diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 32c4b8273c..19b34a6082 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -934,11 +934,9 @@ void loop()
 
 		// check for new GPS messages
 		// --------------------------
-		#if RETRO_LOITER_MODE == DISABLED
-			if(GPS_enabled){
-				update_GPS();
-			}
-		#endif
+		if(!g.retro_loiter && GPS_enabled){
+			update_GPS();
+		}
 
 		// perform 10hz tasks
 		// ------------------
@@ -1010,11 +1008,9 @@ static void medium_loop()
 		case 0:
 			medium_loopCounter++;
 
-			#if RETRO_LOITER_MODE == ENABLED
-			if(GPS_enabled){
+			if(g.retro_loiter && GPS_enabled){
 				update_GPS();
 			}
-			#endif
 
 			#if HIL_MODE != HIL_MODE_ATTITUDE					// don't execute in HIL mode
 				if(g.compass_enabled){
@@ -1052,11 +1048,11 @@ static void medium_loop()
 					// this calculates the velocity for Loiter
 					// only called when there is new data
 					// ----------------------------------
-					#if RETRO_LOITER_MODE == ENABLED
-					calc_GPS_velocity();
-					#else
-					calc_XY_velocity();
-					#endif
+					if(g.retro_loiter){
+						calc_GPS_velocity();
+					} else {
+						calc_XY_velocity();
+					}
 
 					// If we have optFlow enabled we can grab a more accurate speed
 					// here and override the speed from the GPS
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 47648eb429..c1e05b99dd 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -90,14 +90,12 @@ static void calc_XY_velocity(){
 	last_latitude 	= g_gps->latitude;
 }
 
-#if RETRO_LOITER_MODE == ENABLED
 static void calc_GPS_velocity()
 {
 	float temp = radians((float)g_gps->ground_course/100.0);
 	x_actual_speed = (float)g_gps->ground_speed * sin(temp);
 	y_actual_speed = (float)g_gps->ground_speed * cos(temp);
 }
-#endif
 
 static void calc_location_error(struct Location *next_loc)
 {
@@ -164,10 +162,10 @@ static void calc_location_error(struct Location *next_loc)
 #define NAV_RATE_ERR_MAX 250
 static void calc_loiter(int x_error, int y_error)
 {
-	#if RETRO_LOITER_MODE == ENABLED
-	x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
-	y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
-	#endif
+	if(g.retro_loiter){
+		x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
+		y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
+	}
 
 	int32_t p,i,d;						// used to capture pid values for logging
 	int32_t output;
@@ -184,9 +182,9 @@ static void calc_loiter(int x_error, int y_error)
 #endif
 
 	x_rate_error	= x_target_speed - x_actual_speed;			// calc the speed error
-	#if RETRO_LOITER_MODE == ENABLED
-	x_rate_error = constrain(x_rate_error, -NAV_RATE_ERR_MAX, NAV_RATE_ERR_MAX);
-	#endif
+	if(g.retro_loiter){
+		x_rate_error = constrain(x_rate_error, -NAV_RATE_ERR_MAX, NAV_RATE_ERR_MAX);
+	}
 	p				= g.pid_loiter_rate_lon.get_p(x_rate_error);
 	i				= g.pid_loiter_rate_lon.get_i(x_rate_error, dTnav);
 	d				= g.pid_loiter_rate_lon.get_d(x_rate_error, dTnav);
@@ -214,9 +212,9 @@ static void calc_loiter(int x_error, int y_error)
 #endif
 
 	y_rate_error	= y_target_speed - y_actual_speed;
-	#if RETRO_LOITER_MODE == ENABLED
-	y_rate_error = constrain(y_rate_error, -NAV_RATE_ERR_MAX, NAV_RATE_ERR_MAX);
-	#endif
+	if(g.retro_loiter){
+		y_rate_error = constrain(y_rate_error, -NAV_RATE_ERR_MAX, NAV_RATE_ERR_MAX);
+	}
 	p				= g.pid_loiter_rate_lat.get_p(y_rate_error);
 	i				= g.pid_loiter_rate_lat.get_i(y_rate_error, dTnav);
 	d				= g.pid_loiter_rate_lat.get_d(y_rate_error, dTnav);