diff --git a/libraries/AP_Math/examples/rotations/rotations.pde b/libraries/AP_Math/examples/rotations/rotations.pde
index 3d9546d1aa..ef05f11379 100644
--- a/libraries/AP_Math/examples/rotations/rotations.pde
+++ b/libraries/AP_Math/examples/rotations/rotations.pde
@@ -148,7 +148,7 @@ static void test_eulers(void)
     test_euler(ROTATION_ROLL_270_PITCH_270,270,270,   0);    
     test_euler(ROTATION_ROLL_90_PITCH_180_YAW_90, 90, 180,  90);    
     test_euler(ROTATION_ROLL_90_YAW_270,   90,   0, 270);
-    test_euler(ROTATION_YAW_293_PITCH_68_ROLL_180,180,68.8,293.3);
+    test_euler(ROTATION_YAW_293_PITCH_68_ROLL_90,90,68.8,293.3);
 }
 
 static bool have_rotation(const Matrix3f &m)
diff --git a/libraries/AP_Math/rotations.h b/libraries/AP_Math/rotations.h
index 226b9d1419..404f31dc5c 100644
--- a/libraries/AP_Math/rotations.h
+++ b/libraries/AP_Math/rotations.h
@@ -64,7 +64,7 @@ enum Rotation {
     ROTATION_ROLL_270_PITCH_270  = 35,
     ROTATION_ROLL_90_PITCH_180_YAW_90 = 36,
     ROTATION_ROLL_90_YAW_270     = 37,
-    ROTATION_YAW_293_PITCH_68_ROLL_180 = 38,
+    ROTATION_YAW_293_PITCH_68_ROLL_90 = 38,
     ROTATION_MAX
 };
 /*
diff --git a/libraries/AP_Math/vector3.cpp b/libraries/AP_Math/vector3.cpp
index 8ec1634b0d..ae5399df32 100644
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@@ -221,13 +221,13 @@ void Vector3<T>::rotate(enum Rotation rotation)
         tmp = x; x = y; y = -tmp;
         return;
     }
-    case ROTATION_YAW_293_PITCH_68_ROLL_180: {
+    case ROTATION_YAW_293_PITCH_68_ROLL_90: {
         float tmpx = x;
         float tmpy = y;
         float tmpz = z;
-        x = 0.1430389f * tmpx -0.9184465f * tmpy -0.3687762f * tmpz;
-        y = -0.3321327f * tmpx -0.3955452f * tmpy +0.8562895f * tmpz;
-        z = -0.9323238f * tmpx -0.00000003f * tmpy -0.3616245f * tmpz;
+        x =  0.143039f * tmpx +  0.368776f * tmpy + -0.918446f * tmpz;
+        y = -0.332133f * tmpx + -0.856289f * tmpy + -0.395546f * tmpz;
+        z = -0.932324f * tmpx +  0.361625f * tmpy +  0.000000f * tmpz;
         return;
     }
     }