Replaces poshold/althold with posctrl/altctrl

16 files changed, 97 insertions, 97 deletions

diff --git a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h
index 93e868dc3..bd3fc66e7 100644
--- a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h
+++ b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h
@@ -40,8 +40,8 @@ enum AUTOQUAD_NAV_STATUS
 	AQ_NAV_STATUS_INIT=0, /* System is initializing | */
 	AQ_NAV_STATUS_STANDBY=1, /* System is standing by, not active | */
 	AQ_NAV_STATUS_MANUAL=2, /* Stabilized, under full manual control | */
-	AQ_NAV_STATUS_ALTHOLD=4, /* Altitude hold engaged | */
-	AQ_NAV_STATUS_POSHOLD=8, /* Position hold engaged | */
+	AQ_NAV_STATUS_ALTCTRL=4, /* Altitude hold engaged | */
+	AQ_NAV_STATUS_POSCTRL=8, /* Position hold engaged | */
 	AQ_NAV_STATUS_DVH=16, /* Dynamic Velocity Hold is active | */
 	AQ_NAV_STATUS_MISSION=32, /* Autonomous mission execution mode | */
 	AQ_NAV_STATUS_CEILING_REACHED=67108864, /* Craft is at ceiling altitude | */
diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index aa9c64502..974e20ca2 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -638,11 +638,11 @@ BlinkM::led()
 
 						if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
 							/* indicate main control state */
-							if (vehicle_status_raw.main_state == MAIN_STATE_POSHOLD)
+							if (vehicle_status_raw.main_state == MAIN_STATE_POSCTRL)
 								led_color_4 = LED_GREEN;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
 								led_color_4 = LED_BLUE;
-							else if (vehicle_status_raw.main_state == MAIN_STATE_ALTHOLD)
+							else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTRL)
 								led_color_4 = LED_YELLOW;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
 								led_color_4 = LED_WHITE;
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index a99456370..be3e6d269 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -434,13 +434,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 					/* MANUAL */
 					main_res = main_state_transition(status, MAIN_STATE_MANUAL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTHOLD) {
-					/* ALTHOLD */
-					main_res = main_state_transition(status, MAIN_STATE_ALTHOLD);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTRL) {
+					/* ALTCTRL */
+					main_res = main_state_transition(status, MAIN_STATE_ALTCTRL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSHOLD) {
-					/* POSHOLD */
-					main_res = main_state_transition(status, MAIN_STATE_POSHOLD);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTRL) {
+					/* POSCTRL */
+					main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
 					/* AUTO */
@@ -455,8 +455,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 				} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
 					if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
-						/* POSHOLD */
-						main_res = main_state_transition(status, MAIN_STATE_POSHOLD);
+						/* POSCTRL */
+						main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
 
 					} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
 						/* MANUAL */
@@ -628,8 +628,8 @@ int commander_thread_main(int argc, char *argv[])
 
 	char *main_states_str[MAIN_STATE_MAX];
 	main_states_str[0] = "MANUAL";
-	main_states_str[1] = "ALTHOLD";
-	main_states_str[2] = "POSHOLD";
+	main_states_str[1] = "ALTCTRL";
+	main_states_str[2] = "POSCTRL";
 	main_states_str[3] = "AUTO";
 
 	char *arming_states_str[ARMING_STATE_MAX];
@@ -1299,8 +1299,8 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		// TODO remove this hack
-		/* flight termination in manual mode if assisted switch is on poshold position */
-		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.poshold_switch == SWITCH_POS_ON) {
+		/* flight termination in manual mode if assisted switch is on posctrl position */
+		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) {
 			if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
 				tune_positive(armed.armed);
 			}
@@ -1557,25 +1557,25 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 		break;
 
 	case SWITCH_POS_MIDDLE:		// ASSISTED
-		if (sp_man->poshold_switch == SWITCH_POS_ON) {
-			res = main_state_transition(status, MAIN_STATE_POSHOLD);
+		if (sp_man->posctrl_switch == SWITCH_POS_ON) {
+			res = main_state_transition(status, MAIN_STATE_POSCTRL);
 
 			if (res != TRANSITION_DENIED) {
 				break;	// changed successfully or already in this state
 			}
 
