diff --git a/ArduCopterMega/Attitude.pde b/ArduCopterMega/Attitude.pde
index 5356cfc01e..d59cde04b9 100644
--- a/ArduCopterMega/Attitude.pde
+++ b/ArduCopterMega/Attitude.pde
@@ -1,7 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 // XXX TODO: convert these PI rate controlers to a Class
-int
+static int
 get_stabilize_roll(long target_angle)
 {
 	long error;
@@ -25,7 +25,7 @@ get_stabilize_roll(long target_angle)
 	return (int)constrain(rate, -2500, 2500);
 }
 
-int
+static int
 get_stabilize_pitch(long target_angle)
 {
 	long error;
@@ -49,7 +49,7 @@ get_stabilize_pitch(long target_angle)
 	return (int)constrain(rate, -2500, 2500);
 }
 
-int
+static int
 get_stabilize_yaw(long target_angle, float scaler)
 {
 	long error;
@@ -74,7 +74,7 @@ get_stabilize_yaw(long target_angle, float scaler)
 	return (int)constrain(rate, -2500, 2500);
 }
 
-int
+static int
 get_rate_roll(long target_rate)
 {
 	long error;
@@ -87,7 +87,7 @@ get_rate_roll(long target_rate)
 	return (int)constrain(target_rate, -2500, 2500);
 }
 
-int
+static int
 get_rate_pitch(long target_rate)
 {
 	long error;
@@ -100,7 +100,7 @@ get_rate_pitch(long target_rate)
 	return (int)constrain(target_rate, -2500, 2500);
 }
 
-int
+static int
 get_rate_yaw(long target_rate)
 {
 	long error;
@@ -115,7 +115,7 @@ get_rate_yaw(long target_rate)
 
 // Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
 // Keeps outdated data out of our calculations
-void
+static void
 reset_I(void)
 {
 	// I removed these, they don't seem to be needed.
@@ -128,7 +128,7 @@ throttle control
 
 // user input:
 // -----------
-int
+static int
 get_throttle(int throttle_input)
 {
 	throttle_input = (float)throttle_input * angle_boost();
@@ -136,7 +136,7 @@ get_throttle(int throttle_input)
 	return  max(throttle_input, 0);
 }
 
-long
+static long
 get_nav_yaw_offset(int yaw_input, int reset)
 {
 	long _yaw;
@@ -158,7 +158,7 @@ get_nav_yaw_offset(int yaw_input, int reset)
 	}
 }
 /*
-int alt_hold_velocity()
+static int alt_hold_velocity()
 {
 	// subtract filtered Accel
 	float error	= abs(next_WP.alt - current_loc.alt);
@@ -167,7 +167,7 @@ int alt_hold_velocity()
 	return (accels_rot.z + 9.81) * accel_gain * error;
 }*/
 
-float angle_boost()
+static float angle_boost()
 {
 	float temp = cos_pitch_x * cos_roll_x;
 	temp = 2.0 - constrain(temp, .5, 1.0);
diff --git a/ArduCopterMega/Camera.pde b/ArduCopterMega/Camera.pde
index 2d2bb42ba5..b564d63540 100644
--- a/ArduCopterMega/Camera.pde
+++ b/ArduCopterMega/Camera.pde
@@ -2,7 +2,7 @@
 
 #if CAMERA_STABILIZER == ENABLED
 
-void init_camera()
+static void init_camera()
 {
 	g.rc_camera_pitch.set_angle(4500);
 	g.rc_camera_pitch.radio_min 	= 1000;
@@ -15,7 +15,7 @@ void init_camera()
 	g.rc_camera_roll.radio_max 		= 2000;
 }
 
-void
+static void
 camera_stabilization()
 {
 	// PITCH
diff --git a/ArduCopterMega/GCS_Ardupilot.pde b/ArduCopterMega/GCS_Ardupilot.pde
index 81924ce58f..13d8a2d3f1 100644
--- a/ArduCopterMega/GCS_Ardupilot.pde
+++ b/ArduCopterMega/GCS_Ardupilot.pde
@@ -26,17 +26,17 @@ Message Suffix
 */
 
 /*
-void acknowledge(byte id, byte check1, byte check2) {}
-void send_message(byte id) {}
-void send_message(byte id, long param) {}
-void send_message(byte severity, const char *str) {}
+void static acknowledge(byte id, byte check1, byte check2) {}
+void static send_message(byte id) {}
+void static send_message(byte id, long param) {}
+void static send_message(byte severity, const char *str) {}
 */
 
-void acknowledge(byte id, byte check1, byte check2)
+static void acknowledge(byte id, byte check1, byte check2)
 {
 }
 
-void send_message(byte severity, const char *str)		// This is the instance of send_message for message 0x05
+static void send_message(byte severity, const char *str)		// This is the instance of send_message for message 0x05
 {
 	if(severity >= DEBUG_LEVEL){
 		SendSer("MSG: ");
@@ -44,12 +44,12 @@ void send_message(byte severity, const char *str)		// This is the instance of se
 	}
 }
 
-void send_message(byte id)
+static void send_message(byte id)
 {
 	send_message(id,0l);
 }
 
-void send_message(byte id, long param)
+static void send_message(byte id, long param)
 {
 	switch(id) {
 		case MSG_ATTITUDE:								// ** Attitude message
@@ -66,11 +66,11 @@ void send_message(byte id, long param)
 	}
 }
 
-void print_current_waypoints()
+static void print_current_waypoints()
 {
 }
 
-void print_attitude(void)
+static void print_attitude(void)
 {
 	SendSer("+++");
 	SendSer("ASP:");
@@ -84,14 +84,14 @@ void print_attitude(void)
 	SendSerln(",***");
 }
 
-void print_control_mode(void)
+static void print_control_mode(void)
 {
 	SendSer("###");
 	SendSer(flight_mode_strings[control_mode]);
 	SendSerln("***");
 }
 
-void print_position(void)
+static void print_position(void)
 {
 	SendSer("!!");
 	SendSer("!");
@@ -124,7 +124,7 @@ void print_position(void)
 	SendSerln(",***");
 }
 
-void print_waypoint(struct Location *cmd,byte index)
+static void print_waypoint(struct Location *cmd,byte index)
 {
 	SendSer("command #: ");
 	SendSer(index, DEC);
@@ -140,7 +140,7 @@ void print_waypoint(struct Location *cmd,byte index)
 	SendSerln(cmd->lng,DEC);
 }
 
-void print_waypoints()
+static void print_waypoints()
 {
 }
 
diff --git a/ArduCopterMega/GCS_IMU_ouput.pde b/ArduCopterMega/GCS_IMU_ouput.pde
index 2db724c546..0316591913 100644
--- a/ArduCopterMega/GCS_IMU_ouput.pde
+++ b/ArduCopterMega/GCS_IMU_ouput.pde
@@ -24,16 +24,16 @@ void send_message(byte id, long param) {}
 void send_message(byte severity, const char *str) {}
 */
 
-void acknowledge(byte id, byte check1, byte check2)
+static void acknowledge(byte id, byte check1, byte check2)
 {
 }
 
-void send_message(byte id)
+static void send_message(byte id)
 {
 	send_message(id,0l);
 }
 
-void send_message(byte id, long param)
+static void send_message(byte id, long param)
 {
 	switch(id) {
 		case MSG_ATTITUDE:
@@ -46,7 +46,7 @@ void send_message(byte id, long param)
 	}
 }
 
-void send_message(byte severity, const char *str)
+static void send_message(byte severity, const char *str)
 {
 	if(severity >= DEBUG_LEVEL){
 		Serial.print("MSG: ");
@@ -54,15 +54,15 @@ void send_message(byte severity, const char *str)
 	}
 }
 
-void print_current_waypoints()
+static void print_current_waypoints()
 {
 }
 
-void print_control_mode(void)
+static void print_control_mode(void)
 {
 }
 
-void print_attitude(void)
+static void print_attitude(void)
 {
 	//Serial.print("!!VER:");
 	//Serial.print(SOFTWARE_VER);  //output the software version
@@ -163,11 +163,11 @@ void print_location(void)
 	Serial.println("***");
 }
 
-void print_waypoints()
+static void print_waypoints()
 {
 }
 
-void print_waypoint(struct Location *cmd,byte index)
+static void print_waypoint(struct Location *cmd,byte index)
 {
 	Serial.print("command #: ");
 	Serial.print(index, DEC);
@@ -184,7 +184,7 @@ void print_waypoint(struct Location *cmd,byte index)
 
 }
 
-long convert_to_dec(float x)
+static long convert_to_dec(float x)
 {
   return x*10000000;
 }
diff --git a/ArduCopterMega/GCS_Standard.pde b/ArduCopterMega/GCS_Standard.pde
index f2ce0f4a20..2e75d1debc 100644
--- a/ArduCopterMega/GCS_Standard.pde
+++ b/ArduCopterMega/GCS_Standard.pde
@@ -11,7 +11,7 @@
 
 // The functions included in this file are for use with the standard binary communication protocol and standard Ground Control Station
 
