diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
index b6f05837be..7597c989b3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -15,7 +15,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_pos_control start
+fw_mode_manager start
 fw_lat_lon_control start
 airspeed_selector start
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
index 9962f3c83a..16fb6ee5d6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -27,7 +27,7 @@ fi
 
 fw_rate_control start vtol
 fw_att_control start vtol
-fw_pos_control start
+fw_mode_manager start
 fw_lat_lon_control start vtol
 fw_autotune_attitude_control start vtol
 
diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/default.px4board b/boards/3dr/ctrl-zero-h7-oem-revg/default.px4board
index 844782f2af..326bb98a93 100644
--- a/boards/3dr/ctrl-zero-h7-oem-revg/default.px4board
+++ b/boards/3dr/ctrl-zero-h7-oem-revg/default.px4board
@@ -41,7 +41,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board
index e34edeb0b7..67c4a57dd4 100644
--- a/boards/airmind/mindpx-v2/default.px4board
+++ b/boards/airmind/mindpx-v2/default.px4board
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board
index 6b767e4675..64b2ff9838 100644
--- a/boards/ark/fmu-v6x/default.px4board
+++ b/boards/ark/fmu-v6x/default.px4board
@@ -56,7 +56,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/ark/fpv/default.px4board b/boards/ark/fpv/default.px4board
index ef0766f144..79f3ab19da 100644
--- a/boards/ark/fpv/default.px4board
+++ b/boards/ark/fpv/default.px4board
@@ -37,7 +37,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/auterion/fmu-v6s/default.px4board b/boards/auterion/fmu-v6s/default.px4board
index bb1bd7fdc0..d99a2ae6a1 100644
--- a/boards/auterion/fmu-v6s/default.px4board
+++ b/boards/auterion/fmu-v6s/default.px4board
@@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/auterion/fmu-v6s/multicopter.px4board b/boards/auterion/fmu-v6s/multicopter.px4board
index 296a35c21f..69617bda0c 100644
--- a/boards/auterion/fmu-v6s/multicopter.px4board
+++ b/boards/auterion/fmu-v6s/multicopter.px4board
@@ -3,7 +3,8 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_COMMON_RC=y
diff --git a/boards/auterion/fmu-v6s/rover.px4board b/boards/auterion/fmu-v6s/rover.px4board
index f754c54e36..2709b271b6 100644
--- a/boards/auterion/fmu-v6s/rover.px4board
+++ b/boards/auterion/fmu-v6s/rover.px4board
@@ -2,7 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board
index a493a5623c..1ad68a8f71 100644
--- a/boards/av/x-v1/default.px4board
+++ b/boards/av/x-v1/default.px4board
@@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board
index 5a2f5682aa..1e7db4fae5 100644
--- a/boards/beaglebone/blue/default.px4board
+++ b/boards/beaglebone/blue/default.px4board
@@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/bluerobotics/navigator/default.px4board b/boards/bluerobotics/navigator/default.px4board
index 49ff0a2aba..8812f00366 100644
--- a/boards/bluerobotics/navigator/default.px4board
+++ b/boards/bluerobotics/navigator/default.px4board
@@ -49,7 +49,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
diff --git a/boards/corvon/743v1/default.px4board b/boards/corvon/743v1/default.px4board
index 149bcaff21..ac84a53cd6 100644
--- a/boards/corvon/743v1/default.px4board
+++ b/boards/corvon/743v1/default.px4board
@@ -38,7 +38,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
diff --git a/boards/cuav/7-nano/default.px4board b/boards/cuav/7-nano/default.px4board
index fc50c0ba7a..eb1dc29bc3 100644
--- a/boards/cuav/7-nano/default.px4board
+++ b/boards/cuav/7-nano/default.px4board
@@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board
index b06d1005b3..b0db9a1735 100644
--- a/boards/cuav/nora/default.px4board
+++ b/boards/cuav/nora/default.px4board
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board
index 5491c10fc1..eafa964372 100644
--- a/boards/cuav/x7pro/default.px4board
+++ b/boards/cuav/x7pro/default.px4board
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board
index 411407613a..f10622bb3f 100644
--- a/boards/cubepilot/cubeorange/default.px4board
+++ b/boards/cubepilot/cubeorange/default.px4board
@@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/cubepilot/cubeorangeplus/default.px4board b/boards/cubepilot/cubeorangeplus/default.px4board
index 416ccf5483..8b2c0839b9 100644
--- a/boards/cubepilot/cubeorangeplus/default.px4board
+++ b/boards/cubepilot/cubeorangeplus/default.px4board
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board
index 3717771be6..8d0dc3eee3 100644
--- a/boards/cubepilot/cubeyellow/default.px4board
+++ b/boards/cubepilot/cubeyellow/default.px4board
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board
index 11a066013a..6498bf7820 100644
--- a/boards/emlid/navio2/default.px4board
+++ b/boards/emlid/navio2/default.px4board
@@ -32,7 +32,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/hkust/nxt-dual/default.px4board b/boards/hkust/nxt-dual/default.px4board
index 18a7d92520..97b19358e5 100644
--- a/boards/hkust/nxt-dual/default.px4board
+++ b/boards/hkust/nxt-dual/default.px4board
@@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/hkust/nxt-v1/default.px4board b/boards/hkust/nxt-v1/default.px4board
index 914bfd3b3a..0690280eea 100644
--- a/boards/hkust/nxt-v1/default.px4board
+++ b/boards/hkust/nxt-v1/default.px4board
@@ -41,7 +41,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board
index 199bc05367..627917d186 100644
--- a/boards/holybro/durandal-v1/default.px4board
+++ b/boards/holybro/durandal-v1/default.px4board
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/holybro/kakuteh7-wing/default.px4board b/boards/holybro/kakuteh7-wing/default.px4board
index f8440af002..08670e4781 100644
--- a/boards/holybro/kakuteh7-wing/default.px4board
+++ b/boards/holybro/kakuteh7-wing/default.px4board
@@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board
index cdebf407b2..fed11068e6 100644
--- a/boards/holybro/kakuteh7/default.px4board
+++ b/boards/holybro/kakuteh7/default.px4board
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/holybro/kakuteh7dualimu/default.px4board b/boards/holybro/kakuteh7dualimu/default.px4board
index fbecd9f5af..5b4f4710a4 100644
--- a/boards/holybro/kakuteh7dualimu/default.px4board
+++ b/boards/holybro/kakuteh7dualimu/default.px4board
@@ -48,7 +48,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/holybro/kakuteh7mini/default.px4board b/boards/holybro/kakuteh7mini/default.px4board
index b8ca1495a2..06bc5ffe7e 100644
--- a/boards/holybro/kakuteh7mini/default.px4board
+++ b/boards/holybro/kakuteh7mini/default.px4board
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/holybro/kakuteh7v2/default.px4board b/boards/holybro/kakuteh7v2/default.px4board
index 8bbb8f6a7e..8821361a69 100644
--- a/boards/holybro/kakuteh7v2/default.px4board
+++ b/boards/holybro/kakuteh7v2/default.px4board
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board
index 94b177fb87..01c28a922c 100644
--- a/boards/holybro/pix32v5/default.px4board
+++ b/boards/holybro/pix32v5/default.px4board
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/matek/h743-mini/default.px4board b/boards/matek/h743-mini/default.px4board
index 26238797e0..965fec5459 100644
--- a/boards/matek/h743-mini/default.px4board
+++ b/boards/matek/h743-mini/default.px4board
@@ -30,7 +30,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board
index b4fe01dbdf..9cf0909725 100644
--- a/boards/matek/h743-slim/default.px4board
+++ b/boards/matek/h743-slim/default.px4board
@@ -33,7 +33,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/matek/h743/default.px4board b/boards/matek/h743/default.px4board
index c530e5303d..e61c9b6014 100644
--- a/boards/matek/h743/default.px4board
+++ b/boards/matek/h743/default.px4board
@@ -32,7 +32,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/micoair/h743-aio/default.px4board b/boards/micoair/h743-aio/default.px4board
index 7af585274e..5e68a6dbc5 100644
--- a/boards/micoair/h743-aio/default.px4board
+++ b/boards/micoair/h743-aio/default.px4board
@@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/micoair/h743-v2/default.px4board b/boards/micoair/h743-v2/default.px4board
index 518132aa8d..821021a753 100644
--- a/boards/micoair/h743-v2/default.px4board
+++ b/boards/micoair/h743-v2/default.px4board
@@ -40,7 +40,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/micoair/h743/default.px4board b/boards/micoair/h743/default.px4board
index 207bb39bbb..ac84a53cd6 100644
--- a/boards/micoair/h743/default.px4board
+++ b/boards/micoair/h743/default.px4board
@@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board
index 7f60b557f2..12623c2c87 100644
--- a/boards/modalai/fc-v1/default.px4board
+++ b/boards/modalai/fc-v1/default.px4board
@@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board
index b97c988067..38a9641d33 100644
--- a/boards/modalai/fc-v2/default.px4board
+++ b/boards/modalai/fc-v2/default.px4board
@@ -40,7 +40,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board
index 86cadee29a..16cac64d3f 100644
--- a/boards/mro/ctrl-zero-classic/default.px4board
+++ b/boards/mro/ctrl-zero-classic/default.px4board
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board
index 13ee784818..5d35d0b04f 100644
--- a/boards/mro/ctrl-zero-f7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-f7-oem/default.px4board
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board
index e9ad953550..8e33ae6bb9 100644
--- a/boards/mro/ctrl-zero-f7/default.px4board
+++ b/boards/mro/ctrl-zero-f7/default.px4board
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board
index 643c4f1a8a..bbb20fd252 100644
--- a/boards/mro/ctrl-zero-h7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-h7-oem/default.px4board
@@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board
index 368709da9b..d858efba21 100644
--- a/boards/mro/ctrl-zero-h7/default.px4board
+++ b/boards/mro/ctrl-zero-h7/default.px4board
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board
index 46d5ac549b..77c80f8de4 100644
--- a/boards/mro/pixracerpro/default.px4board
+++ b/boards/mro/pixracerpro/default.px4board
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board
index c5c5f82b98..8512dd375e 100644
--- a/boards/mro/x21-777/default.px4board
+++ b/boards/mro/x21-777/default.px4board
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board
index dd3a6b85f2..749c36e211 100644
--- a/boards/mro/x21/default.px4board
+++ b/boards/mro/x21/default.px4board
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board
index d140a687d5..70f4c16968 100644
--- a/boards/nxp/fmuk66-e/default.px4board
+++ b/boards/nxp/fmuk66-e/default.px4board
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board
index 40ca30a25e..a8edef6f01 100644
--- a/boards/nxp/fmuk66-v3/default.px4board
+++ b/boards/nxp/fmuk66-v3/default.px4board
@@ -48,7 +48,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/nxp/mr-canhubk3/fmu.px4board b/boards/nxp/mr-canhubk3/fmu.px4board
index c681da011b..a1a3d9ddd1 100644
--- a/boards/nxp/mr-canhubk3/fmu.px4board
+++ b/boards/nxp/mr-canhubk3/fmu.px4board
@@ -33,7 +33,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/nxp/mr-canhubk3/sysview.px4board b/boards/nxp/mr-canhubk3/sysview.px4board
index cf687fcfb9..a101423cf9 100644
--- a/boards/nxp/mr-canhubk3/sysview.px4board
+++ b/boards/nxp/mr-canhubk3/sysview.px4board
@@ -20,7 +20,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/nxp/mr-canhubk3/zenoh.px4board b/boards/nxp/mr-canhubk3/zenoh.px4board
index 8d4876a99f..9bc71357c4 100644
--- a/boards/nxp/mr-canhubk3/zenoh.px4board
+++ b/boards/nxp/mr-canhubk3/zenoh.px4board
@@ -24,7 +24,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/boards/nxp/tropic-community/default.px4board b/boards/nxp/tropic-community/default.px4board
index c1beb1fafd..93e80bba11 100644
--- a/boards/nxp/tropic-community/default.px4board
+++ b/boards/nxp/tropic-community/default.px4board
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v2/fixedwing.px4board b/boards/px4/fmu-v2/fixedwing.px4board
index 3449d56615..b6fd9c743b 100644
--- a/boards/px4/fmu-v2/fixedwing.px4board
+++ b/boards/px4/fmu-v2/fixedwing.px4board
@@ -8,6 +8,6 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board
index bd268cbe2f..386b363aa6 100644
--- a/boards/px4/fmu-v3/default.px4board
+++ b/boards/px4/fmu-v3/default.px4board
@@ -51,7 +51,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board
index bec469793e..48ecf1b2c2 100644
--- a/boards/px4/fmu-v4/default.px4board
+++ b/boards/px4/fmu-v4/default.px4board
@@ -52,7 +52,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board
index d090ffb140..a30e386ea9 100644
--- a/boards/px4/fmu-v4pro/default.px4board
+++ b/boards/px4/fmu-v4pro/default.px4board
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board
index 13bcff46a6..e5da7855a7 100644
--- a/boards/px4/fmu-v5/default.px4board
+++ b/boards/px4/fmu-v5/default.px4board
@@ -55,7 +55,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v5/protected.px4board b/boards/px4/fmu-v5/protected.px4board
index 99c5c497f6..9f8eb32888 100644
--- a/boards/px4/fmu-v5/protected.px4board
+++ b/boards/px4/fmu-v5/protected.px4board
@@ -17,7 +17,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
diff --git a/boards/px4/fmu-v5/rover.px4board b/boards/px4/fmu-v5/rover.px4board
index 5fa964bc3a..1d4d56e9a7 100644
--- a/boards/px4/fmu-v5/rover.px4board
+++ b/boards/px4/fmu-v5/rover.px4board
@@ -4,7 +4,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
diff --git a/boards/px4/fmu-v5/stackcheck.px4board b/boards/px4/fmu-v5/stackcheck.px4board
index b182a1c83a..8e96a2ff79 100644
--- a/boards/px4/fmu-v5/stackcheck.px4board
+++ b/boards/px4/fmu-v5/stackcheck.px4board
@@ -29,7 +29,7 @@ CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_EVENTS=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
index 9115b13ad7..77a92afc7f 100644
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@@ -59,7 +59,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v5x/rover.px4board b/boards/px4/fmu-v5x/rover.px4board
index 2490c28c6b..916b009897 100644
--- a/boards/px4/fmu-v5x/rover.px4board
+++ b/boards/px4/fmu-v5x/rover.px4board
@@ -3,7 +3,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board
index e32ec2e54b..e3aa477534 100644
--- a/boards/px4/fmu-v6c/default.px4board
+++ b/boards/px4/fmu-v6c/default.px4board
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v6c/rover.px4board b/boards/px4/fmu-v6c/rover.px4board
index ee7cddbe05..ee2e5a13e5 100644
--- a/boards/px4/fmu-v6c/rover.px4board
+++ b/boards/px4/fmu-v6c/rover.px4board
@@ -2,7 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board
index 55d857d697..e72a584fd8 100644
--- a/boards/px4/fmu-v6u/default.px4board
+++ b/boards/px4/fmu-v6u/default.px4board
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v6u/rover.px4board b/boards/px4/fmu-v6u/rover.px4board
index ee7cddbe05..ee2e5a13e5 100644
--- a/boards/px4/fmu-v6u/rover.px4board
+++ b/boards/px4/fmu-v6u/rover.px4board
@@ -2,7 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index 901318cf30..778eb50198 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -57,7 +57,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v6x/multicopter.px4board b/boards/px4/fmu-v6x/multicopter.px4board
index b501d6fe4a..147297d55e 100644
--- a/boards/px4/fmu-v6x/multicopter.px4board
+++ b/boards/px4/fmu-v6x/multicopter.px4board
@@ -3,7 +3,7 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
diff --git a/boards/px4/fmu-v6x/rover.px4board b/boards/px4/fmu-v6x/rover.px4board
index ee7cddbe05..ee2e5a13e5 100644
--- a/boards/px4/fmu-v6x/rover.px4board
+++ b/boards/px4/fmu-v6x/rover.px4board
@@ -2,7 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
diff --git a/boards/px4/fmu-v6xrt/default.px4board b/boards/px4/fmu-v6xrt/default.px4board
index 6710e97b6a..b990cc48ae 100644
--- a/boards/px4/fmu-v6xrt/default.px4board
+++ b/boards/px4/fmu-v6xrt/default.px4board
@@ -57,7 +57,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/fmu-v6xrt/rover.px4board b/boards/px4/fmu-v6xrt/rover.px4board
index f7af280b03..458ebe7d08 100644
--- a/boards/px4/fmu-v6xrt/rover.px4board
+++ b/boards/px4/fmu-v6xrt/rover.px4board
@@ -3,7 +3,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board
index c8034269aa..484a66beff 100644
--- a/boards/px4/raspberrypi/default.px4board
+++ b/boards/px4/raspberrypi/default.px4board
@@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index 7da14ff720..28c16f931f 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -19,7 +19,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
diff --git a/boards/px4/sitl/spacecraft.px4board b/boards/px4/sitl/spacecraft.px4board
index 121c7ca9f7..44ac04d7dd 100644
--- a/boards/px4/sitl/spacecraft.px4board
+++ b/boards/px4/sitl/spacecraft.px4board
@@ -2,7 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board
index 8e18d35c46..d9d35ab25d 100644
--- a/boards/scumaker/pilotpi/default.px4board
+++ b/boards/scumaker/pilotpi/default.px4board
@@ -32,7 +32,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/siyi/n7/default.px4board b/boards/siyi/n7/default.px4board
index a532e87e99..3dafcc85a1 100644
--- a/boards/siyi/n7/default.px4board
+++ b/boards/siyi/n7/default.px4board
@@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board
index 7b2a0d7a90..b2cd40a7ba 100644
--- a/boards/sky-drones/smartap-airlink/default.px4board
+++ b/boards/sky-drones/smartap-airlink/default.px4board
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/thepeach/k1/default.px4board b/boards/thepeach/k1/default.px4board
index 448268f416..cc519b968d 100644
--- a/boards/thepeach/k1/default.px4board
+++ b/boards/thepeach/k1/default.px4board
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/thepeach/r1/default.px4board b/boards/thepeach/r1/default.px4board
index 448268f416..cc519b968d 100644
--- a/boards/thepeach/r1/default.px4board
+++ b/boards/thepeach/r1/default.px4board
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/x-mav/ap-h743v2/default.px4board b/boards/x-mav/ap-h743v2/default.px4board
index ccb5fe5396..33f81262d3 100644
--- a/boards/x-mav/ap-h743v2/default.px4board
+++ b/boards/x-mav/ap-h743v2/default.px4board
@@ -40,7 +40,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/boards/zeroone/x6/default.px4board b/boards/zeroone/x6/default.px4board
index 85b3a9e993..20677f9d1f 100644
--- a/boards/zeroone/x6/default.px4board
+++ b/boards/zeroone/x6/default.px4board
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
diff --git a/posix-configs/SITL/init/test/test_shutdown b/posix-configs/SITL/init/test/test_shutdown
index c61c43c0e2..2a00520ab9 100644
--- a/posix-configs/SITL/init/test/test_shutdown
+++ b/posix-configs/SITL/init/test/test_shutdown
@@ -29,7 +29,7 @@ flight_mode_manager start
 mc_pos_control start vtol
 mc_att_control start vtol
 mc_rate_control start vtol
-fw_pos_control start
+fw_mode_manager start
 fw_lat_lon_control start
 fw_att_control start vtol
 airspeed_selector start
@@ -60,7 +60,7 @@ flight_mode_manager status
 mc_pos_control status
 mc_att_control status
 mc_rate_control status
-fw_pos_control status
+fw_mode_manager status
 fw_att_control status
 airspeed_selector status
 dataman status
@@ -75,7 +75,7 @@ mc_att_control stop
 fw_att_control stop
 flight_mode_manager stop
 mc_pos_control stop
-fw_pos_control stop
+fw_mode_manager stop
 navigator stop
 commander stop
 land_detector stop
diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config
index cf8bd9fef6..0d952b84cc 100644
--- a/posix-configs/bbblue/px4_fw.config
+++ b/posix-configs/bbblue/px4_fw.config
@@ -56,7 +56,7 @@ ekf2 start
 land_detector start fixedwing
 
