diff --git a/src/modules/airship_att_control/airship_att_control.hpp b/src/modules/airship_att_control/airship_att_control.hpp
index dbb876ec62..b6ff54a464 100644
--- a/src/modules/airship_att_control/airship_att_control.hpp
+++ b/src/modules/airship_att_control/airship_att_control.hpp
@@ -82,9 +82,9 @@ private:
 	void publishTorqueSetpoint(const hrt_abstime &timestamp_sample);
 	void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
 
-	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};        /**< parameter updates subscription */
-	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};                         /**< vehicle status subscription */
-	uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};             /**< manual control setpoint subscription */
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 
 	uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
 
@@ -92,10 +92,10 @@ private:
 	uORB::Publication<vehicle_thrust_setpoint_s>    _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
 	uORB::Publication<vehicle_torque_setpoint_s>    _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
 
-	manual_control_setpoint_s       _manual_control_sp {};  /**< manual control setpoint */
-	vehicle_status_s                _vehicle_status {};     /**< vehicle status */
-	actuator_controls_s             _actuator_controls {};          /**< actuator controls */
+	manual_control_setpoint_s       _manual_control_setpoint{};
+	vehicle_status_s                _vehicle_status{};
+	actuator_controls_s             _actuator_controls{};
 
-	perf_counter_t  _loop_perf;     /**< loop performance counter */
+	perf_counter_t _loop_perf;
 
 };
diff --git a/src/modules/airship_att_control/airship_att_control_main.cpp b/src/modules/airship_att_control/airship_att_control_main.cpp
index e76cdf582c..d66f82840e 100644
--- a/src/modules/airship_att_control/airship_att_control_main.cpp
+++ b/src/modules/airship_att_control/airship_att_control_main.cpp
@@ -91,9 +91,9 @@ AirshipAttitudeControl::publish_actuator_controls()
 
 	} else {
 		_actuator_controls.control[0] = 0.0f;
-		_actuator_controls.control[1] = _manual_control_sp.x;
-		_actuator_controls.control[2] = _manual_control_sp.r;
-		_actuator_controls.control[3] = _manual_control_sp.z;
+		_actuator_controls.control[1] = _manual_control_setpoint.x;
+		_actuator_controls.control[2] = _manual_control_setpoint.r;
+		_actuator_controls.control[3] = _manual_control_setpoint.z;
 	}
 
 	// note: _actuator_controls.timestamp_sample is set in AirshipAttitudeControl::Run()
@@ -150,7 +150,7 @@ AirshipAttitudeControl::Run()
 		publishThrustSetpoint(angular_velocity.timestamp_sample);
 
 		/* check for updates in manual control topic */
-		_manual_control_sp_sub.update(&_manual_control_sp);
+		_manual_control_setpoint_sub.update(&_manual_control_setpoint);
 
 		/* check for updates in vehicle status topic */
 		_vehicle_status_sub.update(&_vehicle_status);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index af3fae9163..dc89b44ae8 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2129,22 +2129,22 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 void
 MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 {
-	mavlink_manual_control_t man;
-	mavlink_msg_manual_control_decode(msg, &man);
+	mavlink_manual_control_t mavlink_manual_control;
+	mavlink_msg_manual_control_decode(msg, &mavlink_manual_control);
 
 	// Check target
-	if (man.target != 0 && man.target != _mavlink->get_system_id()) {
+	if (mavlink_manual_control.target != 0 && mavlink_manual_control.target != _mavlink->get_system_id()) {
 		return;
 	}
 
-	manual_control_setpoint_s manual{};
-	manual.x = man.x / 1000.0f;
-	manual.y = man.y / 1000.0f;
-	manual.r = man.r / 1000.0f;
-	manual.z = man.z / 1000.0f;
-	manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
-	manual.timestamp = manual.timestamp_sample = hrt_absolute_time();
-	_manual_control_input_pub.publish(manual);
+	manual_control_setpoint_s manual_control_setpoint{};
+	manual_control_setpoint.x = mavlink_manual_control.x / 1000.0f;
+	manual_control_setpoint.y = mavlink_manual_control.y / 1000.0f;
+	manual_control_setpoint.r = mavlink_manual_control.r / 1000.0f;
+	manual_control_setpoint.z = mavlink_manual_control.z / 1000.0f;
+	manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
+	manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
+	_manual_control_input_pub.publish(manual_control_setpoint);
 }
 
 void