-void acknowledge(byte id, byte check1, byte check2) {
+static void acknowledge(byte id, byte check1, byte check2) {
 	byte mess_buffer[6];
 	byte mess_ck_a = 0;
 	byte mess_ck_b = 0;
@@ -38,11 +38,11 @@ void acknowledge(byte id, byte check1, byte check2) {
 	SendSer(mess_ck_b);
 }
 
-void send_message(byte id) {
+static void send_message(byte id) {
 	send_message(id, 0l);
 }
 	
-void send_message(byte id, long param) {
+static void send_message(byte id, long param) {
 	byte mess_buffer[54];
 	byte mess_ck_a = 0;
 	byte mess_ck_b = 0;
@@ -294,7 +294,7 @@ void send_message(byte id, long param) {
 	gcs_messages_sent++;
 }
 
-void send_message(byte severity, const char *str)		// This is the instance of send_message for message MSG_STATUS_TEXT
+static void send_message(byte severity, const char *str)		// This is the instance of send_message for message MSG_STATUS_TEXT
 {
 	if(severity >= DEBUG_LEVEL){	
 		byte length = strlen(str) + 1;
@@ -328,11 +328,11 @@ void send_message(byte severity, const char *str)		// This is the instance of se
 	}
 }
 
-void print_current_waypoints()
+static void print_current_waypoints()
 {
 }
 
-void print_waypoint(struct Location *cmd, byte index)
+static void print_waypoint(struct Location *cmd, byte index)
 {
 	Serial.print("command #: ");
 	Serial.print(index, DEC);
@@ -348,7 +348,7 @@ void print_waypoint(struct Location *cmd, byte index)
 	Serial.println(cmd->lng, DEC);
 }
 
-void print_waypoints()
+static void print_waypoints()
 {
 }
 
@@ -357,13 +357,13 @@ void print_waypoints()
 
 
 #if GCS_PROTOCOL == GCS_PROTOCOL_NONE
-void acknowledge(byte id, byte check1, byte check2) {}
-void send_message(byte id) {}
-void send_message(byte id, long param) {}
-void send_message(byte severity, const char *str) {
+static void acknowledge(byte id, byte check1, byte check2) {}
+static void send_message(byte id) {}
+static void send_message(byte id, long param) {}
+static void send_message(byte severity, const char *str) {
 	Serial.println(str);
 }
-void print_current_waypoints(){}
-void print_waypoint(struct Location *cmd, byte index){}
-void print_waypoints(){}
+static void print_current_waypoints(){}
+static void print_waypoint(struct Location *cmd, byte index){}
+static void print_waypoints(){}
 #endif
diff --git a/ArduCopterMega/Log.pde b/ArduCopterMega/Log.pde
index 01c57be971..15f33bc9d5 100644
--- a/ArduCopterMega/Log.pde
+++ b/ArduCopterMega/Log.pde
@@ -194,7 +194,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
 	return(0);
 }
 
-int8_t
+static int8_t
 process_logs(uint8_t argc, const Menu::arg *argv)
 {
 	log_menu.run();
@@ -203,7 +203,7 @@ process_logs(uint8_t argc, const Menu::arg *argv)
 
 
 // finds out how many logs are available
-byte get_num_logs(void)
+static byte get_num_logs(void)
 {
 	int page = 1;
 	byte data;
@@ -245,7 +245,7 @@ byte get_num_logs(void)
 }
 
 // send the number of the last log?
-void start_new_log()
+static void start_new_log()
 {
 	byte num_existing_logs = get_num_logs();
 
@@ -332,7 +332,7 @@ static void get_log_boundaries(byte log_num, int & start_page, int & end_page)
 }
 
 //
-int find_last_log_page(int bottom_page)
+static int find_last_log_page(int bottom_page)
 {
 	int top_page = 4096;
 	int look_page;
@@ -354,7 +354,7 @@ int find_last_log_page(int bottom_page)
 }
 
 // Write an GPS packet. Total length : 30 bytes
-void Log_Write_GPS()
+static void Log_Write_GPS()
 {
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
@@ -376,7 +376,7 @@ void Log_Write_GPS()
 }
 
 // Read a GPS packet
-void Log_Read_GPS()
+static void Log_Read_GPS()
 {
 	Serial.printf_P(PSTR("GPS, %ld, %d, %d, "
 					  	"%4.7f, %4.7f, %4.4f, %4.4f, "
@@ -398,7 +398,7 @@ void Log_Read_GPS()
 
 // Write an raw accel/gyro data packet. Total length : 28 bytes
 #if HIL_MODE != HIL_MODE_ATTITUDE
-void Log_Write_Raw()
+static void Log_Write_Raw()
 {
 	Vector3f gyro = imu.get_gyro();
 	Vector3f accel = imu.get_accel();
@@ -430,7 +430,7 @@ void Log_Write_Raw()
 #endif
 
 // Read a raw accel/gyro packet
-void Log_Read_Raw()
+static void Log_Read_Raw()
 {
 	float logvar;
 	Serial.printf_P(PSTR("RAW,"));
@@ -442,7 +442,7 @@ void Log_Read_Raw()
 	Serial.println(" ");
 }
 
-void Log_Write_Current()
+static void Log_Write_Current()
 {
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
@@ -459,7 +459,7 @@ void Log_Write_Current()
 }
 
 // Read a Current packet
-void Log_Read_Current()
+static void Log_Read_Current()
 {
 	Serial.printf_P(PSTR("CURR: %d, %ld, %4.4f, %4.4f, %d\n"),
 			DataFlash.ReadInt(),
@@ -470,7 +470,7 @@ void Log_Read_Current()
 			DataFlash.ReadInt());
 }
 
-void Log_Write_Motors()
+static void Log_Write_Motors()
 {
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
@@ -485,7 +485,7 @@ void Log_Write_Motors()
 }
 
 // Read a Current packet
-void Log_Read_Motors()
+static void Log_Read_Motors()
 {
 	Serial.printf_P(PSTR("MOT: %d, %d, %d, %d\n"),
 			DataFlash.ReadInt(),
@@ -494,7 +494,7 @@ void Log_Read_Motors()
 			DataFlash.ReadInt());
 }
 
-void Log_Write_Nav_Tuning()
+static void Log_Write_Nav_Tuning()
 {
 	Matrix3f tempmat = dcm.get_dcm_matrix();
 
@@ -516,7 +516,7 @@ void Log_Write_Nav_Tuning()
 }
 
 
-void Log_Read_Nav_Tuning()
+static void Log_Read_Nav_Tuning()
 {
 							 //	 1	 2	 3	 4
 	Serial.printf_P(PSTR( "NTUN, %d, %d, %d, %d, "
@@ -535,7 +535,7 @@ void Log_Read_Nav_Tuning()
 
 // Write a control tuning packet. Total length : 22 bytes
 #if HIL_MODE != HIL_MODE_ATTITUDE
-void Log_Write_Control_Tuning()
+static void Log_Write_Control_Tuning()
 {
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
@@ -566,7 +566,7 @@ void Log_Write_Control_Tuning()
 #endif
 
 // Read an control tuning packet
-void Log_Read_Control_Tuning()
+static void Log_Read_Control_Tuning()
 {
 	Serial.printf_P(PSTR(   "CTUN, %d, %d, "
 				"%d, %d, %d, %d, %1.4f, "
@@ -594,7 +594,7 @@ void Log_Read_Control_Tuning()
 }
 
 // Write a performance monitoring packet. Total length : 19 bytes
-void Log_Write_Performance()
+static void Log_Write_Performance()
 {
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
@@ -621,7 +621,7 @@ void Log_Write_Performance()
 }
 
 // Read a performance packet
-void Log_Read_Performance()
+static void Log_Read_Performance()
 {
 	//*
 	long pm_time;
@@ -653,7 +653,7 @@ void Log_Read_Performance()
 
 // Write a command processing packet.
 //void Log_Write_Cmd(byte num, byte id, byte p1, long alt, long lat, long lng)
-void Log_Write_Cmd(byte num, struct Location *wp)
+static void Log_Write_Cmd(byte num, struct Location *wp)
 {
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
@@ -675,7 +675,7 @@ void Log_Write_Cmd(byte num, struct Location *wp)
 
 
 // Read a command processing packet
-void Log_Read_Cmd()
+static void Log_Read_Cmd()
 {
 	Serial.printf_P(PSTR( "CMD, %d, %d, %d, %d, %d, %ld, %ld, %ld\n"),
 
@@ -695,7 +695,7 @@ void Log_Read_Cmd()
 }
 
 // Write an attitude packet. Total length : 10 bytes
-void Log_Write_Attitude()
+static void Log_Write_Attitude()
 {
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
@@ -707,7 +707,7 @@ void Log_Write_Attitude()
 }
 
 // Read an attitude packet
-void Log_Read_Attitude()
+static void Log_Read_Attitude()
 {
 	Serial.printf_P(PSTR("ATT, %d, %d, %u\n"),
 			DataFlash.ReadInt(),
@@ -717,7 +717,7 @@ void Log_Read_Attitude()
 
