diff --git a/src/modules/ekf2_replay/ekf2_replay_main.cpp b/src/modules/ekf2_replay/ekf2_replay_main.cpp
index 65865c1616..021245bca4 100644
--- a/src/modules/ekf2_replay/ekf2_replay_main.cpp
+++ b/src/modules/ekf2_replay/ekf2_replay_main.cpp
@@ -535,15 +535,14 @@ void Ekf2Replay::logIfUpdated()
 	log_message.body.att.q_x = att.q[1];
 	log_message.body.att.q_y = att.q[2];
 	log_message.body.att.q_z = att.q[3];
-	log_message.body.att.roll = 0;
-	log_message.body.att.pitch = 0;
-	log_message.body.att.yaw = 0;
+	log_message.body.att.roll = atan2f(2 * (att.q[0] * att.q[1] + att.q[2] * att.q[3]),
+					   1 - 2 * (att.q[1] * att.q[1] + att.q[2] * att.q[2]));
+	log_message.body.att.pitch = asinf(2 * (att.q[0] * att.q[2] - att.q[3] * att.q[1]));
+	log_message.body.att.yaw = atan2f(2 * (att.q[0] * att.q[3] + att.q[1] * att.q[2]),
+					  1 - 2 * (att.q[2] * att.q[2] + att.q[3] * att.q[3]));
 	log_message.body.att.roll_rate = att.rollspeed;
 	log_message.body.att.pitch_rate = att.pitchspeed;
 	log_message.body.att.yaw_rate = att.yawspeed;
-	log_message.body.att.gx = 0;
-	log_message.body.att.gy = 0;
-	log_message.body.att.gz = 0;
 
 	writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_ATT_MSG].length);