diff --git a/Rover/RC_Channel.cpp b/Rover/RC_Channel.cpp
index 5c31b9f6c1..bffb6f81ba 100644
--- a/Rover/RC_Channel.cpp
+++ b/Rover/RC_Channel.cpp
@@ -28,7 +28,7 @@ void RC_Channel_Rover::mode_switch_changed(modeswitch_pos_t new_pos)
 }
 
 // init_aux_switch_function - initialize aux functions
-void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
+void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
 {
     // init channel options
     switch (ch_option) {
@@ -74,16 +74,16 @@ RC_Channel * RC_Channels_Rover::get_arming_channel(void) const
 }
 
 void RC_Channel_Rover::do_aux_function_change_mode(Mode &mode,
-        const aux_switch_pos_t ch_flag)
+        const AuxSwitchPos ch_flag)
 {
     switch (ch_flag) {
-    case HIGH:
+    case AuxSwitchPos::HIGH:
         rover.set_mode(mode, ModeReason::RC_COMMAND);
         break;
-    case MIDDLE:
+    case AuxSwitchPos::MIDDLE:
         // do nothing
         break;
-    case LOW:
+    case AuxSwitchPos::LOW:
         if (rover.control_mode == &mode) {
             rc().reset_mode_switch();
         }
@@ -107,28 +107,28 @@ void RC_Channel_Rover::add_waypoint_for_current_loc()
     }
 }
 
-void RC_Channel_Rover::do_aux_function_sailboat_motor_3pos(const aux_switch_pos_t ch_flag)
+void RC_Channel_Rover::do_aux_function_sailboat_motor_3pos(const AuxSwitchPos ch_flag)
 {
     switch (ch_flag) {
-    case HIGH:
+    case AuxSwitchPos::HIGH:
         rover.g2.sailboat.set_motor_state(Sailboat::UseMotor::USE_MOTOR_ALWAYS);
         break;
-    case MIDDLE:
+    case AuxSwitchPos::MIDDLE:
         rover.g2.sailboat.set_motor_state(Sailboat::UseMotor::USE_MOTOR_ASSIST);
         break;
-    case LOW:
+    case AuxSwitchPos::LOW:
         rover.g2.sailboat.set_motor_state(Sailboat::UseMotor::USE_MOTOR_NEVER);
         break;
     }
 }
 
-void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
+void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
 {
     switch (ch_option) {
     case AUX_FUNC::DO_NOTHING:
         break;
     case AUX_FUNC::SAVE_WP:
-        if (ch_flag == HIGH) {
+        if (ch_flag == AuxSwitchPos::HIGH) {
             // do nothing if in AUTO mode
             if (rover.control_mode == &rover.mode_auto) {
                 return;
@@ -156,7 +156,7 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
 
     // learn cruise speed and throttle
     case AUX_FUNC::LEARN_CRUISE:
-        if (ch_flag == HIGH) {
+        if (ch_flag == AuxSwitchPos::HIGH) {
             rover.cruise_learn_start();
         }
         break;
@@ -235,7 +235,7 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
     case AUX_FUNC::SAVE_TRIM:
         if (!rover.g2.motors.have_skid_steering() && rover.arming.is_armed() &&
             (rover.control_mode != &rover.mode_loiter)
-            && (rover.control_mode != &rover.mode_hold) && ch_flag == HIGH) {
+            && (rover.control_mode != &rover.mode_hold) && ch_flag == AuxSwitchPos::HIGH) {
             SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_steering);
             gcs().send_text(MAV_SEVERITY_CRITICAL, "Steering trim saved!");
         }
diff --git a/Rover/RC_Channel.h b/Rover/RC_Channel.h
index 3cadee375f..d06854e61f 100644
--- a/Rover/RC_Channel.h
+++ b/Rover/RC_Channel.h
@@ -11,8 +11,8 @@ public:
 
 protected:
 
-    void init_aux_function(aux_func_t ch_option, aux_switch_pos_t) override;
-    void do_aux_function(aux_func_t ch_option, aux_switch_pos_t) override;
+    void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
+    void do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
 
     // called when the mode switch changes position:
     void mode_switch_changed(modeswitch_pos_t new_pos) override;
@@ -20,11 +20,11 @@ protected:
 private:
 
     void do_aux_function_change_mode(Mode &mode,
-                                     const aux_switch_pos_t ch_flag);
+                                     const AuxSwitchPos ch_flag);
 
     void add_waypoint_for_current_loc();
 
-    void do_aux_function_sailboat_motor_3pos(const aux_switch_pos_t ch_flag);
+    void do_aux_function_sailboat_motor_3pos(const AuxSwitchPos ch_flag);
 };
 
 class RC_Channels_Rover : public RC_Channels