diff --git a/src/drivers/ins/vectornav/VectorNav.cpp b/src/drivers/ins/vectornav/VectorNav.cpp
index e4e9821d47..0e6877a555 100644
--- a/src/drivers/ins/vectornav/VectorNav.cpp
+++ b/src/drivers/ins/vectornav/VectorNav.cpp
@@ -273,11 +273,11 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
 
 			const double lat = positionEstimatedLla.c[0];
 			const double lon = positionEstimatedLla.c[1];
-			const float alt = positionEstimatedLla.c[2];
+			const float alt_ellipsoid = positionEstimatedLla.c[2];
 
 			if (!_pos_ref.isInitialized()) {
 				_pos_ref.initReference(lat, lon, time_now_us);
-				_gps_alt_ref = alt;
+				_gps_alt_ref = alt_ellipsoid;
 			}
 
 			const Vector2f pos_ned = _pos_ref.project(lat, lon);
@@ -292,7 +292,7 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
 
 			local_position.x = pos_ned(0);
 			local_position.y = pos_ned(1);
-			local_position.z = -(alt - _gps_alt_ref);
+			local_position.z = -(alt_ellipsoid - _gps_alt_ref);
 
 			local_position.vx = velocityEstimatedNed.c[0];
 			local_position.vy = velocityEstimatedNed.c[1];
@@ -342,8 +342,10 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
 			global_position.timestamp_sample = time_now_us;
 			global_position.lat = lat;
 			global_position.lon = lon;
-			global_position.alt = alt;
-			global_position.alt = alt;
+			global_position.lat_lon_valid = true;
+			global_position.alt = alt_ellipsoid; // AMSL altitude is not available
+			global_position.alt_ellipsoid = alt_ellipsoid;
+			global_position.alt_valid = true;
 
 			global_position.eph = positionUncertaintyEstimated;
 			global_position.epv = positionUncertaintyEstimated;