diff --git a/src/modules/src/crtp_commander_generic.c b/src/modules/src/crtp_commander_generic.c
index 6b8a1b530c..3fd3179032 100644
--- a/src/modules/src/crtp_commander_generic.c
+++ b/src/modules/src/crtp_commander_generic.c
@@ -127,8 +127,8 @@ static void zDistanceDecoder(setpoint_t *setpoint, uint8_t type, const void *dat
 {
   const struct zDistancePacket_s *values = data;
 
-  ASSERT(datalen == sizeof(struct velocityPacket_s));
 
+  ASSERT(datalen == sizeof(struct zDistancePacket_s));
 
   setpoint->mode.z = modeAbs;
 
@@ -245,7 +245,7 @@ static void altHoldDecoder(setpoint_t *setpoint, uint8_t type, const void *data,
 {
   const struct altHoldPacket_s *values = data;
 
-  ASSERT(datalen == sizeof(struct velocityPacket_s));
+  ASSERT(datalen == sizeof(struct altHoldPacket_s));
 
 
   setpoint->mode.z = modeVelocity;
@@ -278,7 +278,7 @@ static void hoverDecoder(setpoint_t *setpoint, uint8_t type, const void *data, s
 {
   const struct hoverPacket_s *values = data;
 
-  ASSERT(datalen == sizeof(struct velocityPacket_s));
+  ASSERT(datalen == sizeof(struct hoverPacket_s));
 
   setpoint->mode.z = modeAbs;
   setpoint->position.z = values->zDistance;