 fw_att_control start
-fw_pos_control start
+fw_mode_manager start
 fw_lat_lon_control start
 
 mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
diff --git a/posix-configs/rpi/pilotpi_fw.config b/posix-configs/rpi/pilotpi_fw.config
index a4fdf0f6fd..4c66381e1c 100644
--- a/posix-configs/rpi/pilotpi_fw.config
+++ b/posix-configs/rpi/pilotpi_fw.config
@@ -63,7 +63,8 @@ airspeed_selector start
 land_detector start fixedwing
 flight_mode_manager start
 fw_att_control start
-fw_pos_control start
+fw_mode_manager start
+fw_lat_lon_control start
 
 mavlink start -x -u 14556 -r 1000000 -p
 
diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config
index 74f59a3eb1..5de9619fc8 100644
--- a/posix-configs/rpi/px4_fw.config
+++ b/posix-configs/rpi/px4_fw.config
@@ -41,7 +41,7 @@ navigator start
 ekf2 start
 land_detector start fixedwing
 fw_att_control start
-fw_pos_control start
+fw_mode_manager start
 fw_lat_lon_control start
 
 mavlink start -x -u 14556 -r 1000000 -p
diff --git a/src/modules/fw_pos_control/CMakeLists.txt b/src/modules/fw_mode_manager/CMakeLists.txt
similarity index 92%
rename from src/modules/fw_pos_control/CMakeLists.txt
rename to src/modules/fw_mode_manager/CMakeLists.txt
index 163cf17e67..3e21a51ee1 100644
--- a/src/modules/fw_pos_control/CMakeLists.txt
+++ b/src/modules/fw_mode_manager/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015-2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -55,11 +55,11 @@ endif()
 
 
 px4_add_module(
-	MODULE modules__fw_pos_control
-	MAIN fw_pos_control
+	MODULE modules__fw_mode_manager
+	MAIN fw_mode_manager
 	SRCS
-		FixedwingPositionControl.cpp
-		FixedwingPositionControl.hpp
+		FixedWingModeManager.cpp
+		FixedWingModeManager.hpp
 		ControllerConfigurationHandler.cpp
 		ControllerConfigurationHandler.hpp
 	DEPENDS
diff --git a/src/modules/fw_pos_control/ControllerConfigurationHandler.cpp b/src/modules/fw_mode_manager/ControllerConfigurationHandler.cpp
similarity index 100%
rename from src/modules/fw_pos_control/ControllerConfigurationHandler.cpp
rename to src/modules/fw_mode_manager/ControllerConfigurationHandler.cpp
diff --git a/src/modules/fw_pos_control/ControllerConfigurationHandler.hpp b/src/modules/fw_mode_manager/ControllerConfigurationHandler.hpp
similarity index 100%
rename from src/modules/fw_pos_control/ControllerConfigurationHandler.hpp
rename to src/modules/fw_mode_manager/ControllerConfigurationHandler.hpp
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
similarity index 94%
rename from src/modules/fw_pos_control/FixedwingPositionControl.cpp
rename to src/modules/fw_mode_manager/FixedWingModeManager.cpp
index eb9472eae4..57eef702d8 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp
+++ b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include "FixedwingPositionControl.hpp"
+#include "FixedWingModeManager.hpp"
 
 #include <px4_platform_common/events.h>
 #include <uORB/topics/longitudinal_control_configuration.h>
@@ -52,7 +52,7 @@ using matrix::wrap_pi;
 const fixed_wing_lateral_setpoint_s empty_lateral_control_setpoint = {.timestamp = 0, .course = NAN, .airspeed_direction = NAN, .lateral_acceleration = NAN};
 const fixed_wing_longitudinal_setpoint_s empty_longitudinal_control_setpoint = {.timestamp = 0, .altitude = NAN, .height_rate = NAN, .equivalent_airspeed = NAN, .pitch_direct = NAN, .throttle_direct = NAN};
 
-FixedwingPositionControl::FixedwingPositionControl() :
+FixedWingModeManager::FixedWingModeManager() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
@@ -76,13 +76,13 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	parameters_update();
 }
 
-FixedwingPositionControl::~FixedwingPositionControl()
+FixedWingModeManager::~FixedWingModeManager()
 {
 	perf_free(_loop_perf);
 }
 
 bool
-FixedwingPositionControl::init()
+FixedWingModeManager::init()
 {
 	if (!_local_pos_sub.registerCallback()) {
 		PX4_ERR("callback registration failed");
@@ -93,7 +93,7 @@ FixedwingPositionControl::init()
 }
 
 void
-FixedwingPositionControl::parameters_update()
+FixedWingModeManager::parameters_update()
 {
 	updateParams();
 
@@ -107,7 +107,7 @@ FixedwingPositionControl::parameters_update()
 }
 
 void
-FixedwingPositionControl::vehicle_control_mode_poll()
+FixedWingModeManager::vehicle_control_mode_poll()
 {
 	if (_control_mode_sub.updated()) {
 		const bool was_armed = _control_mode.flag_armed;
@@ -124,7 +124,7 @@ FixedwingPositionControl::vehicle_control_mode_poll()
 }
 
 void
-FixedwingPositionControl::vehicle_command_poll()
+FixedWingModeManager::vehicle_command_poll()
 {
 	vehicle_command_s vehicle_command;
 
@@ -158,7 +158,7 @@ FixedwingPositionControl::vehicle_command_poll()
 }
 
 void
-FixedwingPositionControl::airspeed_poll()
+FixedWingModeManager::airspeed_poll()
 {
 	airspeed_validated_s airspeed_validated;
 
@@ -178,7 +178,7 @@ FixedwingPositionControl::airspeed_poll()
 }
 
 void
-FixedwingPositionControl::wind_poll(const hrt_abstime now)
+FixedWingModeManager::wind_poll(const hrt_abstime now)
 {
 	if (_wind_sub.updated()) {
 		wind_s wind;
@@ -205,7 +205,7 @@ FixedwingPositionControl::wind_poll(const hrt_abstime now)
 }
 
 void
-FixedwingPositionControl::manual_control_setpoint_poll()
+FixedWingModeManager::manual_control_setpoint_poll()
 {
 	_manual_control_setpoint_sub.update(&_manual_control_setpoint);
 
@@ -228,7 +228,7 @@ FixedwingPositionControl::manual_control_setpoint_poll()
 }
 
 void
-FixedwingPositionControl::vehicle_attitude_poll()
+FixedWingModeManager::vehicle_attitude_poll()
 {
 	vehicle_attitude_s vehicle_attitude;
 
@@ -263,7 +263,7 @@ FixedwingPositionControl::vehicle_attitude_poll()
 }
 
 float
-FixedwingPositionControl::get_manual_airspeed_setpoint()
+FixedWingModeManager::get_manual_airspeed_setpoint()
 {
 	float manual_airspeed_setpoint = NAN;
 
@@ -282,7 +282,7 @@ FixedwingPositionControl::get_manual_airspeed_setpoint()
 }
 
 void
-FixedwingPositionControl::landing_status_publish()
+FixedWingModeManager::landing_status_publish()
 {
 	position_controller_landing_status_s pos_ctrl_landing_status = {};
 
