diff --git a/docs/en/config/flight_mode.md b/docs/en/config/flight_mode.md
index 545f1a2acc..85774a6d5e 100644
--- a/docs/en/config/flight_mode.md
+++ b/docs/en/config/flight_mode.md
@@ -24,7 +24,7 @@ Most users should set the following modes and functions, as these make the vehic
 It is also common to map switches to:
 
 - **Mission mode** — This mode runs a pre-programmed mission sent by the ground control station.
-- <a id="kill_switch"></a> [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying).
+- <a id="emergency_stop_switch"></a> [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying).
 
 ## Flight Mode Selection
 
@@ -49,7 +49,7 @@ To configure single-channel flight mode selection:
    * Select the flight mode that you want triggered for each switch position.
 1. Specify *Switch Settings*:
    * Select the channels that you want to map to specific actions - e.g.: *Return* mode, *Kill switch*, *offboard* mode, etc. (if you have spare switches and channels on your transmitter).
-   
+
 1. Test that the modes are mapped to the right transmitter switches:
    * Check the *Channel Monitor* to confirm that the expected channel is changed by each switch.
    * Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on *QGroundControl* for the active mode).
diff --git a/docs/en/msg_docs/ManualControlSwitches.md b/docs/en/msg_docs/ManualControlSwitches.md
index 189682730f..1b60272a90 100644
--- a/docs/en/msg_docs/ManualControlSwitches.md
+++ b/docs/en/msg_docs/ManualControlSwitches.md
@@ -27,7 +27,7 @@ uint8 arm_switch                 # arm/disarm switch: _DISARMED_, ARMED
 uint8 return_switch              # return to launch 2 position switch (mandatory): _NORMAL_, RTL
 uint8 loiter_switch              # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 offboard_switch            # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
-uint8 kill_switch                # throttle kill: _NORMAL_, KILL
+uint8 emergency_stop_switch                # throttle kill: _NORMAL_, KILL
 uint8 termination_switch         # trigger termination which cannot be undone
 uint8 gear_switch                # landing gear switch: _DOWN_, UP
 uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGHT
diff --git a/docs/en/msg_docs/VehicleStatus.md b/docs/en/msg_docs/VehicleStatus.md
index 05e3f98bbb..a93881bdbc 100644
--- a/docs/en/msg_docs/VehicleStatus.md
+++ b/docs/en/msg_docs/VehicleStatus.md
@@ -27,7 +27,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
 uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_LANDING = 6
 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 8
 uint8 ARM_DISARM_REASON_RC_BUTTON = 13
 uint8 ARM_DISARM_REASON_FAILSAFE = 14
 
diff --git a/docs/en/msg_docs/VehicleStatusV0.md b/docs/en/msg_docs/VehicleStatusV0.md
index 9a91186524..a3443aa7f2 100644
--- a/docs/en/msg_docs/VehicleStatusV0.md
+++ b/docs/en/msg_docs/VehicleStatusV0.md
@@ -29,7 +29,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 9
 uint8 ARM_DISARM_REASON_LOCKDOWN = 10
 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
 uint8 ARM_DISARM_REASON_SHUTDOWN = 12
diff --git a/docs/ko/config/flight_mode.md b/docs/ko/config/flight_mode.md
index da272589c7..c429532ae3 100644
--- a/docs/ko/config/flight_mode.md
+++ b/docs/ko/config/flight_mode.md
@@ -25,7 +25,7 @@ You can set any (or none) of the flight modes [available to your vehicle](../fli
 It is also common to map switches to:
 
 - **Mission mode** — This mode runs a pre-programmed mission sent by the ground control station.
-- <a id="kill_switch"></a> [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying).
+- <a id="emergency_stop_switch"></a> [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying).
 
