diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 9d1976430a..6820de44c7 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -177,7 +177,7 @@ public:
     friend class Parameters;
     friend class ParametersG2;
     friend class AP_Avoidance_Copter;
-    friend class Mode;
+
 #if ADVANCED_FAILSAFE == ENABLED
     friend class AP_AdvancedFailsafe_Copter;
 #endif
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 2c6d23b4f5..0eed603f7d 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -313,6 +313,38 @@ void Copter::Mode::update_navigation()
     run_autopilot();
 }
 
+// get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
+// returns desired angle in centi-degrees
+void Copter::Mode::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max)
+{
+    AP_Vehicle::MultiCopter &aparm = copter.aparm;
+    // sanity check angle max parameter
+    aparm.angle_max = constrain_int16(aparm.angle_max,1000,8000);
+
+    // limit max lean angle
+    angle_max = constrain_float(angle_max, 1000, aparm.angle_max);
+
+    // scale roll_in, pitch_in to ANGLE_MAX parameter range
+    const float scaler = aparm.angle_max/(float)ROLL_PITCH_YAW_INPUT_MAX;
+    roll_in *= scaler;
+    pitch_in *= scaler;
+
+    // do circular limit
+    const float total_in = norm(pitch_in, roll_in);
+    if (total_in > angle_max) {
+        float ratio = angle_max / total_in;
+        roll_in *= ratio;
+        pitch_in *= ratio;
+    }
+
+    // do lateral tilt to euler roll conversion
+    roll_in = (18000/M_PI) * atanf(cosf(pitch_in*(M_PI/18000))*tanf(roll_in*(M_PI/18000)));
+
+    // return
+    roll_out = roll_in;
+    pitch_out = pitch_in;
+}
+
 bool Copter::Mode::takeoff_triggered(const float target_climb_rate) const
 {
     if (!ap.land_complete) {
@@ -345,38 +377,6 @@ void Copter::Mode::zero_throttle_and_relax_ac()
 #endif
 }
 
-// get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
-// returns desired angle in centi-degrees
-void Copter::Mode::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max)
-{
-	AP_Vehicle::MultiCopter &aparm = copter.aparm;
-	// sanity check angle max parameter
-	aparm.angle_max = constrain_int16(aparm.angle_max,1000,8000);
-
-	// limit max lean angle
-	angle_max = constrain_float(angle_max, 1000, aparm.angle_max);
-
-	// scale roll_in, pitch_in to ANGLE_MAX parameter range
-	float scaler = aparm.angle_max/(float)ROLL_PITCH_YAW_INPUT_MAX;
-	roll_in *= scaler;
-	pitch_in *= scaler;
-
-	// do circular limit
-	float total_in = norm(pitch_in, roll_in);
-	if (total_in > angle_max) {
-		float ratio = angle_max / total_in;
-		roll_in *= ratio;
-		pitch_in *= ratio;
-	}
-
-	// do lateral tilt to euler roll conversion
-	roll_in = (18000/M_PI) * atanf(cosf(pitch_in*(M_PI/18000))*tanf(roll_in*(M_PI/18000)));
-
-	// return
-	roll_out = roll_in;
-	pitch_out = pitch_in;
-}
-
 // pass-through functions to reduce code churn on conversion;
 // these are candidates for moving into the Mode base
 // class.
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index dbb78cc978..d438cb624f 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -28,13 +28,22 @@ protected:
     // returns a string for this flightmode, exactly 4 bytes
     virtual const char *name4() const = 0;
 
-    // navigation support functions:
+    // navigation support functions
     void update_navigation();
     virtual void run_autopilot() {}
     virtual uint32_t wp_distance() const { return 0; }
     virtual int32_t wp_bearing() const { return 0; }
     virtual bool in_guided_mode() const { return false; }
 
+    // pilot input processing
+    void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
+
+    // takeoff support
+    bool takeoff_triggered(float target_climb_rate) const;
+
+    // helper functions
+    void zero_throttle_and_relax_ac();
+
     // convenience references to avoid code churn in conversion:
     Parameters &g;
     ParametersG2 &g2;
@@ -52,9 +61,6 @@ protected:
     ap_t ≈
     takeoff_state_t &takeoff_state;
 
-    // takeoff support
-    bool takeoff_triggered(float target_climb_rate) const;
-
     // gnd speed limit required to observe optical flow sensor limits
     float &ekfGndSpdLimit;
 
@@ -69,9 +75,6 @@ protected:
     heli_flags_t &heli_flags;
 #endif
 
-    // mode.cpp
-    void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
-
     // pass-through functions to reduce code churn on conversion;
     // these are candidates for moving into the Mode base
     // class.
@@ -99,8 +102,6 @@ protected:
     uint16_t get_pilot_speed_dn(void);
 
     // end pass-through functions
-
-    void zero_throttle_and_relax_ac();
 };