diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index b7196fa31a..e379e3ce81 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -999,11 +999,11 @@ void Copter::ModeAuto::payload_place_run()
 
 bool Copter::ModeAuto::payload_place_run_should_run()
 {
-    // muts be armed
+    // must be armed
     if (!motors->armed()) {
         return false;
     }
-    // muts be auto-armed
+    // must be auto-armed
     if (!ap.auto_armed) {
         return false;
     }
diff --git a/ArduCopter/mode_brake.cpp b/ArduCopter/mode_brake.cpp
index 71182879f0..4977a8a9a8 100644
--- a/ArduCopter/mode_brake.cpp
+++ b/ArduCopter/mode_brake.cpp
@@ -52,8 +52,6 @@ void Copter::ModeBrake::run()
     // call attitude controller
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0.0f);
 
-    // body-frame rate controller is run directly from 100hz loop
-
     // update altitude target and call position controller
     // protects heli's from inflight motor interlock disable
     if (motors->get_desired_spool_state() == AP_Motors::DESIRED_GROUND_IDLE && !ap.land_complete) {
diff --git a/ArduCopter/mode_circle.cpp b/ArduCopter/mode_circle.cpp
index 1952098be0..8b478eb186 100644
--- a/ArduCopter/mode_circle.cpp
+++ b/ArduCopter/mode_circle.cpp
@@ -64,7 +64,7 @@ void Copter::ModeCircle::run()
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(copter.circle_nav->get_roll(),
                                                                       copter.circle_nav->get_pitch(),
                                                                       target_yaw_rate);
-    }else{
+    } else {
         attitude_control->input_euler_angle_roll_pitch_yaw(copter.circle_nav->get_roll(),
                                                            copter.circle_nav->get_pitch(),
                                                            copter.circle_nav->get_yaw(), true);
diff --git a/ArduCopter/mode_drift.cpp b/ArduCopter/mode_drift.cpp
index 69aed245a0..b8ff409c2f 100644
--- a/ArduCopter/mode_drift.cpp
+++ b/ArduCopter/mode_drift.cpp
@@ -52,29 +52,29 @@ void Copter::ModeDrift::run()
     float roll_vel =  vel.y * ahrs.cos_yaw() - vel.x * ahrs.sin_yaw(); // body roll vel
     float pitch_vel = vel.y * ahrs.sin_yaw() + vel.x * ahrs.cos_yaw(); // body pitch vel
 
-    // gain sceduling for Yaw
+    // gain scheduling for yaw
     float pitch_vel2 = MIN(fabsf(pitch_vel), 2000);
     float target_yaw_rate = ((float)target_roll/1.0f) * (1.0f - (pitch_vel2 / 5000.0f)) * g.acro_yaw_p;
 
     roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
     pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
-    
+
     roll_input = roll_input * .96f + (float)channel_yaw->get_control_in() * .04f;
 
-    //convert user input into desired roll velocity
+    // convert user input into desired roll velocity
     float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
 
-    // Roll velocity is feed into roll acceleration to minimize slip
+    // roll velocity is feed into roll acceleration to minimize slip
     target_roll = roll_vel_error * -DRIFT_SPEEDGAIN;
     target_roll = constrain_float(target_roll, -4500.0f, 4500.0f);
 
     // If we let go of sticks, bring us to a stop
-    if(is_zero(target_pitch)){
+    if (is_zero(target_pitch)) {
         // .14/ (.03 * 100) = 4.6 seconds till full braking
         braker += .03f;
         braker = MIN(braker, DRIFT_SPEEDGAIN);
         target_pitch = pitch_vel * braker;
-    }else{
+    } else {
         braker = 0.0f;
     }
 
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index d18dbf89f7..9fa497effe 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -226,7 +226,7 @@ void Copter::ModeFlowHold::run()
     copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z);
 
     // apply SIMPLE mode transform to pilot inputs
-    copter.update_simple_mode();
+    update_simple_mode();
 
     // check for filter change
     if (!is_equal(flow_filter.get_cutoff_freq(), flow_filter_hz.get())) {
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index 0d48505db5..222406f423 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -103,7 +103,7 @@ bool Copter::ModePosHold::init(bool ignore_checks)
         // if landed begin in loiter mode
         poshold.roll_mode = POSHOLD_LOITER;
         poshold.pitch_mode = POSHOLD_LOITER;
-    }else{
+    } else {
         // if not landed start in pilot override to avoid hard twitch
         poshold.roll_mode = POSHOLD_PILOT_OVERRIDE;
         poshold.pitch_mode = POSHOLD_PILOT_OVERRIDE;
diff --git a/ArduCopter/mode_stabilize.cpp b/ArduCopter/mode_stabilize.cpp
index f06dd433f4..aac81c0cb2 100644
--- a/ArduCopter/mode_stabilize.cpp
+++ b/ArduCopter/mode_stabilize.cpp
@@ -46,8 +46,6 @@ void Copter::ModeStabilize::run()
     // call attitude controller
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
-    // body-frame rate controller is run directly from 100hz loop
-
     // output pilot's throttle
     attitude_control->set_throttle_out(get_pilot_desired_throttle(),
                                        true,