 
 // Write a mode packet. Total length : 5 bytes
-void Log_Write_Mode(byte mode)
+static void Log_Write_Mode(byte mode)
 {
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
@@ -728,14 +728,14 @@ void Log_Write_Mode(byte mode)
 }
 
 // Read a mode packet
-void Log_Read_Mode()
+static void Log_Read_Mode()
 {
 	Serial.printf_P(PSTR("MOD:"));
 	Serial.print(flight_mode_strings[DataFlash.ReadByte()]);
 	Serial.printf_P(PSTR(", %d\n"),DataFlash.ReadInt());
 }
 
-void Log_Write_Startup()
+static void Log_Write_Startup()
 {
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
@@ -744,14 +744,14 @@ void Log_Write_Startup()
 }
 
 // Read a mode packet
-void Log_Read_Startup()
+static void Log_Read_Startup()
 {
 	Serial.printf_P(PSTR("START UP\n"));
 }
 
 
 // Read the DataFlash log memory : Packet Parser
-void Log_Read(int start_page, int end_page)
+static void Log_Read(int start_page, int end_page)
 {
 	byte data;
 	byte log_step 		= 0;
@@ -832,20 +832,20 @@ void Log_Read(int start_page, int end_page)
 
 #else // LOGGING_ENABLED
 
-void Log_Write_Startup() {}
-void Log_Read_Startup() {}
-void Log_Read(int start_page, int end_page) {}
-void Log_Write_Cmd(byte num, struct Location *wp) {}
-void Log_Write_Mode(byte mode) {}
-void start_new_log() {}
-void Log_Write_Raw() {}
-void Log_Write_GPS() {}
-void Log_Write_Current() {}
-void Log_Write_Attitude() {}
-void Log_Write_Nav_Tuning() {}
-void Log_Write_Control_Tuning() {}
-void Log_Write_Motors() {}
-void Log_Write_Performance() {}
-int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
+static void Log_Write_Startup() {}
+static void Log_Read_Startup() {}
+static void Log_Read(int start_page, int end_page) {}
+static void Log_Write_Cmd(byte num, struct Location *wp) {}
+static void Log_Write_Mode(byte mode) {}
+static void start_new_log() {}
+static void Log_Write_Raw() {}
+static void Log_Write_GPS() {}
+static void Log_Write_Current() {}
+static void Log_Write_Attitude() {}
+static void Log_Write_Nav_Tuning() {}
+static void Log_Write_Control_Tuning() {}
+static void Log_Write_Motors() {}
+static void Log_Write_Performance() {}
+static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
 
 #endif // LOGGING_ENABLED
diff --git a/ArduCopterMega/commands.pde b/ArduCopterMega/commands.pde
index 77ef8be653..3600b87e85 100644
--- a/ArduCopterMega/commands.pde
+++ b/ArduCopterMega/commands.pde
@@ -1,6 +1,6 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-void init_commands()
+static void init_commands()
 {
 	// zero is home, but we always load the next command (1), in the code.
     g.waypoint_index.set_and_save(0);
@@ -14,7 +14,7 @@ void init_commands()
 	clear_command_queue();
 }
 
-void init_auto()
+static void init_auto()
 {
 	//if (g.waypoint_index == g.waypoint_total) {
 	//	Serial.println("ia_f");
@@ -28,13 +28,13 @@ void init_auto()
 
 // forces the loading of a new command
 // queue is emptied after a new command is processed
-void clear_command_queue(){
+static void clear_command_queue(){
 	next_command.id 	= NO_COMMAND;
 }
 
 // Getters
 // -------
-struct Location get_command_with_index(int i)
+static struct Location get_command_with_index(int i)
 {
 	struct Location temp;
 
@@ -91,7 +91,7 @@ struct Location get_command_with_index(int i)
 
 // Setters
 // -------
-void set_command_with_index(struct Location temp, int i)
+static void set_command_with_index(struct Location temp, int i)
 {
 	i = constrain(i, 0, g.waypoint_total.get());
 	uint32_t mem = WP_START_BYTE + (i * WP_SIZE);
@@ -114,7 +114,7 @@ void set_command_with_index(struct Location temp, int i)
 	eeprom_write_dword((uint32_t *)	mem, temp.lng); // Long is stored in decimal degrees * 10^7
 }
 
-void increment_WP_index()
+static void increment_WP_index()
 {
     if (g.waypoint_index < g.waypoint_total) {
         g.waypoint_index.set_and_save(g.waypoint_index + 1);
@@ -124,14 +124,14 @@ void increment_WP_index()
     SendDebugln(g.waypoint_index,DEC);
 }
 
-void decrement_WP_index()
+static void decrement_WP_index()
 {
     if (g.waypoint_index > 0) {
         g.waypoint_index.set_and_save(g.waypoint_index - 1);
     }
 }
 
-long read_alt_to_hold()
+static long read_alt_to_hold()
 {
 	if(g.RTL_altitude < 0)
 		return current_loc.alt;
@@ -145,7 +145,7 @@ long read_alt_to_hold()
 // It's not currently used
 //********************************************************************************
 
-Location get_LOITER_home_wp()
+static Location get_LOITER_home_wp()
 {
 	//so we know where we are navigating from
 	next_WP = current_loc;
@@ -162,7 +162,7 @@ This function sets the next waypoint command
 It precalculates all the necessary stuff.
 */
 
-void set_next_WP(struct Location *wp)
+static void set_next_WP(struct Location *wp)
 {
 	//SendDebug("MSG <set_next_wp> wp_index: ");
 	//SendDebugln(g.waypoint_index, DEC);
@@ -205,7 +205,7 @@ void set_next_WP(struct Location *wp)
 
 // run this at setup on the ground
 // -------------------------------
-void init_home()
+static void init_home()
 {
 	// block until we get a good fix
 	// -----------------------------
diff --git a/ArduCopterMega/commands_logic.pde b/ArduCopterMega/commands_logic.pde
index d7260e7ae1..8cdade0c46 100644
--- a/ArduCopterMega/commands_logic.pde
+++ b/ArduCopterMega/commands_logic.pde
@@ -3,7 +3,7 @@
 /********************************************************************************/
 // Command Event Handlers
 /********************************************************************************/
-void handle_process_must()
+static void handle_process_must()
 {
 	// clear nav_lat, this is how we pitch towards the target based on speed
 	nav_lat = 0;
@@ -44,7 +44,7 @@ void handle_process_must()
 
 }
 
-void handle_process_may()
+static void handle_process_may()
 {
 	switch(next_command.id){
 
@@ -69,7 +69,7 @@ void handle_process_may()
 	}
 }
 
-void handle_process_now()
+static void handle_process_now()
 {
 	switch(next_command.id){
 
@@ -106,7 +106,7 @@ void handle_process_now()
 	}
 }
 
-void handle_no_commands()
+static void handle_no_commands()
 {
 	// we don't want to RTL yet. Maybe this will change in the future. RTL is kinda dangerous.
 	// use landing commands
@@ -125,7 +125,7 @@ void handle_no_commands()
 // Verify command Handlers
 /********************************************************************************/
 
-bool verify_must()
+static bool verify_must()
 {
 	//Serial.printf("vmust: %d\n", command_must_ID);
 
@@ -166,7 +166,7 @@ bool verify_must()
 	}
 }
 
-bool verify_may()
+static bool verify_may()
 {
 	switch(command_may_ID) {
 
@@ -197,7 +197,7 @@ bool verify_may()
 //
 /********************************************************************************/
 
-void do_RTL(void)
+static void do_RTL(void)
 {
 	Location temp	= home;
 	temp.alt		= read_alt_to_hold();
@@ -217,7 +217,7 @@ void do_RTL(void)
 //	Nav (Must) commands
 /********************************************************************************/
 
-void do_takeoff()
+static void do_takeoff()
 {
 	wp_control 			= LOITER_MODE;
 
@@ -239,7 +239,7 @@ void do_takeoff()
 	set_next_WP(&temp);
 }
 
-void do_nav_wp()
+static void do_nav_wp()
 {
 	wp_control = WP_MODE;
 
@@ -265,7 +265,7 @@ void do_nav_wp()
 	}
 }
 
-void do_land()
+static void do_land()
 {
 	wp_control = LOITER_MODE;
 
@@ -287,7 +287,7 @@ void do_land()
 	set_next_WP(&current_loc);
 }
 
-void do_loiter_unlimited()
+static void do_loiter_unlimited()
 {
 	wp_control = LOITER_MODE;
 
@@ -298,7 +298,7 @@ void do_loiter_unlimited()
 		set_next_WP(&next_command);
 }
 
-void do_loiter_turns()
+static void do_loiter_turns()
 {
 /*
 	wp_control = LOITER_MODE;
@@ -312,7 +312,7 @@ void do_loiter_turns()
 */
 }
 
-void do_loiter_time()
+static void do_loiter_time()
 {
 	///*
 	wp_control = LOITER_MODE;
@@ -327,7 +327,7 @@ void do_loiter_time()
 //	Verify Nav (Must) commands
 /********************************************************************************/
 
