diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc
index 17e1405..dea11c6 100644
--- a/src/ui/map3D/Pixhawk3DWidget.cc
+++ b/src/ui/map3D/Pixhawk3DWidget.cc
@@ -374,9 +374,10 @@ Pixhawk3DWidget::attitudeChanged(UASInterface* uas,
     }
 
     // update system attitude
-    osg::Quat q(-yaw, osg::Vec3d(0.0f, 0.0f, 1.0f),
-                pitch, osg::Vec3d(1.0f, 0.0f, 0.0f),
-                roll, osg::Vec3d(0.0f, 1.0f, 0.0f));
+    osg::Quat q(roll, osg::Vec3d(0.0f, 1.0f, 0.0f),
+               pitch, osg::Vec3d(1.0f, 0.0f, 0.0f),
+                -yaw, osg::Vec3d(0.0f, 0.0f, 1.0f)
+                );
     m3DWidget->systemGroup(systemId)->attitude()->setAttitude(q);
 }