diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 31643cea0b..d7431a8697 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -65,6 +65,5 @@
 
 //#define LOGGING_ENABLED		DISABLED
 
-#define LOITER_REPOSITIONING    DISABLED                          // Experimental Do Not Use
+// #define LOITER_REPOSITIONING    ENABLED                         // Experimental Do Not Use
 // #define LOITER_RP               ROLL_PITCH_LOITER_PR
-
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index ffb07392a2..9ce9e5e996 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -718,7 +718,7 @@
 
 
 
-// LOITER Mode
+// Optical Flow LOITER Mode
 #ifndef OF_LOITER_YAW
  # define OF_LOITER_YAW          	YAW_HOLD
 #endif
@@ -890,6 +890,11 @@
 #ifndef LOITER_IMAX
  # define LOITER_IMAX          		30             // degrees
 #endif
+
+// Loiter repositioning configuration (experimental)
+#ifndef LOITER_REPOSITIONING
+ # define LOITER_REPOSITIONING      DISABLED
+#endif
 #ifndef LOITER_REPOSITION_RATE
  # define LOITER_REPOSITION_RATE   500.0            // cm/s
 #endif