-bool verify_takeoff()
+static bool verify_takeoff()
 {
 
 	// wait until we are ready!
@@ -349,7 +349,7 @@ bool verify_takeoff()
 	}
 }
 
-bool verify_land()
+static bool verify_land()
 {
 	// land at 1 meter per second
 	next_WP.alt  = original_alt - ((millis() - land_start) / 20);			// condition_value = our initial
@@ -376,7 +376,7 @@ bool verify_land()
 	return false;
 }
 
-bool verify_nav_wp()
+static bool verify_nav_wp()
 {
 	// Altitude checking
 	if(next_WP.options & WP_OPTION_ALT_REQUIRED){
@@ -426,12 +426,12 @@ bool verify_nav_wp()
 	}
 }
 
-bool verify_loiter_unlim()
+static bool verify_loiter_unlim()
 {
 	return false;
 }
 
-bool verify_loiter_time()
+static bool verify_loiter_time()
 {
 	//Serial.printf("vlt %ld\n",(millis() - loiter_time));
 
@@ -443,7 +443,7 @@ bool verify_loiter_time()
 	return false;
 }
 
-bool verify_RTL()
+static bool verify_RTL()
 {
 	if (wp_distance <= g.waypoint_radius) {
 		gcs.send_text_P(SEVERITY_LOW,PSTR("Reached home"));
@@ -457,7 +457,7 @@ bool verify_RTL()
 //	Condition (May) commands
 /********************************************************************************/
 
-void do_wait_delay()
+static void do_wait_delay()
 {
 	//Serial.print("dwd ");
 	condition_start = millis();
@@ -465,7 +465,7 @@ void do_wait_delay()
 	Serial.println(condition_value,DEC);
 }
 
-void do_change_alt()
+static void do_change_alt()
 {
 	Location temp	= next_WP;
 	condition_start = current_loc.alt;
@@ -478,12 +478,12 @@ void do_change_alt()
 	set_next_WP(&temp);
 }
 
-void do_within_distance()
+static void do_within_distance()
 {
 	condition_value	 = next_command.lat;
 }
 
-void do_yaw()
+static void do_yaw()
 {
 	//Serial.println("dyaw ");
 	yaw_tracking = MAV_ROI_NONE;
@@ -543,7 +543,7 @@ void do_yaw()
 // Verify Condition (May) commands
 /********************************************************************************/
 
-bool verify_wait_delay()
+static bool verify_wait_delay()
 {
 	//Serial.print("vwd");
 	if ((unsigned)(millis() - condition_start) > condition_value){
@@ -555,7 +555,7 @@ bool verify_wait_delay()
 	return false;
 }
 
-bool verify_change_alt()
+static bool verify_change_alt()
 {
 	if (condition_start < next_WP.alt){
 		// we are going higer
@@ -573,7 +573,7 @@ bool verify_change_alt()
 	return false;
 }
 
-bool verify_within_distance()
+static bool verify_within_distance()
 {
 	if (wp_distance < condition_value){
 		condition_value = 0;
@@ -582,7 +582,7 @@ bool verify_within_distance()
 	return false;
 }
 
-bool verify_yaw()
+static bool verify_yaw()
 {
 	//Serial.print("vyaw ");
 
@@ -609,7 +609,7 @@ bool verify_yaw()
 //	Do (Now) commands
 /********************************************************************************/
 
-void do_target_yaw()
+static void do_target_yaw()
 {
 	yaw_tracking = next_command.p1;
 
@@ -618,12 +618,12 @@ void do_target_yaw()
 	}
 }
 
-void do_loiter_at_location()
+static void do_loiter_at_location()
 {
 	next_WP = current_loc;
 }
 
-void do_jump()
+static void do_jump()
 {
 	struct Location temp;
 	if(next_command.lat > 0) {
@@ -638,7 +638,7 @@ void do_jump()
 	}
 }
 
-void do_set_home()
+static void do_set_home()
 {
 	if(next_command.p1 == 1) {
 		init_home();
@@ -651,12 +651,12 @@ void do_set_home()
 	}
 }
 
-void do_set_servo()
+static void do_set_servo()
 {
 	APM_RC.OutputCh(next_command.p1 - 1, next_command.alt);
 }
 
-void do_set_relay()
+static void do_set_relay()
 {
 	if (next_command.p1 == 1) {
 		relay_on();
@@ -667,7 +667,7 @@ void do_set_relay()
 	}
 }
 
-void do_repeat_servo()
+static void do_repeat_servo()
 {
 	event_id = next_command.p1 - 1;
 
@@ -696,7 +696,7 @@ void do_repeat_servo()
 	}
 }
 
-void do_repeat_relay()
+static void do_repeat_relay()
 {
 	event_id		= RELAY_TOGGLE;
 	event_timer		= 0;
diff --git a/ArduCopterMega/commands_process.pde b/ArduCopterMega/commands_process.pde
index 0913e74d3c..5f86519941 100644
--- a/ArduCopterMega/commands_process.pde
+++ b/ArduCopterMega/commands_process.pde
@@ -2,7 +2,7 @@
 
 // For changing active command mid-mission
 //----------------------------------------
-void change_command(uint8_t index)
+static void change_command(uint8_t index)
 {
 	struct Location temp = get_command_with_index(index);
 
@@ -18,7 +18,7 @@ void change_command(uint8_t index)
 
 // called by 10 Hz Medium loop
 // ---------------------------
-void update_commands(void)
+static void update_commands(void)
 {
 	// fill command queue with a new command if available
 	if(next_command.id == NO_COMMAND){
@@ -62,7 +62,7 @@ void update_commands(void)
 }
 
 // called with GPS navigation update - not constantly
-void verify_commands(void)
+static void verify_commands(void)
 {
 	if(verify_must()){
 		Serial.printf("verified must cmd %d\n" , command_must_index);
@@ -81,7 +81,7 @@ void verify_commands(void)
 	}
 }
 
-bool
+static bool
 process_next_command()
 {
 	// these are Navigation/Must commands
@@ -142,7 +142,7 @@ process_next_command()
 /**************************************************/
 //  These functions implement the commands.
 /**************************************************/
-void process_must()
+static void process_must()
 {
 	//gcs.send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
 	//gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
@@ -161,7 +161,7 @@ void process_must()
 
 }
 
-void process_may()
+static void process_may()
 {
 	//gcs.send_text_P(SEVERITY_LOW,PSTR("<process_may>"));
 	//gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
@@ -171,7 +171,7 @@ void process_may()
 	handle_process_may();
 }
 
-void process_now()
+static void process_now()
 {
 	Serial.print("pnow");
 	handle_process_now();
diff --git a/ArduCopterMega/control_modes.pde b/ArduCopterMega/control_modes.pde
index a6bd4d6c5f..f6602ec3c7 100644
--- a/ArduCopterMega/control_modes.pde
+++ b/ArduCopterMega/control_modes.pde
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-void read_control_switch()
+static void read_control_switch()
 {
 	byte switchPosition = readSwitch();
 	//motor_armed = (switchPosition < 5);
@@ -18,7 +18,7 @@ void read_control_switch()
 	}
 }
 
-byte readSwitch(void){
+static byte readSwitch(void){
 	int pulsewidth = g.rc_5.radio_in;			// default for Arducopter
 
 	if (pulsewidth > 1230 && pulsewidth <= 1360) 	return 1;
@@ -29,7 +29,7 @@ byte readSwitch(void){
 	return 0;
 }
 
-void reset_control_switch()
+static void reset_control_switch()
 {
 	oldSwitchPosition = -1;
 	read_control_switch();
@@ -37,17 +37,17 @@ void reset_control_switch()
 	//SendDebugln(oldSwitchPosition , DEC);
 }
 
-void update_servo_switches()
+static void update_servo_switches()
 {
 
 }
 
-boolean trim_flag;
-unsigned long trim_timer;
+static boolean trim_flag;
+static unsigned long trim_timer;
 
 // read at 10 hz
 // set this to your trainer switch
-void read_trim_switch()
+static void read_trim_switch()
 {
 	// switch is engaged
 	if (g.rc_7.control_in > 800){
@@ -67,7 +67,7 @@ void read_trim_switch()
 	}
 }
 
-void auto_trim()
+static void auto_trim()
 {
 	if(auto_level_counter > 0){
 		g.rc_1.dead_zone = 60;		// 60 = .6 degrees
@@ -91,7 +91,7 @@ void auto_trim()
 
 
 
-void trim_accel()
+static void trim_accel()
 {
 	g.pid_stabilize_roll.reset_I();
 	g.pid_stabilize_pitch.reset_I();
diff --git a/ArduCopterMega/events.pde b/ArduCopterMega/events.pde
index d0bf5f1b5f..a542d3f2a8 100644
--- a/ArduCopterMega/events.pde
+++ b/ArduCopterMega/events.pde
@@ -4,7 +4,7 @@
 	This event will be called when the failsafe changes
 	boolean failsafe reflects the current state
 */
-void failsafe_on_event()
+static void failsafe_on_event()
 {
 	// This is how to handle a failsafe.
 	switch(control_mode)
@@ -22,7 +22,7 @@ void failsafe_on_event()
 	}
 }
 
