diff --git a/src/uav_system_ros.cpp b/src/uav_system_ros.cpp
index f5795af..a248c01 100644
--- a/src/uav_system_ros.cpp
+++ b/src/uav_system_ros.cpp
@@ -387,6 +387,8 @@ void UavSystemRos::publishIMU(const MultirotorModel::State &state) {
   imu.linear_acceleration.y = acc(1);
   imu.linear_acceleration.z = acc(2);
 
+  imu.orientation = mrs_lib::AttitudeConverter(state.R);
+
   ph_imu_.publish(imu);
 }