diff --git a/src/lib/collision_prevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp
index 3d102beac9b9..7c663f667ae9 100644
--- a/src/lib/collision_prevention/CollisionPrevention.cpp
+++ b/src/lib/collision_prevention/CollisionPrevention.cpp
@@ -358,8 +358,8 @@ CollisionPrevention::_checkSetpointDirectionFeasability()
 
 	for (int i = 0; i < BIN_COUNT; i++) {
 		// check if our setpoint is either pointing in a direction where data exists, or if not, wether we are allowed to go where there is no data
-		if ((_obstacle_map_body_frame.distances[i] == UINT16_MAX && i == _setpoint_index) && (!_param_cp_go_nodata.get()
-				|| (_param_cp_go_nodata.get() && _data_fov[i]))) {
+		if ((_obstacle_map_body_frame.distances[i] == UINT16_MAX && i == _setpoint_index) && (!_param_cp_go_no_data.get()
+				|| (_param_cp_go_no_data.get() && _data_fov[i]))) {
 			setpoint_feasible =  false;
 
 		}
@@ -605,7 +605,7 @@ void CollisionPrevention::_getVelocityCompensationAcceleration(const float vehic
 			const float max_vel = math::trajectory::computeMaxSpeedFromDistance(_param_mpc_jerk_max.get(),
 					      _param_mpc_acc_hor.get(), stop_distance, 0.f);
 
-			const float curr_acc_vel_constraint = _param_mpc_vel_p_acc.get() * math::min((max_vel - curr_vel_parallel), 0.f);
+			const float curr_acc_vel_constraint = _param_mpc_xy_vel_p_acc.get() * math::min((max_vel - curr_vel_parallel), 0.f);
 
 			if (curr_acc_vel_constraint < vel_comp_accel) {
 				vel_comp_accel = curr_acc_vel_constraint;
diff --git a/src/lib/collision_prevention/CollisionPrevention.hpp b/src/lib/collision_prevention/CollisionPrevention.hpp
index 176bcf46cda6..8fcc7c28f3ec 100644
--- a/src/lib/collision_prevention/CollisionPrevention.hpp
+++ b/src/lib/collision_prevention/CollisionPrevention.hpp
@@ -196,11 +196,11 @@ class CollisionPrevention : public ModuleParams
 		(ParamFloat<px4::params::CP_DIST>) _param_cp_dist, 		/**< collision prevention keep minimum distance */
 		(ParamFloat<px4::params::CP_DELAY>) _param_cp_delay, 		/**< delay of the range measurement data*/
 		(ParamFloat<px4::params::CP_GUIDE_ANG>) _param_cp_guide_ang, 	/**< collision prevention change setpoint angle */
-		(ParamBool<px4::params::CP_GO_NO_DATA>) _param_cp_go_nodata, 	/**< movement allowed where no data*/
+		(ParamBool<px4::params::CP_GO_NO_DATA>) _param_cp_go_no_data, 	/**< movement allowed where no data*/
 		(ParamFloat<px4::params::MPC_XY_P>) _param_mpc_xy_p, 		/**< p gain from position controller*/
 		(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max, 	/**< vehicle maximum jerk*/
 		(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, 	/**< vehicle maximum horizontal acceleration*/
-		(ParamFloat<px4::params::MPC_XY_VEL_P_ACC>) _param_mpc_vel_p_acc, /**< p gain from velocity controller*/
+		(ParamFloat<px4::params::MPC_XY_VEL_P_ACC>) _param_mpc_xy_vel_p_acc, /**< p gain from velocity controller*/
 		(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual   /**< maximum velocity in manual flight mode*/
 	)