diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp
index 3579fe42b8..0361c32fe4 100644
--- a/src/lib/tecs/TECS.cpp
+++ b/src/lib/tecs/TECS.cpp
@@ -88,12 +88,14 @@ void TECS::update_vehicle_state_estimates(float equivalent_airspeed, const float
 
 	// Update and average speed rate of change if airspeed is being measured
 	if (PX4_ISFINITE(equivalent_airspeed) && airspeed_sensor_enabled()) {
+		_tas_rate_raw = speed_deriv_forward;
 		// Apply some noise filtering
 		_TAS_rate_filter.update(speed_deriv_forward);
-		_speed_derivative = _TAS_rate_filter.getState();
+		_tas_rate_filtered = _TAS_rate_filter.getState();
 
 	} else {
-		_speed_derivative = 0.0f;
+		_tas_rate_raw = 0.0f;
+		_tas_rate_filtered = 0.0f;
 	}
 
 	if (!_in_air) {
@@ -141,7 +143,7 @@ void TECS::_update_speed_states(float equivalent_airspeed_setpoint, float equiva
 
 	// Update TAS state
 	_tas_rate_state = _tas_rate_state + tas_rate_state_input * dt;
-	float tas_state_input = _tas_rate_state + _speed_derivative + tas_error * _tas_estimate_freq * 1.4142f;
+	float tas_state_input = _tas_rate_state + _tas_rate_raw + tas_error * _tas_estimate_freq * 1.4142f;
 	_tas_state = _tas_state + tas_state_input * dt;
 
 	// Limit the TAS state to a minimum of 3 m/s
@@ -260,7 +262,7 @@ void TECS::_update_energy_estimates()
 
 	// Calculate specific energy rates in units of (m**2/sec**3)
 	_SPE_rate = _vert_vel_state * CONSTANTS_ONE_G; // potential energy rate of change
-	_SKE_rate = _tas_state * _speed_derivative;// kinetic energy rate of change
+	_SKE_rate = _tas_state * _tas_rate_filtered;// kinetic energy rate of change
 }
 
 void TECS::_update_throttle_setpoint(const float throttle_cruise)
diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp
index f3ced9bfa3..207991a973 100644
--- a/src/lib/tecs/TECS.hpp
+++ b/src/lib/tecs/TECS.hpp
@@ -149,7 +149,7 @@ public:
 
 	float get_EAS_setpoint() { return _EAS_setpoint; };
 	float TAS_rate_setpoint() { return _TAS_rate_setpoint; }
-	float speed_derivative() { return _speed_derivative; }
+	float speed_derivative() { return _tas_rate_filtered; }
 
 	float STE_error() { return _STE_error; }
 	float STE_rate_error() { return _STE_rate_error; }
@@ -239,7 +239,7 @@ private:
 	float _pitch_integ_state{0.0f};					///< pitch integrator state (rad)
 	float _last_throttle_setpoint{0.0f};				///< throttle demand rate limiter state (1/sec)
 	float _last_pitch_setpoint{0.0f};				///< pitch demand rate limiter state (rad/sec)
-	float _speed_derivative{0.0f};					///< rate of change of speed along X axis (m/sec**2)
+	float _tas_rate_filtered{0.0f};					///< low pass filtered rate of change of speed along X axis (m/sec**2)
 
 	// speed demand calculations
 	float _EAS{0.0f};						///< equivalent airspeed (m/sec)
@@ -250,6 +250,7 @@ private:
 	float _EAS_setpoint{0.0f};					///< Equivalent airspeed demand (m/sec)
 	float _TAS_setpoint_adj{0.0f};					///< true airspeed demand tracked by the TECS algorithm (m/sec)
 	float _TAS_rate_setpoint{0.0f};					///< true airspeed rate demand tracked by the TECS algorithm (m/sec**2)
+	float _tas_rate_raw{0.0f};					///< true airspeed rate, calculated as inertial acceleration in body X direction
 
 	// height demand calculations
 	float _hgt_setpoint{0.0f};					///< demanded height tracked by the TECS algorithm (m)