diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 8ff38842dd..2fd76a2781 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -565,6 +565,8 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
 		hil_lpos.vy = hil_state.vy / 100.0f;
 		hil_lpos.vz = hil_state.vz / 100.0f;
 		matrix::Eulerf euler = matrix::Quatf(hil_attitude.q);
+	        matrix::Vector3f acc(hil_state.xacc / 1000.f, hil_state.yacc / 1000.f, hil_state.zacc / 1000.f);
+	        acc = matrix::Quatf(hil_state.attitude_quaternion).conjugate(acc);
 		hil_lpos.ax = acc(0);
 		hil_lpos.ay = acc(1);
 		hil_lpos.az = acc(2);