diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index d4a2c69f0a..94fa3f494a 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -347,7 +347,6 @@ static int		airspeed;							// m/s * 100
 
 // Location Errors
 // ---------------
-//static long		bearing_error;						// deg * 100 : 0 to 36000
 static long		altitude_error;						// meters * 100 we are off in altitude
 static long 	old_altitude;
 static long 	yaw_error;							// how off are we pointed
@@ -374,7 +373,7 @@ static int 		ground_temperature;
 // Altitude Sensor variables
 // ----------------------
 static int		sonar_alt;
-static int		baro_alt;;
+static int		baro_alt;
 static byte 	altitude_sensor = BARO;				// used to know which sensor is active, BARO or SONAR
 static int		altitude_rate;
 
@@ -476,7 +475,6 @@ static float G_Dt						= 0.02;		// Integration time for the gyros (DCM algorithm
 // ----------------------
 static long 			perf_mon_timer;
 //static float 			imu_health; 						// Metric based on accel gain deweighting
-static int 				G_Dt_max;							// Max main loop cycle time in milliseconds
 static int 				gps_fix_count;
 static byte				gps_watchdog;
 
@@ -533,6 +531,7 @@ void loop()
 		// reads all of the necessary trig functions for cameras, throttle, etc.
 		update_trig();
 
+		// perform 10hz tasks
 		medium_loop();
 
 		// Stuff to run at full 50hz, but after the loops
@@ -551,7 +550,8 @@ void loop()
 			if (g.log_bitmask & MASK_LOG_PM)
 				Log_Write_Performance();
 
-			resetPerfData();
+			gps_fix_count 		= 0;
+			perf_mon_timer 		= millis();
         }
 		//PORTK &= B10111111;
 	}
@@ -576,11 +576,6 @@ static void fast_loop()
 	// IMU DCM Algorithm
 	read_AHRS();
 
-	// Look for slow loop times
-	// ------------------------
-	//if (delta_ms_fast_loop > G_Dt_max)
-	//	G_Dt_max = delta_ms_fast_loop;
-
 	// custom code/exceptions for flight modes
 	// ---------------------------------------
 	update_yaw_mode();
@@ -1156,7 +1151,6 @@ static void update_navigation()
 			}else{
 				// lets just jump to Loiter Mode after RTL
 				set_mode(LOITER);
-				//xtrack_enabled = false;
 			}
 
 			// calculates the desired Roll and Pitch
diff --git a/ArduCopter/GCS_Standard.pde b/ArduCopter/GCS_Standard.pde
index 6c9de81131..8de2260c51 100644
--- a/ArduCopter/GCS_Standard.pde
+++ b/ArduCopter/GCS_Standard.pde
@@ -147,7 +147,7 @@ static void send_message(byte id, long param) {
 		tempint 		= mainLoop_count;				// Main Loop cycles
 		mess_buffer[7] 	= tempint & 0xff;
 		mess_buffer[8] 	= (tempint >> 8) & 0xff;
-		mess_buffer[9] 	= G_Dt_max & 0xff;
+		mess_buffer[9] 	= 0 & 0xff;
 		mess_buffer[10] = gyro_sat_count;			// Problem counts
 		mess_buffer[11] = adc_constraints;
 		mess_buffer[12] = renorm_sqrt_count;
diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 98dbf41998..ed60a69aa9 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -658,8 +658,6 @@ static void Log_Write_Performance()
 
 	//*
 	//DataFlash.WriteLong(	millis()- perf_mon_timer);
-	//DataFlash.WriteInt (	mainLoop_count);
-	DataFlash.WriteInt (	G_Dt_max);							//1
 
 	DataFlash.WriteByte(	dcm.gyro_sat_count);				//2
 	DataFlash.WriteByte(	imu.adc_constraints);				//3
@@ -676,14 +674,13 @@ static void Log_Write_Performance()
 // Read a performance packet
 static void Log_Read_Performance()
 {
-	Serial.printf_P(PSTR(   "PM, %d, %d, %d, "
+	Serial.printf_P(PSTR(   "PM, %d, %d, "
 							"%d, %d, %d, "
 							"%d, %ld\n"),
 
 				// Control
 				//DataFlash.ReadLong(),
 				//DataFlash.ReadInt(),
-				DataFlash.ReadInt(),			//1
 				DataFlash.ReadByte(),			//2
 				DataFlash.ReadByte(),			//3
 
diff --git a/ArduCopter/flip.pde b/ArduCopter/flip.pde
index 0514a74f64..62cc5df577 100644
--- a/ArduCopter/flip.pde
+++ b/ArduCopter/flip.pde
@@ -28,11 +28,10 @@ void roll_flip()
 			AAP_timer = 0;
 			AAP_state++;
 			break;
-
 		case 1: // Step 2 : Increase throttle to start maneuver
 			if (AAP_timer < 95){ 	// .5 seconds
 				g.rc_1.servo_out = get_stabilize_roll(0);
-				g.rc_3.servo_out = get_throttle(g.rc_3.control_in + AAP_THR_INC);
+				g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
 				//g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
 				AAP_timer++;
 			}else{
@@ -45,7 +44,7 @@ void roll_flip()
 			if (dcm.roll_sensor < 4500){
 				// Roll control
 				g.rc_1.servo_out = AAP_ROLL_OUT;	//get_rate_roll(AAP_ROLL_RATE);
-				g.rc_3.servo_out = get_throttle(g.rc_3.control_in - AAP_THR_DEC);
+				g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
 			}else{
 				AAP_state++;
 			}
@@ -54,7 +53,7 @@ void roll_flip()
 		case 3: // Step 4 : CONTINUE ROLL (until we reach a certain angle [-45º])
 			if ((dcm.roll_sensor >= 4500) || (dcm.roll_sensor < -4500)){
 				g.rc_1.servo_out = 150; //get_rate_roll(AAP_ROLL_RATE);
-				g.rc_3.servo_out = get_throttle(g.rc_3.control_in - AAP_THR_DEC);
+				g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
 			}else{
 				AAP_state++;
 			}
@@ -63,7 +62,7 @@ void roll_flip()
 		case 4: // Step 5 : Increase throttle to stop the descend
 			if (AAP_timer < 90){ // .5 seconds
 				g.rc_1.servo_out = get_stabilize_roll(0);
-				g.rc_3.servo_out = get_throttle(g.rc_3.control_in + AAP_THR_INC);
+				g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
 				AAP_timer++;
 			}else{
 				AAP_state++;
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index b7777c920f..8812079962 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -470,14 +470,6 @@ static void set_failsafe(boolean mode)
 }
 
 
-
-static void resetPerfData(void) {
-	//mainLoop_count 		= 0;
-	G_Dt_max 			= 0;
-	gps_fix_count 		= 0;
-	perf_mon_timer 		= millis();
-}
-
 static void
 init_compass()
 {