 ## 비행 모드 선택
 
diff --git a/docs/ko/msg_docs/ManualControlSwitches.md b/docs/ko/msg_docs/ManualControlSwitches.md
index 189682730f..1b60272a90 100644
--- a/docs/ko/msg_docs/ManualControlSwitches.md
+++ b/docs/ko/msg_docs/ManualControlSwitches.md
@@ -27,7 +27,7 @@ uint8 arm_switch                 # arm/disarm switch: _DISARMED_, ARMED
 uint8 return_switch              # return to launch 2 position switch (mandatory): _NORMAL_, RTL
 uint8 loiter_switch              # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 offboard_switch            # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
-uint8 kill_switch                # throttle kill: _NORMAL_, KILL
+uint8 emergency_stop_switch                # throttle kill: _NORMAL_, KILL
 uint8 termination_switch         # trigger termination which cannot be undone
 uint8 gear_switch                # landing gear switch: _DOWN_, UP
 uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGHT
diff --git a/docs/ko/msg_docs/VehicleStatus.md b/docs/ko/msg_docs/VehicleStatus.md
index 05e3f98bbb..a93881bdbc 100644
--- a/docs/ko/msg_docs/VehicleStatus.md
+++ b/docs/ko/msg_docs/VehicleStatus.md
@@ -27,7 +27,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
 uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_LANDING = 6
 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 8
 uint8 ARM_DISARM_REASON_RC_BUTTON = 13
 uint8 ARM_DISARM_REASON_FAILSAFE = 14
 
diff --git a/docs/ko/msg_docs/VehicleStatusV0.md b/docs/ko/msg_docs/VehicleStatusV0.md
index 9a91186524..a3443aa7f2 100644
--- a/docs/ko/msg_docs/VehicleStatusV0.md
+++ b/docs/ko/msg_docs/VehicleStatusV0.md
@@ -29,7 +29,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 9
 uint8 ARM_DISARM_REASON_LOCKDOWN = 10
 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
 uint8 ARM_DISARM_REASON_SHUTDOWN = 12
diff --git a/docs/uk/config/flight_mode.md b/docs/uk/config/flight_mode.md
index 4b8f9d0d42..a6cf6ac6d8 100644
--- a/docs/uk/config/flight_mode.md
+++ b/docs/uk/config/flight_mode.md
@@ -25,7 +25,7 @@ You can set any (or none) of the flight modes [available to your vehicle](../fli
 Також звичайно відображати перемикачі на:
 
 - **Mission mode** — This mode runs a pre-programmed mission sent by the ground control station.
-- <a id="kill_switch"></a> [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying).
+- <a id="emergency_stop_switch"></a> [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying).
 
 ## Вибір режиму польоту
 
diff --git a/docs/uk/msg_docs/ManualControlSwitches.md b/docs/uk/msg_docs/ManualControlSwitches.md
index 189682730f..1b60272a90 100644
--- a/docs/uk/msg_docs/ManualControlSwitches.md
+++ b/docs/uk/msg_docs/ManualControlSwitches.md
@@ -27,7 +27,7 @@ uint8 arm_switch                 # arm/disarm switch: _DISARMED_, ARMED
 uint8 return_switch              # return to launch 2 position switch (mandatory): _NORMAL_, RTL
 uint8 loiter_switch              # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 offboard_switch            # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
-uint8 kill_switch                # throttle kill: _NORMAL_, KILL
+uint8 emergency_stop_switch                # throttle kill: _NORMAL_, KILL
 uint8 termination_switch         # trigger termination which cannot be undone
 uint8 gear_switch                # landing gear switch: _DOWN_, UP
 uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGHT
diff --git a/docs/uk/msg_docs/VehicleStatus.md b/docs/uk/msg_docs/VehicleStatus.md
index 63192fceb7..d692e8860a 100644
--- a/docs/uk/msg_docs/VehicleStatus.md
+++ b/docs/uk/msg_docs/VehicleStatus.md
@@ -27,7 +27,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
 uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_LANDING = 6
 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 8
 uint8 ARM_DISARM_REASON_RC_BUTTON = 13
 uint8 ARM_DISARM_REASON_FAILSAFE = 14
 
diff --git a/docs/uk/msg_docs/VehicleStatusV0.md b/docs/uk/msg_docs/VehicleStatusV0.md
index a72e788eb5..7bdea0f8ea 100644
--- a/docs/uk/msg_docs/VehicleStatusV0.md
+++ b/docs/uk/msg_docs/VehicleStatusV0.md
@@ -29,7 +29,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 9
 uint8 ARM_DISARM_REASON_LOCKDOWN = 10
 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
 uint8 ARM_DISARM_REASON_SHUTDOWN = 12
diff --git a/docs/zh/config/flight_mode.md b/docs/zh/config/flight_mode.md
index 557577e9ad..9daf313768 100644
--- a/docs/zh/config/flight_mode.md
+++ b/docs/zh/config/flight_mode.md
@@ -25,7 +25,7 @@ Most users should set the following modes and functions, as these make the vehic
 It is also common to map switches to:
 
 - **Mission mode** — This mode runs a pre-programmed mission sent by the ground control station.
-- <a id="kill_switch"></a> [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying).
+- <a id="emergency_stop_switch"></a> [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying).
 
