diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 8900b678b7..3f91778971 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -41,8 +41,8 @@ set(msg_file_names
 	att_pos_mocap.msg
 	battery_status.msg
 	camera_trigger.msg
-	commander_state.msg
 	collision_report.msg
+	commander_state.msg
 	control_state.msg
 	cpuload.msg
 	debug_key_value.msg
@@ -59,8 +59,6 @@ set(msg_file_names
 	filtered_bottom_flow.msg
 	follow_target.msg
 	fw_pos_ctrl_status.msg
-	fw_virtual_attitude_setpoint.msg
-	fw_virtual_rates_setpoint.msg
 	geofence_result.msg
 	gps_dump.msg
 	gps_inject_data.msg
@@ -72,8 +70,6 @@ set(msg_file_names
 	manual_control_setpoint.msg
 	mavlink_log.msg
 	mc_att_ctrl_status.msg
-	mc_virtual_attitude_setpoint.msg
-	mc_virtual_rates_setpoint.msg
 	mission.msg
 	mission_result.msg
 	mount_orientation.msg
@@ -112,8 +108,8 @@ set(msg_file_names
 	ulog_stream_ack.msg
 	vehicle_attitude.msg
 	vehicle_attitude_setpoint.msg
-	vehicle_command_ack.msg
 	vehicle_command.msg
+	vehicle_command_ack.msg
 	vehicle_control_mode.msg
 	vehicle_force_setpoint.msg
 	vehicle_global_position.msg
diff --git a/msg/fw_virtual_attitude_setpoint.msg b/msg/fw_virtual_attitude_setpoint.msg
deleted file mode 100644
index ba456c25d4..0000000000
--- a/msg/fw_virtual_attitude_setpoint.msg
+++ /dev/null
@@ -1,36 +0,0 @@
-###############################################################################################
-# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
-#
-# Please keep the following messages identical;
-#	vehicle_attitude_setpoint.msg
-#	mc_virtual_attitude_setpoint.msg
-#	fw_virtual_attitude_setpoint.msg
-#
-###############################################################################################
-
-
-float32 roll_body				# body angle in NED frame
-float32 pitch_body				# body angle in NED frame
-float32 yaw_body				# body angle in NED frame
-
-float32 yaw_sp_move_rate		# rad/s (commanded by user)
-
-# For quaternion-based attitude control
-float32[4] q_d					# Desired quaternion for quaternion control
-bool q_d_valid					# Set to true if quaternion vector is valid
-
-float32 thrust					# Thrust in Newton the power system should generate
-
-bool roll_reset_integral			# Reset roll integral part (navigation logic change)
-bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
-bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
-
-bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
-bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
-
-bool apply_flaps
-
-float32 landing_gear
-
-# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
-# TOPICS fw_virtual_attitude_setpoint
diff --git a/msg/fw_virtual_rates_setpoint.msg b/msg/fw_virtual_rates_setpoint.msg
deleted file mode 100644
index 369b68270a..0000000000
--- a/msg/fw_virtual_rates_setpoint.msg
+++ /dev/null
@@ -1,15 +0,0 @@
-###############################################################################################
-# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
-#
-# Please keep the following messages identical;
-#	vehicle_rates_setpoint.msg
-#	mc_virtual_rates_setpoint.msg
-#	fw_virtual_rates_setpoint.msg
-#
-###############################################################################################
-
-
-float32 roll	    # body angular rates in NED frame
-float32 pitch	    # body angular rates in NED frame
-float32 yaw			# body angular rates in NED frame
-float32 thrust	    # thrust normalized to 0..1
diff --git a/msg/mc_virtual_attitude_setpoint.msg b/msg/mc_virtual_attitude_setpoint.msg
deleted file mode 100644
index aaea9f951d..0000000000
--- a/msg/mc_virtual_attitude_setpoint.msg
+++ /dev/null
@@ -1,36 +0,0 @@
-###############################################################################################
-# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
-#
-# Please keep the following messages identical;
-#	vehicle_attitude_setpoint.msg
-#	mc_virtual_attitude_setpoint.msg
-#	fw_virtual_attitude_setpoint.msg
-#
-###############################################################################################
-
-
-float32 roll_body				# body angle in NED frame
-float32 pitch_body				# body angle in NED frame
-float32 yaw_body				# body angle in NED frame
-
-float32 yaw_sp_move_rate		# rad/s (commanded by user)
-
-# For quaternion-based attitude control
-float32[4] q_d					# Desired quaternion for quaternion control
-bool q_d_valid					# Set to true if quaternion vector is valid
-
-float32 thrust					# Thrust in Newton the power system should generate
-
-bool roll_reset_integral			# Reset roll integral part (navigation logic change)
-bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
-bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
-
-bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
-bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
-
-bool apply_flaps
-
-float32 landing_gear
-
-# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
-# TOPICS mc_virtual_attitude_setpoint
diff --git a/msg/mc_virtual_rates_setpoint.msg b/msg/mc_virtual_rates_setpoint.msg
deleted file mode 100644
index 369b68270a..0000000000
--- a/msg/mc_virtual_rates_setpoint.msg
+++ /dev/null
@@ -1,15 +0,0 @@
-###############################################################################################
-# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
-#
-# Please keep the following messages identical;
-#	vehicle_rates_setpoint.msg
-#	mc_virtual_rates_setpoint.msg
-#	fw_virtual_rates_setpoint.msg
-#
-###############################################################################################
-
-
-float32 roll	    # body angular rates in NED frame
-float32 pitch	    # body angular rates in NED frame
-float32 yaw			# body angular rates in NED frame
-float32 thrust	    # thrust normalized to 0..1
diff --git a/msg/position_setpoint_triplet.msg b/msg/position_setpoint_triplet.msg
index 8717f65d0f..51ac92dfdf 100644
--- a/msg/position_setpoint_triplet.msg
+++ b/msg/position_setpoint_triplet.msg
@@ -4,5 +4,3 @@
 px4/position_setpoint previous
 px4/position_setpoint current
 px4/position_setpoint next
-
-uint8 nav_state	# report the navigation state
diff --git a/msg/vehicle_attitude_setpoint.msg b/msg/vehicle_attitude_setpoint.msg
index cb2f62576e..45abc7e818 100644
--- a/msg/vehicle_attitude_setpoint.msg
+++ b/msg/vehicle_attitude_setpoint.msg
@@ -1,13 +1,3 @@
-###############################################################################################
-# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
-#
-# Please keep the following messages identical;
-#	vehicle_attitude_setpoint.msg
-#	mc_virtual_attitude_setpoint.msg
-#	fw_virtual_attitude_setpoint.msg
-#
-###############################################################################################
-
 
