diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 9e5b8a0ed2..67b1433b81 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -711,9 +711,9 @@ bool GCS_MAVLINK_Plane::handle_guided_request(AP_Mission::Mission_Command &cmd)
     plane.guided_WP_loc = cmd.content.location;
     
     // add home alt if needed
-    if (plane.guided_WP_loc.flags.relative_alt) {
+    if (plane.guided_WP_loc.relative_alt) {
         plane.guided_WP_loc.alt += plane.home.alt;
-        plane.guided_WP_loc.flags.relative_alt = 0;
+        plane.guided_WP_loc.relative_alt = 0;
     }
 
     plane.set_guided_WP();
@@ -727,11 +727,11 @@ bool GCS_MAVLINK_Plane::handle_guided_request(AP_Mission::Mission_Command &cmd)
 void GCS_MAVLINK_Plane::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
 {
     plane.next_WP_loc.alt = cmd.content.location.alt;
-    if (cmd.content.location.flags.relative_alt) {
+    if (cmd.content.location.relative_alt) {
         plane.next_WP_loc.alt += plane.home.alt;
     }
-    plane.next_WP_loc.flags.relative_alt = false;
-    plane.next_WP_loc.flags.terrain_alt = cmd.content.location.flags.terrain_alt;
+    plane.next_WP_loc.relative_alt = false;
+    plane.next_WP_loc.terrain_alt = cmd.content.location.terrain_alt;
     plane.reset_offset_altitude();
 }
 
@@ -836,10 +836,10 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
 
         // load option flags
         if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
-            requested_position.flags.relative_alt = 1;
+            requested_position.relative_alt = 1;
         }
         else if (packet.frame == MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
-            requested_position.flags.terrain_alt = 1;
+            requested_position.terrain_alt = 1;
         }
         else if (packet.frame != MAV_FRAME_GLOBAL_INT) {
             // not a supported frame
@@ -847,9 +847,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
         }
 
         if (is_zero(packet.param4)) {
-            requested_position.flags.loiter_ccw = 0;
+            requested_position.loiter_ccw = 0;
         } else {
-            requested_position.flags.loiter_ccw = 1;
+            requested_position.loiter_ccw = 1;
         }
 
         if (location_sanitize(plane.current_loc, requested_position)) {
@@ -864,9 +864,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
             plane.guided_WP_loc = requested_position;
 
             // add home alt if needed
-            if (plane.guided_WP_loc.flags.relative_alt) {
+            if (plane.guided_WP_loc.relative_alt) {
                 plane.guided_WP_loc.alt += plane.home.alt;
-                plane.guided_WP_loc.flags.relative_alt = 0;
+                plane.guided_WP_loc.relative_alt = 0;
             }
 
             plane.set_guided_WP();
@@ -1435,18 +1435,18 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         if (pos_target.type_mask & alt_mask)
         {
             cmd.content.location.alt = pos_target.alt * 100;
-            cmd.content.location.flags.relative_alt = false;
-            cmd.content.location.flags.terrain_alt = false;
+            cmd.content.location.relative_alt = false;
+            cmd.content.location.terrain_alt = false;
             switch (pos_target.coordinate_frame) 
             {
                 case MAV_FRAME_GLOBAL_INT:
                     break; //default to MSL altitude
                 case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
-                    cmd.content.location.flags.relative_alt = true;          
+                    cmd.content.location.relative_alt = true;          
                     break;
                 case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
-                    cmd.content.location.flags.relative_alt = true;          
-                    cmd.content.location.flags.terrain_alt = true;
+                    cmd.content.location.relative_alt = true;          
+                    cmd.content.location.terrain_alt = true;
                     break;
                 default:
                     gcs().send_text(MAV_SEVERITY_WARNING, "Invalid coord frame in SET_POSTION_TARGET_GLOBAL_INT");
diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
index dc8fbe00d2..7d6cb03b56 100644
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@@ -186,7 +186,7 @@ void Plane::set_target_altitude_current_adjusted(void)
 void Plane::set_target_altitude_location(const Location &loc)
 {
     target_altitude.amsl_cm = loc.alt;
-    if (loc.flags.relative_alt) {
+    if (loc.relative_alt) {
         target_altitude.amsl_cm += home.alt;
     }
 #if AP_TERRAIN_AVAILABLE
@@ -196,10 +196,10 @@ void Plane::set_target_altitude_location(const Location &loc)
       terrain altitude
      */
     float height;
-    if (loc.flags.terrain_alt && terrain.height_above_terrain(height, true)) {
+    if (loc.terrain_alt && terrain.height_above_terrain(height, true)) {
         target_altitude.terrain_following = true;
         target_altitude.terrain_alt_cm = loc.alt;
-        if (!loc.flags.relative_alt) {
+        if (!loc.relative_alt) {
             // it has home added, remove it
             target_altitude.terrain_alt_cm -= home.alt;
         }
@@ -359,7 +359,7 @@ void Plane::set_offset_altitude_location(const Location &loc)
       terrain altitude
      */
     float height;
-    if (loc.flags.terrain_alt && 
+    if (loc.terrain_alt && 
         target_altitude.terrain_following &&
         terrain.height_above_terrain(height, true)) {
         target_altitude.offset_cm = target_altitude.terrain_alt_cm - (height * 100);
@@ -396,10 +396,10 @@ bool Plane::above_location_current(const Location &loc)
 {
 #if AP_TERRAIN_AVAILABLE
     float terrain_alt;
-    if (loc.flags.terrain_alt && 
+    if (loc.terrain_alt && 
         terrain.height_above_terrain(terrain_alt, true)) {
         float loc_alt = loc.alt*0.01f;
-        if (!loc.flags.relative_alt) {
+        if (!loc.relative_alt) {
             loc_alt -= home.alt*0.01f;
         }
         return terrain_alt > loc_alt;
@@ -407,7 +407,7 @@ bool Plane::above_location_current(const Location &loc)
 #endif
 
