diff --git a/sw/airborne/modules/lidar/tfmini.c b/sw/airborne/modules/lidar/tfmini.c
index 91c8fdbbb32..331d2d7696d 100644
--- a/sw/airborne/modules/lidar/tfmini.c
+++ b/sw/airborne/modules/lidar/tfmini.c
@@ -157,7 +157,7 @@ static void tfmini_parse(uint8_t byte)
             float phi = stateGetNedToBodyEulers_f()->phi;
             float theta = stateGetNedToBodyEulers_f()->theta;
             float gain = (float)fabs((double)(cosf(phi) * cosf(theta)));
-            tfmini.distance = tfmini.distance / gain;
+            tfmini.distance = tfmini.distance * gain;
           }
 
           // send message (if requested)