diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index ca1bfe0073..19fe65f675 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -273,7 +273,7 @@ second attempt
  <firmware name="rotorcraft">
 	<target name="ap" board="booz_1.0">
 	  <param  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example-->
-	  <define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
+	  <define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
 	  <define name="MODEM_BAUD" value = "B57600"/>
 	  <define name="GPS_LAG" value = "0.8"/>
 	  <define name="BOOZ_START_DELAY" value = "3"/>
@@ -323,7 +323,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 #ap.CFLAGS += -DGPS_USE_LATLONG now included in NOVA section, include if NOVA section removed
 
 #throttle killswitch
-ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
 
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml
index d70c73ccdf..9983dd07e5 100644
--- a/conf/airframes/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/UofAdelaide/A1000_LISA.xml
@@ -189,7 +189,7 @@
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_l_1.0">
       <define name = "RADIO_CONTROL_MODE" value = "RADIO_CONTROL_AUX1"/>
-      <define name = "RADIO_CONTROL_KILL_SWITCH" value = "RADIO_CONTROL_GEAR"/>
+      <define name = "RADIO_KILL_SWITCH" value = "RADIO_CONTROL_GEAR"/>
       <define name = "HELI"/>
  <!--     <define name = "KILL_MOTORS" />--> 
  <!-- if we want a secondary spektrum reciever we need to set the board to be 
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index 69787b714b..b1862dacc0 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -233,7 +233,7 @@
  <firmware name="rotorcraft">
 	<target name="ap" board="booz_1.0">
 	  <param  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example-->
-	  <define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
+	  <define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
 	  <define name="MODEM_BAUD" value = "B57600"/>
 	  <define name="BOOZ_START_DELAY" value = "3"/>
 	  <define name="GPS_LAG" value = "0.8"/>
@@ -279,7 +279,7 @@ include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 # radio killswitch
-ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
 
 
 ap.CFLAGS += -DMODEM_BAUD=B57600
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
index 1ed8e51974..195bde6754 100644
--- a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -235,7 +235,7 @@ include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 # radio killswitch
-ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
 
 
 ap.CFLAGS += -DMODEM_BAUD=B57600
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/UofAdelaide/booz2_a1000.xml
index 6978b4e6a4..82afe762c7 100755
--- a/conf/airframes/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_a1000.xml
@@ -284,7 +284,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 #ap.CFLAGS += -DGPS_USE_LATLONG now included in NOVA section, include if NOVA section removed
 
 #throttle killswitch
-ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
 
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index 73dfa27727..a2c7555b95 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -3,7 +3,7 @@
   <firmware name="rotorcraft">
     <target name="ap" board="booz_1.0">
       <!--<define name="KILL_MOTORS"/>-->       <!-- prevent motors from ever starting -->
-      <!--<define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
+      <!--<define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
       <define name="USE_GPS_ACC4R"/>
       <define name="USE_INS_NAV_INIT"/>
     </target>
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index 1f78e05f76..c3026d4a4b 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -242,7 +242,7 @@ void autopilot_on_rc_frame(void) {
   AP_MODE_OF_PPRZ(radio_control.values[RADIO_MODE], new_autopilot_mode);
   autopilot_set_mode(new_autopilot_mode);
 
-#ifdef RADIO_CONTROL_KILL_SWITCH
+#ifdef RADIO_KILL_SWITCH
   if (radio_control.values[RADIO_KILL_SWITCH] < 0)
     autopilot_set_mode(AP_MODE_KILL);
 #endif
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 77a0495026..2349a56655 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -96,14 +96,14 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 
 #ifdef RADIO_CONTROL
 #define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan, RADIO_CONTROL_NB_CHANNEL, radio_control.values)
-#if defined RADIO_CONTROL_KILL_SWITCH
+#if defined RADIO_KILL_SWITCH
 #define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) SEND_BOOZ2_RADIO_CONTROL( _chan, &radio_control.values[RADIO_KILL_SWITCH])
-#else /* ! RADIO_CONTROL_KILL_SWITCH */
+#else /* ! RADIO_KILL_SWITCH */
 #define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) {			                    \
     int16_t foo = -42;							                    \
     SEND_BOOZ2_RADIO_CONTROL( _chan, &foo)				                    \
 }
-#endif /* !RADIO_CONTROL_KILL_SWITCH */
+#endif /* !RADIO_KILL_SWITCH */
 #define SEND_BOOZ2_RADIO_CONTROL(_chan, _kill_switch) {			                    \
     DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(_chan,				                    \
 				      &radio_control.values[RADIO_ROLL],            \