diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 9c3bd7733..0c47e3eed 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -189,7 +189,7 @@ Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> Hxi) {
 
   // Compute rotation using Expmap
 #ifdef GTSAM_USE_QUATERNIONS
-  const Rot3 R = traits<gtsam::Quaternion>::Expmap(v);
+  const Rot3 R = traits<gtsam::Quaternion>::Expmap(w);
 #else
   const Rot3 R(local.expmap());
 #endif
diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp
index d033c96e8..d102340ce 100644
--- a/gtsam/navigation/NavState.cpp
+++ b/gtsam/navigation/NavState.cpp
@@ -123,7 +123,7 @@ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> Hxi) {
 
   // Compute rotation using Expmap
 #ifdef GTSAM_USE_QUATERNIONS
-  const Rot3 R = traits<gtsam::Quaternion>::Expmap(v);
+  const Rot3 R = traits<gtsam::Quaternion>::Expmap(w);
 #else
   const Rot3 R(local.expmap());
 #endif