 ## Flight Mode Selection
 
diff --git a/docs/zh/msg_docs/ManualControlSwitches.md b/docs/zh/msg_docs/ManualControlSwitches.md
index 189682730f..1b60272a90 100644
--- a/docs/zh/msg_docs/ManualControlSwitches.md
+++ b/docs/zh/msg_docs/ManualControlSwitches.md
@@ -27,7 +27,7 @@ uint8 arm_switch                 # arm/disarm switch: _DISARMED_, ARMED
 uint8 return_switch              # return to launch 2 position switch (mandatory): _NORMAL_, RTL
 uint8 loiter_switch              # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 offboard_switch            # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
-uint8 kill_switch                # throttle kill: _NORMAL_, KILL
+uint8 emergency_stop_switch                # throttle kill: _NORMAL_, KILL
 uint8 termination_switch         # trigger termination which cannot be undone
 uint8 gear_switch                # landing gear switch: _DOWN_, UP
 uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGHT
diff --git a/docs/zh/msg_docs/VehicleStatus.md b/docs/zh/msg_docs/VehicleStatus.md
index 05e3f98bbb..a93881bdbc 100644
--- a/docs/zh/msg_docs/VehicleStatus.md
+++ b/docs/zh/msg_docs/VehicleStatus.md
@@ -27,7 +27,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
 uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_LANDING = 6
 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 8
 uint8 ARM_DISARM_REASON_RC_BUTTON = 13
 uint8 ARM_DISARM_REASON_FAILSAFE = 14
 
diff --git a/docs/zh/msg_docs/VehicleStatusV0.md b/docs/zh/msg_docs/VehicleStatusV0.md
index 9a91186524..a3443aa7f2 100644
--- a/docs/zh/msg_docs/VehicleStatusV0.md
+++ b/docs/zh/msg_docs/VehicleStatusV0.md
@@ -29,7 +29,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 9
 uint8 ARM_DISARM_REASON_LOCKDOWN = 10
 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
 uint8 ARM_DISARM_REASON_SHUTDOWN = 12
diff --git a/msg/ActionRequest.msg b/msg/ActionRequest.msg
index d1bd235d3a..e25d21472f 100644
--- a/msg/ActionRequest.msg
+++ b/msg/ActionRequest.msg
@@ -10,8 +10,8 @@ uint8 action                                     # [@enum ACTION] Requested acti
 uint8 ACTION_DISARM = 0                          # Disarm vehicle
 uint8 ACTION_ARM = 1                             # Arm vehicle
 uint8 ACTION_TOGGLE_ARMING = 2                   # Toggle arming
-uint8 ACTION_UNKILL = 3                          # Revert a kill action
-uint8 ACTION_KILL = 4                            # Kill vehicle (instantly stop the motors)
+uint8 ACTION_REVERT_EMERGENGY_STOP = 3           # Revert a emergency stop action
+uint8 ACTION_EMERGENGY_STOP = 4                  # emergency stop the vehicle
 uint8 ACTION_SWITCH_MODE = 5                     # Switch mode. The target mode is set in the `mode` field.
 uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6  # Transition to hover flight
 uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7    # Transition to fast forward flight
diff --git a/msg/ManualControlSwitches.msg b/msg/ManualControlSwitches.msg
index 4f8b426ada..8d9e835645 100644
--- a/msg/ManualControlSwitches.msg
+++ b/msg/ManualControlSwitches.msg
@@ -22,7 +22,7 @@ uint8 arm_switch                 # arm/disarm switch: _DISARMED_, ARMED
 uint8 return_switch              # return to launch 2 position switch (mandatory): _NORMAL_, RTL
 uint8 loiter_switch              # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 offboard_switch            # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
-uint8 kill_switch                # throttle kill: _NORMAL_, KILL
+uint8 emergency_stop_switch                # throttle kill: _NORMAL_, KILL
 uint8 termination_switch         # trigger termination which cannot be undone
 uint8 gear_switch                # landing gear switch: _DOWN_, UP
 uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGHT
diff --git a/msg/RcChannels.msg b/msg/RcChannels.msg
index c8cc2e9354..7d639f0931 100644
--- a/msg/RcChannels.msg
+++ b/msg/RcChannels.msg
@@ -17,7 +17,7 @@ uint8 FUNCTION_AUX_6         = 13
 uint8 FUNCTION_PARAM_1       = 14
 uint8 FUNCTION_PARAM_2       = 15
 uint8 FUNCTION_PARAM_3_5     = 16
-uint8 FUNCTION_KILLSWITCH    = 17
+uint8 FUNCTION_EMERGENCYSTOPSWITCH = 17
 uint8 FUNCTION_TRANSITION    = 18
 uint8 FUNCTION_GEAR          = 19
 uint8 FUNCTION_ARMSWITCH     = 20
diff --git a/msg/px4_msgs_old/msg/VehicleStatusV0.msg b/msg/px4_msgs_old/msg/VehicleStatusV0.msg
index a347dfce3d..7e362818d2 100644
--- a/msg/px4_msgs_old/msg/VehicleStatusV0.msg
+++ b/msg/px4_msgs_old/msg/VehicleStatusV0.msg
@@ -22,7 +22,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 9
 uint8 ARM_DISARM_REASON_LOCKDOWN = 10
 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
 uint8 ARM_DISARM_REASON_SHUTDOWN = 12
diff --git a/msg/versioned/VehicleStatus.msg b/msg/versioned/VehicleStatus.msg
index 185076a5d6..cbce80d266 100644
--- a/msg/versioned/VehicleStatus.msg
+++ b/msg/versioned/VehicleStatus.msg
@@ -20,7 +20,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
 uint8 ARM_DISARM_REASON_MISSION_START = 5
 uint8 ARM_DISARM_REASON_LANDING = 6
 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_emergency_stop_switch = 8
 uint8 ARM_DISARM_REASON_RC_BUTTON = 13
 uint8 ARM_DISARM_REASON_FAILSAFE = 14
 
