diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 988220a93c..a4fbf0317b 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -371,7 +371,7 @@ void Plane::send_nav_controller_output(mavlink_channel_t chan)
         nav_controller->target_bearing_cd() * 0.01f,
         auto_state.wp_distance,
         altitude_error_cm * 0.01f,
-        airspeed_error_cm,
+        airspeed_error * 100,
         nav_controller->crosstrack_error());
 }
 
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 09f8c49c83..4b006860d0 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -359,8 +359,8 @@ private:
     // Also used for flap deployment criteria.  Centimeters per second.
     int32_t target_airspeed_cm;
 
-    // The difference between current and desired airspeed.  Used in the pitch controller.  Centimeters per second.
-    float airspeed_error_cm;
+    // The difference between current and desired airspeed.  Used in the pitch controller.  Meters per second.
+    float airspeed_error;
 
     // An amount that the airspeed should be increased in auto modes based on the user positioning the
     // throttle stick in the top half of the range.  Centimeters per second.
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index a47cdbb759..c2bc58c1a1 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -143,7 +143,7 @@ void Plane::calc_airspeed_errors()
 
     // use the TECS view of the target airspeed for reporting, to take
     // account of the landing speed
-    airspeed_error_cm = SpdHgt_Controller->get_target_airspeed()*100 - airspeed_measured_cm;
+    airspeed_error = SpdHgt_Controller->get_target_airspeed() - airspeed_measured_cm * 0.01f;
 }
 
 void Plane::calc_gndspeed_undershoot()