@@ -295,7 +295,7 @@ FixedwingPositionControl::landing_status_publish()
 }
 
 void
-FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_status)
+FixedWingModeManager::updateLandingAbortStatus(const uint8_t new_abort_status)
 {
 	// prevent automatic aborts if already flaring, but allow manual aborts
 	if (!_flare_states.flaring || new_abort_status == position_controller_landing_status_s::ABORTED_BY_OPERATOR) {
@@ -336,7 +336,7 @@ FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_statu
 }
 
 float
-FixedwingPositionControl::getManualHeightRateSetpoint()
+FixedWingModeManager::getManualHeightRateSetpoint()
 {
 	float height_rate_setpoint = 0.f;
 
@@ -353,7 +353,7 @@ FixedwingPositionControl::getManualHeightRateSetpoint()
 }
 
 void
-FixedwingPositionControl::updateManualTakeoffStatus()
+FixedWingModeManager::updateManualTakeoffStatus()
 {
 	if (!_completed_manual_takeoff) {
 		const bool at_controllable_airspeed = _airspeed_eas > _param_fw_airspd_min.get()
@@ -365,7 +365,7 @@ FixedwingPositionControl::updateManualTakeoffStatus()
 }
 
 void
-FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
+FixedWingModeManager::set_control_mode_current(const hrt_abstime &now)
 {
 	/* only run position controller in fixed-wing mode and during transitions for VTOL */
 	if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.in_transition_mode) {
@@ -493,7 +493,7 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
 }
 
 void
-FixedwingPositionControl::update_in_air_states(const hrt_abstime now)
+FixedWingModeManager::update_in_air_states(const hrt_abstime now)
 {
 	/* reset flag when airplane landed */
 	if (_landed) {
@@ -502,7 +502,7 @@ FixedwingPositionControl::update_in_air_states(const hrt_abstime now)
 }
 
 void
-FixedwingPositionControl::move_position_setpoint_for_vtol_transition(position_setpoint_s &current_sp)
+FixedWingModeManager::move_position_setpoint_for_vtol_transition(position_setpoint_s &current_sp)
 {
 	// TODO: velocity, altitude, or just a heading hold position mode should be used for this, not position
 	// shifting hacks
@@ -535,9 +535,9 @@ FixedwingPositionControl::move_position_setpoint_for_vtol_transition(position_se
 }
 
 void
-FixedwingPositionControl::control_auto(const float control_interval, const Vector2d &curr_pos,
-				       const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr,
-				       const position_setpoint_s &pos_sp_next)
+FixedWingModeManager::control_auto(const float control_interval, const Vector2d &curr_pos,
+				   const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr,
+				   const position_setpoint_s &pos_sp_next)
 {
 	position_setpoint_s current_sp = pos_sp_curr;
 	move_position_setpoint_for_vtol_transition(current_sp);
@@ -605,7 +605,7 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
 	}
 }
 
-void FixedwingPositionControl::control_idle()
+void FixedWingModeManager::control_idle()
 {
 	const hrt_abstime  now = hrt_absolute_time();
 	fixed_wing_lateral_setpoint_s lateral_ctrl_sp {empty_lateral_control_setpoint};
@@ -624,7 +624,7 @@ void FixedwingPositionControl::control_idle()
 }
 
 void
-FixedwingPositionControl::control_auto_fixed_bank_alt_hold()
+FixedWingModeManager::control_auto_fixed_bank_alt_hold()
 {
 	const hrt_abstime now = hrt_absolute_time();
 	const fixed_wing_longitudinal_setpoint_s fw_longitudinal_control_sp = {
@@ -656,7 +656,7 @@ FixedwingPositionControl::control_auto_fixed_bank_alt_hold()
 }
 
 void
-FixedwingPositionControl::control_auto_descend()
+FixedWingModeManager::control_auto_descend()
 {
 	// Hard-code descend rate to 0.5m/s. This is a compromise to give the system to recover,
 	// but not letting it drift too far away.
@@ -686,7 +686,7 @@ FixedwingPositionControl::control_auto_descend()
 }
 
 uint8_t
-FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp_curr,
+FixedWingModeManager::handle_setpoint_type(const position_setpoint_s &pos_sp_curr,
 		const position_setpoint_s &pos_sp_next)
 {
 	uint8_t position_sp_type = pos_sp_curr.type;
@@ -737,7 +737,7 @@ FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp
 }
 
 void
-FixedwingPositionControl::control_auto_position(const float control_interval, const Vector2d &curr_pos,
+FixedWingModeManager::control_auto_position(const float control_interval, const Vector2d &curr_pos,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
 {
 	const float acc_rad = _directional_guidance.switchDistance(500.0f);
@@ -823,7 +823,7 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
 }
 
 void
-FixedwingPositionControl::control_auto_velocity(const float control_interval, const Vector2d &curr_pos,
+FixedWingModeManager::control_auto_velocity(const float control_interval, const Vector2d &curr_pos,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
 {
 	//Offboard velocity control
@@ -860,7 +860,7 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
 }
 
 void
-FixedwingPositionControl::control_auto_loiter(const float control_interval, const Vector2d &curr_pos,
+FixedWingModeManager::control_auto_loiter(const float control_interval, const Vector2d &curr_pos,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr,
 		const position_setpoint_s &pos_sp_next)
 {
@@ -955,7 +955,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
 
 #ifdef CONFIG_FIGURE_OF_EIGHT
 void
-FixedwingPositionControl::controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos,
+FixedWingModeManager::controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
 {
 	// airspeed settings
@@ -999,7 +999,7 @@ FixedwingPositionControl::controlAutoFigureEight(const float control_interval, c
 	}
 }
 
-void FixedwingPositionControl::publishFigureEightStatus(const position_setpoint_s pos_sp)
+void FixedWingModeManager::publishFigureEightStatus(const position_setpoint_s pos_sp)
 {
 	figure_eight_status_s figure_eight_status{};
 	figure_eight_status.timestamp = hrt_absolute_time();
@@ -1016,8 +1016,8 @@ void FixedwingPositionControl::publishFigureEightStatus(const position_setpoint_
 #endif // CONFIG_FIGURE_OF_EIGHT
 
 void
-FixedwingPositionControl::control_auto_path(const float control_interval, const Vector2d &curr_pos,
-		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
+FixedWingModeManager::control_auto_path(const float control_interval, const Vector2d &curr_pos,
+					const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
 {
 	const float target_airspeed = pos_sp_curr.cruising_speed > FLT_EPSILON ? pos_sp_curr.cruising_speed : NAN;
 
