diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 0df3116b43..07c0a68dbd 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -488,13 +488,6 @@
 // Attitude Control
 //
 
-// definitions for earth frame and body frame
-// used to specify frame to rate controllers
-#define EARTH_FRAME         0
-#define BODY_FRAME          1
-#define BODY_EARTH_FRAME    2
-
-
 // Flight mode roll, pitch, yaw, throttle and navigation definitions
 
 // Stabilize Mode
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index bd065d1a37..a1ec0ca134 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -180,6 +180,10 @@
                     // requested
 #define NO_COMMAND 0
 
+// Earth frame and body frame definitions used by rate controllers
+#define EARTH_FRAME         0
+#define BODY_FRAME          1
+#define BODY_EARTH_FRAME    2
 
 // Navigation modes held in nav_mode variable
 #define NAV_NONE        0