-void failsafe_off_event()
+static void failsafe_off_event()
 {
 	if (g.throttle_fs_action == 2){
 		// We're back in radio contact
@@ -46,14 +46,14 @@ void failsafe_off_event()
 	}
 }
 
-void low_battery_event(void)
+static void low_battery_event(void)
 {
 	gcs.send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
 	set_mode(RTL);
 }
 
 
-void update_events()	// Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
+static void update_events()	// Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
 {
 	if(event_repeat == 0 || (millis() - event_timer) < event_delay)
 		return;
@@ -79,17 +79,17 @@ void update_events()	// Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_R
 	}
 }
 
-void relay_on()
+static void relay_on()
 {
 	PORTL |= B00000100;
 }
 
-void relay_off()
+static void relay_off()
 {
 	PORTL &= ~B00000100;
 }
 
-void relay_toggle()
+static void relay_toggle()
 {
 	PORTL ^= B00000100;
 }
diff --git a/ArduCopterMega/heli.pde b/ArduCopterMega/heli.pde
index 0902c45c0c..9af27c7a3e 100644
--- a/ArduCopterMega/heli.pde
+++ b/ArduCopterMega/heli.pde
@@ -2,10 +2,10 @@
 
 #if FRAME_CONFIG ==	HELI_FRAME
 
-int heli_manual_override = false;
-float rollPitch_impact_on_collective = 0;
+static int heli_manual_override = false;
+static float rollPitch_impact_on_collective = 0;
 
-void heli_init_swash()
+static void heli_init_swash()
 {
     int i;
 	int tilt_max[CH_3+1];
@@ -50,7 +50,7 @@ void heli_init_swash()
 	g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3];
 }
 
-void heli_move_servos_to_mid()
+static void heli_move_servos_to_mid()
 {
 	heli_move_swash(0,0,1500,0);
 }
@@ -63,7 +63,7 @@ void heli_move_servos_to_mid()
 //                       collective: 1000 ~ 2000
 //                       yaw:   -4500 ~ 4500??
 //
-void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
+static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
 {
     // ensure values are acceptable:
 	roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max);
@@ -117,7 +117,7 @@ void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
 }
 
 // these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better
-void output_motors_armed()
+static void output_motors_armed()
 {
     //static int counter = 0;
 	g.rc_1.calc_pwm();
@@ -157,14 +157,14 @@ void output_motors_armed()
 }
 
 // for helis - armed or disarmed we allow servos to move
-void output_motors_disarmed()
+static void output_motors_disarmed()
 {
 	//heli_move_servos_to_mid();
 	output_motors_armed();
 }
 
-void output_motor_test()
+static void output_motor_test()
 {
 }
 
-#endif // HELI_FRAME
\ No newline at end of file
+#endif // HELI_FRAME
diff --git a/ArduCopterMega/leds.pde b/ArduCopterMega/leds.pde
index 258ada4761..514e1fdde4 100644
--- a/ArduCopterMega/leds.pde
+++ b/ArduCopterMega/leds.pde
@@ -1,4 +1,4 @@
-void update_lights()
+static void update_lights()
 {
 	switch(led_mode){
 		case NORMAL_LEDS:
@@ -12,7 +12,7 @@ void update_lights()
 	}
 }
 
-void update_GPS_light(void)
+static void update_GPS_light(void)
 {
 	// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
 	// ---------------------------------------------------------------------
@@ -40,7 +40,7 @@ void update_GPS_light(void)
 	}
 }
 
-void update_motor_light(void)
+static void update_motor_light(void)
 {
 	if(motor_armed == false){
 		motor_light = !motor_light;
@@ -59,7 +59,7 @@ void update_motor_light(void)
 	}
 }
 
-void dancing_light()
+static void dancing_light()
 {
 	static byte step;
 
@@ -84,7 +84,7 @@ void dancing_light()
 			break;
 	}
 }
-void clear_leds()
+static void clear_leds()
 {
 	digitalWrite(A_LED_PIN, LOW);
 	digitalWrite(B_LED_PIN, LOW);
@@ -92,7 +92,7 @@ void clear_leds()
 }
 
 #if MOTOR_LEDS == 1
-void update_motor_leds(void)
+static void update_motor_leds(void)
 {
 	// blink rear
 	static bool blink;
diff --git a/ArduCopterMega/motors.pde b/ArduCopterMega/motors.pde
index a41fa638d7..0e0705e959 100644
--- a/ArduCopterMega/motors.pde
+++ b/ArduCopterMega/motors.pde
@@ -7,7 +7,7 @@
 
 
 // called at 10hz
-void arm_motors()
+static void arm_motors()
 {
 	static int arming_counter;
 
@@ -77,7 +77,7 @@ void arm_motors()
 /*****************************************
  * Set the flight control servos based on the current calculated values
  *****************************************/
-void
+static void
 set_servos_4()
 {
 	if (motor_armed == true && motor_auto_armed == true) {
@@ -175,4 +175,4 @@ set_servos_4()
 					nav_throttle,
 					angle_boost());
 			*/
-		//}
\ No newline at end of file
+		//}
diff --git a/ArduCopterMega/motors_hexa.pde b/ArduCopterMega/motors_hexa.pde
index 722da90dc0..48a4d2506b 100644
--- a/ArduCopterMega/motors_hexa.pde
+++ b/ArduCopterMega/motors_hexa.pde
@@ -2,7 +2,7 @@
 
 #if FRAME_CONFIG ==	HEXA_FRAME
 
-void output_motors_armed()
+static void output_motors_armed()
 {
 	int roll_out, pitch_out;
 	int out_min = g.rc_3.radio_min;
@@ -112,7 +112,7 @@ void output_motors_armed()
 	#endif
 }
 
-void output_motors_disarmed()
+static void output_motors_disarmed()
 {
 	if(g.rc_3.control_in > 0){
 		// we have pushed up the throttle
@@ -134,7 +134,7 @@ void output_motors_disarmed()
 	APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
 }
 
-void output_motor_test()
+static void output_motor_test()
 {
 	motor_out[CH_1] = g.rc_3.radio_min;
 	motor_out[CH_2] = g.rc_3.radio_min;
@@ -224,4 +224,4 @@ void output_motor_test()
 }
 */
 
-#endif
\ No newline at end of file
+#endif
diff --git a/ArduCopterMega/motors_octa.pde b/ArduCopterMega/motors_octa.pde
index a20e090449..e956804035 100644
--- a/ArduCopterMega/motors_octa.pde
+++ b/ArduCopterMega/motors_octa.pde
@@ -2,7 +2,7 @@
 
 #if FRAME_CONFIG ==	OCTA_FRAME
 
-void output_motors_armed()
+static void output_motors_armed()
 {
 	int roll_out, pitch_out;
 	int out_min = g.rc_3.radio_min;
@@ -166,7 +166,7 @@ void output_motors_armed()
 	#endif
 }
 
-void output_motors_disarmed()
+static void output_motors_disarmed()
 {
 	if(g.rc_3.control_in > 0){
 		// we have pushed up the throttle
@@ -190,7 +190,7 @@ void output_motors_disarmed()
 	APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
 }
 
-void output_motor_test()
+static void output_motor_test()
 {
 	APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
 	APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 50);
diff --git a/ArduCopterMega/motors_octa_quad.pde b/ArduCopterMega/motors_octa_quad.pde
index e0e70d6470..68a30fc019 100644
--- a/ArduCopterMega/motors_octa_quad.pde
+++ b/ArduCopterMega/motors_octa_quad.pde
@@ -2,7 +2,7 @@
 
 #if FRAME_CONFIG ==	OCTA_QUAD_FRAME
 
-void output_motors_armed()
+static void output_motors_armed()
 {
 	int roll_out, pitch_out;
 	int out_min = g.rc_3.radio_min;
@@ -137,7 +137,7 @@ void output_motors_armed()
 	#endif
 }
 
-void output_motors_disarmed()
+static void output_motors_disarmed()
 {
 	if(g.rc_3.control_in > 0){
 		// we have pushed up the throttle
@@ -161,7 +161,7 @@ void output_motors_disarmed()
 	APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
 }
 
-void output_motor_test()
+static void output_motor_test()
 {
 
 }
diff --git a/ArduCopterMega/motors_quad.pde b/ArduCopterMega/motors_quad.pde
index 35c6005bf7..9b273589b6 100644
--- a/ArduCopterMega/motors_quad.pde
+++ b/ArduCopterMega/motors_quad.pde
@@ -2,7 +2,7 @@
 
 #if FRAME_CONFIG ==	QUAD_FRAME
 
-void output_motors_armed()
+static void output_motors_armed()
 {
 	int roll_out, pitch_out;
 	int out_min = g.rc_3.radio_min;
@@ -87,7 +87,7 @@ void output_motors_armed()
 	APM_RC.Force_Out2_Out3();
 }
 
-void output_motors_disarmed()
+static void output_motors_disarmed()
 {
 	if(g.rc_3.control_in > 0){
 		// we have pushed up the throttle
@@ -111,7 +111,7 @@ void output_motors_disarmed()
 	APM_RC.Force_Out2_Out3();
 }
 
