diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 6648f78694..14546932aa 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -325,8 +325,8 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 			hil_attitude.q[3] = q(3);
 			hil_attitude.q_valid = true;
 
-			hil_attitude.roll = euler(1);
-			hil_attitude.pitch = euler(0);
+			hil_attitude.roll = euler(0);
+			hil_attitude.pitch = euler(1);
 			hil_attitude.yaw = euler(2);
 
 			// always publish ground truth attitude message