diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index be3e6d269a..ad15750c0a 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1145,7 +1145,7 @@ int commander_thread_main(int argc, char *argv[])
 			/* arm/disarm by RC */
 			res = TRANSITION_NOT_CHANGED;
 
-			/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm
+			/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm
 			 * do it only for rotary wings */
 			if (status.is_rotary_wing &&
 			    (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
@@ -1299,7 +1299,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		// TODO remove this hack
-		/* flight termination in manual mode if assisted switch is on posctrl position */
+		/* flight termination in manual mode if assist 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);
@@ -1556,7 +1556,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 		// TRANSITION_DENIED is not possible here
 		break;
 
-	case SWITCH_POS_MIDDLE:		// ASSISTED
+	case SWITCH_POS_MIDDLE:		// ASSIST
 		if (sp_man->posctrl_switch == SWITCH_POS_ON) {
 			res = main_state_transition(status, MAIN_STATE_POSCTRL);
 
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 02890b452c..873fff8727 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -671,7 +671,7 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
 PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
 
 /**
- * Threshold for selecting assisted mode
+ * Threshold for selecting assist mode
  *
  * min:-1
  * max:+1
@@ -684,7 +684,7 @@ PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
  * 		negative : true when channel<th
  *
  */
-PARAM_DEFINE_FLOAT(RC_ASSISTED_TH, 0.25f);
+PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
 
 /**
  * Threshold for selecting auto mode
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 020134cc78..75c05e0e74 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -269,12 +269,12 @@ private:
 		int rc_map_aux5;
 
 		int32_t rc_fails_thr;
-		float rc_assisted_th;
+		float rc_assist_th;
 		float rc_auto_th;
 		float rc_posctrl_th;
 		float rc_return_th;
 		float rc_loiter_th;
-		bool rc_assisted_inv;
+		bool rc_assist_inv;
 		bool rc_auto_inv;
 		bool rc_posctrl_inv;
 		bool rc_return_inv;
@@ -323,7 +323,7 @@ private:
 		param_t rc_map_aux5;
 
 		param_t rc_fails_thr;
-		param_t rc_assisted_th;
+		param_t rc_assist_th;
 		param_t rc_auto_th;
 		param_t rc_posctrl_th;
 		param_t rc_return_th;
@@ -539,7 +539,7 @@ Sensors::Sensors() :
 
 	/* RC thresholds */
 	_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
-	_parameter_handles.rc_assisted_th = param_find("RC_ASSISTED_TH");
+	_parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
 	_parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
 	_parameter_handles.rc_posctrl_th = param_find("RC_POSCTRL_TH");
 	_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
@@ -700,9 +700,9 @@ Sensors::parameters_update()
 	param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
 	param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
 	param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr));
-	param_get(_parameter_handles.rc_assisted_th, &(_parameters.rc_assisted_th));
-	_parameters.rc_assisted_inv = (_parameters.rc_assisted_th<0);
-	_parameters.rc_assisted_th = fabs(_parameters.rc_assisted_th);
+	param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th));
+	_parameters.rc_assist_inv = (_parameters.rc_assist_th<0);
+	_parameters.rc_assist_th = fabs(_parameters.rc_assist_th);
 	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);
@@ -1477,7 +1477,7 @@ Sensors::rc_poll()
 			manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
 
 			/* 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.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_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);