Fix typo in vector matrix product, fixes #1969, reported by @cat888ekf_fix

1 files changed, 1 insertions, 1 deletions

diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
index 470eb4e2c..83a738463 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
@@ -140,7 +140,7 @@ Vector3f operator*(const Mat3f &matIn, const Vector3f &vecIn)
     Vector3f vecOut;
     vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z;
     vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z;
-    vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;
+    vecOut.z = matIn.z.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;
     return vecOut;
 }