diff --git a/flight/modules/Airspeed/airspeed.c b/flight/modules/Airspeed/airspeed.c
index d44682c98..d86a692a6 100644
--- a/flight/modules/Airspeed/airspeed.c
+++ b/flight/modules/Airspeed/airspeed.c
@@ -169,6 +169,8 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
                     imu_airspeedInitialize(&airspeedSettings);
                 }
                 break;
+            default:
+            	break;
             }
         }
         switch (airspeedSettings.AirspeedSensorType) {
diff --git a/flight/modules/PathFollower/vtolbrakecontroller.cpp b/flight/modules/PathFollower/vtolbrakecontroller.cpp
index 625567887..141421e73 100644
--- a/flight/modules/PathFollower/vtolbrakecontroller.cpp
+++ b/flight/modules/PathFollower/vtolbrakecontroller.cpp
@@ -315,7 +315,7 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
         default:
         	break;
         }
-        stabDesired.StabilizationMode.Thrust = thrustMode;
+        stabDesired.StabilizationMode.Thrust = (StabilizationDesiredStabilizationModeOptions) thrustMode;
     }
 
     // set the thrust value
diff --git a/flight/modules/PathFollower/vtollandfsm.cpp b/flight/modules/PathFollower/vtollandfsm.cpp
index 4dbbe63c1..b4aff11cd 100644
--- a/flight/modules/PathFollower/vtollandfsm.cpp
+++ b/flight/modules/PathFollower/vtollandfsm.cpp
@@ -390,7 +390,7 @@ void VtolLandFSM::run_init_althold(uint8_t flTimeout)
 {
     if (flTimeout) {
         mLandData->flAltitudeHold = false;
-        setState(LAND_STATE_WTG_FOR_DESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
+        setState(STATUSVTOLLAND_STATE_WTGFORDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
     }
 }
 
@@ -427,13 +427,13 @@ void VtolLandFSM::run_wtg_for_descentrate(uint8_t flTimeout)
     if (velocityState.Down > (LANDRATE_LOWLIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate) &&
         velocityState.Down < (LANDRATE_HILIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate)) {
         if (mLandData->observationCount++ > WTG_FOR_DESCENTRATE_COUNT_LIMIT) {
-            setState(LAND_STATE_AT_DESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
+            setState(STATUSVTOLLAND_STATE_ATDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
             return;
         }
     }
 
     if (flTimeout) {
-        setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
+        setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
     }
 }
 
@@ -476,7 +476,7 @@ void VtolLandFSM::run_at_descentrate(uint8_t flTimeout)
         mLandData->fsmLandStatus.calculatedNeutralThrust = boundf(mLandData->fsmLandStatus.calculatedNeutralThrust, vtolPathFollowerSettings->ThrustLimits.Neutral, vtolPathFollowerSettings->ThrustLimits.Max);
 
 
-        setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
+        setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
     }
 }
 
@@ -534,7 +534,7 @@ void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTim
     if (flBounce || flBounceAccel) {
         mLandData->observation2Count++;
         if (mLandData->observation2Count > BOUNCE_TRIGGER_COUNT) {
-            setState(LAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
+            setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
             return;
         }
     } else {
@@ -548,7 +548,7 @@ void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTim
         mLandData->observationCount++;
         if (mLandData->observationCount > GROUNDEFFECT_SLOWDOWN_COUNT) {
 #ifndef DEBUG_GROUNDIMPACT
-            setState(LAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
+            setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
 #endif
             return;
         }
@@ -580,7 +580,7 @@ void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
 
     StabilizationDesiredGet(&stabDesired);
     if (stabDesired.Thrust < 0.0f) {
-        setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
+        setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
         return;
     }
 
@@ -597,12 +597,12 @@ void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
     float east_error    = mLandData->expectedLandPositionEast - positionState.East;
     float positionError = sqrtf(north_error * north_error + east_error * east_error);
     if (positionError > 0.3f) {
-        setState(LAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
+        setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
         return;
     }
 
     if (flTimeout) {
-        setState(LAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
+        setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
     }
 }
 
@@ -628,11 +628,11 @@ void VtolLandFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
     StabilizationDesiredData stabDesired;
     StabilizationDesiredGet(&stabDesired);
     if (stabDesired.Thrust < 0.0f || mLandData->thrustLimit < 0.0f) {
-        setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
+        setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
     }
 
     if (flTimeout) {
-        setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
+        setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
     }
 }
 
@@ -647,7 +647,7 @@ void VtolLandFSM::setup_thrustoff(void)
 
 void VtolLandFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
 {
-    setState(LAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
+    setState(STATUSVTOLLAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
 }
 
 // STATE: DISARMED
@@ -665,7 +665,7 @@ void VtolLandFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
 {
 #ifdef DEBUG_GROUNDIMPACT
     if (mLandData->observationCount++ > 100) {
-        setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
+        setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
     }
 #endif
 }