diff --git a/msg/position_controller_status.msg b/msg/position_controller_status.msg
index 2f77ceefa3..71b402942d 100644
--- a/msg/position_controller_status.msg
+++ b/msg/position_controller_status.msg
@@ -13,4 +13,4 @@ float32 acceptance_radius		# the optimal distance to a waypoint to switch to the
 
 float32 yaw_acceptance			# NaN if not set
 
-float32 altitude_acceptance_radius # the optimal vertical distance to a waypoint to switch to the next
+float32 altitude_acceptance		# the optimal vertical distance to a waypoint to switch to the next
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
index 674770321d..f3e8e2033c 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
@@ -336,7 +336,7 @@ void FlightTaskAuto::_checkAvoidanceProgress()
 
 	if (pos_to_target.length() < NAV_ACC_RAD.get() && pos_to_target_z > NAV_MC_ALT_RAD.get()) {
 		// vehicle above or below the target waypoint
-		pos_control_status.altitude_acceptance_radius = pos_to_target_z + 0.5f;
+		pos_control_status.altitude_acceptance = pos_to_target_z + 0.5f;
 	}
 
 	// do not check for waypoints yaw acceptance in navigator
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 510ff57e98..e4707f951e 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -852,8 +852,8 @@ Navigator::get_default_altitude_acceptance_radius()
 		const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
 
 		if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
-		    && pos_ctrl_status.altitude_acceptance_radius > alt_acceptance_radius) {
-			alt_acceptance_radius = pos_ctrl_status.altitude_acceptance_radius;
+		    && pos_ctrl_status.altitude_acceptance > alt_acceptance_radius) {
+			alt_acceptance_radius = pos_ctrl_status.altitude_acceptance;
 		}
 
 		return alt_acceptance_radius;