diff --git a/msg/vtol_vehicle_status.msg b/msg/vtol_vehicle_status.msg
index 0cee13f7de..1efece610f 100644
--- a/msg/vtol_vehicle_status.msg
+++ b/msg/vtol_vehicle_status.msg
@@ -4,11 +4,9 @@ uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
 uint8 VEHICLE_VTOL_STATE_MC = 3
 uint8 VEHICLE_VTOL_STATE_FW = 4
-uint8 VEHICLE_VTOL_STATE_EXTERNAL = 5
 
 bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
 bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 bool vtol_transition_failsafe	# vtol in transition failsafe mode
 bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode
-float32 airspeed_tot			# Estimated airspeed over control surfaces
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 681f2a64ea..83e5f9802f 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1567,7 +1567,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 			/* --- VTOL VEHICLE STATUS --- */
 			if(copy_if_updated(ORB_ID(vtol_vehicle_status), &subs.vtol_status_sub, &buf.vtol_status)) {
 				log_msg.msg_type = LOG_VTOL_MSG;
-				log_msg.body.log_VTOL.airspeed_tot = buf.vtol_status.airspeed_tot;
 				log_msg.body.log_VTOL.rw_mode = buf.vtol_status.vtol_in_rw_mode;
 				log_msg.body.log_VTOL.trans_mode = buf.vtol_status.vtol_in_trans_mode;
 				log_msg.body.log_VTOL.failsafe_mode = buf.vtol_status.vtol_transition_failsafe;
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 7dc9be9cc4..60b58d4fc1 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -466,7 +466,6 @@ struct log_ENCD_s {
 /* --- VTOL - VTOL VEHICLE STATUS */
 #define LOG_VTOL_MSG 43
 struct log_VTOL_s {
-	float airspeed_tot;
 	uint8_t rw_mode;
 	uint8_t trans_mode;
 	uint8_t failsafe_mode;
diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index 97b7f6066c..11b6953441 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -50,13 +50,10 @@
 
 Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
 	VtolType(attc),
-	_airspeed_tot(0.0f),
 	_min_front_trans_dur(0.5f),
 	_thrust_transition_start(0.0f),
 	_yaw_transition(0.0f),
-	_pitch_transition_start(0.0f),
-	_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control-tailsitter")),
-	_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control-tailsitter nonfinite input"))
+	_pitch_transition_start(0.0f)
 {
 	_vtol_schedule.flight_mode = MC_MODE;
 	_vtol_schedule.transition_start = 0;
@@ -133,7 +130,6 @@ void Tailsitter::update_vtol_state()
 
 	if (!_attc->is_fixed_wing_requested()) {
 
-
 		switch (_vtol_schedule.flight_mode) { // user switchig to MC mode
 		case MC_MODE:
 			break;
@@ -334,9 +330,6 @@ void Tailsitter::update_transition_state()
 
 	}
 
-
-
-
 	_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
 	_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
 	_mc_pitch_weight = math::constrain(_mc_pitch_weight, 0.0f, 1.0f);
@@ -358,58 +351,6 @@ void Tailsitter::waiting_on_tecs()
 	_v_att_sp->thrust = _thrust_transition;
 }
 
-void Tailsitter::calc_tot_airspeed()
-{
-	float airspeed = math::max(1.0f, _airspeed->indicated_airspeed_m_s);	// prevent numerical drama
-	// calculate momentary power of one engine
-	float P = _batt_status->voltage_filtered_v * _batt_status->current_a / _params->vtol_motor_count;
-	P = math::constrain(P, 1.0f, _params->power_max);
-	// calculate prop efficiency
-	float power_factor = 1.0f - P * _params->prop_eff / _params->power_max;
-	float eta = (1.0f / (1 + expf(-0.4f * power_factor * airspeed)) - 0.5f) * 2.0f;
-	eta = math::constrain(eta, 0.001f, 1.0f);	// live on the safe side
-	// calculate induced airspeed by propeller
-	float v_ind = (airspeed / eta - airspeed) * 2.0f;
-	// calculate total airspeed
-	float airspeed_raw = airspeed + v_ind;
-	// apply low-pass filter
-	_airspeed_tot = _params->arsp_lp_gain * (_airspeed_tot - airspeed_raw) + airspeed_raw;
-}
-
-void Tailsitter::scale_mc_output()
-{
-	// scale around tuning airspeed
-	float airspeed;
-	calc_tot_airspeed();	// estimate air velocity seen by elevons
-
-	// if airspeed is not updating, we assume the normal average speed
-	if (bool nonfinite = !PX4_ISFINITE(_airspeed->indicated_airspeed_m_s) ||
-			     hrt_elapsed_time(&_airspeed->timestamp) > 1e6) {
-		airspeed = _params->mc_airspeed_trim;
-
-		if (nonfinite) {
-			perf_count(_nonfinite_input_perf);
-		}
-
-	} else {
-		airspeed = _airspeed_tot;
-		airspeed = math::constrain(airspeed, _params->mc_airspeed_min, _params->mc_airspeed_max);
-	}
-
-	_vtol_vehicle_status->airspeed_tot = airspeed;	// save value for logging
-	/*
-	 * For scaling our actuators using anything less than the min (close to stall)
-	 * speed doesn't make any sense - its the strongest reasonable deflection we
-	 * want to do in flight and its the baseline a human pilot would choose.
-	 *
-	 * Forcing the scaling to this value allows reasonable handheld tests.
-	 */
-	float airspeed_scaling = _params->mc_airspeed_trim / ((airspeed < _params->mc_airspeed_min) ? _params->mc_airspeed_min :
-				 airspeed);
-	_actuators_mc_in->control[1] = math::constrain(_actuators_mc_in->control[1] * airspeed_scaling * airspeed_scaling,
-				       -1.0f, 1.0f);
-}
-
 void Tailsitter::update_mc_state()
 {
 	VtolType::update_mc_state();
@@ -504,9 +445,5 @@ void Tailsitter::fill_actuator_outputs()
 		_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
 			_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
 		break;
-
-	case EXTERNAL:
-		// not yet implemented, we are switching brute force at the moment
-		break;
 	}
 }
diff --git a/src/modules/vtol_att_control/tailsitter.h b/src/modules/vtol_att_control/tailsitter.h
index aa0a225b58..6c6146eb37 100644
--- a/src/modules/vtol_att_control/tailsitter.h
+++ b/src/modules/vtol_att_control/tailsitter.h
@@ -96,8 +96,6 @@ private:
 		hrt_abstime transition_start;	/**< absoulte time at which front transition started */
 	} _vtol_schedule;
 
