diff --git a/Documentation/rc_mode_switch.odg b/Documentation/rc_mode_switch.odg
index 5c4b617e60..3ed379d084 100644
Binary files a/Documentation/rc_mode_switch.odg and b/Documentation/rc_mode_switch.odg differ
diff --git a/Documentation/rc_mode_switch.pdf b/Documentation/rc_mode_switch.pdf
index 3254d6140b..70e7cb2467 100644
Binary files a/Documentation/rc_mode_switch.pdf and b/Documentation/rc_mode_switch.pdf differ
diff --git a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h
index bd3fc66e70..05794725ae 100644
--- a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h
+++ b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h
@@ -40,8 +40,8 @@ enum AUTOQUAD_NAV_STATUS
 	AQ_NAV_STATUS_INIT=0, /* System is initializing | */
 	AQ_NAV_STATUS_STANDBY=1, /* System is standing by, not active | */
 	AQ_NAV_STATUS_MANUAL=2, /* Stabilized, under full manual control | */
-	AQ_NAV_STATUS_ALTCTRL=4, /* Altitude hold engaged | */
-	AQ_NAV_STATUS_POSCTRL=8, /* Position hold engaged | */
+	AQ_NAV_STATUS_ALTCTRL=4, /* Altitude control engaged | */
+	AQ_NAV_STATUS_POSCTRL=8, /* Position control engaged | */
 	AQ_NAV_STATUS_DVH=16, /* Dynamic Velocity Hold is active | */
 	AQ_NAV_STATUS_MISSION=32, /* Autonomous mission execution mode | */
 	AQ_NAV_STATUS_CEILING_REACHED=67108864, /* Craft is at ceiling altitude | */
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index dc82ee4752..596e286a45 100644
--- a/src/modules/fixedwing_backside/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -230,7 +230,7 @@ void BlockMultiModeBacksideAutopilot::update()
 		_actuators.control[CH_THR] = _manual.throttle;
 
 	} else if (_status.main_state == MAIN_STATE_ALTCTRL ||
-		_status.main_state == MAIN_STATE_POSCTRL /* TODO, implement easy */) {
+		_status.main_state == MAIN_STATE_POSCTRL /* TODO, implement pos control */) {
 
 		// calculate velocity, XXX should be airspeed, but using ground speed for now
 		// for the purpose of control we will limit the velocity feedback between