diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
index 73042009be..0cdce1418a 100644
--- a/src/modules/flight_mode_manager/FlightModeManager.cpp
+++ b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -467,7 +467,7 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
 		if (_vehicle_local_position_setpoint_sub.copy(&vehicle_local_position_setpoint)) {
 			const Vector3f vel_sp{vehicle_local_position_setpoint.vx, vehicle_local_position_setpoint.vy, vehicle_local_position_setpoint.vz};
 			const Vector3f acc_sp{vehicle_local_position_setpoint.acceleration};
-			_current_task.task->updateVelocityControllerIO(vel_sp, acc_sp);
+			_current_task.task->updateVelocityControllerFeedback(vel_sp, acc_sp);
 		}
 	}
 
diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
index 53ed01ebcc..0e3a2b4003 100644
--- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
+++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
@@ -176,8 +176,8 @@ public:
 	 */
 	virtual void setYawHandler(WeatherVane *ext_yaw_handler) {}
 
-	void updateVelocityControllerIO(const matrix::Vector3f &vel_sp,
-					const matrix::Vector3f &acc_sp)
+	void updateVelocityControllerFeedback(const matrix::Vector3f &vel_sp,
+					      const matrix::Vector3f &acc_sp)
 	{
 		_velocity_setpoint_feedback = vel_sp;
 		_acceleration_setpoint_feedback = acc_sp;