diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index d39c261b73..667fe557bb 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -121,8 +121,8 @@ get_nav_throttle(int32_t z_error)
 {
 	int16_t rate_error;
 
-	float dt = (abs(z_error) < 400) ? .1 : 0.0;
-	//float dt = .1;
+	// XXX HACK, need a better way not to ramp this i term in large altitude changes.
+	float dt = (abs(z_error) < 400) ? .1 : 0.01;
 
 	// limit error to prevent I term run up
 	z_error 		= constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 0e38a00a6d..a0178b4c24 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -51,9 +51,6 @@ static void read_trim_switch()
 			do_flip = true;
 		}
 
-	#elif CH7_OPTION == CH7_SIMPLE_MODE
-		//Serial.println(g.rc_7.control_in, DEC);
-
 	#elif CH7_OPTION == CH7_SET_HOVER
 		// switch is engaged
 		if (g.rc_7.control_in > 800){