diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index a71c5dfeb1..f574099119 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1022,7 +1022,6 @@ void update_roll_pitch_mode(void)
 	int control_roll = 0, control_pitch = 0;
 
 	//read_radio();
-
 	if(do_simple && new_radio_frame){
 		new_radio_frame = false;
 		simple_timer++;
@@ -1047,7 +1046,6 @@ void update_roll_pitch_mode(void)
 		g.rc_2.control_in = control_pitch;
 	}
 
-
 	switch(roll_pitch_mode){
 		case ROLL_PITCH_ACRO:
 			// Roll control
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 02a762c635..c834a487d4 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -99,19 +99,7 @@ get_nav_throttle(long z_error, int target_speed)
 	rate_error 		= target_speed - altitude_rate;
 	rate_error 		= constrain(rate_error, -120, 140);
 
-	float delta_throttle;
-
-	// is the throttle_timer uninitialized?
-	if(throttle_timer == 0){
-		throttle_timer = millis();
-		delta_throttle = 0;
-	}else{
-		long timer		= millis();
-		delta_throttle	= (float)(timer - throttle_timer)/1000.0;
-		throttle_timer  = timer;
-	}
-
-	return (int)g.pi_throttle.get_pi(rate_error, delta_throttle);
+	return (int)g.pi_throttle.get_pi(rate_error, .1);
 }
 
 static int
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index ad31613024..e550721548 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -63,7 +63,7 @@
 //
 
 #ifndef CH7_OPTION
-# define CH7_OPTION		DO_SET_HOVER
+# define CH7_OPTION		CH7_SET_HOVER
 #endif
 
 
diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 7986932768..8d958b476e 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -14,7 +14,7 @@ static void read_control_switch()
 
 			set_mode(flight_modes[switchPosition]);
 
-			#if CH7_OPTION != SIMPLE_MODE_CONTROL
+			#if CH7_OPTION != CH7_SIMPLE_MODE
 				// setup Simple mode
 				// do we enable simple mode?
 	            do_simple = (g.simple_modes & (1 << switchPosition));