diff --git a/msg/TecsStatus.msg b/msg/TecsStatus.msg
index d6207a1511..0c16fba2d1 100644
--- a/msg/TecsStatus.msg
+++ b/msg/TecsStatus.msg
@@ -1,7 +1,7 @@
 uint64 timestamp		# time since system start (microseconds)
 
 float32 altitude_sp			# Altitude setpoint AMSL [m]
-float32 altitude_sp_filtered		# Altitude setpoint filtered AMSL [m]
+float32 altitude_sp_ref			# Altitude setpoint reference AMSL [m]
 float32 height_rate_setpoint		# Height rate setpoint [m/s]
 float32 height_rate			# Height rate [m/s]
 float32 equivalent_airspeed_sp		# Equivalent airspeed setpoint [m/s]
diff --git a/src/modules/fw_path_navigation/FixedwingPositionControl.cpp b/src/modules/fw_path_navigation/FixedwingPositionControl.cpp
index ea388bf4be..6ef6322b01 100644
--- a/src/modules/fw_path_navigation/FixedwingPositionControl.cpp
+++ b/src/modules/fw_path_navigation/FixedwingPositionControl.cpp
@@ -483,7 +483,7 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air
 	}
 
 	tecs_status.altitude_sp = alt_sp;
-	tecs_status.altitude_sp_filtered = debug_output.altitude_sp_ref;
+	tecs_status.altitude_sp_ref = debug_output.altitude_sp_ref;
 	tecs_status.height_rate_setpoint = debug_output.control.altitude_rate_control;
 	tecs_status.height_rate = -_local_pos.vz;
 	tecs_status.equivalent_airspeed_sp = equivalent_airspeed_sp;