diff --git a/msg/tecs_status.msg b/msg/tecs_status.msg
index 45e33a261d..a13f34cdce 100644
--- a/msg/tecs_status.msg
+++ b/msg/tecs_status.msg
@@ -10,8 +10,8 @@ uint8 TECS_MODE_CLIMBOUT = 6
 
 float32 altitude_sp
 float32 altitude_filtered
-float32 flight_path_angle_sp
-float32 flight_path_angle
+float32 height_rate_setpoint
+float32 height_rate
 float32 airspeed_sp
 float32 airspeed_filtered
 float32 airspeed_derivative_sp
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index c56eac68fc..aa7c68ada4 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -568,8 +568,8 @@ FixedwingPositionControl::tecs_status_publish()
 	t.airspeed_sp = _tecs.TAS_setpoint_adj();
 	t.airspeed_filtered = _tecs.tas_state();
 
-	t.flight_path_angle_sp = _tecs.hgt_rate_setpoint();
-	t.flight_path_angle = _tecs.vert_vel_state();
+	t.height_rate_setpoint = _tecs.hgt_rate_setpoint();
+	t.height_rate = _tecs.vert_vel_state();
 
 	t.airspeed_derivative_sp = _tecs.TAS_rate_setpoint();
 	t.airspeed_derivative = _tecs.speed_derivative();
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 4b7fceeadf..46cd1b96f2 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -210,8 +210,8 @@ void VtolType::check_quadchute_condition()
 			// We use tecs for tracking in FW and local_pos_sp during transitions
 			if (_tecs_running) {
 				// 1 second rolling average
-				_ra_hrate = (49 * _ra_hrate + _tecs_status->flight_path_angle) / 50;
-				_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->flight_path_angle_sp) / 50;
+				_ra_hrate = (49 * _ra_hrate + _tecs_status->height_rate) / 50;
+				_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->height_rate_setpoint) / 50;
 
 				// are we dropping while requesting significant ascend?
 				if (((_tecs_status->altitude_sp - _tecs_status->altitude_filtered) > _params->fw_alt_err) &&