diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 7f397b1b784025e97fce476478485f27432f0989..09124ea89e47474357e40b09ad48f529ad7d10a1 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1666,8 +1666,7 @@ void update_roll_pitch_mode(void)
 
         control_roll            = g.rc_1.control_in;
         control_pitch           = g.rc_2.control_in;
-
-        // in this mode, nav_roll and nav_pitch = the iterm
+     
         get_stabilize_roll(control_roll);
         get_stabilize_pitch(control_pitch);
 
@@ -2043,7 +2042,6 @@ static void update_navigation()
 
     if(yaw_mode == YAW_LOOK_AT_HOME) {
         if(home_is_set) {
-            //nav_yaw = point_at_home_yaw();
             nav_yaw = get_bearing_cd(&current_loc, &home);
         } else {
             nav_yaw = 0;
@@ -2058,7 +2056,7 @@ static void update_nav_RTL()
         // if loiter_timer value > 0, we are set to trigger auto_land or approach
         set_mode(LOITER);
 
-        // just un case we arrive and we aren't at the lower RTL alt yet.
+        // just in case we arrive and we aren't at the lower RTL alt yet.
         set_new_altitude(get_RTL_alt());
 
         // force loitering above home
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index a7a96ca0d890c7c7deffb8304fe1d45e46492a94..7ba220d7ba4f21456b09b9df9b9039b7f84f959e 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -546,7 +546,11 @@
 
 // AUTO Mode
 #ifndef AUTO_YAW
- # define AUTO_YAW                       YAW_AUTO
+ #if FRAME_CONFIG == HELI_FRAME
+  # define AUTO_YAW                       YAW_LOOK_AT_HOME
+ #else
+  # define AUTO_YAW                       YAW_AUTO
+ #endif
 #endif
 
 #ifndef AUTO_RP
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index d138f76b11b3dea9209899c408e643f9684cf088..12d40b6a1b24dc7f1bb0ac80dfae522ed6a0674c 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -16,7 +16,7 @@
 #define YAW_HOLD                        0
 #define YAW_ACRO                        1
 #define YAW_AUTO                        2
-#define YAW_LOOK_AT_HOME        3
+#define YAW_LOOK_AT_HOME    		    3
 #define YAW_TOY                         4       // THOR This is the Yaw mode
 
 
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index c6ab1b21d8d95e7cf1c9f755332a6f778fb20d4e..2099407cd2af5387fb992037848e701919c88c6d 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -392,22 +392,6 @@ static void startup_ground(void)
     reset_I_all();
 }
 
-/*
- * #define YAW_HOLD             0
- * #define YAW_ACRO             1
- * #define YAW_AUTO             2
- * #define YAW_LOOK_AT_HOME     3
- *
- * #define ROLL_PITCH_STABLE    0
- * #define ROLL_PITCH_ACRO  1
- * #define ROLL_PITCH_AUTO		2
- *
- * #define THROTTLE_MANUAL  0
- * #define THROTTLE_HOLD        1
- * #define THROTTLE_AUTO		2
- *
- */
-
 static void set_mode(byte mode)
 {
     // if we don't have GPS lock