diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 8e939618fe..493ab037d0 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -996,16 +996,16 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 	math::Vector<3> rates;
 	if (_selected_gyro == 0) {
 		rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[0]) * _sensor_correction.gyro_scale_0[0];
-		rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[1]) * _sensor_correction.gyro_scale_0[1];
-		rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[2]) * _sensor_correction.gyro_scale_0[2];
+		rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_0[1]) * _sensor_correction.gyro_scale_0[1];
+		rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_0[2]) * _sensor_correction.gyro_scale_0[2];
 	} else if (_selected_gyro == 1) {
 		rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[0]) * _sensor_correction.gyro_scale_1[0];
-		rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[1]) * _sensor_correction.gyro_scale_1[1];
-		rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[2]) * _sensor_correction.gyro_scale_1[2];
+		rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_1[1]) * _sensor_correction.gyro_scale_1[1];
+		rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_1[2]) * _sensor_correction.gyro_scale_1[2];
 	} else if (_selected_gyro == 2) {
 		rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[0]) * _sensor_correction.gyro_scale_2[0];
-		rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1];
-		rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[2]) * _sensor_correction.gyro_scale_2[2];
+		rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1];
+		rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_2[2]) * _sensor_correction.gyro_scale_2[2];
 
 	} else {
 		rates(0) = _sensor_gyro.x;