diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index 5c4c79c769..f39366721f 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -188,11 +188,11 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             break;
         }
 
-        case AUX_FUNC::RTL:
 #if MODE_RTL_ENABLED == ENABLED
+        case AUX_FUNC::RTL:
             do_aux_function_change_mode(Mode::Number::RTL, ch_flag);
-#endif
             break;
+#endif
 
         case AUX_FUNC::SAVE_TRIM:
             if ((ch_flag == AuxSwitchPos::HIGH) &&
@@ -202,8 +202,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             }
             break;
 
-        case AUX_FUNC::SAVE_WP:
 #if MODE_AUTO_ENABLED == ENABLED
+        case AUX_FUNC::SAVE_WP:
             // save waypoint when switch is brought high
             if (ch_flag == RC_Channel::AuxSwitchPos::HIGH) {
 
@@ -251,29 +251,27 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                     LOGGER_WRITE_EVENT(LogEvent::SAVEWP_ADD_WP);
                 }
             }
-#endif
             break;
 
         case AUX_FUNC::AUTO:
-#if MODE_AUTO_ENABLED == ENABLED
             do_aux_function_change_mode(Mode::Number::AUTO, ch_flag);
-#endif
             break;
+#endif
 
+#if RANGEFINDER_ENABLED == ENABLED
         case AUX_FUNC::RANGEFINDER:
             // enable or disable the rangefinder
-#if RANGEFINDER_ENABLED == ENABLED
             if ((ch_flag == AuxSwitchPos::HIGH) &&
                 copter.rangefinder.has_orientation(ROTATION_PITCH_270)) {
                 copter.rangefinder_state.enabled = true;
             } else {
                 copter.rangefinder_state.enabled = false;
             }
-#endif
             break;
+#endif
 
-        case AUX_FUNC::ACRO_TRAINER:
 #if MODE_ACRO_ENABLED == ENABLED
+        case AUX_FUNC::ACRO_TRAINER:
             switch(ch_flag) {
                 case AuxSwitchPos::LOW:
                     copter.g.acro_trainer.set((uint8_t)ModeAcro::Trainer::OFF);
@@ -288,14 +286,14 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                     LOGGER_WRITE_EVENT(LogEvent::ACRO_TRAINER_LIMITED);
                     break;
             }
-#endif
             break;
+#endif
 
-        case AUX_FUNC::AUTOTUNE:
 #if AUTOTUNE_ENABLED == ENABLED
+        case AUX_FUNC::AUTOTUNE:
             do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag);
-#endif
             break;
+#endif
 
         case AUX_FUNC::LAND:
             do_aux_function_change_mode(Mode::Number::LAND, ch_flag);
@@ -313,23 +311,19 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             do_aux_function_change_mode(Mode::Number::FOLLOW, ch_flag);
             break;
 
-        case AUX_FUNC::PARACHUTE_ENABLE:
 #if PARACHUTE == ENABLED
+        case AUX_FUNC::PARACHUTE_ENABLE:
             // Parachute enable/disable
             copter.parachute.enabled(ch_flag == AuxSwitchPos::HIGH);
-#endif
             break;
 
         case AUX_FUNC::PARACHUTE_RELEASE:
-#if PARACHUTE == ENABLED
             if (ch_flag == AuxSwitchPos::HIGH) {
                 copter.parachute_manual_release();
             }
-#endif
             break;
 
         case AUX_FUNC::PARACHUTE_3POS:
-#if PARACHUTE == ENABLED
             // Parachute disable, enable, release with 3 position switch
             switch (ch_flag) {
                 case AuxSwitchPos::LOW:
@@ -343,8 +337,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                     copter.parachute_manual_release();
                     break;
             }
-#endif
             break;
+#endif
 
         case AUX_FUNC::ATTCON_FEEDFWD:
             // enable or disable feed forward
@@ -367,9 +361,9 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             copter.ap.motor_interlock_switch = (ch_flag == AuxSwitchPos::HIGH || ch_flag == AuxSwitchPos::MIDDLE);
 #endif
             break;
-			
+
+#if FRAME_CONFIG == HELI_FRAME
         case AUX_FUNC::TURBINE_START:
-#if FRAME_CONFIG == HELI_FRAME     
            switch (ch_flag) {
                 case AuxSwitchPos::HIGH:
                     copter.motors->set_turb_start(true);
@@ -381,23 +375,23 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                     copter.motors->set_turb_start(false);
                     break;
            }
-#endif
            break;
-		 
-        case AUX_FUNC::BRAKE:
+#endif
+
 #if MODE_BRAKE_ENABLED == ENABLED
+        case AUX_FUNC::BRAKE:
             do_aux_function_change_mode(Mode::Number::BRAKE, ch_flag);
-#endif
             break;
+#endif
 
-        case AUX_FUNC::THROW:
 #if MODE_THROW_ENABLED == ENABLED
+        case AUX_FUNC::THROW:
             do_aux_function_change_mode(Mode::Number::THROW, ch_flag);
-#endif
             break;
+#endif
 
-        case AUX_FUNC::PRECISION_LOITER:
 #if AC_PRECLAND_ENABLED && MODE_LOITER_ENABLED == ENABLED
+        case AUX_FUNC::PRECISION_LOITER:
             switch (ch_flag) {
                 case AuxSwitchPos::HIGH:
                     copter.mode_loiter.set_precision_loiter_enabled(true);
@@ -409,17 +403,17 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                     copter.mode_loiter.set_precision_loiter_enabled(false);
                     break;
             }
-#endif
             break;
+#endif
 