-	float _airspeed_tot; 		/** speed estimation for propwash controlled surfaces */
-
 	/** not sure about it yet ?! **/
 	float _min_front_trans_dur;	/**< min possible time in which rotors are rotated into the first position */
 
@@ -105,20 +103,6 @@ private:
 	float _yaw_transition;	// yaw angle in which transition will take place
 	float _pitch_transition_start;  // pitch angle at the start of transition (tailsitter)
 
-
-	/** should this anouncement stay? **/
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
-
-	/**
-	 * Speed estimation for propwash controlled surfaces.
-	 */
-	void calc_tot_airspeed();
-
-
-	/** is this one still needed? */
-	void scale_mc_output();
-
 	/**
 	 * Update parameters.
 	 */
diff --git a/src/modules/vtol_att_control/tailsitter_params.c b/src/modules/vtol_att_control/tailsitter_params.c
index e4cf2a1c32..34b17b0025 100644
--- a/src/modules/vtol_att_control/tailsitter_params.c
+++ b/src/modules/vtol_att_control/tailsitter_params.c
@@ -39,8 +39,6 @@
  * @author David Vorsin     <davidvorsin@gmail.com>
  */
 
-#include <systemlib/param/param.h>
-
 /**
  * Duration of front transition phase 2
  *
diff --git a/src/modules/vtol_att_control/tiltrotor_params.c b/src/modules/vtol_att_control/tiltrotor_params.c
index 6f4cb7bb45..faef49d031 100644
--- a/src/modules/vtol_att_control/tiltrotor_params.c
+++ b/src/modules/vtol_att_control/tiltrotor_params.c
@@ -38,8 +38,6 @@
  * @author Roman Bapst <roman@px4.io>
  */
 
-#include <systemlib/param/param.h>
-
 /**
  * Position of tilt servo in mc mode
  *
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index af2843264b..6a87bd9166 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -57,64 +57,9 @@ VtolAttitudeControl *g_control;
 /**
 * Constructor
 */
-VtolAttitudeControl::VtolAttitudeControl() :
-	_task_should_exit(false),
-	_control_task(-1),
-
-	// mavlink log
-	_mavlink_log_pub(nullptr),
-
-	//init subscription handlers
-	_v_att_sub(-1),
-	_v_att_sp_sub(-1),
-	_mc_virtual_att_sp_sub(-1),
-	_fw_virtual_att_sp_sub(-1),
-	_mc_virtual_v_rates_sp_sub(-1),
-	_fw_virtual_v_rates_sp_sub(-1),
-	_v_control_mode_sub(-1),
-	_params_sub(-1),
-	_manual_control_sp_sub(-1),
-	_local_pos_sub(-1),
-	_pos_sp_triplet_sub(-1),
-	_airspeed_sub(-1),
-	_battery_status_sub(-1),
-	_vehicle_cmd_sub(-1),
-	_tecs_status_sub(-1),
-	_land_detected_sub(-1),
-
-	//init publication handlers
-	_actuators_0_pub(nullptr),
-	_actuators_1_pub(nullptr),
-	_vtol_vehicle_status_pub(nullptr),
-	_v_rates_sp_pub(nullptr),
-	_v_att_sp_pub(nullptr),
-	_v_cmd_ack_pub(nullptr),
-	_transition_command(vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
-	_abort_front_transition(false)
-
+VtolAttitudeControl::VtolAttitudeControl()
 {
-	memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
 	_vtol_vehicle_status.vtol_in_rw_mode = true;	/* start vtol in rotary wing mode*/
-	memset(&_v_att, 0, sizeof(_v_att));
-	memset(&_v_att_sp, 0, sizeof(_v_att_sp));
-	memset(&_mc_virtual_att_sp, 0, sizeof(_mc_virtual_att_sp));
-	memset(&_fw_virtual_att_sp, 0, sizeof(_fw_virtual_att_sp));
-	memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
-	memset(&_mc_virtual_v_rates_sp, 0, sizeof(_mc_virtual_v_rates_sp));
-	memset(&_fw_virtual_v_rates_sp, 0, sizeof(_fw_virtual_v_rates_sp));
-	memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
-	memset(&_v_control_mode, 0, sizeof(_v_control_mode));
-	memset(&_actuators_out_0, 0, sizeof(_actuators_out_0));
-	memset(&_actuators_out_1, 0, sizeof(_actuators_out_1));
-	memset(&_actuators_mc_in, 0, sizeof(_actuators_mc_in));
-	memset(&_actuators_fw_in, 0, sizeof(_actuators_fw_in));
-	memset(&_local_pos, 0, sizeof(_local_pos));
-	memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet));
-	memset(&_airspeed, 0, sizeof(_airspeed));
-	memset(&_batt_status, 0, sizeof(_batt_status));
-	memset(&_vehicle_cmd, 0, sizeof(_vehicle_cmd));
-	memset(&_tecs_status, 0, sizeof(_tecs_status));
-	memset(&_land_detected, 0, sizeof(_land_detected));
 