-			// else fallback to ALTHOLD
-			print_reject_mode(status, "POSHOLD");
+			// else fallback to ALTCTRL
+			print_reject_mode(status, "POSCTRL");
 		}
 
-		res = main_state_transition(status, MAIN_STATE_ALTHOLD);
+		res = main_state_transition(status, MAIN_STATE_ALTCTRL);
 
 		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this mode
 		}
 
-		if (sp_man->poshold_switch != SWITCH_POS_ON) {
-			print_reject_mode(status, "ALTHOLD");
+		if (sp_man->posctrl_switch != SWITCH_POS_ON) {
+			print_reject_mode(status, "ALTCTRL");
 		}
 
 		// else fallback to MANUAL
@@ -1590,9 +1590,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 			break;	// changed successfully or already in this state
 		}
 
-		// else fallback to ALTHOLD (POSHOLD likely will not work too)
+		// else fallback to ALTCTRL (POSCTRL likely will not work too)
 		print_reject_mode(status, "AUTO");
-		res = main_state_transition(status, MAIN_STATE_ALTHOLD);
+		res = main_state_transition(status, MAIN_STATE_ALTCTRL);
 
 		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this state
@@ -1638,7 +1638,7 @@ set_control_mode()
 			control_mode.flag_control_velocity_enabled = false;
 			break;
 
-		case MAIN_STATE_ALTHOLD:
+		case MAIN_STATE_ALTCTRL:
 			control_mode.flag_control_manual_enabled = true;
 			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_rates_enabled = true;
@@ -1649,7 +1649,7 @@ set_control_mode()
 			control_mode.flag_control_velocity_enabled = false;
 			break;
 
-		case MAIN_STATE_POSHOLD:
+		case MAIN_STATE_POSCTRL:
 			control_mode.flag_control_manual_enabled = true;
 			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_rates_enabled = true;
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index b440e561b..18586053b 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
 	ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	// MANUAL to ALTHOLD.
+	// MANUAL to ALTCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = true;
-	new_main_state = MAIN_STATE_ALTHOLD;
-	ut_assert("tranisition: manual to althold",
+	new_main_state = MAIN_STATE_ALTCTRL;
+	ut_assert("tranisition: manual to altctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	ut_assert("new state: althold", MAIN_STATE_ALTHOLD == current_state.main_state);
+	ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state);
 
-	// MANUAL to ALTHOLD, invalid local altitude.
+	// MANUAL to ALTCTRL, invalid local altitude.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = false;
-	new_main_state = MAIN_STATE_ALTHOLD;
+	new_main_state = MAIN_STATE_ALTCTRL;
 	ut_assert("no transition: invalid local altitude",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
 	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	// MANUAL to POSHOLD.
+	// MANUAL to POSCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = true;
-	new_main_state = MAIN_STATE_POSHOLD;
-	ut_assert("transition: manual to poshold",
+	new_main_state = MAIN_STATE_POSCTRL;
+	ut_assert("transition: manual to posctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	ut_assert("current state: poshold", MAIN_STATE_POSHOLD == current_state.main_state);
+	ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state);
 
-	// MANUAL to POSHOLD, invalid local position.
+	// MANUAL to POSCTRL, invalid local position.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = false;
-	new_main_state = MAIN_STATE_POSHOLD;
+	new_main_state = MAIN_STATE_POSCTRL;
 	ut_assert("no transition: invalid position",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
 	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index 962d2804c..e6274fb89 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -12,8 +12,8 @@
 
 enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
-	PX4_CUSTOM_MAIN_MODE_ALTHOLD,
-	PX4_CUSTOM_MAIN_MODE_POSHOLD,
+	PX4_CUSTOM_MAIN_MODE_ALTCTRL,
+	PX4_CUSTOM_MAIN_MODE_POSCTRL,
 	PX4_CUSTOM_MAIN_MODE_AUTO,
 };
 
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 21e36a87d..3b6d95135 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 		ret = TRANSITION_CHANGED;
 		break;
 
-	case MAIN_STATE_ALTHOLD:
+	case MAIN_STATE_ALTCTRL:
 
 		/* need at minimum altitude estimate */
 		if (!status->is_rotary_wing ||
@@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 
 		break;
 
-	case MAIN_STATE_POSHOLD:
+	case MAIN_STATE_POSCTRL:
 
