diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c
index b815eda3cc..b87f21dba8 100644
--- a/apps/px4io/comms.c
+++ b/apps/px4io/comms.c
@@ -171,8 +171,8 @@ comms_handle_command(const void *buffer, size_t length)
 	irqstate_t flags = irqsave();
 
 	/* fetch new PWM output values */
-	for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++)
-		system_state.fmu_channel_data[i] = cmd->servo_command[i];
+	for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++)
+		system_state.fmu_channel_data[i] = cmd->output_control[i];
 
 	/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
 	if (system_state.arm_ok && !cmd->arm_ok) {
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp
index 0fd4ac7172..52666ae39c 100644
--- a/apps/px4io/mixer.cpp
+++ b/apps/px4io/mixer.cpp
@@ -85,7 +85,7 @@ mixer_tick(void)
 	 */
 	if (system_state.mixer_use_fmu) {
 		/* we have recent control data from the FMU */
-		control_count = PX4IO_OUTPUT_CHANNELS;
+		control_count = PX4IO_CONTROL_CHANNELS;
 		control_values = &system_state.fmu_channel_data[0];
 
 		/* check that we are receiving fresh data from the FMU */
@@ -170,7 +170,6 @@ mixer_callback(uintptr_t handle,
 		return -1;
 
 	/* scale from current PWM units (1000-2000) to mixer input values */
-	/* XXX this presents some ugly problems w.r.t failsafe and R/C input scaling that have to be addressed */
 	control = ((float)control_values[control_index] - 1500.0f) / 500.0f;
 
 	return 0;
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index 979f2f8cb3..18d49a6be6 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#define PX4IO_OUTPUT_CHANNELS	8
+#define PX4IO_CONTROL_CHANNELS	8
 #define PX4IO_INPUT_CHANNELS	12
 #define PX4IO_RELAY_CHANNELS	4
 
@@ -54,7 +54,7 @@ struct px4io_command {
 	uint16_t	f2i_magic;
 #define F2I_MAGIC		0x636d
 
-	uint16_t	servo_command[PX4IO_OUTPUT_CHANNELS];
+	uint16_t	output_control[PX4IO_CONTROL_CHANNELS];
 	bool		relay_state[PX4IO_RELAY_CHANNELS];
 	bool		arm_ok;
 };
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index ad10961b44..7257d65227 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -81,7 +81,7 @@ struct sys_state_s {
 	/*
 	 * Control signals from FMU.
 	 */
-	uint16_t	fmu_channel_data[PX4IO_OUTPUT_CHANNELS];
+	uint16_t	fmu_channel_data[PX4IO_CONTROL_CHANNELS];
 
 	/*
 	 * Mixed servo outputs