-void output_motor_test()
+static void output_motor_test()
 {
 	motor_out[CH_1] = g.rc_3.radio_min;
 	motor_out[CH_2] = g.rc_3.radio_min;
@@ -165,4 +165,4 @@ void output_motor_test()
 	APM_RC.OutputCh(CH_4, motor_out[CH_4]);
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/ArduCopterMega/motors_tri.pde b/ArduCopterMega/motors_tri.pde
index e1e0902391..219df3c258 100644
--- a/ArduCopterMega/motors_tri.pde
+++ b/ArduCopterMega/motors_tri.pde
@@ -1,7 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 #if FRAME_CONFIG ==	TRI_FRAME
 
-void output_motors_armed()
+static void output_motors_armed()
 {
 	int out_min = g.rc_3.radio_min;
 	int out_max = g.rc_3.radio_max;
@@ -64,7 +64,7 @@ void output_motors_armed()
 	#endif
 }
 
-void output_motors_disarmed()
+static void output_motors_disarmed()
 {
 	if(g.rc_3.control_in > 0){
 		// we have pushed up the throttle
@@ -83,7 +83,7 @@ void output_motors_disarmed()
 	APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
 }
 
-void output_motor_test()
+static void output_motor_test()
 {
 	motor_out[CH_1] = g.rc_3.radio_min;
 	motor_out[CH_2] = g.rc_3.radio_min;
@@ -107,4 +107,4 @@ void output_motor_test()
 	APM_RC.OutputCh(CH_4, motor_out[CH_4]);
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/ArduCopterMega/motors_y6.pde b/ArduCopterMega/motors_y6.pde
index 07df2e9071..4ffcb760e9 100644
--- a/ArduCopterMega/motors_y6.pde
+++ b/ArduCopterMega/motors_y6.pde
@@ -2,7 +2,7 @@
 
 #if FRAME_CONFIG ==	Y6_FRAME
 
-void output_motors_armed()
+static void output_motors_armed()
 {
 	int out_min = g.rc_3.radio_min;
 	int out_max = g.rc_3.radio_max;
@@ -94,7 +94,7 @@ void output_motors_armed()
 	#endif
 }
 
-void output_motors_disarmed()
+static void output_motors_disarmed()
 {
 	if(g.rc_3.control_in > 0){
 		// we have pushed up the throttle
@@ -116,7 +116,7 @@ void output_motors_disarmed()
 	APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
 }
 
-void output_motor_test()
+static void output_motor_test()
 {
 	motor_out[CH_1] = g.rc_3.radio_min;
 	motor_out[CH_2] = g.rc_3.radio_min;
@@ -149,4 +149,4 @@ void output_motor_test()
 	APM_RC.OutputCh(CH_8, motor_out[CH_8]);
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/ArduCopterMega/navigation.pde b/ArduCopterMega/navigation.pde
index 6d2d39f410..c7e0e24c84 100644
--- a/ArduCopterMega/navigation.pde
+++ b/ArduCopterMega/navigation.pde
@@ -3,7 +3,7 @@
 //****************************************************************
 // Function that will calculate the desired direction to fly and distance
 //****************************************************************
-void navigate()
+static void navigate()
 {
 	// do not navigate with corrupt data
 	// ---------------------------------
@@ -36,14 +36,14 @@ void navigate()
 	nav_bearing = target_bearing;
 }
 
-bool check_missed_wp()
+static bool check_missed_wp()
 {
 	long temp 	= target_bearing - saved_target_bearing;
 	temp 		= wrap_180(temp);
 	return (abs(temp) > 10000);	//we pased the waypoint by 10 °
 }
 
-int
+static int
 get_nav_throttle(long error)
 {
 	int throttle;
@@ -62,7 +62,7 @@ get_nav_throttle(long error)
 }
 
 #define DIST_ERROR_MAX 1800
-void calc_loiter_nav()
+static void calc_loiter_nav()
 {
 	/*
 	Becuase we are using lat and lon to do our distance errors here's a quick chart:
@@ -88,7 +88,7 @@ void calc_loiter_nav()
 	nav_lat 	= g.pid_nav_lat.get_pid(lat_error,  dTnav, 1.0);		// Y invert lat (for pitch)
 }
 
-void calc_loiter_output()
+static void calc_loiter_output()
 {
 	// rotate the vector
 	nav_roll 	=   (float)nav_lon * sin_yaw_y 	- (float)nav_lat * -cos_yaw_x;
@@ -118,7 +118,7 @@ void calc_loiter_output()
 					//SOUTH  -1000 *  0			+ 1000 * -1 	= -1000	// pitch forward
 }
 
-void calc_simple_nav()
+static void calc_simple_nav()
 {
 	// no dampening here in SIMPLE mode
 	nav_lat	= constrain((wp_distance * 100), -4500, 4500); // +- 20m max error
@@ -126,7 +126,7 @@ void calc_simple_nav()
 	//nav_lat	*= g.pid_nav_lat.kP();	// 1800 * 2 = 3600 or 36°
 }
 
-void calc_nav_output()
+static void calc_nav_output()
 {
 	// get the sin and cos of the bearing error - rotated 90°
 	float sin_nav_y 	= sin(radians((float)(9000 - bearing_error) / 100));
@@ -138,7 +138,7 @@ void calc_nav_output()
 }
 
 // called after we get GPS read
-void calc_rate_nav()
+static void calc_rate_nav()
 {
 	// which direction are we moving?
 	long target_error 	= target_bearing - g_gps->ground_course;
@@ -167,18 +167,18 @@ void calc_rate_nav()
 	nav_lat	= constrain(nav_lat, 	-4000, 4000); // +- max error
 }
 
-void calc_bearing_error()
+static void calc_bearing_error()
 {
 	bearing_error 	= nav_bearing - dcm.yaw_sensor;
 	bearing_error 	= wrap_180(bearing_error);
 }
 
-void calc_altitude_error()
+static void calc_altitude_error()
 {
 	altitude_error 	= next_WP.alt - current_loc.alt;
 }
 
-void calc_altitude_smoothing_error()
+static void calc_altitude_smoothing_error()
 {
 	// limit climb rates - we draw a straight line between first location and edge of waypoint_radius
 	target_altitude = next_WP.alt - ((wp_distance * (next_WP.alt - prev_WP.alt)) / (wp_totalDistance - g.waypoint_radius));
@@ -193,21 +193,21 @@ void calc_altitude_smoothing_error()
 	altitude_error 	= target_altitude - current_loc.alt;
 }
 
-long wrap_360(long error)
+static long wrap_360(long error)
 {
 	if (error > 36000)	error -= 36000;
 	if (error < 0)		error += 36000;
 	return error;
 }
 
-long wrap_180(long error)
+static long wrap_180(long error)
 {
 	if (error > 18000)	error -= 36000;
 	if (error < -18000)	error += 36000;
 	return error;
 }
 
-void update_crosstrack(void)
+static void update_crosstrack(void)
 {
 	// Crosstrack Error
 	// ----------------
@@ -219,19 +219,19 @@ void update_crosstrack(void)
 	}
 }
 
-long cross_track_test()
+static long cross_track_test()
 {
 	long temp 	= target_bearing - crosstrack_bearing;
 	temp 		= wrap_180(temp);
 	return abs(temp);
 }
 
-void reset_crosstrack()
+static void reset_crosstrack()
 {
 	crosstrack_bearing 	= get_bearing(&current_loc, &next_WP);	// Used for track following
 }
 
-long get_altitude_above_home(void)
+static long get_altitude_above_home(void)
 {
 	// This is the altitude above the home location
 	// The GPS gives us altitude at Sea Level
@@ -241,7 +241,7 @@ long get_altitude_above_home(void)
 }
 
 // distance is returned in meters
-long get_distance(struct Location *loc1, struct Location *loc2)
+static long get_distance(struct Location *loc1, struct Location *loc2)
 {
 	//if(loc1->lat == 0 || loc1->lng == 0)
 	//	return -1;
@@ -252,12 +252,12 @@ long get_distance(struct Location *loc1, struct Location *loc2)
 	return sqrt(sq(dlat) + sq(dlong)) * .01113195;
 }
 
-long get_alt_distance(struct Location *loc1, struct Location *loc2)
+static long get_alt_distance(struct Location *loc1, struct Location *loc2)
 {
 	return abs(loc1->alt - loc2->alt);
 }
 
-long get_bearing(struct Location *loc1, struct Location *loc2)
+static long get_bearing(struct Location *loc1, struct Location *loc2)
 {
 	long off_x = loc2->lng - loc1->lng;
 	long off_y = (loc2->lat - loc1->lat) * scaleLongUp;
diff --git a/ArduCopterMega/planner.pde b/ArduCopterMega/planner.pde
index fc769660f2..e8df9820dd 100644
--- a/ArduCopterMega/planner.pde
+++ b/ArduCopterMega/planner.pde
@@ -15,7 +15,7 @@ const struct Menu::command planner_menu_commands[] PROGMEM = {
 // A Macro to create the Menu
 MENU(planner_menu, "planner", planner_menu_commands);
 