 		/* need at minimum local position estimate */
 		if (status->condition_local_position_valid ||
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index fafab9bfe..dc82ee475 100644
--- a/src/modules/fixedwing_backside/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update()
 		_actuators.control[CH_RDR] = _manual.yaw;
 		_actuators.control[CH_THR] = _manual.throttle;
 
-	} else if (_status.main_state == MAIN_STATE_ALTHOLD ||
-		_status.main_state == MAIN_STATE_POSHOLD /* TODO, implement easy */) {
+	} else if (_status.main_state == MAIN_STATE_ALTCTRL ||
+		_status.main_state == MAIN_STATE_POSCTRL /* TODO, implement easy */) {
 
 		// calculate velocity, XXX should be airspeed, but using ground speed for now
 		// for the purpose of control we will limit the velocity feedback between
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 d5a68e21f..024dd98ec 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
@@ -153,7 +153,7 @@ private:
 	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
 
 	/** manual control states */
-	float		_althold_hold_heading;		/**< heading the system should hold in althold mode */
+	float		_altctrl_hold_heading;		/**< heading the system should hold in altctrl mode */
 	double		_loiter_hold_lat;
 	double		_loiter_hold_lon;
 	float		_loiter_hold_alt;
@@ -1051,16 +1051,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
-	} else if (0/* poshold mode enabled */) {
+	} else if (0/* posctrl mode enabled */) {
 
-		/** POSHOLD FLIGHT **/
+		/** POSCTRL FLIGHT **/
 
-		if (0/* switched from another mode to poshold */) {
-			_althold_hold_heading = _att.yaw;
+		if (0/* switched from another mode to posctrl */) {
+			_altctrl_hold_heading = _att.yaw;
 		}
 
-		if (0/* poshold on and manual control yaw non-zero */) {
-			_althold_hold_heading = _att.yaw + _manual.yaw;
+		if (0/* posctrl on and manual control yaw non-zero */) {
+			_altctrl_hold_heading = _att.yaw + _manual.yaw;
 		}
 
 		//XXX not used
@@ -1073,39 +1073,39 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 //			climb_out = true;
 //		}
 
-		/* if in althold mode, set airspeed based on manual control */
+		/* if in altctrl mode, set airspeed based on manual control */
 
 		// XXX check if ground speed undershoot should be applied here
-		float althold_airspeed = _parameters.airspeed_min +
+		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
 					  _manual.throttle;
 
-		_l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed);
+		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
 		_att_sp.roll_body = _l1_control.nav_roll();
 		_att_sp.yaw_body = _l1_control.nav_bearing();
 		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
-					    althold_airspeed,
+					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    false, _parameters.pitch_limit_min,
 					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
 					    _parameters.pitch_limit_min, _parameters.pitch_limit_max);
 
-	} else if (0/* althold mode enabled */) {
+	} else if (0/* altctrl mode enabled */) {
 
-		/** ALTHOLD FLIGHT **/
+		/** ALTCTRL FLIGHT **/
 
-		if (0/* switched from another mode to althold */) {
-			_althold_hold_heading = _att.yaw;
+		if (0/* switched from another mode to altctrl */) {
+			_altctrl_hold_heading = _att.yaw;
 		}
 
-		if (0/* althold on and manual control yaw non-zero */) {
-			_althold_hold_heading = _att.yaw + _manual.yaw;
+		if (0/* altctrl on and manual control yaw non-zero */) {
+			_altctrl_hold_heading = _att.yaw + _manual.yaw;
 		}
 
-		/* if in althold mode, set airspeed based on manual control */
+		/* if in altctrl mode, set airspeed based on manual control */
 
 		// XXX check if ground speed undershoot should be applied here
-		float althold_airspeed = _parameters.airspeed_min +
+		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
 					  _manual.throttle;
 
@@ -1124,11 +1124,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			climb_out = true;
 		}
 
-		_l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed);
+		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
 		_att_sp.roll_body =	_manual.roll;
 		_att_sp.yaw_body =	_manual.yaw;
 		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
-					    althold_airspeed,
+					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    climb_out, _parameters.pitch_limit_min,
 					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 108ef8ad4..38a5433ff 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -124,13 +124,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
 