diff --git a/src/drivers/osd/msp_osd/msp_defines.h b/src/drivers/osd/msp_osd/msp_defines.h
index eeb8a12810..8c0a37b34e 100644
--- a/src/drivers/osd/msp_osd/msp_defines.h
+++ b/src/drivers/osd/msp_osd/msp_defines.h
@@ -360,7 +360,7 @@ struct msp_rendor_rssi_t {
 // MSP_ARMING_CONFIG reply
 struct msp_arming_config_t {
 	uint8_t auto_disarm_delay;
-	uint8_t disarm_kill_switch;
+	uint8_t disarm_emergency_stop_switch;
 } __attribute__((packed));
 
 
diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json
index acd73c1447..001dbd2d08 100644
--- a/src/lib/events/enums.json
+++ b/src/lib/events/enums.json
@@ -471,8 +471,8 @@
                             "description": "preflight inaction"
                         },
                         "8": {
-                            "name": "kill_switch",
-                            "description": "kill switch"
+                            "name": "emergency_stop_switch",
+                            "description": "emergency stop"
                         },
                         "13": {
                             "name": "rc_button",
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 4f6bfa0faf..e2203a00f4 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -526,7 +526,7 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r
 	static_assert(
 		(uint8_t)arm_disarm_reason_t::preflight_inaction == vehicle_status_s::ARM_DISARM_REASON_PREFLIGHT_INACTION,
 		"(dis)arm enum mismatch");
-	static_assert((uint8_t)arm_disarm_reason_t::kill_switch == vehicle_status_s::ARM_DISARM_REASON_KILL_SWITCH,
+	static_assert((uint8_t)arm_disarm_reason_t::emergency_stop_switch == vehicle_status_s::ARM_DISARM_REASON_emergency_stop_switch,
 		      "(dis)arm enum mismatch");
 	static_assert((uint8_t)arm_disarm_reason_t::rc_button == vehicle_status_s::ARM_DISARM_REASON_RC_BUTTON,
 		      "(dis)arm enum mismatch");
@@ -548,7 +548,7 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r
 
 	case arm_disarm_reason_t::preflight_inaction: return "auto preflight disarming";
 
