diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index c7134f157a..d36c6677d5 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -407,10 +407,8 @@ int32_t Copter::Mode::get_alt_above_ground(void)
 void Copter::Mode::land_run_vertical_control(bool pause_descent)
 {
 #if PRECISION_LANDING == ENABLED
-    AC_PrecLand &precland = copter.precland;
-
     const bool navigating = pos_control->is_active_xy();
-    bool doing_precision_landing = !ap.land_repo_active && precland.target_acquired() && navigating;
+    bool doing_precision_landing = !ap.land_repo_active && copter.precland.target_acquired() && navigating;
 #else
     bool doing_precision_landing = false;
 #endif
@@ -452,9 +450,6 @@ void Copter::Mode::land_run_vertical_control(bool pause_descent)
 
 void Copter::Mode::land_run_horizontal_control()
 {
-    LowPassFilterFloat &rc_throttle_control_in_filter = copter.rc_throttle_control_in_filter;
-    AP_Vehicle::MultiCopter &aparm = copter.aparm;
-
     float target_roll = 0.0f;
     float target_pitch = 0.0f;
     float target_yaw_rate = 0;
@@ -466,7 +461,7 @@ void Copter::Mode::land_run_horizontal_control()
 
     // process pilot inputs
     if (!copter.failsafe.radio) {
-        if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
+        if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
             copter.Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             if (!set_mode(LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
@@ -492,16 +487,15 @@ void Copter::Mode::land_run_horizontal_control()
     }
 
 #if PRECISION_LANDING == ENABLED
-    AC_PrecLand &precland = copter.precland;
-    bool doing_precision_landing = !ap.land_repo_active && precland.target_acquired();
+    bool doing_precision_landing = !ap.land_repo_active && copter.precland.target_acquired();
     // run precision landing
     if (doing_precision_landing) {
         Vector2f target_pos, target_vel_rel;
-        if (!precland.get_target_position_cm(target_pos)) {
+        if (!copter.precland.get_target_position_cm(target_pos)) {
             target_pos.x = inertial_nav.get_position().x;
             target_pos.y = inertial_nav.get_position().y;
         }
-        if (!precland.get_target_velocity_relative_cms(target_vel_rel)) {
+        if (!copter.precland.get_target_velocity_relative_cms(target_vel_rel)) {
             target_vel_rel.x = -inertial_nav.get_velocity().x;
             target_vel_rel.y = -inertial_nav.get_velocity().y;
         }
@@ -527,7 +521,7 @@ void Copter::Mode::land_run_horizontal_control()
         // limit attitude to 7 degrees below this limit and linearly
         // interpolate for 1m above that
         const int alt_above_ground = get_alt_above_ground();
-        float attitude_limit_cd = linear_interpolate(700, aparm.angle_max, alt_above_ground,
+        float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, alt_above_ground,
                                                      g2.wp_navalt_min*100U, (g2.wp_navalt_min+1)*100U);
         float total_angle_cd = norm(nav_roll, nav_pitch);
         if (total_angle_cd > attitude_limit_cd) {
diff --git a/ArduCopter/mode_acro.cpp b/ArduCopter/mode_acro.cpp
index c94c0f2d5f..6df9d1585f 100644
--- a/ArduCopter/mode_acro.cpp
+++ b/ArduCopter/mode_acro.cpp
@@ -58,8 +58,6 @@ void Copter::ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pi
     float rate_limit;
     Vector3f rate_ef_level, rate_bf_level, rate_bf_request;
 
-    AP_Vehicle::MultiCopter &aparm = copter.aparm;
-
     // apply circular limit to pitch and roll inputs
     float total_in = norm(pitch_in, roll_in);
 
@@ -118,16 +116,17 @@ void Copter::ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pi
 
         // Calculate angle limiting earth frame rate commands
         if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
-            if (roll_angle > aparm.angle_max){
-                rate_ef_level.x -=  g.acro_balance_roll*(roll_angle-aparm.angle_max);
-            }else if (roll_angle < -aparm.angle_max) {
-                rate_ef_level.x -=  g.acro_balance_roll*(roll_angle+aparm.angle_max);
+            const float angle_max = copter.aparm.angle_max;
+            if (roll_angle > angle_max){
+                rate_ef_level.x -=  g.acro_balance_roll*(roll_angle-angle_max);
+            }else if (roll_angle < -angle_max) {
+                rate_ef_level.x -=  g.acro_balance_roll*(roll_angle+angle_max);
             }
 