-		} else if (status->main_state == MAIN_STATE_ALTHOLD) {
+		} else if (status->main_state == MAIN_STATE_ALTCTRL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTHOLD;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTRL;
 
-		} else if (status->main_state == MAIN_STATE_POSHOLD) {
+		} else if (status->main_state == MAIN_STATE_POSCTRL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSHOLD;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTRL;
 
 		} else if (status->main_state == MAIN_STATE_AUTO) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 015d8ad16..dacdd46f0 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
 /**
  * Maximum vertical velocity
  *
- * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTHOLD, POSHOLD).
+ * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
  *
  * @unit m/s
  * @min 0.0
@@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
 /**
  * Vertical velocity feed forward
  *
- * Feed forward weight for altitude control in stabilized modes (ALTHOLD, POSHOLD). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ * Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
  * @min 0.0
  * @max 1.0
@@ -154,7 +154,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
 /**
  * Maximum horizontal velocity
  *
- * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSHOLD).
+ * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
  *
  * @unit m/s
  * @min 0.0
@@ -165,7 +165,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 /**
  * Horizontal velocity feed forward
  *
- * Feed forward weight for position control in position control mode (POSHOLD). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
  * @min 0.0
  * @max 1.0
@@ -176,7 +176,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
 /**
  * Maximum tilt angle in air
  *
- * Limits maximum tilt in AUTO and POSHOLD modes during flight.
+ * Limits maximum tilt in AUTO and POSCTRL modes during flight.
  *
  * @unit deg
  * @min 0.0
diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
index 2cb4fc900..6d46db9bd 100644
--- a/src/modules/segway/BlockSegwayController.cpp
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -35,8 +35,8 @@ void BlockSegwayController::update() {
 
 	// handle autopilot modes
 	if (_status.main_state == MAIN_STATE_AUTO ||
-	    _status.main_state == MAIN_STATE_ALTHOLD ||
-	    _status.main_state == MAIN_STATE_POSHOLD) {
+	    _status.main_state == MAIN_STATE_ALTCTRL ||
+	    _status.main_state == MAIN_STATE_POSCTRL) {
 		_actuators.control[0] = spdCmd;
 		_actuators.control[1] = spdCmd;
 
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 59bd99db7..02890b452 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -605,7 +605,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_POSHLD_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
 
 /**
  * Loiter switch channel mapping.
@@ -703,7 +703,7 @@ PARAM_DEFINE_FLOAT(RC_ASSISTED_TH, 0.25f);
 PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
 
 /**
- * Threshold for selecting poshold mode
+ * Threshold for selecting posctrl mode
  *
  * min:-1
  * max:+1
@@ -716,7 +716,7 @@ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
  * 		negative : true when channel<th
  *
  */
-PARAM_DEFINE_FLOAT(RC_POSHOLD_TH, 0.5f);
+PARAM_DEFINE_FLOAT(RC_POSCTRL_TH, 0.5f);
 
 /**
  * Threshold for selecting return to launch mode
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 0d097d177..020134cc7 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -255,7 +255,7 @@ private:
 
 		int rc_map_mode_sw;
 		int rc_map_return_sw;
-		int rc_map_poshold_sw;
+		int rc_map_posctrl_sw;
 		int rc_map_loiter_sw;
 
 //		int rc_map_offboard_ctrl_mode_sw;
@@ -271,12 +271,12 @@ private:
 		int32_t rc_fails_thr;
 		float rc_assisted_th;
 		float rc_auto_th;
-		float rc_poshold_th;
+		float rc_posctrl_th;
 		float rc_return_th;
 		float rc_loiter_th;
 		bool rc_assisted_inv;
 		bool rc_auto_inv;
-		bool rc_poshold_inv;
+		bool rc_posctrl_inv;
 		bool rc_return_inv;
 		bool rc_loiter_inv;
 
@@ -309,7 +309,7 @@ private:
 
 		param_t rc_map_mode_sw;
 		param_t rc_map_return_sw;
-		param_t rc_map_poshold_sw;
+		param_t rc_map_posctrl_sw;
 		param_t rc_map_loiter_sw;
 
