diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index b64a069ccb..285644c1e5 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -60,7 +60,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 //	{"failsafe",	test_failsafe},
 //	{"stabilize",	test_stabilize},
 	{"gps",			test_gps},
-#if HIL_MODE != HIL_MODE_ATTITUDE
+#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED
 //	{"adc", 		test_adc},
 #endif
 	{"ins", 		test_ins},
@@ -77,7 +77,9 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 #if HIL_MODE != HIL_MODE_ATTITUDE
 	{"altitude",	test_baro},
 #endif
+#if CONFIG_SONAR == ENABLED
 	{"sonar",		test_sonar},
+#endif
 	//{"compass",		test_mag},
 #ifdef OPTFLOW_ENABLED
 	{"optflow",		test_optflow},
@@ -393,7 +395,8 @@ static int8_t
 }
 */
 
-/*#if HIL_MODE != HIL_MODE_ATTITUDE
+
+/*#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED
 static int8_t
 //test_adc(uint8_t argc, const Menu::arg *argv)
 {
@@ -401,6 +404,10 @@ static int8_t
 	Serial.printf_P(PSTR("ADC\n"));
 	delay(1000);
 
+  adc.Init(&timer_scheduler);
+
+  delay(50);
+
 	while(1){
 		for(int i = 0; i < 9; i++){
 			Serial.printf_P(PSTR("%u,"),adc.Ch(i));
@@ -937,6 +944,7 @@ static int8_t
 /*
   test the sonar
  */
+#if CONFIG_SONAR == ENABLED
 static int8_t
 test_sonar(uint8_t argc, const Menu::arg *argv)
 {
@@ -959,6 +967,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
 
 	return (0);
 }
+#endif
 
 #ifdef OPTFLOW_ENABLED
 static int8_t