diff --git a/flight/modules/Attitude/revolution/attitude.c b/flight/modules/Attitude/revolution/attitude.c
index d502d1c8b..0ca789199 100644
--- a/flight/modules/Attitude/revolution/attitude.c
+++ b/flight/modules/Attitude/revolution/attitude.c
@@ -650,7 +650,7 @@ static int32_t updateAttitudeComplementary(bool first_run)
         if (airspeedSensor.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE) {
             // we have airspeed available
             airspeed.CalibratedAirspeed = airspeedSensor.CalibratedAirspeed;
-            airspeed.TrueAirspeed = airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - positionState.Down);
+            airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
             AirspeedStateSet(&airspeed);
         }
     }
@@ -1078,7 +1078,8 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
         AirspeedStateGet(&airspeed);
 
         airspeed.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
-        airspeed.TrueAirspeed = airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - Nav.Pos[2]);
+        airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
+        
         AirspeedStateSet(&airspeed);
 
         if (!gps_vel_updated && !gps_updated) {
diff --git a/flight/modules/StateEstimation/filterair.c b/flight/modules/StateEstimation/filterair.c
index 3ed89b99d..3c1308f5a 100644
--- a/flight/modules/StateEstimation/filterair.c
+++ b/flight/modules/StateEstimation/filterair.c
@@ -78,7 +78,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
         this->altitude = state->baro[0];
     }
     // calculate true airspeed estimation
-    if (IS_SET(state->updated, SENSORUPDATES_airspeed)) {
+    if (IS_SET(state->updated, SENSORUPDATES_airspeed) && (state->airspeed[1]<0.f) ) {
         state->airspeed[1] = state->airspeed[0] * IAS2TAS(this->altitude);
     }
 
diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c
index bff326c87..b8dbe8e61 100644
--- a/flight/modules/StateEstimation/stateestimation.c
+++ b/flight/modules/StateEstimation/stateestimation.c
@@ -85,6 +85,18 @@
             UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
         } \
     }
+#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, a2, EXTRACHECK) \
+    if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
+        sensorname##Data s; \
+        sensorname##Get(&s); \
+        if (IS_REAL(s.a1) && IS_REAL(s.a2) && EXTRACHECK) { \
+            states.shortname[0] = s.a1; \
+            states.shortname[1] = s.a2; \
+        } \
+        else { \
+            UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
+        } \
+    }
 
 // local macros, ONLY to be used in the middle of StateEstimationCb in section RUNSTATE_SAVE before the check of alarms!
 #define EXPORT_STATE_TO_UAVOBJECT_IF_UPDATED_3_DIMENSIONS(statename, shortname, a1, a2, a3) \
@@ -379,8 +391,10 @@ static void StateEstimationCb(void)
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(MagSensor, mag, x, y, z);
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GPSVelocitySensor, vel, North, East, Down);
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(BaroSensor, baro, Altitude, true);
-        FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
-        states.airspeed[1] = 0.0f; // sensor does not provide true airspeed, needs to be calculated by filter, set to zero for now
+        FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, TrueAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
+//         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
+//         states.airspeed[1] = 0.0f; // sensor does not provide true airspeed, needs to be calculated by filter, set to zero for now
+        
         // GPS position data (LLA) is not fetched here since it does not contain floats. The filter must do all checks itself
 
         // at this point sensor state is stored in "states" with some rudimentary filtering applied