-	case arm_disarm_reason_t::kill_switch: return "kill-switch";
+	case arm_disarm_reason_t::emergency_stop_switch: return "emergency-stop";
 
 	case arm_disarm_reason_t::rc_button: return "RC button";
 
@@ -1696,30 +1696,30 @@ void Commander::executeActionRequest(const action_request_s &action_request)
 
 		break;
 
-	case action_request_s::ACTION_UNKILL:
+	case action_request_s::ACTION_REVERT_EMERGENGY_STOP:
 		if (_actuator_armed.kill) {
-			mavlink_log_info(&_mavlink_log_pub, "Kill disengaged\t");
-			events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill disengaged");
+			mavlink_log_info(&_mavlink_log_pub, "Emergency Stop Disengaged\t");
+			events::send(events::ID("commander_emergency_stop_disengaged"), events::Log::Info, "Emergency Stop Disengaged");
 			_status_changed = true;
 			_actuator_armed.kill = false;
 		}
 
 		break;
 
-	case action_request_s::ACTION_KILL:
+	case action_request_s::ACTION_EMERGENGY_STOP:
 		if (!_actuator_armed.kill) {
-			const char kill_switch_string[] = "Kill engaged\t";
+			const char emergency_stop_switch_string[] = "Emergency Stop Engaged\t";
 			events::LogLevels log_levels{events::Log::Info};
 
 			if (_vehicle_land_detected.landed) {
-				mavlink_log_info(&_mavlink_log_pub, kill_switch_string);
+				mavlink_log_info(&_mavlink_log_pub, emergency_stop_switch_string);
 
 			} else {
-				mavlink_log_critical(&_mavlink_log_pub, kill_switch_string);
+				mavlink_log_critical(&_mavlink_log_pub, emergency_stop_switch_string);
 				log_levels.external = events::Log::Critical;
 			}
 
-			events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill engaged");
+			events::send(events::ID("commander_emergency_stop_engaged"), log_levels, "Emergency Stop Engaged");
 
 			_status_changed = true;
 			_actuator_armed.kill = true;
@@ -1931,7 +1931,7 @@ void Commander::run()
 		_actuator_armed.prearmed = getPrearmState();
 		_actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed();
 		_actuator_armed.lockdown = _multicopter_throw_launch.isThrowLaunchInProgress();
-		// _actuator_armed.kill // action_request_s::ACTION_KILL
+		// _actuator_armed.kill // action_request_s::ACTION_EMERGENGY_STOP
 		_actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
 		// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION
 
@@ -2309,7 +2309,7 @@ void Commander::handleAutoDisarm()
 		_auto_disarm_killed.set_state_and_update(_actuator_armed.kill, hrt_absolute_time());
 
 		if (_auto_disarm_killed.get_state()) {
-			disarm(arm_disarm_reason_t::kill_switch, true);
+			disarm(arm_disarm_reason_t::emergency_stop_switch, true);
 		}
 
 	} else {
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/manualControlCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/manualControlCheck.cpp
index fe22363d16..52f1a52827 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/manualControlCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/manualControlCheck.cpp
@@ -58,15 +58,15 @@ void ManualControlChecks::checkAndReport(const Context &context, Report &reporte
 			}
 		}
 
-		if (manual_control_switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) {
+		if (manual_control_switches.emergency_stop_switch == manual_control_switches_s::SWITCH_POS_ON) {
 			/* EVENT
 			 */
 			reporter.armingCheckFailure(NavModes::All, health_component_t::remote_control,
-						    events::ID("check_man_control_kill_engaged"),
-						    events::Log::Error, "Kill switch engaged");
+						    events::ID("check_man_control_emergency_stop_engaged"),
+						    events::Log::Error, "Emergency Stop Engaged");
 
 			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Kill switch engaged");
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Emergency Stop Engaged");
 			}
 		}
 
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 2c53e36c66..94ee477465 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -734,9 +734,9 @@ PARAM_DEFINE_INT32(COM_FORCE_SAFETY, 0);
 PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1);
 
