diff --git a/msg/tecs_status.msg b/msg/tecs_status.msg
index 5a87d26cae..7e4fe08228 100644
--- a/msg/tecs_status.msg
+++ b/msg/tecs_status.msg
@@ -12,10 +12,11 @@ float32 altitude_sp
 float32 altitude_filtered
 float32 height_rate_setpoint
 float32 height_rate
-float32 airspeed_sp
-float32 airspeed_filtered
-float32 airspeed_derivative_sp
-float32 airspeed_derivative
+float32 equivalent_airspeed_sp
+float32 true_airspeed_sp
+float32 true_airspeed_filtered
+float32 true_airspeed_derivative_sp
+float32 true_airspeed_derivative
 
 float32 total_energy_error
 float32 energy_distribution_error
diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp
index 619a83cffa..3e47406630 100644
--- a/src/lib/tecs/TECS.hpp
+++ b/src/lib/tecs/TECS.hpp
@@ -144,6 +144,7 @@ public:
 	float hgt_rate_setpoint() { return _hgt_rate_setpoint; }
 	float vert_vel_state() { return _vert_vel_state; }
 
+	float get_EAS_setpoint() { return _EAS_setpoint; };
 	float TAS_rate_setpoint() { return _TAS_rate_setpoint; }
 	float speed_derivative() { return _speed_derivative; }
 
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index 84c1a10725..4b592cae5f 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -341,14 +341,15 @@ FixedwingPositionControl::tecs_status_publish()
 	t.altitude_sp = _tecs.hgt_setpoint_adj();
 	t.altitude_filtered = _tecs.vert_pos_state();
 
-	t.airspeed_sp = _tecs.TAS_setpoint_adj();
-	t.airspeed_filtered = _tecs.tas_state();
+	t.true_airspeed_sp = _tecs.TAS_setpoint_adj();
+	t.true_airspeed_filtered = _tecs.tas_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();
+	t.equivalent_airspeed_sp = _tecs.get_EAS_setpoint();
+	t.true_airspeed_derivative_sp = _tecs.TAS_rate_setpoint();
+	t.true_airspeed_derivative = _tecs.speed_derivative();
 
 	t.total_energy_error = _tecs.STE_error();
 	t.total_energy_rate_error = _tecs.STE_rate_error();
diff --git a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp
index cee6010bc4..a1e913f54a 100644
--- a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp
+++ b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp
@@ -525,7 +525,7 @@ private:
 		tecs_status_s tecs_status;
 
 		if (_tecs_status_sub.update(&tecs_status)) {
-			_airspeed_sp.add_value(tecs_status.airspeed_sp, _update_rate_filtered);
+			_airspeed_sp.add_value(tecs_status.true_airspeed_sp, _update_rate_filtered);
 		}
 	}
 
diff --git a/src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp b/src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp
index a1a7b7a7cf..6553127dc3 100644
--- a/src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp
+++ b/src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp
@@ -78,7 +78,7 @@ private:
 			msg.wp_dist = math::constrain(roundf(pos_ctrl_status.wp_dist), 0.f, (float)UINT16_MAX);
 			msg.xtrack_error = pos_ctrl_status.xtrack_error;
 			msg.alt_error = tecs_status.altitude_filtered - tecs_status.altitude_sp;
-			msg.aspd_error = tecs_status.airspeed_filtered - tecs_status.airspeed_sp;
+			msg.aspd_error = tecs_status.true_airspeed_filtered - tecs_status.true_airspeed_sp;
 
 			mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg);