diff --git a/ArduCopter/landing_gear.cpp b/ArduCopter/landing_gear.cpp
index 297a2d20ab..6b5ea38ea9 100644
--- a/ArduCopter/landing_gear.cpp
+++ b/ArduCopter/landing_gear.cpp
@@ -4,30 +4,31 @@
 // Run landing gear controller at 10Hz
 void Copter::landinggear_update()
 {
-    // If landing gear control is active, run update function.
-    if (check_if_auxsw_mode_used(AUXSW_LANDING_GEAR)){
+    // exit immediately if no landing gear switch is enabled
+    if (!check_if_auxsw_mode_used(AUXSW_LANDING_GEAR)) {
+        return;
+    }
 
-        // last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear
-        static bool last_deploy_status = landinggear.deployed();
+    // last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear
+    static bool last_deploy_status = landinggear.deployed();
 
-        // if we are doing an automatic landing procedure, force the landing gear to deploy.
-        // To-Do: should we pause the auto-land procedure to give time for gear to come down?
-        if (control_mode == LAND ||
-           (control_mode == RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
-           (control_mode == AUTO && auto_mode == Auto_Land) ||
-           (control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
-            landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
-        }
+    // if we are doing an automatic landing procedure, force the landing gear to deploy.
+    // To-Do: should we pause the auto-land procedure to give time for gear to come down?
+    if (control_mode == LAND ||
+       (control_mode == RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
+       (control_mode == AUTO && auto_mode == Auto_Land) ||
+       (control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
+        landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
+    }
 
-        // send event message to datalog if status has changed
-        if (landinggear.deployed() != last_deploy_status){
-            if (landinggear.deployed()) {
-                Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED);
-            } else {
-                Log_Write_Event(DATA_LANDING_GEAR_RETRACTED);
-            }
+    // send event message to datalog if status has changed
+    if (landinggear.deployed() != last_deploy_status) {
+        if (landinggear.deployed()) {
+            Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED);
+        } else {
+            Log_Write_Event(DATA_LANDING_GEAR_RETRACTED);
         }
-
-        last_deploy_status = landinggear.deployed();        
     }
+
+    last_deploy_status = landinggear.deployed();
 }