 	_params.idle_pwm_mc = PWM_DEFAULT_MIN;
 	_params.vtol_motor_count = 0;
@@ -122,13 +67,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
 	_params_handles.vtol_motor_count = param_find("VT_MOT_COUNT");
 	_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
-	_params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN");
-	_params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX");
-	_params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM");
 	_params_handles.fw_pitch_trim = param_find("VT_FW_PITCH_TRIM");
-	_params_handles.power_max = param_find("VT_POWER_MAX");
-	_params_handles.prop_eff = param_find("VT_PROP_EFF");
-	_params_handles.arsp_lp_gain = param_find("VT_ARSP_LP_GAIN");
 	_params_handles.vtol_type = param_find("VT_TYPE");
 	_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
 	_params_handles.fw_min_alt = param_find("VT_FW_MIN_ALT");
@@ -247,32 +186,6 @@ void VtolAttitudeControl::actuator_controls_fw_poll()
 	}
 }
 
-/**
-* Check for attitude rates setpoint from mc attitude controller
-*/
-void VtolAttitudeControl::vehicle_rates_sp_mc_poll()
-{
-	bool updated;
-	orb_check(_mc_virtual_v_rates_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(mc_virtual_rates_setpoint), _mc_virtual_v_rates_sp_sub, &_mc_virtual_v_rates_sp);
-	}
-}
-
-/**
-* Check for attitude rates setpoint from fw attitude controller
-*/
-void VtolAttitudeControl::vehicle_rates_sp_fw_poll()
-{
-	bool updated;
-	orb_check(_fw_virtual_v_rates_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(fw_virtual_rates_setpoint), _fw_virtual_v_rates_sp_sub, &_fw_virtual_v_rates_sp);
-	}
-}
-
 /**
 * Check for airspeed updates.
 */
@@ -287,21 +200,6 @@ VtolAttitudeControl::vehicle_airspeed_poll()
 	}
 }
 
-/**
-* Check for attitude set points update.
-*/
-void
-VtolAttitudeControl::vehicle_attitude_setpoint_poll()
-{
-	/* check if there is a new setpoint */
-	bool updated;
-	orb_check(_v_att_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
-	}
-}
-
 /**
 * Check for attitude update.
 */
@@ -317,38 +215,6 @@ VtolAttitudeControl::vehicle_attitude_poll()
 	}
 }
 
-/**
-* Check for battery updates.
-*/
-void
-VtolAttitudeControl::vehicle_battery_poll()
-{
-	bool updated;
-	orb_check(_battery_status_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(battery_status), _battery_status_sub, &_batt_status);
-	}
-}
-
-/**
-* Check for parameter updates.
-*/
-void
-VtolAttitudeControl::parameters_update_poll()
-{
-	bool updated;
-
-	/* Check if parameters have changed */
-	orb_check(_params_sub, &updated);
-
-	if (updated) {
-		struct parameter_update_s param_update;
-		orb_copy(ORB_ID(parameter_update), _params_sub, &param_update);
-		parameters_update();
-	}
-}
-
 /**
 * Check for sensor updates.
 */
@@ -410,7 +276,6 @@ VtolAttitudeControl::mc_virtual_att_sp_poll()
 	if (updated) {
 		orb_copy(ORB_ID(mc_virtual_attitude_setpoint), _mc_virtual_att_sp_sub, &_mc_virtual_att_sp);
 	}
-
 }
 
 /**
@@ -426,7 +291,6 @@ VtolAttitudeControl::fw_virtual_att_sp_poll()
 	if (updated) {
 		orb_copy(ORB_ID(fw_virtual_attitude_setpoint), _fw_virtual_att_sp_sub, &_fw_virtual_att_sp);
 	}
-
 }
 
 /**
@@ -575,34 +439,10 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.vtol_fw_permanent_stab, &l);
 	_vtol_vehicle_status.fw_permanent_stab = (l == 1);
 
-	/* vtol mc mode min airspeed */
-	param_get(_params_handles.mc_airspeed_min, &v);
-	_params.mc_airspeed_min = v;
-
-	/* vtol mc mode max airspeed */
-	param_get(_params_handles.mc_airspeed_max, &v);
-	_params.mc_airspeed_max = v;
-
-	/* vtol mc mode trim airspeed */
-	param_get(_params_handles.mc_airspeed_trim, &v);
-	_params.mc_airspeed_trim = v;
-
 	/* vtol pitch trim for fw mode */
 	param_get(_params_handles.fw_pitch_trim, &v);
 	_params.fw_pitch_trim = v;
 
-	/* vtol maximum power engine can produce */
-	param_get(_params_handles.power_max, &v);
-	_params.power_max = v;
-
-	/* vtol propeller efficiency factor */
-	param_get(_params_handles.prop_eff, &v);
-	_params.prop_eff = v;
-
-	/* vtol total airspeed estimate low pass gain */
-	param_get(_params_handles.arsp_lp_gain, &v);
-	_params.arsp_lp_gain = v;
-
 	param_get(_params_handles.vtol_type, &l);
 	_params.vtol_type = l;
 
@@ -660,11 +500,22 @@ VtolAttitudeControl::parameters_update()
 */
 void VtolAttitudeControl::fill_mc_att_rates_sp()
 {
-	_v_rates_sp.timestamp 	= _mc_virtual_v_rates_sp.timestamp;
-	_v_rates_sp.roll 	= _mc_virtual_v_rates_sp.roll;
-	_v_rates_sp.pitch 	= _mc_virtual_v_rates_sp.pitch;
-	_v_rates_sp.yaw 	= _mc_virtual_v_rates_sp.yaw;
-	_v_rates_sp.thrust 	= _mc_virtual_v_rates_sp.thrust;
+	bool updated;
+	orb_check(_mc_virtual_v_rates_sp_sub, &updated);
+
+	if (updated) {
+		vehicle_rates_setpoint_s v_rates_sp;
+
+		if (orb_copy(ORB_ID(mc_virtual_rates_setpoint), _mc_virtual_v_rates_sp_sub, &v_rates_sp) == PX4_OK) {
+			// publish the attitude rates setpoint
+			if (_v_rates_sp_pub != nullptr) {
+				orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &v_rates_sp);
+
+			} else {
+				_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &v_rates_sp);
+			}
+		}
+	}
 }
 
