diff --git a/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/attitude.hpp b/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/attitude.hpp
index 5ff57dc..0c0dd17 100644
--- a/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/attitude.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/attitude.hpp
@@ -28,7 +28,7 @@ class AttitudeSetpointType : public SetpointBase
 
   void update(
     const Eigen::Quaternionf & attidude_setpoint,
-    const Eigen::Vector3f & thrust_setpoint_ned, float yaw_sp_move_rate_rad_s = 0.F);
+    const Eigen::Vector3f & thrust_setpoint_frd, float yaw_sp_move_rate_rad_s = 0.F);
 
 private:
   rclcpp::Node & _node;
diff --git a/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/rates.hpp b/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/rates.hpp
index 061b9bb..6b22c7b 100644
--- a/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/rates.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/rates.hpp
@@ -28,7 +28,7 @@ class RatesSetpointType : public SetpointBase
 
   void update(
     const Eigen::Vector3f & rate_setpoints_ned_rad,
-    const Eigen::Vector3f & thrust_setpoint_ned);
+    const Eigen::Vector3f & thrust_setpoint_frd);
 
 private:
   rclcpp::Node & _node;
diff --git a/px4_ros2_cpp/src/control/setpoint_types/experimental/attitude.cpp b/px4_ros2_cpp/src/control/setpoint_types/experimental/attitude.cpp
index 0612e85..5b25654 100644
--- a/px4_ros2_cpp/src/control/setpoint_types/experimental/attitude.cpp
+++ b/px4_ros2_cpp/src/control/setpoint_types/experimental/attitude.cpp
@@ -19,7 +19,7 @@ AttitudeSetpointType::AttitudeSetpointType(Context & context)
 
 void AttitudeSetpointType::update(
   const Eigen::Quaternionf & attidude_setpoint,
-  const Eigen::Vector3f & thrust_setpoint_ned,
+  const Eigen::Vector3f & thrust_setpoint_frd,
   float yaw_sp_move_rate_rad_s)
 {
   onUpdate();
@@ -29,9 +29,9 @@ void AttitudeSetpointType::update(
   sp.q_d[1] = attidude_setpoint.x();
   sp.q_d[2] = attidude_setpoint.y();
   sp.q_d[3] = attidude_setpoint.z();
-  sp.thrust_body[0] = thrust_setpoint_ned(0);
-  sp.thrust_body[1] = thrust_setpoint_ned(1);
-  sp.thrust_body[2] = thrust_setpoint_ned(2);
+  sp.thrust_body[0] = thrust_setpoint_frd(0);
+  sp.thrust_body[1] = thrust_setpoint_frd(1);
+  sp.thrust_body[2] = thrust_setpoint_frd(2);
   sp.yaw_sp_move_rate = yaw_sp_move_rate_rad_s;
   sp.timestamp = _node.get_clock()->now().nanoseconds() / 1000;
   _vehicle_attitude_setpoint_pub->publish(sp);
diff --git a/px4_ros2_cpp/src/control/setpoint_types/experimental/rates.cpp b/px4_ros2_cpp/src/control/setpoint_types/experimental/rates.cpp
index 29bbd57..312b368 100644
--- a/px4_ros2_cpp/src/control/setpoint_types/experimental/rates.cpp
+++ b/px4_ros2_cpp/src/control/setpoint_types/experimental/rates.cpp
@@ -19,7 +19,7 @@ RatesSetpointType::RatesSetpointType(Context & context)
 
 void RatesSetpointType::update(
   const Eigen::Vector3f & rate_setpoints_ned_rad,
-  const Eigen::Vector3f & thrust_setpoint_ned)
+  const Eigen::Vector3f & thrust_setpoint_frd)
 {
   onUpdate();
 
@@ -27,9 +27,9 @@ void RatesSetpointType::update(
   sp.roll = rate_setpoints_ned_rad(0);
   sp.pitch = rate_setpoints_ned_rad(1);
   sp.yaw = rate_setpoints_ned_rad(2);
-  sp.thrust_body[0] = thrust_setpoint_ned(0);
-  sp.thrust_body[1] = thrust_setpoint_ned(1);
-  sp.thrust_body[2] = thrust_setpoint_ned(2);
+  sp.thrust_body[0] = thrust_setpoint_frd(0);
+  sp.thrust_body[1] = thrust_setpoint_frd(1);
+  sp.thrust_body[2] = thrust_setpoint_frd(2);
   sp.timestamp = _node.get_clock()->now().nanoseconds() / 1000;
   _vehicle_rates_setpoint_pub->publish(sp);
 }