-        case AUX_FUNC::SMART_RTL:
 #if MODE_SMARTRTL_ENABLED == ENABLED
+        case AUX_FUNC::SMART_RTL:
             do_aux_function_change_mode(Mode::Number::SMART_RTL, ch_flag);
-#endif
             break;
+#endif
 
-        case AUX_FUNC::INVERTED:
 #if FRAME_CONFIG == HELI_FRAME
+        case AUX_FUNC::INVERTED:
             switch (ch_flag) {
             case AuxSwitchPos::HIGH:
                 if (copter.flightmode->allows_inverted()) {
@@ -435,11 +429,11 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                 copter.attitude_control->set_inverted_flight(false);
                 break;
             }
-#endif
             break;
+#endif
 
-        case AUX_FUNC::WINCH_ENABLE:
 #if AP_WINCH_ENABLED
+        case AUX_FUNC::WINCH_ENABLE:
             switch (ch_flag) {
                 case AuxSwitchPos::HIGH:
                     // high switch position stops winch using rate control
@@ -451,8 +445,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                     copter.g2.winch.relax();
                     break;
                 }
-#endif
             break;
+#endif
 
         case AUX_FUNC::WINCH_CONTROL:
             // do nothing, used to control the rate of the winch and is processed within AP_Winch
@@ -472,14 +466,12 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             break;
 #endif
 
-        case AUX_FUNC::ZIGZAG:
 #if MODE_ZIGZAG_ENABLED == ENABLED
+        case AUX_FUNC::ZIGZAG:
             do_aux_function_change_mode(Mode::Number::ZIGZAG, ch_flag);
-#endif
             break;
 
         case AUX_FUNC::ZIGZAG_SaveWP:
-#if MODE_ZIGZAG_ENABLED == ENABLED
             if (copter.flightmode == &copter.mode_zigzag) {
                 // initialize zigzag auto
                 copter.mode_zigzag.init_auto();
@@ -495,47 +487,46 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                         break;
                 }
             }
-#endif
             break;
+#endif
 
         case AUX_FUNC::STABILIZE:
             do_aux_function_change_mode(Mode::Number::STABILIZE, ch_flag);
             break;
 
-        case AUX_FUNC::POSHOLD:
 #if MODE_POSHOLD_ENABLED == ENABLED
+        case AUX_FUNC::POSHOLD:
             do_aux_function_change_mode(Mode::Number::POSHOLD, ch_flag);
-#endif
             break;
+#endif
 
         case AUX_FUNC::ALTHOLD:
             do_aux_function_change_mode(Mode::Number::ALT_HOLD, ch_flag);
             break;
 
-
-        case AUX_FUNC::ACRO:
 #if MODE_ACRO_ENABLED == ENABLED
+        case AUX_FUNC::ACRO:
             do_aux_function_change_mode(Mode::Number::ACRO, ch_flag);
-#endif
             break;
+#endif
 
-        case AUX_FUNC::FLOWHOLD:
 #if MODE_FLOWHOLD_ENABLED
+        case AUX_FUNC::FLOWHOLD:
             do_aux_function_change_mode(Mode::Number::FLOWHOLD, ch_flag);
-#endif
             break;
+#endif
 
-        case AUX_FUNC::CIRCLE:
 #if MODE_CIRCLE_ENABLED == ENABLED
+        case AUX_FUNC::CIRCLE:
             do_aux_function_change_mode(Mode::Number::CIRCLE, ch_flag);
-#endif
             break;
+#endif
 
-        case AUX_FUNC::DRIFT:
 #if MODE_DRIFT_ENABLED == ENABLED
+        case AUX_FUNC::DRIFT:
             do_aux_function_change_mode(Mode::Number::DRIFT, ch_flag);
-#endif
             break;
+#endif
 
         case AUX_FUNC::STANDBY: {
             switch (ch_flag) {
@@ -582,8 +573,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             }
             break;
 
-        case AUX_FUNC::ZIGZAG_Auto:
 #if MODE_ZIGZAG_ENABLED == ENABLED
+        case AUX_FUNC::ZIGZAG_Auto:
             if (copter.flightmode == &copter.mode_zigzag) {
                 switch (ch_flag) {
                 case AuxSwitchPos::HIGH:
@@ -594,8 +585,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                     break;
                 }
             }
-#endif
             break;
+#endif
 
         case AUX_FUNC::AIRMODE:
             do_aux_function_change_air_mode(ch_flag);
@@ -608,17 +599,17 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             do_aux_function_change_force_flying(ch_flag);
             break;
 
-        case AUX_FUNC::AUTO_RTL:
 #if MODE_AUTO_ENABLED == ENABLED
+        case AUX_FUNC::AUTO_RTL:
             do_aux_function_change_mode(Mode::Number::AUTO_RTL, ch_flag);
-#endif
             break;
+#endif
 
-        case AUX_FUNC::TURTLE:
 #if MODE_TURTLE_ENABLED == ENABLED
+        case AUX_FUNC::TURTLE:
             do_aux_function_change_mode(Mode::Number::TURTLE, ch_flag);
-#endif
             break;
+#endif
 
         case AUX_FUNC::SIMPLE_HEADING_RESET:
             if (ch_flag == AuxSwitchPos::HIGH) {