diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index b2a3572a7d..3faf63a27f 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -465,8 +465,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 
 						math::Vector<3> v(1.0f, 0.0f, 0.4f);
 
-						math::Vector<3> vn = Rvis * v;
-
+						math::Vector<3> vn = Rvis.transposed() * v; //Rvis is Rwr (robot respect to world) while v is respect to world. Hence Rvis must be transposed having (Rwr)' * Vw
+											    // Rrw * Vw = vn. This way we have consistency
 						z_k[6] = vn(0);
 						z_k[7] = vn(1);
 						z_k[8] = vn(2);
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 8193cf1814..e2274342e6 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1648,10 +1648,10 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_VISN.vx = buf.vision_pos.vx;
 			log_msg.body.log_VISN.vy = buf.vision_pos.vy;
 			log_msg.body.log_VISN.vz = buf.vision_pos.vz;
-			log_msg.body.log_VISN.qx = buf.vision_pos.q[0];
-			log_msg.body.log_VISN.qy = buf.vision_pos.q[1];
-			log_msg.body.log_VISN.qz = buf.vision_pos.q[2];
-			log_msg.body.log_VISN.qw = buf.vision_pos.q[3];
+			log_msg.body.log_VISN.qw = buf.vision_pos.q[0]; // vision_position_estimate uses [w,x,y,z] convention
+			log_msg.body.log_VISN.qx = buf.vision_pos.q[1];
+			log_msg.body.log_VISN.qy = buf.vision_pos.q[2];
+			log_msg.body.log_VISN.qz = buf.vision_pos.q[3];
 			LOGBUFFER_WRITE_AND_COUNT(VISN);
 		}