 //		param_t rc_map_offboard_ctrl_mode_sw;
@@ -325,7 +325,7 @@ private:
 		param_t rc_fails_thr;
 		param_t rc_assisted_th;
 		param_t rc_auto_th;
-		param_t rc_poshold_th;
+		param_t rc_posctrl_th;
 		param_t rc_return_th;
 		param_t rc_loiter_th;
 
@@ -526,7 +526,7 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
 
 	/* optional mode switches, not mapped per default */
-	_parameter_handles.rc_map_poshold_sw = param_find("RC_MAP_POSHLD_SW");
+	_parameter_handles.rc_map_posctrl_sw = param_find("RC_MAP_POSCTL_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");
@@ -541,7 +541,7 @@ Sensors::Sensors() :
 	_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
 	_parameter_handles.rc_assisted_th = param_find("RC_ASSISTED_TH");
 	_parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
-	_parameter_handles.rc_poshold_th = param_find("RC_POSHOLD_TH");
+	_parameter_handles.rc_posctrl_th = param_find("RC_POSCTRL_TH");
 	_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
 	_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
 
@@ -678,7 +678,7 @@ Sensors::parameters_update()
 		warnx("%s", paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_poshold_sw, &(_parameters.rc_map_poshold_sw)) != OK) {
+	if (param_get(_parameter_handles.rc_map_posctrl_sw, &(_parameters.rc_map_posctrl_sw)) != OK) {
 		warnx("%s", paramerr);
 	}
 
@@ -706,9 +706,9 @@ Sensors::parameters_update()
 	param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th));
 	_parameters.rc_auto_inv = (_parameters.rc_auto_th<0);
 	_parameters.rc_auto_th = fabs(_parameters.rc_auto_th);
-	param_get(_parameter_handles.rc_poshold_th, &(_parameters.rc_poshold_th));
-	_parameters.rc_poshold_inv = (_parameters.rc_poshold_th<0);
-	_parameters.rc_poshold_th = fabs(_parameters.rc_poshold_th);
+	param_get(_parameter_handles.rc_posctrl_th, &(_parameters.rc_posctrl_th));
+	_parameters.rc_posctrl_inv = (_parameters.rc_posctrl_th<0);
+	_parameters.rc_posctrl_th = fabs(_parameters.rc_posctrl_th);
 	param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th));
 	_parameters.rc_return_inv = (_parameters.rc_return_th<0);
 	_parameters.rc_return_th = fabs(_parameters.rc_return_th);
@@ -724,7 +724,7 @@ Sensors::parameters_update()
 
 	_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
 	_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
-	_rc.function[POSHOLD] = _parameters.rc_map_poshold_sw - 1;
+	_rc.function[POSCTRL] = _parameters.rc_map_posctrl_sw - 1;
 	_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
 
 	_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1478,7 +1478,7 @@ Sensors::rc_poll()
 
 			/* mode switches */
 			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.poshold_switch = get_rc_sw2pos_position(POSHOLD, _parameters.rc_poshold_th, _parameters.rc_poshold_inv);
+			manual.posctrl_switch = get_rc_sw2pos_position(POSCTRL, _parameters.rc_posctrl_th, _parameters.rc_posctrl_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);
 
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index 0d1f62271..727be9492 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -78,7 +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;			/**< rturn to launch 2 position switch (mandatory): no effect, return */
-	switch_pos_t poshold_switch;			/**< poshold 2 position switch (optional): althold, poshold */
+	switch_pos_t posctrl_switch;			/**< posctrl 2 position switch (optional): altctrl, posctrl */
 	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 7e00c5cbc..9285235c9 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -64,7 +64,7 @@ enum RC_CHANNELS_FUNCTION {
 	YAW      = 3,
 	MODE = 4,
 	RETURN = 5,
-	POSHOLD = 6,
+	POSCTRL = 6,
 	LOITER = 7,
 	OFFBOARD_MODE = 8,
 	FLAPS   = 9,
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 8719505f4..f401140ae 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -63,8 +63,8 @@
 /* main state machine */
 typedef enum {
 	MAIN_STATE_MANUAL = 0,
-	MAIN_STATE_ALTHOLD,
-	MAIN_STATE_POSHOLD,
+	MAIN_STATE_ALTCTRL,
+	MAIN_STATE_POSCTRL,
 	MAIN_STATE_AUTO,
 	MAIN_STATE_MAX
 } main_state_t;