diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 58710bb956..60e3019374 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -712,7 +712,7 @@ extern bool rtl_state_complete;
 // returns true with RTL has completed successfully
 static bool verify_RTL()
 {
-    return (rtl_state_complete && (rtl_state == FinalDescent || rtl_state == Land));
+    return (rtl_state_complete && (rtl_state == RTL_FinalDescent || rtl_state == RTL_Land));
 }
 
 // verify_spline_wp - check if we have reached the next way point using spline
diff --git a/ArduCopter/control_rtl.pde b/ArduCopter/control_rtl.pde
index fa8526b5de..848df2495d 100644
--- a/ArduCopter/control_rtl.pde
+++ b/ArduCopter/control_rtl.pde
@@ -25,23 +25,23 @@ static void rtl_run()
     // check if we need to move to next state
     if (rtl_state_complete) {
         switch (rtl_state) {
-        case InitialClimb:
+        case RTL_InitialClimb:
             rtl_return_start();
             break;
-        case ReturnHome:
+        case RTL_ReturnHome:
             rtl_loiterathome_start();
             break;
-        case LoiterAtHome:
+        case RTL_LoiterAtHome:
             if (g.rtl_alt_final > 0 && !failsafe.radio) {
                 rtl_descent_start();
             }else{
                 rtl_land_start();
             }
             break;
-        case FinalDescent:
+        case RTL_FinalDescent:
             // do nothing
             break;
-        case Land:
+        case RTL_Land:
             // do nothing - rtl_land_run will take care of disarming motors
             break;
         }
@@ -50,23 +50,23 @@ static void rtl_run()
     // call the correct run function
     switch (rtl_state) {
 
-    case InitialClimb:
+    case RTL_InitialClimb:
         rtl_climb_return_run();
         break;
 
-    case ReturnHome:
+    case RTL_ReturnHome:
         rtl_climb_return_run();
         break;
 
-    case LoiterAtHome:
+    case RTL_LoiterAtHome:
         rtl_loiterathome_run();
         break;
 
-    case FinalDescent:
+    case RTL_FinalDescent:
         rtl_descent_run();
         break;
 
-    case Land:
+    case RTL_Land:
         rtl_land_run();
         break;
     }
@@ -75,7 +75,7 @@ static void rtl_run()
 // rtl_climb_start - initialise climb to RTL altitude
 static void rtl_climb_start()
 {
-    rtl_state = InitialClimb;
+    rtl_state = RTL_InitialClimb;
     rtl_state_complete = false;
 
     // initialise waypoint and spline controller
@@ -106,7 +106,7 @@ static void rtl_climb_start()
 // rtl_return_start - initialise return to home
 static void rtl_return_start()
 {
-    rtl_state = ReturnHome;
+    rtl_state = RTL_ReturnHome;
     rtl_state_complete = false;
 
     // set target to above home/rally point
@@ -171,7 +171,7 @@ static void rtl_climb_return_run()
 // rtl_return_start - initialise return to home
 static void rtl_loiterathome_start()
 {
-    rtl_state = LoiterAtHome;
+    rtl_state = RTL_LoiterAtHome;
     rtl_state_complete = false;
     rtl_loiter_start_time = millis();
 
@@ -237,7 +237,7 @@ static void rtl_loiterathome_run()
 // rtl_descent_start - initialise descent to final alt
 static void rtl_descent_start()
 {
-    rtl_state = FinalDescent;
+    rtl_state = RTL_FinalDescent;
     rtl_state_complete = false;
 
     // Set wp navigation target to above home
@@ -300,7 +300,7 @@ static void rtl_descent_run()
 // rtl_loiterathome_start - initialise controllers to loiter over home
 static void rtl_land_start()
 {
-    rtl_state = Land;
+    rtl_state = RTL_Land;
     rtl_state_complete = false;
 
     // Set wp navigation target to above home
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index c9d61af190..20bf3fd5d8 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -195,11 +195,11 @@ enum GuidedMode {
 
 // RTL states
 enum RTLState {
-    InitialClimb,
-    ReturnHome,
-    LoiterAtHome,
-    FinalDescent,
-    Land
+    RTL_InitialClimb,
+    RTL_ReturnHome,
+    RTL_LoiterAtHome,
+    RTL_FinalDescent,
+    RTL_Land
 };
 
 // Flip states
diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
index 53bbd9ba8d..4a5ae06b8b 100644
--- a/ArduCopter/heli.pde
+++ b/ArduCopter/heli.pde
@@ -41,7 +41,7 @@ static int16_t get_pilot_desired_collective(int16_t control_in)
 static void check_dynamic_flight(void)
 {
     if (!motors.armed() || !motors.motor_runup_complete() ||
-        control_mode == LAND || (control_mode==RTL && rtl_state == Land) || (control_mode == AUTO && auto_mode == Auto_Land)) {
+        control_mode == LAND || (control_mode==RTL && rtl_state == RTL_Land) || (control_mode == AUTO && auto_mode == Auto_Land)) {
         heli_dynamic_flight_counter = 0;
         heli_flags.dynamic_flight = false;
         return;
@@ -109,7 +109,7 @@ static void heli_update_landing_swash()
             break;
 
         case RTL:
-            if (rtl_state == Land) {
+            if (rtl_state == RTL_Land) {
                 motors.set_collective_for_landing(true);
             }else{
                 motors.set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
diff --git a/ArduCopter/landing_gear.pde b/ArduCopter/landing_gear.pde
index 057f7631e0..b1c4988d21 100644
--- a/ArduCopter/landing_gear.pde
+++ b/ArduCopter/landing_gear.pde
@@ -11,7 +11,7 @@ static void landinggear_update(){
 
         // if we are doing an automatic landing procedure, force the landing gear to deploy.
         // To-Do: should we pause the auto-land procedure to give time for gear to come down?
-        if (control_mode == LAND || (control_mode==RTL && rtl_state == Land) || (control_mode == AUTO && auto_mode == Auto_Land)){
+        if (control_mode == LAND || (control_mode==RTL && rtl_state == RTL_Land) || (control_mode == AUTO && auto_mode == Auto_Land)){
             landinggear.force_deploy(true);
         }