 float32 roll_body				# body angle in NED frame
 float32 pitch_body				# body angle in NED frame
@@ -32,5 +22,4 @@ bool apply_flaps
 
 float32 landing_gear
 
-# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
-# TOPICS vehicle_attitude_setpoint
+# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
diff --git a/msg/vehicle_rates_setpoint.msg b/msg/vehicle_rates_setpoint.msg
index 369b68270a..13fd4d4b6c 100644
--- a/msg/vehicle_rates_setpoint.msg
+++ b/msg/vehicle_rates_setpoint.msg
@@ -1,15 +1,7 @@
-###############################################################################################
-# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
-#
-# Please keep the following messages identical;
-#	vehicle_rates_setpoint.msg
-#	mc_virtual_rates_setpoint.msg
-#	fw_virtual_rates_setpoint.msg
-#
-###############################################################################################
-
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
 float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1
+
+# TOPICS vehicle_rates_setpoint mc_virtual_rates_setpoint fw_virtual_rates_setpoint
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index f37e8b6981..9e4900a76e 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -58,8 +58,6 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/control_state.h>
-#include <uORB/topics/fw_virtual_attitude_setpoint.h>
-#include <uORB/topics/fw_virtual_rates_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 2be826c46b..823971e508 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -88,7 +88,6 @@
 #include <systemlib/systemlib.h>
 #include <uORB/topics/control_state.h>
 #include <uORB/topics/fw_pos_ctrl_status.h>
-#include <uORB/topics/fw_virtual_attitude_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/position_setpoint_triplet.h>
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 27584d199b..2b397934c2 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -53,45 +53,35 @@
  * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
  */
 
