diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index 352ea501ce..2511eef767 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -565,6 +565,7 @@ void FixedwingAttitudeControl::run()
 
 				/* if airspeed is non-finite or not valid or if we are asked not to control it, we assume the normal average speed */
 				const bool airspeed_valid = PX4_ISFINITE(_airspeed_sub.get().indicated_airspeed_m_s)
+							    && (_airspeed_sub.get().indicated_airspeed_m_s > 0.0f)
 							    && (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1e6);
 
 				if (!_parameters.airspeed_disabled && airspeed_valid) {
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index 4aeace4805..2389fafdcf 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -372,16 +372,21 @@ FixedwingPositionControl::manual_control_setpoint_poll()
 void
 FixedwingPositionControl::airspeed_poll()
 {
-	if (!_parameters.airspeed_disabled && _sub_airspeed.updated()) {
-		_sub_airspeed.update();
-		_airspeed_valid = PX4_ISFINITE(_sub_airspeed.get().indicated_airspeed_m_s)
-				  && PX4_ISFINITE(_sub_airspeed.get().true_airspeed_m_s);
-		_airspeed_last_received = hrt_absolute_time();
-		_airspeed = _sub_airspeed.get().indicated_airspeed_m_s;
+	if (!_parameters.airspeed_disabled && _sub_airspeed.update()) {
 
-		if (_sub_airspeed.get().indicated_airspeed_m_s > 0.0f
-		    && _sub_airspeed.get().true_airspeed_m_s > _sub_airspeed.get().indicated_airspeed_m_s) {
-			_eas2tas = max(_sub_airspeed.get().true_airspeed_m_s / _sub_airspeed.get().indicated_airspeed_m_s, 1.0f);
+		const airspeed_s &airspeed = _sub_airspeed.get();
+
+		_airspeed_valid = PX4_ISFINITE(airspeed.indicated_airspeed_m_s)
+				  && PX4_ISFINITE(airspeed.true_airspeed_m_s)
+				  && (airspeed.indicated_airspeed_m_s > 0.0f);
+
+		_airspeed_last_received = hrt_absolute_time();
+		_airspeed = airspeed.indicated_airspeed_m_s;
+
+		if (_airspeed_valid
+		    && airspeed.true_airspeed_m_s > airspeed.indicated_airspeed_m_s) {
+
+			_eas2tas = max(airspeed.true_airspeed_m_s / airspeed.indicated_airspeed_m_s, 1.0f);
 
 		} else {
 			_eas2tas = 1.0f;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index e561acc01d..aa42e34b93 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -342,18 +342,17 @@ Sensors::diff_pres_poll(const vehicle_air_data_s &raw)
 		}
 
 		/* don't risk to feed negative airspeed into the system */
-		airspeed.indicated_airspeed_m_s = math::max(0.0f,
-						  calc_indicated_airspeed_corrected((enum AIRSPEED_COMPENSATION_MODEL)_parameters.air_cmodel,
-								  smodel, _parameters.air_tube_length, _parameters.air_tube_diameter_mm,
-								  diff_pres.differential_pressure_filtered_pa, raw.baro_pressure_pa,
-								  air_temperature_celsius));
+		airspeed.indicated_airspeed_m_s = calc_indicated_airspeed_corrected((enum AIRSPEED_COMPENSATION_MODEL)
+						  _parameters.air_cmodel,
+						  smodel, _parameters.air_tube_length, _parameters.air_tube_diameter_mm,
+						  diff_pres.differential_pressure_filtered_pa, raw.baro_pressure_pa,
+						  air_temperature_celsius);
 
-		airspeed.true_airspeed_m_s = math::max(0.0f,
-						       calc_true_airspeed_from_indicated(airspeed.indicated_airspeed_m_s, raw.baro_pressure_pa, air_temperature_celsius));
+		airspeed.true_airspeed_m_s = calc_true_airspeed_from_indicated(airspeed.indicated_airspeed_m_s, raw.baro_pressure_pa,
+					     air_temperature_celsius);
 
-		airspeed.true_airspeed_unfiltered_m_s = math::max(0.0f,
-							calc_true_airspeed(diff_pres.differential_pressure_raw_pa + raw.baro_pressure_pa, raw.baro_pressure_pa,
-									air_temperature_celsius));
+		airspeed.true_airspeed_unfiltered_m_s = calc_true_airspeed(diff_pres.differential_pressure_raw_pa +
+							raw.baro_pressure_pa, raw.baro_pressure_pa, air_temperature_celsius);
 
 		airspeed.air_temperature_celsius = air_temperature_celsius;
 
diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index 8ad2093b13..506f810f40 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -245,8 +245,10 @@ void Standard::update_transition_state()
 
 		// do blending of mc and fw controls if a blending airspeed has been provided and the minimum transition time has passed
 		if (_airspeed_trans_blend_margin > 0.0f &&
+		    _airspeed->indicated_airspeed_m_s > 0.0f &&
 		    _airspeed->indicated_airspeed_m_s >= _params->airspeed_blend &&
 		    time_since_trans_start > _params->front_trans_time_min) {
+
 			mc_weight = 1.0f - fabsf(_airspeed->indicated_airspeed_m_s - _params->airspeed_blend) /
 				    _airspeed_trans_blend_margin;
 			// time based blending when no airspeed sensor is set