-int8_t
+static int8_t
 planner_mode(uint8_t argc, const Menu::arg *argv)
 {
 	Serial.printf_P(PSTR("Planner Mode\nNot intended for manual use\n\n"));
diff --git a/ArduCopterMega/radio.pde b/ArduCopterMega/radio.pde
index ce1b824036..3fe40868fe 100644
--- a/ArduCopterMega/radio.pde
+++ b/ArduCopterMega/radio.pde
@@ -2,10 +2,10 @@
 
 //Function that will read the radio data, limit servos and trigger a failsafe
 // ----------------------------------------------------------------------------
-byte failsafeCounter = 0;		// we wait a second to take over the throttle and send the plane circling
+static byte failsafeCounter = 0;		// we wait a second to take over the throttle and send the plane circling
 
 
-void init_rc_in()
+static void init_rc_in()
 {
 	// set rc channel ranges
 	g.rc_1.set_angle(4500);
@@ -58,7 +58,7 @@ void init_rc_in()
 	#endif
 }
 
-void init_rc_out()
+static void init_rc_out()
 {
 	#if ARM_AT_STARTUP == 1
 		motor_armed = 1;
@@ -115,7 +115,7 @@ void output_min()
 	#endif
 
 }
-void read_radio()
+static void read_radio()
 {
 	if (APM_RC.GetState() == 1){
 
@@ -145,7 +145,7 @@ void read_radio()
 	}
 }
 
-void throttle_failsafe(uint16_t pwm)
+static void throttle_failsafe(uint16_t pwm)
 {
 	if(g.throttle_fs_enabled == 0)
 		return;
@@ -187,7 +187,7 @@ void throttle_failsafe(uint16_t pwm)
 	}
 }
 
-void trim_radio()
+static void trim_radio()
 {
 	for (byte i = 0; i < 30; i++){
 		read_radio();
@@ -202,7 +202,7 @@ void trim_radio()
 	g.rc_4.save_eeprom();
 }
 
-void trim_yaw()
+static void trim_yaw()
 {
 	for (byte i = 0; i < 30; i++){
 		read_radio();
diff --git a/ArduCopterMega/read_commands.pde b/ArduCopterMega/read_commands.pde
index 51701de29d..a315b62fa5 100644
--- a/ArduCopterMega/read_commands.pde
+++ b/ArduCopterMega/read_commands.pde
@@ -4,7 +4,7 @@
 #define INPUT_BUF_LEN 40
 char input_buffer[INPUT_BUF_LEN];
 
-void readCommands(void)
+static void readCommands(void)
 {
 	static byte header[2];
 	const byte read_GS_header[] 	= {0x21, 0x21}; //!! Used to verify the payload msg header
@@ -56,7 +56,7 @@ void readCommands(void)
 
 // Commands can be sent as !!a:100|b:200|c:1
 // -----------------------------------------
-void parseCommand(char *buffer)
+static void parseCommand(char *buffer)
 {
 	Serial.println("got cmd ");
 	Serial.println(buffer);
@@ -109,4 +109,4 @@ void parseCommand(char *buffer)
 	}
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/ArduCopterMega/sensors.pde b/ArduCopterMega/sensors.pde
index 710827c167..d47dc701bf 100644
--- a/ArduCopterMega/sensors.pde
+++ b/ArduCopterMega/sensors.pde
@@ -3,9 +3,9 @@
 // Sensors are not available in HIL_MODE_ATTITUDE
 #if HIL_MODE != HIL_MODE_ATTITUDE
 
-void ReadSCP1000(void) {}
+static void ReadSCP1000(void) {}
 
-void init_barometer(void)
+static void init_barometer(void)
 {
 	#if HIL_MODE == HIL_MODE_SENSORS
 		hil.update();					// look for inbound hil packets for initialization
@@ -32,7 +32,7 @@ void init_barometer(void)
 	//SendDebugln("barometer calibration complete.");
 }
 
-long read_baro_filtered(void)
+static long read_baro_filtered(void)
 {
 	long pressure = 0;
 
@@ -58,7 +58,7 @@ long read_baro_filtered(void)
 	return pressure /= BARO_FILTER_SIZE;
 }
 
-long read_barometer(void)
+static long read_barometer(void)
 {
  	float x, scaling, temp;
 
@@ -73,19 +73,19 @@ long read_barometer(void)
 }
 
 // in M/S * 100
-void read_airspeed(void)
+static void read_airspeed(void)
 {
 
 }
 
-void zero_airspeed(void)
+static void zero_airspeed(void)
 {
 
 }
 
 #endif // HIL_MODE != HIL_MODE_ATTITUDE
 
-void read_battery(void)
+static void read_battery(void)
 {
 	battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN1)) * .1 + battery_voltage1 * .9;
 	battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9;
diff --git a/ArduCopterMega/setup.pde b/ArduCopterMega/setup.pde
index b31f41939b..fecba04b3c 100644
--- a/ArduCopterMega/setup.pde
+++ b/ArduCopterMega/setup.pde
@@ -49,7 +49,7 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
 MENU(setup_menu, "setup", setup_menu_commands);
 
 // Called from the top-level menu to run the setup menu.
-int8_t
+static int8_t
 setup_mode(uint8_t argc, const Menu::arg *argv)
 {
 	// Give the user some guidance
@@ -233,7 +233,7 @@ setup_esc(uint8_t argc, const Menu::arg *argv)
 	}
 }
 
-void
+static void
 init_esc()
 {
 	g.esc_calibrate.set_and_save(0);
@@ -654,7 +654,7 @@ setup_gyro(uint8_t argc, const Menu::arg *argv)
 
 #endif // FRAME_CONFIG == HELI
 
-void clear_offsets()
+static void clear_offsets()
 {
 	Vector3f _offsets(0.0,0.0,0.0);
 	compass.set_offsets(_offsets);
@@ -730,7 +730,7 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
 // CLI reports
 /***************************************************************************/
 
-void report_batt_monitor()
+static void report_batt_monitor()
 {
 	Serial.printf_P(PSTR("\nBatt Mointor\n"));
 	print_divider();
@@ -742,7 +742,7 @@ void report_batt_monitor()
 	print_blanks(2);
 }
 
-void report_wp(byte index = 255)
+static void report_wp(byte index = 255)
 {
 	if(index == 255){
 		for(byte i = 0; i <= g.waypoint_total; i++){
@@ -755,7 +755,7 @@ void report_wp(byte index = 255)
 	}
 }
 
-void print_wp(struct Location *cmd, byte index)
+static void print_wp(struct Location *cmd, byte index)
 {
 	Serial.printf_P(PSTR("command #: %d id:%d op:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
 		(int)index,
@@ -767,7 +767,7 @@ void print_wp(struct Location *cmd, byte index)
 		cmd->lng);
 }
 
-void report_gps()
+static void report_gps()
 {
 	Serial.printf_P(PSTR("\nGPS\n"));
 	print_divider();
@@ -775,7 +775,7 @@ void report_gps()
 	print_blanks(2);
 }
 
-void report_sonar()
+static void report_sonar()
 {
 	g.sonar_enabled.load();
 	Serial.printf_P(PSTR("Sonar\n"));
@@ -784,14 +784,14 @@ void report_sonar()
 	print_blanks(2);
 }
 
-void report_version()
+static void report_version()
 {
 	Serial.printf_P(PSTR("FW Version %d\n"),(int)g.format_version.get());
 	print_divider();
 	print_blanks(2);
 }
 
-void report_frame()
+static void report_frame()
 {
 	Serial.printf_P(PSTR("Frame\n"));
 	print_divider();
@@ -822,7 +822,7 @@ void report_frame()
 	print_blanks(2);
 }
 
-void report_radio()
+static void report_radio()
 {
 	Serial.printf_P(PSTR("Radio\n"));
 	print_divider();
@@ -832,7 +832,7 @@ void report_radio()
 }
 
 /*
-void report_gains()
+static void report_gains()
 {
 	Serial.printf_P(PSTR("Gains\n"));
 	print_divider();
@@ -867,7 +867,7 @@ void report_gains()
 }
 */
 
-/*void report_xtrack()
+/*static void report_xtrack()
 {
 	Serial.printf_P(PSTR("XTrack\n"));
 	print_divider();
@@ -882,7 +882,7 @@ void report_gains()
 }
 */
 
-/*void report_throttle()
+/*static void report_throttle()
 {
 	Serial.printf_P(PSTR("Throttle\n"));
 	print_divider();
@@ -900,7 +900,7 @@ void report_gains()
 	print_blanks(2);
 }*/
 
-void report_imu()
+static void report_imu()
 {
 	Serial.printf_P(PSTR("IMU\n"));
 	print_divider();
@@ -910,7 +910,7 @@ void report_imu()
 	print_blanks(2);
 }
 
-void report_compass()
+static void report_compass()
 {
 	Serial.printf_P(PSTR("Compass\n"));
 	print_divider();
@@ -931,7 +931,7 @@ void report_compass()
 	print_blanks(2);
 }
 
