diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
index 24a49708c8..e96e8206d8 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
@@ -141,9 +141,9 @@ void imu_mpu9250_event(void)
   // Test if mag data are updated
   if (imu_mpu9250.mpu.akm.data_available) {
     struct Int32Vect3 mag = {
-      (int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_X]),
       (int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Y]),
-      (int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z])
+      (int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_X]),
+      -(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z])
     };
     VECT3_COPY(imu.mag_unscaled, mag);
     imu_mpu9250.mag_valid = TRUE;