 /**
@@ -672,22 +523,21 @@ void VtolAttitudeControl::fill_mc_att_rates_sp()
 */
 void VtolAttitudeControl::fill_fw_att_rates_sp()
 {
-	_v_rates_sp.timestamp 	= _fw_virtual_v_rates_sp.timestamp;
-	_v_rates_sp.roll 	= _fw_virtual_v_rates_sp.roll;
-	_v_rates_sp.pitch 	= _fw_virtual_v_rates_sp.pitch;
-	_v_rates_sp.yaw 	= _fw_virtual_v_rates_sp.yaw;
-	_v_rates_sp.thrust 	= _fw_virtual_v_rates_sp.thrust;
-}
+	bool updated;
+	orb_check(_fw_virtual_v_rates_sp_sub, &updated);
 
-void VtolAttitudeControl::publish_att_sp()
-{
-	if (_v_att_sp_pub != nullptr) {
-		/* publish the attitude setpoint */
-		orb_publish(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_pub, &_v_att_sp);
+	if (updated) {
+		vehicle_rates_setpoint_s v_rates_sp;
 
-	} else {
-		/* advertise and publish */
-		_v_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_v_att_sp);
+		if (orb_copy(ORB_ID(fw_virtual_rates_setpoint), _fw_virtual_v_rates_sp_sub, &v_rates_sp) == PX4_OK) {
+			// publish the attitude rates setpoint
+			if (_v_rates_sp_pub != nullptr) {
+				orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &v_rates_sp);
+
+			} else {
+				_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &v_rates_sp);
+			}
+		}
 	}
 }
 
@@ -708,7 +558,6 @@ void VtolAttitudeControl::task_main()
 	_mc_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(mc_virtual_rates_setpoint));
 	_fw_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(fw_virtual_rates_setpoint));
 	_v_att_sub             = orb_subscribe(ORB_ID(vehicle_attitude));
-	_v_att_sp_sub          = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	_v_control_mode_sub    = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_params_sub            = orb_subscribe(ORB_ID(parameter_update));
 	_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
@@ -716,7 +565,6 @@ void VtolAttitudeControl::task_main()
 	_local_pos_sp_sub         = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
 	_pos_sp_triplet_sub    = orb_subscribe(ORB_ID(position_setpoint_triplet));
 	_airspeed_sub          = orb_subscribe(ORB_ID(airspeed));
-	_battery_status_sub	   = orb_subscribe(ORB_ID(battery_status));
 	_vehicle_cmd_sub	   = orb_subscribe(ORB_ID(vehicle_command));
 	_tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
 	_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
@@ -730,48 +578,11 @@ void VtolAttitudeControl::task_main()
 	_vtol_type->set_idle_mc();
 
 	/* wakeup source*/
-	px4_pollfd_struct_t fds[2] = {};	/*input_mc, input_fw, parameters*/
-
+	px4_pollfd_struct_t fds[1] = {};
 	fds[0].fd     = _actuator_inputs_mc;
 	fds[0].events = POLLIN;
-	fds[1].fd     = _actuator_inputs_fw;
-	fds[1].events = POLLIN;
 
 	while (!_task_should_exit) {
-		/*Advertise/Publish vtol vehicle status*/
-		_vtol_vehicle_status.timestamp = hrt_absolute_time();
-
-		if (_vtol_vehicle_status_pub != nullptr) {
-			orb_publish(ORB_ID(vtol_vehicle_status), _vtol_vehicle_status_pub, &_vtol_vehicle_status);
-
-		} else {
-			_vtol_vehicle_status_pub = orb_advertise(ORB_ID(vtol_vehicle_status), &_vtol_vehicle_status);
-		}
-
-		/* wait for up to 100ms for data */
-		int pret = px4_poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 100);
-
-		/* timed out - periodic check for _task_should_exit */
-		if (pret == 0) {
-			continue;
-		}
-
-		/* this is undesirable but not much we can do - might want to flag unhappy status */
-		if (pret < 0) {
-			PX4_WARN("poll error %d, %d", pret, errno);
-			/* sleep a bit before next try */
-			usleep(100000);
-			continue;
-		}
-
-		if (fds[0].revents & POLLIN) {
-			orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);
-		}
-
-		if (fds[1].revents & POLLIN) {
-			orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in);
-		}
-
 		/* only update parameters if they changed */
 		bool params_updated = false;
 		orb_check(_params_sub, &params_updated);
@@ -785,25 +596,47 @@ void VtolAttitudeControl::task_main()
 			parameters_update();
 		}
 
-		mc_virtual_att_sp_poll();
-		fw_virtual_att_sp_poll();
-		vehicle_control_mode_poll();	//Check for changes in vehicle control mode.
-		vehicle_manual_poll();			//Check for changes in manual inputs.
-		vehicle_attitude_setpoint_poll();//Check for changes in attitude set points
-		vehicle_attitude_poll();		//Check for changes in attitude
-		actuator_controls_mc_poll();	//Check for changes in mc_attitude_control output
-		actuator_controls_fw_poll();	//Check for changes in fw_attitude_control output
-		vehicle_rates_sp_mc_poll();
-		vehicle_rates_sp_fw_poll();
-		parameters_update_poll();
-		vehicle_local_pos_poll();			// Check for new sensor values
+		/* wait for up to 100ms for data */
+		int pret = px4_poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 100);
+
+		/* timed out - periodic check for _task_should_exit */
+		if (pret == 0) {
+			continue;
+		}
+
+		/* this is undesirable but not much we can do - might want to flag unhappy status */
+		if (pret < 0) {
+			PX4_ERR("poll error %d, %d", pret, errno);
+			/* sleep a bit before next try */
+			usleep(100000);
+			continue;
+		}
+
+		// run vtol_att on MC actuator publications, unless in full FW mode
+		switch (_vtol_type->get_mode()) {
+		case TRANSITION_TO_FW:
+		case TRANSITION_TO_MC:
+		case ROTARY_WING:
+			fds[0].fd = _actuator_inputs_mc;
+			break;
+
+		case FIXED_WING:
+			fds[0].fd = _actuator_inputs_fw;
+			break;
+		}
+
+		vehicle_control_mode_poll();
+		vehicle_manual_poll();
+		vehicle_attitude_poll();
+		vehicle_local_pos_poll();
 		vehicle_local_pos_sp_poll();
 		pos_sp_triplet_poll();
 		vehicle_airspeed_poll();
-		vehicle_battery_poll();
 		vehicle_cmd_poll();
 		tecs_status_poll();
 		land_detected_poll();
+		actuator_controls_fw_poll();
+		actuator_controls_mc_poll();
 
