diff --git a/libraries/AP_HAL_SITL/sitl_gps.cpp b/libraries/AP_HAL_SITL/sitl_gps.cpp
index 2dfdd9bdaa..0f1aacd2ff 100644
--- a/libraries/AP_HAL_SITL/sitl_gps.cpp
+++ b/libraries/AP_HAL_SITL/sitl_gps.cpp
@@ -407,7 +407,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance)
         const Vector3f ant2_pos = _sitl->gps_pos_offset[instance].get();
         Vector3f rel_antenna_pos = ant2_pos - ant1_pos;
         Matrix3f rot;
-        rot.from_euler(0, 0, radians(d->yaw));
+        rot.from_euler(radians(_sitl->state.rollDeg), radians(_sitl->state.pitchDeg), radians(d->yaw));
         rel_antenna_pos = rot * rel_antenna_pos;
         relposned.version = 1;
         relposned.iTOW = time_week_ms;