-            if (pitch_angle > aparm.angle_max){
-                rate_ef_level.y -=  g.acro_balance_pitch*(pitch_angle-aparm.angle_max);
-            }else if (pitch_angle < -aparm.angle_max) {
-                rate_ef_level.y -=  g.acro_balance_pitch*(pitch_angle+aparm.angle_max);
+            if (pitch_angle > angle_max){
+                rate_ef_level.y -=  g.acro_balance_pitch*(pitch_angle-angle_max);
+            }else if (pitch_angle < -angle_max) {
+                rate_ef_level.y -=  g.acro_balance_pitch*(pitch_angle+angle_max);
             }
         }
 
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 868393895e..2a11a3e8ea 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1002,18 +1002,17 @@ Location_Class Copter::ModeAuto::terrain_adjusted_location(const AP_Mission::Mis
 {
     // convert to location class
     Location_Class target_loc(cmd.content.location);
-    const Location_Class &current_loc = copter.current_loc;
 
     // decide if we will use terrain following
     int32_t curr_terr_alt_cm, target_terr_alt_cm;
-    if (current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) &&
+    if (copter.current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) &&
         target_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) {
         curr_terr_alt_cm = MAX(curr_terr_alt_cm,200);
         // if using terrain, set target altitude to current altitude above terrain
         target_loc.set_alt_cm(curr_terr_alt_cm, Location_Class::ALT_FRAME_ABOVE_TERRAIN);
     } else {
         // set target altitude to current altitude above home
-        target_loc.set_alt_cm(current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME);
+        target_loc.set_alt_cm(copter.current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME);
     }
     return target_loc;
 }
@@ -1095,7 +1094,6 @@ void Copter::ModeAuto::do_loiter_unlimited(const AP_Mission::Mission_Command& cm
 {
     // convert back to location
     Location_Class target_loc(cmd.content.location);
-    const Location_Class &current_loc = copter.current_loc;
 
     // use current location if not provided
     if (target_loc.lat == 0 && target_loc.lng == 0) {
@@ -1112,11 +1110,12 @@ void Copter::ModeAuto::do_loiter_unlimited(const AP_Mission::Mission_Command& cm
     if (target_loc.alt == 0) {
         // set to current altitude but in command's alt frame
         int32_t curr_alt;
-        if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) {
+        if (copter.current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) {
             target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame());
         } else {
             // default to current altitude as alt-above-home
-            target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
+            target_loc.set_alt_cm(copter.current_loc.alt,
+                                  copter.current_loc.get_alt_frame());
         }
     }
 
diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
index 169d8c4407..6c2e5e66c9 100644
--- a/ArduCopter/mode_sport.cpp
+++ b/ArduCopter/mode_sport.cpp
@@ -51,17 +51,17 @@ void Copter::ModeSport::run()
     int32_t pitch_angle = wrap_180_cd(att_target.y);
     target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
 
-    AP_Vehicle::MultiCopter &aparm = copter.aparm;
-    if (roll_angle > aparm.angle_max){
-        target_roll_rate -=  g.acro_rp_p*(roll_angle-aparm.angle_max);
-    }else if (roll_angle < -aparm.angle_max) {
-        target_roll_rate -=  g.acro_rp_p*(roll_angle+aparm.angle_max);
+    const float angle_max = copter.aparm.angle_max;
+    if (roll_angle > angle_max){
+        target_roll_rate -=  g.acro_rp_p*(roll_angle-angle_max);
+    }else if (roll_angle < -angle_max) {
+        target_roll_rate -=  g.acro_rp_p*(roll_angle+angle_max);
     }
 
-    if (pitch_angle > aparm.angle_max){
-        target_pitch_rate -=  g.acro_rp_p*(pitch_angle-aparm.angle_max);
-    }else if (pitch_angle < -aparm.angle_max) {
-        target_pitch_rate -=  g.acro_rp_p*(pitch_angle+aparm.angle_max);
+    if (pitch_angle > angle_max){
+        target_pitch_rate -=  g.acro_rp_p*(pitch_angle-angle_max);
+    }else if (pitch_angle < -angle_max) {
+        target_pitch_rate -=  g.acro_rp_p*(pitch_angle+angle_max);
     }
 
     // get pilot's desired yaw rate
diff --git a/ArduCopter/mode_stabilize.cpp b/ArduCopter/mode_stabilize.cpp
index 6f02bce70c..59d9ceddd4 100644
--- a/ArduCopter/mode_stabilize.cpp
+++ b/ArduCopter/mode_stabilize.cpp
@@ -40,10 +40,8 @@ void Copter::ModeStabilize::run()
     // apply SIMPLE mode transform to pilot inputs
     update_simple_mode();
 
-    AP_Vehicle::MultiCopter &aparm = copter.aparm;
-
     // convert pilot input to lean angles
-    get_pilot_desired_lean_angles(target_roll, target_pitch, aparm.angle_max, aparm.angle_max);
+    get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
 
     // get pilot's desired yaw rate
     target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());