 		// update the vtol state machine which decides which mode we are in
 		_vtol_type->update_vtol_state();
@@ -826,67 +659,58 @@ void VtolAttitudeControl::task_main()
 
 		// check in which mode we are in and call mode specific functions
 		if (_vtol_type->get_mode() == ROTARY_WING) {
+
+			mc_virtual_att_sp_poll();
+
 			// vehicle is in rotary wing mode
 			_vtol_vehicle_status.vtol_in_rw_mode = true;
 			_vtol_vehicle_status.vtol_in_trans_mode = false;
 
 			// got data from mc attitude controller
-			if (fds[0].revents & POLLIN) {
-				_vtol_type->update_mc_state();
-
-				fill_mc_att_rates_sp();
-			}
+			_vtol_type->update_mc_state();
+			fill_mc_att_rates_sp();
 
 		} else if (_vtol_type->get_mode() == FIXED_WING) {
+
+			fw_virtual_att_sp_poll();
+
 			// vehicle is in fw mode
 			_vtol_vehicle_status.vtol_in_rw_mode = false;
 			_vtol_vehicle_status.vtol_in_trans_mode = false;
 
-			// got data from fw attitude controller
-			if (fds[1].revents & POLLIN) {
-				vehicle_manual_poll();
-
-				_vtol_type->update_fw_state();
-
-				fill_fw_att_rates_sp();
-			}
+			_vtol_type->update_fw_state();
+			fill_fw_att_rates_sp();
 
 		} else if (_vtol_type->get_mode() == TRANSITION_TO_MC || _vtol_type->get_mode() == TRANSITION_TO_FW) {
+
+			mc_virtual_att_sp_poll();
+			fw_virtual_att_sp_poll();
+
 			// vehicle is doing a transition
 			_vtol_vehicle_status.vtol_in_trans_mode = true;
 			_vtol_vehicle_status.vtol_in_rw_mode = true; //making mc attitude controller work during transition
 			_vtol_vehicle_status.in_transition_to_fw = (_vtol_type->get_mode() == TRANSITION_TO_FW);
 
-			bool got_new_data = false;
-
-			if (fds[0].revents & POLLIN) {
-				orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);
-				got_new_data = true;
-			}
-
-			if (fds[1].revents & POLLIN) {
-				orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in);
-				got_new_data = true;
-			}
-
-			// update transition state if got any new data
-			if (got_new_data) {
-				_vtol_type->update_transition_state();
-				fill_mc_att_rates_sp();
-			}
-
-		} else if (_vtol_type->get_mode() == EXTERNAL) {
-			// we are using external module to generate attitude/thrust setpoint
-			_vtol_type->update_external_state();
+			_vtol_type->update_transition_state();
+			fill_mc_att_rates_sp();
 		}
 
-		publish_att_sp();
 		_vtol_type->fill_actuator_outputs();
 
 		/* Only publish if the proper mode(s) are enabled */
 		if (_v_control_mode.flag_control_attitude_enabled ||
 		    _v_control_mode.flag_control_rates_enabled ||
 		    _v_control_mode.flag_control_manual_enabled) {
+
+			if (_v_att_sp_pub != nullptr) {
+				/* publish the attitude setpoint */
+				orb_publish(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_pub, &_v_att_sp);
+
+			} else {
+				/* advertise and publish */
+				_v_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_v_att_sp);
+			}
+
 			if (_actuators_0_pub != nullptr) {
 				orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
 
@@ -902,12 +726,14 @@ void VtolAttitudeControl::task_main()
 			}
 		}
 
-		// publish the attitude rates setpoint
-		if (_v_rates_sp_pub != nullptr) {
-			orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
+		/*Advertise/Publish vtol vehicle status*/
+		_vtol_vehicle_status.timestamp = hrt_absolute_time();
+
+		if (_vtol_vehicle_status_pub != nullptr) {
+			orb_publish(ORB_ID(vtol_vehicle_status), _vtol_vehicle_status_pub, &_vtol_vehicle_status);
 
 		} else {
-			_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
+			_vtol_vehicle_status_pub = orb_advertise(ORB_ID(vtol_vehicle_status), &_vtol_vehicle_status);
 		}
 	}
 
@@ -923,7 +749,7 @@ VtolAttitudeControl::start()
 	/* start the task */
 	_control_task = px4_task_spawn_cmd("vtol_att_control",
 					   SCHED_DEFAULT,
-					   SCHED_PRIORITY_MAX - 10,
+					   SCHED_PRIORITY_ATTITUDE_CONTROL + 1,
 					   1230,
 					   (px4_main_t)&VtolAttitudeControl::task_main_trampoline,
 					   nullptr);
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 80c16eeb02..492259356a 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -59,13 +59,10 @@
 #include <drivers/drv_pwm_output.h>
 #include <lib/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
-#include <systemlib/err.h>
 #include <systemlib/param/param.h>
-#include <systemlib/systemlib.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/airspeed.h>
-#include <uORB/topics/battery_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/tecs_status.h>
@@ -80,7 +77,6 @@
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vtol_vehicle_status.h>
-#include <uORB/uORB.h>
 
 #include "tiltrotor.h"
 #include "tailsitter.h"
@@ -101,104 +97,90 @@ public:
 	bool is_fixed_wing_requested();
 	void abort_front_transition(const char *reason);
 
