diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index d9ac31acaa..349c5d1c30 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -492,11 +492,14 @@ void AttitudeEstimatorQ::task_main()
 
 			/* attitude rates for control state */
 			ctrl_state.roll_rate = _rates(0);
-
 			ctrl_state.pitch_rate = _rates(1);
-
 			ctrl_state.yaw_rate = _rates(2);
 
+			/* TODO get bias estimates from estimator */
+			ctrl_state.roll_rate_bias = 0.0f;
+			ctrl_state.pitch_rate_bias = 0.0f;
+			ctrl_state.yaw_rate_bias = 0.0f;
+
 			ctrl_state.airspeed_valid = false;
 
 			if (_airspeed_mode == control_state_s::AIRSPD_MODE_MEAS) {