diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
index d1f0598c53..4ff4d6549e 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
@@ -109,8 +109,6 @@ float v_ctl_auto_groundspeed_sum_err;
 #define V_CTL_AUTO_AGR_CLIMB_GAIN 2.0 // altitude gain multiplier while in aggressive climb mode
 #endif
 
-#pragma message "CAUTION! ALL control gains have to be positive now!"
-
 #ifndef V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION
 #define V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION 1.0f
 #endif
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index d0469b53e4..c657255660 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -111,8 +111,6 @@ float v_ctl_auto_groundspeed_sum_err;
 #define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR 100
 #endif
 
-#pragma message "CAUTION! ALL control gains have to be positive now!"
-
 void v_ctl_init( void ) {
   /* mode */
   v_ctl_mode = V_CTL_MODE_MANUAL;
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 1bd7a548f1..6f22bfeca7 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -81,11 +81,6 @@
 #include "gpio.h"
 #include "led.h"
 
-#if defined RADIO_CONTROL
-#pragma message "CAUTION! radio control roll channel input has been changed to follow aerospace sign conventions.\n You will have to change your radio control xml file to get a positive value when banking right!"
-#endif
-
-
 
 #if USE_AHRS
 #if USE_IMU
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
index f504a9ef53..cc0cb1398e 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -116,8 +116,6 @@ inline static void h_ctl_pitch_loop( void );
 #define H_CTL_COURSE_DGAIN 0.
 #endif
 
-#pragma message "CAUTION! ALL control gains have to be positive now!"
-
 // Some default roll gains
 // H_CTL_ROLL_ATTITUDE_GAIN needs to be define in airframe
 #ifndef H_CTL_ROLL_RATE_GAIN
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
index bb238c76d8..c7c8158f55 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
@@ -37,8 +37,6 @@
 #include CTRL_TYPE_H
 #include "firmwares/fixedwing/autopilot.h"
 
-#pragma message "CAUTION! ALL control gains have to be positive now!"
-
 /* outer loop parameters */
 float h_ctl_course_setpoint; /* rad, CW/north */
 float h_ctl_course_pre_bank;
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 7376bd7462..8eb40f3f9d 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -38,11 +38,6 @@
 #include "firmwares/rotorcraft/commands.h"
 #include "firmwares/rotorcraft/actuators.h"
 
-#if defined RADIO_CONTROL
-#include "subsystems/radio_control.h"
-#pragma message "CAUTION! RadioControl roll and yaw channel inputs have been reversed to follow aerospace sign conventions.\n You will have to change your radio control xml file to get a positive value when pushing roll stick right and a positive value when pushing yaw stick right!"
-#endif
-
 #include "subsystems/imu.h"
 #include "subsystems/gps.h"