diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index 3f649ca3b4..e736cfb0a9 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -16,9 +16,7 @@ static int8_t	setup_compass			(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_tune				(uint8_t argc, const Menu::arg *argv);
 //static int8_t	setup_mag_offset		(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_declination		(uint8_t argc, const Menu::arg *argv);
-#ifdef OPTFLOW_ENABLED
 static int8_t	setup_optflow			(uint8_t argc, const Menu::arg *argv);
-#endif
 static int8_t	setup_show				(uint8_t argc, const Menu::arg *argv);
 
 #if FRAME_CONFIG == HELI_FRAME
@@ -43,9 +41,7 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
 	{"tune",			setup_tune},
 //	{"offsets",			setup_mag_offset},
 	{"declination",		setup_declination},
-#ifdef OPTFLOW_ENABLED
 	{"optflow",			setup_optflow},
-#endif
 #if FRAME_CONFIG == HELI_FRAME
 	{"heli",			setup_heli},
 	{"gyro",			setup_gyro},
@@ -99,10 +95,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
 	report_flight_modes();
 	report_imu();
 	report_compass();
-
-#ifdef OPTFLOW_ENABLED
 	report_optflow();
-#endif
 
 #if FRAME_CONFIG == HELI_FRAME
 	report_heli();
@@ -417,11 +410,11 @@ setup_sonar(uint8_t argc, const Menu::arg *argv)
 
 	} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
 		g.sonar_enabled.set_and_save(false);
-		
+
 	} else if (argc > 1 && (argv[1].i >= 0 && argv[1].i <= 2)) {
 	    g.sonar_enabled.set_and_save(true);  // if you set the sonar type, surely you want it on
 		g.sonar_type.set_and_save(argv[1].i);
-		
+
 	}else{
 		Serial.printf_P(PSTR("\nOp:[on, off, 0-2]\n"));
 		report_sonar();
@@ -751,10 +744,10 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
 }
 */
 
-#ifdef OPTFLOW_ENABLED
 static int8_t
 setup_optflow(uint8_t argc, const Menu::arg *argv)
 {
+	#ifdef OPTFLOW_ENABLED
 	if (!strcmp_P(argv[1].str, PSTR("on"))) {
 		g.optflow_enabled = true;
 		init_optflow();
@@ -770,9 +763,10 @@ setup_optflow(uint8_t argc, const Menu::arg *argv)
 
 	g.optflow_enabled.save();
 	report_optflow();
+	#endif
 	return 0;
 }
-#endif
+
 
 
 /***************************************************************************/
@@ -897,9 +891,10 @@ static void report_flight_modes()
 	print_blanks(2);
 }
 
-#ifdef OPTFLOW_ENABLED
+
 void report_optflow()
 {
+	#ifdef OPTFLOW_ENABLED
 	Serial.printf_P(PSTR("OptFlow\n"));
 	print_divider();
 
@@ -910,8 +905,9 @@ void report_optflow()
 	//						degrees(g.optflow_fov));
 
 	print_blanks(2);
+	#endif
 }
-#endif
+
 
 #if FRAME_CONFIG == HELI_FRAME
 static void report_heli()