diff --git a/GeometricPlanning/path_primitives/Circle.cpp b/GeometricPlanning/path_primitives/Circle.cpp
index 5a2a7620974f30c09f4297db31228c55d71ebe87..0f074f8c6bb5df4b267584e938a1706398cf20fd 100644
--- a/GeometricPlanning/path_primitives/Circle.cpp
+++ b/GeometricPlanning/path_primitives/Circle.cpp
@@ -37,7 +37,7 @@ namespace simox::geometric_planning
 
         // the position derivative is always pointing into x direction as orientation changes as well
         // FIXME update this according to getPosition!
-        return radius * -Eigen::Vector3f::UnitX();
+        return radius * Eigen::Vector3f::UnitY();
     }
 
     Eigen::Quaternionf