diff --git a/ArduCopter/control_althold.cpp b/ArduCopter/control_althold.cpp
index 6c7a346d54..85bb769789 100644
--- a/ArduCopter/control_althold.cpp
+++ b/ArduCopter/control_althold.cpp
@@ -84,7 +84,7 @@ void Copter::althold_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // Multicopter do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif  // HELI_FRAME
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
@@ -119,7 +119,7 @@ void Copter::althold_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
         attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // Multicopter do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
 #endif
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
diff --git a/ArduCopter/control_auto.cpp b/ArduCopter/control_auto.cpp
index ced92dc989..0df9f1bdc8 100644
--- a/ArduCopter/control_auto.cpp
+++ b/ArduCopter/control_auto.cpp
@@ -119,7 +119,7 @@ void Copter::auto_takeoff_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         // reset attitude control targets
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
@@ -172,7 +172,7 @@ void Copter::auto_wp_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         // clear i term when we're taking off
@@ -236,7 +236,7 @@ void Copter::auto_spline_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         // clear i term when we're taking off
@@ -309,7 +309,7 @@ void Copter::auto_land_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         // set target to current position
@@ -481,7 +481,7 @@ void Copter::auto_loiter_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         return;
diff --git a/ArduCopter/control_brake.cpp b/ArduCopter/control_brake.cpp
index b993b04d28..9ad1b355ea 100644
--- a/ArduCopter/control_brake.cpp
+++ b/ArduCopter/control_brake.cpp
@@ -41,7 +41,7 @@ void Copter::brake_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average);
diff --git a/ArduCopter/control_circle.cpp b/ArduCopter/control_circle.cpp
index 54ca7e84cf..03361349b7 100644
--- a/ArduCopter/control_circle.cpp
+++ b/ArduCopter/control_circle.cpp
@@ -41,7 +41,7 @@ void Copter::circle_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         pos_control.set_alt_target_to_current_alt();
diff --git a/ArduCopter/control_guided.cpp b/ArduCopter/control_guided.cpp
index 8d9dead5ba..10237d6367 100644
--- a/ArduCopter/control_guided.cpp
+++ b/ArduCopter/control_guided.cpp
@@ -167,7 +167,7 @@ void Copter::guided_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         // To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
@@ -211,7 +211,7 @@ void Copter::guided_takeoff_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         // reset attitude control targets
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
diff --git a/ArduCopter/control_land.cpp b/ArduCopter/control_land.cpp
index bf78c84215..e3583fb3dd 100644
--- a/ArduCopter/control_land.cpp
+++ b/ArduCopter/control_land.cpp
@@ -58,7 +58,7 @@ void Copter::land_gps_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         wp_nav.init_loiter_target();
@@ -151,7 +151,7 @@ void Copter::land_nogps_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
 
diff --git a/ArduCopter/control_loiter.cpp b/ArduCopter/control_loiter.cpp
index 95e9935cbb..d39768744f 100644
--- a/ArduCopter/control_loiter.cpp
+++ b/ArduCopter/control_loiter.cpp
@@ -81,7 +81,7 @@ void Copter::loiter_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif  // HELI_FRAME
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
@@ -119,7 +119,7 @@ void Copter::loiter_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
         attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
 #endif
diff --git a/ArduCopter/control_rtl.cpp b/ArduCopter/control_rtl.cpp
index d784732ece..52c18b300c 100644
--- a/ArduCopter/control_rtl.cpp
+++ b/ArduCopter/control_rtl.cpp
@@ -139,7 +139,7 @@ void Copter::rtl_climb_return_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         // reset attitude control targets
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
@@ -201,7 +201,7 @@ void Copter::rtl_loiterathome_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         // reset attitude control targets
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
@@ -277,7 +277,7 @@ void Copter::rtl_descent_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         // set target to current position
@@ -345,7 +345,7 @@ void Copter::rtl_land_run()
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else   // Multirotors do not stabilize roll/pitch/yaw when disarmed
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
         // set target to current position