diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 34a8b2b39e..56b2e0ea0c 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -109,20 +109,3 @@
 // #define MOT_6 CH_4
 // #define MOT_7 CH_7
 // #define MOT_8 CH_8
-
-
-///
-//
-// AP_Limits
-//
-//
-
-
-// Enable/disable AP_Limits
-#define AP_LIMITS ENABLED
-
-// Use PIN for displaying LIMITS status. 0 is disabled.
-#define LIMITS_TRIGGERED_PIN 0
-
-// PWM of "on" state for LIM_CHANNEL
-#define LIMITS_ENABLE_PWM 1800
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 64c6ed848a..c8184f1efb 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1291,7 +1291,7 @@ static void fifty_hz_loop()
 static void slow_loop()
 {
 
-#ifdef AP_LIMITS
+#if AP_LIMITS == ENABLED
 
 		// Run the AP_Limits main loop
 		limits_loop();
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 6816116dd2..d9b7c5913f 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -93,7 +93,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
         omega.z);
 }
 
-#ifdef AP_LIMITS
+#if AP_LIMITS == ENABLED
 static NOINLINE void send_limits_status(mavlink_channel_t chan)
 {
 	limits_send_mavlink_status(chan);
@@ -585,7 +585,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
         send_statustext(chan);
         break;
 
-#ifdef AP_LIMITS
+#if AP_LIMITS == ENABLED
 
     case MSG_LIMITS_STATUS:
     	CHECK_PAYLOAD_SIZE(LIMITS_STATUS);
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index a7bfec3d2c..290d8a3eab 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -962,6 +962,44 @@
 # define ALLOW_RC_OVERRIDE DISABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// AP_Limits Defaults
+//
+
+
+// Enable/disable AP_Limits
+#ifndef AP_LIMITS
+ #define AP_LIMITS ENABLED
+#endif
+
+// Use PIN for displaying LIMITS status. 0 is disabled.
+#ifndef LIMITS_TRIGGERED_PIN
+ #define LIMITS_TRIGGERED_PIN 0
+#endif
+
+// PWM of "on" state for LIM_CHANNEL
+#ifndef LIMITS_ENABLE_PWM
+ #define LIMITS_ENABLE_PWM 1800
+#endif
+
+#ifndef LIM_ENABLED
+ #define LIM_ENABLED 0
+#endif
+
+#ifndef LIM_ALT_ON
+ #define LIM_ALT_ON 0
+#endif
+
+#ifndef LIM_FNC_ON
+ #define LIM_FNC_ON 0
+#endif
+
+#ifndef LIM_GPSLCK_ON
+ #define LIM_GPSLCK_ON 0
+#endif
+
+
+
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
 //