diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 4378d0f83edd..7624e5e73321 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -4055,7 +4055,7 @@ class MavlinkStreamHighLatency : public MavlinkStream
 		_actuator_time(0),
 		_airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))),
 		_airspeed_time(0),
-		_attitude_sp_sub(_mavlink->add_orb_subscription(ORB_ID(fw_pos_ctrl_status))),
+		_attitude_sp_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude_setpoint))),
 		_attitude_sp_time(0),
 		_attitude_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude))),
 		_attitude_time(0),