diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index bbb065392f..6bdac14c17 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -619,7 +619,7 @@ void AC_AttitudeControl::attitude_controller_run_quat()
     // Add the angular velocity feedforward, rotated into vehicle frame
     Quaternion attitude_target_ang_vel_quat = Quaternion(0.0f, _attitude_target_ang_vel.x, _attitude_target_ang_vel.y, _attitude_target_ang_vel.z);
     Quaternion to_to_from_quat = attitude_vehicle_quat.inverse() * _attitude_target_quat;
-    Quaternion desired_ang_vel_quat = to_to_from_quat.inverse() * attitude_target_ang_vel_quat * to_to_from_quat;
+    Quaternion desired_ang_vel_quat = to_to_from_quat * attitude_target_ang_vel_quat * to_to_from_quat.inverse();
 
     // Correct the thrust vector and smoothly add feedforward and yaw input
     _feedforward_scalar = 1.0f;