diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 17bd3f67e0..8ff8bcb767 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1954,41 +1954,6 @@ MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_mess
 	_trajectory_waypoint_pub.publish(trajectory_waypoint);
 }
 
-int
-MavlinkReceiver::decode_switch_pos_n(uint16_t buttons, unsigned sw)
-{
-	bool on = (buttons & (1 << sw));
-
-	if (sw < MOM_SWITCH_COUNT) {
-
-		bool last_on = (_mom_switch_state & (1 << sw));
-
-		/* first switch is 2-pos, rest is 2 pos */
-		unsigned state_count = (sw == 0) ? 3 : 2;
-
-		/* only transition on low state */
-		if (!on && (on != last_on)) {
-
-			_mom_switch_pos[sw]++;
-
-			if (_mom_switch_pos[sw] == state_count) {
-				_mom_switch_pos[sw] = 0;
-			}
-		}
-
-		/* state_count - 1 is the number of intervals and 1000 is the range,
-		 * with 2 states 0 becomes 0, 1 becomes 1000. With
-		 * 3 states 0 becomes 0, 1 becomes 500, 2 becomes 1000,
-		 * and so on for more states.
-		 */
-		return (_mom_switch_pos[sw] * 1000) / (state_count - 1) + 1000;
-
-	} else {
-		/* return the current state */
-		return on * 1000 + 1000;
-	}
-}
-
 void
 MavlinkReceiver::handle_message_rc_channels(mavlink_message_t *msg)
 {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index afba64628e..cdc41d1b42 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -130,6 +130,7 @@ public:
 	bool component_was_seen(int system_id, int component_id);
 	void enable_message_statistics() { _message_statistics_enabled = true; }
 	void print_detailed_rx_stats() const;
+	static void *start_helper(void *context);
 
 	void request_stop() { _should_exit.store(true); }
 
@@ -220,11 +221,6 @@ private:
 	int set_message_interval(int msgId, float interval, int data_rate = -1);
 	void get_message_interval(int msgId);
 
-	/**
-	 * Decode a switch position from a bitfield and state.
-	 */
-	int decode_switch_pos_n(uint16_t buttons, unsigned sw);
-
 	bool evaluate_target_ok(int command, int target_system, int target_component);
 
 	void fill_thrust(float *thrust_body_array, uint8_t vehicle_type, float thrust);
@@ -366,12 +362,8 @@ private:
 	PX4Gyroscope *_px4_gyro{nullptr};
 	PX4Magnetometer *_px4_mag{nullptr};
 
-	static constexpr unsigned int	MOM_SWITCH_COUNT{8};
-	uint8_t				_mom_switch_pos[MOM_SWITCH_COUNT] {};
-	uint16_t			_mom_switch_state{0};
-
-	map_projection_reference_s _global_local_proj_ref{};
 	float _global_local_alt0{NAN};
+	map_projection_reference_s _global_local_proj_ref{};
 
 	hrt_abstime			_last_utm_global_pos_com{0};