diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 3ed9efc8b4..d0af9e17bf 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -167,6 +167,7 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
 
 PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
 PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 6);
+PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
 
 //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 89d5cd374c..b38dc8d890 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -208,6 +208,7 @@ private:
 
 		int rc_map_mode_sw;
 		int rc_map_return_sw;
+		int rc_map_assisted_sw;
 		int rc_map_mission_sw;
 
 //		int rc_map_offboard_ctrl_mode_sw;
@@ -256,6 +257,7 @@ private:
 
 		param_t rc_map_mode_sw;
 		param_t rc_map_return_sw;
+		param_t rc_map_assisted_sw;
 		param_t rc_map_mission_sw;
 
 //		param_t rc_map_offboard_ctrl_mode_sw;
@@ -464,6 +466,7 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
 
 	/* optional mode switches, not mapped per default */
+	_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
 	_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
 
 //	_parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@@ -617,6 +620,10 @@ Sensors::parameters_update()
 		warnx("Failed getting return sw chan index");
 	}
 
+	if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
+		warnx("Failed getting assisted sw chan index");
+	}
+
 	if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
 		warnx("Failed getting mission sw chan index");
 	}
@@ -673,6 +680,7 @@ Sensors::parameters_update()
 
 	_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
 	_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
+	_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
 	_rc.function[MISSION] = _parameters.rc_map_mission_sw - 1;
 
 	_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1142,6 +1150,7 @@ Sensors::ppm_poll()
 
 		manual_control.mode_switch = NAN;
 		manual_control.return_switch = NAN;
+		manual_control.assisted_switch = NAN;
 		manual_control.mission_switch = NAN;
 //		manual_control.auto_offboard_input_switch = NAN;
 
@@ -1249,7 +1258,10 @@ Sensors::ppm_poll()
 		/* land switch input */
 		manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
 
-		/* land switch input */
+		/* assisted switch input */
+		manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
+
+		/* mission switch input */
 		manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
 
 		/* flaps */
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index a0bb25af46..2167e44a2b 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -53,9 +53,12 @@
 /**
  * The number of RC channel inputs supported.
  * Current (Q1/2013) radios support up to 18 channels,
- * leaving at a sane value of 14.
+ * leaving at a sane value of 15.
+ * This number can be greater then number of RC channels,
+ * because single RC channel can be mapped to multiple
+ * functions, e.g. for various mode switches.
  */
-#define RC_CHANNELS_MAX   14
+#define RC_CHANNELS_MAX   15
 
 /** 
  * This defines the mapping of the RC functions.
@@ -70,14 +73,15 @@ enum RC_CHANNELS_FUNCTION
   YAW      = 3,
   MODE = 4,
   RETURN = 5,
-  MISSION = 6,
-  OFFBOARD_MODE = 7,
-  FLAPS   = 8,
-  AUX_1   = 9,
-  AUX_2   = 10,
-  AUX_3   = 11,
-  AUX_4   = 12,
-  AUX_5   = 13,
+  ASSISTED = 6,
+  MISSION = 7,
+  OFFBOARD_MODE = 8,
+  FLAPS   = 9,
+  AUX_1   = 10,
+  AUX_2   = 11,
+  AUX_3   = 12,
+  AUX_4   = 13,
+  AUX_5   = 14,
   RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };