diff --git a/ArduCopter/commands_logic.cpp b/ArduCopter/commands_logic.cpp
index 09d55bfa02..10b208c655 100644
--- a/ArduCopter/commands_logic.cpp
+++ b/ArduCopter/commands_logic.cpp
@@ -869,18 +869,15 @@ bool Copter::do_guided(const AP_Mission::Mission_Command& cmd)
             // set wp_nav's destination
             Location_Class dest(cmd.content.location);
             return guided_set_destination(dest);
-            break;
         }
 
         case MAV_CMD_CONDITION_YAW:
             do_yaw(cmd);
             return true;
-            break;
 
         default:
             // reject unrecognised command
             return false;
-            break;
     }
 
     return true;
diff --git a/ArduCopter/control_auto.cpp b/ArduCopter/control_auto.cpp
index df9bd88273..6c1252cd62 100644
--- a/ArduCopter/control_auto.cpp
+++ b/ArduCopter/control_auto.cpp
@@ -580,7 +580,6 @@ uint8_t Copter::get_default_auto_yaw_mode(bool rtl)
 
         case WP_YAW_BEHAVIOR_NONE:
             return AUTO_YAW_HOLD;
-            break;
 
         case WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL:
             if (rtl) {
@@ -588,16 +587,13 @@ uint8_t Copter::get_default_auto_yaw_mode(bool rtl)
             }else{
                 return AUTO_YAW_LOOK_AT_NEXT_WP;
             }
-            break;
 
         case WP_YAW_BEHAVIOR_LOOK_AHEAD:
             return AUTO_YAW_LOOK_AHEAD;
-            break;
 
         case WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP:
         default:
             return AUTO_YAW_LOOK_AT_NEXT_WP;
-            break;
     }
 }
 
@@ -717,29 +713,24 @@ float Copter::get_auto_heading(void)
     case AUTO_YAW_ROI:
         // point towards a location held in roi_WP
         return get_roi_yaw();
-        break;
 
     case AUTO_YAW_LOOK_AT_HEADING:
         // keep heading pointing in the direction held in yaw_look_at_heading with no pilot input allowed
         return yaw_look_at_heading;
-        break;
 
     case AUTO_YAW_LOOK_AHEAD:
         // Commanded Yaw to automatically look ahead.
         return get_look_ahead_yaw();
-        break;
 
     case AUTO_YAW_RESETTOARMEDYAW:
         // changes yaw to be same as when quad was armed
         return initial_armed_bearing;
-        break;
 
     case AUTO_YAW_LOOK_AT_NEXT_WP:
     default:
         // point towards next waypoint.
         // we don't use wp_bearing because we don't want the copter to turn too much during flight
         return wp_nav.get_yaw();
-        break;
     }
 }
 
diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp
index dcb76ee6b6..5783e1869b 100644
--- a/ArduCopter/events.cpp
+++ b/ArduCopter/events.cpp
@@ -210,16 +210,13 @@ bool Copter::should_disarm_on_failsafe() {
         case ACRO:
             // if throttle is zero OR vehicle is landed disarm motors
             return ap.throttle_zero || ap.land_complete;
-            break;
         case AUTO:
             // if mission has not started AND vehicle is landed, disarm motors
             return !ap.auto_armed && ap.land_complete;
-            break;
         default:
             // used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
             // if landed disarm
             return ap.land_complete;
-            break;
     }
 }
 
diff --git a/ArduCopter/motor_test.cpp b/ArduCopter/motor_test.cpp
index f71e991a52..8b23f21024 100644
--- a/ArduCopter/motor_test.cpp
+++ b/ArduCopter/motor_test.cpp
@@ -58,7 +58,6 @@ void Copter::motor_test_output()
             default:
                 motor_test_stop();
                 return;
-                break;
         }
 
         // sanity check throttle values