diff --git a/EKF/airspeed_fusion.cpp b/EKF/airspeed_fusion.cpp
index d630fe6546..35a081e7de 100644
--- a/EKF/airspeed_fusion.cpp
+++ b/EKF/airspeed_fusion.cpp
@@ -132,7 +132,7 @@ void Ekf::fuseAirspeed()
 
 
 		// calculate measurement innovation
-		_airspeed_innov = v_tas_pred - _airspeed_sample_delayed.airspeed; // This is TAS, maybe we should indicate that in some way
+		_airspeed_innov = v_tas_pred - _airspeed_sample_delayed.true_airspeed;
 
 		// Calculate the innovation variance
 		_airspeed_innov_var = 1.0f / SK_TAS[0];
diff --git a/EKF/common.h b/EKF/common.h
index 95ce9fb7a4..1be9f5f9b3 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -112,7 +112,7 @@ struct rangeSample {
 };
 
 struct airspeedSample {
-	float       airspeed;	// true airspeed measurement in m/s
+	float       true_airspeed;	// true airspeed measurement in m/s
 	uint64_t    time_us;	// timestamp in microseconds
 };
 
diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index c744b9b208..bd4171d97b 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -208,7 +208,7 @@ void EstimatorInterface::setAirspeedData(uint64_t time_usec, float *data)
 
 	if (time_usec - _time_last_airspeed > 80000) {
 		airspeedSample airspeed_sample_new;
-		airspeed_sample_new.airspeed = *data;
+		airspeed_sample_new.true_airspeed = *data;
 		airspeed_sample_new.time_us = time_usec - _params.airspeed_delay_ms * 1000;
 		airspeed_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2; //typo PeRRiod
 		_time_last_airspeed = time_usec;