diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 66e9cdfdc883099b0a9b788b7ac0156d9e77fe1f..139326c7644b762901de0b4d6d11e4d2caf2d586 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -69,6 +69,5 @@
 
 //#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 794f38bc9d3dd26a511362ededc57480097a4a29..c361773ffba1d1ec38e6469f694f87f2640bba25 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -658,7 +658,7 @@
 
 
 
-// LOITER Mode
+// Optical Flow LOITER Mode
 #ifndef OF_LOITER_YAW
  # define OF_LOITER_YAW          	YAW_HOLD
 #endif
@@ -830,6 +830,11 @@
 #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