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 f56e3ad243..6c78c583b1 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -544,7 +544,7 @@ void AttitudeEstimatorQ::task_main()
 
 		ctrl_state.pitch_rate = _lp_pitch_rate.apply(_rates(1));
 
-		ctrl_state.roll_rate = _rates(2);
+		ctrl_state.yaw_rate = _rates(2);
 
 		/* Publish to control state topic */
 		if (_ctrl_state_pub == nullptr) {