diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index 9b60701413..a3fbefb13b 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -53,6 +53,7 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
+ #include <uORB/topics/control_state.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/parameter_update.h>
@@ -116,6 +117,7 @@ private:
 	int		_params_sub = -1;
 	int		_global_pos_sub = -1;
 	orb_advert_t	_att_pub = nullptr;
+	orb_advert_t	_ctrl_state_pub = nullptr;
 
 	struct {
 		param_t	w_acc;
@@ -417,11 +419,8 @@ void AttitudeEstimatorQ::task_main()
 		att.pitch = euler(1);
 		att.yaw = euler(2);
 
-		/* the complimentary filter should reflect the true system
-		 * state, but we need smoother outputs for the control system
-		 */
-		att.rollspeed = _lp_roll_rate.apply(_rates(0));
-		att.pitchspeed = _lp_pitch_rate.apply(_rates(1));
+		att.rollspeed = _rates(0);
+		att.pitchspeed = _rates(1);
 		att.yawspeed = _rates(2);
 
 		for (int i = 0; i < 3; i++) {
@@ -446,6 +445,29 @@ void AttitudeEstimatorQ::task_main()
 		} else {
 			orb_publish(ORB_ID(vehicle_attitude), _att_pub, &att);
 		}
+
+		struct control_state_s ctrl_state = {};
+		ctrl_state.timestamp = sensors.timestamp;
+
+		/* Attitude quaternions for control state */
+		ctrl_state.q[0] = _q(0);
+		ctrl_state.q[1] = _q(1);
+		ctrl_state.q[2] = _q(2);
+		ctrl_state.q[3] = _q(3);
+
+		/* Attitude rates for control state */
+		ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));
+		ctrl_state.pitch_rate = _lp_pitch_rate.apply(_rates(1));
+		ctrl_state.roll_rate = _rates(2);
+
+		/* Publish to control state topic */
+		if (_ctrl_state_pub == nullptr)
+		{
+			_ctrl_state_pub = orb_advertise(ORB_ID(control_state), &ctrl_state);
+
+		} else {
+			orb_publish(ORB_ID(control_state), _ctrl_state_pub, &ctrl_state);
+		}
 	}
 }
 
@@ -571,7 +593,6 @@ bool AttitudeEstimatorQ::update(float dt) {
 	return true;
 }
 
-
 int attitude_estimator_q_main(int argc, char *argv[]) {
 	if (argc < 1) {
 		warnx("usage: attitude_estimator_q {start|stop|status}");