-void report_flight_modes()
+static void report_flight_modes()
 {
 	Serial.printf_P(PSTR("Flight modes\n"));
 	print_divider();
@@ -943,7 +943,7 @@ void report_flight_modes()
 }
 
 #if FRAME_CONFIG == HELI_FRAME
-void report_heli()
+static void report_heli()
 {
 	Serial.printf_P(PSTR("Heli\n"));
 	print_divider();
@@ -962,7 +962,7 @@ void report_heli()
 	print_blanks(2);
 }
 
-void report_gyro()
+static void report_gyro()
 {
 
 	Serial.printf_P(PSTR("External Gyro:\n"));
@@ -981,7 +981,7 @@ void report_gyro()
 // CLI utilities
 /***************************************************************************/
 
-/*void
+/*static void
 print_PID(PID * pid)
 {
 	Serial.printf_P(PSTR("P: %4.2f, I:%4.2f, D:%4.2f, IMAX:%ld\n"),
@@ -992,7 +992,7 @@ print_PID(PID * pid)
 }
 */
 
-void
+static void
 print_radio_values()
 {
 	Serial.printf_P(PSTR("CH1: %d | %d\n"), (int)g.rc_1.radio_min, (int)g.rc_1.radio_max);
@@ -1005,20 +1005,20 @@ print_radio_values()
 	//Serial.printf_P(PSTR("CH8: %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
 }
 
-void
+static void
 print_switch(byte p, byte m)
 {
 	Serial.printf_P(PSTR("Pos %d: "),p);
 	Serial.println(flight_mode_strings[m]);
 }
 
-void
+static void
 print_done()
 {
 	Serial.printf_P(PSTR("\nSaved Settings\n\n"));
 }
 
-void
+static void
 print_blanks(int num)
 {
 	while(num > 0){
@@ -1027,7 +1027,7 @@ print_blanks(int num)
 	}
 }
 
-void
+static void
 print_divider(void)
 {
 	for (int i = 0; i < 40; i++) {
@@ -1037,7 +1037,7 @@ print_divider(void)
 }
 
 // read at 50Hz
-bool
+static bool
 radio_input_switch(void)
 {
 	static int8_t bouncer = 0;
@@ -1063,7 +1063,7 @@ radio_input_switch(void)
 }
 
 
-void zero_eeprom(void)
+static void zero_eeprom(void)
 {
 	byte b = 0;
 
@@ -1076,7 +1076,7 @@ void zero_eeprom(void)
 	Serial.printf_P(PSTR("done\n"));
 }
 
-void print_enabled(boolean b)
+static void print_enabled(boolean b)
 {
 	if(b)
 		Serial.printf_P(PSTR("en"));
@@ -1085,7 +1085,7 @@ void print_enabled(boolean b)
 	Serial.printf_P(PSTR("abled\n"));
 }
 
-void
+static void
 print_accel_offsets(void)
 {
 	Serial.printf_P(PSTR("Accel offsets: %4.2f, %4.2f, %4.2f\n"),
@@ -1094,7 +1094,7 @@ print_accel_offsets(void)
 						(float)imu.az());
 }
 
-void
+static void
 print_gyro_offsets(void)
 {
 	Serial.printf_P(PSTR("Gyro offsets: %4.2f, %4.2f, %4.2f\n"),
@@ -1105,7 +1105,7 @@ print_gyro_offsets(void)
 
 #if FRAME_CONFIG == HELI_FRAME
 
-RC_Channel *
+static RC_Channel *
 heli_get_servo(int servo_num){
 	if( servo_num == CH_1 )
 	    return &g.heli_servo_1;
@@ -1119,7 +1119,7 @@ heli_get_servo(int servo_num){
 }
 
 // Used to read integer values from the serial port
-int read_num_from_serial() {
+static int read_num_from_serial() {
 	byte index = 0;
 	byte timeout = 0;
 	char data[5] = "";
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index 2fe7c1bc88..14aa190631 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -7,10 +7,10 @@ The init_ardupilot function processes everything we need for an in - air restart
 *****************************************************************************/
 
 // Functions called from the top-level menu
-extern int8_t	process_logs(uint8_t argc, const Menu::arg *argv);	// in Log.pde
-extern int8_t	setup_mode(uint8_t argc, const Menu::arg *argv);	// in setup.pde
-extern int8_t	test_mode(uint8_t argc, const Menu::arg *argv);		// in test.cpp
-extern int8_t	planner_mode(uint8_t argc, const Menu::arg *argv);	// in planner.pde
+static int8_t	process_logs(uint8_t argc, const Menu::arg *argv);	// in Log.pde
+static int8_t	setup_mode(uint8_t argc, const Menu::arg *argv);	// in setup.pde
+static int8_t	test_mode(uint8_t argc, const Menu::arg *argv);		// in test.cpp
+static int8_t	planner_mode(uint8_t argc, const Menu::arg *argv);	// in planner.pde
 
 // This is the help function
 // PSTR is an AVR macro to read strings from flash memory
@@ -42,7 +42,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 // Create the top-level menu object.
 MENU(main_menu, "AC 2.0.36 Beta", main_menu_commands);
 
-void init_ardupilot()
+static void init_ardupilot()
 {
 	// Console serial port
 	//
@@ -262,7 +262,7 @@ void init_ardupilot()
 //********************************************************************************
 //This function does all the calibrations, etc. that we need during a ground start
 //********************************************************************************
-void startup_ground(void)
+static void startup_ground(void)
 {
 	gcs.send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
 
@@ -340,7 +340,7 @@ void startup_ground(void)
 	gcs.send_message(MSG_HEARTBEAT);
 }
 
-void set_mode(byte mode)
+static void set_mode(byte mode)
 {
 	if(control_mode == mode){
 		// don't switch modes if we are already in the correct mode.
@@ -410,7 +410,7 @@ void set_mode(byte mode)
 	gcs.send_message(MSG_MODE_CHANGE);
 }
 
-void set_failsafe(boolean mode)
+static void set_failsafe(boolean mode)
 {
 	// only act on changes
 	// -------------------
@@ -436,14 +436,14 @@ void set_failsafe(boolean mode)
 
 
 
-void resetPerfData(void) {
+static void resetPerfData(void) {
 	mainLoop_count 		= 0;
 	G_Dt_max 			= 0;
 	gps_fix_count 		= 0;
 	perf_mon_timer 		= millis();
 }
 
-void
+static void
 init_compass()
 {
 	dcm.set_compass(&compass);
@@ -459,7 +459,7 @@ init_compass()
 * be larger than HP or you'll be in big trouble! The smaller the gap, the more
 * careful you need to be. Julian Gall 6 - Feb - 2009.
 */
-unsigned long freeRAM() {
+static unsigned long freeRAM() {
 	uint8_t * heapptr, * stackptr;
 	stackptr = (uint8_t *)malloc(4); // use stackptr temporarily
 	heapptr = stackptr; // save value of heap pointer
@@ -468,13 +468,13 @@ unsigned long freeRAM() {
 	return stackptr - heapptr;
 }
 
-void
+static void
 init_simple_bearing()
 {
 	initial_simple_bearing = dcm.yaw_sensor;
 }
 
-void
+static void
 init_throttle_cruise()
 {
 	// are we moving from manual throttle to auto_throttle?
@@ -485,7 +485,7 @@ init_throttle_cruise()
 
 #if BROKEN_SLIDER == 1
 
-boolean
+static boolean
 check_startup_for_CLI()
 {
 	//return true;
@@ -505,7 +505,7 @@ check_startup_for_CLI()
 
 #else
 
-boolean
+static boolean
 check_startup_for_CLI()
 {
 	return (digitalRead(SLIDE_SWITCH_PIN) == 0);
diff --git a/ArduCopterMega/test.pde b/ArduCopterMega/test.pde
index 4b868242e2..543d2c516a 100644
--- a/ArduCopterMega/test.pde
+++ b/ArduCopterMega/test.pde
@@ -80,7 +80,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 // A Macro to create the Menu
 MENU(test_menu, "test", test_menu_commands);
 
-int8_t
+static int8_t
 test_mode(uint8_t argc, const Menu::arg *argv)
 {
 	//Serial.printf_P(PSTR("Test Mode\n\n"));
@@ -1026,12 +1026,12 @@ test_mission(uint8_t argc, const Menu::arg *argv)
 	return (0);
 }
 
-void print_hit_enter()
+static void print_hit_enter()
 {
 	Serial.printf_P(PSTR("Hit Enter to exit.\n\n"));
 }
 
-void fake_out_gps()
+static void fake_out_gps()
 {
 	static float rads;
 	g_gps->new_data 	= true;
@@ -1054,7 +1054,7 @@ void fake_out_gps()
 
 
 
-void print_motor_out(){
+static void print_motor_out(){
 	Serial.printf("out: R: %d,  L: %d  F: %d  B: %d\n",
 				(motor_out[CH_1] 	- g.rc_3.radio_min),
 				(motor_out[CH_2] 	- g.rc_3.radio_min),