diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index d9da6c7809..f5fbcaa861 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -264,13 +264,13 @@ bool Copter::Mode::takeoff_triggered(const float target_climb_rate) const
 
 void Copter::Mode::zero_throttle_and_relax_ac()
 {
-#if FRAME_CONFIG == HELI_FRAME  // Helicopters always stabilize roll/pitch/yaw
-        // call attitude controller
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
-        attitude_control->set_throttle_out(0,false,g.throttle_filt);
+#if FRAME_CONFIG == HELI_FRAME
+    // Helicopters always stabilize roll/pitch/yaw
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f, get_smoothing_gain());
+    attitude_control->set_throttle_out(0.0f, false, g.throttle_filt);
 #else
-        motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
-        // multicopters do not stabilize roll/pitch/yaw when disarmed
-        attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
+    motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+    // multicopters do not stabilize roll/pitch/yaw when disarmed
+    attitude_control->set_throttle_out_unstabilized(0.0f, true, g.throttle_filt);
 #endif
 }