diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde
index b21a0a7f07..564f187140 100644
--- a/ArduCopterMega/ArduCopterMega.pde
+++ b/ArduCopterMega/ArduCopterMega.pde
@@ -324,7 +324,7 @@ boolean	land_complete;
 int		landing_distance;					// meters;
 long 	old_alt;							// used for managing altitude rates
 int		velocity_land;
-byte 	yaw_tracking = TRACK_NONE;			// no tracking, point at next wp, or at a target
+byte 	yaw_tracking = TRACK_NEXT_WP;			// no tracking, point at next wp, or at a target
 
 // Loiter management
 // -----------------
diff --git a/ArduCopterMega/GCS_Ardupilot.pde b/ArduCopterMega/GCS_Ardupilot.pde
index 150174670c..81924ce58f 100644
--- a/ArduCopterMega/GCS_Ardupilot.pde
+++ b/ArduCopterMega/GCS_Ardupilot.pde
@@ -48,7 +48,7 @@ void send_message(byte id)
 {
 	send_message(id,0l);
 }
-	
+
 void send_message(byte id, long param)
 {
 	switch(id) {
@@ -63,7 +63,7 @@ void send_message(byte id, long param)
 			break;
 		//case MSG_PERF_REPORT:
 		//	printPerfData();
-	}	
+	}
 }
 
 void print_current_waypoints()
@@ -93,13 +93,14 @@ void print_control_mode(void)
 
 void print_position(void)
 {
-	SendSer("!!!");
+	SendSer("!!");
+	SendSer("!");
 	SendSer("LAT:");
 	SendSer(current_loc.lat/10,DEC);
 	SendSer(",LON:");
 	SendSer(current_loc.lng/10,DEC); //wp_current_lat
 	SendSer(",SPD:");
-	SendSer(g_gps->ground_speed/100,DEC);		
+	SendSer(g_gps->ground_speed/100,DEC);
 	SendSer(",CRT:");
 	SendSer(climb_rate,DEC);
 	SendSer(",ALT:");
diff --git a/ArduCopterMega/GCS_IMU_ouput.pde b/ArduCopterMega/GCS_IMU_ouput.pde
index 56e9ea5872..2db724c546 100644
--- a/ArduCopterMega/GCS_IMU_ouput.pde
+++ b/ArduCopterMega/GCS_IMU_ouput.pde
@@ -32,18 +32,18 @@ void send_message(byte id)
 {
 	send_message(id,0l);
 }
-	
+
 void send_message(byte id, long param)
 {
 	switch(id) {
 		case MSG_ATTITUDE:
 			print_attitude();
 			break;
-			
+
 		case MSG_LOCATION:								// ** Location/GPS message
 			print_location();
 			break;
-	}	
+	}
 }
 
 void send_message(byte severity, const char *str)
@@ -64,17 +64,17 @@ void print_control_mode(void)
 
 void print_attitude(void)
 {
-	//Serial.print("!!!VER:");
+	//Serial.print("!!VER:");
 	//Serial.print(SOFTWARE_VER);  //output the software version
 	//Serial.print(",");
-	
+
 // Analogs
 		Serial.print("AN0:");
-		Serial.print(read_adc(0)); //Reversing the sign. 
+		Serial.print(read_adc(0)); //Reversing the sign.
 		Serial.print(",AN1:");
 		Serial.print(read_adc(1));
 		Serial.print(",AN2:");
-		Serial.print(read_adc(2));  
+		Serial.print(read_adc(2));
 		Serial.print(",AN3:");
 		Serial.print(read_adc(3));
 		Serial.print (",AN4:");
@@ -82,7 +82,7 @@ void print_attitude(void)
 		Serial.print (",AN5:");
 		Serial.print(read_adc(5));
 		Serial.print (",");
-      
+
 // DCM
 		Serial.print ("EX0:");
 		Serial.print(convert_to_dec(DCM_Matrix[0][0]));
@@ -114,7 +114,7 @@ void print_attitude(void)
 		Serial.print(",IMUH:");
 		Serial.print(((int)imu_health>>8)&0xff);
 		Serial.print (",");
-      
+
 
 	/*
 	#if USE_MAGNETOMETER == 1
@@ -134,7 +134,7 @@ void print_attitude(void)
 		//Serial.print(temp_unfilt/20.0);      // Convert into degrees C
 		//alti();
 		//Serial.print(",Pressure: ");
-		//Serial.print(press);            
+		//Serial.print(press);
 		//Serial.print(",Alt: ");
 		//Serial.print(pressure_altitude/1000);  // Original floating point full solution in meters
 		//Serial.print (",");
@@ -155,9 +155,9 @@ void print_location(void)
 	Serial.print(g_gps->ground_speed);
 	Serial.print(",FIX:");
 	Serial.print((int)g_gps->fix);
-	Serial.print(",SAT:"); 
+	Serial.print(",SAT:");
 	Serial.print((int)g_gps->num_sats);
-	Serial.print (",");      
+	Serial.print (",");
 	Serial.print("TOW:");
 	Serial.print(g_gps->time);
 	Serial.println("***");
diff --git a/ArduCopterMega/setup.pde b/ArduCopterMega/setup.pde
index e328e04063..5d82b3e869 100644
--- a/ArduCopterMega/setup.pde
+++ b/ArduCopterMega/setup.pde
@@ -51,7 +51,7 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
 
 	if(g.rc_1.radio_min >= 1300){
 		delay(1000);
-		Serial.printf_P(PSTR("\n!!!Warning, your radio is not configured!!!"));
+		Serial.printf_P(PSTR("\n!Warning, your radio is not configured!"));
 		delay(1000);
 		Serial.printf_P(PSTR("\n Type 'radio' to configure now.\n\n"));
 	}