diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 1d8f7b7cb3..31643cea0b 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -42,6 +42,10 @@
  *  CH7_CAMERA_TRIGGER
  */
 
+// Inertia based contollers
+//#define INERTIAL_NAV_XY ENABLED
+#define INERTIAL_NAV_Z ENABLED
+
 //#define MOTORS_JD880
 //#define MOTORS_JD850