     float loc_alt_cm = loc.alt;
-    if (loc.flags.relative_alt) {
+    if (loc.relative_alt) {
         loc_alt_cm += home.alt;
     }
     return current_loc.alt > loc_alt_cm;
@@ -421,7 +421,7 @@ void Plane::setup_terrain_target_alt(Location &loc)
 {
 #if AP_TERRAIN_AVAILABLE
     if (g.terrain_follow) {
-        loc.flags.terrain_alt = true;
+        loc.terrain_alt = true;
     }
 #endif
 }
@@ -471,14 +471,14 @@ float Plane::mission_alt_offset(void)
 float Plane::height_above_target(void)
 {
     float target_alt = next_WP_loc.alt*0.01;
-    if (!next_WP_loc.flags.relative_alt) {
+    if (!next_WP_loc.relative_alt) {
         target_alt -= ahrs.get_home().alt*0.01f;
     }
 
 #if AP_TERRAIN_AVAILABLE
     // also record the terrain altitude if possible
     float terrain_altitude;
-    if (next_WP_loc.flags.terrain_alt && 
+    if (next_WP_loc.terrain_alt && 
         terrain.height_above_terrain(terrain_altitude, true)) {
         return terrain_altitude - target_alt;
     }
diff --git a/ArduPlane/commands.cpp b/ArduPlane/commands.cpp
index ff3446c8ca..0cf304ae8a 100644
--- a/ArduPlane/commands.cpp
+++ b/ArduPlane/commands.cpp
@@ -34,14 +34,14 @@ void Plane::set_next_WP(const struct Location &loc)
         // additionally treat zero altitude as current altitude
         if (next_WP_loc.alt == 0) {
             next_WP_loc.alt = current_loc.alt;
-            next_WP_loc.flags.relative_alt = false;
-            next_WP_loc.flags.terrain_alt = false;
+            next_WP_loc.relative_alt = false;
+            next_WP_loc.terrain_alt = false;
         }
     }
 
     // convert relative alt to absolute alt
-    if (next_WP_loc.flags.relative_alt) {
-        next_WP_loc.flags.relative_alt = false;
+    if (next_WP_loc.relative_alt) {
+        next_WP_loc.relative_alt = false;
         next_WP_loc.alt += home.alt;
     }
 
@@ -68,7 +68,7 @@ void Plane::set_next_WP(const struct Location &loc)
 
 void Plane::set_guided_WP(void)
 {
-    if (aparm.loiter_radius < 0 || guided_WP_loc.flags.loiter_ccw) {
+    if (aparm.loiter_radius < 0 || guided_WP_loc.loiter_ccw) {
         loiter.direction = -1;
     } else {
         loiter.direction = 1;
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index a4c2c6d35f..a464b4b9d2 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -437,7 +437,7 @@ void Plane::do_landing_vtol_approach(const AP_Mission::Mission_Command& cmd)
 
 void Plane::loiter_set_direction_wp(const AP_Mission::Mission_Command& cmd)
 {
-    if (cmd.content.location.flags.loiter_ccw) {
+    if (cmd.content.location.loiter_ccw) {
         loiter.direction = -1;
     } else {
         loiter.direction = 1;
@@ -1122,7 +1122,7 @@ bool Plane::verify_loiter_heading(bool init)
         // Want to head in a straight line from _here_ to the next waypoint instead of center of loiter wp
 
         // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location
-        if (next_WP_loc.flags.loiter_xtrack) {
+        if (next_WP_loc.loiter_xtrack) {
             next_WP_loc = current_loc;
         }
         return true;
diff --git a/ArduPlane/geofence.cpp b/ArduPlane/geofence.cpp
index 95a48f0e2f..58b542d7c6 100644
--- a/ArduPlane/geofence.cpp
+++ b/ArduPlane/geofence.cpp
@@ -396,6 +396,7 @@ void Plane::geofence_check(bool altitude_check_only)
             guided_WP_loc = rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());
 
         } else { //return to fence return point, not a rally point
+            memset(&guided_WP_loc, 0, sizeof(guided_WP_loc));
             if (g.fence_retalt > 0) {
                 //fly to the return point using fence_retalt
                 guided_WP_loc.alt = home.alt + 100.0f*g.fence_retalt;
@@ -407,7 +408,6 @@ void Plane::geofence_check(bool altitude_check_only)
                 // min and max
                 guided_WP_loc.alt = home.alt + 100.0f*(g.fence_minalt + g.fence_maxalt)/2;
             }
-            guided_WP_loc.options = 0;
             guided_WP_loc.lat = geofence_state->boundary[0].x;
             guided_WP_loc.lng = geofence_state->boundary[0].y;
         }
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index 29017c282f..72741f00c0 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -206,7 +206,7 @@ void Plane::update_loiter(uint16_t radius)
     if (radius <= 1) {
         // if radius is <=1 then use the general loiter radius. if it's small, use default
         radius = (abs(aparm.loiter_radius) <= 1) ? LOITER_RADIUS_DEFAULT : abs(aparm.loiter_radius);
-        if (next_WP_loc.flags.loiter_ccw == 1) {
+        if (next_WP_loc.loiter_ccw == 1) {
             loiter.direction = -1;
         } else {
             loiter.direction = (aparm.loiter_radius < 0) ? -1 : 1;