-	struct vehicle_attitude_s 			*get_att() {return &_v_att;}
-	struct vehicle_attitude_setpoint_s		*get_att_sp() {return &_v_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 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;}
+	struct actuator_controls_s 			*get_actuators_fw_in() {return &_actuators_fw_in;}
+	struct actuator_controls_s 			*get_actuators_mc_in() {return &_actuators_mc_in;}
 	struct actuator_controls_s 			*get_actuators_out0() {return &_actuators_out_0;}
 	struct actuator_controls_s 			*get_actuators_out1() {return &_actuators_out_1;}
-	struct actuator_controls_s 			*get_actuators_mc_in() {return &_actuators_mc_in;}
-	struct actuator_controls_s 			*get_actuators_fw_in() {return &_actuators_fw_in;}
+	struct airspeed_s 				*get_airspeed() {return &_airspeed;}
+	struct position_setpoint_triplet_s		*get_pos_sp_triplet() {return &_pos_sp_triplet;}
+	struct tecs_status_s 				*get_tecs_status() {return &_tecs_status;}
+	struct vehicle_attitude_s 			*get_att() {return &_v_att;}
+	struct vehicle_attitude_setpoint_s		*get_att_sp() {return &_v_att_sp;}
+	struct vehicle_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_control_mode_s 			*get_control_mode() {return &_v_control_mode;}
+	struct vehicle_land_detected_s			*get_land_detected() {return &_land_detected;}
 	struct vehicle_local_position_s 		*get_local_pos() {return &_local_pos;}
 	struct vehicle_local_position_setpoint_s	*get_local_pos_sp() {return &_local_pos_sp;}
-	struct position_setpoint_triplet_s		*get_pos_sp_triplet() {return &_pos_sp_triplet;}
-	struct airspeed_s 				*get_airspeed() {return &_airspeed;}
-	struct battery_status_s 			*get_batt_status() {return &_batt_status;}
-	struct tecs_status_s 				*get_tecs_status() {return &_tecs_status;}
-	struct vehicle_land_detected_s			*get_land_detected() {return &_land_detected;}
+	struct vtol_vehicle_status_s			*get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
 
 	struct Params 					*get_params() {return &_params;}
 
 
 private:
 //******************flags & handlers******************************************************
-	bool _task_should_exit;
-	int _control_task;		//task handle for VTOL attitude controller
-	orb_advert_t _mavlink_log_pub;	// mavlink log uORB handle
+	bool	_task_should_exit{false};
+	int	_control_task{-1};		//task handle for VTOL attitude controller
 
 	/* handlers for subscriptions */
-	int	_v_att_sub;				//vehicle attitude subscription
-	int	_v_att_sp_sub;			//vehicle attitude setpoint subscription
-	int	_mc_virtual_att_sp_sub;
-	int	_fw_virtual_att_sp_sub;
-	int	_mc_virtual_v_rates_sp_sub;		//vehicle rates setpoint subscription
-	int	_fw_virtual_v_rates_sp_sub;		//vehicle rates setpoint subscription
-	int	_v_control_mode_sub;	//vehicle control mode subscription
-	int	_params_sub;			//parameter updates subscription
-	int	_manual_control_sp_sub;	//manual control setpoint subscription
-	int	_local_pos_sub;			// sensor subscription
-	int	_local_pos_sp_sub;			// setpoint subscription
-	int	_pos_sp_triplet_sub;			// local position setpoint subscription
-	int	_airspeed_sub;			// airspeed subscription
-	int	_battery_status_sub;	// battery status subscription
-	int	_vehicle_cmd_sub;
-	int	_tecs_status_sub;
-	int	_land_detected_sub;
-
-	int 	_actuator_inputs_mc;	//topic on which the mc_att_controller publishes actuator inputs
-	int 	_actuator_inputs_fw;	//topic on which the fw_att_controller publishes actuator inputs
+	int	_actuator_inputs_fw{-1};	//topic on which the fw_att_controller publishes actuator inputs
+	int	_actuator_inputs_mc{-1};	//topic on which the mc_att_controller publishes actuator inputs
+	int	_airspeed_sub{-1};			// airspeed subscription
+	int	_fw_virtual_att_sp_sub{-1};
+	int	_fw_virtual_v_rates_sp_sub{-1};		//vehicle rates setpoint subscription
+	int	_land_detected_sub{-1};
+	int	_local_pos_sp_sub{-1};			// setpoint subscription
+	int	_local_pos_sub{-1};			// sensor subscription
+	int	_manual_control_sp_sub{-1};	//manual control setpoint subscription
+	int	_mc_virtual_att_sp_sub{-1};
+	int	_mc_virtual_v_rates_sp_sub{-1};		//vehicle rates setpoint subscription
+	int	_params_sub{-1};			//parameter updates subscription
+	int	_pos_sp_triplet_sub{-1};			// local position setpoint subscription
+	int	_tecs_status_sub{-1};
+	int	_v_att_sp_sub{-1};			//vehicle attitude setpoint subscription
+	int	_v_att_sub{-1};				//vehicle attitude subscription
+	int	_v_control_mode_sub{-1};	//vehicle control mode subscription
+	int	_vehicle_cmd_sub{-1};
 
 	//handlers for publishers
-	orb_advert_t	_actuators_0_pub;		//input for the mixer (roll,pitch,yaw,thrust)
-	orb_advert_t 	_actuators_1_pub;
-	orb_advert_t	_vtol_vehicle_status_pub;
-	orb_advert_t	_v_rates_sp_pub;
-	orb_advert_t	_v_att_sp_pub;
-	orb_advert_t	_v_cmd_ack_pub;
+	orb_advert_t	_actuators_0_pub{nullptr};		//input for the mixer (roll,pitch,yaw,thrust)
+	orb_advert_t	_mavlink_log_pub{nullptr};	// mavlink log uORB handle
+	orb_advert_t	_v_att_sp_pub{nullptr};
+	orb_advert_t	_v_cmd_ack_pub{nullptr};
+	orb_advert_t	_v_rates_sp_pub{nullptr};
+	orb_advert_t	_vtol_vehicle_status_pub{nullptr};
+	orb_advert_t 	_actuators_1_pub{nullptr};
 
