diff --git a/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index ee2c882578..5da78d4e05 100644
--- a/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -836,12 +836,6 @@ void AttitudePositionEstimatorEKF::publishAttitude()
 	_att.q[2] = _ekf->states[2];
 	_att.q[3] = _ekf->states[3];
 	_att.q_valid = true;
-	//_att.R_valid = true;
-
-	//_att.timestamp = _last_sensor_timestamp;
-	//_att.roll = euler(0);
-	//_att.pitch = euler(1);
-	//_att.yaw = euler(2);
 
 	_att.rollspeed = _ekf->dAngIMU.x / _ekf->dtIMU - _ekf->states[10] / _ekf->dtIMUfilt;
 	_att.pitchspeed = _ekf->dAngIMU.y / _ekf->dtIMU - _ekf->states[11] / _ekf->dtIMUfilt;
diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
index ce0718839e..8c92720d20 100644
--- a/src/examples/px4_simple_app/px4_simple_app.c
+++ b/src/examples/px4_simple_app/px4_simple_app.c
@@ -106,10 +106,9 @@ int px4_simple_app_main(int argc, char *argv[])
 					 (double)raw.accelerometer_m_s2[1],
 					 (double)raw.accelerometer_m_s2[2]);
 
-				/* set att and publish this information for other apps */
-				//att.roll = raw.accelerometer_m_s2[0];
-				//att.pitch = raw.accelerometer_m_s2[1];
-				//att.yaw = raw.accelerometer_m_s2[2];
+				/* set att and publish this information for other apps
+				 the following does not have any meaning, it's just an example
+				*/
 				att.q[0] = raw.accelerometer_m_s2[0];
 				att.q[1] = raw.accelerometer_m_s2[1];
 				att.q[2] = raw.accelerometer_m_s2[2];
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 7c4d90480e..663e49c7a0 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -468,10 +468,6 @@ void AttitudeEstimatorQ::task_main()
 		struct vehicle_attitude_s att = {};
 		att.timestamp = sensors.timestamp;
 
-		//att.roll = euler(0);
-		//att.pitch = euler(1);
-		//att.yaw = euler(2);
-
 		att.rollspeed = _rates(0);
 		att.pitchspeed = _rates(1);
 		att.yawspeed = _rates(2);
@@ -483,11 +479,6 @@ void AttitudeEstimatorQ::task_main()
 		///* copy offsets */
 		//memcpy(&att.rate_offsets, _gyro_bias.data, sizeof(att.rate_offsets));
 
-		//Matrix<3, 3> R = _q.to_dcm();
-
-		///* copy rotation matrix */
-		//memcpy(&att.R[0], R.data, sizeof(att.R));
-		//att.R_valid = true;
 		memcpy(&att.q[0], _q.data, sizeof(att.q));
 		att.q_valid = true;
 
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index a4b25bfecb..149ce4d30d 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -721,10 +721,6 @@ void Ekf2::task_main()
 
 			// generate remaining vehicle attitude data
 			att.timestamp = hrt_absolute_time();
-			//matrix::Euler<float> euler(q);
-			//att.roll = euler(0);
-			//att.pitch = euler(1);
-			//att.yaw = euler(2);
 
 			att.q[0] = q(0);
 			att.q[1] = q(1);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 43c97dc71b..1a08ae1449 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1920,8 +1920,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		math::Vector<3> euler = C_nb.to_euler();
 
 		hil_attitude.timestamp = timestamp;
-		//memcpy(hil_attitude.R, C_nb.data, sizeof(hil_attitude.R));
-		//hil_attitude.R_valid = true;
 
 		hil_attitude.q[0] = q(0);
 		hil_attitude.q[1] = q(1);
@@ -1929,9 +1927,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_attitude.q[3] = q(3);
 		hil_attitude.q_valid = true;
 
-		//hil_attitude.roll = euler(0);
-		//hil_attitude.pitch = euler(1);
-		//hil_attitude.yaw = euler(2);
 		hil_attitude.rollspeed = hil_state.rollspeed;
 		hil_attitude.pitchspeed = hil_state.pitchspeed;
 		hil_attitude.yawspeed = hil_state.yawspeed;
@@ -1957,7 +1952,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_global_pos.vel_n = hil_state.vx / 100.0f;
 		hil_global_pos.vel_e = hil_state.vy / 100.0f;
 		hil_global_pos.vel_d = hil_state.vz / 100.0f;
-		hil_global_pos.yaw = euler(1);
+		hil_global_pos.yaw = euler(2);
 		hil_global_pos.eph = 2.0f;
 		hil_global_pos.epv = 4.0f;
 
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
index a7b9f53f5e..0ccb97d5ff 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
@@ -1337,7 +1337,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			local_pos.z = z_est[0];
 			local_pos.vz = z_est[1];
 			matrix::Euler<float> euler(R);
-			local_pos.yaw = euler(0);
+			local_pos.yaw = euler(2);
 			local_pos.dist_bottom_valid = dist_bottom_valid;
 			local_pos.eph = eph;
 			local_pos.epv = epv;