.get().ev_vvel    = NAN;
 	_pub_innov_var.get().ev_hpos[0] = S(0, 0);
 	_pub_innov_var.get().ev_hpos[1] = S(1, 1);
 	_pub_innov_var.get().ev_vpos    = S(2, 2);
+	_pub_innov_var.get().ev_hvel[0] = NAN;
+	_pub_innov_var.get().ev_hvel[1] = NAN;
+	_pub_innov_var.get().ev_vvel    = NAN;
 
 	// residual covariance, (inverse)
 	Matrix<float, n_y_vision, n_y_vision> S_I = inv<float, n_y_vision>(S);