diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 8b4178e871..0585e7d29b 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -94,46 +94,46 @@
   
  */
 const AP_Scheduler::Task Copter::scheduler_tasks[] PROGMEM = {
-    { SCHED_TASK(rc_loop),               4,    130 },   // 0
-    { SCHED_TASK(throttle_loop),         8,     75 },   // 1
-    { SCHED_TASK(update_GPS),            8,    200 },   // 2
+    { SCHED_TASK(rc_loop),               4,    130 },
+    { SCHED_TASK(throttle_loop),         8,     75 },
+    { SCHED_TASK(update_GPS),            8,    200 },
 #if OPTFLOW == ENABLED
-    { SCHED_TASK(update_optical_flow),   2,    160 },   // 3
+    { SCHED_TASK(update_optical_flow),   2,    160 },
 #endif
-    { SCHED_TASK(update_batt_compass),  40,    120 },   // 4
-    { SCHED_TASK(read_aux_switches),    40,     50 },   // 5
-    { SCHED_TASK(arm_motors_check),     40,     50 },   // 6
-    { SCHED_TASK(auto_trim),            40,     75 },   // 7
-    { SCHED_TASK(update_altitude),      40,    140 },   // 8
-    { SCHED_TASK(run_nav_updates),       8,    100 },   // 9
-    { SCHED_TASK(update_thr_average),    4,     90 },   // 10
-    { SCHED_TASK(three_hz_loop),       133,     75 },   // 11
-    { SCHED_TASK(compass_accumulate),    8,    100 },   // 12
-    { SCHED_TASK(barometer_accumulate),  8,     90 },   // 13
+    { SCHED_TASK(update_batt_compass),  40,    120 },
+    { SCHED_TASK(read_aux_switches),    40,     50 },
+    { SCHED_TASK(arm_motors_check),     40,     50 },
+    { SCHED_TASK(auto_trim),            40,     75 },
+    { SCHED_TASK(update_altitude),      40,    140 },
+    { SCHED_TASK(run_nav_updates),       8,    100 },
+    { SCHED_TASK(update_thr_average),    4,     90 },
+    { SCHED_TASK(three_hz_loop),       133,     75 },
+    { SCHED_TASK(compass_accumulate),    8,    100 },
+    { SCHED_TASK(barometer_accumulate),  8,     90 },
 #if FRAME_CONFIG == HELI_FRAME
     { SCHED_TASK(check_dynamic_flight),  8,     75 },
 #endif
-    { SCHED_TASK(update_notify),         8,     90 },   // 14
-    { SCHED_TASK(one_hz_loop),         400,    100 },   // 15
-    { SCHED_TASK(ekf_check),            40,     75 },   // 16
-    { SCHED_TASK(crash_check),          40,     75 },   // 17
-    { SCHED_TASK(landinggear_update),   40,     75 },   // 18
-    { SCHED_TASK(lost_vehicle_check),   40,     50 },   // 19
-    { SCHED_TASK(gcs_check_input),       1,    180 },   // 20
-    { SCHED_TASK(gcs_send_heartbeat),  400,    110 },   // 21
-    { SCHED_TASK(gcs_send_deferred),     8,    550 },   // 22
-    { SCHED_TASK(gcs_data_stream_send),  8,    550 },   // 23
-    { SCHED_TASK(update_mount),          8,     75 },   // 24
-    { SCHED_TASK(ten_hz_logging_loop),  40,    350 },   // 25
-    { SCHED_TASK(fifty_hz_logging_loop), 8,    110 },   // 26
-    { SCHED_TASK(full_rate_logging_loop),1,    100 },   // 27
-    { SCHED_TASK(perf_update),        4000,     75 },   // 28
-    { SCHED_TASK(read_receiver_rssi),   40,     75 },   // 29
+    { SCHED_TASK(update_notify),         8,     90 },
+    { SCHED_TASK(one_hz_loop),         400,    100 },
+    { SCHED_TASK(ekf_check),            40,     75 },
+    { SCHED_TASK(crash_check),          40,     75 },
+    { SCHED_TASK(landinggear_update),   40,     75 },
+    { SCHED_TASK(lost_vehicle_check),   40,     50 },
+    { SCHED_TASK(gcs_check_input),       1,    180 },
+    { SCHED_TASK(gcs_send_heartbeat),  400,    110 },
+    { SCHED_TASK(gcs_send_deferred),     8,    550 },
+    { SCHED_TASK(gcs_data_stream_send),  8,    550 },
+    { SCHED_TASK(update_mount),          8,     75 },
+    { SCHED_TASK(ten_hz_logging_loop),  40,    350 },
+    { SCHED_TASK(fifty_hz_logging_loop), 8,    110 },
+    { SCHED_TASK(full_rate_logging_loop),1,    100 },
+    { SCHED_TASK(perf_update),        4000,     75 },
+    { SCHED_TASK(read_receiver_rssi),   40,     75 },
 #if FRSKY_TELEM_ENABLED == ENABLED
-    { SCHED_TASK(frsky_telemetry_send), 80,     75 },   // 30
+    { SCHED_TASK(frsky_telemetry_send), 80,     75 },
 #endif
 #if EPM_ENABLED == ENABLED
-    { SCHED_TASK(epm_update),           40,     75 },   // 31
+    { SCHED_TASK(epm_update),           40,     75 },
 #endif
 #ifdef USERHOOK_FASTLOOP
     { SCHED_TASK(userhook_FastLoop),     4,     75 },