@@ -1057,7 +1057,7 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const
 }
 
 void
-FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const float control_interval,
+FixedWingModeManager::control_auto_takeoff(const hrt_abstime &now, const float control_interval,
 		const Vector2d &global_position, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
 {
 	if (!_control_mode.flag_armed) {
@@ -1264,7 +1264,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 }
 
 void
-FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now, const float control_interval,
+FixedWingModeManager::control_auto_landing_straight(const hrt_abstime &now, const float control_interval,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
 {
 	const float airspeed_land = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() :
@@ -1471,7 +1471,7 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now,
 }
 
 void
-FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now, const float control_interval,
+FixedWingModeManager::control_auto_landing_circular(const hrt_abstime &now, const float control_interval,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
 {
 	const float airspeed_land = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() :
@@ -1635,7 +1635,7 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now,
 }
 
 void
-FixedwingPositionControl::control_manual_altitude(const float control_interval, const Vector2d &curr_pos,
+FixedWingModeManager::control_manual_altitude(const float control_interval, const Vector2d &curr_pos,
 		const Vector2f &ground_speed)
 {
 	updateManualTakeoffStatus();
@@ -1678,7 +1678,7 @@ FixedwingPositionControl::control_manual_altitude(const float control_interval,
 }
 
 void
-FixedwingPositionControl::control_manual_position(const hrt_abstime now, const float control_interval,
+FixedWingModeManager::control_manual_position(const hrt_abstime now, const float control_interval,
 		const Vector2d &curr_pos,
 		const Vector2f &ground_speed)
 {
@@ -1778,12 +1778,12 @@ FixedwingPositionControl::control_manual_position(const hrt_abstime now, const f
 	}
 }
 
-float FixedwingPositionControl::rollAngleToLateralAccel(float roll_body) const
+float FixedWingModeManager::rollAngleToLateralAccel(float roll_body) const
 {
 	return tanf(roll_body) * CONSTANTS_ONE_G;
 }
 
-void FixedwingPositionControl::control_backtransition_heading_hold()
+void FixedWingModeManager::control_backtransition_heading_hold()
 {
 	if (!PX4_ISFINITE(_backtrans_heading)) {
 		_backtrans_heading = _local_pos.heading;
@@ -1795,7 +1795,7 @@ void FixedwingPositionControl::control_backtransition_heading_hold()
 	_lateral_ctrl_sp_pub.publish(fw_lateral_ctrl_sp);
 }
 
-void FixedwingPositionControl::control_backtransition_line_follow(const Vector2f &ground_speed,
+void FixedWingModeManager::control_backtransition_line_follow(const Vector2f &ground_speed,
 		const position_setpoint_s &pos_sp_curr)
 {
 	Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
@@ -1821,7 +1821,7 @@ void FixedwingPositionControl::control_backtransition_line_follow(const Vector2f
 }
 
 void
-FixedwingPositionControl::Run()
+FixedWingModeManager::Run()
 {
 	if (should_exit()) {
 		_local_pos_sub.unregisterCallback();
@@ -2144,7 +2144,7 @@ FixedwingPositionControl::Run()
 }
 
 void
-FixedwingPositionControl::reset_takeoff_state()
+FixedWingModeManager::reset_takeoff_state()
 {
 	_runway_takeoff.reset();
 
@@ -2156,7 +2156,7 @@ FixedwingPositionControl::reset_takeoff_state()
 }
 
 void
-FixedwingPositionControl::reset_landing_state()
+FixedWingModeManager::reset_landing_state()
 {
 	_time_started_landing = 0;
 
@@ -2174,7 +2174,7 @@ FixedwingPositionControl::reset_landing_state()
 	}
 }
 
-float FixedwingPositionControl::getMaxRollAngleNearGround(const float altitude, const float terrain_altitude) const
+float FixedWingModeManager::getMaxRollAngleNearGround(const float altitude, const float terrain_altitude) const
 {
 	// we want the wings level when at the wing height above ground
 	const float height_above_ground = math::max(altitude - (terrain_altitude + _param_fw_wing_height.get()), 0.0f);
@@ -2191,7 +2191,7 @@ float FixedwingPositionControl::getMaxRollAngleNearGround(const float altitude,
 
 
 void
-FixedwingPositionControl::initializeAutoLanding(const hrt_abstime &now, const position_setpoint_s &pos_sp_prev,
+FixedWingModeManager::initializeAutoLanding(const hrt_abstime &now, const position_setpoint_s &pos_sp_prev,
 		const float land_point_altitude, const Vector2f &local_position, const Vector2f &local_land_point)
 {
 	if (_time_started_landing == 0) {
@@ -2250,7 +2250,7 @@ FixedwingPositionControl::initializeAutoLanding(const hrt_abstime &now, const po
 }
 
 Vector2f
-FixedwingPositionControl::calculateTouchdownPosition(const float control_interval, const Vector2f &local_land_position)
+FixedWingModeManager::calculateTouchdownPosition(const float control_interval, const Vector2f &local_land_position)
 {
 	if (fabsf(_manual_control_setpoint.yaw) > MANUAL_TOUCHDOWN_NUDGE_INPUT_DEADZONE
 	    && _param_fw_lnd_nudge.get() > LandingNudgingOption::kNudgingDisabled
@@ -2272,7 +2272,7 @@ FixedwingPositionControl::calculateTouchdownPosition(const float control_interva
 }
 
 Vector2f
-FixedwingPositionControl::calculateLandingApproachVector() const
+FixedWingModeManager::calculateLandingApproachVector() const
 {
 	Vector2f landing_approach_vector = -_landing_approach_entrance_offset_vector;
 	const Vector2f approach_unit_vector = landing_approach_vector.unit_or_zero();
@@ -2294,7 +2294,7 @@ FixedwingPositionControl::calculateLandingApproachVector() const
 }
 
 float
-FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &now, const float land_point_altitude,
+FixedWingModeManager::getLandingTerrainAltitudeEstimate(const hrt_abstime &now, const float land_point_altitude,
 		const bool abort_on_terrain_measurement_timeout, const bool abort_on_terrain_timeout)
 {
 	if (_param_fw_lnd_useter.get() > TerrainEstimateUseOnLanding::kDisableTerrainEstimation) {
@@ -2334,7 +2334,7 @@ FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &n
 	return land_point_altitude;
 }
 
-bool FixedwingPositionControl::checkLandingAbortBitMask(const uint8_t automatic_abort_criteria_bitmask,
+bool FixedWingModeManager::checkLandingAbortBitMask(const uint8_t automatic_abort_criteria_bitmask,
 		uint8_t landing_abort_criterion)
 {
 	// landing abort status contains a manual criterion at abort_status==1, need to subtract 2 to directly compare
@@ -2348,7 +2348,7 @@ bool FixedwingPositionControl::checkLandingAbortBitMask(const uint8_t automatic_
 	return ((1 << landing_abort_criterion) & automatic_abort_criteria_bitmask) == (1 << landing_abort_criterion);
 }
 
-void FixedwingPositionControl::publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint)
+void FixedWingModeManager::publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint)
 {
 	vehicle_local_position_setpoint_s local_position_setpoint{};
 	local_position_setpoint.timestamp = hrt_absolute_time();
@@ -2371,7 +2371,7 @@ void FixedwingPositionControl::publishLocalPositionSetpoint(const position_setpo
 	_local_pos_sp_pub.publish(local_position_setpoint);
 }
 
