diff --git a/ArduCopterMega/GCS_Mavlink.pde b/ArduCopterMega/GCS_Mavlink.pde
index 6a92293889..5216864337 100644
--- a/ArduCopterMega/GCS_Mavlink.pde
+++ b/ArduCopterMega/GCS_Mavlink.pde
@@ -1041,7 +1041,7 @@ void
 GCS_MAVLINK::_queued_send()
 {
 	// Check to see if we are sending parameters
-	if (NULL != _queued_parameter && (requested_interface == chan) && mavdelay > 1) {
+	if (NULL != _queued_parameter && (requested_interface == (unsigned)chan) && mavdelay > 1) {
 		AP_Var	  *vp;
 		float	   value;
 
@@ -1074,8 +1074,8 @@ GCS_MAVLINK::_queued_send()
 	// request waypoints one by one
 	// XXX note that this is pan-interface
 	if (waypoint_receiving &&
-		(requested_interface == chan) &&
-		waypoint_request_i <= g.waypoint_total &&
+		(requested_interface == (unsigned)chan) &&
+		waypoint_request_i <= (unsigned)g.waypoint_total &&
 		mavdelay > 15) { // limits to 3.33 hz
 
 		mavlink_msg_waypoint_request_send(
diff --git a/ArduCopterMega/Log.pde b/ArduCopterMega/Log.pde
index 9d7e7585a6..07427fcb1e 100644
--- a/ArduCopterMega/Log.pde
+++ b/ArduCopterMega/Log.pde
@@ -10,7 +10,7 @@
 
 // These are function definitions so the Menu can be constructed before the functions
 // are defined below. Order matters to the compiler.
-static int8_t	print_log_menu(uint8_t argc, 	const Menu::arg *argv);
+static bool     print_log_menu(void);
 static int8_t	dump_log(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	erase_logs(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	select_logs(uint8_t argc, 		const Menu::arg *argv);
@@ -27,6 +27,7 @@ static int8_t	help_log(uint8_t argc, 			const Menu::arg *argv)
 						 "  enable <name> | all\n"
 						 "  disable <name> | all\n"
 						 "\n"));
+    return 0;
 }
 
 // Creates a constant array of structs representing menu options
@@ -164,7 +165,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
 	// bits accordingly.
 	//
 	if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
-		bits = ~(bits = 0);
+		bits = ~0;
 		bits = bits ^ MASK_LOG_SET_DEFAULTS;
 	} else {
 		#define TARG(_s)	if (!strcasecmp_P(argv[1].str, PSTR(#_s))) bits |= MASK_LOG_ ## _s
@@ -753,7 +754,6 @@ void Log_Read(int start_page, int end_page)
 {
 	byte data;
 	byte log_step 		= 0;
-	int packet_count 	= 0;
 	int page 			= start_page;
 
 	DataFlash.StartRead(start_page);
diff --git a/ArduCopterMega/commands_logic.pde b/ArduCopterMega/commands_logic.pde
index eb399b96f3..d7260e7ae1 100644
--- a/ArduCopterMega/commands_logic.pde
+++ b/ArduCopterMega/commands_logic.pde
@@ -546,7 +546,7 @@ void do_yaw()
 bool verify_wait_delay()
 {
 	//Serial.print("vwd");
-	if ((millis() - condition_start) > condition_value){
+	if ((unsigned)(millis() - condition_start) > condition_value){
 		//Serial.println("y");
 		condition_value		= 0;
 		return true;
diff --git a/ArduCopterMega/radio.pde b/ArduCopterMega/radio.pde
index 84c525707b..ce1b824036 100644
--- a/ArduCopterMega/radio.pde
+++ b/ArduCopterMega/radio.pde
@@ -152,7 +152,7 @@ void throttle_failsafe(uint16_t pwm)
 
 	//check for failsafe and debounce funky reads
 	// ------------------------------------------
-	if (pwm < g.throttle_fs_value){
+	if (pwm < (unsigned)g.throttle_fs_value){
 		// we detect a failsafe from radio
 		// throttle has dropped below the mark
 		failsafeCounter++;
diff --git a/ArduCopterMega/setup.pde b/ArduCopterMega/setup.pde
index 8239fce8e6..319a444fd4 100644
--- a/ArduCopterMega/setup.pde
+++ b/ArduCopterMega/setup.pde
@@ -69,6 +69,7 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
 
 	// Run the setup menu.  When the menu exits, we will return to the main menu.
 	setup_menu.run();
+    return 0;
 }
 
 // Print the current configuration.
diff --git a/ArduCopterMega/test.pde b/ArduCopterMega/test.pde
index 20ec8d86b8..4b868242e2 100644
--- a/ArduCopterMega/test.pde
+++ b/ArduCopterMega/test.pde
@@ -85,6 +85,7 @@ test_mode(uint8_t argc, const Menu::arg *argv)
 {
 	//Serial.printf_P(PSTR("Test Mode\n\n"));
 	test_menu.run();
+    return 0;
 }
 
 static int8_t