 /**
- * Timeout value for disarming when kill switch is engaged
+ * Timeout value for disarming when emergency stop switch is engaged
  *
- * Use RC_MAP_KILL_SW to map a kill switch.
+ * Use RC_MAP_KILL_SW to map a emergency stop switch.
  *
  * @group Commander
  * @unit s
diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp
index 517639100c..c5fc0e9e9b 100644
--- a/src/modules/manual_control/ManualControl.cpp
+++ b/src/modules/manual_control/ManualControl.cpp
@@ -228,12 +228,12 @@ void ManualControl::processSwitches(hrt_abstime &now)
 					}
 				}
 
-				if (switches.kill_switch != _previous_switches.kill_switch) {
-					if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) {
-						sendActionRequest(action_request_s::ACTION_KILL, action_request_s::SOURCE_RC_SWITCH);
+				if (switches.emergency_stop_switch != _previous_switches.emergency_stop_switch) {
+					if (switches.emergency_stop_switch == manual_control_switches_s::SWITCH_POS_ON) {
+						sendActionRequest(action_request_s::ACTION_EMERGENGY_STOP, action_request_s::SOURCE_RC_SWITCH);
 
-					} else if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_OFF) {
-						sendActionRequest(action_request_s::ACTION_UNKILL, action_request_s::SOURCE_RC_SWITCH);
+					} else if (switches.emergency_stop_switch == manual_control_switches_s::SWITCH_POS_OFF) {
+						sendActionRequest(action_request_s::ACTION_REVERT_EMERGENGY_STOP, action_request_s::SOURCE_RC_SWITCH);
 					}
 				}
 
@@ -396,7 +396,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input)
 		_stick_kill_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_lower_right, input.timestamp);
 
 		if (!previous_stick_kill_hysteresis && _stick_kill_hysteresis.get_state()) {
-			sendActionRequest(action_request_s::ACTION_KILL, action_request_s::SOURCE_STICK_GESTURE);
+			sendActionRequest(action_request_s::ACTION_EMERGENGY_STOP, action_request_s::SOURCE_STICK_GESTURE);
 		}
 	}
 }
diff --git a/src/modules/manual_control/ManualControlTest.cpp b/src/modules/manual_control/ManualControlTest.cpp
index 6646908e49..ba16280471 100644
--- a/src/modules/manual_control/ManualControlTest.cpp
+++ b/src/modules/manual_control/ManualControlTest.cpp
@@ -36,8 +36,8 @@
 
 static constexpr uint64_t SOME_TIME = 12345678;
 
-static constexpr uint8_t ACTION_KILL = action_request_s::ACTION_KILL;
-static constexpr uint8_t ACTION_UNKILL = action_request_s::ACTION_UNKILL;
+static constexpr uint8_t ACTION_EMERGENGY_STOP = action_request_s::ACTION_EMERGENGY_STOP;
+static constexpr uint8_t ACTION_REVERT_EMERGENGY_STOP = action_request_s::ACTION_REVERT_EMERGENGY_STOP;
 static constexpr uint8_t ACTION_VTOL_TRANSITION_TO_FIXEDWING = action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING;
 static constexpr uint8_t ACTION_VTOL_TRANSITION_TO_MULTICOPTER =
 	action_request_s::ACTION_VTOL_TRANSITION_TO_MULTICOPTER;
@@ -93,12 +93,12 @@ public:
 };
 
 
-TEST_F(SwitchTest, KillSwitch)
+TEST_F(SwitchTest, EmergencyStopSwitch)
 {
 	// GIVEN: valid stick input from RC
 	_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
 	// and kill switch in off position
-	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_ON});
+	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .emergency_stop_switch = manual_control_switches_s::SWITCH_POS_ON});
 	_manual_control.processInput(_timestamp += 100_ms);
 
 	// THEN: the stick input is published for use
@@ -108,20 +108,20 @@ TEST_F(SwitchTest, KillSwitch)
 	EXPECT_FALSE(_action_request_sub.update());
 
 	// WHEN: the kill switch is switched on
-	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_OFF});
+	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .emergency_stop_switch = manual_control_switches_s::SWITCH_POS_OFF});
 	_manual_control.processInput(_timestamp += 100_ms);
 
 	// THEN: a kill action request is published
 	EXPECT_TRUE(_action_request_sub.update());
-	EXPECT_EQ(_action_request_sub.get().action, ACTION_UNKILL);
+	EXPECT_EQ(_action_request_sub.get().action, ACTION_REVERT_EMERGENGY_STOP);
 