-void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_sp)
+void FixedWingModeManager::publishOrbitStatus(const position_setpoint_s pos_sp)
 {
 	orbit_status_s orbit_status{};
 	orbit_status.timestamp = hrt_absolute_time();
@@ -2390,7 +2390,7 @@ void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_
 	_orbit_status_pub.publish(orbit_status);
 }
 
-DirectionalGuidanceOutput FixedwingPositionControl::navigateWaypoints(const Vector2f &start_waypoint,
+DirectionalGuidanceOutput FixedWingModeManager::navigateWaypoints(const Vector2f &start_waypoint,
 		const Vector2f &end_waypoint,
 		const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
 {
@@ -2423,7 +2423,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateWaypoints(const Vect
 	return navigateLine(start_waypoint, end_waypoint, vehicle_pos, ground_vel, wind_vel);
 }
 
-DirectionalGuidanceOutput FixedwingPositionControl::navigateWaypoint(const Vector2f &waypoint_pos,
+DirectionalGuidanceOutput FixedWingModeManager::navigateWaypoint(const Vector2f &waypoint_pos,
 		const Vector2f &vehicle_pos,
 		const Vector2f &ground_vel, const Vector2f &wind_vel)
 {
@@ -2444,7 +2444,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateWaypoint(const Vecto
 	return sp;
 }
 
-DirectionalGuidanceOutput FixedwingPositionControl::navigateLine(const Vector2f &point_on_line_1,
+DirectionalGuidanceOutput FixedWingModeManager::navigateLine(const Vector2f &point_on_line_1,
 		const Vector2f &point_on_line_2,
 		const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
 {
@@ -2468,7 +2468,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateLine(const Vector2f
 	return sp;
 }
 
-DirectionalGuidanceOutput FixedwingPositionControl::navigateLine(const Vector2f &point_on_line,
+DirectionalGuidanceOutput FixedWingModeManager::navigateLine(const Vector2f &point_on_line,
 		const float line_bearing,
 		const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
 {
@@ -2485,7 +2485,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateLine(const Vector2f
 	return sp;
 }
 
-DirectionalGuidanceOutput FixedwingPositionControl::navigateLoiter(const Vector2f &loiter_center,
+DirectionalGuidanceOutput FixedWingModeManager::navigateLoiter(const Vector2f &loiter_center,
 		const Vector2f &vehicle_pos,
 		float radius, bool loiter_direction_counter_clockwise, const Vector2f &ground_vel, const Vector2f &wind_vel)
 {
@@ -2524,7 +2524,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateLoiter(const Vector2
 			loiter_center + unit_vec_center_to_closest_pt * radius, path_curvature);
 }
 
-DirectionalGuidanceOutput FixedwingPositionControl::navigatePathTangent(const matrix::Vector2f &vehicle_pos,
+DirectionalGuidanceOutput FixedWingModeManager::navigatePathTangent(const matrix::Vector2f &vehicle_pos,
 		const matrix::Vector2f &position_setpoint,
 		const matrix::Vector2f &tangent_setpoint,
 		const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature)
@@ -2541,7 +2541,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigatePathTangent(const ma
 			curvature);
 }
 
-DirectionalGuidanceOutput FixedwingPositionControl::navigateBearing(const matrix::Vector2f &vehicle_pos, float bearing,
+DirectionalGuidanceOutput FixedWingModeManager::navigateBearing(const matrix::Vector2f &vehicle_pos, float bearing,
 		const Vector2f &ground_vel, const Vector2f &wind_vel)
 {
 	const Vector2f unit_path_tangent = Vector2f{cosf(bearing), sinf(bearing)};
@@ -2549,7 +2549,7 @@ DirectionalGuidanceOutput FixedwingPositionControl::navigateBearing(const matrix
 	return _directional_guidance.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, vehicle_pos, 0.0f);
 }
 
-void FixedwingPositionControl::publish_lateral_guidance_status(const hrt_abstime now)
+void FixedWingModeManager::publish_lateral_guidance_status(const hrt_abstime now)
 {
 	fixed_wing_lateral_guidance_status_s fixed_wing_lateral_guidance_status{};
 
@@ -2566,9 +2566,9 @@ void FixedwingPositionControl::publish_lateral_guidance_status(const hrt_abstime
 	_fixed_wing_lateral_guidance_status_pub.publish(fixed_wing_lateral_guidance_status);
 }
 
-int FixedwingPositionControl::task_spawn(int argc, char *argv[])
+int FixedWingModeManager::task_spawn(int argc, char *argv[])
 {
-	FixedwingPositionControl *instance = new FixedwingPositionControl();
+	FixedWingModeManager *instance = new FixedWingModeManager();
 
 	if (instance) {
 		_object.store(instance);
@@ -2589,12 +2589,12 @@ int FixedwingPositionControl::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }
 
-int FixedwingPositionControl::custom_command(int argc, char *argv[])
+int FixedWingModeManager::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
 }
 
-int FixedwingPositionControl::print_usage(const char *reason)
+int FixedWingModeManager::print_usage(const char *reason)
 {
 	if (reason) {
 		PX4_WARN("%s\n", reason);
@@ -2603,18 +2603,20 @@ int FixedwingPositionControl::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
-fw_pos_control is the fixed-wing position controller.
+This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
+It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
+lateral-longitudinal controller and and controllers below that (attitude, rate).
 
 )DESCR_STR");
 
-	PRINT_MODULE_USAGE_NAME("fw_pos_control", "controller");
+	PRINT_MODULE_USAGE_NAME("fw_mode_manager", "controller");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
 	return 0;
 }
 
-extern "C" __EXPORT int fw_pos_control_main(int argc, char *argv[])
+extern "C" __EXPORT int fw_mode_manager_main(int argc, char *argv[])
 {
-	return FixedwingPositionControl::main(argc, argv);
+	return FixedWingModeManager::main(argc, argv);
 }
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_mode_manager/FixedWingModeManager.hpp
similarity index 98%
rename from src/modules/fw_pos_control/FixedwingPositionControl.hpp
rename to src/modules/fw_mode_manager/FixedWingModeManager.hpp
index 33a0cd87e7..81eed7d81f 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.hpp
+++ b/src/modules/fw_mode_manager/FixedWingModeManager.hpp
@@ -33,12 +33,12 @@
 
 
 /**
- * @file FixedwingPositionControl.hpp
- * Implementation of various fixed-wing position level navigation/control modes.
+ * @file FixedWingModeManager.hpp
+ * Implementation of various fixed-wing control modes.
  */
 
-#ifndef FIXEDWINGPOSITIONCONTROL_HPP_
-#define FIXEDWINGPOSITIONCONTROL_HPP_
+#ifndef FIXEDWINGMODEMANAGER_HPP_
+#define FIXEDWINGMODEMANAGER_HPP_
 