+#include <conversion/rotation.h>
+#include <drivers/drv_hrt.h>
+#include <lib/geo/geo.h>
+#include <lib/mathlib/mathlib.h>
+#include <lib/tailsitter_recovery/tailsitter_recovery.h>
 #include <px4_config.h>
 #include <px4_defines.h>
-#include <px4_tasks.h>
 #include <px4_posix.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/fw_virtual_rates_setpoint.h>
-#include <uORB/topics/mc_virtual_rates_setpoint.h>
-#include <uORB/topics/control_state.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/multirotor_motor_limits.h>
-#include <uORB/topics/mc_att_ctrl_status.h>
-#include <uORB/topics/battery_status.h>
-#include <uORB/topics/sensor_gyro.h>
-#include <uORB/topics/sensor_correction.h>
-#include <systemlib/param/param.h>
+#include <px4_tasks.h>
+#include <systemlib/circuit_breaker.h>
 #include <systemlib/err.h>
+#include <systemlib/param/param.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/circuit_breaker.h>
-#include <lib/mathlib/mathlib.h>
-#include <lib/geo/geo.h>
-#include <lib/tailsitter_recovery/tailsitter_recovery.h>
-#include <conversion/rotation.h>
+#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/control_state.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/mc_att_ctrl_status.h>
+#include <uORB/topics/multirotor_motor_limits.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/sensor_correction.h>
+#include <uORB/topics/sensor_gyro.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/uORB.h>
 
 /**
  * Multicopter attitude control app start / stop handling function
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index b8816d535a..69eebf4082 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -53,36 +53,26 @@
 #include <px4_defines.h>
 #include <px4_tasks.h>
 #include <px4_posix.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
 #include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
 
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/control_state.h>
-#include <uORB/topics/mc_virtual_attitude_setpoint.h>
-#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/vehicle_global_velocity_setpoint.h>
-#include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/vehicle_land_detected.h>
+#include <uORB/topics/control_state.h>
 #include <uORB/topics/home_position.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_global_velocity_setpoint.h>
+#include <uORB/topics/vehicle_land_detected.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_local_position_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
 
 #include <float.h>
-#include <systemlib/mavlink_log.h>
-#include <mathlib/mathlib.h>
 #include <lib/geo/geo.h>
+#include <mathlib/mathlib.h>
 #include <platforms/px4_defines.h>
+#include <systemlib/mavlink_log.h>
 
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index d875124769..95a43dfdbe 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -43,46 +43,33 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include "navigator.h"
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <float.h>
-#include <poll.h>
-#include <time.h>
-#include <sys/ioctl.h>
-#include <sys/types.h>
-#include <sys/stat.h>
+#include <cfloat>
 
+#include <arch/board/board.h>
+#include <dataman/dataman.h>
 #include <drivers/device/device.h>
 #include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/home_position.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/mission.h>
+#include <geo/geo.h>
+#include <mathlib/mathlib.h>
+#include <px4_config.h>
+#include <px4_defines.h>
+#include <px4_posix.h>
+#include <px4_tasks.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <systemlib/err.h>
+#include <systemlib/mavlink_log.h>
+#include <systemlib/systemlib.h>
 #include <uORB/topics/fence.h>
 #include <uORB/topics/fw_pos_ctrl_status.h>
+#include <uORB/topics/home_position.h>
+#include <uORB/topics/mission.h>
 #include <uORB/topics/vehicle_command.h>
-#include <drivers/drv_baro.h>
-
-#include <systemlib/err.h>
-#include <systemlib/systemlib.h>
-#include <geo/geo.h>
-#include <dataman/dataman.h>
-#include <mathlib/mathlib.h>
-#include <systemlib/mavlink_log.h>
-
-#include "navigator.h"
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/uORB.h>
 
