diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 937e567b30..1c1bbdeccb 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -314,6 +314,23 @@ private:
         uint8_t compass     : 1;    // true if compass is healthy
     } sensor_health;
 
+    // setup FRAME_MAV_TYPE
+#if (FRAME_CONFIG == QUAD_FRAME)
+ #define FRAME_MAV_TYPE MAV_TYPE_QUADROTOR
+#elif (FRAME_CONFIG == TRI_FRAME)
+ #define FRAME_MAV_TYPE MAV_TYPE_TRICOPTER
+#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
+ #define FRAME_MAV_TYPE MAV_TYPE_HEXAROTOR
+#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
+ #define FRAME_MAV_TYPE MAV_TYPE_OCTOROTOR
+#elif (FRAME_CONFIG == HELI_FRAME)
+ #define FRAME_MAV_TYPE MAV_TYPE_HELICOPTER
+#elif (FRAME_CONFIG == SINGLE_FRAME || FRAME_CONFIG == COAX_FRAME)  //because mavlink did not define a singlecopter, we use a quad
+ #define FRAME_MAV_TYPE MAV_TYPE_QUADROTOR
+#else
+ #error Unrecognised frame type
+#endif
+
     // Motor Output
 #if FRAME_CONFIG == QUAD_FRAME
  #define MOTOR_CLASS AP_MotorsQuad
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index a1b94f4df2..bd8ec8fbb4 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -480,20 +480,3 @@ enum LandStateType {
 #define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
 #define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
 #define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
-
-// setup FRAME_MAV_TYPE
-#if (FRAME_CONFIG == QUAD_FRAME)
-# define FRAME_MAV_TYPE MAV_TYPE_QUADROTOR
-#elif (FRAME_CONFIG == TRI_FRAME)
-# define FRAME_MAV_TYPE MAV_TYPE_TRICOPTER
-#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
-# define FRAME_MAV_TYPE MAV_TYPE_HEXAROTOR
-#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
-# define FRAME_MAV_TYPE MAV_TYPE_OCTOROTOR
-#elif (FRAME_CONFIG == HELI_FRAME)
-# define FRAME_MAV_TYPE MAV_TYPE_HELICOPTER
-#elif (FRAME_CONFIG == SINGLE_FRAME || FRAME_CONFIG == COAX_FRAME)  //because mavlink did not define a singlecopter, we use a quad
-# define FRAME_MAV_TYPE MAV_TYPE_QUADROTOR
-#else
-  #error Unrecognised frame type
-#endif