diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 093aaa33ef..dddc0f4598 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -43,9 +43,11 @@
  */
 
 // Inertia based contollers
-//#define INERTIAL_NAV_XY ENABLED
-//#define NAV_WP_ACTIVE NAV_WP_INAV
-//#define NAV_LOITER_ACTIVE NAV_LOITER_INAV
+#define INERTIAL_NAV_XY ENABLED
+#define NAV_WP_ACTIVE NAV_WP_INAV
+#define NAV_LOITER_ACTIVE NAV_LOITER_INAV
+#define RTL_YAW YAW_HOLD
+
 #define INERTIAL_NAV_Z ENABLED
 
 //#define MOTORS_JD880