 /**
  * navigator app start / stop handling function
@@ -778,9 +765,6 @@ Navigator::status()
 void
 Navigator::publish_position_setpoint_triplet()
 {
-	/* update navigation state */
-	_pos_sp_triplet.nav_state = _vstatus.nav_state;
-
 	/* do not publish an empty triplet */
 	if (!_pos_sp_triplet.current.valid) {
 		return;
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index c618a005d5..4296422fa8 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -57,18 +57,10 @@
 #else
 #include <sys/statfs.h>
 #endif
-#include <fcntl.h>
-#include <errno.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <ctype.h>
 #include <systemlib/err.h>
-#include <unistd.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
-#include <time.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
@@ -1965,7 +1957,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 				if (buf.triplet.current.valid) {
 					log_msg.msg_type = LOG_GPSP_MSG;
-					log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
 					log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * (double)1e7);
 					log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * (double)1e7);
 					log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index afd4fc084c..9628c4c123 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -248,7 +248,6 @@ struct log_GPOS_s {
 /* --- GPSP - GLOBAL POSITION SETPOINT --- */
 #define LOG_GPSP_MSG 17
 struct log_GPSP_s {
-	uint8_t nav_state;
 	int32_t lat;
 	int32_t lon;
 	float alt;
@@ -693,7 +692,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),
 	LOG_FORMAT(FLOW, "BffffffLLHhB",	"ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
 	LOG_FORMAT(GPOS, "LLfffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
-	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
+	LOG_FORMAT(GPSP, "LLffBfbf",		"Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
 	LOG_FORMAT(ESC, "HBBBHHffiffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
 	LOG_FORMAT(BATT, "fffffffB",		"V,VFilt,C,CFilt,Discharged,Remaining,Scale,Warning"),
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index b23d8e7593..5862317cce 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -54,15 +54,6 @@
 #include <px4_tasks.h>
 #include <px4_posix.h>
 
-#include <errno.h>
-#include <fcntl.h>
-#include <math.h>
-#include <poll.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-
 #include <arch/board/board.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>
@@ -77,11 +68,7 @@
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/control_state.h>
-#include <uORB/topics/fw_virtual_attitude_setpoint.h>
-#include <uORB/topics/fw_virtual_rates_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/mc_virtual_attitude_setpoint.h>
-#include <uORB/topics/mc_virtual_rates_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/tecs_status.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -115,11 +102,11 @@ public:
 
