diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index ca444fed04..fffe93b7d9 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -18,7 +18,7 @@ License as published by the Free Software Foundation; either
 version 2.1 of the License, or (at your option) any later version.
 
 //
-// JLN updates: last update 2012-05-14
+// JLN updates: last update 2012-05-15
 //
 // DOLIST:
 //  
@@ -27,7 +27,7 @@ version 2.1 of the License, or (at your option) any later version.
 // Dev Startup : 2012-04-21
 //
 //  2012-05-14: Update about mavlink library (now compatible with the latest version of mavlink)
-//  2012-05-14: Added option (with yaw full right)to init_home during the wp_list reset
+//  2012-05-14: Added option (hold roll to full right + SW7 ON/OFF) to init_home during the wp_list reset
 //  2012-05-13: Add ROV_SONAR_TRIG (default = 200 cm)
 //  2012-05-13: Restart_nav() added and heading bug correction, tested OK in the field
 //  2012-05-12: RTL then stop update - Tested in the field
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 879a1953d5..431d09d7f1 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -1149,7 +1149,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 if (packet.param1 == 1 ||
                     packet.param2 == 1 ||
                     packet.param3 == 1) {
+            #if LITE == DISABLED                      
                     startup_IMU_ground(true);
+            #endif
                 }
                 if (packet.param4 == 1) {
                     trim_radio();
@@ -1254,7 +1256,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 case MAV_ACTION_CALIBRATE_ACC:
                 case MAV_ACTION_CALIBRATE_PRESSURE:
                 case MAV_ACTION_REBOOT:  // this is a rough interpretation
+                #if LITE == DISABLED                
                     startup_IMU_ground(true);
+                #endif
                     result=1;
                     break;
 
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index b79d65f853..9f8bde3553 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -108,9 +108,6 @@
 #define GUIDED 15
 #define INITIALISING 16     // in startup routines
 #define HEADALT      17   // Lock the current heading and altitude
-#define SARSEC       18   // Run a SAR type Sector Pattern
-#define SARGRID      19   // Run a SAR type Grid Pattern
-#define THERMAL      20   // Thermal hunter mode 
 #define LAND         21   // Landing mode
 
 // Commands - Note that APM now uses a subset of the MAVLink protocol commands.  See enum MAV_CMD in the GCS_Mavlink library