diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index c015a1564c..b883bbf3d2 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -132,7 +132,7 @@ FixedwingPositionControl::parameters_update()
 	_tecs.set_seb_rate_ff_gain(_param_seb_rate_ff.get());
 
 	_tecs.set_speed_weight_eco(_param_fw_t_spdweight_eco.get());
-	_tecs.set_height_error_time_constant_eco(_param_fw_t_h_error_tc_eco.get());
+	_tecs.set_height_error_time_constant_eco(_param_fw_t_alt_tc_eco.get());
 
 
 	// Landing slope
@@ -443,7 +443,7 @@ FixedwingPositionControl::get_cruise_airspeed_setpoint(const hrt_abstime &now, c
 void
 FixedwingPositionControl::updateSpeedMode()
 {
-	FW_SPEED_MODE_COMMANDED new_mode = static_cast<FW_SPEED_MODE_COMMANDED>(_fw_spd_mode_set.get());
+	FW_SPEED_MODE_COMMANDED new_mode = static_cast<FW_SPEED_MODE_COMMANDED>(_param_fw_spd_mode_set.get());
 
 	switch (new_mode) {
 	case NORMAL:
@@ -495,9 +495,9 @@ FixedwingPositionControl::updateSpeedMode()
 void
 FixedwingPositionControl::check_eco_dash_allowed()
 {
-	const float altitude_amsl_min = max(_tecs.get_hgt_setpoint() - fw_alt_err_u.get(),
-					    _local_pos.ref_alt + fw_alt_min.get());
-	const float altitude_amsl_max = _tecs.get_hgt_setpoint() + fw_alt_err_o.get();
+	const float altitude_amsl_min = max(_tecs.get_hgt_setpoint() - _param_fw_spdm_alt_er_u.get(),
+					    _local_pos.ref_alt + _param_fw_alt_spdm_min.get());
+	const float altitude_amsl_max = _tecs.get_hgt_setpoint() + _param_fw_spdm_alt_er_o.get();
 
 	const bool altitdue_conditions_met = _current_altitude <= altitude_amsl_max
 					     && _current_altitude >= altitude_amsl_min;
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index fd4ffb58ea..45afb5242f 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -468,11 +468,11 @@ private:
 		//Speed mode params
 		(ParamFloat<px4::params::FW_WIND_ARSP_SC>) _param_fw_wind_arsp_sc,
 
-		(ParamInt<px4::params::FW_SPD_MODE_SET>) _fw_spd_mode_set,
-		(ParamFloat<px4::params::FW_ALT_MIN>) fw_alt_min,
-		(ParamFloat<px4::params::FW_ALT_ERR_U>) fw_alt_err_u,
-		(ParamFloat<px4::params::FW_ALT_ERR_O>) fw_alt_err_o,
-		(ParamFloat<px4::params::FW_T_ALT_TC_E>) _param_fw_t_h_error_tc_eco,
+		(ParamInt<px4::params::FW_SPD_MODE_SET>) _param_fw_spd_mode_set,
+		(ParamFloat<px4::params::FW_SPDM_ALT_MIN>) _param_fw_alt_spdm_min,
+		(ParamFloat<px4::params::FW_SPDM_ALT_ER_U>) _param_fw_spdm_alt_er_u,
+		(ParamFloat<px4::params::FW_SPDM_ALT_ER_O>) _param_fw_spdm_alt_er_o,
+		(ParamFloat<px4::params::FW_T_ALT_TC_E>) _param_fw_t_alt_tc_eco,
 		(ParamFloat<px4::params::FW_T_SPDWEIGHT_E>) _param_fw_t_spdweight_eco,
 		(ParamFloat<px4::params::FW_T_CLMB_R_SP_E>) _param_fw_t_clmb_r_sp_eco
 	)
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 22cbd515b9..f159746d28 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -901,7 +901,7 @@ PARAM_DEFINE_INT32(FW_SPD_MODE_SET, 0);
  * @increment 0.1
  * @group FW TECS
  */
-PARAM_DEFINE_FLOAT(FW_ALT_ERR_U, 10.f);
+PARAM_DEFINE_FLOAT(FW_SPDM_ALT_ER_U, 10.f);
 
 /**
  * Max altitude overshoot for Eco/Dash
@@ -914,7 +914,7 @@ PARAM_DEFINE_FLOAT(FW_ALT_ERR_U, 10.f);
  * @increment 0.1
  * @group FW TECS
  */
-PARAM_DEFINE_FLOAT(FW_ALT_ERR_O, 20.f);
+PARAM_DEFINE_FLOAT(FW_SPDM_ALT_ER_O, 20.f);
 
 /**
  * Min altitude for Eco/Dash
@@ -927,7 +927,7 @@ PARAM_DEFINE_FLOAT(FW_ALT_ERR_O, 20.f);
  * @increment 0.1
  * @group FW TECS
  */
-PARAM_DEFINE_FLOAT(FW_ALT_MIN, 50.f);
+PARAM_DEFINE_FLOAT(FW_SPDM_ALT_MIN, 50.f);
 
 /**
  * Eco Mode: Speed <--> Altitude priority