 	// WHEN: the kill switch is switched off again
-	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_ON});
+	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .emergency_stop_switch = manual_control_switches_s::SWITCH_POS_ON});
 	_manual_control.processInput(_timestamp += 100_ms);
 
 	// THEN: an unkill action request is published
 	EXPECT_TRUE(_action_request_sub.update());
-	EXPECT_EQ(_action_request_sub.get().action, ACTION_KILL);
+	EXPECT_EQ(_action_request_sub.get().action, ACTION_EMERGENGY_STOP);
 }
 
 TEST_F(SwitchTest, TransitionSwitch)
diff --git a/src/modules/mavlink/streams/MANUAL_CONTROL.hpp b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp
index d62aec1b0a..d9a4742c7d 100644
--- a/src/modules/mavlink/streams/MANUAL_CONTROL.hpp
+++ b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp
@@ -83,7 +83,7 @@ private:
 				msg.buttons |= (manual_control_switches.return_switch << (shift * 1));
 				msg.buttons |= (manual_control_switches.loiter_switch << (shift * 3));
 				msg.buttons |= (manual_control_switches.offboard_switch << (shift * 5));
-				msg.buttons |= (manual_control_switches.kill_switch << (shift * 6));
+				msg.buttons |= (manual_control_switches.emergency_stop_switch << (shift * 6));
 			}
 
 			if (PX4_ISFINITE(manual_control_setpoint.aux1)) {
diff --git a/src/modules/rc_update/params.c b/src/modules/rc_update/params.c
index 3709a3a841..94903ec258 100644
--- a/src/modules/rc_update/params.c
+++ b/src/modules/rc_update/params.c
@@ -1212,7 +1212,7 @@ PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
 
 /**
- * Emergency Kill switch channel
+ * Emergency stop switch channel
  *
  * This channel immediately sets all outputs to their disarmed values, parachutes are NOT deployed.
  * Unlike termination this can be undone. Quickly flipping the switch back restores control.
diff --git a/src/modules/rc_update/rc_update.cpp b/src/modules/rc_update/rc_update.cpp
index 52d65bf915..3675fdb4ff 100644
--- a/src/modules/rc_update/rc_update.cpp
+++ b/src/modules/rc_update/rc_update.cpp
@@ -51,7 +51,7 @@ static bool operator ==(const manual_control_switches_s &a, const manual_control
 		a.return_switch == b.return_switch &&
 		a.loiter_switch == b.loiter_switch &&
 		a.offboard_switch == b.offboard_switch &&
-		a.kill_switch == b.kill_switch &&
+		a.emergency_stop_switch == b.emergency_stop_switch &&
 		a.arm_switch == b.arm_switch &&
 		a.transition_switch == b.transition_switch &&
 		a.gear_switch == b.gear_switch &&
@@ -198,7 +198,7 @@ void RCUpdate::update_rc_functions()
 	_rc.function[rc_channels_s::FUNCTION_RETURN] = _param_rc_map_return_sw.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_OFFBOARD] = _param_rc_map_offb_sw.get() - 1;
-	_rc.function[rc_channels_s::FUNCTION_KILLSWITCH] = _param_rc_map_kill_sw.get() - 1;
+	_rc.function[rc_channels_s::FUNCTION_EMERGENCYSTOPSWITCH] = _param_rc_map_kill_sw.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_TERMINATION] = _param_rc_map_term_sw.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_ARMSWITCH] = _param_rc_map_arm_sw.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_TRANSITION] = _param_rc_map_trans_sw.get() - 1;
@@ -620,7 +620,7 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
 	switches.return_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_RETURN, _param_rc_return_th.get());
 	switches.loiter_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_LOITER, _param_rc_loiter_th.get());
 	switches.offboard_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_OFFBOARD, _param_rc_offb_th.get());
-	switches.kill_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_KILLSWITCH, _param_rc_killswitch_th.get());
+	switches.emergency_stop_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_EMERGENCYSTOPSWITCH, _param_rc_killswitch_th.get());
 	switches.termination_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_TERMINATION, .75f);
 	switches.arm_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_ARMSWITCH, _param_rc_armswitch_th.get());
 	switches.transition_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_TRANSITION, _param_rc_trans_th.get());