 //*******************data containers***********************************************************
-	struct vehicle_attitude_s			_v_att;				//vehicle attitude
-	struct vehicle_attitude_setpoint_s		_v_att_sp;			//vehicle 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 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;
-	struct actuator_controls_s			_actuators_out_0;	//actuator controls going to the mc mixer
-	struct actuator_controls_s			_actuators_out_1;	//actuator controls going to the fw mixer (used for elevons)
-	struct actuator_controls_s			_actuators_mc_in;	//actuator controls from mc_att_control
-	struct actuator_controls_s			_actuators_fw_in;	//actuator controls from fw_att_control
-	struct vehicle_local_position_s			_local_pos;
-	struct vehicle_local_position_setpoint_s	_local_pos_sp;
-	struct position_setpoint_triplet_s		_pos_sp_triplet;
-	struct airspeed_s 				_airspeed;			// airspeed
-	struct battery_status_s 			_batt_status; 		// battery status
-	struct vehicle_command_s			_vehicle_cmd;
-	struct tecs_status_s				_tecs_status;
-	struct vehicle_land_detected_s			_land_detected;
 
-	Params _params;	// struct holding the parameters
+	vehicle_attitude_setpoint_s		_v_att_sp{};			//vehicle attitude setpoint
+	vehicle_attitude_setpoint_s 		_fw_virtual_att_sp{};	// virtual fw attitude setpoint
+	vehicle_attitude_setpoint_s 		_mc_virtual_att_sp{};	// virtual mc attitude setpoint
+
+	actuator_controls_s			_actuators_fw_in{};	//actuator controls from fw_att_control
+	actuator_controls_s			_actuators_mc_in{};	//actuator controls from mc_att_control
+	actuator_controls_s			_actuators_out_0{};	//actuator controls going to the mc mixer
+	actuator_controls_s			_actuators_out_1{};	//actuator controls going to the fw mixer (used for elevons)
+
+	airspeed_s 				_airspeed{};			// airspeed
+	manual_control_setpoint_s		_manual_control_sp{}; //manual control setpoint
+	position_setpoint_triplet_s		_pos_sp_triplet{};
+	tecs_status_s				_tecs_status{};
+	vehicle_attitude_s			_v_att{};				//vehicle attitude
+	vehicle_command_s			_vehicle_cmd{};
+	vehicle_control_mode_s			_v_control_mode{};	//vehicle control mode
+	vehicle_land_detected_s			_land_detected{};
+	vehicle_local_position_s			_local_pos{};
+	vehicle_local_position_setpoint_s	_local_pos_sp{};
+	vtol_vehicle_status_s 			_vtol_vehicle_status{};
+
+	Params _params{};	// struct holding the parameters
 
 	struct {
 		param_t idle_pwm_mc;
 		param_t vtol_motor_count;
 		param_t vtol_fw_permanent_stab;
-		param_t mc_airspeed_min;
-		param_t mc_airspeed_trim;
-		param_t mc_airspeed_max;
 		param_t fw_pitch_trim;
-		param_t power_max;
-		param_t prop_eff;
-		param_t arsp_lp_gain;
 		param_t vtol_type;
 		param_t elevons_mc_lock;
 		param_t fw_min_alt;
@@ -210,45 +192,42 @@ private:
 		param_t wv_takeoff;
 		param_t wv_loiter;
 		param_t wv_land;
-	} _params_handles;
+	} _params_handles{};
 
 	/* for multicopters it is usual to have a non-zero idle speed of the engines
 	 * for fixed wings we want to have an idle speed of zero since we do not want
 	 * to waste energy when gliding. */
-	int _transition_command;
-	bool _abort_front_transition;
+	int _transition_command{vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC};
+	bool _abort_front_transition{false};
 
-	VtolType *_vtol_type = nullptr;	// base class for different vtol types
+	VtolType *_vtol_type{nullptr};	// base class for different vtol types
 
 //*****************Member functions***********************************************************************
 
 	void 		task_main();	//main task
 	static void	task_main_trampoline(int argc, char *argv[]);	//Shim for calling task_main from task_create.
 
+	void		land_detected_poll();
+	void		tecs_status_poll();
+	void		vehicle_attitude_poll();  //Check for attitude updates.
+	void		vehicle_cmd_poll();
 	void		vehicle_control_mode_poll();	//Check for changes in vehicle control mode.
 	void		vehicle_manual_poll();			//Check for changes in manual inputs.
-	void 		mc_virtual_att_sp_poll();
-	void 		fw_virtual_att_sp_poll();
-	void 		actuator_controls_mc_poll();	//Check for changes in mc_attitude_control output
 	void 		actuator_controls_fw_poll();	//Check for changes in fw_attitude_control output
-	void 		vehicle_rates_sp_mc_poll();
-	void 		vehicle_rates_sp_fw_poll();
-	void 		vehicle_local_pos_poll();		// Check for changes in sensor values
-	void 		vehicle_local_pos_sp_poll();		// Check for changes in setpoint values
+	void 		actuator_controls_mc_poll();	//Check for changes in mc_attitude_control output
+	void 		fw_virtual_att_sp_poll();
+	void 		mc_virtual_att_sp_poll();
 	void 		pos_sp_triplet_poll();		// Check for changes in position setpoint values
 	void 		vehicle_airspeed_poll();		// Check for changes in airspeed
-	void		vehicle_attitude_setpoint_poll();  //Check for attitude setpoint updates.
-	void		vehicle_attitude_poll();  //Check for attitude updates.
-	void 		vehicle_battery_poll();			// Check for battery updates
-	void		vehicle_cmd_poll();
-	void		tecs_status_poll();
-	void		land_detected_poll();
-	void 		parameters_update_poll();		//Check if parameters have changed
+	void 		vehicle_local_pos_poll();		// Check for changes in sensor values
+	void 		vehicle_local_pos_sp_poll();		// Check for changes in setpoint values
+
 	int 		parameters_update();			//Update local paraemter cache
+
 	void 		fill_mc_att_rates_sp();
 	void 		fill_fw_att_rates_sp();
+
 	void		handle_command();
-	void 		publish_att_sp();
 };
 
