diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index a305380..bd973a3 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -996,7 +996,7 @@ void Vehicle::_handleNavControllerOutput(mavlink_message_t& message)
     mavlink_msg_nav_controller_output_decode(&message, &navControllerOutput);
 
     _altitudeTuningSetpointFact.setRawValue(_altitudeTuningFact.rawValue().toDouble() - navControllerOutput.alt_error);
-    _xTrackErrorFact.setRawValue(_altitudeTuningFact.rawValue().toDouble() - navControllerOutput.xtrack_error);
+    _xTrackErrorFact.setRawValue(navControllerOutput.xtrack_error);
     _airSpeedSetpointFact.setRawValue(_airSpeedFact.rawValue().toDouble() - navControllerOutput.aspd_error);
 }