diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 22368e4e8a..3f0c8ab409 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -438,12 +438,6 @@ static byte oldSwitchPosition;
 ////////////////////////////////////////////////////////////////////////////////
 // Motor Output
 ////////////////////////////////////////////////////////////////////////////////
-// This is the array of PWM values being sent to the motors
-//static int16_t  motor_out[11];
-// This is the array of PWM values being sent to the motors that has been lightly filtered with a simple LPF
-// This was added to try and deal with biger motors
-//static int16_t  motor_filtered[11];
-
 #if FRAME_CONFIG == QUAD_FRAME
  #define MOTOR_CLASS AP_MotorsQuad
 #endif
@@ -698,12 +692,6 @@ static byte throttle_mode;
 ////////////////////////////////////////////////////////////////////////////////
 // flight specific
 ////////////////////////////////////////////////////////////////////////////////
-// Flag for monitoring the status of flight
-// We must be in the air with throttle for 5 seconds before this flag is true
-// This flag is reset when we are in a manual throttle mode with 0 throttle or disarmed
-//static bool takeoff_complete;
-// Used to see if we have landed and if we should shut our engines - not fully implemented
-//static bool land_complete = true;
 // An additional throttle added to keep the copter at the same altitude when banking
 static int16_t angle_boost;
 // Push copter down for clean landing
@@ -711,8 +699,6 @@ static int16_t landing_boost;
 // for controlling the landing throttle curve
 //verifies landings
 static int16_t ground_detector;
-// have we reached our desired altitude brefore heading home?
-//static bool rtl_reached_alt;
 
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -732,8 +718,6 @@ int32_t wp_distance;
 // home location is stored when we have a good GPS lock and arm the copter
 // Can be reset each the copter is re-armed
 static struct   Location home;
-// Flag for if we have g_gps lock and have set the home location
-//static bool     home_is_set;
 // Current location of the copter
 static struct   Location current_loc;
 // Next WP is the desired location of the copter - the next waypoint or loiter location
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 48bed9b946..d573fd1cfb 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -527,10 +527,7 @@ static void reset_desired_speed()
 
 static int16_t get_desired_climb_rate()
 {
-    //static int16_t climb_old = 0;
-
     if(alt_change_flag == REACHED_ALT) {
-        //climb_old = 0;
         return 0;
     }
 
@@ -547,7 +544,6 @@ static int16_t get_desired_climb_rate()
         }else{
         	// Descending
         	climb		= constrain(climb, MIN_CLIMB_RATE, MAX_CLIMB_RATE_DOWN);
-        	//climb 		= min(climb, MAX_CLIMB_RATE_DOWN);	// don't go to fast
         }
 
     }else{
@@ -558,9 +554,6 @@ static int16_t get_desired_climb_rate()
         }
     }
 
-    //climb 		= min(climb, climb_old + (100 * .02));// limit acceleration
-    //climb_old 	= climb;
-
     if(alt_change_flag == DESCENDING){
         climb = -climb;
     }
diff --git a/ArduCopter/toy.pde b/ArduCopter/toy.pde
index 11ee199bfb..9778018451 100644
--- a/ArduCopter/toy.pde
+++ b/ArduCopter/toy.pde
@@ -2,7 +2,6 @@
 // Toy Mode - THOR
 ////////////////////////////////////////////////////////////////////////////////
 static boolean CH7_toy_flag;
-//static boolean CH6_toy_flag;
 
 #if TOY_MIXER == TOY_LOOKUP_TABLE
 static const int16_t toy_lookup[] = {