diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 5b86ade1f5..7f1ecabb7f 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -27,7 +27,7 @@
 // features below are disabled by default on all boards
 //#define CAL_ALWAYS_REBOOT                         // flight controller will reboot after compass or accelerometer calibration completes
 //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE   // disable mode changes from GCS during Radio failsafes.  Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
-//#define ADVANCED_FAILSAFE     1             // enabled advanced failsafe which allows running a portion of the mission in failsafe events
+//#define AP_COPTER_ADVANCED_FAILSAFE_ENABLED     1             // enabled advanced failsafe which allows running a portion of the mission in failsafe events
 
 // other settings
 //#define THROTTLE_IN_DEADBAND   100                // redefine size of throttle deadband in pwm (0 ~ 1000)
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 675b3b07ea..417468160c 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -232,7 +232,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_ADSB_ENABLED
     SCHED_TASK(avoidance_adsb_update, 10,    100, 138),
 #endif
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     SCHED_TASK(afs_fs_check,          10,    100, 141),
 #endif
 #if AP_TERRAIN_AVAILABLE
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 60c0818e63..48b6141c9a 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -137,7 +137,7 @@
  #include <AP_OSD/AP_OSD.h>
 #endif
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
  # include "afs_copter.h"
 #endif
 #if TOY_MODE_ENABLED
@@ -183,7 +183,7 @@ public:
     friend class ParametersG2;
     friend class AP_Avoidance_Copter;
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     friend class AP_AdvancedFailsafe_Copter;
 #endif
     friend class AP_Arming_Copter;
@@ -804,7 +804,7 @@ private:
     // failsafe.cpp
     void failsafe_enable();
     void failsafe_disable();
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     void afs_fs_check(void);
 #endif
 
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 1e4e6da598..6c2d169db8 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1519,7 +1519,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
 }
 
 MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_int_t &packet) {
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     if (GCS_MAVLINK::handle_flight_termination(packet) == MAV_RESULT_ACCEPTED) {
         return MAV_RESULT_ACCEPTED;
     }
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 8f54254821..ef7f785bea 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -771,7 +771,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 1),
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // @Group: AFS_
     // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
     AP_SUBGROUPINFO(afs, "AFS_", 6, ParametersG2, AP_AdvancedFailsafe),
@@ -1251,7 +1251,7 @@ ParametersG2::ParametersG2(void)
 #if HAL_PROXIMITY_ENABLED
     , proximity()
 #endif
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     ,afs()
 #endif
 #if MODE_SMARTRTL_ENABLED
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 0eee405833..7ba292bc5f 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -530,8 +530,8 @@ public:
 
     // whether to enforce acceptance of packets only from sysid_my_gcs
     AP_Int8 sysid_enforce;
-    
-#if ADVANCED_FAILSAFE
+
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // advanced failsafe library
     AP_AdvancedFailsafe_Copter afs;
 #endif
diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
index a0b83b36ca..0d639e1276 100644
--- a/ArduCopter/afs_copter.cpp
+++ b/ArduCopter/afs_copter.cpp
@@ -4,7 +4,7 @@
 
 #include "Copter.h"
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
 
 /*
   setup radio_out values for all channels to termination values
@@ -63,4 +63,4 @@ AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Copter::afs_mode(void)
  {
     copter.set_mode(Mode::Number::AUTO,ModeReason::GCS_FAILSAFE);
  }
-#endif // ADVANCED_FAILSAFE
+#endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED
diff --git a/ArduCopter/afs_copter.h b/ArduCopter/afs_copter.h
index 29e2dfa7a3..4d133f6276 100644
--- a/ArduCopter/afs_copter.h
+++ b/ArduCopter/afs_copter.h
@@ -18,7 +18,9 @@
   advanced failsafe support for copter
  */
 
-#if ADVANCED_FAILSAFE
+#include "config.h"
+
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 
 /*
@@ -44,5 +46,5 @@ protected:
     void set_mode_auto(void) override;
 };
 
-#endif // ADVANCED_FAILSAFE
+#endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED
 
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 3faf4609c6..0da560ea09 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -574,8 +574,8 @@
 // Developer Items
 //
 
-#ifndef ADVANCED_FAILSAFE
-# define ADVANCED_FAILSAFE 0
+#ifndef AP_COPTER_ADVANCED_FAILSAFE_ENABLED
+# define AP_COPTER_ADVANCED_FAILSAFE_ENABLED 0
 #endif
 
 #ifndef CH_MODE_DEFAULT
diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp
index d49ce3d01a..3002e773c0 100644
--- a/ArduCopter/events.cpp
+++ b/ArduCopter/events.cpp
@@ -492,7 +492,7 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){
             set_mode_SmartRTL_or_land_with_pause(reason);
             break;
         case FailsafeAction::TERMINATE: {
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
             g2.afs.gcs_terminate(true, "Failsafe");
 #else
             arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
diff --git a/ArduCopter/failsafe.cpp b/ArduCopter/failsafe.cpp
index 57864b01be..f143505977 100644
--- a/ArduCopter/failsafe.cpp
+++ b/ArduCopter/failsafe.cpp
@@ -72,7 +72,7 @@ void Copter::failsafe_check()
 }
 
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
 /*
   check for AFS failsafe check
 */
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index faf22b0180..5579b51fb7 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -4,7 +4,7 @@
 #include <AP_Math/chirp.h>
 #include <AP_ExternalControl/AP_ExternalControl_config.h> // TODO why is this needed if Copter.h includes this
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
 #include "afs_copter.h"
 #endif
 
@@ -134,7 +134,7 @@ public:
     virtual bool allows_flip() const { return false; }
     virtual bool crash_check_enabled() const { return true; }
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // Return the type of this mode for use by advanced failsafe
     virtual AP_AdvancedFailsafe_Copter::control_mode afs_mode() const { return AP_AdvancedFailsafe_Copter::control_mode::AFS_STABILIZED; }
 #endif
@@ -517,7 +517,7 @@ public:
     bool allows_inverted() const override { return true; };
 #endif
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // Return the type of this mode for use by advanced failsafe
     AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
 #endif
@@ -1068,7 +1068,7 @@ public:
 
     bool requires_terrain_failsafe() const override { return true; }
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // Return the type of this mode for use by advanced failsafe
     AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
 #endif
@@ -1243,7 +1243,7 @@ public:
 
     bool is_landing() const override { return true; };
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // Return the type of this mode for use by advanced failsafe
     AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
 #endif
@@ -1425,7 +1425,7 @@ public:
 
     bool requires_terrain_failsafe() const override { return true; }
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // Return the type of this mode for use by advanced failsafe
     AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
 #endif
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 45eccc3e84..e382cb5941 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -135,7 +135,7 @@ void Copter::auto_disarm_check()
 // motors_output - send output to motors library which will adjust and send to ESCs and servos
 void Copter::motors_output()
 {
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // this is to allow the failsafe module to deliberately crash
     // the vehicle. Only used in extreme circumstances to meet the
     // OBC rules