diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 889e7dcff6..4c1ef6c021 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -334,11 +334,7 @@
 #endif
 
 #ifndef HIL_SUPPORT
-#if HAL_MINIMIZE_FEATURES
-# define HIL_SUPPORT DISABLED
-#else
-# define HIL_SUPPORT ENABLED
-#endif
+# define HIL_SUPPORT !HAL_MINIMIZE_FEATURES
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -350,11 +346,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // Payload Gripper
 #ifndef GRIPPER_ENABLED
- #if HAL_MINIMIZE_FEATURES
-  # define GRIPPER_ENABLED DISABLED
- #else 
-  # define GRIPPER_ENABLED ENABLED
- #endif
+  #define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
 #ifndef STATS_ENABLED
@@ -362,11 +354,7 @@
 #endif
 
 #ifndef DEVO_TELEM_ENABLED
-#if HAL_MINIMIZE_FEATURES
- #define DEVO_TELEM_ENABLED DISABLED
-#else
- #define DEVO_TELEM_ENABLED ENABLED
-#endif
+ #define DEVO_TELEM_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
 #ifndef OSD_ENABLED
@@ -374,11 +362,7 @@
 #endif
 
 #ifndef SOARING_ENABLED
-#if HAL_MINIMIZE_FEATURES
- #define SOARING_ENABLED DISABLED
-#else
- #define SOARING_ENABLED ENABLED
-#endif
+ #define SOARING_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
 #ifndef LANDING_GEAR_ENABLED
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index 7ed183f7be..6e2e748f24 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -63,6 +63,7 @@ enum mode_reason_t {
     MODE_REASON_SOARING_IN_THERMAL,
     MODE_REASON_SOARING_THERMAL_ESTIMATE_DETERIORATED,
     MODE_REASON_VTOL_FAILED_TRANSITION,
+    MODE_REASON_UNAVAILABLE,
 };
 
 // type of stick mixing enabled
diff --git a/ArduPlane/mode_auto.cpp b/ArduPlane/mode_auto.cpp
index 340ab0c103..2da3b7cf87 100644
--- a/ArduPlane/mode_auto.cpp
+++ b/ArduPlane/mode_auto.cpp
@@ -15,7 +15,9 @@ bool ModeAuto::_enter()
     // start or resume the mission, based on MIS_AUTORESET
     plane.mission.start_or_resume();
 
+#if SOARING_ENABLED == ENABLED
     plane.g2.soaring_controller.init_cruising();
+#endif
 
     return true;
 }
diff --git a/ArduPlane/mode_cruise.cpp b/ArduPlane/mode_cruise.cpp
index 6c6dc4fd72..1ea3cdfa70 100644
--- a/ArduPlane/mode_cruise.cpp
+++ b/ArduPlane/mode_cruise.cpp
@@ -9,8 +9,10 @@ bool ModeCruise::_enter()
     plane.cruise_state.locked_heading = false;
     plane.cruise_state.lock_timer_ms = 0;
 
+#if SOARING_ENABLED == ENABLED
     // for ArduSoar soaring_controller
     plane.g2.soaring_controller.init_cruising();
+#endif
 
     plane.set_target_altitude_current();
 
diff --git a/ArduPlane/mode_fbwb.cpp b/ArduPlane/mode_fbwb.cpp
index e7f5843877..fedd412711 100644
--- a/ArduPlane/mode_fbwb.cpp
+++ b/ArduPlane/mode_fbwb.cpp
@@ -7,8 +7,10 @@ bool ModeFBWB::_enter()
     plane.auto_throttle_mode = true;
     plane.auto_navigation_mode = false;
 
+#if SOARING_ENABLED == ENABLED
     // for ArduSoar soaring_controller
     plane.g2.soaring_controller.init_cruising();
+#endif
 
     plane.set_target_altitude_current();
 
diff --git a/ArduPlane/mode_loiter.cpp b/ArduPlane/mode_loiter.cpp
index a107b53a88..45327a2be4 100644
--- a/ArduPlane/mode_loiter.cpp
+++ b/ArduPlane/mode_loiter.cpp
@@ -8,10 +8,12 @@ bool ModeLoiter::_enter()
     plane.auto_navigation_mode = true;
     plane.do_loiter_at_location();
 
+#if SOARING_ENABLED == ENABLED
     if (plane.g2.soaring_controller.is_active() && plane.g2.soaring_controller.suppress_throttle()) {
         plane.g2.soaring_controller.init_thermalling();
         plane.g2.soaring_controller.get_target(plane.next_WP_loc); // ahead on flight path
     }
+#endif
 
     return true;
 }
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 36c6837421..374d28f1a9 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -244,10 +244,10 @@ bool Plane::set_mode(Mode &new_mode, const mode_reason_t reason)
     }
 
 #if !QAUTOTUNE_ENABLED
-    if (&new_mode == plane.mode_qautotune) {
+    if (&new_mode == &plane.mode_qautotune) {
         gcs().send_text(MAV_SEVERITY_INFO,"QAUTOTUNE disabled");
-        set_mode(plane.mode_qhover);
-        return;
+        set_mode(plane.mode_qhover, MODE_REASON_UNAVAILABLE);
+        return false;
     }
 #endif