diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
index 0997126a51..6ebd2baf64 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
@@ -1346,6 +1346,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			local_pos.evh = 0.0f;
 			local_pos.evv = 0.0f;
 
+			// this estimator does not provide a separate vertical position time derivative estimate, so use the vertical velocity
+			local_pos.z_deriv = z_est[1];
+
 			if (local_pos.dist_bottom_valid) {
 				local_pos.dist_bottom = dist_ground;
 				local_pos.dist_bottom_rate = - z_est[1];
@@ -1371,6 +1374,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				global_pos.vel_e = local_pos.vy;
 				global_pos.vel_d = local_pos.vz;
 
+				// this estimator does not provide a separate vertical position time derivative estimate, so use the vertical velocity
+				global_pos.pos_d_deriv = local_pos.vz;
+
 				global_pos.yaw = local_pos.yaw;
 
 				global_pos.eph = eph;