diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index d5f05c9916..50380107d0 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1228,11 +1228,8 @@ int commander_thread_main(int argc, char *argv[])
 				status.set_nav_state_timestamp = hrt_absolute_time();
 
 			} else {
-<<<<<<< HEAD
+
 				/* LOITER switch */
-=======
-				/* MISSION switch */
->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
 				if (sp_man.loiter_switch == SWITCH_POS_ON) {
 					/* stick is in LOITER position */
 					status.set_nav_state = NAV_STATE_LOITER;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 9a750db12e..6449c5283b 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -255,11 +255,7 @@ private:
 
 		int rc_map_mode_sw;
 		int rc_map_return_sw;
-<<<<<<< HEAD
 		int rc_map_easy_sw;
-=======
-		int rc_map_assisted_sw;
->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
 		int rc_map_loiter_sw;
 
 //		int rc_map_offboard_ctrl_mode_sw;
@@ -313,11 +309,7 @@ private:
 
 		param_t rc_map_mode_sw;
 		param_t rc_map_return_sw;
-<<<<<<< HEAD
 		param_t rc_map_easy_sw;
-=======
-		param_t rc_map_assisted_sw;
->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
 		param_t rc_map_loiter_sw;
 
 //		param_t rc_map_offboard_ctrl_mode_sw;
@@ -534,11 +526,7 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
 
 	/* optional mode switches, not mapped per default */
-<<<<<<< HEAD
 	_parameter_handles.rc_map_easy_sw = param_find("RC_MAP_EASY_SW");
-=======
-	_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
 	_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
 
 //	_parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@@ -679,7 +667,7 @@ Sensors::parameters_update()
 	}
 
 	if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
@@ -690,21 +678,12 @@ Sensors::parameters_update()
 		warnx("%s", paramerr);
 	}
 
-<<<<<<< HEAD
 	if (param_get(_parameter_handles.rc_map_easy_sw, &(_parameters.rc_map_easy_sw)) != OK) {
-		warnx(paramerr);
-	}
-
-	if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
-		warnx(paramerr);
-=======
-	if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
 		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
 		warnx("%s", paramerr);
->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
 	}
 
 	if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
@@ -745,11 +724,7 @@ Sensors::parameters_update()
 
 	_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
 	_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
-<<<<<<< HEAD
 	_rc.function[EASY] = _parameters.rc_map_easy_sw - 1;
-=======
-	_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
 	_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
 
 	_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1502,17 +1477,10 @@ Sensors::rc_poll()
 			manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
 
 			/* mode switches */
-<<<<<<< HEAD
 			manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assisted_th, _parameters.rc_assisted_inv);
 			manual.easy_switch = get_rc_sw2pos_position(EASY, _parameters.rc_easy_th, _parameters.rc_easy_inv);
 			manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
 			manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
-=======
-			manual.mode_switch = get_rc_switch_position(MODE);
-			manual.assisted_switch = get_rc_switch_position(ASSISTED);
-			manual.loiter_switch = get_rc_switch_position(LOITER);
-			manual.return_switch = get_rc_switch_position(RETURN);
->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
 
 			/* publish manual_control_setpoint topic */
 			if (_manual_control_pub > 0) {
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index c61987df62..b6257e22a6 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -78,11 +78,7 @@ struct manual_control_setpoint_s {
 
 	switch_pos_t mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
 	switch_pos_t return_switch;			/**< land 2 position switch (mandatory): land, no effect */
-<<<<<<< HEAD
 	switch_pos_t easy_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
-=======
-	switch_pos_t assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
 	switch_pos_t loiter_switch;		/**< mission 2 position switch (optional): mission, loiter */
 }; /**< manual control inputs */
 
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index df651e78d5..d99203ff65 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -64,11 +64,7 @@ enum RC_CHANNELS_FUNCTION {
 	YAW      = 3,
 	MODE = 4,
 	RETURN = 5,
-<<<<<<< HEAD
 	EASY = 6,
-=======
-	ASSISTED = 6,
->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
 	LOITER = 7,
 	OFFBOARD_MODE = 8,
 	FLAPS   = 9,