diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index 30e51bab9d..1f8374209a 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -611,6 +611,9 @@ void BlockLocalPositionEstimator::publishLocalPos()
 		_pub_lpos.get().vy = xLP(X_vy); // east
 		_pub_lpos.get().vz = xLP(X_vz); // down
 
+		// this estimator does not provide a separate vertical position time derivative estimate, so use the vertical velocity
+		_pub_lpos.get().z_deriv = xLP(X_vz);
+
 		_pub_lpos.get().yaw = _eul(2);
 		_pub_lpos.get().xy_global = _estimatorInitialized & EST_XY;
 		_pub_lpos.get().z_global = !(_sensorTimeout & SENSOR_BARO);
@@ -691,6 +694,10 @@ void BlockLocalPositionEstimator::publishGlobalPos()
 		_pub_gpos.get().vel_n = xLP(X_vx);
 		_pub_gpos.get().vel_e = xLP(X_vy);
 		_pub_gpos.get().vel_d = xLP(X_vz);
+
+		// this estimator does not provide a separate vertical position time derivative estimate, so use the vertical velocity
+		_pub_gpos.get().pos_d_deriv = xLP(X_vz);
+
 		_pub_gpos.get().yaw = _eul(2);
 		_pub_gpos.get().eph = eph;
 		_pub_gpos.get().epv = epv;