diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 5f3049bca2..74fd49b78c 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -81,13 +81,8 @@ Copter::Copter(void) :
     condition_start(0),
     G_Dt(0.0025f),
     inertial_nav(ahrs),
-#if FRAME_CONFIG == HELI_FRAME
     attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p_stabilize_pitch, g.p_stabilize_yaw,
                      g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw),
-#else
-    attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p_stabilize_pitch, g.p_stabilize_yaw,
-                     g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw),
-#endif
     pos_control(ahrs, inertial_nav, motors, attitude_control,
                 g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
                 g.p_pos_xy, g.pi_vel_xy),