diff --git a/msg/versioned/FixedWingLateralSetpoint.msg b/msg/versioned/FixedWingLateralSetpoint.msg
index c83790982f..26a02005d0 100644
--- a/msg/versioned/FixedWingLateralSetpoint.msg
+++ b/msg/versioned/FixedWingLateralSetpoint.msg
@@ -7,5 +7,5 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp                        # time since system start (microseconds)
 
 float32 course 				# [rad] [-pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
-float32 airspeed_direction    		# [rad] [-pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, used as feedforward if course setpoint is finite.
+float32 airspeed_direction    		# [rad] [-pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
 float32 lateral_acceleration 		# [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
diff --git a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
index 3d618fe4de..26fa60194d 100644
--- a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+++ b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
@@ -256,8 +256,7 @@ void FwLateralLongitudinalControl::Run()
 			}
 
 			if (PX4_ISFINITE(_lat_control_sp.airspeed_direction)) {
-				airspeed_direction_sp = PX4_ISFINITE(airspeed_direction_sp) ? airspeed_direction_sp +
-							_lat_control_sp.airspeed_direction : _lat_control_sp.airspeed_direction;
+				airspeed_direction_sp = _lat_control_sp.airspeed_direction;
 			}
 
 			if (PX4_ISFINITE(airspeed_direction_sp)) {