diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 0cd163a0c9..988232dc21 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1360,8 +1360,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		memset(&hil_global_pos, 0, sizeof(hil_global_pos));
 
 		hil_global_pos.timestamp = timestamp;
-		hil_global_pos.lat = hil_state.lat;
-		hil_global_pos.lon = hil_state.lon;
+		hil_global_pos.lat = hil_state.lat / ((double)1e7);
+		hil_global_pos.lon = hil_state.lon / ((double)1e7);
 		hil_global_pos.alt = hil_state.alt / 1000.0f;
 		hil_global_pos.vel_n = hil_state.vx / 100.0f;
 		hil_global_pos.vel_e = hil_state.vy / 100.0f;