diff --git a/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
index 49d5b4f396..4c9ba8c086 100644
--- a/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
@@ -94,7 +94,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
 		updateAirspeed(airspeed_sample, _aid_src_airspeed);
 
 		const bool continuing_conditions_passing = _control_status.flags.in_air && (_control_status.flags.fixed_wing
-				|| _control_status.flags.in_transition_to_fw)
+				|| _control_status.flags.in_transition)
 				&& !_control_status.flags.fake_pos;
 
 		const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.ekf2_arsp_thr;
diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h
index 982cb4c1af..b4730e77d2 100644
--- a/src/modules/ekf2/EKF/common.h
+++ b/src/modules/ekf2/EKF/common.h
@@ -268,7 +268,7 @@ struct systemFlagUpdate {
 	bool is_fixed_wing{false};
 	bool gnd_effect{false};
 	bool constant_pos{false};
-	bool in_transition_to_fw{false};
+	bool in_transition{false};
 };
 
 struct parameters {
@@ -593,7 +593,7 @@ uint64_t gnss_fault              :
 		uint64_t yaw_manual              : 1; ///< 46 - true if yaw has been reset manually
 uint64_t gnss_hgt_fault              :
 		1; ///< 47 - true if GNSS measurements (alt) have been declared faulty and are no longer used
-		uint64_t in_transition_to_fw 	 : 1; ///< 48 - true if the vehicle is in transition to fw
+		uint64_t in_transition 	         : 1; ///< 48 - true if the vehicle is in vtol transition
 
 	} flags;
 	uint64_t value;
diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index caf3e0108a..4fbb5a7545 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -58,7 +58,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
 			set_in_air_status(system_flags_delayed.in_air);
 
 			set_is_fixed_wing(system_flags_delayed.is_fixed_wing);
-			set_in_transition_to_fw(system_flags_delayed.in_transition_to_fw);
+			set_in_transition(system_flags_delayed.in_transition);
 
 			if (system_flags_delayed.gnd_effect) {
 				set_gnd_effect();
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index 55148e2fd5..73b3ce2817 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -197,7 +197,7 @@ public:
 	// set vehicle is fixed wing status
 	void set_is_fixed_wing(bool is_fixed_wing) { _control_status.flags.fixed_wing = is_fixed_wing; }
 
-	void set_in_transition_to_fw(bool in_transition) { _control_status.flags.in_transition_to_fw = in_transition; }
+	void set_in_transition(bool in_transition) { _control_status.flags.in_transition = in_transition; }
 
 	// set flag if static pressure rise due to ground effect is expected
 	// use _params.ekf2_gnd_eff_dz to adjust for expected rise in static pressure
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 8e938204e2..29f194b4c7 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -2608,7 +2608,7 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps)
 
 			// let the EKF know if the vehicle motion is that of a fixed wing (forward flight only relative to wind)
 			flags.is_fixed_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
-			flags.in_transition_to_fw = vehicle_status.in_transition_to_fw;
+			flags.in_transition = vehicle_status.in_transition_mode;
 
 #if defined(CONFIG_EKF2_SIDESLIP)