 	struct vehicle_attitude_s 			*get_att() {return &_v_att;}
 	struct vehicle_attitude_setpoint_s		*get_att_sp() {return &_v_att_sp;}
-	struct mc_virtual_attitude_setpoint_s 		*get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
-	struct fw_virtual_attitude_setpoint_s 		*get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
+	struct vehicle_attitude_setpoint_s 		*get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
+	struct vehicle_attitude_setpoint_s 		*get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
 	struct vehicle_rates_setpoint_s 		*get_rates_sp() {return &_v_rates_sp;}
-	struct mc_virtual_rates_setpoint_s 		*get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
-	struct fw_virtual_rates_setpoint_s 		*get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
+	struct vehicle_rates_setpoint_s 		*get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
+	struct vehicle_rates_setpoint_s 		*get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
 	struct manual_control_setpoint_s 		*get_manual_control_sp() {return &_manual_control_sp;}
 	struct vehicle_control_mode_s 			*get_control_mode() {return &_v_control_mode;}
 	struct vtol_vehicle_status_s			*get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
@@ -174,11 +161,11 @@ private:
 //*******************data containers***********************************************************
 	struct vehicle_attitude_s			_v_att;				//vehicle attitude
 	struct vehicle_attitude_setpoint_s		_v_att_sp;			//vehicle attitude setpoint
-	struct mc_virtual_attitude_setpoint_s 		_mc_virtual_att_sp;	// virtual mc attitude setpoint
-	struct fw_virtual_attitude_setpoint_s 		_fw_virtual_att_sp;	// virtual fw attitude setpoint
+	struct vehicle_attitude_setpoint_s 		_mc_virtual_att_sp;	// virtual mc attitude setpoint
+	struct vehicle_attitude_setpoint_s 		_fw_virtual_att_sp;	// virtual fw attitude setpoint
 	struct vehicle_rates_setpoint_s			_v_rates_sp;		//vehicle rates setpoint
-	struct mc_virtual_rates_setpoint_s 		_mc_virtual_v_rates_sp;		// virtual mc vehicle rates setpoint
-	struct fw_virtual_rates_setpoint_s 		_fw_virtual_v_rates_sp;		// virtual fw vehicle rates setpoint
+	struct vehicle_rates_setpoint_s 		_mc_virtual_v_rates_sp;		// virtual mc vehicle rates setpoint
+	struct vehicle_rates_setpoint_s 		_fw_virtual_v_rates_sp;		// virtual fw vehicle rates setpoint
 	struct manual_control_setpoint_s		_manual_control_sp; //manual control setpoint
 	struct vehicle_control_mode_s			_v_control_mode;	//vehicle control mode
 	struct vtol_vehicle_status_s 			_vtol_vehicle_status;
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index e3892b0014..e298ec3a6c 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -152,11 +152,11 @@ protected:
 
 	struct vehicle_attitude_s		*_v_att;				//vehicle attitude
 	struct vehicle_attitude_setpoint_s	*_v_att_sp;			//vehicle attitude setpoint
-	struct mc_virtual_attitude_setpoint_s *_mc_virtual_att_sp;	// virtual mc attitude setpoint
-	struct fw_virtual_attitude_setpoint_s *_fw_virtual_att_sp;	// virtual fw attitude setpoint
+	struct vehicle_attitude_setpoint_s *_mc_virtual_att_sp;	// virtual mc attitude setpoint
+	struct vehicle_attitude_setpoint_s *_fw_virtual_att_sp;	// virtual fw attitude setpoint
 	struct vehicle_rates_setpoint_s 	*_v_rates_sp;		//vehicle rates setpoint
-	struct mc_virtual_rates_setpoint_s 	*_mc_virtual_v_rates_sp;		// virtual mc vehicle rates setpoint
-	struct fw_virtual_rates_setpoint_s 	*_fw_virtual_v_rates_sp;		// virtual fw vehicle rates setpoint
+	struct vehicle_rates_setpoint_s 	*_mc_virtual_v_rates_sp;		// virtual mc vehicle rates setpoint
+	struct vehicle_rates_setpoint_s 	*_fw_virtual_v_rates_sp;		// virtual fw vehicle rates setpoint
 	struct manual_control_setpoint_s	*_manual_control_sp; //manual control setpoint
 	struct vehicle_control_mode_s		*_v_control_mode;	//vehicle control mode
 	struct vtol_vehicle_status_s 		*_vtol_vehicle_status;
@@ -180,7 +180,7 @@ protected:
 	float _mc_pitch_weight = 1.0f;	// weight for multicopter attitude controller pitch output
 	float _mc_yaw_weight = 1.0f;	// weight for multicopter attitude controller yaw output
 	float _mc_throttle_weight = 1.0f;	// weight for multicopter throttle command. Used to avoid
-	// motors spinning up or cutting too fast whend doing transitions.
+	// motors spinning up or cutting too fast when doing transitions.
 	float _thrust_transition = 0.0f;	// thrust value applied during a front transition (tailsitter & tiltrotor only)
 
 	bool _flag_was_in_trans_mode = false;	// true if mode has just switched to transition