diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index 98b756a306..86108dc25c 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -202,8 +202,9 @@ void ModeRTL::climb_return_run()
     float target_yaw_rate = 0;
     if (!copter.failsafe.radio) {
         // get pilot's desired yaw rate
-        if(g.zr_use_rc)
+        if(g.zr_use_rc){
             target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
+        }
         if (!is_zero(target_yaw_rate)) {
             auto_yaw.set_mode(AUTO_YAW_HOLD);
         }
@@ -264,8 +265,9 @@ void ModeRTL::loiterathome_run()
     float target_yaw_rate = 0;
     if (!copter.failsafe.radio) {
         // get pilot's desired yaw rate
-        if(g.zr_use_rc)
+        if(g.zr_use_rc){
             target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
+        }
         if (!is_zero(target_yaw_rate)) {
             auto_yaw.set_mode(AUTO_YAW_HOLD);
         }
@@ -350,11 +352,11 @@ void ModeRTL::descent_run()
             update_simple_mode();
 
             // convert pilot input to lean angles
-        if(g.zr_use_rc)
+        if(g.zr_use_rc){
             get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
-
+        }
             // record if pilot has overridden roll or pitch
-            if (!is_zero(target_roll) || !is_zero(target_pitch)) {
+            if(!is_zero(target_roll) || !is_zero(target_pitch)){
                 if (!copter.ap.land_repo_active) {
                     copter.Log_Write_Event(DATA_LAND_REPO_ACTIVE);
                 }
@@ -363,8 +365,9 @@ void ModeRTL::descent_run()
         }
 
         // get pilot's desired yaw rate
-        if(g.zr_use_rc)
+        if(g.zr_use_rc){
             target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
+        }
     }
 
     // set motors to full range
diff --git a/modules/mavlink b/modules/mavlink
index 72b407db39..6d62818f97 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 72b407db3991ed74631fa59a5e826615f569819f
+Subproject commit 6d62818f975c25ffc507904658d8510d3de53c80