diff --git a/ArduCopterMega/APM_Config.h b/ArduCopterMega/APM_Config.h
index d6052c433c..5907865c39 100644
--- a/ArduCopterMega/APM_Config.h
+++ b/ArduCopterMega/APM_Config.h
@@ -7,7 +7,8 @@
 //#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
 
 #define NAV_TEST 1	// 0 = traditional, 1 = rate controlled
-#define YAW_OPTION 0	// hybrid rate approach, offset Yaw approach
+#define YAW_OPTION 0	// 0 = hybrid rate approach, 1 = offset Yaw approach
+#define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input.
 
 #define FRAME_CONFIG QUAD_FRAME
 	/*