diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 544d343b43..40adc6b054 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1386,7 +1386,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		if (!_hil_local_proj_inited) {
 			_hil_local_proj_inited = true;
 			_hil_local_alt0 = hil_state.alt / 1000.0f;
-			map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon);
+			map_projection_init(&_hil_local_proj_ref, lat, lon);
 			hil_local_pos.ref_timestamp = timestamp;
 			hil_local_pos.ref_lat = lat;
 			hil_local_pos.ref_lon = lon;