diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index e7cf2b3fac..ee818d0f5f 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1231,12 +1231,12 @@ int commander_thread_main(int argc, char *argv[])
 
 			} else {
 				/* MISSION switch */
-				if (sp_man.mission_switch == SWITCH_POS_ON) {
+				if (sp_man.loiter_switch == SWITCH_POS_ON) {
 					/* stick is in LOITER position */
 					status.set_nav_state = NAV_STATE_LOITER;
 					status.set_nav_state_timestamp = hrt_absolute_time();
 
-				} else if (sp_man.mission_switch != SWITCH_POS_NONE) {
+				} else if (sp_man.loiter_switch != SWITCH_POS_NONE) {
 					/* stick is in MISSION position */
 					status.set_nav_state = NAV_STATE_MISSION;
 					status.set_nav_state_timestamp = hrt_absolute_time();
@@ -1296,7 +1296,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		// TODO remove this hack
 		/* flight termination in manual mode if assisted switch is on easy position */
-		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch == SWITCH_POS_ON) {
+		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.easy_switch == SWITCH_POS_ON) {
 			if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
 				tune_positive(armed.armed);
 			}
@@ -1528,7 +1528,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 		break;
 
 	case SWITCH_POS_MIDDLE:		// ASSISTED
-		if (sp_man->assisted_switch == SWITCH_POS_ON) {
+		if (sp_man->easy_switch == SWITCH_POS_ON) {
 			res = main_state_transition(status, MAIN_STATE_EASY);
 
 			if (res != TRANSITION_DENIED) {
@@ -1545,7 +1545,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 			break;	// changed successfully or already in this mode
 		}
 
-		if (sp_man->assisted_switch != SWITCH_POS_ON) {
+		if (sp_man->easy_switch != SWITCH_POS_ON) {
 			print_reject_mode(status, "SEATBELT");
 		}
 
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index c04e176a12..a34f819235 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -620,7 +620,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_EASY_SW, 0);
 
 /**
  * Mission switch channel mapping.
@@ -629,7 +629,7 @@ PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_LOITER_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 04b74a6f57..469fc5ca04 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -253,8 +253,8 @@ private:
 
 		int rc_map_mode_sw;
 		int rc_map_return_sw;
-		int rc_map_assisted_sw;
-		int rc_map_mission_sw;
+		int rc_map_easy_sw;
+		int rc_map_loiter_sw;
 
 //		int rc_map_offboard_ctrl_mode_sw;
 
@@ -296,8 +296,8 @@ 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_easy_sw;
+		param_t rc_map_loiter_sw;
 
 //		param_t rc_map_offboard_ctrl_mode_sw;
 
@@ -507,8 +507,8 @@ 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_easy_sw = param_find("RC_MAP_EASY_SW");
+	_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");
 
@@ -650,11 +650,11 @@ Sensors::parameters_update()
 		warnx(paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
+	if (param_get(_parameter_handles.rc_map_easy_sw, &(_parameters.rc_map_easy_sw)) != OK) {
 		warnx(paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
+	if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
 		warnx(paramerr);
 	}
 
@@ -681,8 +681,8 @@ 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[EASY] = _parameters.rc_map_easy_sw - 1;
+	_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
 
 	_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
 
@@ -1415,8 +1415,8 @@ Sensors::rc_poll()
 
 			/* mode switches */
 			manual.mode_switch = get_rc_switch_position(MODE);
-			manual.assisted_switch = get_rc_switch_position(ASSISTED);
-			manual.mission_switch = get_rc_switch_position(MISSION);
+			manual.easy_switch = get_rc_switch_position(EASY);
+			manual.loiter_switch = get_rc_switch_position(LOITER);
 			manual.return_switch = get_rc_switch_position(RETURN);
 
 			/* publish manual_control_setpoint topic */
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index 2b3a337b29..b6257e22a6 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -78,8 +78,8 @@ 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 */
-	switch_pos_t assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
-	switch_pos_t mission_switch;		/**< mission 2 position switch (optional): mission, loiter */
+	switch_pos_t easy_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
+	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 3246a39dd6..d99203ff65 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -64,8 +64,8 @@ enum RC_CHANNELS_FUNCTION {
 	YAW      = 3,
 	MODE = 4,
 	RETURN = 5,
-	ASSISTED = 6,
-	MISSION = 7,
+	EASY = 6,
+	LOITER = 7,
 	OFFBOARD_MODE = 8,
 	FLAPS   = 9,
 	AUX_1   = 10,