 #include "launchdetection/LaunchDetector.h"
 #include "runway_takeoff/RunwayTakeoff.h"
@@ -151,12 +151,12 @@ static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
 // [] Stick deadzon
 static constexpr float kStickDeadBand = 0.06f;
 
-class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
+class FixedWingModeManager final : public ModuleBase<FixedWingModeManager>, public ModuleParams,
 	public px4::WorkItem
 {
 public:
-	FixedwingPositionControl();
-	~FixedwingPositionControl() override;
+	FixedWingModeManager();
+	~FixedWingModeManager() override;
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
@@ -872,4 +872,4 @@ private:
 	)
 };
 
-#endif // FIXEDWINGPOSITIONCONTROL_HPP_
+#endif // FIXEDWINGMODEMANAGER_HPP_
diff --git a/src/modules/fw_mode_manager/Kconfig b/src/modules/fw_mode_manager/Kconfig
new file mode 100644
index 0000000000..b0c2689413
--- /dev/null
+++ b/src/modules/fw_mode_manager/Kconfig
@@ -0,0 +1,20 @@
+menuconfig MODULES_FW_MODE_MANAGER
+	bool "fw_mode_manager"
+	default n
+	---help---
+		Enable support for fw_mode_manager
+
+menuconfig USER_FW_MODE_MANAGER
+	bool "fw_mode_manager running as userspace module"
+	default n
+	depends on BOARD_PROTECTED && MODULES_FW_MODE_MANAGER
+	---help---
+		Put fw_mode_manager in userspace memory
+
+menuconfig FIGURE_OF_EIGHT
+	bool "fw_mode_manager figure of eight loiter support"
+	default n
+	depends on MODULES_FW_MODE_MANAGER
+	---help---
+		Enable support for the figure of eight loitering pattern in fixed wing.
+		NOTE: Enable Mavlink development support to get feedback message.
diff --git a/src/modules/fw_pos_control/figure_eight/CMakeLists.txt b/src/modules/fw_mode_manager/figure_eight/CMakeLists.txt
similarity index 100%
rename from src/modules/fw_pos_control/figure_eight/CMakeLists.txt
rename to src/modules/fw_mode_manager/figure_eight/CMakeLists.txt
diff --git a/src/modules/fw_pos_control/figure_eight/FigureEight.cpp b/src/modules/fw_mode_manager/figure_eight/FigureEight.cpp
similarity index 100%
rename from src/modules/fw_pos_control/figure_eight/FigureEight.cpp
rename to src/modules/fw_mode_manager/figure_eight/FigureEight.cpp
diff --git a/src/modules/fw_pos_control/figure_eight/FigureEight.hpp b/src/modules/fw_mode_manager/figure_eight/FigureEight.hpp
similarity index 100%
rename from src/modules/fw_pos_control/figure_eight/FigureEight.hpp
rename to src/modules/fw_mode_manager/figure_eight/FigureEight.hpp
diff --git a/src/modules/fw_pos_control/fw_path_navigation_params.c b/src/modules/fw_mode_manager/fw_mode_manager_params.c
similarity index 100%
rename from src/modules/fw_pos_control/fw_path_navigation_params.c
rename to src/modules/fw_mode_manager/fw_mode_manager_params.c
diff --git a/src/modules/fw_pos_control/launchdetection/CMakeLists.txt b/src/modules/fw_mode_manager/launchdetection/CMakeLists.txt
similarity index 100%
rename from src/modules/fw_pos_control/launchdetection/CMakeLists.txt
rename to src/modules/fw_mode_manager/launchdetection/CMakeLists.txt
diff --git a/src/modules/fw_pos_control/launchdetection/LaunchDetector.cpp b/src/modules/fw_mode_manager/launchdetection/LaunchDetector.cpp
similarity index 100%
rename from src/modules/fw_pos_control/launchdetection/LaunchDetector.cpp
rename to src/modules/fw_mode_manager/launchdetection/LaunchDetector.cpp
diff --git a/src/modules/fw_pos_control/launchdetection/LaunchDetector.h b/src/modules/fw_mode_manager/launchdetection/LaunchDetector.h
similarity index 100%
rename from src/modules/fw_pos_control/launchdetection/LaunchDetector.h
rename to src/modules/fw_mode_manager/launchdetection/LaunchDetector.h
diff --git a/src/modules/fw_pos_control/launchdetection/launchdetection_params.c b/src/modules/fw_mode_manager/launchdetection/launchdetection_params.c
similarity index 100%
rename from src/modules/fw_pos_control/launchdetection/launchdetection_params.c
rename to src/modules/fw_mode_manager/launchdetection/launchdetection_params.c
diff --git a/src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt b/src/modules/fw_mode_manager/runway_takeoff/CMakeLists.txt
similarity index 100%
rename from src/modules/fw_pos_control/runway_takeoff/CMakeLists.txt
rename to src/modules/fw_mode_manager/runway_takeoff/CMakeLists.txt
diff --git a/src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp b/src/modules/fw_mode_manager/runway_takeoff/RunwayTakeoff.cpp
similarity index 100%
rename from src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp
rename to src/modules/fw_mode_manager/runway_takeoff/RunwayTakeoff.cpp
diff --git a/src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.h b/src/modules/fw_mode_manager/runway_takeoff/RunwayTakeoff.h
similarity index 100%
rename from src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.h
rename to src/modules/fw_mode_manager/runway_takeoff/RunwayTakeoff.h
diff --git a/src/modules/fw_pos_control/runway_takeoff/runway_takeoff_params.c b/src/modules/fw_mode_manager/runway_takeoff/runway_takeoff_params.c
similarity index 100%
rename from src/modules/fw_pos_control/runway_takeoff/runway_takeoff_params.c
rename to src/modules/fw_mode_manager/runway_takeoff/runway_takeoff_params.c
diff --git a/src/modules/fw_pos_control/Kconfig b/src/modules/fw_pos_control/Kconfig
deleted file mode 100644
index d0bffb8dd8..0000000000
--- a/src/modules/fw_pos_control/Kconfig
+++ /dev/null
@@ -1,20 +0,0 @@
-menuconfig MODULES_FW_POS_CONTROL
-	bool "fw_pos_control"
-	default n
-	---help---
-		Enable support for fw_pos_control
-
-menuconfig USER_FW_POS_CONTROL
-	bool "fw_pos_control running as userspace module"
-	default n
-	depends on BOARD_PROTECTED && MODULES_FW_POS_CONTROL
-	---help---
-		Put fw_pos_control in userspace memory
-
-menuconfig FIGURE_OF_EIGHT
-	bool "fw_pos_control figure of eight loiter support"
-	default n
-	depends on MODULES_FW_POS_CONTROL
-	---help---
-		Enable support for the figure of eight loitering pattern in fixed wing.
-		NOTE: Enable Mavlink development support to get feedback message.