diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
index 510a1877b5..d1c558c33c 100644
--- a/src/modules/flight_mode_manager/FlightModeManager.cpp
+++ b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -489,8 +489,8 @@ 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 thrust_sp{vehicle_local_position_setpoint.acceleration};
-			_current_task.task->updateVelocityControllerIO(vel_sp, thrust_sp);
+			const Vector3f acc_sp{vehicle_local_position_setpoint.acceleration};
+			_current_task.task->updateVelocityControllerIO(vel_sp, acc_sp);
 		}
 	}