diff --git a/ArduCopterMega/defines.h b/ArduCopterMega/defines.h
index ff20eed224..7972a12bc1 100644
--- a/ArduCopterMega/defines.h
+++ b/ArduCopterMega/defines.h
@@ -115,7 +115,7 @@
 #define RELAY_TOGGLE 5
 #define STOP_REPEAT 10
 
-//#define MAV_CMD_CONDITION_YAW 23
+#define MAV_CMD_CONDITION_YAW 23
 
 //  GCS Message ID's
 #define MSG_ACKNOWLEDGE 0x00
diff --git a/ArduCopterMega/setup.pde b/ArduCopterMega/setup.pde
index e3a4c45fad..1fab699f5e 100644
--- a/ArduCopterMega/setup.pde
+++ b/ArduCopterMega/setup.pde
@@ -98,9 +98,12 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
 		return(-1);
 	AP_Var::erase_all();
 	Serial.printf_P(PSTR("\nFACTORY RESET complete - please reset APM to continue"));
+
+	default_log_bitmask();
+	default_gains();
+
 	for (;;) {
 	}
-
 	// note, cannot actually return here
 	return(0);
 }
@@ -643,7 +646,7 @@ default_throttle()
 	save_EEPROM_throttle();
 }
 
-void default_logs()
+void default_log_bitmask()
 {
 
 	// convenience macro for testing LOG_* and setting LOGBIT_*
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index 9230c5c9f4..4ea60a4086 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -304,6 +304,7 @@ void set_mode(byte mode)
 
 	if (g.log_bitmask & MASK_LOG_MODE)
 		Log_Write_Mode(control_mode);
+
 }
 
 void set_failsafe(boolean mode)
diff --git a/ArduCopterMega/test.pde b/ArduCopterMega/test.pde
index 69c7f3c9fa..0d7dc39f51 100644
--- a/ArduCopterMega/test.pde
+++ b/ArduCopterMega/test.pde
@@ -774,10 +774,12 @@ test_rawgps(uint8_t argc, const Menu::arg *argv)
   while(1){
     if (Serial3.available())
       Serial1.write(Serial3.read());
+
     if (Serial1.available())
       Serial3.write(Serial1.read());
+
     if(Serial.available() > 0){
-  return (0);
+		return (0);
     }
   }
 }