 #endif
diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c
index 554c9d2f83..c1b44dd305 100644
--- a/src/modules/vtol_att_control/vtol_att_control_params.c
+++ b/src/modules/vtol_att_control/vtol_att_control_params.c
@@ -62,48 +62,6 @@ PARAM_DEFINE_INT32(VT_MOT_COUNT, 0);
  */
 PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
 
-/**
- * Minimum airspeed in multicopter mode
- *
- * This is the minimum speed of the air flowing over the control surfaces.
- *
- * @unit m/s
- * @min 0.0
- * @max 30.0
- * @increment 0.5
- * @decimal 2
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN, 10.0f);
-
-/**
- * Maximum airspeed in multicopter mode
- *
- * This is the maximum speed of the air flowing over the control surfaces.
- *
- * @unit m/s
- * @min 0.0
- * @max 30.0
- * @increment 0.5
- * @decimal 2
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX, 30.0f);
-
-/**
- * Trim airspeed when in multicopter mode
- *
- * This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
- *
- * @unit m/s
- * @min 0.0
- * @max 30.0
- * @increment 0.5
- * @decimal 2
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM, 10.0f);
-
 /**
  * Permanent stabilization in fw mode
  *
@@ -128,47 +86,6 @@ PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
  */
 PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM, 0.0f);
 
-/**
- * Motor max power
- *
- * Indicates the maximum power the motor is able to produce. Used to calculate
- * propeller efficiency map.
- *
- * @unit W
- * @min 1
- * @max 10000
- * @increment 1
- * @decimal 0
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_POWER_MAX, 120.0f);
-
-/**
- * Propeller efficiency parameter
- *
- * Influences propeller efficiency at different power settings. Should be tuned beforehand.
- *
- * @min 0.0
- * @max 1.0
- * @increment 0.01
- * @decimal 3
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_PROP_EFF, 0.0f);
-
-/**
- * Total airspeed estimate low-pass filter gain
- *
- * Gain for tuning the low-pass filter for the total airspeed estimate
- *
- * @min 0.0
- * @max 1.0
- * @increment 0.01
- * @decimal 3
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN, 0.3f);
-
 /**
  * VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
  *
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 0e8040caf2..a6dffc088e 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -54,10 +54,6 @@ VtolType::VtolType(VtolAttitudeControl *att_controller) :
 	_v_att_sp = _attc->get_att_sp();
 	_mc_virtual_att_sp = _attc->get_mc_virtual_att_sp();
 	_fw_virtual_att_sp = _attc->get_fw_virtual_att_sp();
-	_v_rates_sp = _attc->get_rates_sp();
-	_mc_virtual_v_rates_sp = _attc->get_mc_virtual_rates_sp();
-	_fw_virtual_v_rates_sp = _attc->get_fw_virtual_rates_sp();
-	_manual_control_sp = _attc->get_manual_control_sp();
 	_v_control_mode = _attc->get_control_mode();
 	_vtol_vehicle_status = _attc->get_vtol_vehicle_status();
 	_actuators_out_0 = _attc->get_actuators_out0();
@@ -67,7 +63,6 @@ VtolType::VtolType(VtolAttitudeControl *att_controller) :
 	_local_pos = _attc->get_local_pos();
 	_local_pos_sp = _attc->get_local_pos_sp();
 	_airspeed = _attc->get_airspeed();
-	_batt_status = _attc->get_batt_status();
 	_tecs_status = _attc->get_tecs_status();
 	_land_detected = _attc->get_land_detected();
 	_params = _attc->get_params();
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index f7ee1cee29..20596f64e4 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -49,13 +49,7 @@
 struct Params {
 	int32_t idle_pwm_mc;			// pwm value for idle in mc mode
 	int32_t vtol_motor_count;		// number of motors
-	float mc_airspeed_min;		// min airspeed in multicoper mode (including prop-wash)
-	float mc_airspeed_trim;		// trim airspeed in multicopter mode
-	float mc_airspeed_max;		// max airpseed in multicopter mode
 	float fw_pitch_trim;		// trim for neutral elevon position in fw mode
-	float power_max;			// maximum power of one engine
-	float prop_eff;				// factor to calculate prop efficiency
-	float arsp_lp_gain;			// total airspeed estimate low pass gain
 	int32_t vtol_type;
 	int32_t elevons_mc_lock;		// lock elevons in multicopter mode
 	float fw_min_alt;			// minimum relative altitude for FW mode (QuadChute)
@@ -74,8 +68,7 @@ enum mode {
 	TRANSITION_TO_FW = 1,
 	TRANSITION_TO_MC = 2,
 	ROTARY_WING = 3,
-	FIXED_WING = 4,
-	EXTERNAL = 5
+	FIXED_WING = 4
 };
 
 enum vtol_type {
@@ -116,11 +109,6 @@ public:
 	 */
 	virtual void update_fw_state();
 
-	/**
-	 * Update external state.
-	 */
-	virtual void update_external_state() {}
-
 	/**
 	 * Write control values to actuator output topics.
 	 */
@@ -157,10 +145,6 @@ protected:
 	struct vehicle_attitude_setpoint_s	*_v_att_sp;			//vehicle 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 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;
 	struct actuator_controls_s			*_actuators_out_0;			//actuator controls going to the mc mixer
@@ -170,7 +154,6 @@ protected:
 	struct vehicle_local_position_s			*_local_pos;
 	struct vehicle_local_position_setpoint_s	*_local_pos_sp;
 	struct airspeed_s 				*_airspeed;					// airspeed
-	struct battery_status_s 			*_batt_status; 				// battery status
 	struct tecs_status_s				*_tecs_status;
 	struct vehicle_land_detected_s			*_land_detected;